CN202668547U - Collection and transport robot - Google Patents
Collection and transport robot Download PDFInfo
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- CN202668547U CN202668547U CN2012203058814U CN201220305881U CN202668547U CN 202668547 U CN202668547 U CN 202668547U CN 2012203058814 U CN2012203058814 U CN 2012203058814U CN 201220305881 U CN201220305881 U CN 201220305881U CN 202668547 U CN202668547 U CN 202668547U
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Abstract
A collection and transport robot comprises a wheel distance change mechanism, a grabbing mechanism, a conveying mechanism, a support mechanism, a chassis and a control device, wherein the wheel distance change mechanism is arranged below the chassis, and the grabbing mechanism and the support mechanism are respectively arranged at the two ends of the chassis; the wheel distance change mechanism comprises a moving bottom frame, a first motor with a gearbox, an elliptical wheel, a lateral moving block, a vertical moving block and a guide rail; the grabbing mechanism comprises a support base, a second motor, a bracket, a jaw moving motor and a moving block; the conveying mechanism comprises a conveying motor, a frame, a conveyer belt, a long chain wheel mechanism and a short chain wheel mechanism; and the support mechanism comprises a third motor with a transmission, a support rod and a support base with a support wheel. The robot has the beneficial effects that as a wheel distance can be automatically adjusted according to the width of a road, the adaptability is strong; and the robot having diversified functions is suitable for field operation.
Description
Technical field
The utility model relates to a kind of robot that is suitable for gathering transportation.
Background technology
Along with the development of Robotics, scientist develops various robot architectures, is used for the occasions such as industrial manufacturing, exploration, transportation.The development of Robotics is a comprehensive result that scientific technological advance is common, has also produced a science and technology of a significant impact for socio-economic development.Robotics is as one of human greatest invention of 20th century, and since coming out the beginning of the sixties, the development of experiencing more than 40 years has obtained significant progress.At present domestic patent about the robot aspect reaches kind more than 6000, and some complex environments in the open air, does not locally gather object and realizes that the robot of transportation is rarely found such as width of roadway is first-class.How to adapt to better that these widths of roadway change at any time and can automatic acquisition and the machine of conveying.By american weapon contractor Boston utility companies (Boston Dynamics) research and development the very high device of a cover scientific and technological content---" towser " be transportation robot (BigDog).This robot very complicated zone that can conform, but need the people for install and manufacturing cost large.U.S. Oshkosh truck company has developed a novel transportation robot " Palletised Loading System " on the basis of " Palletised Loading System (Palletized Load System) ", but can't regulate between-wheel spacing.Propose a kind of novel robot architecture, it can adapt to the environment that road width changes for this reason.
Summary of the invention
The utility model can not well adapt to the problem of the variation on different in width road surface for present robot, proposed a kind of can according to the width on road surface automatically adjust wheel tracks from the robot that is suitable for gathering transportation.
The robot that is suitable for gathering transportation described in the utility model, it is characterized in that: comprise wheel pitch-changing mechanism, grasping mechanism, conveying mechanism, supporting mechanism, chassis and control device, described wheel pitch-changing mechanism is installed in the below on described chassis, and described grasping mechanism and described supporting mechanism are installed respectively in the two ends on described chassis;
Described wheel pitch-changing mechanism comprises roll-out tray, the first motor with gearbox, elliptic wheel, transverse shifting piece, vertical movable block and guide rail; Described elliptic wheel is connected with described chassis axle; The output shaft of described the first motor is connected with the center of described elliptic wheel; The roller of the edge matching of described transverse shifting piece one end installation and described elliptic wheel, the other end is hinged with an end of two described vertical movable blocks respectively by two connecting rods; The other end of described vertical movable block is fixed on the described roll-out tray; Described roll-out tray is connected to the both sides on described chassis by guide rail, and at the two ends of described roll-out tray the wheel with wheel electrical machine is installed;
Described grasping mechanism comprises bearing, the second motor, support, paw mobile motor, movable block; Described the second motor is installed in an end on chassis, the output shaft of described the second motor is fixed on the described bearing by turning cylinder, fixed support on the described turning cylinder, described paw mobile motor is all installed at the two ends of described support, and the output shaft of each described paw mobile motor connects a rhizoid bar by shaft coupling; Equal fixing movable block on the every described screw mandrel; One end of described movable block is connected on the guide rod of described support, and the other end is installed paw;
Described conveying mechanism comprises carries motor, framework, conveyer belt, long-chain wheel mechanism, short chain wheel mechanism; Roller is installed in described framework bottom; Conveyer belt is installed in the middle of the described roller, and the described long-chain wheel mechanism that passes through of all rollers interconnects, and realizes run-in synchronism; Described conveying motor is connected with one of them roller by described short chain wheel mechanism;
Described supporting mechanism comprises the 3rd motor with speed changer, support bar and with the supporting seat of support wheel, described the 3rd motor is installed in the other end on chassis; Described support bar one end is fixed on the output shaft of described the 3rd motor, and the other end is fixed on the described supporting seat;
Described control device comprises single-chip microcomputer, indicator lamp and sensor; Described single-chip microcomputer is electrically connected with described the first motor, the second motor, paw mobile motor, the 3rd motor.
