CN111941434A - Multifunctional wheel type carrying robot - Google Patents
Multifunctional wheel type carrying robot Download PDFInfo
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- CN111941434A CN111941434A CN202010800120.5A CN202010800120A CN111941434A CN 111941434 A CN111941434 A CN 111941434A CN 202010800120 A CN202010800120 A CN 202010800120A CN 111941434 A CN111941434 A CN 111941434A
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- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
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- 230000008859 change Effects 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 2
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- 238000005286 illumination Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a multifunctional wheel type carrying robot, and belongs to the technical field of robots. The robot solves the problems that an existing robot is not high in flexibility and cannot park. This multi-functional wheeled carrying robot, the on-line screen storage device comprises a base, locate the left wheel of base and locate the right wheel on base right side, be equipped with the counter weight unit on the base and be used for driving the drive assembly of counter weight unit seesaw, still be equipped with the pallet that is located the counter weight unit top on the base, the top of pallet is equipped with the support, be equipped with on the support by its wobbling rocker of power unit drive, the direction level extension about the axis of rotation of rocker, the one end that the support was kept away from to the rocker is equipped with the execution apparatus. The invention can keep the robot in a balanced state by changing the position of the counterweight unit, the robot can not incline, the goods can be carried, the swing frame is matched with the integral tilting of the wheeled robot, various operations can be realized, and the flexibility is high.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a multifunctional wheel type carrying robot.
Background
At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks which are harmful to human bodies. The existing transportation robot is mostly driven by four wheels or driven by auxiliary driving wheels of universal wheels, the base is large in size, high in manufacturing cost and large in required walking space, and the robot is not beneficial to moving and transferring.
Therefore, the Chinese patent discloses a multi-degree-of-freedom gravity-center-variable two-wheeled robot (with an authorization publication number of CN 102923204B), which is modified on the basis of a common two-wheeled robot, two degrees of freedom are added to change the gravity center, so that the balance of the two-wheeled vehicle is better maintained in motion, wherein one degree of freedom is a bearing slide block on the two-wheeled robot, and the position of the gravity center is changed by adjusting the position of the slide block on a carrying plate of the robot.
Although the robot can adjust the gravity center by changing the position of the slide block, the slide block is positioned at the uppermost part of the robot, and when the position of the slide block is changed, the inclination state of the robot needs to be changed to maintain balance, so that the robot is not beneficial to carrying goods, and the application range is small. And the parking component is not arranged, when the robot collides with an obstacle at a high speed, the robot can topple over under the action of inertia, and the robot is not favorably recycled in a limit space.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a multifunctional wheel type carrying robot with wide and flexible motion range.
The purpose of the invention can be realized by the following technical scheme:
multifunctional wheel formula carrying robot, including the base, locate the left wheel of base and locate the right wheel on base right side, the base on be equipped with counter weight unit and be used for driving the drive assembly of counter weight unit seesaw, the base on still be equipped with the pallet that is located counter weight unit top, the top of pallet is equipped with the support, the support on be equipped with its wobbling rocker of drive by power pack, the direction level extends about the rotation center line of rocker is followed, the rocker keep away from the one end of support and be equipped with the execution apparatus.
The left wheel and the right wheel are respectively one and are coaxially arranged. The left wheel is driven by a first in-wheel motor arranged in the left wheel, and the right wheel is driven by a second in-wheel motor arranged in the right wheel. The first hub motor and the second hub motor respectively comprise an inner stator and an outer rotor sleeved on the inner stator, the outer rotor rotates around the central axis of the inner stator during working, the left wheel is fixed on the outer rotor of the first hub motor, and the right wheel is fixed on the outer rotor of the second hub motor. When the rotating speeds of the left wheel and the right wheel are the same, the robot moves linearly; when the rotating speeds of the left wheel and the right wheel are different, the robot can steer: when the speed of the left wheel is higher than that of the right wheel, the robot turns to the right, otherwise, the robot turns to the left.
The front and back movement of the counterweight unit can change the gravity center of the whole robot, so that the balance state of the robot is adjusted. When the robot is in a balanced state, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel on the horizontal plane.
