CN207737387U - A kind of latent lifting type mobile robot of two-wheel differential inertial navigation - Google Patents
A kind of latent lifting type mobile robot of two-wheel differential inertial navigation Download PDFInfo
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- CN207737387U CN207737387U CN201721784726.4U CN201721784726U CN207737387U CN 207737387 U CN207737387 U CN 207737387U CN 201721784726 U CN201721784726 U CN 201721784726U CN 207737387 U CN207737387 U CN 207737387U
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Abstract
The utility model proposes a kind of latent lifting type mobile robots of two-wheel differential inertial navigation, are related to the technical field of mobile robot.The utility model includes supporting mechanism, driving mechanism, lifting mechanism and control mechanism, and supporting mechanism includes braced frame and surrounds the support panel of braced frame；Driving mechanism is set to the bottom of supporting mechanism, including two driving wheels, two the first driven wheels positioned at driving wheel front end and two the second driven wheels positioned at driving wheel rear end；Lifting mechanism includes the lifting push rod being connect with supporting mechanism and the lifting platform that is connect with lifting push rod end；The control button that control mechanism is located at the control cabinet inside supporting mechanism and is connect with control cabinet, lifting mechanism and driving mechanism are connect with control cabinet.The utility model overall structure is symmetrical, stable and firm, increases the reliability index of entire mobile robot；Simple in structure, reasonable design is light-weight, and load-bearing is good, and turning is flexible, easy to control, at low cost, safe.
Description
Technical field
The utility model is related to the technical fields of mobile robot, particularly relate to a kind of hiding for two-wheel differential inertial navigation
Lifting type mobile robot.
Background technology
Inertial navigation refers to utilizing multiple sensors composition multi-shaft inertial measuring unit (IMU, Inertial
Measurement Unit), sensor includes mainly three axis accelerometer, three-axis gyroscope and three axle magnetometer, passes through speed
Integral obtains position and integrates to obtain the process of speed to total acceleration, and total acceleration refers to by acceleration of gravity and being applied in
The sum of the acceleration (that is, specific force acceleration) that non-gravity generates.Inertial navigation generally can be with for mobile robot indoor positioning
Other alignment sensors are merged.Therefore, it during the introducing of inertial navigation system, needs to use multiple sensors, add
Upper existing mobile robot is complicated so that the assembling of inertial navigation mobile robot is inconvenient, and vehicle body weight is of high cost, peace
Full poor performance limits its popularization and application.
Utility model content
The purpose of this utility model is to propose a kind of latent lifting type mobile robot of two-wheel differential inertial navigation, is solved
Inertial navigation mobile robot is complicated in the prior art, vehicle body weight and problem of high cost.
What the technical solution of the utility model was realized in：Including supporting mechanism, the supporting mechanism includes support frame
Frame and the support panel for surrounding the braced frame；Driving mechanism, the driving mechanism are set to the bottom of the supporting mechanism,
Two the first driven wheels including two driving wheels, positioned at driving wheel front end and second driven positioned at two of driving wheel rear end
Wheel；Lifting mechanism, the lifting mechanism include the lifting push rod being connect with the supporting mechanism and are connect with lifting push rod end
Lifting platform；Control mechanism, the control mechanism are located at the control cabinet inside the supporting mechanism and are connect with control cabinet
Control button, the lifting mechanism and the driving mechanism are connect with the control cabinet.
Embodiment as one preferred, two first driven wheels are symmetrically disposed on the two of one first mounting bracket
The center line at end, first mounting bracket is equipped with the first rotation hole, and first turn is rotatably connected in first rotation hole
Axis, the bottom support panels of the supporting mechanism are equipped with the first mounting plate, and the both ends of the first rotating shaft are also with described the
One mounting plate connects；Two driving wheels are symmetrically disposed on the both ends of a driving mounting bracket, the driving mounting bracket and
Two driving support plates are arranged between first mounting bracket, the driving support plate is equipped with driving rotation hole, described
Drive shaft is rotatably connected in driving rotation hole, the bottom support panels of the supporting mechanism are equipped with drive installation plate, institute
The both ends for stating drive shaft are also connect with the drive installation plate；Two second driven wheels are symmetrically disposed on one second peace
The both ends of holder are filled, the center line of second mounting bracket is equipped with the second rotation hole, and the interior rotation of second rotation hole connects
It is connected to the second shaft, the bottom support panels of the supporting mechanism are equipped with the second mounting plate, and the both ends of second shaft are also
It is connect with second mounting plate.
