CN209176810U - A kind of double-wheel self-balancing transportation robot - Google Patents
A kind of double-wheel self-balancing transportation robot Download PDFInfo
- Publication number
- CN209176810U CN209176810U CN201821967170.7U CN201821967170U CN209176810U CN 209176810 U CN209176810 U CN 209176810U CN 201821967170 U CN201821967170 U CN 201821967170U CN 209176810 U CN209176810 U CN 209176810U
- Authority
- CN
- China
- Prior art keywords
- wheel
- component
- transportation robot
- door
- double
- 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
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model discloses a kind of double-wheel self-balancing transportation robots, comprising: two vehicle wheel components, i.e. left wheel component and right vehicle wheel component, vehicle wheel component include hub motor, wheel hub and driving wheel；Balance inductive component；Control circuit board；Battery modules；And counter；Left wheel component and right vehicle wheel component are arranged in left-right direction, and left wheel component and right vehicle wheel component are symmetrical arranged along the direction of travel perpendicular to left and right directions；It balances inductive component, control circuit board, battery modules and counter to be symmetrical arranged along direction of travel, wherein counter, control circuit board, battery are from top to bottom sequentially arranged along short transverse.The utility model only uses two-wheel drive, no longer setting universal wheel, to reduce the cost of this transportation robot；Walking, space is small, and walking is more flexible；Wheel hub tire is big, and obstacle performance is excellent, is suitable for a variety of different road conditions, and transport is efficient.
Description
Technical field
The utility model relates to technical field of transportation, espespecially a kind of double-wheel self-balancing transportation robot.
Background technique
Existing transportation robot is mostly that four-wheel drive or universal wheel auxiliary drive wheels are driven, chassis ruler
It is very little it is big, cost is high, therefore, the required walking space of existing transportation robot is big, be unfavorable for transportation robot transfer to other use transfer, stop
Machine positions and is easy to happen the bad phenomenons such as skidding and skew, is unfavorable for the unmanned progress of intelligent storage；And because of transportation machines
Skidding and skew, cause the cargo delivered on transportation robot phenomenon of falling occur, need artificial intervention carry out relevant operation,
So that entire intelligent storage needs shut down in order to artificial intervention.Therefore, those skilled in the art urgently provide one
Plant small chassis size, low cost and the convenient and fast transportation robot of walking.
Summary of the invention
The purpose of the utility model is to provide a kind of double-wheel self-balancing transportation robots, only use two-wheel drive, are no longer arranged
Universal wheel, to reduce the cost of this transportation robot；Since this transportation robot is using Two-wheeled, chassis size
Small, walking space is small, walks more flexible；This transportation robot uses In-wheel motor driving, so that left wheel component and right vehicle
Wheel assembly can realize by differential and turn to that wheel hub tire is big, and obstacle performance is excellent, be suitable for a variety of different road conditions, and transport is efficient；
The self-balancing that this transportation robot is realized by balancing inductive component improves this transportation robot in traveling process, stopping positioning
The stationary performance of process effectively avoids the skidding of this transportation robot, falls down phenomenon.
The technical scheme that the utility model is provided is as follows:
A kind of double-wheel self-balancing transportation robot, comprising:
Two vehicle wheel components, i.e. left wheel component and right vehicle wheel component, the vehicle wheel component include hub motor, wheel hub and
Driving wheel；Balance inductive component；Control circuit board；Battery modules；And counter；
The left wheel component and the right vehicle wheel component are arranged in left-right direction, and the left wheel component and the right side
Vehicle wheel component is symmetrical arranged along the direction of travel perpendicular to left and right directions；
The balance inductive component, the control circuit board, the battery modules and the counter are along direction of travel pair
Claim setting, wherein the counter, the control circuit board, the battery are from top to bottom sequentially arranged along short transverse.
