CN116276885A - A tracked mobile robot - Google Patents

Abstract

The invention provides a crawler-type mobile robot, which includes a chassis, a handling device, a gripping device and a walking device; The bracket is installed on the chassis; the gripping device is hinged to the chassis and is used for gripping goods; the traveling device includes a first crawler structure and a second crawler structure, and the first crawler structure and the second crawler structure are respectively located in the longitudinal direction of the chassis. sides. The invention solves the problems that the existing robots are difficult to adapt to goods of different heights and difficult to grip the goods.

Description

A tracked mobile robot

technical field

The invention relates to the technical field of robots, in particular to a crawler-type mobile robot.

Background technique

Due to the characteristics of strong terrain adaptability, strong obstacle-crossing ability, and strong load-bearing capacity, crawler robots can be widely used in transportation, inspection, fire protection and other fields. When a general robot moves on a plane, the height of the robot itself cannot be changed. Therefore, when a crawler robot is used as a robot for carrying goods, when the position where the goods need to be placed is higher than the height of the robot itself, it is difficult for the robot to start. to this effect.

The Chinese invention patent with the existing publication number of CN110254537A discloses a handling collaborative robot, which includes a vehicle frame and a cargo platform. One end is hinged with the vehicle frame, and a telescopic mechanism is provided between the crawler running mechanism and the vehicle frame, and the two ends of the telescopic mechanism are respectively hinged with the crawler running mechanism and the vehicle frame; There are baffles hinged on each side of each side, and the adjacent baffles can be detachably connected; it also includes an extension plate, and an extension plate is arranged between adjacent baffles, and the extension plate includes an inserting plate and a connecting plate, and the inserting plate It is plugged with one of the baffles of the adjacent connecting plates, the connecting plate passes through the plugging plate and is plugged into the other baffle, and the plugging plate and the connecting plate are fixed by bolt connection.

The above-mentioned robot is not equipped with a lifting device, and it is difficult for the loading platform to adapt to goods of different heights. At the same time, there is no clamping device, so it is difficult to clamp the goods.

Contents of the invention

Based on this, in order to solve the problem that existing robots are difficult to adapt to goods of different heights and are difficult to grip goods, the present invention provides a crawler-type mobile robot, and its specific technical scheme is as follows:

A crawler mobile robot, comprising:

chassis;

A handling device, the handling device includes a bracket, a lifting structure and a fastening structure, the fastening structure is connected to the lifting structure, the lifting structure is installed on the bracket, and the bracket is installed on the chassis;

a gripping device, the gripping device is hinged to the chassis and is used for gripping goods;

The traveling device includes a first crawler structure and a second crawler structure, and the first crawler structure and the second crawler structure are respectively located on both sides of the chassis in the length direction.

The crawler-type mobile robot mentioned above enables the robot to have a lifting function by being provided with a lifting structure, so that the handling device can adapt to goods of different heights, which solves the problem that the existing robot is not equipped with a lifting device, and it is difficult to place goods higher than the height of the robot; There is a fastening structure connected with the lifting structure to fix the goods and avoid the goods falling from the handling device during the handling process; the first crawler structure and the second crawler structure drive the chassis to move; there is also a hinged joint with the chassis The gripping device solves the problem that the existing robot is difficult to grip the goods.

Further, the lifting structure includes a moving plate and a lifting member for controlling the lifting movement of the moving plate; the moving plate is slidably connected to the bracket; and the fastening structure is installed on the moving plate.

Further, the fastening structure includes a first fixing component, a second fixing component and a storage plate; the first fixing component, the second fixing component and the storage plate are all slidably connected to the moving plate.

Further, the first fixing component and the second fixing component are arranged in parallel and spaced apart to form a space, and the storage board is located in the space.

Further, the moving plate is provided with a first slide rail and a second slide rail; the first slide rail is arranged vertically to the second slide rail; the first slide rail is arranged along the length direction of the chassis; The storage board is slidably connected to the first slide rail; the first fixing component and the second fixing component are both slidably connected to the second slide rail.

Further, the gripping device includes a connecting rod and a mechanical arm; the connecting rod is hinged to the chassis; and the mechanical arm is rotatably connected to the connecting rod.