Embodiment as one preferred, first mounting bracket and second mounting bracket are in inverted
"Ji" type is arranged, first mounting plate, the drive installation plate and the U-shaped setting of second mounting plate.
Embodiment as one preferred, line between two first driven wheels, two driving wheels it
Between line and two second driven wheels between width direction of the line with the supporting mechanism be set in parallel；Two
The distance between a described second driven wheel is more than the distance between two described first driven wheels and is less than two drives
The distance between driving wheel.
Embodiment as one preferred, two driving wheels are connected with driving motor by retarder respectively.
Embodiment as one preferred, the lifting platform include lifting frame, and the lifting frame, which is equipped with, to be lifted
Rise panel, the lifting panel be equipped with skid resistant course, it is described lift panel on be additionally provided with can closure or openness lifting door.
Embodiment as one preferred, the lifting push rod are electric hoisting push rod and are four and are rectangle and set
It sets, the end of the electric hoisting push rod is connect with the lifting frame.
The bottom support panels of embodiment as one preferred, the supporting mechanism are equipped with push rod mounting base, institute
It states push rod mounting base and is equipped with the electric hoisting push rod, the end of the electric hoisting push rod is equipped with the first pin hole, and described the
One pin hole is equipped with axis pin, and the bottom of the lifting frame is equipped with lifting support, and the lifting support is equipped with the second pin hole, described
Second pin hole is also connect with the axis pin.
The front end of embodiment as one preferred, the supporting mechanism is equipped with laser sensor, the laser sensing
Device is connect with the control cabinet.
The front end of embodiment as one preferred, the supporting mechanism is equipped with headstock anticollision strip, the supporting mechanism
Rear end be equipped with tailstock anti-collision item, the headstock anticollision strip and the tailstock anti-collision item are the arc strip being laterally arranged, length
Degree is equal with the width of the supporting mechanism.
Compared with prior art, the utility model has the beneficial effects that：The utility model is using supporting mechanism as entire
The bottom of main part, that is, body portion of mobile robot, supporting mechanism is equipped with driving mechanism, and driving mechanism is joined using six wheels
The mode for closing driving, is connected with lifting mechanism at the top of supporting mechanism, lifting mechanism be used for the article of carrying carry out lifting and
It is mobile, and the work such as its movement, lifting and stopping are completed by control mechanism；This six wheeled driving structures, intermediate two-wheeled are
Driving wheel is realized that Auxiliary support is played the role of in turning, front and back each two driven wheels using the speed difference of this two-wheeled, is driven than three-wheel
Dynamic infrastructure cost is lower, and rotation is more stable, additionally it is possible to realize that pivot turn, turning radius reach minimum；The mobile robot
Overall structure is symmetrical, stable and firm, increases the reliability index of entire mobile robot；It is simple in structure, reasonable design, weight
Gently, load-bearing is good, and turning is flexible, easy to control, at low cost, safe.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the dimensional structure diagram of the utility model one embodiment；
Fig. 2 is the present invention looks up structural representation of Fig. 1；
Fig. 3 is the attachment structure schematic diagram of driving wheel in Fig. 1；
Fig. 4 is the attachment structure schematic diagram of the second driven wheel in Fig. 1；
Fig. 5 is the side structure schematic view of Fig. 1；
Fig. 6 is the enlarged structure schematic diagram at A in Fig. 5；
Fig. 7 is the overlooking structure diagram of Fig. 1；
Fig. 8 is the main structure diagram of Fig. 1；
In figure：100- supporting mechanisms；200- driving mechanisms；201- first rotating shafts；The first driven wheels of 202-；203- first pacifies
Fill holder；204- drive shafts；205- drives mounting bracket；206- driving wheels；207- retarders；208- motors；213- drives
Support plate；The second driven wheels of 209-；The second mounting brackets of 210-；The second shafts of 211-；The second mounting plates of 215-；300- lifting machines
Structure；301- push rod mounting bases；302- lifts push rod；303- lifting platforms；304- lifting supports；305- axis pins；306- lifts frame
Frame；307- lifts panel；308- lifts door；400- control mechanisms；401- control buttons；500- laser sensors；601- headstocks
Anticollision strip；602- tailstock anti-collision items.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Refering to attached drawing 1 to attached drawing 8, the utility model includes supporting mechanism 100, driving mechanism 200,300 and of lifting mechanism
Control mechanism 400, supporting mechanism 100 include braced frame and surround the support panel of braced frame；Driving mechanism 200, driving
Mechanism 200 is set to the bottom of supporting mechanism 100, including two driving wheels 206, two first positioned at 206 front end of driving wheel
Driven wheel 202 and two the second driven wheels 209 positioned at 206 rear end of driving wheel；Lifting mechanism 300, lifting mechanism 300 include with
The lifting push rod 302 that supporting mechanism 100 connects and the lifting platform 303 being connect with 302 end of lifting push rod；Control mechanism 400,