In the technical program, only use two-wheel drive, no longer setting universal wheel, thus reduce this transportation robot at
This；Since this transportation robot is using Two-wheeled, chassis size is small, and walking space is small, walks more flexible；This transport
Robot uses In-wheel motor driving, so that left wheel component and right vehicle wheel component can be realized by differential and be turned to, wheel hub tire
Greatly, obstacle performance is excellent, is suitable for a variety of different road conditions, and transport is efficient；This transportation robot is realized by balancing inductive component
Self-balancing, improve this transportation robot traveling process, stop position fixing process stationary performance, effectively avoid this transportation machines
Phenomenon is fallen down in the skidding of people.
It is further preferred that the counter includes forming the cabinet body of the inventory space for arrangement of goods and for opening and closing
The cabinet door of the inventory space；When the cabinet door is in close state, the inventory space is enclosure space；When the cabinet door
In the open state, the inventory space is open spaces.
It is closed state when counter is designed as not picking object, so that this transportation robot be avoided to exist in the technical program
When conveying valuable cargo (such as government control drug, precious metal or machinery), other people can not arbitrarily fetch this transportation robot institute
Freight, to ensure that the safety of cargo.
It is further preferred that the cabinet door includes the door-plate and driving mechanism for covering the inventory space；It is described
Door-plate axis is connected to the cabinet body；The driving mechanism drive the door-plate positive and negative rotation with realize the door-plate in closed state and
Opening state switching.
In the technical program, the cabinet door automatic open close of this transportation robot is realized by driving mechanism, is taken to reduce
It is dynamic especially can only to execute picking with the picking people of the cargo contacts in inventory space convenient for picking people for contact of the goods people with cabinet door
Make, particularly suitable hospital, when what this transportation robot transported is sterile cargo, picking people cannot be with other articles before picking
The case where contact.
It is further preferred that the cabinet door further includes the door lock mechanism connecting with the driving mechanism；The door lock mechanism
For obtaining identity information to drive the driving mechanism to drive door-plate described in the door-plate rotating opening.
In the technical program, by identity identification information to realize the opening and closing of cabinet door, taken to improve this transportation robot
By the security level of cargo.
It is further preferred that the counter is equipped at least one goods yard.
It is further preferred that at least a pair of mutually indepedent in multiple goods yards.
In the technical program, the setting in more goods yards substantially increases the single cargo dead-weight of this transportation robot, and then improves
The handling capacity of intelligent storage；When this transportation robot needs to transport the cargo for needing to be isolated, the cargo being isolated can will be needed to put
It is placed in mutually independent cargo, realizes the diversification of the types of transportation of this transportation robot, to meet the need of different clients
It asks.
It is further preferred that multiple goods yards are arranged in array.
It is further preferred that further including the laser navigation mould group and visual sensor for navigation；Ultrasound for avoidance
Wave detects mould group；And the camera for acquiring picking video.
In the technical program, visual sensor assisting navigation is added by laser navigation, this transportation robot is improved and leads
The accuracy and convenience of boat；And avoidance is realized to optimize the walking path of this transportation robot by ultrasonic wave；More preferably, lead to
The picking video of camera acquisition picking people is crossed, consequently facilitating robot picking process monitoring during entire intelligent storage, just
It calls and monitors in the later period.
It is further preferred that further including chassis, the chassis is equipped with the vehicle wheel component, the balance inductive component, institute
State control circuit board and the battery modules；The vehicle wheel component is set to the lower section on the chassis；The counter is set to the bottom
The top of disk.
It is further preferred that the periphery wall on the chassis is equipped with bumper.
In the technical program, bumper ensure that the walking of this transportation robot in collision process when transmission process is stablized
Property.
A kind of double-wheel self-balancing transportation robot provided by the utility model can be brought following at least one beneficial to effect
Fruit:
1, in the utility model, only use two-wheel drive, no longer setting universal wheel, thus reduce this transportation robot at
This；Since this transportation robot is using Two-wheeled, chassis size is small, and walking space is small, walks more flexible；This transport
Robot uses In-wheel motor driving, so that left wheel component and right vehicle wheel component can be realized by differential and be turned to, wheel hub tire
Greatly, obstacle performance is excellent, is suitable for a variety of different road conditions, and transport is efficient；This transportation robot is realized by balancing inductive component
Self-balancing, improve this transportation robot traveling process, stop position fixing process stationary performance, effectively avoid this transportation machines
Phenomenon is fallen down in the skidding of people.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to double-wheel self-balancing transportation machines
Above-mentioned characteristic, technical characteristic, advantage and its implementation of people is further described.
