CN211870704U - Wheeled all direction rotation robot - Google Patents

Abstract

The utility model is suitable for the robotechnology field, the utility model provides a wheeled all direction rotation robot, which comprises a mounting rack, at least three power wheel, the drive structure, arm and controller, the mounting bracket can hold external equipment, at least three power wheel is outside along circumferencial direction evenly distributed in the mounting bracket, the drive structure is located in the mounting bracket, and the output of drive structure connects in the power wheel, arm detachably installs on the mounting bracket, the controller electricity is connected in drive structure and steerable drive structure, along circular motion with the same angular velocity with each power wheel of drive, the controller electricity is connected in arm and steerable arm motion. The controller can drive each power wheel to move along the circumferential direction at the same angular speed, so that the power wheels can drive the whole robot to rotate in situ, the phenomenon of displacement of the robot during rotation is avoided, the occupied area required during rotation is reduced, the utilization rate of the occupied area is improved, and the whole structure is very simple.

Description

Wheeled all direction rotation robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically say, relate to a wheeled all direction rotation robot.

Background

Nowadays, robots are more and more widely applied in the fields of logistics, industry, security, danger elimination and relief and home service, and rotary robots are particularly commonly applied in logistics rotation as one of the robots.

However, the rotary robot usually has a displacement phenomenon during the rotation operation, and is difficult to rotate in situ, which results in a large floor area and poor movement flexibility, and the conventional rotary robot has a very complicated overall structure and is difficult to store.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an one of purpose lies in: the utility model provides a wheeled all direction rotary robot, aims at solving among the prior art, rotary robot is difficult to rotatory in situ and leads to area big and the technical problem that the structure is complicated.

For solving the technical problem, the embodiment of the utility model provides an adopt technical scheme is:

the utility model provides a wheeled all direction rotation robot, includes mounting bracket, at least three power wheel, drive structure, arm and controller, the mounting bracket can hold external equipment, and is at least three power wheel along circumferencial direction evenly distributed in outside the mounting bracket, the drive structure is located in the mounting bracket, and the output of drive structure connect in the power wheel is with the drive the power wheel rotates, arm detachably install in on the mounting bracket, the controller electricity connect in drive structure and steerable drive structure, in order to drive each the power wheel is with the same angular velocity along circular motion, the controller electricity connect in arm and steerable the arm motion.

Further, the mounting bracket includes first supporting disk, second supporting disk and connect in first supporting disk with fixed plate between the second supporting disk, first supporting disk with the second supporting disk sets up along vertical direction interval, drive structure locates first supporting disk with between the second supporting disk, arm detachably locates on the first supporting disk.

Furthermore, the fixed plate is formed by upward bending the edge of the second supporting disc, a bending part is arranged at one end of the fixed plate, which is far away from the second supporting disc, and the bending part is abutted against the first supporting disc and is connected with the first supporting disc.

Furthermore, the driving structure comprises at least three driving motors, the driving motors are fixed on the fixing plate, a rotating groove is formed in the fixing plate, and an output shaft of each driving motor penetrates through the rotating groove to be connected with each power wheel.

Further, the driving motor is set to be a Racing stepping motor.

Furthermore, the power wheel comprises a first wheel and a second wheel which are axially overlapped, a first fixing seat is arranged on the first wheel, and an output shaft of the driving structure is fixed on the first fixing seat and can drive the first fixing seat to drive the first wheel and the second wheel to rotate.

Furthermore, a fixing hole is formed in the first fixing seat, the output shaft of the driving structure is fixed in the fixing hole, a limiting groove communicated with the fixing hole is formed in the first fixing seat, a limiting bolt is arranged on the limiting groove, and the limiting bolt can be tightly abutted to the periphery of the output shaft of the driving structure after being locked.

Further, the arm includes the second fixing base, locates support arm on the second fixing base, and locate clamping structure on the support arm, the support arm can the second fixing base is gone up to move, clamping structure can be used to the centre gripping external product, the second fixing base with form through the fastener and can dismantle the connection between the mounting bracket.

Furthermore, the clamping structure comprises two gears capable of being meshed with each other and two clamping arms, wherein the two clamping arms are respectively arranged on the two gears and can move under the meshing of the two gears to clamp an external product.

Furthermore, a moving structure is further arranged on the mounting rack, and the moving structure is electrically connected to the controller and can drive the mounting rack to move under the control of the controller.

