CN111923061B - wheeled transport robot - Google Patents
wheeled transport robot Download PDFInfo
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- CN111923061B CN111923061B CN202010800529.7A CN202010800529A CN111923061B CN 111923061 B CN111923061 B CN 111923061B CN 202010800529 A CN202010800529 A CN 202010800529A CN 111923061 B CN111923061 B CN 111923061B
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- 230000005484 gravity Effects 0.000 claims abstract description 41
- 238000005286 illumination Methods 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003867 tiredness Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheeled transport robot, and belongs to the technical field of robots. The problem that the burden of a motor for adjusting the gravity center of the existing transportation robot is large, and the reliability and stability are poor is solved. The wheel type transportation robot comprises a base and two coaxially arranged wheels, wherein a left support plate is arranged on the left side of the base, a right support plate is arranged on the right side of the base, a support shaft which horizontally extends along the left and right directions and is positioned above the base is arranged between the left support plate and the right support plate, a rotating body is arranged on the support shaft, the distance from the center of gravity of the rotating body to the central axis of the support shaft is greater than zero, and a driving assembly which acts on the lower portion of the rotating body and is used for driving the rotating body to swing around the central axis of the support shaft is arranged on the base. The invention can effectively reduce the load of the driving component and has the advantages of high reliability, good stability and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a wheeled transport robot.
Background
Currently, the full-automatic transportation robot is widely applied, and has the advantages that: can replace higher and higher manpower cost, has high durability and no tiredness, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks with harm to human bodies. The existing transport robots are mostly driven by four wheels or auxiliary driving wheels of universal wheels, the chassis is large in size and high in manufacturing cost, and the required walking space is large, so that the transport robots are not beneficial to moving and transferring of the robots.
For this reason, chinese patent discloses a two-wheeled self-balancing service robot with an automatic swing arm [ grant bulletin number CN107186736B ], which comprises a vehicle body, two support plates fixed on the vehicle body at vertical intervals, and a rotating shaft with two ends respectively connected to the two support plates, and further comprises an upper swing arm, a lower swing arm, and a controller; one end of the upper swing arm and one end of the lower swing arm are respectively and rotatably connected with the rotating shaft; when the upper swing arm rotates, the controller controls the lower swing arm to rotate in the direction opposite to the rotation direction of the upper swing arm, and then the lower swing arm drives the heavy hammer to rotate so as to adjust the gravity center of the two-wheel self-balancing service robot, so that the two-wheel self-balancing service robot realizes self-balancing.
Although the robot can realize self-balancing by controlling the rotation of the upper swing arm and the lower swing arm, in the process of swinging the upper swing arm and the lower swing arm, the gravity of the upper swing arm and the lower swing arm needs to be overcome by a motor for driving the robot to rotate, the burden of the motor is large, and the reliability and the stability are poor.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a wheeled transportation robot with a small burden on a driving assembly.
The aim of the invention can be achieved by the following technical scheme:
the wheel type transportation robot comprises a base and two coaxially arranged wheels, wherein a left support plate is arranged on the left side of the base, a right support plate is arranged on the right side of the base, a support shaft which horizontally extends along the left and right directions and is positioned above the base is arranged between the left support plate and the right support plate, a rotating body is arranged on the support shaft, the distance from the center of gravity of the rotating body to the central axis of the support shaft is greater than zero, and a driving assembly which acts on the lower portion of the rotating body and is used for driving the rotating body to swing around the central axis of the support shaft is arranged on the base.
When the robot is not put into goods and the robot is in a balanced state, the gravity center of the rotating body and the gravity center of the whole robot are both positioned on a vertical plane where the central axis of the wheel is positioned. When the driving component drives the rotating body to swing forwards, the gravity center of the rotating body moves forwards relative to the vertical plane where the central axis of the wheel is positioned. When the driving component drives the rotating body to swing backwards, the gravity center of the rotating body moves backwards relative to the vertical plane where the central axis of the wheel is located.
