CN113511070A - Driving type freight robot - Google Patents

Driving type freight robot Download PDF

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Publication number
CN113511070A
CN113511070A CN202110459774.0A CN202110459774A CN113511070A CN 113511070 A CN113511070 A CN 113511070A CN 202110459774 A CN202110459774 A CN 202110459774A CN 113511070 A CN113511070 A CN 113511070A
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CN
China
Prior art keywords
robot
robot body
controller
mounting plates
cargo
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Pending
Application number
CN202110459774.0A
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Chinese (zh)
Inventor
孟文渊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Banghong Intelligent Technology Co ltd
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Suzhou Banghong Intelligent Technology Co ltd
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Priority to CN202110459774.0A priority Critical patent/CN113511070A/en
Publication of CN113511070A publication Critical patent/CN113511070A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B60K2026/025—Input devices for controlling electric drive motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B60K2026/029—Joystick type control devices for acceleration

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a driving type freight robot, which comprises a robot body, a controller arranged on the robot body, mechanical arms arranged on two sides of the robot body in an axial motion manner, a claw assembly arranged on one side of the bottom of the robot body and a pulley assembly arranged on the other side of the bottom of the robot body, wherein the bottoms of the two mechanical arms are respectively provided with a hub motor, the tops of the two mechanical arms are respectively connected with a push rod in an axial motion manner, and each push rod is provided with a position sensor; the radar and the position sensor are respectively connected with the controller in a wireless manner for data transmission, and the controller respectively controls and connects the hook component and the hub motor; a rechargeable battery arranged on the robot body is arranged on the upper side of the pulley component; the robot body is provided with a suspended hook component and a movable mechanical arm, so that the effect of no need of manual participation in the loading and unloading processes of cargos is realized; a push rod is added for pushing to control the driving type freight robot to move forwards and backwards.