The utility model provides a wheeled all direction rotary robot's beneficial effect lies in: compared with the prior art, the utility model discloses an at least three power wheel is outside along circumferencial direction evenly distributed in the mounting bracket, the drive structure sets up on the mounting bracket and connects in the power wheel, the controller electricity is connected in drive structure and can drive each power wheel with the motion of the same angular velocity along the circumferencial direction, thereby it is rotatory to make the power wheel can drive whole wheeled all direction rotation robot original place, because the motion angular velocity of each power wheel is the same, the phenomenon that takes place the aversion when having avoided wheeled all direction rotation robot to rotate, thereby required area when reducing the rotation, area's utilization ratio is improved simultaneously. In addition, the mechanical arm is detachably arranged on the mounting frame, so that the mechanical arm and the mounting frame can be conveniently stored, and the overall structure of the wheel type all-directional rotating robot is very simple.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a three-dimensional structure diagram of a wheeled omnidirectional rotating robot provided by an embodiment of the present invention;

fig. 2 is a perspective view of a mounting bracket matching driving structure of the wheeled omnidirectional rotary robot shown in fig. 1;

fig. 3 is a three-dimensional structure diagram of a power wheel of the wheeled omnidirectional rotating robot provided by the embodiment of the utility model;

fig. 4 is a perspective view of a robot arm of a wheeled omnidirectional rotary robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-a mounting frame; 11-a first support disc; 12-a second support tray; 13-fixing the plate; 131-a bending part; 132-a rotating slot; 14-positioning holes; 2-a power wheel; 21-a first wheel; 22-a second wheel; 23-a first fixed seat; 231-fixing holes; 232-limit bolt; 3-driving a motor; 31-an output shaft; 4-a mechanical arm; 41-a second fixed seat; 42-a support arm; 43-a clamping structure; 431-gear; 432-a clamp arm; 433 — a first driving member; 44-a second drive member; 45-a third fixed seat; 46-a third drive member; 47-fourth drive.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1, a wheeled omni-directional rotary robot according to an embodiment of the present invention includes an installation frame 1, at least three power wheels 2, a driving structure, a mechanical arm 4, and a controller.

Specifically, mounting bracket 1 can be used to hold external equipment, and at least three power wheel 2 is along circumferencial direction evenly distributed outside mounting bracket 1, and each power wheel 2 is used for supporting whole mounting bracket 1 jointly, and the drive structure is located on mounting bracket 1, and the output of drive structure connects and rotates in order to drive each power wheel 2 in power wheel 2, and each power wheel 2 accessible rotates and drives the motion of mounting bracket 1. The controller is electrically connected with the driving structure and can control the driving structure, so that the driving structure can drive each power wheel 2 to move along the circumference at the same angular speed, and the mounting frame 1 rotates along the circumference in situ under the driving of the power wheels 2, and the rotation is very stable. The controller can also control the driving structure to drive each power wheel 2 to move at different angular speeds, so that the mounting frame 1 moves along the preset direction, namely the controller can accurately control the mounting frame 1 to rotate or move in situ, and the application scene of the wheeled omnibearing rotary robot is improved. In addition, the mechanical arm 4 is detachably mounted on the mounting frame 1, and when the power wheel 2 is driven by the driving structure to drive the mounting frame 1 to move, the mechanical arm 4 can be indirectly driven to move, so that the mechanical arm 4 can be used for performing reciprocating clamping and loosening operations on external products conveniently. In addition, the mechanical arm 4 and the mounting frame 1 can be detached from each other, so that the mechanical arm and the mounting frame are convenient to store. The controller is electrically connected to the robot arm 4 and controls the movement of the robot arm 4, thereby controlling the movement of the robot arm 4 to grip or release the external product.

The embodiment of the utility model provides an in, through at least three power wheel 2 along circumferencial direction evenly distributed outside mounting bracket 1, the drive structure sets up on mounting bracket 1 and connects in power wheel 2, the controller electricity is connected in the drive structure and can drive each power wheel 2 with the motion of the same angular velocity along the circumferencial direction, thereby it is rotatory to make power wheel 2 can drive the original place of the wheeled all direction rotation robot of whole, because each power wheel 2's motion angular velocity is the same, the phenomenon that takes place the aversion when having avoided wheeled all direction rotation robot to rotate, thereby required area when reducing the rotation, improve area's utilization ratio simultaneously. In addition, the mechanical arm 4 is detachably arranged on the mounting frame 1, so that the mechanical arm 4 and the mounting frame 1 can be conveniently stored, and the overall structure of the wheel type all-directional rotating robot is very simple.