The executing device can be a camera, a sensor, an illumination source, a traction interface and the like, can realize operations such as image pickup, gas detection, cable traction and the like by matching with the integral tilting of the wheeled robot, and can also execute operations such as pressing an elevator and the like. The implement may also be a robotic arm.
The power unit for driving the swing frame to swing is a motor, the motor is fixed on the support, one end of the swing frame, far away from the execution instrument, is fixedly connected with an output shaft of the motor, or a speed reducer driven by the motor is arranged at the front end of the motor, and one end of the swing frame, far away from the execution instrument, is fixedly connected with an output shaft of the speed reducer. When the motor works, the swing frame is driven to swing.
In foretell multi-functional wheeled carrying robot, the left side of base is equipped with the left side board, and its right side is equipped with the right side board, left wheel locate on the left side board, right wheel locate on the right side board, the pallet locate between left side board and the right side board, the bottom of pallet is equipped with the mounting panel, and foretell drive assembly locates on the mounting panel.
The left side plate and the right side plate are symmetrically arranged on the left side and the right side of the base; the left end of the pallet is fixedly connected with the left side plate, and the right end of the pallet is fixedly connected with the right side plate; the left end of the bracket is fixedly connected with the top of the left side plate, and the right end of the bracket is fixedly connected with the top of the right side plate. The stator of the first in-wheel motor for driving the left wheel is fixed on the left side plate, and the stator of the second in-wheel motor for driving the right wheel is fixed on the right side plate. Wherein, the axis of the left wheel is vertical to the mounting plate.
In the multifunctional wheel type carrying robot, the driving assembly comprises a driving motor arranged on the mounting plate, a driving wheel driven by the driving motor, a first driven wheel, a second driven wheel arranged on the mounting plate, and a transmission belt sequentially wound on the driving wheel, the first driven wheel and the second driven wheel, wherein the straightened part of the transmission belt of the first driven wheel and the second driven wheel horizontally extends in the front-back direction, and the counterweight unit is connected to the straightened part of the transmission belt of the first driven wheel and the second driven wheel.
Driving motor is located one side of mounting panel, and action wheel, first from driving wheel, second from driving wheel and drive belt to be located the opposite side of mounting panel, and driving motor during operation drives the action wheel and rotates, and the action wheel passes through the drive belt and drives first from driving wheel and second from synchronous rotation of driving wheel. The straight parts of the transmission belt are straightened by the first driven wheel and the second driven wheel to move linearly in the front-back direction, so that the counterweight unit fixedly connected on the transmission belt is driven to move back and forth.
In foretell multi-functional wheeled delivery robot, the mounting panel on seted up first guide way, slide and locate the first guide block in the first guide way and fix the first stopper on the mounting panel, first stopper female connection have first regulation pole, the one end and the first guide block rotatable coupling of first regulation pole, first guide block on be equipped with the first tight pulley that is used for the tensioning drive belt.
The first guide groove extends along a connecting line perpendicular to the driving wheel and the first driven wheel, and when the first adjusting rod is rotated, the first guide block can be driven to slide in the first guide groove, so that the position of the first tensioning wheel is changed, and the purpose of tensioning the transmission belt is achieved.
In the multifunctional wheel type carrying robot, the mounting plate is further provided with a second guide groove, a second guide block arranged in the second guide groove in a sliding mode and a second limiting block fixed on the mounting plate, a second adjusting rod is connected to the second limiting block in an internal thread mode, one end of the second adjusting rod is rotatably connected with the second guide block, and a second tensioning wheel used for tensioning a transmission belt is arranged on the second guide block.
The second guide groove extends along a connecting line perpendicular to the driving wheel and the second driven wheel, and when the second adjusting rod is rotated, the second guide block can be driven to slide in the second guide groove, so that the position of the second tensioning wheel is changed, and the purpose of tensioning the transmission belt is achieved.
Wherein, the first guide way and the second guide way are symmetrically arranged.
In the multifunctional wheel type carrying robot, the middle part of the base is provided with a guide rail extending along the front-back direction, the guide rail is provided with a sliding block, and the counterweight unit is arranged on the sliding block. The guide rail is a linear guide rail, and the gravity center of the counterweight unit is positioned right above the linear guide rail.
