CN112550497A - Walking assembly for automatic loading robot - Google Patents
Walking assembly for automatic loading robot Download PDFInfo
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- CN112550497A CN112550497A CN202110222536.8A CN202110222536A CN112550497A CN 112550497 A CN112550497 A CN 112550497A CN 202110222536 A CN202110222536 A CN 202110222536A CN 112550497 A CN112550497 A CN 112550497A
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- loading robot
- driving
- driving part
- automatic loading
- guide wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
- B62D55/0847—Track blocking devices mounted on the frame; Track guides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a walking assembly for an automatic loading robot, which comprises a supporting part (2), a first driving part (1) and a second driving part (3), wherein two sides of the supporting part (2) are respectively connected with the first driving part (1) and the second driving part (3), the first driving part (1) and the second driving part (3) have the same structure, and the middle of the supporting part (2) is symmetrical. The loading robot can be arranged on the supporting part, so that the assembly is convenient, the loading robot can be conveniently combined with the loading robot, when the loading robot is used, the loading robot can be conveniently moved through the walking assembly, and the working efficiency of the loading robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of automatic loading robots, in particular to a walking assembly for an automatic loading robot.
Background
With the rapid development of modern science and technology, the production mode of human beings has been changed essentially, manpower is gradually replaced by machinery, and more mechanical devices are widely applied to industrial manufacturing. The emergence of the industrial robot marks that the industrial machine manufacturing enters a new stage, the use of the industrial robot greatly improves the industrial manufacturing production efficiency, and simultaneously promotes the industrial production to advance to an automatic track, so that the strengthening of the installation and debugging of the walking mechanism of the industrial robot is vital in the rapid development of the industrial manufacturing industry today.
In the industrial production field, industrial robot running gear is extremely important, if the installation goes wrong, not only can influence the performance of robot equipment, still can lead to industrial robot life to reduce simultaneously, and can lead to the industrial robot safety to cause the influence, cause the damage to the economic benefits of enterprise, and the running gear of some industrial robots that have now when mutually supporting the use rather than the automatic loading system, there is the structure complicacy, inconvenient equipment and inconvenient problem with the carloader robot phase combination, consequently the urgent need improve.
Disclosure of Invention
The invention aims to provide a traveling assembly for an automatic loading robot, which is characterized in that two sides of a supporting part are respectively connected with a first driving part and a second driving part, the first driving part and the second driving part are set to be in the same structure, the middle parts of the supporting parts are symmetrical, the loading robot can be arranged on the supporting part, the assembly is convenient, the assembly and the combination with the loading robot are also convenient, when the traveling assembly is used, the loading robot can be conveniently moved, the working efficiency of the loading robot is greatly improved, and the problems in the background technology can be solved.
In order to solve the technical problems, the technical scheme of the walking assembly for the automatic loading robot provided by the invention is as follows:
the embodiment of the invention discloses a walking assembly for an automatic loading robot, which comprises a supporting part, a first driving part and a second driving part, wherein two sides of the supporting part are respectively connected with the first driving part and the second driving part, and the first driving part and the second driving part have the same structure and are symmetrical in the middle of the supporting part.
In any one of the above schemes, preferably, the support portion includes a base and a support seat, two sides of the base are respectively connected with the first driving portion and the second driving portion, and the support seat is disposed on the base.
In any one of the above aspects, preferably, the first driving part includes a support frame, and one side of the support frame is connected to one side of the base.
In any one of the above schemes, preferably, the first driving portion includes a first connector and a second connector, and the first connector and the second connector are disposed at two ends of the supporting frame.
In any one of the above aspects, preferably, the first driving portion includes a pulley and a driving sprocket, the pulley is provided on the first joint, and the driving sprocket is provided on the second joint.
In any one of the above aspects, preferably, the first driving unit includes a crawler belt, and the crawler belt is wound around the pulley and the driving sprocket.
In any one of the above schemes, preferably, the first driving part includes a driving motor, the driving motor is disposed on the second connecting head, and an output end of the driving motor is connected to the driving sprocket.
In any one of the above schemes, preferably, the first driving portion includes a clamping block, and the clamping block is disposed on the track to realize the rotation connection between the clamping block and the driving sprocket.
In any one of the above schemes, preferably, the first driving portion includes an upper supporting guide wheel and a lower supporting guide wheel, the upper supporting guide wheel is disposed on the upper portion of the supporting frame, the lower supporting guide wheel is disposed on the lower portion of the supporting frame, and the track is disposed around the outer portions of the upper supporting guide wheel and the lower supporting guide wheel so as to realize the sliding connection between the upper supporting guide wheel and the clamping block and between the lower supporting guide wheel and the clamping block.
