CN205554364U - Novel wheeled walking transfer robot - Google Patents

Novel wheeled walking transfer robot Download PDF

Info

Publication number
CN205554364U
CN205554364U CN201620194092.6U CN201620194092U CN205554364U CN 205554364 U CN205554364 U CN 205554364U CN 201620194092 U CN201620194092 U CN 201620194092U CN 205554364 U CN205554364 U CN 205554364U
Authority
CN
China
Prior art keywords
module
wheel
transfer robot
control module
car body
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.)
Expired - Fee Related
Application number
CN201620194092.6U
Other languages
Chinese (zh)
Inventor
李华茂
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.)
Shenyang Hengtian Machine-Man Manufacture Co Ltd
Original Assignee
Shenyang Hengtian Machine-Man Manufacture 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 Shenyang Hengtian Machine-Man Manufacture Co Ltd filed Critical Shenyang Hengtian Machine-Man Manufacture Co Ltd
Priority to CN201620194092.6U priority Critical patent/CN205554364U/en
Application granted granted Critical
Publication of CN205554364U publication Critical patent/CN205554364U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a novel wheeled walking transfer robot, it is all installed on the automobile body including automobile body, power module, control module, sensing module, drive module and lifting mechanism, power module, control module and lifting mechanism, the sensing module that links to each other through the cable is all installed with control module at both ends around the automobile body, four at least drive module are still installed to the frame bottom, drive module fixes on the wheel carrier including motor, drive belt and damping spring, motor, and through drive belt and the wheel connection cooperation realization transmission, its structural feature is: still include balance adjustment device, balance adjustment device and car connection. The utility model discloses can be applicable to better smooth road surface of road conditions and the relatively poor rugged road surface of road conditions simultaneously, make the adaptability of this robot strengthen greatly.

Description

A kind of novel running on wheels transfer robot
Technical field
This utility model belongs to transfer robot technical field, is specifically related to the improvement of a kind of running on wheels transfer robot structure.
Background technology
Now, transfer robot is promoted largely, it is categorized as the transfer robot such as sufficient formula, wheeled, crawler type by walking manner, but the defect of the road conditions bad adaptability that walking robot generally exists, can only have no idea to adapt to complicated working environment, even through some bumpy sections by fixing use in simple working environment, wheel often causes individual wheel unsettled because of the out-of-flatness on road surface, and then skidding occurs.
Summary of the invention
In order to overcome above-mentioned technical problem, this utility model provides a kind of novel running on wheels transfer robot, and it can be simultaneously suitable for the preferable flat road surface of road conditions and the poor rough ground of road conditions, makes the adaptability of this robot be greatly reinforced.
For solving the problems referred to above, the technical scheme that this utility model is used is as follows: this utility model includes car body, power module, control module, sensing module, driving module and lifting mechanism, and power module, control module and lifting mechanism are installed on car body;Car body rear and front end is mounted on the sensing module being connected by cable with control module;Described vehicle bottom is also equipped with at least four and drives module;Described driving module includes motor, transmission band and damping spring, motor is fixed on wheel carrier, it is connected cooperation by transmission band with wheel and realizes transmission, its structural feature is: also include balance regulator, balance regulator is connected with car body, balance regulator includes wheel and wheel carrier, wheel carrier includes the crossbeam extended along width of the carbody direction, the two ends of crossbeam are extended with side plate separately down, the wheel shaft of wheel passes through bearing hinge joint on side plate, a rotating shaft extended along length over ends of body direction it is fixed with on crossbeam, roller end is articulated with an axle sleeve, axle sleeve is fixedly connected with the vehicle body by fixing seat, fixing seat is provided with two pieces of gripper shoes being vertically arranged, two pieces of gripper shoes are fixed with axle sleeve respectively and are connected and are fixedly connected with the vehicle body.
Preferably, control module uses relay and catalyst to control;The production cost of robot can be reduced.
Preferably, module is driven to use servomotor;The production cost of robot can be reduced.
The beneficial effects of the utility model:
This utility model uses and sets rotating shaft on the crossbeam between wheel, and roller end is articulated with an axle sleeve, and thus axle sleeve can deflect by crossbeam relatively;Axle sleeve is provided with fixing seat, and fixing seat is connected with car body, and thus car body can deflect by crossbeam relatively, when pavement roughness, crossbeam inclination keeps contacting with road surface to adjust wheel, and car body can't tilt together with crossbeam, makes the adaptability of this robot be greatly reinforced;And control part and use relay and catalyst to control, greatly reduce the production cost of this robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model balance regulator.
1-balance regulator, 2-wheel;3-car body;31-crossbeam;32-side plate;33-rotating shaft;34-axle sleeve;35-fixes seat;4-motor.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, this utility model includes car body, power module, control module, sensing module, driving module and lifting mechanism, and power module, control module and lifting mechanism are installed on car body;Car body rear and front end is mounted on the sensing module being connected by cable with control module;Described vehicle bottom is also equipped with at least four and drives module;Described driving module includes motor, transmission band, wheel carrier, wheel and damping spring, motor is fixed on wheel carrier, it is connected cooperation by transmission band with wheel and realizes transmission, also include balance regulator 1, balance regulator 1 is connected with car body, balance regulator 1 includes wheel and wheel carrier, wheel carrier includes the crossbeam 31 extended along width of the carbody direction, the two ends of crossbeam 31 are extended with side plate 32 separately down, the wheel shaft of wheel passes through bearing hinge joint on side plate, a rotating shaft 33 extended along length over ends of body direction it is fixed with on crossbeam 31, rotating shaft 33 end is articulated with an axle sleeve 34, axle sleeve 34 is fixedly connected with the vehicle body by fixing seat 35, fixing seat is provided with two pieces of gripper shoes being vertically arranged, two pieces of gripper shoes are fixed with axle sleeve 34 respectively and are connected and are fixedly connected with the vehicle body.
Wherein, control module uses relay and catalyst to control;Module is driven to use servomotor;The production cost of robot can be reduced.
Wherein, wheel is 2 or 4 Mecanum wheels, and Mecanum wheel is by independent Serve Motor Control, and servomotor is disposed longitudinally between Mecanum wheel, and it drives Mecanum wheel to rotate by power reverser.
When wheel adaptive mechanism of the present utility model runs into the situation of pavement roughness, crossbeam 31 tilts, and two or four wheel keeps contacting with ground, thus ensure that each motor realizes the driving effect to car body through wheel.
Above-mentioned embodiment is only preferred implementation of the present utility model; the scope that can not limit this utility model protection with this, the change of any unsubstantiality that those skilled in the art is done on the basis of this utility model and replacement belong to this utility model scope required for protection.

Claims (4)

1. a novel running on wheels transfer robot, includes car body, power module, control module, sensing module, driving module and lifting mechanism, and power module, control module and lifting mechanism are installed on car body;Car body rear and front end is mounted on the sensing module being connected by cable with control module;Described vehicle bottom is also equipped with at least four and drives module;Described driving module includes motor, transmission band and damping spring, motor is fixed on wheel carrier, it is connected cooperation by transmission band with wheel and realizes transmission, it is characterized in that: also include balance regulator, balance regulator is connected with car body, balance regulator includes wheel and wheel carrier, wheel carrier includes the crossbeam extended along width of the carbody direction, the two ends of crossbeam are extended with side plate separately down, the wheel shaft of wheel passes through bearing hinge joint on side plate, a rotating shaft extended along length over ends of body direction it is fixed with on crossbeam, roller end is articulated with an axle sleeve, axle sleeve is fixedly connected with the vehicle body by fixing seat, fixing seat is provided with two pieces of gripper shoes being vertically arranged, two pieces of gripper shoes are fixed with axle sleeve respectively and are connected and are fixedly connected with the vehicle body.
A kind of novel running on wheels transfer robot the most according to claim 1, it is characterised in that: control module uses relay and catalyst to control.
A kind of novel running on wheels transfer robot the most according to claim 1, it is characterised in that: drive module to use servomotor.
A kind of novel running on wheels transfer robot the most according to claim 1, it is characterized in that: wheel is 2 or 4 Mecanum wheels, Mecanum wheel is by independent Serve Motor Control, and servomotor is disposed longitudinally between Mecanum wheel, it drives Mecanum wheel to rotate by power reverser.
CN201620194092.6U 2016-03-14 2016-03-14 Novel wheeled walking transfer robot Expired - Fee Related CN205554364U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620194092.6U CN205554364U (en) 2016-03-14 2016-03-14 Novel wheeled walking transfer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620194092.6U CN205554364U (en) 2016-03-14 2016-03-14 Novel wheeled walking transfer robot

Publications (1)

Publication Number Publication Date
CN205554364U true CN205554364U (en) 2016-09-07

Family

ID=56817647

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620194092.6U Expired - Fee Related CN205554364U (en) 2016-03-14 2016-03-14 Novel wheeled walking transfer robot

Country Status (1)

Country Link
CN (1) CN205554364U (en)

Similar Documents

Publication Publication Date Title
CN103935412B (en) Modularization rubber belt track is taken turns
US9434426B2 (en) Track suspension
CN201304853Y (en) Non-driving bearing axle device for trailer
CN101007531A (en) Half-track air cushion vehicle
CN103754281B (en) A kind of contact area and the adjustable Athey wheel of degree of tightness
CN110884565A (en) Suspension steering mechanism based on four-wheel drive platform truck
CN210101212U (en) Vehicle and independent suspension system
US11753093B2 (en) Suspension system for a track-driven work vehicle with pivoting roller wheel assemblies
CN201099156Y (en) Air suspension adapted for heavy truck floating bridge
CN205554364U (en) Novel wheeled walking transfer robot
CN112298399A (en) Self-propelled semitrailer and vehicle
CN108163094A (en) A kind of mountain off-road robot car chassis
CN209888968U (en) Torsion bar spring independent suspension system of wheel-track conversion vehicle and wheel-track conversion vehicle
CN203427918U (en) Caterpillar track chassis of beach cleaning vehicle
CN103010019B (en) Bow-type tractor
CN202279172U (en) Articulated barrier-free crawler device
EP4265457A1 (en) Novel power transmission structure applicable to all-terrain go-kart
RU2474510C2 (en) Method of increasing flotation of automobile and device to this end
CN210793346U (en) Shock-proof chassis for unmanned automobile
CN204605993U (en) A kind of wheel adaptive mechanism
CN103395453B (en) The crawler body of a kind of sandy beach cleaning cart
CN102896991B (en) All-terrain off-road vehicle chassis with self-adjusting wheels
CN217892996U (en) Large-angle steering function steering axle for transport vehicle
CN211000815U (en) Virtual railcar carriage shape walking part structure
CN211000814U (en) Double-cross-arm walking part structure of virtual rail car

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160907

Termination date: 20170314