In the above-described multi-functional wheeled carrier robot, the counterweight unit includes a slide box fixed to the slide block and a built-in member provided in the slide box. All be equipped with the slip case in the both sides of slider, all be equipped with inherent part in the slip case, inherent part is the indispensable part of robot, does not increase the weight of robot, can improve load capacity. The inherent parts can be a battery and an electric box of the robot, the battery provides electric energy for the two hub motors and the driving motor, and a controller is arranged in the electric box and controls the action of each hub motor and the action of the driving motor. A gyro sensor for sensing balance is arranged in the pallet or in the electrical box, and the gyro sensor is electrically connected with a signal input end of the controller.
In the multifunctional wheel type carrying robot, a first guide hole is longitudinally formed in the front part of the base, a first parking rod is slidably matched in the first guide hole, and a first rack longitudinally extending is connected to the first parking rod; the base on link firmly first parking motor, coaxial first gear that has linked firmly on the output shaft of first parking motor, first gear and first rack toothing.
When the robot needs to park in the forward process, a signal is transmitted to the controller, the controller controls the first parking motor to work, the first gear is driven to rotate, the first gear drives the first rack to move downwards, the first parking rod is driven to move downwards, and the lower end of the first parking rod is abutted to a walking plane to achieve parking. At the moment, the robot is integrally supported at three points through the left wheel, the right wheel and the first parking rod, and the stability of the robot is improved. In order to improve the parking effect, set up the elasticity shock pad at the lower extreme of first parking pole. When the robot is in a parking state, the connecting line of the contact points of the left wheel, the right wheel and the first parking rod with the ground is triangular.
In the multifunctional wheel type carrying robot, a second guide hole is longitudinally formed in the rear part of the base, a second parking rod is slidably matched in the second guide hole, and a second rack longitudinally extending is connected to the second parking rod; the base on link firmly the second parking motor, coaxial second gear that has linked firmly on the output shaft of second parking motor, second gear and the meshing of second rack.
When the robot needs to park in a vehicle in the backward moving process, a signal is transmitted to the controller, the controller controls the second parking motor to work to drive the second gear to rotate, the second gear drives the second rack to move downwards so as to drive the second parking rod to move downwards, and the lower end of the second parking rod is abutted against a walking plane to realize parking. At the moment, the robot is integrally supported at three points through the left wheel, the right wheel and the second parking rod, and the stability of the robot is improved. In order to improve the parking effect, an elastic shock pad is arranged at the lower end of the second parking rod. When the robot is in a parking state, the connecting line of the contact points of the left wheel, the right wheel and the second parking rod with the ground is triangular.
When the robot is in equilibrium, the base and the upper surface of the pallet are level with the horizontal plane. After the goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the pallet cannot incline, thereby being beneficial to carrying the goods.
When no goods are placed on the pallet, the projection point of the center of gravity of the whole robot on the horizontal plane is located on the projection line of the central axis of the left wheel on the horizontal plane, and the robot keeps a balanced state. When the projection point of the gravity center of the placed goods on the horizontal plane is located on the projection line of the central axis of the left wheel on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit to move back and forth.
When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned in front of the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and has a tendency of forward dumping, and at the moment, the driving assembly drives the counterweight unit to move backwards, so that the projection point of the center of gravity of the whole robot on the horizontal plane returns to the projection line of the central axis of the left wheel on the horizontal plane. When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and has a tendency of toppling backwards, and at the moment, the driving assembly drives the counterweight unit to move forwards, so that the projection point of the center of gravity of the whole robot on the horizontal plane returns to the projection line of the central axis of the left wheel on the horizontal plane.
Compared with the prior art, the multifunctional wheel type carrying robot has the following advantages:
after goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the robot cannot incline, so that the goods can be carried; the first parking rod and the second parking rod are arranged, so that the robot can be parked, the stability of the robot is improved, and the robot is effectively prevented from toppling; the whole of rocker cooperation wheeled robot verts, can realize multiple operation, and the flexibility is high.