The control button 401 that control mechanism 400 is located at the control cabinet inside supporting mechanism 100 and is connect with control cabinet, lifting mechanism 300
It is connect with control cabinet with driving mechanism 200.The utility model uses main body of the supporting mechanism 100 as entire mobile robot
Part is body portion, and supporting mechanism 100 has the dual work of splendid attire and load capacity for installing electrical equipment and control cabinet
With the bottom of supporting mechanism 100 is equipped with driving mechanism 200, and driving mechanism 200 supports machine by the way of six wheel joint drivings
The top of structure 100 is connected with lifting mechanism 300, lifting mechanism 300 is supported for the article of carrying to be lifted and moved
Mechanism 100 is also supported lifting mechanism 300 and the article of its lifting and carrying carries, and complete by control mechanism 400
At work such as its movement, lifting and stoppings, the side wall of supporting mechanism 100 is for installing control button 401.The mobile robot is whole
Body symmetrical configuration, it is stable and firm, increase the reliability index of entire mobile robot；It is simple in structure, reasonable design, weight
Gently, load-bearing is good, and turning is flexible, easy to control, at low cost, safe.
Refering to attached drawing 2, attached drawing 3 and attached drawing 4, two the first driven wheels 202 are symmetrically disposed on one first mounting bracket 203
The center line at both ends, the first mounting bracket 203 is equipped with the first rotation hole, and first rotating shaft is rotatably connected in the first rotation hole
201, the bottom support panels of supporting mechanism 100 are equipped with the first mounting plate, and the both ends of first rotating shaft 201 are also installed with first
Plate connects；The both ends of first rotating shaft 201 are rotatablely connected with the first mounting plate, and the first rotation hole is two, and one is circle, separately
One is strip.Equally, two driving wheels 206 are symmetrically disposed on the both ends of a driving mounting bracket 205, drive mounting bracket
205 and first are arranged with two driving support plates 213 between mounting bracket 203, and driving support plate 213 is equipped with driving and rotates
Hole drives and is rotatably connected to drive shaft 204 in rotation hole, and the bottom support panels of supporting mechanism 100 are equipped with driving and install
The both ends of plate, drive shaft 204 are also connect with drive installation plate；Driving rotation hole in one driving support plate 213 is circle
Shape is simultaneously adapted with the size of drive shaft 204, and the driving rotation hole in another driving support plate 213 is strip, driving
The both ends of shaft 204 are connected to by drive installation plate on the bottom support panels of supporting mechanism 100, and strip drives rotation hole
Setting facilitate rotation adjustment of the drive shaft 204 when mobile robot is turned, the setting of drive installation plate that driving is avoided to turn
Axis 204 is detached from from driving rotation hole, keeps its easy to use.Meanwhile two the second driven wheels 209 are symmetrically disposed on one second peace
The both ends of holder 210 are filled, the center line of the second mounting bracket 210 is equipped with the second rotation hole, is rotatablely connected in the second rotation hole
There are the second shaft 211, the bottom support panels of supporting mechanism 100 to be equipped with the second mounting plate 215, the both ends of the second shaft 211
Also it is connect with the second mounting plate 215；The both ends of second shaft 211 are rotatablely connected with the second mounting plate 215, the second rotation hole
Also it is two, one is circle, another is strip, and the installation of the second driven wheel 209 is relatively independent.The present embodiment
In, in drive shaft 204 and driving rotation hole, first rotating shaft 201 and the first rotation hole and the rotation of the second shaft 211 and second
Under the mating reaction in hole, on ground when injustice, driving wheel 206, the first driven wheel 202 and the second driven wheel 209 can be certainly
Row adjust, i.e., entire driving mechanism 200 be can floating installation, float with ground, ensure all driving wheels 206, the first driven wheel
202 and second driven wheel 209 land at any time, to ensure the stationarity of entire mobile robot in the process of running.First installation
Holder 203 and the second mounting bracket 210 are in that inverted "Ji" type is arranged, the first mounting plate, drive installation plate and the second peace
The U-shaped setting of loading board 215；By taking the second mounting bracket 210 as an example, the second mounting bracket 210 includes two mounting portions and is located at
The mounting portion of interconnecting piece among two mounting portions, both ends is connected with interconnecting piece by inclined-plane, and the second mounting plate 215 just buckles
On the interconnecting piece of the second mounting bracket 210, the second mounting plate 215 is fixedly connected with the bottom support panels of supporting mechanism 100,
Two the second driven wheels 209 are individually fixed on two mounting portions of the second mounting bracket 210, when the injustice of ground, the
Voluntarily rotation is adapted to two shafts 211 in the second rotation hole 214, to complete the voluntarily adjusting of the second driven wheel 209, to ensure
Second driven wheel 209 is in the state to land always.
