CN207726317U - A kind of material transfer robot based on suspension - Google Patents
A kind of material transfer robot based on suspension Download PDFInfo
- Publication number
- CN207726317U CN207726317U CN201721859361.7U CN201721859361U CN207726317U CN 207726317 U CN207726317 U CN 207726317U CN 201721859361 U CN201721859361 U CN 201721859361U CN 207726317 U CN207726317 U CN 207726317U
- Authority
- CN
- China
- Prior art keywords
- motor
- bottom plate
- mechanical arm
- plate
- fixed
- 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.)
- Active
Links
Abstract
The utility model is specifically related to a kind of material transfer robot based on suspension, including the wherein front and back motor plate of mechanical arm and body part is connect by copper hinge with cart base plate；Two motor plates of Shi Qianhou carry out the rotation of certain angle around hinge axis.Two laminates are arranged in the bottom plate upper end, and the quadrangle of two laminate is connected with the front and back motor plate below bottom plate respectively by attachment device；The attachment device is that the first U-shaped frame is fixed in two laminate lower surfaces, and the second U-shaped frame, connecting spring between the first U-shaped frame and the second U-shaped frame are fixed in the corresponding place in upper surface of motor plate.Wherein：Spring upper end is fixed, and lower end connects motor plate, and motor plate can be relatively rotated around the hinge being fixed on bottom plate.When robot is hit, power is conducted by motor to motor plate, upper pressing spring, has reached the effect of buffering shock-absorbing.And including at least one section specific mechanical arm.In practical applications, which captures material, excellent effect.
Description
Technical field
The present invention relates to machinery fields, and in particular to a kind of material transfer robot based on suspension.
Background technology
In the prior art, the cross-country ability of Large off-road vehicle is remarkable, but miniature cross-country robot, due to small, structure is not
It is complicated convenient for design, cause miniature cross-country performance to be had a greatly reduced quality.In terms of material carrying, also can seldom it accomplish correctly complete
Carry three materials, the material conveying device not carried for off-road robot more.
In existing miniature cross-country robot, Publication No.：CN 102602464 A, it is entitled《Subtract with damping
Shake the small-sized caterpillar belt reconnaissance robot of wheel》It is middle to disclose a kind of use crawler type damping structure damping robot, this structure motion
Noise is small, stable movement, is suitable for investigation, but but has significant limitation in mobility, reply that an emergency situation is encountered
Ability is weaker.
Publication No.：CN205574978U, it is entitled《A kind of material transfer robot》It includes folder to disclose a kind of
Take the material transfer robot of device, lifting gear and rotating device, this transfer robot can be by material fast and accurately
It places in correct position, but its volume is big, it is complicated, it is not particularly suited for vehicle-mounted.
Based on the above reason, a kind of carrying implement that can be voluntarily captured and can be determined whether correct material is needed
Device people is devised, and robot not only can be more configured from software to adapt to environment according to walking condition, tight
Anxious situation can improve field survivorship ability and adaptivity with high-speed motion.Material can be completed by carrying mechanical arm
Crawl so that at the same time robot can be used the lower visual apparatus of price to carry out image procossing and determined with a tractor serves several purposes
Position navigation, improves the practical value of transfer robot.
Invention content
1, technical problem to be solved：
The object of the present invention is to provide a kind of material transfer robot based on suspension is removed using machine vision completion
The independent navigation of robot is transported, and can be by the adaptability of the change raising robot in software end, by being filled on mechanical arm
Some grippers capture material, solve the above-mentioned problems in the prior art.
2, technical solution：
A kind of material transfer robot based on suspension, including mechanical arm and body part, car body include symmetrical point
Cloth is in four tires, bottom plate, motors of robot bottom plate both sides, former and later two motor plates, hinge, two laminates, spring, U-shaped frame,
Shaft coupling；The four-wheel connects corresponding motor by shaft coupling.
Four motors are fixed below corresponding front and back motor plate both ends；Front motor plate by copper hinge with it is small
Underbody front edge of board connects；The flush end of motor plate is connect by copper hinge with cart base plate rear end afterwards；The wherein first half of hinge
Divide and connect with bottom plate, latter half is connected with corresponding motor plate, and front and back two motor plate carries out the rotation of certain angle around hinge axis
Turn.
The motor, motor plate and shaft coupling are located at the lower end of bottom plate.