Specifically, in this embodiment, the controller can control the driving structure to rotate at a preset angular speed and a preset angular displacement, so as to adjust the motion of the mounting frame 1, thereby adjusting the state of the mechanical arm 4 on the mounting frame 1, and improving the application scenario of the wheeled omnidirectional rotating robot.

Specifically, in this embodiment, the middle portion of the mounting bracket 1 is provided with a positioning hole 14, and when the mounting bracket 1 is driven by the power wheel 2 to rotate in situ, the mounting bracket 1 is convenient to move along the central axis of the positioning hole 14.

Specifically, in this embodiment, the controller includes a DSP chip, which has a high precision, and can control the angular velocity and angular displacement of the rotation of the power wheel 2 with high precision, so as to meet the requirement of precisely controlling the rotation of the mounting bracket 1. Of course, the type of chip selected for use by the controller is not limited solely herein.

Specifically, in this embodiment, the controller may be configured as a control panel installed on the mounting frame 1, and a user may control the operation of the power wheel 2 and the mechanical arm 4 by controlling the control panel; or the controller can be set as a remote controller which is in communication connection with the driving structure and the mechanical arm 4 respectively, so that the driving structure can be controlled to drive the power wheel 2 to move and the mechanical arm 4 to work respectively.

Further, referring to fig. 2, in the present embodiment, the mounting frame 1 includes a first supporting tray 11, a second supporting tray 12, and a fixing plate 13, the first supporting tray 11 and the second supporting tray 12 are disposed at an interval along the vertical direction, and the fixing plate 13 is connected between the first supporting tray 11 and the second supporting tray 12 and can be used for supporting the first supporting tray 11. The positioning holes 14 are formed in the middle portions of the first supporting disk 11 and the second supporting disk 12, and the two positioning holes 14 are communicated with each other. The driving structure is arranged between the first supporting disk 11 and the second supporting disk 12, the driving structure is supported on the second supporting disk 12, and the manipulator is detachably arranged on the first supporting disk 11.

Specifically, in this embodiment, at least three power wheels 2 are uniformly distributed outside the first supporting disk 11 along the circumferential direction, and both the first supporting disk 11 and the second supporting disk 12 are configured as a disk-shaped structure, so as to improve the stability of the first supporting disk 11 and the second supporting disk 12 during rotation.

Specifically, in this embodiment, the mechanical arm 4 is detachably mounted on the middle portion of the first supporting tray 11, and the second supporting tray 12 only supports the driving structure, so that the space on the first supporting tray 11 and the second supporting tray 12 is large, and the mechanical arm can be used for expanding other working modules.

Further, referring to fig. 2, in the present embodiment, the fixing plate 13 is formed by bending the edge of the second supporting disk 12 upwards, a bending portion 131 is disposed at one end of the fixing plate 13 away from the second supporting disk 12, the bending portion 131 abuts against the first supporting disk 11, and the bending portion 131 is connected to the first supporting disk 11 through a fastening member.

Specifically, the fixing plate 13 is integrally formed with the second supporting tray, so that the connection strength between the first supporting tray 11 and the second supporting tray 12 is improved.

Further, referring to fig. 2, in the present embodiment, the driving structure includes at least three driving motors 3, and the at least three driving motors are uniformly distributed along the edge of the second supporting disk 12, so as to prevent the second supporting disk 12 from generating an unstable phenomenon during rotation. Each driving motor 3 is fixed on the fixing plate 13, the fixing plate 13 is provided with a rotating groove 132, the rotating groove 132 is a through groove, the output shaft 31 of each driving motor 3 passes through the rotating groove 132 from the inner side of the fixing plate 13 to extend out of the outer side of the fixing plate 13 so as to be connected with each power wheel 2, and when the output shaft 31 of each driving motor 3 rotates, each power wheel 2 can be driven to rotate, so that the first supporting disk 11 and the second supporting disk 12 are driven to rotate in situ.