In order to achieve transport, it is necessary to put goods on the robot. When the gravity center of the goods is positioned on the vertical plane where the central axis of the wheel is positioned, the robot still maintains a balanced state, and the driving assembly does not work at the moment; when the gravity center of the goods is positioned in front of the vertical plane where the central axis of the wheels is positioned, the robot tilts forwards, and at the moment, the driving assembly drives the rotating body to swing backwards around the central axis of the supporting shaft, so that the gravity center of the rotating body moves backwards, and the robot is restored to a balanced state; when the gravity center of the goods is positioned behind the vertical plane where the central axis of the wheels is positioned, the robot tilts backwards, and at the moment, the driving assembly drives the rotating body to swing forwards around the central axis of the supporting shaft, so that the gravity center of the rotating body moves forwards, and the robot is restored to a balanced state. When the robot is restored to a balanced state, the driving assembly stops working, the rotating body maintains the current state under the action of the driving assembly, and at the moment, the whole gravity center of the robot is positioned on a vertical plane where the central axis of the wheel is positioned. The robot body includes all structures of the robot, and should also include goods when placing the goods.
In the wheeled transportation robot, the central axis of the supporting shaft is positioned right above the central axis of the wheel.
In the wheeled transportation robot, the driving assembly comprises a power structure arranged on the base, a connecting block driven by the power structure and capable of moving along the front-back direction, and a swing arm hinged on the connecting block through a hinge shaft, wherein the hinge shaft is parallel to the supporting shaft, and the other end of the swing arm is hinged with the lower part of the rotating body.
Under the action of the power structure, the connecting block horizontally moves along the front-back direction, and the lower part of the rotating body is driven to move back and forth through the swing arm when the connecting block moves back and forth, so that the rotating body swings around the central axis of the supporting shaft. In this process, the swing arm swings.
In the wheeled transportation robot, the power structure comprises a driving motor arranged on the base, a driving wheel driven by the driving motor and a driven wheel in transmission connection with the driving wheel through a synchronous belt, wherein the straightened part of the synchronous belt horizontally extends along the front-back direction, and the connecting block is fixed on the straightened part of the synchronous belt. When the driving motor works, the driving wheel is driven to rotate, the driving wheel drives the driven wheel to rotate through the synchronous belt, and the straightened part of the synchronous belt moves linearly, so that the connecting block is driven to move linearly.
The power structure can also be a driving motor arranged on the base, a driving sprocket driven by the driving motor and a driven sprocket connected with the driving sprocket through a chain in a transmission way, the straightened part of the chain horizontally extends along the front-back direction, and the connecting block is fixed on the straightened part of the chain. When the driving motor works, the driving sprocket is driven to rotate, the driving sprocket drives the driven sprocket to rotate through the chain, and the straightened part of the chain moves linearly, so that the connecting block is driven to move linearly.
The power structure can also be a driving motor arranged on the base and a ball screw driven by the driving motor, the ball screw is arranged on the base and horizontally extends along the front-back direction, the connecting block is sleeved on the ball screw and is in threaded fit with the ball screw, and when the driving motor drives the ball screw to rotate, the connecting block linearly moves along the length direction of the ball screw.
The power structure can also be a rack which is arranged on the base in a sliding way and horizontally extends along the front-back direction and a gear driven by the driving motor, the gear is meshed with the rack, and the connecting block is fixed on the rack. When the driving motor works, the gear is driven to rotate, and the gear drives the rack to linearly move, so that the connecting block linearly moves.
In the wheeled transport robot, the base is fixedly provided with a first support and a second support, the first support is provided with a first rotating shaft extending horizontally along the left-right direction, the driving wheel is rotatably connected to the first rotating shaft, the second support is provided with a second rotating shaft parallel to the first rotating shaft, and the driven wheel is rotatably connected to the second rotating shaft.
In the wheel type transport robot, the left support plate is provided with the first connecting frame, the right support plate is provided with the second connecting frame, and a pallet positioned above the support shaft is arranged between the first connecting frame and the second connecting frame.