In any of the above schemes, preferably, the traveling assembly for the automatic loading robot further comprises a buffer part, the buffer part comprises a pressing block, a spring, a shaft rod and an ear plate, one end of the shaft rod penetrates through the middle of the spring and is connected with the support frame, the other end of the shaft rod is connected with the pressing block, the pressing block is connected with one end of the ear plate, and the ear plate is rotatably connected with the pulley through a shaft.
Compared with the prior art, the invention has the beneficial effects that:
through being connected first drive division and second drive division respectively with the supporting part both sides, set first drive division and second drive division to the same structure to with supporting part middle part symmetry, can install loading robot on the supporting part, not only convenient equipment, but also make up with loading robot conveniently, when using, through the walking subassembly, can conveniently remove loading robot, greatly improved loading robot's work efficiency. And the local optimal path is searched through the RRT to control the walking unit to effectively avoid collision and ensure the walking safety.
Drawings
The drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
Fig. 1 is a perspective view of a preferred embodiment of a walking assembly for an automatic loading robot according to the present invention.
Fig. 2 is a perspective view of the traveling assembly for the automatic loading robot of fig. 1 with a portion of the track removed, according to the present invention.
Fig. 3 is an enlarged view of a portion a of fig. 2 of the traveling assembly for the automatic loading robot according to the present invention.
Fig. 4 is another perspective view of the undercarriage assembly for an automatic loading robot of fig. 1 with a portion of the track removed, according to the present invention.
Fig. 5 is a schematic view of the walking assembly for the automatic loading robot of fig. 1 with a portion of the rear buffer of the track removed, according to the present invention.
Fig. 6 is an enlarged view of a traveling assembly for the automatic loading robot at B in fig. 5 according to the present invention.
The reference numbers in the figures illustrate:
1. a first driving section; 11. a crawler belt; 12. a support frame; 13. a clamping block; 14. a first connector; 15. an upper support guide wheel; 151. a lower supporting guide wheel; 16. a pulley; 17. a drive motor; 18. a drive sprocket; 19. a second connector;
2. a support portion; 21. a base; 22. a supporting seat;
3. a second driving section; 4. a buffer section; 41. briquetting; 42. a spring; 43. a shaft lever; 44. an ear plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
For better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the drawings and the detailed description of the present invention.
Example 1:
as shown in fig. 1, the embodiment of the invention discloses a traveling assembly for an automatic loading robot, which comprises a supporting part 2, a first driving part 1 and a second driving part 3, wherein two sides of the supporting part 2 are respectively connected with the first driving part 1 and the second driving part 3, and the first driving part 1 and the second driving part 3 have the same structure and are symmetrical with the middle of the supporting part 2.
In the walking assembly for the automatic loading robot, two sides of a supporting part 2 are respectively connected with a first driving part 1 and a second driving part 3; the first driving part 1 and the second driving part 3 are arranged in the same structure and are symmetrical with the middle of the supporting part 2, wherein the first driving part 1 and the second driving part 3 are in the same structure. Can install the loading robot on supporting part 2, not only conveniently assemble, but also make things convenient for and the combination of loading robot, when using, through the walking subassembly, can conveniently remove the loading robot, greatly improved the work efficiency of loading robot.
As shown in fig. 1 and 2, the support portion 2 includes a base 21 and a support seat 22, two sides of the base 21 are respectively connected to the first driving portion 1 and the second driving portion 3, and the support seat 22 is disposed on the base 21.
In the walking assembly for the automatic loading robot according to the embodiment of the present invention, the base 21 and the supporting seat 22 are connected by screws, so that they can be conveniently assembled together, and thus the assembling efficiency can be conveniently improved, and both sides of the base 21 are respectively connected with the first driving part 1 and the second driving part 3 by screws, so that they can be assembled into a whole.
As shown in fig. 1 and 2, the first driving part 1 includes a support frame 12, one side of the support frame 12 is connected to one side of the base 21, and when the first driving part is assembled, one side of the support frame 12 is connected to one side of the base 21 by screws or welded.
As shown in fig. 2, fig. 3 and fig. 4, the first driving portion 1 includes a first connector 14 and a second connector 19, the first connector 14 and the second connector 19 are disposed at two ends of the supporting frame 12, when assembling, the first connector 14 is connected to one end of the supporting frame 12 through a screw, and the second connector 19 is connected to the other end of the supporting frame 12 through a screw, so as to facilitate disassembling and assembling.
