CN114906771A - Transport robot with vision angle capable of being adjusted in all directions and using method thereof - Google Patents

Transport robot with vision angle capable of being adjusted in all directions and using method thereof Download PDF

Info

Publication number
CN114906771A
CN114906771A CN202110175878.9A CN202110175878A CN114906771A CN 114906771 A CN114906771 A CN 114906771A CN 202110175878 A CN202110175878 A CN 202110175878A CN 114906771 A CN114906771 A CN 114906771A
Authority
CN
China
Prior art keywords
fixedly connected
adjusting
fork
machine body
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110175878.9A
Other languages
Chinese (zh)
Inventor
蒋泳超
卜莉敏
徐宗彪
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.)
Tianpeng Intelligent Construction Guangdong Technology Co ltd
Original Assignee
Tianpeng Intelligent Construction Guangdong Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianpeng Intelligent Construction Guangdong Technology Co ltd filed Critical Tianpeng Intelligent Construction Guangdong Technology Co ltd
Priority to CN202110175878.9A priority Critical patent/CN114906771A/en
Publication of CN114906771A publication Critical patent/CN114906771A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • 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
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Studio Devices (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention provides a transport robot with vision angle capable of being adjusted in all directions and a using method thereof, wherein the transport robot with vision angle capable of being adjusted in all directions comprises: a body; the back surface of the power assembly is arranged on the back surface of the inner wall of the machine body; the left side of the adjusting component is arranged on the left side of the inner wall of the machine body; the back surface of the motion assembly is arranged on the front surface of the machine body; and the bottom of the visual component is arranged at the bottom of the inner wall of the machine body. The transportation robot with the vision angle capable of being adjusted in all directions and the using method thereof can conveniently adjust the angle of the camera device through the left-right adjusting fixing frame and the front-back adjusting fixing frame, so that the front picture can be conveniently collected during the using process of the device, the device can be timely adjusted, the convenience in using the device is improved, and the using efficiency of the device is also improved.