In the wheeled transport robot, the rotating body comprises a first frame body sleeved on the supporting shaft, a second frame body arranged opposite to the first frame body and a cross rod connected to the upper ends of the first frame body and the second frame body, the first frame body is located on the left side of the pallet, the second frame body is located on the right side of the pallet, the cross rod is located above the pallet, a driving rod parallel to the supporting shaft and located below the supporting shaft is further arranged between the first frame body and the second frame body, and the swing arm is sleeved on the driving rod.
In the wheeled transport robot, a camera, a sensor, an illumination light source, a traction interface and a visual operation panel are arranged on the cross rod. The operation such as shooting, gas detection, cable traction, illumination and the like can be realized.
In the wheel type transport robot, the center of gravity of the rotating body is higher than the central axis of the supporting shaft, and the distance from the center of gravity of the rotating body to the supporting shaft is larger than the distance from the driving rod to the supporting shaft.
In the wheeled transport robot, a battery and an electric box are arranged on the base, and a controller is arranged in the battery box. The gyroscope sensor is arranged in the pallet and is connected with a signal input end of the controller, and the controller can control the start and stop, the rotating speed, the stroke and other actions of the driving motor.
Compared with the prior art, the wheel type transport robot has the following advantages:
the gravity of the rotating body is supported by the supporting shaft, the rotating body is driven to swing by adopting the lever principle through the linear motion of the connecting block, the load of the driving motor is small, and the reliability and the stability are high; because the distance from the center of gravity of the rotating body to the supporting shaft is larger than the distance from the driving rod to the supporting shaft, the small-range motion of the driving shaft can lead to the large-range motion of the center of gravity of the rotating body, and the adjustment of the center of gravity is easy to realize.
Drawings
Fig. 1 is a schematic structural view of a robot provided by the present invention.
Fig. 2 is a schematic view of another structure of the robot according to the present invention.
Fig. 3 is a cross-sectional view of a robot provided by the present invention.
Fig. 4 is a schematic view of a part of the structure of the robot according to the present invention.
Fig. 5 is a schematic view of a further part of the structure of the robot according to the present invention.
Fig. 6 is a schematic view of a further part of the structure of the robot according to the present invention.
In the figure, 1, a base; 11. a left support plate; 12. a right support plate; 13. a support shaft; 14. a first support; 15. a second support; 16. a first connection frame; 17. a second connecting frame; 2. a wheel; 41. a first frame body; 42. a second frame body; 43. a cross bar; 44. a driving rod; 45. visual operation panel; 51. a connecting block; 52. a hinge shaft; 53. swing arms; 54. a driving motor; 55. a driving wheel; 56. a synchronous belt; 57. driven wheel; 6. a pallet.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
Example 1
The wheel type transport robot shown in fig. 1 comprises a base 1, wherein a left support plate 11 extending vertically upwards is fixedly connected to the left side of the base 1, a right support plate 12 which is parallel to the left support plate 11 and is arranged opposite to the left support plate 11 is fixedly connected to the right side of the base, wheels 2 are arranged on the left support plate 11, and wheels 2 coaxial with the wheels 2 are arranged on the right support plate 12. As shown in fig. 1 and 2, a battery and an electric box are arranged on the base 1, and a controller is arranged in the battery box.
The wheel 2 disposed on the left support plate 11 is disposed on the left side of the left support plate 11 and is driven by the in-wheel motor disposed therein, and the wheel 2 disposed on the right support plate 12 is disposed on the right side of the right support plate 12 and is driven by the in-wheel motor disposed therein. The wheel 2 is coaxially fixed on the outer rotor of the wheel hub motor correspondingly arranged, and the outer rotor rotates around the central axis of the inner stator during operation. The stator of the in-wheel motor driving the wheel 2 provided on the left support plate 11 is fixed on the left support plate 11, and the stator of the in-wheel motor driving the wheel 2 provided on the right support plate 12 is fixed on the right support plate 12. The robot moves straight when the rotating speeds of the two hub motors are the same, and the robot can turn when the rotating speeds of the two hub motors are different.