Fig. 1 is the first embodiment the schematic diagram of the section structure of the utility model；
Fig. 2 is second of example structure schematic diagram of the utility model；
Fig. 3 is the structural schematic diagram of the cabinet door of the utility model in the open state；
Fig. 4 is the structural schematic diagram when cabinet door of the utility model is in close state.
Drawing reference numeral explanation:
11. left wheel component, 12. right vehicle wheel components, 13. balance inductive components, 14. control circuit boards, 15. battery moulds
Group, 16. counters, 161. cabinet bodies, 1611. inventory spaces, 162. cabinet doors, 17. ultrasound examination mould groups, 18. cameras, 19. bottoms
Disk, 191. bumpers, 192. bottom plates, 193. revolver hubs, 194. right wheel hubs.
Specific embodiment
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.
To make simplified form, part relevant to the utility model is only schematically shown in each figure, they are simultaneously
Its practical structures as product is not represented.In addition, so that simplified form is easy to understand, have in some figures identical structure or
The component of function, only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not
It only indicates " only this ", can also indicate the situation of " more than one ".Herein, it should be noted that unless otherwise bright
True regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, it can also
To be to be detachably connected, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also
Indirectly connected through an intermediary, can be the connection inside two elements.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.Herein, up, down, left and right refer to institute
The up, down, left and right of the attached drawing of description, and actual conditions are represented completely.
In example 1, as shown in Figs 1-4, a kind of double-wheel self-balancing transportation robot, comprising: two vehicle wheel components,
That is left wheel component 11 and right vehicle wheel component 12, vehicle wheel component include hub motor, wheel hub and driving wheel；Balance inductive component
13；Control circuit board 14；Battery modules 15；And counter 16；Left wheel component 11 and right vehicle wheel component 12 cloth in left-right direction
It sets, and left wheel component 11 and right vehicle wheel component 12 are symmetrical arranged along the direction of travel perpendicular to left and right directions；Balance sense group
Part 13, control circuit board 14, battery modules 15 and counter 16 are symmetrical arranged along direction of travel, wherein counter 16, control electricity
Road plate 14, battery are from top to bottom sequentially arranged along short transverse.Two-wheel drive, no longer setting universal wheel are only used, to reduce
The cost of this transportation robot；Since this transportation robot is using Two-wheeled, chassis size is small, and walking space is small, row
It walks more flexible；This transportation robot uses In-wheel motor driving, so that left wheel component 11 and right vehicle wheel component 12 can pass through
Differential, which is realized, to be turned to, and wheel hub tire is big, and obstacle performance is excellent, is suitable for a variety of different road conditions, and transport is efficient；It is answered by the sense of equilibrium
Component 13 realize this transportation robot self-balancing, improve this transportation robot traveling process, stop position fixing process it is steady
Performance effectively avoids the skidding of this transportation robot, falls down phenomenon.
In example 2, as shown in Figs 1-4, on the basis of example 1, counter 16 includes being formed for placing goods
The cabinet body 161 of the inventory space 1611 of object and cabinet door 162 for opening and closing inventory space 1611；It is closed when cabinet door 162 is in
When state, inventory space 1611 is enclosure space；When cabinet door 162 in the open state, inventory space 1611 be open spaces.
Cabinet door 162 includes the door-plate and driving mechanism for covering inventory space 1611；Door-plate axis is connected to cabinet body 161；Driving mechanism
Driving door-plate positive and negative rotation is to realize that door-plate switches in closed state and opening state.Preferably, cabinet door 162 further includes and drives
The door lock mechanism of mechanism connection；Door lock mechanism drives driving mechanism to drive door-plate rotating opening door for obtaining identity information
Plate.Preferably, counter 16 is equipped at least one goods yard.Further, at least a pair of mutually indepedent in multiple goods yards, actually answering
In, mutually independent cargo can be separated by partition.And multiple goods yards are arranged in array, in the horizontal direction arrangement or edge
Short transverse arrangement or both of the above.