Refering to attached drawing 2, attached drawing 3 and attached drawing 4, between the line, two driving wheels 206 between two the first driven wheels 202
Line and two the second driven wheels 209 between width direction of the line with supporting mechanism 100 be set in parallel；Two
The distance between two driven wheels 209 are more than between the distance between two first driven wheels 202 and less than two driving wheels 206
Distance.Two driving wheels 206 and four driven wheels of this set, support construction are stablized, operate steadily, moreover, turning
When curved, realize turning using the speed difference of two-wheeled, can realize pivot turn, turning radius reaches minimums, operation with
Turning is freely.Two driving wheels 206 are connected with driving motor 208 by retarder 207 respectively.Driving wheel 206 is in driving motor
Its rotation is realized under the action of 208 or is stopped, meanwhile, the velocity of rotation of driving wheel 206 has retarder 207 to be controlled, can be with
Accomplish to accurately control the rotating speed of driving wheel 206, that is, controls the speed of service of mobile robot, more rationally, hommization.
Refering to attached drawing 5, attached drawing 6 and attached drawing 7, lifting platform 303 includes lifting frame 306, and lifting frame 306, which is equipped with, to be lifted
Rise panel 307, lifting panel 307 be equipped with skid resistant course, lift panel 307 on be additionally provided with can closure or openness lifting door 308；
It lifts door 308 to use for internal maintenance, battery and electric cabinet inside supporting mechanism 100 can be seen in opening lifting door 308.It lifts
It rises frame 306 and plays skeleton structure, surrounding is surrounded by lifting panel 307, forms smooth clean and tidy appearance；The present embodiment
In, the grid frame structure that lifting frame 306 is welded using angle steel ensure that the rigidity of lifting platform 303, lift frame
Covering lifting panel 307 on 306, lifts and skid resistant course is arranged on panel 307, prevent lifting platform 303 in walking or brake,
On article position mobile or sliding occurs, will not be tilted in the case of unbalance loading.Lifting push rod 302 is electric hoisting push rod
302 and for four and it is rectangle setting, the end of electric hoisting push rod 302 is connect with frame 306 is lifted.Supporting mechanism 100
Bottom support panels be equipped with push rod mounting base 301, push rod mounting base 301 be equipped with electric hoisting push rod 302, electric hoisting
The end of push rod 302 is equipped with the first pin hole, and the first pin hole is equipped with axis pin 305, and the bottom of lifting frame 306 is equipped with lifting support
304, lifting support 304 is equipped with the second pin hole, and the second pin hole is also connect with axis pin 305.The lifting mechanism 300 of this structure is
Submarine lifting mechanism 300, simple in structure, support and lifting are steady, and it is possible to be hidden into supporting mechanism 100 i.e. vehicle body
Inside can greatly save space when not in use, facilitate storage.
Refering to attached drawing 1, attached drawing 7 and attached drawing 8, the front end of supporting mechanism 100 is equipped with laser sensor 500, laser sensor
500 connect with control cabinet.Laser sensor 500 is equivalent to the eyes of mobile robot, after detecting the barrier on path, first
Deceleration gives a warning, then waits for parking after barrier removes and just move on.Control button 401 includes start button, stops pressing
Button, power knob, automatically and manually switching push button and scram button, scram button are used for the parking of emergency, usually exist
A scram button is respectively arranged in the front-end and back-end of front-end and back-end, that is, supporting mechanism 100 of mobile robot；Inside control cabinet
Electrical equipment be equivalent to the brain of mobile robot, control cabinet is also associated with battery and camera, battery and the equal position of camera
In the inside of supporting mechanism 100, control cabinet controls a series of actions of robot, including advance, retrogressing, turning and lifting are moved
Make, and according to the path self-navigation of inertial navigation map, the camera of 100 bottom of supporting mechanism identifies Quick Response Code, passes through patch
Quick Response Code on ground handling path carries out path check and correction, ensures navigation accuracy.The utility model only relates to mobile robot
Improvement in terms of mechanical structure, all control systems and circuit connection are all made of the prior art.Before supporting mechanism 100
End is equipped with headstock anticollision strip 601, and the rear end of supporting mechanism 100 is equipped with tailstock anti-collision item 602, and headstock anticollision strip 601 and the tailstock are anti-
It is the arc strip being laterally arranged to hit item 602, and length is equal with the width of supporting mechanism 100.The setting of two anticollision strips,
The protection to mobile robot is strengthened from former and later two directions, has fully ensured that the security performance of its operation.