Described transverse shifting piece, described vertical movable block all are arranged in the stopper slot that positive stop forms, so that described transverse shifting piece, described vertical movable block move along a straight line.
The center of described elliptic wheel is connected with the center axle on described chassis.
The both sides of described traversing carriage all arrange the transverse shifting piece, and every corresponding two vertical movable blocks of transverse shifting piece.
Described roll-out tray and described chassis copline.
The two ends of described support are mutually drawn close and are formed along the center axisymmetric arm.
Two described paws are symmetrical along the central shaft of described support.
The guide rod of described support is parallel with described screw mandrel.
During use, when running into the width of roadway variation, sensor with the transfer of data on the road surface that gathers to single-chip microcomputer, single-chip microcomputer is given an order, and supporting mechanism is controlled in instruction and grasping mechanism supports robot downwards, then control the rear drive elliptic wheel rotation of starting working of the first motor, so that with the motion of the roller at elliptic wheel edge, drive transverse shifting piece horizontal motion, then drive vertical movable block movement in vertical direction, so that roll-out tray is adjusted the spacing of wheel along guide rail, then supporting mechanism and grasping mechanism pass through span bridge or road surface not of uniform size after upwards rotating; When running into large obstacle, grasping mechanism is removed barrier and is passed through regional; Grasp required object after arriving assigned address, the supporting seat of supporting mechanism stops the object transport that is placed in the conveying mechanism behind assigned address, the supporting seat of supporting mechanism turns downwards, gets out of the way the back of conveying mechanism, and the conveying driven by motor roller turn in the conveying mechanism is unloaded object carrier.
The beneficial effects of the utility model are: can according to the width on road surface automatically adjust wheel tracks from, strong adaptability, diverse in function, be fit to field work.
Description of drawings
Fig. 1 is overall construction drawing of the present utility model
Fig. 2 is wheel pitch-changing mechanism of the present utility model
Fig. 3 is grasping mechanism structure chart of the present utility model
Fig. 4 is conveying mechanism installation diagram of the present utility model
Fig. 5 is supporting mechanism structure chart of the present utility model
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing
With reference to accompanying drawing:
The robot that is suitable for gathering transportation described in the utility model, comprise chassis 1, wheel pitch-changing mechanism 2, grasping mechanism 3, conveying mechanism 4, supporting mechanism 5 and control device 6, described wheel pitch-changing mechanism 2 is installed in the below on described chassis 1, and described grasping mechanism 3 and described supporting mechanism 5 are installed respectively in the two ends on described chassis 1;
Described wheel pitch-changing mechanism 2 comprises roll-out tray 21, the first motor 22 with gearbox, elliptic wheel 23, transverse shifting piece 24, vertical movable block 25 and guide rail 26; Described elliptic wheel 23 is connected with described chassis 1 axle; The output shaft of described the first motor 22 is connected with the center of described elliptic wheel 23; The roller 241 of the edge matching of described transverse shifting piece 24 1 ends installation and described elliptic wheel 23, the other end is hinged with an end of two described vertical movable blocks 25 respectively by two connecting rods 242; The other end of described vertical movable block 25 is fixed on the described roll-out tray 21; Described roll-out tray 21 is connected to the both sides on described chassis 1 by guide rail 26, and at the two ends of described roll-out tray 21 wheel 211 with wheel electrical machine 2111 is installed;
Described grasping mechanism 3 comprises bearing 31, the second motor 32, support 33, paw mobile motor 34, movable block 35; Described the second motor 32 is installed in an end on chassis 1, the output shaft of described the second motor 32 is fixed on the described bearing 31 by turning cylinder 321, fixed support 33 on the described turning cylinder 321, described paw mobile motor 34 is all installed at the two ends of described support 33, and the output shaft of each described paw mobile motor 34 connects a rhizoid bar 342 by shaft coupling 341; Equal fixing movable block 35 on the every described screw mandrel 342; One end of described movable block 35 is connected on the guide rod 331 of described support 33, and the other end is installed paw 351;
Described conveying mechanism 4 comprises carries motor 41, framework 42, conveyer belt 43, long-chain wheel mechanism 44, short chain wheel mechanism 45; Roller 421 is installed in described framework 42 bottoms; In the middle of the described roller 421 conveyer belt 43 is installed, the described long-chain wheel mechanism 44 that passes through of all rollers 421 interconnects, and realizes run-in synchronism; Described conveying motor 41 is connected with one of them roller 421 by described short chain wheel mechanism 45;
Described supporting mechanism 5 comprises the 3rd motor 51 with speed changer, support bar 52 and with the supporting seat 53 of support wheel 531, described the 3rd motor 51 is installed in the other end on chassis 1; Described support bar 52 1 ends are fixed on the output shaft of described the 3rd motor 51, and the other end is fixed on the described supporting seat 53;
Described control device 6 comprises single-chip microcomputer, indicator lamp and sensor; Described single-chip microcomputer is electrically connected with described the first motor 22, the second motor 32, paw mobile motor 34, the 3rd motor 51.