Description

Transport robot with vision angle capable of being adjusted in all directions and using method thereof
Technical Field
The invention relates to the field of robots, in particular to a transport robot with a vision angle capable of being adjusted in all directions and a using method thereof.
Background
Robots are all mechanical devices that perform work automatically, including all machines that simulate human behavior or thought and other creatures (e.g. robot dogs, robot cats, etc.), and there are many categories and disputes in the narrow definition of robots, some computer programs even also called robots, in the modern industry, robots refer to artificial robot devices that automatically perform tasks to replace or assist human work, typically electromechanical devices, controlled by computer programs or electronic circuits.
The existing robot generally directly utilizes a program to carry out memorable specific track motion on the robot when in use, so that the autonomy of the robot is poor, the robot cannot be correspondingly adjusted according to different conditions of a moving road surface in the motion process, and part of the robots are provided with image acquisition devices which are generally directly fixed on the surface of the robot, so that the limitation is large.
Therefore, it is necessary to provide a transportation robot with an omni-directional adjustable visual angle and a method for using the same to solve the above technical problems.
Disclosure of Invention
The invention provides a transport robot with a vision angle capable of being adjusted in all directions and a using method thereof, and solves the problem that the existing robot cannot adjust a motion track by itself.
In order to solve the above technical problems, the present invention provides a transport robot with an omni-directional adjustable visual angle, comprising: a body;
the back surface of the power assembly is arranged on the back surface of the inner wall of the machine body;
the left side of the adjusting component is arranged on the left side of the inner wall of the machine body;
the back surface of the motion assembly is arranged on the front surface of the machine body;
the bottom of the visual component is arranged at the bottom of the inner wall of the machine body;
the left side of the fork frame assembly is arranged on the right side of the machine body;
the bottom of the controller is arranged on the left side of the top of the machine body;
the bottom of the shielding frame is fixedly connected to the top of the machine body;
the vision assembly comprises a sliding rail, the bottom of the sliding rail is fixedly connected to the bottom inside the machine body, the top of the sliding rail is connected with a sliding plate in a sliding manner, the top of the sliding plate is fixedly connected with a base, the top of the base is fixedly connected with a left and right adjusting motor, the output shaft of the left and right adjusting motor is fixedly connected with a left and right adjusting fixing frame, the left side of the left and right adjusting fixing frame is provided with a rotating ball, the top of the rotating ball is fixedly connected with a connecting shaft, the top of the connecting shaft penetrates through the machine body and extends to the outside of the machine body, the top of the connecting shaft is fixedly connected with a photographic device, the top of the sliding plate is fixedly connected with a supporting plate, the right side of the supporting plate is fixedly connected with a front and back adjusting motor, the output shaft of the front and back adjusting motor is fixedly connected with a front and back adjusting fixing frame on the surface of the connecting shaft, the bottom of the inner wall of the machine body is fixedly connected with an adjusting cylinder through a supporting plate, and the right side of the adjusting cylinder is fixedly connected with the left side of the supporting plate.
Preferably, power component includes driving motor, driving motor's the back pass through support frame fixed connection in the back of organism inner wall, driving motor's output shaft fixed connection has the power shell, the surface of power shell is provided with the power shaft, the positive fixedly connected with power gear of power shaft, the positive fixedly connected with displacement axle of power gear, the positive fixedly connected with change gear of displacement axle, change gear's positive fixedly connected with power cylinder.
Preferably, the back of the inner wall of the machine body is rotatably connected with a driven gear through a support shaft, and the front of the driven gear is fixedly connected with an auxiliary gear.
Preferably, the adjusting part includes two regulation mountings, two the left side fixed connection of adjusting the mounting in the left side of organism inner wall, two it has the regulation axis of rotation, two all run through to adjust the relative one side of mounting the equal fixedly connected with in surface of regulation axis of rotation adjusts the belt pulley, two adjust the equal fixedly connected with regular axle in the relative one side of axis of rotation, the fixed surface of adjusting the axis of rotation is connected with and adjusts the running gear.
Preferably, the left side fixedly connected with auxiliary cylinder of organism inner wall, auxiliary cylinder's right side fixedly connected with removes the frame, the inner wall that removes the frame just is located two the surface of regular axis is provided with removes the cover.