Description

Driving type freight robot
Technical Field
The invention relates to the field of robots, in particular to a driving type freight robot.
Background
The existing freight robots mostly adopt a separated AGV robot, a common integrated freight robot and an unmanned freight vehicle, when the common integrated freight robot is used, a machine body is internally arranged and a goods bin can not be replaced, the separated AGV robot needs to be fixed on a platform at present, although goods can be replaced, the loading and unloading of the goods need to be manually carried out, but the separated AGV robot is only suitable for an indoor warehouse environment; meanwhile, the unmanned freight vehicle is suitable for outdoor use, and is large in size and high in price; in addition, since the conventional freight robot cannot be driven, a driving type freight robot suitable for various use scenarios is required.
Disclosure of Invention
The technical problem to be solved by the invention is that a common integrated freight robot is internally provided with a machine body and can not replace a freight warehouse, the prior separated AGV robot needs to be fixed on a platform, although goods can be replaced, the loading and unloading of the goods need to be carried out manually, but the separated AGV robot is only suitable for the indoor warehouse environment; meanwhile, the unmanned freight vehicle is suitable for being outdoors, and has large volume and high price, the invention provides the driving type freight robot, and the technical effect that no manual participation is needed in the loading and unloading process of goods is realized by adopting the suspension type claw component and the movable mechanical arm which are arranged on the robot body; a push rod is additionally arranged for pushing to control the driving type freight robot to move forwards and backwards; the driving type freight robot is structurally designed into a cross-country vehicle frame, a chassis of a robot body is designed on a cargo cabin, so that the robot can operate indoors and can carry out freight transportation outdoors and in cross-country zones, the movement trafficability of the robot is greatly enhanced, and the defects caused by the prior art are overcome.
In order to solve the technical problems, the invention provides the following technical scheme:
a driving type freight robot comprises a robot body, a controller, mechanical arms, a claw assembly and a pulley assembly, wherein the controller is installed on the robot body, the mechanical arms are axially installed on two sides of the robot body, the claw assembly is installed on one side of the bottom of the robot body, the pulley assembly is installed on the other side of the bottom of the robot body, hub motors are installed at the bottoms of the two mechanical arms, push rods are axially connected to the tops of the two mechanical arms, and a position sensor is installed on each push rod;
the bottom of the hook component is provided with a radar, the radar and the position sensor are respectively connected with the controller in a wireless mode for data transmission, and the controller is respectively connected with the hook component and the hub motor in a control mode;
a rechargeable battery mounted on the robot body is arranged on the upper side of the pulley assembly, and the rechargeable battery is electrically connected to the controller and the hub motor;
the radar is used for detecting cargos around the driving type freight robot in real time, when the cargos are detected by the radar, the cargos are fed back to the controller, and the controller controls the hub motor to move to drive the driving type freight robot to move above the cargos to prepare for grabbing the cargos; the controller controls the claw assembly to grab goods for freight transportation, then controls the hub motor to move the driving type freight robot to a specified place, then controls the claw assembly to put down the goods to finish the freight transportation, and then controls the hub motor to leave (leave in a reverse mode) to carry out the freight transportation of the next goods, so that the function of automatically loading the goods is realized, and an automatic closed loop is realized.
The driving type freight robot is characterized in that mounting plates are arranged on two sides of the robot body, the mechanical arm is mounted on the mounting plates, the pulley assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the rechargeable battery is arranged on the upper side of the pulley assembly and connected to the inner walls of the two mounting plates;
the hook component is arranged between the two mounting plates and connected to the two inner walls of the mounting plates, and the controller is arranged on the upper side of the hook component and connected to the two inner walls of the mounting plates.
The driving type freight robot comprises a hanger and hooks, wherein two sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hooks are connected to the bottom of the hanger through servo motors, the controller is respectively connected with the electric push rods and the servo motors in a control mode, the number of the electric push rods is four, the number of the hooks is four, the controller controls the servo motors to control the hooks to grab goods (the hanger is generally manufactured to be the same as the size of the goods to be clamped, the goods are generally a box body, concave holes matched with the hooks are reserved in the top of the box body, and the hooks are in an open and flick state in a power-on state, namely are separated from the concave holes in the box body and are meshed with the concave holes in the box body in a power-off state; the hanging frame is designed to be hung below the robot body in a front-back two-group mode, the hanging frame is pushed by the electric push rods to move up and down, namely, the hook claw electrically picks up or puts down the box body when the robot body moves and the electric push rods push the hanging frame to move up and down.