As shown in fig. 4, a support shaft 13 extending horizontally in the left-right direction and located above the base 1 is provided between the left support plate 11 and the right support plate 12, and the central axis of the support shaft 13 is located directly above the central axis of the wheel 2. The support shaft 13 is provided with a rotating body capable of swinging around the central axis of the support shaft 13, and the distance between the center of gravity of the rotating body and the central axis of the support shaft 13 is larger than zero.
In order to achieve a swinging of the rotor about the central axis of the support shaft 13, this can be achieved by: 1. the two ends of the supporting shaft 13 are respectively fixed on the left side plate and the right side plate, the rotating body is sleeved on the supporting shaft 13, and a bearing is arranged between the rotating body and the supporting shaft 13; 2. the rotating body is fixed on a supporting shaft 13, a bearing is arranged between the left end of the supporting shaft 13 and a left supporting plate 11, and a bearing is arranged between the right end of the supporting shaft 13 and a right supporting plate 12; 3. bearings are provided between the rotating body and the support shaft 13, and also between the left end of the support shaft 13 and the left support plate 11, and also between the right end of the support shaft 13 and the right support plate 12.
As shown in fig. 5, the first link 16 is provided on both front and rear sides of the left support plate 11, the second link 17 is provided on both front and rear sides of the right support plate 12, and the pallet 6 located above the support shaft 13 is provided between the first link 16 and the second link 17. Wherein a gap is left between the pallet 6 and the left support plate 11, and a gap is left between the pallet 6 and the right support plate 12. A gyro sensor is provided in the pallet 6 for sensing whether the pallet 6 is in a horizontal state, and is connected to a signal input terminal of a controller, which can control the start and stop, rotation speed, stroke, etc. of the driving motor 54.
As shown in fig. 5, the rotating body includes a first frame 41 that is sleeved on the support shaft 13, a second frame 42 that is disposed opposite to the first frame 41, and a cross bar 43 that is connected to the upper ends of the first frame 41 and the second frame 42, the first frame 41 is located in a gap between the pallet 6 and the left support plate 11, the second frame 42 is located in a gap between the pallet 6 and the right support plate 12, the cross bar 43 is located above the pallet 6, and a visual operation panel 45 is provided on the cross bar 43. As shown in fig. 6, the center of gravity of the rotating body is higher than the central axis of the support shaft 13, and the distance from the center of gravity of the rotating body to the support shaft 13 is greater than the distance from the driving lever 44 to the support shaft 13.
As shown in fig. 3, 4 and 6, a driving rod 44 parallel to the supporting shaft 13 and located below the supporting shaft 13 is further disposed between the first frame 41 and the second frame 42, a driving assembly for driving the driving rod 44 to act is disposed on the base 1, and the rotating body can swing around the central axis of the supporting shaft 13 under the action of the driving assembly. When the driving assembly drives the rotating body to swing forwards, the gravity center of the rotating body moves forwards relative to the vertical plane where the central axis of the wheel 2 is located. When the driving assembly drives the rotating body to swing backwards, the gravity center of the rotating body moves backwards relative to the vertical plane where the central axis of the wheel 2 is located.
As shown in fig. 2 to 6, the driving assembly includes a power structure provided on the base 1, a connection block 51 driven by the power structure and movable in the front-rear direction, and a swing arm 53 hinged on the connection block 51 through a hinge shaft 52, the hinge shaft 52 being parallel to the support shaft 13, and the other end of the swing arm 53 being sleeved on the driving lever 44. The connection block 51 moves horizontally in the front-rear direction under the action of the power structure, and the swing arm 53 drives the lower part of the rotating body to move back-forth when the connection block 51 moves back-forth, thereby swinging the rotating body around the central axis of the support shaft 13. During this process, the swing arm 53 swings.
As shown in fig. 3, the power structure includes a driving motor 54 provided on the base 1, a driving wheel 55 driven by the driving motor 54, and a driven wheel 57 drivingly connected to the driving wheel 55 through a timing belt 56, a portion of the timing belt 56 straightened extends horizontally in the front-rear direction, and the connection block 51 is fixed to the portion of the timing belt 56 straightened. When the driving motor 54 works, the driving wheel 55 is driven to rotate, the driving wheel 55 drives the driven wheel 57 to rotate through the synchronous belt 56, and the straightened part of the synchronous belt 56 moves linearly, so that the connecting block 51 is driven to move linearly.