The bottom plate upper end is arranged two laminates, the quadrangle of two laminate by attachment device respectively with below bottom plate
Front and back motor plate be connected；The attachment device is that the first U-shaped frame is fixed in two laminate lower surfaces, and the upper surface of motor plate is corresponding
The second U-shaped frame, connecting spring between the first U-shaped frame and the second U-shaped frame are fixed in place.Wherein：Spring upper end is fixed, lower end connection
Motor plate, motor plate can be relatively rotated around the hinge being fixed on bottom plate.When robot is hit, power is conducted by motor
To motor plate, upper pressing spring has reached the effect of buffering shock-absorbing.
The mechanical arm bottom is fixed on by mechanical arm support on bottom plate；The mechanical arm includes mounting bracket and steering engine；
It is fixedly linked by bar shaped mounting bracket between described two steering engines, two steering engine steering wheels are connected with two U-shaped mounting brackets shape respectively
Cheng Yijie specific mechanical arms, the mechanical arm include at least one section specific mechanical arm；The front end of the mechanical arm passes through least significant end
Steering engine connects gripper.
Further, further include the image capture module being fixed on bottom plate, central processing unit, driving unit, power supply mould
Block；It is transferred to central processing unit after described image acquisition module acquisition image data；Control is exported after the central processing unit processing
Signal processed, controls driving unit, and driving unit controls motor and mechanical arm；The power module is supplied to robot each section
Electricity.
Further, described image acquisition module is smart camera, and the smart camera is fixed on camera frame；The phase
Rack is fixed on bottom plate.Wherein：Camera is fixed on camera support, then by camera support fixed camera plate, finally
Camera board is connect with robot bottom plate and horizontal by certain angle, camera is for acquiring external information, while identification is drawn
Conducting wire is to realize the independent navigation of robot.
Further, power module is 6s model airplane batteries；The power module is semi-buried is fixed on bottom plate.
Further, further include that power supply connects Voltage stabilizing module, the Voltage stabilizing module is fixed on bottom plate；The power module
Output end is connected with Voltage stabilizing module.
Further, color identification module is installed on the gripper；The gripper installs small steering engine and provides power.Peace
Dress color identification module can identify the color of crawl material.The signal of color identification module outflow passes through the place of central processing unit
Reason is to judge whether correctly to capture material, to determine to act in next step.
3, advantageous effect：
（1）Present invention employs a variety of shock-dampening methods, keep robot cross-country ability excellent, have to various obstacles fine
Adaptability, including slope, ladder, trough etc..
（2）Mechanical arm in the present invention using multiple steering engines is connected with each other combination to capture material by aluminum frame, and
Color identification module is installed to realize the material carrying to different colours in gripper, whether is target so as to automatic decision
Material has very high intelligent.
（3）It positions and navigates using camera in the present invention, acquisition characteristics information, improved while reducing cost
The intelligence degree of robot.
Description of the drawings
Fig. 1 is a kind of schematic diagram 1 of the material transfer robot based on suspension；
Fig. 2 is a kind of schematic diagram 2 of the material transfer robot based on suspension；
Fig. 3 is a kind of material transfer robot upward view based on suspension；
Fig. 4 is a kind of structural schematic diagram of the mechanical arm of the material transfer robot based on suspension；
Fig. 5 is a kind of design sketch of the material transfer robot crawl material based on suspension；
Fig. 6 is a kind of structural schematic diagram of the spring shock absorption of the material transfer robot based on suspension；
In figure：1- image capture modules, 2- camera supports, 3- camera boards, 4- voltage stabilizings, 5- bottom plates, 6- tires, 7- shaft couplings
Device, 8- motors, 9- front motor plates, motor plate after 10-, 11- hinges, 12- central processing units, 13- power modules, bis- laminates of 14-,
15- springs, 16-U type frame, 17- color identification modules, 21- materials, 22- mechanical arms, 23- mounting brackets, 24- steering engines, the small rudders of 25-
Machine, 26- least significant end steering engines, 27- machinery arm supports, 28- copper posts, 29- grippers.
Specific implementation mode
Such as Fig. 1, Fig. 2, a kind of material transfer robot based on suspension shown in Fig. 3 includes mechanical arm 22 and body portions
Point, car body includes four tires 6, bottom plate 5, the motor 8 for being symmetrically distributed in robot bottom plate both sides, front motor plate 9, rear motor plate
10, hinge 11, two laminates 14, spring 15, U-shaped frame 16, shaft coupling 7；The mechanical arm 22 includes mechanical arm support 27, steering engine
24, gripper 29, mounting bracket 23 etc..A kind of material transfer robot based on suspension in terms of the control system for
Including image capture module 1, voltage stabilizing 4, central processing unit 12, power module 13, color identification module 17 etc..