Further, the mechanical arm includes a rotating base, a swing arm and a clamping piece; the clamping piece is connected to one end of the swinging arm; the other end of the swinging arm is rotatably connected to the rotating base; the rotating The seat is connected with the connecting rod.

Further, the swing arm includes a first arm section and a second arm section; the first arm section is rotatably connected to the second arm section; the first arm section is rotatably connected to the clamping member; The second arm segment is connected with the rotating seat.

Further, the first crawler structure includes a first traveling assembly, a second traveling assembly and a first driving device; both the first traveling assembly and the second traveling assembly are connected to the output end of the first driving device.

Further, the second crawler structure includes a third traveling assembly, a fourth traveling assembly and a second driving device; both the third traveling assembly and the fourth traveling assembly are connected to the output end of the second driving device.

Description of drawings

The present invention can be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts in the different views.

Fig. 1 is one of structural representations of crawler type mobile robot described in an embodiment of the present invention;

Fig. 2 is the second structural diagram of the crawler mobile robot described in an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a handling device of a crawler-type mobile robot according to an embodiment of the present invention;

Fig. 4 is a schematic structural view of a gripping device of a crawler-type mobile robot according to an embodiment of the present invention;

Fig. 5 is the third schematic structural view of the crawler mobile robot according to an embodiment of the present invention;

Explanation of reference signs:

1. Chassis; 2. Bracket; 3. Lifting structure; 31. Moving plate; 311. First slide rail; 312. Second slide rail; 32. Lifting member; 4. Fastening structure; 41. First fixed component; 411, limit plate; 412, mounting plate; 413, drive motor; 42, second fixed assembly; 43, storage plate; 5, clamping device; 51, connecting rod; 52, mechanical arm; 521, rotating seat; 522 , swing arm; 5221, first arm section; 5222, second arm section; 523, clamping member; 6, first crawler structure; 61, first walking assembly; 611, rotating wheel; 612, driving wheel; 613, Driven wheel; 62, the second traveling assembly; 63, the first driving device; 7, the second crawler structure; 71, the third traveling assembly; 72, the fourth traveling assembly; 73, the second driving device.

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with its embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and do not limit the protection scope of the present invention.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The "first" and "second" mentioned in the present invention do not represent specific numbers and sequences, but are only used to distinguish names.

As shown in Figures 1 to 5, a crawler-type mobile robot in an embodiment of the present invention includes a chassis 1, a handling device, a gripping device 5 and a walking device; the handling device includes a support 2, a lifting structure 3 and a fastening Structure 4, the fastening structure 4 is connected with the lifting structure 3, the lifting structure 3 is installed on the bracket 2, and the bracket 2 is installed on the chassis 1; the clamping device 5 is hinged with the chassis 1 and is used for clamping goods; the walking device includes a first The crawler structure 6 and the second crawler structure 7 , the first crawler structure 6 and the second crawler structure 7 are respectively located on both sides of the chassis 1 in the longitudinal direction.

The crawler-type mobile robot mentioned above is provided with a lifting structure 3 so that the robot has a lifting function, so that the handling device can adapt to goods of different heights, and it solves the problem that the existing robot is not equipped with a lifting device and it is difficult to place goods higher than the height of the robot. ; A fastening structure 4 connected to the lifting structure 3 is provided to fix the goods to prevent the goods from falling from the handling device during the handling process; the first crawler structure 6 and the second crawler structure 7 drive the chassis 1 to move; also A clamping device 5 hinged to the chassis 1 is provided to solve the problem that existing robots are difficult to clamp goods.

As shown in Figure 3, in one of the embodiments, the lifting structure 3 includes a moving plate 31 and a lifting member 32 that controls the lifting movement of the moving plate 31; the moving plate 31 is slidably connected to the support 2; the fastening structure 4 is installed on the moving plate 31. The lifting member 32 is slidingly connected to the bracket 2, and the lifting member 32 drives the moving plate 31 to move up and down, and then drives the fastening structure 4 to move up and down, so that it adapts to the handling requirements of different heights.

Preferably, the lifting member 32 is a hydraulic cylinder, one end of the hydraulic cylinder is installed on the bracket 2, and the telescopic end of the hydraulic cylinder is connected to the moving plate 31. The hydraulic cylinder is a prior art, and will not be described in detail here.

Specifically, the fastening structure 4 includes a first fixing component 41 , a second fixing component 42 and a storage plate 43 ; the first fixing component 41 , the second fixing component 42 and the storage plate 43 are all slidably connected with the moving plate 31 . The moving plate 31 and the chassis 1 are arranged at intervals in parallel, and the storage plate 43 slides relative to the moving plate 31, so that the position of the storage plate 43 can be adjusted, and the storage plate 43 has a lifting function and a horizontal sliding function. and vertical position to meet different handling requirements.

Specifically, the first fixing component 41 and the second fixing component 42 are arranged in parallel and spaced apart to form a space, and the storage plate 43 is located in the space. The first fixing assembly 41 and the second fixing assembly 42 cooperate to fix the goods on the storage board 43 , so as to prevent the goods from falling from the storage board 43 .

Specifically, the moving plate 31 is provided with a first slide rail 311 and a second slide rail 312; the first slide rail 311 and the second slide rail 312 are vertically arranged; the first slide rail 311 is arranged along the length direction of the chassis 1; the storage plate 43 It is slidably connected with the first slide rail 311 ; the first fixing component 41 and the second fixing component 42 are both slidably connected with the second slide rail 312 . The storage plate 43 is slidably connected with the moving plate 31 through the first slide rail 311, and has a horizontal movement function in the length direction of the chassis 1, and the position of placing goods can be adjusted by moving the storage plate 43; the first fixed assembly 41 and the second The fixed assembly 42 is slidably connected to the moving plate 31 through the second slide rail 312. In the direction perpendicular to the length direction of the chassis 1, the first fixed assembly 41 and the second fixed assembly 42 adjust the size of the space between them by moving, and then place objects The goods on the board 43 are fixed, so that a more flexible loading function is realized and the goods are prevented from falling from the storage board 43 at the same time.

Preferably, the first fixing assembly 41 includes a limiting plate 411, a mounting plate 412, and a drive motor 413 that controls the sliding of the mounting plate 412; the limiting plate 411 is mounted on the mounting plate 412, and the mounting plate 412 is slidably connected to the second slide rail 312 The limiting plate 411 and the mounting plate 412 are all arranged along the length direction of the chassis 1, the limiting plate 411 and the mounting plate 412 are used to fix the goods, and the limiting plate 411 provides the space-limiting function for the goods in the vertical direction, so , to avoid falling of the goods.

As shown in FIG. 4 , in one embodiment, the gripping device 5 includes a connecting rod 51 and a mechanical arm 52 ; the connecting rod 51 is hinged to the chassis 1 ; and the mechanical arm 52 is connected to the connecting rod 51 . One end of the connecting rod 51 is hinged with the chassis 1, and the other end of the connecting rod 51 is connected with the mechanical arm 52. When the connecting rod 51 rotates, it drives the mechanical arm 52 to rotate, and then adjusts the height of the mechanical arm 52. range to meet the grabbing needs of different heights.

Specifically, the mechanical arm 52 includes a rotating base 521, a swing arm 522 and a clamping member 523; the clamping member 523 is connected to one end of the swinging arm 522; the other end of the swinging arm 522 is rotationally connected to the rotating base 521; the rotating base 521 is installed on chassis 1. Swing arm 522 is rotatably connected with connecting rod 51 by swivel seat 521, when connecting rod 51 drives swing arm 522 to lift, swing arm 522 rotates relative to swivel seat 521, like this, swing arm 522 can rotate while going up and down, and then satisfy more A wide range of crawling needs.

Specifically, the swing arm 522 includes a first arm section 5221 and a second arm section 5222; the first arm section 5221 is rotatably connected to the second arm section 5222; the first arm section 5221 is rotatably connected to the clamping member 523; the second arm section 5222 is rotationally connected with the swivel seat 521. The first arm section 5221 rotates around the rotational connection between the first arm section 5221 and the clamping member 523, and the second arm section 5222 rotates around the rotational connection between the second arm section 5222 and the rotating seat 521. At the same time, the rotating seat 521 The second arm section 5222 is driven to rotate in a circumferential direction, and then the first arm section 5221 and the clamping member 523 are driven to rotate in a circumferential direction. In this way, the holding member can rotate in different directions to meet the needs of different scenarios.