Foretell a driving formula cargo transport robot, wherein, the arm contains forearm, postbrachium, shock attenuation pole, the apron is installed at the top of forearm, the both ends of shock attenuation pole respectively the hub dynamo connect in the apron the postbrachium is connected, in-wheel motor connect in the other end of postbrachium, the cover is equipped with the spring on the shock attenuation pole.
The above-mentioned driving type freight robot, wherein, pulley assembly contains pulley bracket, universal wheel, pulley bracket sets up in two between the mounting panel and axle activity connect in two the inner wall of mounting panel, the universal wheel connect in pulley bracket's bottom.
The driving type freight robot comprises a driving wheel, a pulley support, a connecting plate, a wheel hub motor and a wheel hub motor, wherein the pulley support comprises a connecting rod and a connecting plate, the connecting rod is in shaft movable connection with the two sides of the connecting plate, and the wheel hub motor is connected to the bottom of the connecting plate.
The driving type freight robot is characterized in that the radar is a SLAM radar.
The driving type freight robot is characterized in that a locking piece is arranged at the joint of the push rod and the mechanical arm.
According to the existing freight robot, a cargo cabin is arranged above the robot, the goods are placed in the cargo cabin and need to be participated by people, no unmanned solution is really realized, the people need to be informed to take the goods after the goods are delivered to a destination, if the goods are not taken and obtained manually, the robot cannot continue to take and transport the next lot.
The existing robot adopts a low chassis design, has limited obstacle capacity and is only suitable for being carried out indoors or on flat pavements, the driving type freight robot structure of the technical scheme is designed into a cross-country type frame, and the chassis of the robot body is designed on a cargo bin, so that the robot can not only operate indoors, but also carry out freight transportation outdoors and in cross-country zones, and the movement trafficability of the robot is greatly enhanced. According to the technical scheme provided by the driving type freight robot, the driving type freight robot has the following technical effects:
the driving type freight robot provided by the technical scheme has the technical effect that a suspended claw component and a movable mechanical arm are arranged on a robot body, so that the technical effect that no manual participation is needed in the loading and unloading processes of cargos is realized;
a push rod is additionally arranged for pushing to control the driving type freight robot to move forwards and backwards;
the driving type freight robot structure is designed into a cross-country type frame, and the chassis of the robot body is designed on the cargo compartment, so that the driving type freight robot can operate indoors and can carry out freight transportation outdoors and in cross-country zones, and the movement trafficability of the driving type freight robot is greatly enhanced.
Drawings
Fig. 1 is a schematic structural view of a driving type freight robot according to the present invention;
FIG. 2 is a schematic diagram of an automatic driving configuration of a driving type freight robot according to the present invention;
FIG. 3 is a schematic view of the configuration of a cart of a driving-type cargo robot according to the present invention;
fig. 4 is a schematic view of a configuration of a driving type cargo robot according to the present invention.
Wherein the reference numbers are as follows:
the robot comprises a robot body 101, a mechanical arm 102, a claw assembly 103, a pulley assembly 104, a hub motor 105, a radar 106, a rechargeable battery 107, a mounting plate 108, a hanger 109, a hook 110, a front arm 111, a rear arm 112, a shock absorption rod 113, a cover plate 114, a spring 115, a universal wheel 116, a connecting rod 117, a connecting plate 118, goods 119 and a push rod 120.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easily understood and appreciated, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a driving type freight robot, aiming at realizing the technical effect that no manual participation is needed in the loading and unloading processes of cargos by adopting a suspension type claw component and a movable mechanical arm which are arranged on a robot body; a push rod is additionally arranged for pushing to control the driving type freight robot to move forwards and backwards; the driving type freight robot is structurally designed into a cross-country type frame, and the chassis of the robot body is designed on the cargo compartment, so that the driving type freight robot can operate indoors and can carry out freight transportation outdoors and in cross-country zones, and the movement trafficability of the driving type freight robot is greatly enhanced.
As shown in fig. 1, a driving type freight robot comprises a robot body 101, a controller mounted on the robot body 101, mechanical arms 102 axially mounted on two sides of the robot body 101, a claw assembly 103 mounted on one side of the bottom of the robot body 101, and a pulley assembly 104 mounted on the other side of the bottom of the robot body 101, wherein the bottoms of the two mechanical arms 102 are respectively provided with a hub motor 105, the tops of the two mechanical arms are respectively axially connected with push rods 120, and each push rod 120 is provided with a position sensor;