As shown in fig. 2, 3 and 4, the first driving part 1 includes a pulley 16 and a driving sprocket 18, the pulley 16 is disposed on the first connecting head 14, the driving sprocket 18 is disposed on the second connecting head 19, when assembled, a through hole is formed in the middle of the pulley 16, and when the pulley 16 is mounted in the middle of the first connecting head 14, a shaft passes through the through holes in the middle of the first connecting head 14 and the pulley 16, so that the pulley 16 can rotate on the first connecting head 14.
As shown in fig. 2, 3 and 4, the first driving part 1 includes a track 11, and the track 11 is wound around the pulley 16 and the driving sprocket 18; still include driving motor 17, driving motor 17 set up in on the second connector 19, just driving motor 17 output with drive sprocket 18 is connected.
In the walking assembly for the automatic loading robot according to the embodiment of the present invention, when assembling, the driving motor 17 is fixed to one side of the second connector 19 by screws, the output end of the driving motor 17 is connected to the middle of the driving sprocket 18, so that the driving motor 17 drives the driving sprocket 18 to rotate, the track 11 is wound around the pulley 16 and the driving sprocket 18, and when the driving motor 17 drives the driving sprocket 18 to rotate, the driving sprocket 18 drives the track 11 to rotate.
As shown in fig. 2, 3 and 4, the first driving portion 1 includes a fixture block 13, the fixture block 13 is disposed on the track 11 to realize that the fixture block 13 is rotatably connected to the driving sprocket 18, when the assembly is performed, the fixture block 13 is connected to the track 11 by a screw, the fixture block 13 has a hole matched with the driving sprocket 18, and when the driving sprocket 18 is connected to the hole of the fixture block 13, the driving sprocket 18 drives the fixture block 13 to rotate, so as to drive the track 11 to generate friction with the ground, thereby realizing movement.
As shown in fig. 2, 3 and 4, the first driving part 1 includes an upper supporting guide wheel 15 and a lower supporting guide wheel 151, the upper supporting guide wheel 15 is disposed on the upper portion of the supporting frame 12, the lower supporting guide wheel 151 is disposed on the lower portion of the supporting frame 12, and the track 11 is wound around the upper supporting guide wheel 15 and the lower supporting guide wheel 151 to realize the sliding connection between the upper supporting guide wheel 15 and the lower supporting guide wheel 151 and the fixture block 13.
In the walking assembly for the automatic loading robot according to the embodiment of the present invention, when the assembly is performed, the upper supporting guide wheel 15 is connected to the supporting frame 12 by a screw, so that the position between the screw and the supporting frame 12 and the upper supporting guide wheel 15 can be changed to adjust the upper supporting guide wheel 15, the lower supporting guide wheel 151 is connected to the lower portion of the supporting frame 12 by a screw, and the track 11 is wound around the outer portions of the upper supporting guide wheel 15 and the lower supporting guide wheel 151 to achieve the sliding connection between the upper supporting guide wheel 15 and the lower supporting guide wheel 151 and the fixture block 13, and when the position between the screw and the supporting frame 12 and the upper supporting guide wheel 15 is changed or the position between the screw and the lower supporting guide wheel 151 and the supporting frame 12 is changed, the tightness of the track 11 can be conveniently adjusted, and the use is facilitated.
As shown in fig. 5 and 6, the traveling assembly for the automatic loading robot further includes a buffer 4, the buffer 4 includes a pressing block 41, a spring 42, a shaft 43 and an ear plate 44, one end of the shaft 43 passes through the middle of the spring 42 and is connected to the support frame 12, the other end of the shaft 43 is connected to the pressing block 41, the pressing block 41 is connected to one end of the ear plate 44, and the ear plate 44 is rotatably connected to the pulley 16 through a shaft.
In the traveling assembly for the automatic loading robot according to the embodiment of the present invention, when the assembly is performed, the spring 42 is wound around the shaft rod 43, one end of the shaft rod 43 passes through the middle of the spring 42 and is connected to the support frame 12, the other end of the shaft rod 43 is connected to the pressing block 41, the pressing block 41 is connected to one end of the ear plate 44, the ear plate 44 is rotatably connected to the pulley 16 through a shaft, so that the pulley 16 can rotate, when the crawler 11 presses the pulley 16, one side of the pulley 16 presses the pressing block 41, the pressing block 41 presses the spring 42, so that the buffering effect can be achieved, on the other hand, by providing the shaft rod 43, the moving direction of the pressing block 41 can be always the same as the length direction of the shaft rod 43 when the pressing block 41 moves, so that the pressing block 41 is prevented from tilting, and not only the buffering effect can be achieved, and moreover, the two tracks 11 are always kept parallel, so that the use by a user is greatly facilitated, and the moving efficiency of the loading robot can be improved.