Drawings
Fig. 1 is a schematic structural view of a robot provided by the present invention when loaded with goods.
Fig. 2 is a schematic structural diagram of a robot provided by the present invention.
Fig. 3 is a schematic view of a partial structure of the robot provided by the present invention.
Fig. 4 is a schematic structural diagram of a driving assembly provided by the present invention.
Fig. 5 is a schematic view of another structure of the driving assembly provided by the present invention.
In the figure, 1, a base; 2. a left wheel; 3. a right wheel; 4. a pallet; 5. a support; 6. a power unit; 7. placing a frame; 8. an implement; 9. a left side plate; 10. a right side plate; 11. mounting a plate; 12. a drive motor; 13. a driving wheel; 14. a first driven wheel; 15. a second driven wheel; 16. a transmission belt; 17. a first guide groove; 18. a first guide block; 19. a first stopper; 20. a first adjusting lever; 21. a first tensioning wheel; 22. a second guide groove; 23. a second guide block; 24. a second limiting block; 25. a second adjusting lever; 26. a second tensioning wheel; 27. a guide rail; 28. a slider; 29. a slide box; 30. a built-in component; 31. a first parking lever; 32. a first rack; 33. a first parking motor; 34. a first gear; 35. a second parking lever; 36. a second rack; 37. a second parking motor; 38. a second gear.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 and 2, the multifunctional wheeled carrier robot includes a base 1, a left wheel 2 provided on the left side of the base 1, and a right wheel 3 provided on the right side of the base 1. Specifically, as shown in fig. 3, a left side plate 9 is disposed on the left side of the base 1, a right side plate 10 is disposed on the right side of the base 1, and the left side plate 9 and the right side plate 10 are symmetrically disposed on the left and right sides of the base 1. The left wheel 2 is arranged on the left side plate 9, the right wheel 3 is arranged on the right side plate 10, and the left wheel 2 and the right wheel 3 are respectively one and coaxially arranged. The left wheel 2 is driven by a first in-wheel motor arranged inside the left wheel, and the right wheel 3 is driven by a second in-wheel motor arranged inside the right wheel. The first hub motor and the second hub motor respectively comprise an inner stator and an outer rotor sleeved on the inner stator, the outer rotor rotates around the central axis of the inner stator during working, the left wheel 2 is fixed on the outer rotor of the first hub motor, and the right wheel 3 is fixed on the outer rotor of the second hub motor. When the rotating speeds of the left wheel 2 and the right wheel 3 are the same, the robot moves linearly; when the rotating speeds of the left wheel 2 and the right wheel 3 are different, the robot can be steered: when the speed of the left wheel 2 is higher than that of the right wheel 3, the robot turns to the right, otherwise, the robot turns to the left.
As shown in fig. 3, a pallet 4 and a bracket 5 are respectively arranged between the left side plate 9 and the right side plate 10 from bottom to top, the left end of the pallet 4 is fixedly connected with the left side plate 9, and the right end thereof is fixedly connected with the right side plate 10; the left end of the bracket 5 is fixedly connected with the top of the left side plate 9, and the right end of the bracket is fixedly connected with the top of the right side plate 10. As shown in fig. 3, a swing frame 7 driven by a power unit 6 to swing is arranged on the support 5, a rotation center line of the swing frame 7 horizontally extends along the left-right direction, and an executing device 8 is arranged at one end of the swing frame 7 far away from the support 5. In this embodiment, the power unit 6 for driving the swing frame 7 to swing is a motor, the motor is fixed on the support 5, one end of the swing frame 7, which is far away from the execution apparatus 8, is fixedly connected with an output shaft of the motor, or a speed reducer driven by the motor is arranged at the front end of the motor, and one end of the swing frame 7, which is far away from the execution apparatus 8, is fixedly connected with an output shaft of the speed reducer. When the motor works, the swing frame 7 is driven to swing.
The actuator 8 may be a camera, a sensor, an illumination source, a traction interface, or the like, and may perform operations such as image pickup, gas detection, cable traction, or the like in accordance with the entire tilting of the wheeled robot, or may perform operations such as pressing an elevator. The implement 8 may also be a robotic arm.