As shown in Fig. 1, Fig. 2 and Fig. 5, in one of the embodiments, the first crawler structure 6 includes a first traveling assembly 61, a second traveling assembly 62 and a first driving device 63; the first traveling assembly 61 and the second traveling assembly The two walking assemblies 62 are both connected to the output ends of the first driving device 63 .

Preferably, the first walking assembly 61 and the second walking assembly 62 are arranged in parallel and spaced apart, and the first walking assembly 61 and the second walking assembly 62 rotate synchronously.

Specifically, the second crawler structure 7 includes a third traveling assembly 71 , a fourth traveling assembly 72 and a second driving device 73 ; both the third traveling assembly 71 and the fourth traveling assembly 72 are connected to the output end of the second driving device 73 .

Preferably, the structures of the first walking assembly 61, the second walking assembly 62, the third walking assembly 71 and the fourth walking assembly 72 are the same; the first walking assembly 61 includes a rotating wheel 611, a driving wheel 612 and a driven wheel 613; the rotating wheel 611 is connected to the output end of the first driving device 63. After the first driving device 63 drives the rotating wheel 611 to rotate, the rotating wheel 611 drives the driving wheel 612 to rotate, and then the driving wheel 612 drives the driven wheel 613 to rotate, thereby driving the chassis 1 to rotate. Move to realize the walking function of the robot.

Preferably, both the first driving device 63 and the second driving device 73 are motors, and the motors are in the prior art, and details will not be described here.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. A crawler-type mobile robot, characterized in that, comprising: chassis; A handling device, the handling device includes a bracket, a lifting structure and a fastening structure, the fastening structure is connected to the lifting structure, the lifting structure is installed on the bracket, and the bracket is installed on the chassis; a gripping device, the gripping device is hinged to the chassis and is used for gripping goods; The traveling device includes a first crawler structure and a second crawler structure, and the first crawler structure and the second crawler structure are respectively located on both sides of the chassis in the length direction. 2. The crawler-type mobile robot according to claim 1, wherein the lifting structure comprises a moving plate and a lifter for controlling the lifting motion of the moving plate; the moving plate is slidably connected to the support; the The fastening structure is installed on the moving plate. 3. The tracked mobile robot according to claim 2, wherein the fastening structure comprises a first fixed assembly, a second fixed assembly and a storage board; the first fixed assembly, the second fixed assembly And the storage board is slidably connected with the moving board. 4 . The crawler-type mobile robot according to claim 3 , wherein the first fixing assembly and the second fixing assembly are arranged in parallel and spaced apart to form a space, and the storage board is located in the space. 5. The crawler-type mobile robot according to claim 3, wherein the moving plate is provided with a first slide rail and a second slide rail; the first slide rail is perpendicular to the second slide rail; The first slide rail is arranged along the length direction of the chassis; the storage board is slidably connected with the first slide rail; the first fixing assembly and the second fixing assembly are both connected to the second slide rail Swipe to connect. 6. The tracked mobile robot according to claim 1, wherein the gripping device comprises a connecting rod and a mechanical arm; the connecting rod is hinged to the chassis; the mechanical arm rotates with the connecting rod connect. 7. The tracked mobile robot according to claim 6, characterized in that, the mechanical arm comprises a swivel seat, a swing arm and a clamp; the clamp is connected to one end of the swing arm; the swing The other end of the arm is rotationally connected with the rotating seat; the rotating seat is connected with the connecting rod. 8. The tracked mobile robot according to claim 7, wherein the swing arm comprises a first arm segment and a second arm segment; the first arm segment is rotationally connected to the second arm segment; The first arm segment is rotatably connected to the clamping member; the second arm segment is connected to the rotating base. 9. The crawler-type mobile robot according to claim 1, wherein the first crawler structure comprises a first walking assembly, a second walking assembly and a first driving device; the first walking assembly and the second walking assembly The components are all connected to the output end of the first driving device. 10. The crawler-type mobile robot according to claim 1, wherein the second crawler structure comprises a third walking assembly, a fourth walking assembly and a second driving device; the third walking assembly and the fourth walking assembly The components are all connected to the output end of the second driving device.

Images