Specifically, in the present embodiment, the number of the power wheels 2 is three, and in this case, the number of the driving motors 3 is also three, but the number is not limited to this.

Specifically, in this embodiment, three fixing plates 13 are correspondingly provided, the three fixing plates 13 are uniformly distributed along the edge of the second supporting disk 12, each driving motor 3 is fixed on the inner side of the fixing plate 13, the rotating groove 132 is formed in each fixing plate 13, and the output shaft 31 of each driving motor 3 penetrates through the transmission groove to form a connection with each power wheel 2, so that the stability of the entire wheel-type omnidirectional rotating robot can be enhanced.

Further, in the present embodiment, in order to improve the accuracy of the driving motor 3 driving the power wheel 2 to rotate, the driving motor 3 is configured as a rally stepper motor, and the output torque of the motor is large and the step angle is small, so that the control accuracy can be improved, but the type of the driving motor 3 is not limited herein.

Further, referring to fig. 3, in the present embodiment, the power wheel 2 includes a first wheel 21 and a second wheel 22 stacked along the axial direction, and the arrangement of the two wheels can improve the supporting effect on the mounting frame 1. The first wheel 21 and the second wheel 22 are both rubber wheels, so that the wear resistance is improved, and the first wheel 21 and the second wheel 22 are prevented from being easily worn when rotating in situ. The first wheel 21 is provided with a first fixing seat 23, and the output shaft 31 of the driving structure extends out of the rotating groove 132 to be fixed on the first fixing seat 23, and can drive the first fixing seat 23 to drive the first wheel 21 and the second wheel 22 to rotate synchronously.

Further, referring to fig. 3, in the present embodiment, a fixing hole 231 is formed on the first fixing seat 23, the output shaft 31 is fixed in the fixing hole 231, a limiting groove communicated with the fixing hole 231 is formed on the first fixing seat 23, a limiting bolt 232 is disposed on the limiting groove, the limiting bolt 232 can be inserted into the limiting groove and locked, and the limiting bolt 232 can be tightly abutted against the periphery of the output shaft 31 after being locked, so as to enhance the fixing effect on the output shaft 31.

Further, referring to fig. 4, in the present embodiment, the robot arm 4 includes a supporting arm 42 of the second fixing base 41 and a clamping structure 43. Specifically, the second fixing seat 41 is fixed on the first supporting plate 11, the supporting arm 42 is disposed on the second fixing seat 41 and can move on the second fixing seat 41, and the clamping structure 43 is disposed on the supporting arm 42 and can be used for clamping or releasing an external product. Wherein, the second fixing seat 41 and the mounting rack 1 are detachably connected by a fastener.

Specifically, referring to fig. 4, in the present embodiment, a second driving member 44 electrically connected to the controller is disposed on the second fixing seat 41, a third fixing seat 45 is rotatably disposed above the second fixing seat 41, the supporting arm 42 is rotatably disposed on the third fixing seat 45, and an output end of the second driving member 44 is connected to the third fixing seat 45 and can drive the third fixing seat 45 to rotate along the first rotation direction, so that the supporting arm 42 and the clamping structure 43 rotate along the first rotation direction. The third fixing seat 45 is provided with a third driving member 46 electrically connected to the controller, an output end of the third driving member 46 is connected to the supporting arm 42, and the supporting arm 42 can be driven to rotate along the second rotation direction, so that the clamping structure 43 can be rotated along the second rotation direction.

Wherein the first and second rotational directions are perpendicular to each other. Specifically, the first rotation direction is a horizontal direction, and the second rotation direction is a vertical direction, but the specific direction is not limited herein.

Specifically, in the present embodiment, one end of the supporting arm 42 is rotatably connected to the third fixing seat 45 and is connected to the output end of the third driving member 46, and the other end of the supporting arm 42 is connected to the clamping structure 43. The supporting arm 42 is divided into three sections, the three sections of supporting arms 42 are mutually rotatably connected, and a fourth driving part 47 is connected between two adjacent sections of supporting arms 42, so that the three sections of supporting arms 42 can respectively rotate along the second rotating direction under the driving of the fourth driving part 47, and the flexibility of the movement of the whole mechanical arm 4 can be enhanced.