The base 1 is provided with a counterweight unit, the bottom of the pallet 4 is provided with a mounting plate 11, and the mounting plate 11 is provided with a driving assembly for driving the counterweight unit to move back and forth. The front and back movement of the counterweight unit can change the gravity center of the whole robot, so that the balance state of the robot is adjusted. When the robot is in a balanced state, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel 2 on the horizontal plane.
As shown in fig. 4, the driving assembly includes a driving motor 12 provided on the mounting plate 11, a driving pulley 13 driven by the driving motor 12, a first driven pulley 14 provided on the mounting plate 11, a second driven pulley 15, and a driving belt 16 sequentially wound around the driving pulley 13, the first driven pulley 14, and the second driven pulley 15, a portion of the driving belt 16 straightened by the first driven pulley 14 and the second driven pulley 15 horizontally extends in the front-rear direction, and a weight unit is connected to the portion of the driving belt 16 straightened by the first driven pulley 14 and the second driven pulley 15. The driving motor 12 is located on one side of the mounting plate 11, the driving wheel 13, the first driven wheel 14, the second driven wheel 15 and the transmission belt 16 are located on the other side of the mounting plate 11, the driving wheel 13 is driven to rotate when the driving motor 12 works, and the driving wheel 13 drives the first driven wheel 14 and the second driven wheel 15 to synchronously rotate through the transmission belt 16. The portion of the belt 16 straightened by the first driven pulley 14 and the second driven pulley 15 moves linearly in the front-rear direction, thereby moving the counterweight unit attached thereto back-and-forth.
As shown in fig. 5, the mounting plate 11 is provided with a first guide groove 17, a first guide block 18 slidably disposed in the first guide groove 17, and a first limit block 19 fixed on the mounting plate 11, the first limit block 19 is internally threaded with a first adjusting rod 20, one end of the first adjusting rod 20 is rotatably connected with the first guide block 18, and the first guide block 18 is provided with a first tensioning wheel 21 for tensioning the driving belt 16. The first guide slot 17 extends along a line perpendicular to the driving wheel 13 and the first driven wheel 14, and when the first adjusting lever 20 is rotated, the first guide block 18 can be driven to slide in the first guide slot 17, so that the position of the first tensioning wheel 21 is changed, and the purpose of tensioning the transmission belt 16 is achieved.
As shown in fig. 5, the mounting plate 11 is further provided with a second guide groove 22, a second guide block 23 slidably disposed in the second guide groove 22, and a second limit block 24 fixed on the mounting plate 11, the second limit block 24 is connected with a second adjusting rod 25 through an internal thread, one end of the second adjusting rod 25 is rotatably connected with the second guide block 23, and the second guide block 23 is provided with a second tensioning wheel 26 for tensioning the transmission belt 16. The second guiding groove 22 extends along a line perpendicular to the driving wheel 13 and the second driven wheel 15, and when the second adjusting rod 25 is rotated, the second guiding block 23 can be driven to slide in the second guiding groove 22, so that the position of the second tensioning wheel 26 is changed, and the purpose of tensioning the transmission belt 16 is achieved.
Wherein, the first guide slot 17 and the second guide slot 22 are symmetrically arranged.
As shown in fig. 4 and 5, the base 1 has a guide rail 27 extending in the front-rear direction at a middle portion thereof, a slider 28 is provided on the guide rail 27, and a weight unit is provided on the slider 28. The guide rail 27 is a linear guide rail 27, and the center of gravity of the counterweight unit is located directly above the linear guide rail 27.
As shown in fig. 4 to 5, the counterweight unit includes a slide case 29 fixed to the slider 28 and an intrinsic member 30 provided inside the slide case 29. The slide boxes 29 are arranged on both sides of the slide block 28, the inherent parts 30 are arranged in the slide boxes 29, and the inherent parts 30 are indispensable parts of the robot, so that the weight of the robot is not increased, and the load capacity can be improved. The intrinsic components 30 may be a battery of the robot, which supplies power to the two in-wheel motors and the driving motor 12, and an electrical box in which a controller is provided, which controls the operation of each in-wheel motor and the operation of the driving motor 12. A gyro sensor for sensing balance is provided in the pallet 4 or in the electrical box, the gyro sensor being electrically connected to the signal input of the controller.
As shown in fig. 5, the front part of the base 1 is provided with a longitudinally arranged first guide hole, a first parking rod 31 is slidably fitted in the first guide hole, and a longitudinally extending first rack 32 is connected to the first parking rod 31; the base 1 is fixedly connected with a first parking motor 33, an output shaft of the first parking motor 33 is coaxially and fixedly connected with a first gear 34, and the first gear 34 is meshed with the first rack 32.
When the robot needs to park in the forward process, a signal is transmitted to the controller, the controller controls the first parking motor 33 to work to drive the first gear 34 to rotate, the first gear 34 drives the first rack 32 to move downwards so as to drive the first parking rod 31 to move downwards, and the lower end of the first parking rod 31 abuts against a walking plane to park. At this time, the robot is integrally supported at three points through the left wheel 2, the right wheel 3 and the first parking rod 31, so that the stability of the robot is improved. In order to improve the parking effect, an elastic cushion is provided at the lower end of the first parking lever 31. When the robot is in the parking state, the connecting line of the contact points of the left wheel 2, the right wheel 3 and the first parking rod 31 with the ground is a triangle.
As shown in fig. 5, the rear portion of the base 1 has a second guide hole arranged longitudinally, a second parking rod 35 is slidably fitted in the second guide hole, and a second rack 36 extending longitudinally is connected to the second parking rod 35; the base 1 is fixedly connected with a second parking motor 37, an output shaft of the second parking motor 37 is coaxially and fixedly connected with a second gear 38, and the second gear 38 is meshed with the second rack 36.
When the robot needs to park in a backward moving process, a signal is transmitted to the controller, the controller controls the second parking motor 37 to work to drive the second gear 38 to rotate, the second gear 38 drives the second rack 36 to move downwards so as to drive the second parking rod 35 to move downwards, and the lower end of the second parking rod 35 abuts against a walking plane to park. At this time, the robot is integrally supported at three points through the left wheel 2, the right wheel 3 and the second parking rod 35, so that the stability of the robot is improved. In order to improve the parking effect, an elastic cushion is provided at the lower end of the second parking rod 35. When the robot is in the parking state, the connecting lines of the contact points of the left wheel 2, the right wheel 3 and the second parking rod 35 with the ground are triangular.
When the robot is in equilibrium, the upper surfaces of the base 1 and pallet 4 are level with the horizontal plane. When the goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the pallet 4 can not incline, thereby being beneficial to carrying the goods.
When no goods are placed on the pallet 4, the projection point of the center of gravity of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel 2 on the horizontal plane, and the robot keeps a balanced state. When the projection point of the gravity center of the placed goods on the horizontal plane is located on the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit to move back and forth.
When the projection point of the center of gravity of the placed goods on the horizontal plane is located in front of the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is unbalanced and tends to topple forwards, and at the moment, the driving assembly drives the counterweight unit to move backwards, so that the projection point of the center of gravity of the whole robot on the horizontal plane returns to the projection line of the central axis of the left wheel 2 on the horizontal plane. When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is unbalanced and has a tendency of toppling backwards, and at the moment, the driving assembly drives the counterweight unit to move forwards, so that the projection point of the center of gravity of the whole robot on the horizontal plane returns to the projection line of the central axis of the left wheel 2 on the horizontal plane.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a multi-functional wheeled delivery robot, includes base (1), locates left wheel (2) on base (1) left and right wheel (3) on base (1) right side, its characterized in that, base (1) on be equipped with counter weight unit and be used for driving counter weight unit seesaw's drive assembly, base (1) on still be equipped with pallet (4) that are located counter weight unit top, the top of pallet (4) is equipped with support (5), support (5) on be equipped with and drive its wobbling rocker (7) by power pack (6), the direction level extends about the direction of rotation center line of rocker (7) is followed, rocker (7) keep away from the one end of support (5) and be equipped with executor (8).
2. A multi-function wheeled carrier robot as claimed in claim 1, characterised in that said base (1) is provided with a left side plate (9) on the left side and a right side plate (10) on the right side, said left wheel (2) is provided on said left side plate (9), said right wheel (3) is provided on said right side plate (10), said pallet (4) is provided between said left side plate (9) and said right side plate (10), said pallet (4) is provided with a mounting plate (11) on the bottom, and said drive assembly is provided on said mounting plate (11).
3. A multi-function wheeled carrier robot as claimed in claim 2, wherein said drive assembly includes a drive motor (12) mounted on the mounting plate (11), a driving wheel (13) driven by the drive motor (12), a first driven wheel (14) mounted on the mounting plate (11), a second driven wheel (15), and a belt (16) sequentially wound around the driving wheel (13), the first driven wheel (14) and the second driven wheel (15), said belt (16) being horizontally extended in a front-rear direction by the straightened portion of the first driven wheel (14) and the straightened portion of the second driven wheel (15), said weight unit being connected to the straightened portion of the belt (16) by the first driven wheel (14) and the straightened portion of the second driven wheel (15).
4. The multifunctional wheel type carrying robot as claimed in claim 3, wherein the mounting plate (11) is provided with a first guide groove (17), a first guide block (18) slidably disposed in the first guide groove (17), and a first limit block (19) fixed on the mounting plate (11), the first limit block (19) is internally threaded with a first adjusting rod (20), one end of the first adjusting rod (20) is rotatably connected with the first guide block (18), and the first guide block (18) is provided with a first tensioning wheel (21) for tensioning the transmission belt (16).
5. The multi-functional wheeled carrier robot of claim 4, characterized in that said mounting plate (11) further has a second guide groove (22), a second guide block (23) slidably disposed in the second guide groove (22), and a second stopper (24) fixed on the mounting plate (11), said second stopper (24) is internally threaded with a second adjusting lever (25), one end of said second adjusting lever (25) is rotatably connected with the second guide block (23), said second guide block (23) is provided with a second tensioning wheel (26) for tensioning the transmission belt (16).
6. A multi-function wheeled carrier robot according to claim 1, characterized in that the base (1) has a guide rail (27) extending in the fore-and-aft direction at the middle thereof, the guide rail (27) is provided with a slide block (28), and the weight unit is provided on the slide block (28).
7. A multi-function wheeled carrier robot according to claim 6, characterised in that said counterweight unit comprises a sliding box (29) fixed to the sliding block (28) and a built-in part (30) provided in the sliding box (29).
8. The multi-function wheeled carrier robot of claim 1, characterized in that the front part of the base (1) is provided with a first guiding hole arranged longitudinally, a first parking rod (31) is slidably fitted in the first guiding hole, and a first rack (32) extending longitudinally is connected to the first parking rod (31); base (1) on link firmly first parking motor (33), coaxial first gear (34) of having linked firmly on the output shaft of first parking motor (33), first gear (34) and first rack (32) meshing.
9. The multi-function wheeled carrier robot of claim 1 or 8, characterized in that the rear part of the base (1) is provided with a second guide hole arranged longitudinally, a second parking rod (35) is slidably fitted in the second guide hole, and a second rack (36) extending longitudinally is connected to the second parking rod (35); base (1) on link firmly second parking motor (37), coaxial second gear (38) that has linked firmly on the output shaft of second parking motor (37), second gear (38) and second rack (36) meshing.
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| CN202010800120.5A CN111941434B (en) | 2020-08-11 | 2020-08-11 | Multifunctional wheel type carrying robot |
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| CN202010800120.5A CN111941434B (en) | 2020-08-11 | 2020-08-11 | Multifunctional wheel type carrying robot |
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| CN111941434A true CN111941434A (en) | 2020-11-17 |
| CN111941434B CN111941434B (en) | 2023-12-05 |
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| CN115805577A (en) * | 2021-04-19 | 2023-03-17 | 北京信息职业技术学院 | Wheeled robot |
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| CN111941434B (en) | 2023-12-05 |
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