It in the third embodiment, as shown in Figs 1-4, further include the laser for navigation on the basis of embodiment one or two
Mould group of navigating and visual sensor；Ultrasound examination mould group 17 for avoidance；And the camera for acquiring picking video
18.It preferably, further include chassis 19, chassis 19 is equipped with vehicle wheel component, balance inductive component 13, control circuit board 14 and battery mould
Group 15；Vehicle wheel component is set to the lower section on chassis 19；Counter 16 is set to the top on chassis 19.Chassis 19 includes for placing the sense of equilibrium
Answer the bottom plate 192 of component 13, control circuit board 14 and battery modules 15, wherein left wheel component 11 passes through revolver hub 193
It is installed on the left side of bottom plate 192, right vehicle wheel component 12 is installed on the right side of bottom plate 192 by right wheel hub 194.Further,
The periphery wall on chassis 19 is equipped with bumper 191, wherein bumper 191 is set to the front and back that this transportation robot is advanced；Swash
Light guide model plane group and ultrasound examination mould group 17 are set to chassis 19.And visual sensor and camera 18 are set on cabinet body 161,
Visual sensor is set to the front of this transportation robot, and camera 18, which is set to, to be equipped at cabinet door 162, so that the picking of picking people is dynamic
Make to be located in the working range of camera 18.In practical applications, balance inductive component 13 is preferably three-axis gyroscope, and is balanced
Inductive component 13 is mountable in control circuit board 14, and left wheel component 11 and right vehicle wheel component 12 are individually electric with control
Road plate 14 connects, so that control circuit board 14 can be controlled separately the walking of left wheel component 11 and right vehicle wheel component 12；And it controls
Circuit board 14 and balance inductive component 13, battery modules 15, laser navigation mould group, visual sensor, ultrasound examination mould group 17
It is connected with camera 18.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle
Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of double-wheel self-balancing transportation robot characterized by comprising
Two vehicle wheel components, i.e. left wheel component and right vehicle wheel component, the vehicle wheel component include hub motor, wheel hub and driving
Wheel；Balance inductive component；Control circuit board；Battery modules；And counter；
The left wheel component and the right vehicle wheel component are arranged in left-right direction, and the left wheel component and the right wheel
Component is symmetrical arranged along the direction of travel perpendicular to left and right directions；
The balance inductive component, the control circuit board, the battery modules and the counter are symmetrically set along direction of travel
It sets, wherein the counter, the control circuit board, the battery are from top to bottom sequentially arranged along short transverse.
2. double-wheel self-balancing transportation robot according to claim 1, it is characterised in that:
The counter includes the cabinet body to form the inventory space for arrangement of goods and the cabinet for opening and closing the inventory space
Door；
When the cabinet door is in close state, the inventory space is enclosure space；
When the cabinet door in the open state, the inventory space be open spaces.
3. double-wheel self-balancing transportation robot according to claim 2, it is characterised in that:
The cabinet door includes the door-plate and driving mechanism for covering the inventory space；
The door-plate axis is connected to the cabinet body；
The driving mechanism drives the door-plate positive and negative rotation to realize that the door-plate switches in closed state and opening state.
4. double-wheel self-balancing transportation robot according to claim 3, it is characterised in that:
The cabinet door further includes the door lock mechanism connecting with the driving mechanism；
The door lock mechanism drives the driving mechanism to drive door described in the door-plate rotating opening for obtaining identity information
Plate.
5. double-wheel self-balancing transportation robot according to any one of claims 1-4, it is characterised in that: the counter is set
There is at least one goods yard.
6. double-wheel self-balancing transportation robot according to claim 5, it is characterised in that:
It is at least a pair of mutually indepedent in multiple goods yards.
7. double-wheel self-balancing transportation robot according to claim 5, it is characterised in that:
Multiple goods yards are arranged in array.
8. -4 or 6 obtaining double-wheel self-balancing transportation robot described in 7 any one according to claim 1, which is characterized in that also wrap
It includes:
Laser navigation mould group and visual sensor for navigation；
Ultrasound examination mould group for avoidance；And
For acquiring the camera of picking video.
9. -4 or 6 obtaining double-wheel self-balancing transportation robot described in 7 any one according to claim 1, which is characterized in that also wrap
It includes:
Chassis, the chassis are equipped with the vehicle wheel component, the balance inductive component, the control circuit board and the battery mould
Group；
The vehicle wheel component is set to the lower section on the chassis；
The counter is set to the top on the chassis.
10. according to double-wheel self-balancing transportation robot as claimed in claim 9, it is characterised in that:
The periphery wall on the chassis is equipped with bumper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821967170.7U CN209176810U (en) | 2018-11-27 | 2018-11-27 | A kind of double-wheel self-balancing transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821967170.7U CN209176810U (en) | 2018-11-27 | 2018-11-27 | A kind of double-wheel self-balancing transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209176810U true CN209176810U (en) | 2019-07-30 |
Family
ID=67374315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821967170.7U Active CN209176810U (en) | 2018-11-27 | 2018-11-27 | A kind of double-wheel self-balancing transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209176810U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
| CN111301560A (en) * | 2020-03-26 | 2020-06-19 | 行星算力(深圳)科技有限公司 | Transport robot |
| CN111661184A (en) * | 2020-05-27 | 2020-09-15 | 行星算力(深圳)科技有限公司 | Multifunctional transportation robot |
| CN111941434A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
-
2018
- 2018-11-27 CN CN201821967170.7U patent/CN209176810U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
| CN111301560A (en) * | 2020-03-26 | 2020-06-19 | 行星算力(深圳)科技有限公司 | Transport robot |
| CN111661184A (en) * | 2020-05-27 | 2020-09-15 | 行星算力(深圳)科技有限公司 | Multifunctional transportation robot |
| CN111661184B (en) * | 2020-05-27 | 2023-09-15 | 行星算力(深圳)科技有限公司 | Multifunctional transportation robot |
| CN111941434A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
| CN111941434B (en) * | 2020-08-11 | 2023-12-05 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209176810U (en) | A kind of double-wheel self-balancing transportation robot | |
| CN103373592B (en) | Article transport facility | |
| CN104085313A (en) | Eight-freedom-degree mechanical arm system of AGV chassis | |
| CN109606505A (en) | A kind of automatic transporting machine people | |
| CN110525314A (en) | Dispensing machine people and cargo handling method | |
| CN111717844A (en) | Industrial safety type laser SLAM navigation tray stack AGV | |
| CN108163481A (en) | A kind of damping type automated guided vehicle | |
| CN202518762U (en) | Manual automatic integrated van | |
| CN208432902U (en) | A kind of dual-drive dual-control transport vehicle based on AGV technology | |
| CN207630029U (en) | Transfer robot and sorting system | |
| CN114092001A (en) | AGV carrier loader for intelligent logistics unmanned distribution system and packing box used by same | |
| CN208249800U (en) | A kind of new A GV robot | |
| CN114092000A (en) | Unmanned delivery system of wisdom commodity circulation based on natural navigation | |
| CN111703463A (en) | Reversing walking device of four-direction vehicle and four-direction vehicle | |
| CN208855774U (en) | A kind of wheel undercarriage mechanism of express delivery robot combined module type | |
| CN107878131B (en) | Tricycle traction bucket and tractor | |
| CN217201921U (en) | Automatic forklift | |
| JPS6367751B2 (en) | ||
| CN110632926A (en) | Dolly for picking up spherical objects | |
| CN216761974U (en) | Omnibearing AGV intelligent service vehicle | |
| CN202929480U (en) | Medical AGV logistic control system | |
| CN103342313A (en) | Heavy-load intelligent large-range lifting trolley | |
| CN212050393U (en) | AGV dolly is used in magazine transport | |
| CN204356028U (en) | A kind of device of goods active defencive function of pallet fork | |
| CN211642414U (en) | Intelligent AGV (automatic guided vehicle) carrying trolley and AGV traffic control system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |