CN111845239A

CN111845239A - Double mode hinders transfer robot more

Info

Publication number: CN111845239A
Application number: CN202010736840.XA
Authority: CN
Inventors: 唐玮; 陈龙; 王宇航; 梅超龙; 徐�明; 赵大地; 吴明壮
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2020-10-30

Abstract

The invention discloses a dual-mode obstacle-crossing transfer robot, which comprises a shell provided with a bottom plate, wherein an inner cylinder is fixed on the bottom plate, an outer cylinder capable of sliding up and down is nested on the outer wall of the inner cylinder, the rear end of the bottom plate is rotatably connected with a rear supporting leg, a first air cylinder is hinged between the rear supporting leg and the bottom plate, the front end of the bottom plate is rotatably connected with a front supporting leg, the lower end of the front supporting leg is divided into a front supporting section and a rear supporting section, the rear supporting leg and the supporting section arranged at the rear end are respectively rotatably connected with an idler wheel, the supporting section arranged at the front end, a second cylinder is hinged between one of the support sections and the bottom plate, hub motors for controlling the rollers to work are respectively arranged on the rear support leg and the support section, its obstacle function is strong, turns to in a flexible way to can the back-and-forth movement and lateral shifting, can climb stair, the shock attenuation is effectual, accessible promotes the urceolus when the capacity of inner tube is not big enough and increases storing space.

Description

Double mode hinders transfer robot more

Technical Field

The invention relates to the field of transfer robots, in particular to a dual-mode obstacle-crossing transfer robot.

Background

With the development of modern industry, in order to reduce the working intensity of workers and continuously develop the technical field of article carrying, the carrying of articles by a machine instead of manual work is more and more common; most of the existing transfer robots have weak obstacle crossing function and inflexible steering, and most of the transfer robots can only move back and forth but cannot move transversely, most of the transfer robots cannot climb stairs, the damping effect is poor, or only inner cylinders can be used for storing objects, and no way is available when the capacity of the inner cylinders is not large enough.

Disclosure of Invention

In view of the technical shortcomings, the invention aims to provide a dual-mode obstacle crossing transfer robot which is flexible in steering, strong in obstacle crossing function and capable of moving transversely.

In order to solve the technical problems, the invention adopts the following technical scheme:

the invention provides a dual-mode obstacle-crossing transfer robot which comprises a shell provided with a bottom plate, wherein an inner cylinder is fixed on the bottom plate, an outer cylinder capable of sliding up and down is nested on the outer wall of the inner cylinder, the rear end of the bottom plate is rotatably connected with a rear supporting leg, a first air cylinder is hinged between the rear supporting leg and the bottom plate, the front end of the bottom plate is rotatably connected with a front supporting leg, the lower end of the front supporting leg is divided into a front supporting section and a rear supporting section, the rear supporting leg and the supporting section arranged at the rear end are respectively rotatably connected with an idler wheel, the supporting section arranged at the front end is rotatably connected with an omnidirectional wheel, a second air cylinder is hinged between one supporting section and the bottom plate, and hub motors for controlling the idler wheel to work are respectively arranged.

Preferably, it has the slide rail to open on the shell rear end inner wall, be fixed with the slip table with slide rail sliding connection on the urceolus, the upper and lower end of shell front end inner wall rotates respectively and is connected with the sprocket, connects through chain drive between two sprockets, be equipped with the driving motor who provides power for one of them sprocket on the shell, be fixed with the chain lug sheet metal component on the chain, the chain lug sheet metal component is fixed with the urceolus front end, and driving motor fixes on the shell.

Preferably, one of the chain wheels is rotatably connected with the shell through a chain wheel bearing seat, the middle part of the other chain wheel is provided with an expansion sleeve, and the expansion sleeve extends out of the shell and is fixed with an output shaft of the driving motor.

Preferably, the front support leg and the rear support leg are respectively rotatably connected with the bottom plate through an inter-plate bearing seat.

Preferably, the roller is a Mecanum wheel.

Preferably, the first and second cylinders are of the same specification.

Preferably, the transverse cross sections of the outer cylinder and the inner cylinder are circular or regular polygon.

The invention has the beneficial effects that: the chassis structure consisting of the roller, the cylinder, the front bracket, the rear bracket and other components can realize the functions of shock absorption, obstacle crossing, stair climbing and transverse translation; the vertical relative motion of the inner cylinder and the shell is realized through chain transmission and a sliding rail sliding table structure, the change of the loading capacity according to the requirement is realized through the vertical space dislocation position of the inner cylinder and the shell, and the structure is simple, the conception is ingenious, and the practicability is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a dual-mode obstacle-surmounting transfer robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a chain drive provided by an embodiment of the present invention;

fig. 3 is a schematic sliding diagram of a sliding rail and a sliding table provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the raised housing according to the embodiment of the present invention.

Description of reference numerals:

1. an inner barrel; 2. a housing; 3. an omni wheel; 4. a hub motor; 5. a front bracket; 6. an inter-plate bearing seat; 7. an outer cylinder; 8. a roller; 9. a second cylinder; 10. a rear bracket; 11. a base plate; 12. a sprocket; 13. a sprocket bearing seat; 15. a chain; 16. a drive motor; 17. expanding and tightening the sleeve; 18. a link lug sheet metal part; 19. a slide rail; 20. and a sliding table.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, a dual mode obstacle surmounting transfer robot, includes a housing 2 provided with a floor 11, an inner cylinder 1 is fixed on the bottom plate 11, an outer cylinder 7 capable of sliding up and down is nested on the outer wall of the inner cylinder 1, the transverse sections of the outer cylinder 7 and the inner cylinder 1 are square, the rear end of the bottom plate 11 is rotatably connected with a rear supporting leg 10, a first cylinder is hinged between the rear supporting leg 10 and the bottom plate 11, the front end of the bottom plate 11 is rotatably connected with the front supporting leg 5, the lower end of the front supporting leg 5 is divided into a front supporting section and a rear supporting section, the rear supporting leg 10 and the supporting sections arranged at the rear end are respectively and rotatably connected with a roller 8, the roller 8 is a Mecanum wheel, an omnidirectional wheel 3 is rotatably connected on a support joint arranged at the front end, a second cylinder 9 is hinged between one of the support sections and the bottom plate 11, the specifications of the first cylinder and the second cylinder 9 are the same, and the rear supporting leg 10 and the supporting section are respectively provided with a hub motor 3 for controlling the roller 8 to work.

It has slide rail 19 to open on the 2 rear end inner walls of shell, be fixed with on the urceolus 7 with 19 sliding connection's of slide rail slip table 20, the upper and lower end of 2 front end inner walls of shell rotates respectively and is connected with sprocket 12, connects through the transmission of chain 15 between two sprockets 12, be equipped with on the shell 2 for one of them sprocket 12 provides the driving motor 16 of power, be fixed with chain lug sheet metal component 18 on the chain 15, chain lug sheet metal component 18 is fixed with urceolus 7 front end, and driving motor 16 fixes on shell 2.

One of the chain wheels 12 is rotatably connected with the shell 2 through a chain wheel bearing seat 13, the middle part of the other chain wheel 12 is provided with an expansion sleeve 17, and the expansion sleeve 17 extends out of the shell 2 and is fixed with an output shaft of a driving motor 16.

The front supporting leg 5 and the rear supporting leg 10 are respectively connected with a bottom plate 11 in a rotating mode through an inter-plate bearing seat 6.

First cylinder and second cylinder 9 in this device are when having shock-absorbing function, landing leg 5 and back landing leg 10 can change the height of gyro wheel 8 and play the effect of crossing the obstacle according to the road conditions before the cooperation, and the front end of this device adopts two bifurcated fulcrums, and cooperation second cylinder 9 is used in the change angle in advancing, can play the effect of climbing irregular barrier, realizes changing as required of load through inner tube 1 and the vertical space dislocation position difference of urceolus 7.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The double-mode obstacle-crossing carrying robot is characterized by comprising a shell (2) provided with a bottom plate (11), wherein an inner barrel (1) is fixed on the bottom plate (11), an outer barrel (7) capable of sliding up and down is nested on the outer wall of the inner barrel (1), the rear end of the bottom plate (11) is rotatably connected with a rear supporting leg (10), a first air cylinder is hinged between the rear supporting leg (10) and the bottom plate (11), the front end of the bottom plate (11) is rotatably connected with a front supporting leg (5), the lower end of the front supporting leg (5) is divided into a front supporting section and a rear supporting section, the rear supporting leg (10) and the supporting sections arranged at the rear end are respectively rotatably connected with an idler wheel (8), a second air cylinder (9) is hinged between one supporting section and the bottom plate (11), and the rear supporting leg (10) and the supporting sections are respectively provided with a hub motor (3) for controlling the idler wheel, the support node arranged at the front end is rotatably connected with an omnidirectional wheel (3).

2. A dual-mode obstacle crossing transfer robot as claimed in claim 1, wherein a slide rail (19) is provided on the inner wall of the rear end of the housing (2), a slide table (20) slidably connected with the slide rail (19) is provided on the outer cylinder (7), the upper and lower ends of the inner wall of the front end of the housing (2) are respectively rotatably connected with a sprocket (12), two sprockets (12) are connected by a chain (15) in a transmission manner, a driving motor (16) for providing power for one of the sprockets (12) is provided on the housing (2), a link lug sheet metal part (18) is provided on the chain (15), the link lug sheet metal part (18) is fixed to the front end of the outer cylinder (7), and the driving motor (16) is fixed to the housing (2).

3. A dual mode obstacle crossing transfer robot as claimed in claim 2, wherein one of said sprockets (12) is rotatably connected to the housing (2) through a sprocket bearing seat (13), and an expansion sleeve (17) is provided in the middle of the other sprocket (12), said expansion sleeve (17) extending outside the housing (2) and being fixed to the output shaft of the drive motor (16).

4. A dual mode obstacle crossing transfer robot as claimed in claim 1, wherein said front leg (5) and said rear leg (10) are pivotally connected to a floor (11) by inter-plate bearing blocks (6), respectively.

5. A dual mode obstacle surmounting transfer robot as claimed in claim 1, wherein said rollers (8) are selected from mecanum wheels.

6. A dual mode obstacle crossing transfer robot as claimed in claim 1, wherein said first and second cylinders (9) are of the same size.

7. A dual mode obstacle surmounting transfer robot as claimed in claim 1, wherein the cross-section of the outer cylinder (7) and the inner cylinder (1) is circular or regular polygonal.