A kind of material transfer robot based on suspension, including mechanical arm and body part, car body include symmetrical point
Cloth is in four tires, bottom plate, motors of robot bottom plate both sides, former and later two motor plates, hinge, two laminates, spring, U-shaped frame,
Shaft coupling；The four-wheel connects corresponding motor by shaft coupling.
For the front and back motor plate for fixing motor, each motor plate fixes two motors.Wherein motor can pass through M3
Screw is fixed below corresponding motor plate both ends；Front motor plate is connect by copper hinge with cart base plate front end；Motor afterwards
Plate is connect by copper hinge with cart base plate rear end；The first half of wherein hinge is connect with bottom plate, latter half with it is corresponding
Motor plate connects, and front and back two motor plate carries out the rotation of certain angle around hinge axis.
If wherein 2 be camera support in Fig. 1, camera support is fixed on by camera board 3 on bottom plate.
Such as Fig. 3 it can be seen that the motor, motor plate and shaft coupling are located at the lower end of bottom plate.In Fig. 2 21 to be captured
Material.
The bottom plate upper end is arranged two laminates, the quadrangle of two laminate by attachment device respectively with below bottom plate
Front and back motor plate be connected；The attachment device is that the first U-shaped frame is fixed in two laminate lower surfaces, and the upper surface of motor plate is corresponding
The second U-shaped frame, connecting spring between the first U-shaped frame and the second U-shaped frame are fixed in place.The second laminate of it can be seen from the figure that and bottom plate
It is fixed by copper post.
As shown in figure 4, the mechanical arm bottom is fixed on by mechanical arm support 27 on bottom plate；The mechanical arm includes peace
Shelve 23 and steering engine；It is fixedly linked by bar shaped mounting bracket 23 between described two steering engines, each steering engine steering wheel and a U-shaped are pacified
Shelve connected, one section specific mechanical arm of formation；The mechanical arm includes at least one section specific mechanical arm；The front end of the mechanical arm
Gripper is connected by least significant end steering engine 26.
If Fig. 5 is the design sketch that robot captures material, mechanical arm is in unfolded state in figure.
Such as the structural schematic diagram for the spring shock absorption that Fig. 6 is the present invention.As can be seen from the figure the second laminate passes through with bottom plate
Copper post connects, and makes an entirety.And the position being connected with bottom plate in the second laminate quadrangle, by spring by U-shaped frame with
Second laminate is connected with motor plate, determines the stroke of spring, completes the structure of four-wheel spring shock absorption.
When specifically used, the work step of robot is divided into following steps：
The first step, transfer robot carry out reset operation, and mechanical arm is at contraction state.
Second, the data that transfer robot is acquired by image capture module obtain after central processing unit is handled
Robot needs the track moved, robot to be moved to target area by vision guided navigation.
Third portion, transfer robot carry out posture correction, fall back in front of material so that mechanical arm is located just at object when being unfolded
Material top, control machinery arm is unfolded and is moved to material position at this time.
4th step, transfer robot end gripper execute crawl order, and color judgement, face are proceeded by after completing crawl
Color identification module outputs signal to central processing unit, identifies whether as correct material.If so, mechanical arm is shunk again, ensure object
Material is not fallen out.If it is not, putting down the identification that material carries out next group of material.
Although the present invention has been described by way of example and in terms of the preferred embodiments, they be not it is for the purpose of limiting the invention, it is any ripe
This those skilled in the art is practised, without departing from the spirit and scope of the invention, can make various changes or retouch from working as, therefore the guarantor of the present invention
Shield range should be subject to what claims hereof protection domain was defined.