Described transverse shifting piece 24, described vertical movable block 25 all are arranged in the stopper slot that positive stop 27 forms, so that described transverse shifting piece 24, described vertical movable block 25 move along a straight line.
The center of described elliptic wheel 23 is connected with the center axle on described chassis 1.
The both sides of described traversing carriage 21 all arrange transverse shifting piece 24, and every transverse shifting piece 24 corresponding two vertical movable blocks 25.
Described roll-out tray 21 and described chassis 1 copline.
The two ends of described support 33 are mutually drawn close and are formed along the center axisymmetric arm 332.
Two described paws 351 are symmetrical along the central shaft of described support 33.
The guide rod 331 of described support 33 is parallel with described screw mandrel 342.
During use, when running into the width of roadway variation, sensor with the transfer of data on the road surface that gathers to single-chip microcomputer, single-chip microcomputer is given an order, and supporting mechanism 5 is controlled in instruction and grasping mechanism 3 supports robots downwards, then control rear drive elliptic wheel 23 rotations of starting working of the first motor 22, so that with roller 241 motion at elliptic wheel 23 edges, drive transverse shifting piece 24 horizontal motion, then drive vertical movable block 25 movement in vertical direction, so that roll-out tray 21 is adjusted the spacing of wheel along guide rail 26, pass through span bridge or road surface not of uniform size after then supporting mechanism 5 and grasping mechanism 3 upwards rotate; When running into large obstacle, grasping mechanism 3 is removed barrier and is passed through regional; Grasp required object after arriving assigned address, the supporting seat 53 of supporting mechanism 5 stops the object transport that is placed in the conveying mechanism 4 behind assigned address, the supporting seat 53 of supporting mechanism 5 turns downwards, get out of the way the back of conveying mechanism 4, the conveying motor 41 in the conveying mechanism 4 drives roller 421 rotations and unloads object carrier.
The described content of this specification embodiment only is enumerating the way of realization of utility model design; protection domain of the present utility model should not be regarded as only limiting to the concrete form that embodiment states, protection domain of the present utility model also reaches the equivalent technologies means that design can be expected according to the utility model in those skilled in the art.
Claims (8)
1. be suitable for gathering the robot of transportation, it is characterized in that: comprise wheel pitch-changing mechanism, grasping mechanism, conveying mechanism, supporting mechanism, chassis and control device, described wheel pitch-changing mechanism is installed in the below on described chassis, and described grasping mechanism and described supporting mechanism are installed respectively in the two ends on described chassis;
Described wheel pitch-changing mechanism comprises roll-out tray, the first motor with gearbox, elliptic wheel, transverse shifting piece, vertical movable block and guide rail; Described elliptic wheel is connected with described chassis axle; The output shaft of described the first motor is connected with the center of described elliptic wheel; The roller of the edge matching of described transverse shifting piece one end installation and described elliptic wheel, the other end is hinged with an end of two described vertical movable blocks respectively by two connecting rods; The other end of described vertical movable block is fixed on the described roll-out tray; Described roll-out tray is connected to the both sides on described chassis by guide rail, and at the two ends of described roll-out tray the wheel with wheel electrical machine is installed;
Described grasping mechanism comprises bearing, the second motor, support, paw mobile motor, movable block; Described the second motor is installed in an end on chassis, the output shaft of described the second motor is fixed on the described bearing by turning cylinder, fixed support on the described turning cylinder, described paw mobile motor is all installed at the two ends of described support, and the output shaft of each described paw mobile motor connects a rhizoid bar by shaft coupling; Equal fixing movable block on the every described screw mandrel; One end of described movable block is connected on the guide rod of described support, and the other end is installed paw;
Described conveying mechanism comprises carries motor, framework, conveyer belt, long-chain wheel mechanism, short chain wheel mechanism; Roller is installed in described framework bottom; Conveyer belt is installed in the middle of the described roller, and the described long-chain wheel mechanism that passes through of all rollers interconnects, and realizes run-in synchronism; Described conveying motor is connected with one of them roller by described short chain wheel mechanism;
Described supporting mechanism comprises the 3rd motor with speed changer, support bar and with the supporting seat of support wheel, described the 3rd motor is installed in the other end on chassis; Described support bar one end is fixed on the output shaft of described the 3rd motor, and the other end is fixed on the described supporting seat;
Described control device comprises single-chip microcomputer, indicator lamp and sensor; Described single-chip microcomputer is electrically connected with described the first motor, the second motor, paw mobile motor, the 3rd motor.