In order to facilitate the installation of the driving wheel 55 and the driven wheel 57, as shown in fig. 5 and 6, a first support 14 and a second support 15 are fixed on the base 1, a first rotating shaft extending horizontally along the left-right direction is provided on the first support 14, the driving wheel 55 is rotatably connected to the first rotating shaft, a second rotating shaft parallel to the first rotating shaft is provided on the second support 15, and the driven wheel 57 is rotatably connected to the second rotating shaft. The output shaft of the motor is coaxially arranged with the driving wheel 55 and is coaxially connected with the driving wheel 55 through a coupling.
When the robot is not loaded with goods and the robot is in a balanced state, the center of gravity of the rotating body and the center of gravity of the whole robot are both positioned on a vertical plane where the central axis of the wheel 2 is positioned, and the pallet 6 is in a horizontal state. The robot body includes all structures of the robot, and should also include goods when placing the goods.
To effect transport, goods are placed on the pallet 6. When the center of gravity of the cargo is located in the vertical plane where the center axis of the wheel 2 is located, the robot still maintains a balanced state, and at this time, the driving assembly does not work. When the center of gravity of the cargo is located in front of the vertical plane in which the central axis of the wheel 2 is located, the robot tilts forward, and at this time, the driving assembly drives the rotating body to swing backward around the central axis of the supporting shaft 13, so that the center of gravity of the rotating body moves backward, and the robot is restored to a balanced state. When the center of gravity of the goods is located behind the vertical plane where the central axis of the wheel 2 is located, the robot tilts backward, and at this time, the driving assembly drives the rotating body to swing forward around the central axis of the supporting shaft 13, so that the center of gravity of the rotating body moves forward, and the robot is restored to a balanced state. When the robot is restored to the balanced state, the driving assembly stops working, the rotating body maintains the current state under the action of the driving assembly, and at the moment, the whole gravity center of the robot is positioned on the vertical plane where the central axis of the wheel 2 is positioned.
The gravity of the rotating body in the present embodiment is supported by the support shaft 13, and the rotating body is driven to swing by the linear motion of the connection block 51 using the principle of leverage, the load of the driving motor 54 is small, and the reliability and stability are high. Since the distance from the center of gravity of the rotating body to the support shaft 13 is greater than the distance from the driving rod 44 to the support shaft 13, a small range of movement of the driving shaft will result in a large range of movement of the center of gravity of the rotating body, and the adjustment of the center of gravity is easy to achieve.
Example two
The structural principle of this embodiment is basically the same as that of the first embodiment, except that the power structure includes a driving motor 54 provided on the base 1, a driving sprocket driven by the driving motor 54, and a driven sprocket connected to the driving sprocket by a chain, the straightened portion of the chain extending horizontally in the front-rear direction, and the connection block 51 being fixed to the straightened portion of the chain. When the driving motor 54 works, the driving sprocket is driven to rotate, the driving sprocket drives the driven sprocket to rotate through the chain, and the straightened part of the chain moves linearly, so that the connecting block 51 is driven to move linearly.
Example III
The structural principle of this embodiment is basically the same as that of the first embodiment, except that the power structure includes a driving motor 54 provided on the base 1 and a ball screw driven by the driving motor 54, the ball screw is provided on the base 1 and horizontally extends in the front-rear direction, and the connection block 51 is sleeved on the ball screw and is in threaded engagement with the ball screw, and when the driving motor 54 drives the ball screw to rotate, the connection block 51 linearly moves in the length direction of the ball screw.