When assembling, the base 21 and the supporting seat 22 are connected through screws, so that the base and the supporting seat can be conveniently assembled together, the assembling efficiency is conveniently improved, two sides of the base 21 are respectively connected with the first driving part 1 and the second driving part 3 through screws, so that the base and the supporting seat can be assembled into a whole, one side of the supporting frame 12 is connected with one side of the base 21 through screws or welded, when the screws are used for connection, the disassembly and the assembly can be conveniently carried out, and if the welding is used, the structure of the supporting frame can be firmer; the driving motor 17 is fixed on one side of the second connector 19 through a screw, the output end of the driving motor 17 is connected with the middle part of the driving chain wheel 18, so that the driving motor 17 drives the driving chain wheel 18 to rotate, the crawler belt 11 is wound on the pulley 16 and the driving chain wheel 18, and when the driving motor 17 drives the driving chain wheel 18 to rotate, the driving chain wheel 18 drives the crawler belt 11 to rotate; go up support guide wheel 15 with support frame 12 passes through the screw connection, lower support guide wheel 151 pass through the screw with support frame 12 sub-unit connection, just track 11 is around locating go up support guide wheel 15 and lower support guide wheel 151 are outside, in order to realize go up support guide wheel 15 and lower support guide wheel 151 with fixture block 13 sliding connection.
When the vehicle-mounted loading robot is used, the output end of the driving motor 17 drives the driving chain wheel 18 to rotate, the driving chain wheel 18 drives the clamping block 13 and the track 11 to rotate outside the support frame 12, so that friction between the track 11 and the ground is realized, the loading robot is driven to move on the ground, when the tightness of the track 11 needs to be adjusted, the position between a screw and the support frame 12 and the upper support guide wheel 15 can be changed, or the position between the screw and the lower support guide wheel 151 and the support frame 12 can be changed, the tightness of the track 11 can be conveniently adjusted, and the vehicle-mounted loading robot is convenient to use.
The walking assembly for the automatic loading robot further comprises a vision acquisition device, the vision acquisition device detects the advancing direction and the left and right directions of the robot, the acquired suspected obstacle information is fed back to the control unit in real time, and the driving motor is controlled to stop walking, turn and avoid obstacles and the like. The control unit stores the existing running speed of the loading robot, judges that the loading robot still cannot collide with the newly-added obstacle when performing route switching under the running speed, and starts a process of searching for an alternative route if collision possibly exists.
And searching a global optimal path by taking the initial position of the loading robot as a starting point and the target point as a terminal point, and solving a path optimal problem to obtain the global optimal path.
The path optimization problem may be defined as:
wherein, X is space, f (n) is a cost function of a current node n, n represents the current node, n +1 represents a next node, g (n) is a cost value of the loading robot from a starting point to the current node n, h (n) is a cost value of the loading robot from the current node n to an end point of the loading robot:
In the alternative route process, a local optimal path is searched, a local space is represented by V, and the local optimal path is searched, namely the current position S of the loading robot is searched in the space VinitA line connected by a plurality of nodes to the replacement target point O' and which does not pass through or contact any obstacle area in the space. Global space V is defined by barrier region VobsAnd a safety area VfreeThe two parts are composed, and the two parts meet the condition:
the cost value between any two nodes on the random tree is defined as the Euclidean distance D between the two nodes.
The process of searching the local optimal path is as follows:
s1, determining the current position S of the loading robotinitPutting the nodes into a random tree as root nodes;
s2, selecting a random point N in the safety area by using a random functionrandFinding N in a random treerandOne nearest toA node Nnear；
S3, let the step size be rho and at NnearAnd NrandFind a point Nnew between, so that NnearAnd NnewThe Euclidean distance between the two is rho;
s4, if NnearAnd NnewThe connecting line is not connected with the obstacle region VobsIntersect, then NnewPutting the path nodes as new path nodes into a random tree to form a new random tree;
s5, the above process is repeated with the new path node as the current node until the substitute target point O' becomes a leaf node.
And searching a local optimal path by using the RRT, so that the loading robot can walk along the local optimal path to avoid newly-added obstacles while reaching the position. The local path searching method adopted by the invention adopts the substitute target point as the latest terminal point of the loading robot, and through the replacement of the terminal point, the method for re-planning the path of the area where the obstacle is located can avoid excessive inflection points and more path bending parts, avoid frequent steering of the loading robot, ensure the stability of the loading robot in the process of walking with goods, avoid the goods from slipping down or the energy consumption of balance control from increasing due to frequent steering, and reduce the calculation of the turning pose of the loading robot.
And when no effective solution exists in the calculation, the walking assembly is controlled to stop walking so as to avoid collision and ensure the walking safety.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic loading walking subassembly for robot, includes supporting part (2), its characterized in that: the device is characterized by further comprising a first driving part (1) and a second driving part (3), wherein two sides of the supporting part (2) are respectively connected with the first driving part (1) and the second driving part (3), the first driving part (1) and the second driving part (3) are identical in structure, and the middle of the supporting part (2) is symmetrical;
the walking assembly for the automatic loading robot comprises a control unit, wherein the control unit judges that the initial position of the automatic loading robot is used as a starting point, a target point is used as a terminal point, a global optimal path is searched, and the optimal path problem is solved:
wherein the content of the first and second substances,
and
the included angle between the connecting line of the first and second sensors and the connecting line from the starting point to the end point does not exceed a second threshold; x is space, f (n) is a cost function of a current node n, n is the current node, n +1 is a next node, g (n) is the cost value of the loading robot from a starting point to the current node n, and h (n) is the cost value of the loading robot from the current node n to an end point of the loading robot.
2. The traveling assembly for the automatic loading robot according to claim 1, wherein: the supporting part (2) comprises a base (21) and a supporting seat (22), two sides of the base (21) are respectively connected with the first driving part (1) and the second driving part (3), and the supporting seat (22) is arranged on the base (21).
3. The traveling assembly for the automatic loading robot according to claim 2, wherein: the first driving part (1) comprises a support frame (12), and one side of the support frame (12) is connected with one side of the base (21).
4. The traveling assembly for the automatic loading robot according to claim 3, wherein: the first driving part (1) comprises a first connector (14) and a second connector (19), and the first connector (14) and the second connector (19) are arranged at two ends of the support frame (12).
5. The traveling assembly for the automatic loading robot according to claim 4, wherein: the first driving part (1) comprises a pulley (16) and a driving chain wheel (18), the pulley (16) is arranged on the first connecting head (14), and the driving chain wheel (18) is arranged on the second connecting head (19).
6. The traveling assembly for the automatic loading robot according to claim 5, wherein: the first driving part (1) comprises a crawler belt (11), and the crawler belt (11) is wound on the pulley (16) and the driving chain wheel (18).
7. The traveling assembly for the automatic loading robot according to claim 6, wherein: first drive division (1) includes driving motor (17), driving motor (17) set up in on second connector (19), just driving motor (17) output with drive sprocket (18) are connected.
8. The running assembly for the automatic loading robot according to claim 7, wherein: the first driving part (1) comprises a clamping block (13), and the clamping block (13) is arranged on the crawler belt (11) to realize that the clamping block (13) is rotationally connected with the driving chain wheel (18).
9. The traveling assembly for the automatic loading robot according to claim 8, wherein: first drive division (1) including last support guide wheel (15) and lower support guide wheel (151), go up support guide wheel (15) set up in support frame (12) upper portion, lower support guide wheel (151) set up in support frame (12) lower part, just track (11) are around locating it is outside to go up support guide wheel (15) and lower support guide wheel (151), in order to realize go up support guide wheel (15) and lower support guide wheel (151) with fixture block (13) sliding connection.
10. The traveling assembly for the automatic loading robot according to claim 8, wherein: the buffer part (4) comprises a pressing block (41), a spring (42), a shaft rod (43) and an ear plate (44), one end of the shaft rod (43) penetrates through the middle of the spring (42) and is connected with the support frame (12), the other end of the shaft rod (43) is connected with the pressing block (41), the pressing block (41) is connected with one end of the ear plate (44), and the ear plate (44) is rotatably connected with the pulley (16) through a shaft.
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| CN206125216U (en) * | 2016-10-31 | 2017-04-26 | 重庆宗申巴贝锐拖拉机制造有限公司 | Automatically controlled transfer car(buggy) running gear |
| CN207078219U (en) * | 2017-07-31 | 2018-03-09 | 广东省智能制造研究所 | A kind of caterpillar type robot |
| CN109764886A (en) * | 2019-01-15 | 2019-05-17 | 成都信息工程大学 | A kind of paths planning method |
| CN111552296A (en) * | 2020-05-14 | 2020-08-18 | 宁波智能装备研究院有限公司 | Local smooth track planning method based on curved cylindrical coordinate system |
| CN112099498A (en) * | 2020-09-08 | 2020-12-18 | 合肥学院 | Path planning method and system based on parameterized Thiele continuous fractional interpolation |
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