Claims (6)
1. a kind of material transfer robot based on suspension, including mechanical arm and body part, car body include symmetrical
Four tires, bottom plate, motors in robot bottom plate both sides, former and later two motor plates, hinge, two laminates, spring, U-shaped frame, connection
Axis device；The four-wheel connects corresponding motor by shaft coupling；
Four motors are fixed below corresponding front and back motor plate both ends；Front motor plate passes through copper hinge and small underbody
Front edge of board connects；The flush end of motor plate is connect by copper hinge with cart base plate rear end afterwards；Wherein the first half of hinge with
Bottom plate connects, and latter half is connected with corresponding motor plate, and front and back two motor plate carries out the rotation of certain angle around hinge axis；
The motor, motor plate and shaft coupling are located at the lower end of bottom plate；
The bottom plate upper end is arranged two laminates, the quadrangle of two laminate by attachment device respectively with below bottom plate before
Motor plate is connected afterwards；The attachment device is that the first U-shaped frame, the corresponding place in upper surface of motor plate are fixed in two laminate lower surfaces
Fix the second U-shaped frame, connecting spring between the first U-shaped frame and the second U-shaped frame；
The mechanical arm bottom is fixed on by mechanical arm support on bottom plate；The mechanical arm includes mounting bracket and steering engine；It is described
It is fixedly linked by bar shaped mounting bracket between two steering engines, each steering engine steering wheel is connected with a U-shaped mounting bracket, and it is single to form a section
Position mechanical arm；The mechanical arm includes at least one section specific mechanical arm；The front end of the mechanical arm is connected by least significant end steering engine
Gripper.
2. a kind of material transfer robot based on suspension according to claim 1, it is characterised in that：Further include solid
Image capture module, central processing unit, driving unit, the power module being scheduled on bottom plate；Described image acquisition module acquisition figure
As being transferred to central processing unit after data；Output control signal, controls driving unit after the central processing unit processing, and driving is single
Member control motor and mechanical arm；The power module is powered to robot each section.
3. a kind of material transfer robot based on suspension according to claim 2, it is characterised in that：Described image
Acquisition module is smart camera, and the smart camera is fixed on camera frame；The camera frame is fixed on bottom plate.
4. a kind of material transfer robot based on suspension according to claim 2, it is characterised in that：Power module
For 6s model airplane batteries；The power module is semi-buried is fixed on bottom plate.
5. a kind of material transfer robot based on suspension according to claim 2, it is characterised in that：Further include steady
Die block, the Voltage stabilizing module are fixed on bottom plate；The power module outlet is connected with Voltage stabilizing module.
6. a kind of material transfer robot based on suspension according to claim 1, it is characterised in that：The machinery
Color identification module is installed on pawl；The gripper installs small steering engine and provides power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721859361.7U CN207726317U (en) | 2017-12-27 | 2017-12-27 | A kind of material transfer robot based on suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721859361.7U CN207726317U (en) | 2017-12-27 | 2017-12-27 | A kind of material transfer robot based on suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207726317U true CN207726317U (en) | 2018-08-14 |
Family
ID=63086962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721859361.7U Active CN207726317U (en) | 2017-12-27 | 2017-12-27 | A kind of material transfer robot based on suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207726317U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
-
2017
- 2017-12-27 CN CN201721859361.7U patent/CN207726317U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107416195A (en) | A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft | |
| CN104647344B (en) | Three-dimensional map structure Work robot | |
| CN205644275U (en) | Unmanned intelligent vehicle | |
| CN206825402U (en) | A kind of leg-wheel robot suitable for rugged topography | |
| CN109018056A (en) | The sufficient four-wheel of one kind two can be changed walking mechanism multifunctional bionic robot system | |
| CN207631377U (en) | A kind of adaptive high-precision intelligent avoidance material carrier loader | |
| CN103914070A (en) | Visual navigation driving assisting system for grain combine harvester | |
| CN207726317U (en) | A kind of material transfer robot based on suspension | |
| CN104020699A (en) | Movable type visual identification material sorting intelligent robot controlling apparatus | |
| CN108791547A (en) | A kind of intelligent walking chassis of tractor transport and operation compatibility | |
| CN207810578U (en) | Transfer robot and sorting system | |
| CN211565903U (en) | Intelligent logistics transfer robot for teaching competition | |
| CN105082141A (en) | Execution modules, magic cube resolving robot and use method for magic cube resolving robot | |
| CN107857115A (en) | A kind of material transfer robot based on suspension | |
| CN212797319U (en) | Aircraft carrying manipulator | |
| CN207630029U (en) | Transfer robot and sorting system | |
| CN210808316U (en) | Agricultural fruit picking robot | |
| CN110640759A (en) | Full-automatic garbage picking robot | |
| CN103713635A (en) | Intelligent trolley control system based on one-chip microcomputer | |
| CN110632926A (en) | Dolly for picking up spherical objects | |
| CN211137170U (en) | Pollination robot for competition | |
| CN205861358U (en) | By formula four-wheel position finder | |
| CN108238126A (en) | A kind of Lun Zu omnidirectional movings robot | |
| CN210381940U (en) | Image acquisition structure of picking robot | |
| CN213109770U (en) | Foldable undercarriage of unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |