CN205554364U - Novel wheeled walking transfer robot - Google Patents
Novel wheeled walking transfer robot Download PDFInfo
- 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
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- China
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- module
- wheel
- transfer robot
- control module
- car body
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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
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.
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) |
-
2016
- 2016-03-14 CN CN201620194092.6U patent/CN205554364U/en not_active Expired - Fee Related
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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 |