2. the robot that is suitable for gathering transportation as claimed in claim 1, it is characterized in that: described transverse shifting piece, described vertical movable block all are arranged in the stopper slot that positive stop forms, so that described transverse shifting piece, described vertical movable block move along a straight line.
3. the robot that is suitable for gathering transportation as claimed in claim 2, it is characterized in that: the both sides of described traversing carriage all arrange the transverse shifting piece, and every corresponding two vertical movable blocks of transverse shifting piece.
4. the robot that is suitable for gathering transportation as claimed in claim 1, it is characterized in that: the center of described elliptic wheel is connected with the center axle on described chassis.
5. the robot that is suitable for gathering transportation as claimed in claim 4 is characterized in that: described roll-out tray and described chassis copline.
6. the robot that is suitable for gathering transportation as claimed in claim 1 is characterized in that: the two ends of described support are mutually drawn close and are formed along the center axisymmetric arm.
7. the robot that is suitable for gathering transportation as claimed in claim 6 is characterized in that: two described paws are symmetrical along the central shaft of described support.
8. the robot that is suitable for gathering transportation as claimed in claim 7, it is characterized in that: the guide rod of described support is parallel with described screw mandrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012203058814U CN202668547U (en) | 2012-06-25 | 2012-06-25 | Collection and transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012203058814U CN202668547U (en) | 2012-06-25 | 2012-06-25 | Collection and transport robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202668547U true CN202668547U (en) | 2013-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012203058814U Expired - Fee Related CN202668547U (en) | 2012-06-25 | 2012-06-25 | Collection and transport robot |
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| Country | Link |
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| CN (1) | CN202668547U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171639A (en) * | 2013-03-22 | 2013-06-26 | 南通皋液液压机有限公司 | Homing guidance transportation robot |
| CN103303384A (en) * | 2013-06-21 | 2013-09-18 | 中国科学院深圳先进技术研究院 | Robot capable of crawling on flexible surface |
| CN104751564A (en) * | 2015-04-02 | 2015-07-01 | 中国科学技术大学 | Independent selling method of service robot on basis of semantic comprehension and answer set programming |
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| US10327969B2 (en) | 2015-11-30 | 2019-06-25 | Ford Global Technologies, Llc | Mobile transport device |
| CN110121929A (en) * | 2019-05-27 | 2019-08-16 | 林远平 | A kind of long-range control transport rotary cultivator |
-
2012
- 2012-06-25 CN CN2012203058814U patent/CN202668547U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171639A (en) * | 2013-03-22 | 2013-06-26 | 南通皋液液压机有限公司 | Homing guidance transportation robot |
| CN103171639B (en) * | 2013-03-22 | 2015-11-18 | 南通皋液液压机有限公司 | Homing guidance transfer robot |
| CN103303384A (en) * | 2013-06-21 | 2013-09-18 | 中国科学院深圳先进技术研究院 | Robot capable of crawling on flexible surface |
| CN103303384B (en) * | 2013-06-21 | 2015-07-29 | 中国科学院深圳先进技术研究院 | flexible surface climbing robot |
| CN104751564A (en) * | 2015-04-02 | 2015-07-01 | 中国科学技术大学 | Independent selling method of service robot on basis of semantic comprehension and answer set programming |
| US10327969B2 (en) | 2015-11-30 | 2019-06-25 | Ford Global Technologies, Llc | Mobile transport device |
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| CN110121929A (en) * | 2019-05-27 | 2019-08-16 | 林远平 | A kind of long-range control transport rotary cultivator |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130116 Termination date: 20150625 |
|
| EXPY | Termination of patent right or utility model |