the bottom of the hook component 103 is provided with a radar 106, the radar 106 and the position sensor are respectively connected with a controller in a wireless manner for data transmission, and the controller respectively controls and connects the hook component 103 and the hub motor 105;
a rechargeable battery 107 mounted on the robot body 101 is arranged on the upper side of the pulley assembly 104, and the rechargeable battery 107 is electrically connected with the controller and the hub motor 105;
the radar 106 is used for detecting goods 119 around the driving type freight robot in real time, when the radar 106 detects the goods 119, the radar feeds back the goods 119 to the controller, and the controller controls the hub motor 105 to move to drive the driving type freight robot to move above the goods 119 to prepare for grabbing the goods 119; then the controller controls the hook component 103 to grab the goods 119 for freight transportation, then the controller controls the hub motor 105 to move the driving type freight robot to a designated place, then the controller controls the hook component 103 to put down the goods 119 to complete freight transportation, then the controller controls the hub motor 105 to leave (leave in a reverse mode) to carry out freight transportation of the next goods 119, the function of automatically loading the goods 119 is achieved, and an automatic closed loop is achieved.
Wherein, the robot body 101 is provided with mounting plates 108 on both sides, the robot arm 102 is mounted on the mounting plates 108, the pulley assembly 104 is arranged between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108, and the rechargeable battery 107 is arranged on the upper side of the pulley assembly 104 and connected to the inner walls of the two mounting plates 108;
the finger assembly 103 is disposed between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108, and the controller is disposed on the upper side of the finger assembly 103 and connected to the inner walls of the two mounting plates 108.
The hook component 103 comprises a hanger 109 and hooks 110, two sides of the hanger 109 are connected to the inner wall of the mounting plate 108 through electric push rods, the hooks 110 are connected to the bottom of the hanger 109 through servo motors, a controller is respectively connected with the electric push rods and the servo motors in a control mode, the electric push rods are provided with four hooks 110, the controller controls the servo motors to control the hooks 110 to grab goods 119 (the hanger 109 is generally manufactured to be the same as the goods 119 to be clamped, the goods 119 are generally a box body, concave holes matched with the hooks are reserved in the top of the box body, and the hooks are in an open and flick state in a power-on state, namely are separated from the concave holes in the box body and are meshed with the concave holes in the box body in a power-off state; the hanger 109 adopts a hanging design, is hung below the robot body 101 in a front and back two groups of electric push rods, and is pushed to move up and down by the electric push rods, namely, the operation of picking up or putting down the box body is realized by the self movement of the robot body 101, the up and down movement of the hanger 109 by the electric push rods, and the up and down movement of the hook claw.
Wherein, arm 102 contains forearm 111, postbrachium 112, shock attenuation pole 113, and apron 114 is installed at the top of forearm 111, and the both ends of shock attenuation pole 113 are the hub movement respectively and are connected in apron 114, postbrachium 112, and in-wheel motor 105 is connected in the other end of postbrachium 112, the cover is equipped with spring 115 on the shock attenuation pole 113.
The pulley assembly 104 includes a pulley bracket and a universal wheel 116, the pulley bracket is disposed between the two mounting plates 108 and is axially connected to the inner walls of the two mounting plates 108, and the universal wheel 116 is connected to the bottom of the pulley bracket.
Wherein, the pulley support contains connecting rod 117, connecting plate 118, and the both sides of connecting plate 118 are all connected with the connecting rod 117 with connecting plate 118 axle swing joint, and in-wheel motor 105 is connected in the bottom of connecting plate 118.
The radar 106 is a SLAM radar.
The connecting part of the push rod 120 and the mechanical arm 102 is provided with a locking part, the locking part can lock the push rod 120 and the mechanical arm 102, and the locking part can be adjusted to rotate the push rod 120 to any angle and then be locked through the locking part.
The existing freight robot is characterized in that a cargo cabin is arranged above the robot, the goods 119 are placed in the cargo cabin, people are required to participate, and no unmanned solution is really realized, people need to be informed to take after the goods are delivered to a destination, if people do not take to obtain the goods, the robot cannot continue to obtain and transport the next lot, the driving type freight robot provided by the technical scheme adopts the claw component 103 in the claw type to grab a design, the target goods 119 are automatically grabbed and transported to a designated place to be released, the whole process does not need human participation, the goods 119 are continuously loaded and unloaded, and the freight efficiency is greatly improved.
The existing robot adopts a low chassis design, has limited obstacle capacity and is only suitable for being carried out indoors or on a flat road surface, the driving type freight robot structure of the technical scheme is designed into a cross-country type frame, the chassis of the robot body 101 is designed to be placed on a cargo 119 bin, so that the robot can be operated indoors and can carry out freight transportation outdoors and in cross-country zones, and the movement trafficability of the robot is greatly enhanced.