In the utility model, it is generally the case that the support panel of the bottom of supporting mechanism 100 is using the big plate folding of a monoblock
Curved to form, the support panel entirety bearing capacity of this set is good, and car body weight is light；The side of supporting mechanism 100 is equipped with side branch
Support panel, the front-end and back-end of supporting mechanism 100 using cover plate composition support panel, braced frame welded using rectangular tube and
At supporting mechanism 100 forms a closed vehicle body；Also, without electricity piece on the cover plate of front-end and back-end, when dismantling cover plate
Without considering electric wire, the convenient dismounting to supporting mechanism 100, to complete the service work to its internal structure；Supporting mechanism 100
Front and rear diagonal line on respectively filled an emergency stop switch, facilitate This vehicle stops frequently, security performance higher.Laser sensor 500 is set
It is calculated as tilt adjustable, the mounting hole of the mounting bracket both sides of laser sensor 500 is designed as a circular hole and an arc
Hole, arcuate socket is for adjusting the angle.The inertial navigation of the mobile robot is positioned using gyroscope, the ground inputted according to system
The operation of figure track, the camera identification of mobile robot bottom is attached to the Quick Response Code on terrestrial path and carries out alignment path,
Quick Response Code is distributed on operating path；Ergonomic design, global design is beautiful, and automatic charging may be implemented, automatic to fill
It unloads, improves the automatization level of entire mobile robot, be conveniently operated.
Compared with prior art, the utility model has the beneficial effects that：The utility model is using supporting mechanism 100 as whole
The bottom of main part, that is, body portion of a mobile robot, supporting mechanism 100 is equipped with driving mechanism 200, driving mechanism 200
By the way of six wheel joint drivings, the top of supporting mechanism 100 is connected with lifting mechanism 300, and lifting mechanism 300 is used for removing
The article of fortune is lifted and is moved, and completes the work such as its movement, lifting and stopping by control mechanism 400；This six is wheeled
Driving structure, intermediate two-wheeled be driving wheel 206, utilize this two-wheeled speed difference realize turning, front and back each two driven wheels rise
Lower than three-wheel drive infrastructure cost to the effect of Auxiliary support, rotation is more stable, additionally it is possible to realize pivot turn, turning half
Diameter reaches minimum；The mobile robot overall structure is symmetrical, stable and firm, and the reliability for increasing entire mobile robot refers to
Number；Simple in structure, reasonable design is light-weight, and load-bearing is good, and turning is flexible, easy to control, at low cost, safe.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of latent lifting type mobile robot of two-wheel differential inertial navigation, it is characterised in that：Including
Supporting mechanism, the supporting mechanism include braced frame and surround the support panel of the braced frame；
Driving mechanism, the driving mechanism are set to the bottom of the supporting mechanism, including two driving wheels, be located at driving wheel before
Two first driven wheels at end and two the second driven wheels positioned at driving wheel rear end；
Lifting mechanism, the lifting mechanism include the lifting push rod being connect with the supporting mechanism and are connect with lifting push rod end
Lifting platform；
Control mechanism, the control that the control mechanism is located at the control cabinet inside the supporting mechanism and is connect with control cabinet are pressed
Button, the lifting mechanism and the driving mechanism are connect with the control cabinet.
2. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 1, it is characterised in that：
Two first driven wheels are symmetrically disposed on the both ends of one first mounting bracket, the center line of first mounting bracket
It is equipped with the first rotation hole, first rotating shaft, the bottom supporting surface of the supporting mechanism are rotatably connected in first rotation hole
Plate is equipped with the first mounting plate, and the both ends of the first rotating shaft are also connect with first mounting plate；
Two driving wheels are symmetrically disposed on the both ends of a driving mounting bracket, the driving mounting bracket and first peace
Two driving support plates are arranged between dress holder, the driving support plate is equipped with driving rotation hole, the driving rotation hole
It is inside rotatably connected to drive shaft, the bottom support panels of the supporting mechanism are equipped with drive installation plate, the drive shaft
Both ends also connect with the drive installation plate；
Two second driven wheels are symmetrically disposed on the both ends of one second mounting bracket, the center line of second mounting bracket
It is equipped with the second rotation hole, the second shaft, the bottom supporting surface of the supporting mechanism are rotatably connected in second rotation hole
Plate is equipped with the second mounting plate, and the both ends of second shaft are also connect with second mounting plate.
3. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 2, it is characterised in that：
First mounting bracket and second mounting bracket are in that inverted "Ji" type is arranged, first mounting plate,
The drive installation plate and the U-shaped setting of second mounting plate.
4. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 3, it is characterised in that：
The line and two second driven wheels between line, two driving wheels between two first driven wheels
Between width direction of the line with the supporting mechanism be set in parallel；
The distance between two described second driven wheels are more than the distance between two described first driven wheels and are less than two
The distance between described driving wheel.
5. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 4, it is characterised in that：
Two driving wheels are connected with driving motor by retarder respectively.
6. the latent lifting type mobile robot of the two-wheel differential inertial navigation according to any one of claim 1-5,
It is characterized in that：
The lifting platform includes lifting frame, and the lifting frame is equipped with lifting panel, and the lifting panel is equipped with anti-
Slip layer, it is described lifting panel on be additionally provided with can closure or openness lifting door.
7. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 6, it is characterised in that：
The lifting push rod is electric hoisting push rod and is four and is rectangle setting, the end of the electric hoisting push rod with
The lifting frame connection.
8. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 7, it is characterised in that：
The bottom support panels of the supporting mechanism are equipped with push rod mounting base, and the push rod mounting base is equipped with the electronic act
Push rod is risen, the end of the electric hoisting push rod is equipped with the first pin hole, and first pin hole is equipped with axis pin, the lifting frame
Bottom is equipped with lifting support, and the lifting support is equipped with the second pin hole, and second pin hole is also connect with the axis pin.
9. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 1, it is characterised in that：
The front end of the supporting mechanism is equipped with laser sensor, and the laser sensor is connect with the control cabinet.
10. the latent lifting type mobile robot of two-wheel differential inertial navigation according to claim 9, it is characterised in that：
The front end of the supporting mechanism is equipped with headstock anticollision strip, and the rear end of the supporting mechanism is equipped with tailstock anti-collision item, the vehicle
Head anticollision strip and the tailstock anti-collision item are the arc strip being laterally arranged, length with the width phase of the supporting mechanism
Deng.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721784726.4U CN207737387U (en) | 2017-12-19 | 2017-12-19 | A kind of latent lifting type mobile robot of two-wheel differential inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721784726.4U CN207737387U (en) | 2017-12-19 | 2017-12-19 | A kind of latent lifting type mobile robot of two-wheel differential inertial navigation |
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| Publication Number | Publication Date |
|---|---|
| CN207737387U true CN207737387U (en) | 2018-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721784726.4U Active CN207737387U (en) | 2017-12-19 | 2017-12-19 | A kind of latent lifting type mobile robot of two-wheel differential inertial navigation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576424A (en) * | 2019-10-07 | 2019-12-17 | 南京理工大学北方研究院 | Latent lifting type mobile robot with double-wheel differential inertial navigation |
| CN112320190A (en) * | 2020-12-04 | 2021-02-05 | 芜湖哈特机器人产业技术研究院有限公司 | Parallel lifting mechanism type mini AGV |
| CN113934216A (en) * | 2021-11-25 | 2022-01-14 | 机械工业第九设计研究院股份有限公司 | Two-dimensional code and inertial navigation control method for single-steering-wheel AGV |
-
2017
- 2017-12-19 CN CN201721784726.4U patent/CN207737387U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576424A (en) * | 2019-10-07 | 2019-12-17 | 南京理工大学北方研究院 | Latent lifting type mobile robot with double-wheel differential inertial navigation |
| CN112320190A (en) * | 2020-12-04 | 2021-02-05 | 芜湖哈特机器人产业技术研究院有限公司 | Parallel lifting mechanism type mini AGV |
| CN113934216A (en) * | 2021-11-25 | 2022-01-14 | 机械工业第九设计研究院股份有限公司 | Two-dimensional code and inertial navigation control method for single-steering-wheel AGV |
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