Preferably, the motion assembly comprises two motion fixing plates, the bottom of each motion fixing plate is fixedly connected to the bottom of the inner wall of the machine body, a motion shaft penetrates through one side, away from the motion fixing plate, of each motion shaft, a motion belt pulley is fixedly connected to the surface of each motion shaft, one side, away from the motion shafts, of each motion shaft penetrates through the machine body and extends to the outside of the machine body, a motion gear is fixedly connected to one side, away from the motion shafts, of each motion shaft, a driving gear is rotatably connected to the right sides of the front side and the back side of the machine body, and motion chain rails are arranged on the surfaces of the two motion gears and the two driving gears respectively.
Preferably, the fork frame assembly comprises a fork frame, the left side of the fork frame is fixedly connected to the right side of the machine body, fork frame threaded rods penetrate through the front side and the rear side between the top and the bottom of the inner wall of the fork frame, fork frame threaded blocks are arranged on the surfaces of the two fork frame threaded rods, fork bodies are fixedly connected to the right sides of the two fork frame threaded blocks, and fork frame motors are arranged on the front side and the rear side of the top of the fork frame.
Preferably, the top fixedly connected with crotch cylinder of crotch screw thread piece inner wall the bottom fixedly connected with bevel block of crotch cylinder, the back fixedly connected with post that stretches out and draws back that resets of crotch screw thread piece inner wall, the front fixedly connected with limiting plate of the post that stretches out and draws back that resets, the front fixedly connected with stopper of limiting plate, the back fixedly connected with follower of limiting plate.
A use method of a transport robot with vision angle capable of being adjusted in all directions comprises the following steps:
the first step is as follows: the robot is moved to a required designated position by utilizing the power assembly, the driving motor is started, the driving motor drives the power gear to rotate after being started, the power gear drives the auxiliary gear to rotate through the pitch shaft and the speed change gear in the rotating process, the driven gear drives the adjusting rotating gear to rotate, the adjusting rotating gear drives the adjusting belt pulley to rotate through the adjusting rotating shaft in the rotating process, the adjusting belt pulley rotates through the moving belt pulley, the moving belt pulley drives the moving gear to rotate through the moving shaft when rotating, and the moving chain track driving device moves in the rotating process of the moving gear;
the second step: when the device needs to be steered, the auxiliary cylinder is started, the auxiliary cylinder drives the movable sleeve to move after being started, the two regular shafts are not connected after the movable sleeve moves, the driving motor only drives one adjusting rotating shaft to move, and the robot is driven to steer by one movement caterpillar track;
the third step: the angle of the camera device is adjusted in the moving process, when the left and right angles of the camera device need to be adjusted, the left and right adjusting motor is started, the left and right adjusting motor drives the rotating ball and the connecting shaft to rotate left and right through the left and right adjusting fixing frame, when the front and back angles of the camera device need to be adjusted, the front and back adjusting motor is started, and the front and back adjusting fixing frame drives the connecting shaft to rotate;
the fourth step: utilize the crotch subassembly to lift up the object that needs the transportation, at first start the crotch motor, will drive crotch threaded block motion through the crotch threaded rod after the crotch motor starts, treat that the crotch injects after the object below, reset crotch threaded block, later start the crotch cylinder, the crotch cylinder will drive the limiting plate through sloping piece and follower and remove.
Compared with the related art, the transportation robot with the vision angle capable of being adjusted in all directions and the use method thereof provided by the invention have the following beneficial effects:
the invention provides a transport robot with vision angle capable of being adjusted in all directions and a use method thereof, the angle of the camera device can be conveniently adjusted through the left-right adjusting fixing frame and the front-back adjusting fixing frame, thus facilitating the collection of the front picture during the use of the device, enabling the device to be adjusted in time, improving the convenience of the device during use, meanwhile, the use efficiency of the device is improved, the two regular shafts can not be connected any more through the movement of the movable sleeve, thus the device can conveniently carry out steering operation, the convenience of the device in use is improved, meanwhile, the efficiency of the robot in use is improved, the fork frame thread block can be clamped on the fork frame more stably through the use of the limiting block, therefore, the stability of the device in the transportation process can be improved, and the using efficiency of the device is improved.
Drawings
Fig. 1 is a schematic structural view of a transportation robot with omni-directional adjustable visual angle and a method for using the same according to a preferred embodiment of the present invention;
FIG. 2 is a schematic side view of the driven gear of FIG. 1;
FIG. 3 is a schematic side view of the auxiliary cylinder of FIG. 1;
FIG. 4 is a schematic side view of the fork of FIG. 1;
fig. 5 is a schematic view of the interior of the fork screw block of fig. 4.
Reference numbers in the figures: 1. a body, 2, a power assembly, 21, a driving motor, 22, a power housing, 23, a power shaft, 24, a power gear, 25, a pitch axis, 26, a change gear, 27, a power cylinder, 28, a driven gear, 29, an auxiliary gear, 3, an adjusting assembly, 31, an adjusting fixing member, 32, an adjusting rotating shaft, 33, an adjusting belt pulley, 34, an adjusting rotating gear, 35, an auxiliary cylinder, 36, a moving frame, 37, a moving sleeve, 38, a regular shaft, 4, a moving assembly, 41, a moving fixing plate, 42, a moving shaft, 43, a moving belt pulley, 44, a moving gear, 45, a driving gear, 46, a moving track, 5, a vision assembly, 51, a sliding track, 52, a sliding plate, 53, a base, 54, a left and right adjusting motor, 55, a left and right adjusting fixing frame, 56, a rotating ball, 57, 58, a photographic device, 59, a support plate, 510, a front and back adjusting motor, 511. front and back regulation mount, 512, regulation cylinder, 6, fork subassembly, 61, fork, 62, fork threaded rod, 63, fork threaded block, 64, fork body, 65, fork motor, 66, fork cylinder, 67, incline block, 68, flexible post that resets, 69, limiting plate, 610, stopper, 611, follower, 7, controller, 8, the frame of sheltering from.
Detailed Description
The invention is further described below with reference to the drawings and the embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 in combination, wherein fig. 1 is a schematic structural diagram of a transportation robot with omni-directional vision angle adjustment and a method for using the same according to a preferred embodiment of the present invention; FIG. 2 is a schematic side view of the driven gear of FIG. 1; FIG. 3 is a schematic side view of the auxiliary cylinder of FIG. 1; FIG. 4 is a schematic side view of the fork of FIG. 1; fig. 5 is a schematic view of the interior of the fork screw block of fig. 4.
The invention provides a transport robot with vision angle capable of being adjusted in all directions, which comprises: a machine body 1;
the back of the power component 2 is arranged on the back of the inner wall of the machine body 1;
the left side of the adjusting component 3 is arranged on the left side of the inner wall of the machine body 1;
the back of the motion component 4 is arranged on the front of the machine body 1;
the bottom of the visual component 5 is arranged at the bottom of the inner wall of the machine body 1;
the left side of the fork frame assembly 6 is arranged on the right side of the machine body 1;
the bottom of the controller 7 is arranged on the left side of the top of the machine body 1;
the shielding frame 8, the bottom of the shielding frame 8 is fixedly connected to the top of the machine body 1;
the vision component 5 comprises a sliding rail 51, the bottom of the sliding rail 51 is fixedly connected with the bottom inside the machine body 1, the top of the sliding rail 51 is connected with a sliding plate 52 in a sliding manner, the top of the sliding plate 52 is fixedly connected with a base 53, the top of the base 53 is fixedly connected with a left and right adjusting motor 54, the output shaft of the left and right adjusting motor 54 is fixedly connected with a left and right adjusting fixing frame 55, the left side of the left and right adjusting fixing frame 55 is provided with a rotating ball 56, the top of the rotating ball 56 is fixedly connected with a connecting shaft 57, the top of the connecting shaft 57 penetrates through the machine body 1 and extends to the outside of the machine body 1, the top of the connecting shaft 57 is fixedly connected with a photographic device 58, the top of the sliding plate 52 is fixedly connected with a supporting plate 59, the right side of the supporting plate 59 is fixedly connected with a front and rear adjusting motor 510, the output shaft of the front and rear adjusting motor 510 is fixedly connected with a front and rear adjusting fixing frame 511 positioned on the surface of the connecting shaft 57, the bottom of the inner wall of the machine body 1 is fixedly connected with an adjusting cylinder 512 through a supporting plate, the right side of the adjusting cylinder 512 is fixedly connected with the left side of a supporting plate 59, a controller 7 can control starting and stopping of all components in the device, meanwhile, the controller 7 comprises a processing device, a transmission device, a storage device, a network device, a remote control device and a signal transmitting device, images collected by a camera device 58 can be transmitted to the controller 7, the processing device in the controller 7 can process pushing, then, the network device can carry out net infinite transmission after processing, meanwhile, the signal transmitting device can be used for transmitting signals to the control device, then, the control device controls starting and stopping of the components in the device, a groove matched with a left-right adjusting fixing frame 55 is arranged on a rotating ball 56, the adjusting cylinder 512 can adjust the position of the camera device 58, and a groove matched with a connecting shaft 57 is arranged on the machine body 1, foreign matters can be prevented from entering the machine body 1 through the groove by the shielding frame 8.
The power assembly 2 comprises a driving motor 21, the back of the driving motor 21 is fixedly connected to the back of the inner wall of the machine body 1 through a support frame, an output shaft of the driving motor 21 is fixedly connected with a power shell 22, a power shaft 23 is arranged on the surface of the power shell 22, a power gear 24 is fixedly connected to the front of the power shaft 23, a variable pitch shaft 25 is fixedly connected to the front of the power gear 24, a speed change gear 26 is fixedly connected to the front of the variable pitch shaft 25, and a power cylinder 27 is fixedly connected to the front of the speed change gear 26.
The back of the inner wall of the machine body 1 is rotatably connected with a driven gear 28 through a support shaft, the front of the driven gear 28 is fixedly connected with an auxiliary gear 29, a speed change gear 26 is meshed with the auxiliary gear 29, the surface of the power shaft 23 is provided with a bump, the inner wall of the power shell 22 is provided with a corresponding groove, and the power shaft 23 can move in the power shell 22.
Adjusting part 3 includes two regulation mountings 31, two left side fixed connection of adjusting mountings 31 in the left side of organism 1 inner wall, two one sides that adjust the mountings 31 relative all run through have the regulation axis of rotation 32, two equal fixedly connected with in surface of adjusting axis of rotation 32 adjust belt pulley 33, two equal fixedly connected with regular axle 38 in one side that adjust the axis of rotation 32 relative, the fixed surface of adjusting axis of rotation 32 is connected with adjusts running gear 34.
The left side of the inner wall of the machine body 1 is fixedly connected with an auxiliary cylinder 35, the right side of the auxiliary cylinder 35 is fixedly connected with a movable frame 36, the inner wall of the movable frame 36 and the surface of two regular shafts 38 are provided with movable sleeves 37, the cross section of each regular shaft 38 is polygonal, the inner wall of each movable sleeve 37 is provided with a corresponding groove, part of the surface of each movable sleeve 37 is provided with a polygonal bump, and the inside of each movable frame 36 is provided with a regular hexagonal groove, after the movable frame 36 moves, the movable frames are sleeved on the regular hexagonal bumps on the movable sleeves 37 and then drive the movable sleeves 37 to move, and the adjusting rotating gears 34 are meshed with the driven gears 28.
Motion subassembly 4 includes two motion fixed plates 41, the bottom fixed connection of two motion fixed plates 41 is in the bottom of 1 inner wall of organism, two motion fixed plates 41 one side that leaves all run through motion axle 42, the equal fixedly connected with motion belt pulley 43 in surface of two motion axles 42, the outside that organism 1 just extended to organism 1 is all run through to one side that two motion axles 42 leave, the equal fixedly connected with motion gear 44 in one side that two motion axles 42 leave, the right side distance rotation at the front of organism 1 and the back is connected with drives gear 45, two motion gear 44 and two surfaces that drive gear 45 are provided with motion caterpillar 46 respectively, motion belt pulley 43 passes through the belt and is connected with the transmission of adjusting belt pulley 33.
Fork frame assembly 6 includes fork frame 61, and fork frame 61's left side fixed connection is in the right side of organism 1, and front side and rear side between fork frame 61 inner wall top and the bottom have all been run through fork frame threaded rod 62, and the surface of two fork frame threaded rod 62 all is provided with fork frame threaded block 63, and the right side fixedly connected with forked body 64 of two fork frame threaded block 63, and the front side and the rear side at fork frame 61 top all are provided with fork frame motor 65.
The bottom fixedly connected with bevel block 67 of the top fixedly connected with crotch cylinder 66 of crotch screw block 63 inner wall, the back fixedly connected with of crotch screw block 63 inner wall restores to the throne flexible post 68, the positive fixedly connected with limiting plate 69 of flexible post 68 that restores to the throne, the positive fixedly connected with stopper 610 of limiting plate 69, the back fixedly connected with follower 611 of limiting plate 69, the output shaft of crotch motor 65 and the top fixed connection of crotch threaded rod 62, the inner wall of crotch 61 is provided with the recess that uses with stopper 610 cooperation, the surface of flexible post 68 that restores to the throne is provided with the spring, all parts that need use to the electricity in the device are all external power supply, all motors are three-phase asynchronous motor in the device.
A use method of a transport robot with vision angle capable of being adjusted in all directions comprises the following steps:
the first step is as follows: the robot is moved to a position needing to be appointed by using the power assembly 2, the driving motor 21 is started, the driving motor 21 drives the power gear 24 to rotate after being started, the power gear 24 drives the auxiliary gear 29 to rotate through the pitch shaft 25 and the speed change gear 26 in the rotating process, the driven gear 28 drives the adjusting rotating gear 34 to rotate, the adjusting rotating gear 34 drives the adjusting belt pulley 33 to rotate through the adjusting rotating shaft 32 in the rotating process, the adjusting belt pulley 33 rotates through the moving belt pulley 43, the moving belt pulley 43 drives the moving gear 44 to rotate through the moving shaft 42 in the rotating process, and the moving gear 44 drives the device to move through the moving chain track 46 in the rotating process;
the second step: when the device needs to be steered, the auxiliary air cylinder 35 is started, the auxiliary air cylinder 35 drives the movable sleeve 37 to move after being started, the two regular shafts 38 are not connected after the movable sleeve 37 moves, the driving motor 21 only drives one adjusting rotating shaft 32 to move, and the robot is driven to steer by one movement chain track 46;
the third step: when the angle of the camera device 58 is adjusted in the movement process, and the left-right angle of the camera device 58 needs to be adjusted, the left-right adjusting motor 54 is started, the left-right adjusting motor 54 drives the rotating ball 56 and the connecting shaft 57 to rotate left and right through the left-right adjusting fixing frame 55, and when the front-back angle of the camera device 58 needs to be adjusted, the front-back adjusting motor 510 is started, and the front-back adjusting fixing frame 511 drives the connecting shaft 57 to rotate;
the fourth step: the fork carriage assembly 6 is used for lifting an object to be transported, the fork carriage motor 65 is started firstly, the fork carriage motor 65 is started to drive the fork carriage threaded block 63 to move through the fork carriage threaded rod 62, after the fork carriage 64 is inserted into the lower portion of the object, the fork carriage threaded block 63 is reset, then the fork carriage cylinder 66 is started, and the fork carriage cylinder 66 drives the limit plate 69 to move through the inclined plane block 67 and the driven piece 611.
The invention provides a transport robot with vision angle capable of being adjusted in all directions and a using method thereof, wherein the working principle is as follows:
when the device needs to move, the driving motor 21 is started, the driving motor 21 drives the power gear 24 to rotate, the pitch axis 25 and the change gear 26 drive the auxiliary gear 29 to rotate, then the driven gear 28 drives the adjusting rotating gear 34 to rotate, the adjusting rotating gear 34 drives the adjusting belt pulley 33 to rotate through the adjusting rotating shaft 32 during rotation, the adjusting belt pulley 33 rotates through the moving belt pulley 43, the moving belt pulley 43 rotates through the moving axis 42 to rotate the moving gear 44, the moving gear 44 rotates through the moving chain track 46 to move, the device moves forwards, the auxiliary cylinder 35 is started during movement, the moving sleeve 37 is driven to move after the auxiliary cylinder 35 is started, and the two regular shafts 38 are not connected after the moving sleeve 37 moves, at this time, the driving motor 21 only drives one adjusting rotating shaft 32 to move, at this time, one moving chain track 46 moves to drive the robot to turn, at this time, the device rotates in direction, the angle of the camera device 58 is adjusted in the moving process, when the left and right angles of the camera device 58 need to be adjusted, the left and right adjusting motor 54 is started, at this time, the left and right adjusting motor 54 drives the rotating ball 56 and the connecting shaft 57 to rotate left and right through the left and right adjusting fixing frame 55, when the front and back angles of the camera device 58 need to be adjusted, the front and back adjusting motor 510 is started, and at this time, the front and back adjusting fixing frame 511 drives the connecting shaft 57 to rotate; utilize fork frame subassembly 6 to lift up the object that needs the transportation, at first start fork frame motor 65, fork frame motor 65 starts the back and will drive fork frame screw thread block 63 through fork frame threaded rod 62 and move, wait after fork frame 64 inserts the object below, reset fork frame screw thread block 63, later start fork frame cylinder 66, fork frame cylinder 66 will drive limiting plate 69 through sloping block 67 and follower 611 and remove, will drive limiting block 610 when limiting plate 69 removes and push up on fork frame 61, and when needing to carry out the speed governing to the device, start power cylinder 27, at this moment let power gear 24 and driven gear 28 meshing can.
Compared with the related art, the transportation robot with the vision angle capable of being adjusted in all directions and the use method thereof provided by the invention have the following beneficial effects:
the angle of the camera device 58 can be conveniently adjusted by adjusting the fixing frame 55 left and right and adjusting the fixing frame 511 back and forth, so that the device can conveniently collect the front picture in the using process, the device can be timely adjusted, the using convenience of the device is improved, the using efficiency of the device is also improved, the two regular shafts 38 can be prevented from being connected by moving the movable sleeve 37, the device can conveniently perform steering operation, the using convenience of the device is improved, the using efficiency of a robot is improved, the limiting block 610 is used, the fork frame 61 can be clamped by the fork frame thread block 63 more stably, the stability of the device in the transporting process can be improved, and the using efficiency of the device is improved.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.

Claims (9)

1. The utility model provides a transport robot with but vision angle omnidirectional adjustment which characterized in that includes: a body (1); the back surface of the power assembly (2) is arranged on the back surface of the inner wall of the machine body (1); the left side of the adjusting component (3) is arranged on the left side of the inner wall of the machine body (1); the back surface of the motion component (4) is arranged on the front surface of the machine body (1); the bottom of the visual component (5) is arranged at the bottom of the inner wall of the machine body (1); the left side of the fork frame assembly (6) is arranged on the right side of the machine body (1); the bottom of the controller (7) is arranged on the left side of the top of the machine body (1); the shielding frame (8), the bottom of the shielding frame (8) is fixedly connected to the top of the machine body (1); the visual assembly (5) comprises a sliding rail (51), the bottom of the sliding rail (51) is fixedly connected to the bottom inside the machine body (1), the top of the sliding rail (51) is connected with a sliding plate (52) in a sliding mode, the top of the sliding plate (52) is fixedly connected with a base (53), the top of the base (53) is fixedly connected with a left-right adjusting motor (54), an output shaft of the left-right adjusting motor (54) is fixedly connected with a left-right adjusting fixing frame (55), the left side of the left-right adjusting fixing frame (55) is provided with a rotating ball (56), the top of the rotating ball (56) is fixedly connected with a connecting shaft (57), the top of the connecting shaft (57) penetrates through the machine body (1) and extends to the outside of the machine body (1), the top of the connecting shaft (57) is fixedly connected with a photographic device (58), and the top of the sliding plate (52) is fixedly connected with a supporting plate (59), the right side of the support plate (59) is fixedly connected with a front and rear adjusting motor (510), an output shaft of the front and rear adjusting motor (510) is fixedly connected with a front and rear adjusting fixing frame (511) on the surface of the connecting shaft (57), the bottom of the inner wall of the machine body (1) is fixedly connected with an adjusting cylinder (512) through a support plate, and the right side of the adjusting cylinder (512) is fixedly connected with the left side of the support plate (59).
2. The transportation robot with the vision angle capable of being adjusted in all directions as claimed in claim 1, wherein the power assembly (2) comprises a driving motor (21), the back of the driving motor (21) is fixedly connected to the back of the inner wall of the machine body (1) through a supporting frame, an output shaft of the driving motor (21) is fixedly connected with a power shell (22), a power shaft (23) is arranged on the surface of the power shell (22), a power gear (24) is fixedly connected to the front of the power shaft (23), a variable-pitch shaft (25) is fixedly connected to the front of the power gear (24), a speed change gear (26) is fixedly connected to the front of the variable-pitch shaft (25), and a power cylinder (27) is fixedly connected to the front of the speed change gear (26).
3. The transport robot with the vision angle omni-directionally adjustable according to claim 1, wherein a driven gear (28) is rotatably connected to a back surface of an inner wall of the body (1) through a support shaft, and an auxiliary gear (29) is fixedly connected to a front surface of the driven gear (28).
4. The transportation robot with the omni-directional visual angle adjustment function according to claim 1, wherein the adjusting assembly (3) comprises two adjusting fixing members (31), the left sides of the two adjusting fixing members (31) are fixedly connected to the left side of the inner wall of the machine body (1), an adjusting rotating shaft (32) penetrates through one side of the two adjusting fixing members (31), an adjusting belt pulley (33) is fixedly connected to the surface of the two adjusting rotating shafts (32), a regular shaft (38) is fixedly connected to one side of the two adjusting rotating shafts (32), and an adjusting rotating gear (34) is fixedly connected to the surface of the adjusting rotating shaft (32).
5. The transport robot with the vision angle capable of being adjusted omnidirectionally according to claim 4, characterized in that an auxiliary cylinder (35) is fixedly connected to the left side of the inner wall of the machine body (1), a moving frame (36) is fixedly connected to the right side of the auxiliary cylinder (35), and a moving sleeve (37) is arranged on the inner wall of the moving frame (36) and on the surface of the two regular shafts (38).
6. The transport robot having an omni-directional adjustable visual angle according to claim 1, the device is characterized in that the movement assembly (4) comprises two movement fixing plates (41), the bottoms of the two movement fixing plates (41) are fixedly connected to the bottom of the inner wall of the machine body (1), movement shafts (42) penetrate through one sides, away from each other, of the two movement fixing plates (41), movement belt pulleys (43) are fixedly connected to the surfaces of the two movement shafts (42), one sides, away from each other, of the two movement shafts (42) penetrate through the machine body (1) and extend to the outside of the machine body (1), movement gears (44) are fixedly connected to one sides, away from each other, of the two movement shafts (42), the right sides of the front and the back of the machine body (1) are rotatably connected with driving gears (45), and the surfaces of the two moving gears (44) and the two driving gears (45) are respectively provided with a moving chain track (46).
7. The robot for transporting a robot having an omni-directionally adjustable visual angle according to claim 1, wherein the fork assembly (6) comprises a fork (61), the left side of the fork (61) is fixedly connected to the right side of the body (1), a fork threaded rod (62) penetrates through the front and rear sides between the top and bottom of the inner wall of the fork (61), the surfaces of both fork threaded rods (62) are provided with fork threaded blocks (63), the right sides of both fork threaded blocks (63) are fixedly connected with fork bodies (64), and the front and rear sides of the top of the fork (61) are provided with fork motors (65).
8. The robot for transporting goods with the omni-directional adjustable visual angle according to claim 7, wherein a fork cylinder (66) is fixedly connected to the top of the inner wall of the fork screw block (63), a slope block (67) is fixedly connected to the bottom of the fork cylinder (66), a reset telescopic column (68) is fixedly connected to the back of the inner wall of the fork screw block (63), a limit plate (69) is fixedly connected to the front of the reset telescopic column (68), a limit block (610) is fixedly connected to the front of the limit plate (69), and a driven member (611) is fixedly connected to the back of the limit plate (69).
9. The use method of the transport robot with the vision angle capable of being adjusted in all directions is characterized by comprising the following steps of:
the first step is as follows: the power assembly (2) is utilized to move the robot to a position needing to be appointed, the driving motor (21) is started, the driving motor (21) drives the power gear (24) to rotate after being started, the power gear (24) drives the auxiliary gear (29) to rotate through the variable-pitch shaft (25) and the speed-changing gear (26) during the rotation process, at the moment, the driven gear (28) drives the adjusting rotating gear (34) to rotate, the adjusting rotating gear (34) drives the adjusting belt pulley (33) to rotate through the adjusting rotating shaft (32) in the rotating process, the adjusting belt pulley (33) rotates through the moving belt pulley (43) when rotating, the moving belt pulley (43) drives the moving gear (44) to rotate through the moving shaft (42) when rotating, and the moving gear (44) drives the device to move through the moving chain track (46) in the rotating process;
the second step is that: when the device needs to be steered, the auxiliary cylinder (35) is started, the auxiliary cylinder (35) drives the movable sleeve (37) to move after being started, the two regular shafts (38) are not connected after the movable sleeve (37) moves, the driving motor (21) only drives one adjusting rotating shaft (32) to move, and at the moment, one moving chain rail (46) moves to drive the robot to steer;
the third step: the angle of the camera device (58) is adjusted in the moving process, when the left and right angles of the camera device (58) need to be adjusted, the left and right adjusting motor (54) is started, the left and right adjusting motor (54) drives the rotating ball (56) and the connecting shaft (57) to rotate left and right through the left and right adjusting fixing frame (55), when the front and back angles of the camera device (58) need to be adjusted, the front and back adjusting motor (510) is started, and the front and back adjusting fixing frame (511) drives the connecting shaft (57) to rotate;
the fourth step: the fork frame assembly (6) is used for lifting an object to be transported, the fork frame motor (65) is started at first, after the fork frame motor (65) is started, the fork frame threaded rod (62) drives the fork frame threaded block (63) to move, after the fork body (64) is inserted into the lower portion of the object, the fork frame threaded block (63) is reset, then the fork frame cylinder (66) is started, and the fork frame cylinder (66) drives the limiting plate (69) to move through the inclined surface block (67) and the driven piece (611).
CN202110175878.9A 2021-02-06 2021-02-06 Transport robot with vision angle capable of being adjusted in all directions and using method thereof Pending CN114906771A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110175878.9A CN114906771A (en) 2021-02-06 2021-02-06 Transport robot with vision angle capable of being adjusted in all directions and using method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110175878.9A CN114906771A (en) 2021-02-06 2021-02-06 Transport robot with vision angle capable of being adjusted in all directions and using method thereof