The driving type freight robot provided by the technical scheme has the following characteristics:
and (3) deformation: the driving type freight transport robot provided by the technical scheme can deform in four forms, can adapt to more application scenes, and greatly enhances the practicability of multiple scenes, wherein the four forms comprise an automatic driving robot, a manual driving single-person vehicle mode, a shopping vehicle mode and a collection mode, can be automatically switched according to different scenes, and derive more application cases through the change of the various forms, and the driving type freight transport robot is as follows:
1. as shown in fig. 2, the automatic driving mode (security inspection, cargo robot, cargo transport):
the robot has the automatic loading and unloading functions of cargos, realizes the autonomous navigation function by utilizing the radar 106 of the robot in a plurality of cargo states, is a service robot, can carry out placement inspection and cargo transportation, is different from a common cargo transportation robot, adopts a cargo hanging structure, and places the main cargo 119 below the robot body, so that the robot body 101 can automatically grab the cargo 119 on the ground and place the cargo 119 to another place conveniently, and the whole process does not need manual addition; in addition, in the autopilot configuration, a maximum of 2 loads 119 can be loaded, one on top and one on bottom.
2. As shown in fig. 1, a single-person driven vehicle form (drivable):
the robot body is provided with the two push rods 120 from left to right, so that a single-person drivable vehicle can be formed, the robot body 101 adopts a mode of differential motion of the two hub motors 105, through the innovative push rod design, the push rod 120 on one side is pushed forwards, the position sensor senses and transmits the differential motion to the controller, the controller controls the hub motor 105 on one side to roll forwards, the other side is the same, the push rod 120 is simultaneously pushed forwards or forwards and backwards to realize the control of the driving type freight robot, and on the contrary, one side is pulled backwards, so that the hub motor 105 on one side rotates backwards.
3. As shown in fig. 3, the cart configuration (assisted freight configuration, assisted shopping cart):
the push rod 120 is turned over backward, and can be changed into a trolley shape, so that the trolley can be used for transporting goods 119 in places such as warehouses, shopping malls and supermarkets in cooperation with personnel, and in the trolley shape, the two hub motors 105 can provide assistance force, so that the personnel can transport the goods 119 conveniently.
4. As shown in fig. 4, the storage form (two-wheeled balance vehicle):
push rod 120 and in-wheel motor 105 overturn to both sides simultaneously, have realized double round balance car, can keep balance through two in-wheel motor 105 and remove, are fit for the motion in narrow and small space.
The method comprises the following steps of: the drivable robot is a bright spot of the product, is different from other service robots, can simultaneously give consideration to automatic navigation in the service robots, manually drives the functions of a single carrying vehicle, and through the change of the form, the robot can be freely controlled by the user to be used as a vehicle, the interactive experience of the robot is enhanced, technical pain points of the robot are compensated through the man-machine interactive operation, meanwhile, the product operability can be enhanced, the controllable robot can be applied to a shopping mall or a park and used as a short-distance personal vehicle, is light and safe, saves physical strength, and can be used for controlling the robot to move to a destination, the robot can return to the initial point by itself, and security personnel can use the robot to perform security patrol in a park or a shopping mall; the robot can be used by freight transport personnel to consign large heavy goods and the like.
Automatic loading: the robot can automatically position goods, position the goods 119 through the object recognition system, move the upper release hook 110 to lift and grab the goods 119, and transport the goods to a designated place, and finally automatically unload the goods 119, so that different from other freight robots, the goods 119 are stored and arranged below the robot, the goods 119 can be quickly loaded and unloaded, the center of gravity of the robot is reduced, better passing capacity is obtained, and finally the goods hoisting mode can truly realize unmanned operation without the operation of people for placing the goods.
Variable cart mode: in a special environment or a high-requirement environment, the robot can meet the requirements of users, becomes a freight trolley mode, can enter and exit difficult places, doubles the loading capacity, and can provide convenience for the users to the greatest extent.
Strong load carrying capacity.
In conclusion, the driving type freight robot disclosed by the invention has the technical effects that the suspension type claw component and the movable mechanical arm are arranged on the robot body, so that the loading and unloading processes of cargoes do not need manual participation; a push rod is additionally arranged for pushing to control the driving type freight robot to move forwards and backwards; the driving type freight robot is structurally designed into a cross-country type frame, and the chassis of the robot body is designed on the cargo compartment, so that the driving type freight robot can operate indoors and can carry out freight transportation outdoors and in cross-country zones, and the movement trafficability of the driving type freight robot is greatly enhanced.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.