Further, referring to fig. 4, in the present embodiment, the clamping structure 43 includes a first driving member 433, two gears 431 and two clamping arms 432, the first driving member 433 is electrically connected to the controller, an output end of the first driving member 433 is connected to one of the gears 431, the two gears 431 can be engaged with each other, the two clamping arms 432 are respectively disposed on the two gears 431, the first driving member 433 can drive one of the gears 431 to rotate, so that the two gears 431 are engaged with each other, and thus the two clamping arms 432 are closed or opened to clamp or release the external product.

In this embodiment, the first driving member 433, the second driving member 44, the third driving member 46, and the fourth driving member 47 are all provided as motors, which is not limited herein.

Further, in this embodiment, still be equipped with the removal structure on the mounting bracket 1, the removal structure electricity is connected in the controller, and when needs removed whole wheeled all-round rotation robot, the removal structure can be placed on ground so that each power wheel 2 is unsettled to can drive mounting bracket 1 under the control of controller and remove, drive whole robot promptly and remove.

Specifically, in this embodiment, the moving structure includes a support column electrically connected to the fifth driving member, a universal wheel disposed on the support column and electrically connected to the fifth driving member, the support column is foldable to be accommodated in the first support tray 11 or the second support tray 12, when the support column is placed on the ground, each power wheel 2 is suspended, and the fifth driving member can drive the universal wheel to move, so as to drive the entire wheel type omni-directional rotation robot to move.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a wheeled all direction rotation robot, its characterized in that includes mounting bracket, at least three power wheel, drive structure, arm and controller, the mounting bracket can hold external equipment, and is at least three power wheel along circumferencial direction evenly distributed in outside the mounting bracket, the drive structure is located on the mounting bracket, just the output of drive structure connect in the power wheel is with the drive the power wheel rotates, arm detachably install in on the mounting bracket, the controller electricity connect in drive structure and steerable drive structure, in order to drive each the power wheel is with the same angular velocity along circular motion, the controller electricity connect in the arm is steerable the arm motion.

2. The wheeled omni-directional rotary robot of claim 1, wherein the mounting bracket comprises a first support plate, a second support plate, and a fixed plate connected between the first support plate and the second support plate, the first support plate and the second support plate are spaced apart in a vertical direction, the driving structure is disposed between the first support plate and the second support plate, and the robotic arm is detachably disposed on the first support plate.

3. The wheeled omni-directional rotating robot of claim 2, wherein the fixing plate is formed by bending the edge of the second supporting disk upwards, and a bending part is disposed at an end of the fixing plate away from the second supporting disk, and the bending part abuts against and is connected to the first supporting disk.

4. The wheeled omni-directional rotary robot of claim 2, wherein the driving structure comprises at least three driving motors, the driving motors are fixed on the fixed plate, the fixed plate is provided with a rotating slot, and an output shaft of each driving motor passes through the rotating slot to be connected with each power wheel.

5. The wheeled omni-directional rotary robot of claim 4 wherein the drive motor is configured as a Racing stepper motor.

6. The wheeled omni-directional rotating robot of claim 1, wherein the power wheel comprises a first wheel and a second wheel stacked along an axial direction, the first wheel is provided with a first fixing seat, the output shaft of the driving structure is fixed on the first fixing seat, and the driving structure can drive the first fixing seat to drive the first wheel and the second wheel to rotate.

7. The wheeled omni-directional rotating robot according to claim 6, wherein the first fixing base is provided with a fixing hole, the output shaft of the driving structure is fixed in the fixing hole, the first fixing base is provided with a limiting groove communicated with the fixing hole, the limiting groove is provided with a limiting bolt, and the limiting bolt can be tightly abutted against the periphery of the output shaft of the driving structure after being locked.

8. The wheeled omni-directional rotating robot of any one of claims 1-7, wherein the robotic arm comprises a second fixed base, a support arm disposed on the second fixed base, and a clamping structure disposed on the support arm, the support arm being movable on the second fixed base, the clamping structure being configured to clamp an external product, the second fixed base being detachably connected to the mounting frame via a fastener.

9. The wheeled omni-directional rotary robot of claim 8, wherein the gripping structure comprises two gears capable of engaging with each other and two gripping arms respectively disposed on the two gears and capable of moving under the engagement of the two gears to grip an external product.

10. The wheeled omni-directional rotary robot of any one of claims 1-7, wherein the mounting frame is further provided with a moving structure, the moving structure is electrically connected to the controller and can drive the mounting frame to move under the control of the controller.

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