Example IV
The structural principle of this embodiment is basically the same as that of the first embodiment except that the power structure includes a rack provided on the base 1 and extending horizontally in the front-rear direction, and a gear driven by the driving motor 54, the gear being engaged with the rack, and the connection block 51 being fixed to the rack. When the driving motor 54 operates, the gear is driven to rotate, and the gear drives the rack to linearly move, so that the connecting block 51 linearly moves.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (8)
1. The wheel type transportation robot comprises a base (1) and two wheels (2) which are coaxially arranged, wherein a left support plate (11) is arranged on the left side of the base (1), and a right support plate (12) is arranged on the right side of the base, and the wheel type transportation robot is characterized in that a support shaft (13) which horizontally extends along the left-right direction and is positioned above the base (1) is arranged between the left support plate (11) and the right support plate (12), a rotating body is arranged on the support shaft (13), the distance from the center of gravity of the rotating body to the central axis of the support shaft (13) is larger than zero, and a driving component which acts on the lower part of the rotating body and is used for driving the rotating body to swing around the central axis of the support shaft (13) is arranged on the base (1); the driving assembly comprises a power structure arranged on the base (1), a connecting block (51) driven by the power structure and capable of moving along the front-back direction, and a swing arm (53) hinged on the connecting block (51) through a hinge shaft (52), wherein the hinge shaft (52) is parallel to the supporting shaft (13), and the other end of the swing arm (53) is hinged with the lower part of the rotating body; the rotating body comprises a first frame body (41) sleeved on the supporting shaft (13) and a second frame body (42) arranged opposite to the first frame body (41); a driving rod (44) which is parallel to the supporting shaft (13) and is positioned below the supporting shaft (13) is also arranged between the first frame body (41) and the second frame body (42), and the swing arm (53) is sleeved on the driving rod (44); the center of gravity of the rotating body is higher than the central axis of the supporting shaft (13), and the distance between the center of gravity of the rotating body and the supporting shaft (13) is larger than the distance between the driving rod (44) and the supporting shaft (13).
2. Wheeled conveyance robot according to claim 1, characterized in that the centre axis of the support shaft (13) is located directly above the centre axis of the wheel (2).
3. The wheeled conveyance robot according to claim 1, wherein the power structure includes a drive motor (54) provided on the base (1), a drive pulley (55) driven by the drive motor (54), and a driven pulley (57) drivingly connected to the drive pulley (55) via a timing belt (56), the straightened portion of the timing belt (56) extends horizontally in the front-rear direction, and the connecting block (51) is fixed to the straightened portion of the timing belt (56).
4. A wheeled transportation robot according to claim 3, wherein the base (1) is fixed with a first support (14) and a second support (15), the first support (14) is provided with a first rotating shaft extending horizontally in the left-right direction, the driving wheel (55) is rotatably connected to the first rotating shaft, the second support (15) is provided with a second rotating shaft parallel to the first rotating shaft, and the driven wheel (57) is rotatably connected to the second rotating shaft.
5. The wheeled transportation robot according to claim 1, characterized in that the left support plate (11) is provided with a first connecting frame (16), the right support plate (12) is provided with a second connecting frame (17), and a pallet (6) positioned above the support shaft (13) is arranged between the first connecting frame (16) and the second connecting frame (17).
6. The wheeled conveyance of claim 5 further comprising a cross bar (43) coupled to the upper ends of the first frame (41) and the second frame (42), the first frame (41) being positioned on the left side of the pallet (6), the second frame (42) being positioned on the right side of the pallet (6), the cross bar (43) being positioned above the pallet (6).
7. The wheeled conveyance of claim 6 wherein the cross bar (43) is provided with a camera/sensor/illumination source/traction interface/visualization operator panel (45).
8. The wheeled transportation robot according to claim 1, wherein the base (1) is provided with a battery and an electric box, and a controller is arranged in the battery box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010800529.7A CN111923061B (en) | 2020-08-11 | 2020-08-11 | wheeled transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010800529.7A CN111923061B (en) | 2020-08-11 | 2020-08-11 | wheeled transport robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111923061A CN111923061A (en) | 2020-11-13 |
| CN111923061B true CN111923061B (en) | 2023-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010800529.7A Active CN111923061B (en) | 2020-08-11 | 2020-08-11 | wheeled transport robot |
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| Country | Link |
|---|---|
| CN (1) | CN111923061B (en) |
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| JP2006136962A (en) * | 2004-11-11 | 2006-06-01 | Hitachi Ltd | Mobile robot |
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