Claims (9)

1. A driving type freight robot is characterized by comprising a robot body, a controller, mechanical arms, a claw assembly and a pulley assembly, wherein the controller is installed on the robot body, the mechanical arms are axially installed on two sides of the robot body, the claw assembly is installed on one side of the bottom of the robot body, the pulley assembly is installed on the other side of the bottom of the robot body, hub motors are installed at the bottoms of the two mechanical arms, push rods are axially connected to the tops of the two mechanical arms, and a position sensor is installed on each push rod;
the bottom of the hook component is provided with a radar, the radar and the position sensor are respectively connected with the controller in a wireless mode for data transmission, and the controller is respectively connected with the hook component and the hub motor in a control mode;
the upper side of the pulley assembly is provided with a rechargeable battery which is arranged on the robot body, and the rechargeable battery is electrically connected with the controller and the hub motor.
2. The piloted freight robot of claim 1, wherein mounting plates are provided on both sides of the robot body, the robot arm is mounted on the mounting plates, the pulley assembly is disposed between and connected to inner walls of the two mounting plates, and the rechargeable battery is disposed on an upper side of the pulley assembly and connected to inner walls of the two mounting plates;
the hook component is arranged between the two mounting plates and connected to the two inner walls of the mounting plates, and the controller is arranged on the upper side of the hook component and connected to the two inner walls of the mounting plates.
3. The piloted cargo robot as in claim 2, wherein the hook assembly comprises a hanger and a hook, both sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hook is connected to the bottom of the hanger through a servo motor, and the controller is respectively connected with the electric push rods and the servo motor in a control mode.
4. The piloted cargo robot of claim 3 wherein there are four of said electric push rods and four of said hooks.
5. The piloted cargo robot of any one of claims 2-4, wherein the mechanical arm comprises a front arm, a rear arm and a shock-absorbing rod, a cover plate is installed on the top of the front arm, two ends of the shock-absorbing rod are respectively and axially connected to the cover plate and the rear arm, the hub motor is connected to the other end of the rear arm, and a spring is sleeved on the shock-absorbing rod.
6. The piloted cargo robot of claim 5, wherein the pulley assembly comprises a pulley bracket disposed between and pivotally attached to the inner walls of the two mounting plates, and a universal wheel attached to the bottom of the pulley bracket.
7. The piloted cargo robot as in claim 6, wherein the pulley bracket comprises a connecting rod and a connecting plate, the connecting rod is pivotally connected to the connecting plate on both sides of the connecting plate, and the hub motor is connected to the bottom of the connecting plate.
8. The drive-type cargo robot of claim 1, wherein the radar is a SLAM radar.
9. The piloted cargo robot of claim 1 wherein the connection of said push rod to said robotic arm is provided with a locking member.
CN202110459774.0A 2021-04-27 2021-04-27 Driving type freight robot Pending CN113511070A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110459774.0A CN113511070A (en) 2021-04-27 2021-04-27 Driving type freight robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110459774.0A CN113511070A (en) 2021-04-27 2021-04-27 Driving type freight robot

Publications (1)

Publication Number Publication Date
CN113511070A true CN113511070A (en) 2021-10-19

Family

ID=78063665

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110459774.0A Pending CN113511070A (en) 2021-04-27 2021-04-27 Driving type freight robot

Country Status (1)

Country Link
CN (1) CN113511070A (en)

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