Publications (1)

Publication Number Publication Date
CN114906771A true CN114906771A (en) 2022-08-16

Family

ID=82761993

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110175878.9A Pending CN114906771A (en) 2021-02-06 2021-02-06 Transport robot with vision angle capable of being adjusted in all directions and using method thereof

Country Status (1)

Country Link
CN (1) CN114906771A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102269258A (en) * 2011-07-14 2011-12-07 福建省华隆机械有限公司 Variable-speed main spindle box of quarrying machine
CN105730225A (en) * 2016-01-25 2016-07-06 崔兔强 Steering walking device for mini-tiller
CN205560173U (en) * 2016-04-22 2016-09-07 深圳市奥斯卡科技有限公司 Liftable balanced cloud platform of diaxon control
US9796435B1 (en) * 2016-08-12 2017-10-24 Crazy Turtle Robotic Platforms, LLC. Retractable assembly comprising a platform
CN110329958A (en) * 2019-08-08 2019-10-15 桂林市富华金属制品有限公司 A kind of handling robot
CN210531940U (en) * 2019-07-25 2020-05-15 上海广朴通信科技有限公司 Convenient 5G for basic station fixed bolster of adjusting

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102269258A (en) * 2011-07-14 2011-12-07 福建省华隆机械有限公司 Variable-speed main spindle box of quarrying machine
CN105730225A (en) * 2016-01-25 2016-07-06 崔兔强 Steering walking device for mini-tiller
CN205560173U (en) * 2016-04-22 2016-09-07 深圳市奥斯卡科技有限公司 Liftable balanced cloud platform of diaxon control
US9796435B1 (en) * 2016-08-12 2017-10-24 Crazy Turtle Robotic Platforms, LLC. Retractable assembly comprising a platform
CN210531940U (en) * 2019-07-25 2020-05-15 上海广朴通信科技有限公司 Convenient 5G for basic station fixed bolster of adjusting
CN110329958A (en) * 2019-08-08 2019-10-15 桂林市富华金属制品有限公司 A kind of handling robot

Similar Documents

Publication Publication Date Title
CN104354785B (en) A kind of Bionic crab robot
CN106185730B (en) A kind of floor truck of all-around mobile
CN205212338U (en) Built on stilts high tension transmission line patrols and examines walking safety protection mechanism of robot
KR20200071044A (en) Crawl welding robot and its control method
CN216590694U (en) Three-dimensional reconstruction shooting device based on multi-view vision
CN107757571A (en) A kind of solar telephone with lateral driving functions based on Internet of Things
CN111716389A (en) Robot synchronous steering chassis
CN114906771A (en) Transport robot with vision angle capable of being adjusted in all directions and using method thereof
CN207076877U (en) A kind of plate centralising device
CN210256117U (en) Walking device of inspection robot
CN108671502A (en) A kind of intelligence basketball pick device
CN108657714A (en) A kind of modularization rotating lifting AGV
CN209111077U (en) A kind of robot without spacious amount pose moving assembly
CN106275120B (en) A kind of traversing obstacle detouring explosive-removal robot
CN111941434B (en) Multifunctional wheel type carrying robot
CN209008715U (en) The running gear of Multifunctional intelligent robot
CN110239645B (en) Robot walking platform
CN208919248U (en) Spindle gear
CN215862559U (en) Motion blur image definition device
CN219201829U (en) FPC soft board BTB test equipment
CN106292726A (en) Rail high speed dollying The Cloud Terrace
CN220483210U (en) Visual system stabilizing device in vehicle running
CN214352449U (en) Auxiliary mechanical arm for drilling based on visual identification control
CN209991134U (en) Numerical control telescopic screen
CN219668330U (en) Four-wheel-drive variable-wheel-distance liftable chassis and robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination