CN212605546U - Wheeled robot - Google Patents
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- CN212605546U CN212605546U CN202021654947.1U CN202021654947U CN212605546U CN 212605546 U CN212605546 U CN 212605546U CN 202021654947 U CN202021654947 U CN 202021654947U CN 212605546 U CN212605546 U CN 212605546U
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Abstract
The utility model provides a wheeled robot belongs to the robotechnology field. The wheel type robot solves the problems that an existing wheel type robot is not beneficial to carrying goods and is small in application range. The wheeled robot comprises a base and a pallet arranged above the base and fixed relative to the base, wherein a left wheel is arranged on the left side of the base, a right wheel coaxially arranged with the left wheel is arranged on the right side of the base, a counterweight unit is arranged on the base, and a driving assembly used for driving the counterweight unit to move back and forth is arranged between the pallet and the base. The utility model has the advantages of the accessible changes the position of counter weight unit and makes the robot keep balanced state, and the goods pallet can not take place the slope, is favorable to the delivery goods, has structural design reasonable moreover, load capacity is strong, the stability of traveling is good and functional strong.
Description
Technical Field
The utility model belongs to the technical field of the robot, a wheeled robot is related to.
Background
At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks which are harmful to human bodies. The existing transportation robot is mostly driven by four wheels or driven by auxiliary driving wheels of universal wheels, the chassis is large in size, high in manufacturing cost and large in required walking space, and the robot is not convenient to move and transfer.
Therefore, the Chinese patent discloses a multi-degree-of-freedom gravity-center-variable two-wheeled robot (with an authorization publication number of CN 102923204B), which is modified on the basis of a common two-wheeled robot, two degrees of freedom are added to change the gravity center, so that the balance of the two-wheeled vehicle is better maintained in motion, wherein one degree of freedom is a bearing slide block on the two-wheeled robot, and the position of the gravity center is changed by adjusting the position of the slide block on a carrying plate of the robot.
Although the robot can adjust the gravity center by changing the position of the slide block, the slide block is positioned at the uppermost part of the robot, and when the position of the slide block is changed, the inclination state of the robot needs to be changed to maintain balance, so that the robot is not beneficial to carrying goods, and the application range is small. And an additional weight (slider) is required, resulting in a heavy mass.
SUMMERY OF THE UTILITY MODEL
The utility model aims at having the above-mentioned problem to current technique, provided a wheeled robot that is favorable to carrying the goods.
The purpose of the utility model can be realized by the following technical proposal:
wheeled robot, including the base and locate the base top with base relatively fixed's pallet, the left side of base is equipped with left wheel, its right side is equipped with the right wheel with the coaxial setting of left wheel, the base on be equipped with the counter weight unit, pallet and base between be equipped with the drive assembly who is used for driving counter weight unit seesaw.
Because the left wheel is coaxial with the right wheel, the central axes of the left wheel and the right wheel are collinear. When the robot is in equilibrium, the base and the upper surface of the pallet are level with the horizontal plane. After the goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the pallet cannot incline, thereby being beneficial to carrying the goods.
When no goods are placed on the pallet, the projection point of the center of gravity of the whole consisting of the base, the pallet, the counterweight unit and the driving assembly on the horizontal plane is positioned on the projection line of the central axis of the left wheel on the horizontal plane, and the robot keeps a balanced state.
When the projection point of the gravity center of the placed goods on the horizontal plane is located on the projection line of the central axis of the left wheel on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit to move back and forth.
When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned in front of the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and tends to topple forwards, and at the moment, the driving assembly drives the counterweight unit to move backwards, so that the projection point of the center of gravity of the whole body consisting of the base, the pallet, the goods, the counterweight unit and the driving assembly on the horizontal plane returns to the projection line of the central axis of the left wheel on the horizontal plane.
When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and has a tendency of toppling backwards, and at the moment, the driving assembly drives the counterweight unit to move forwards, so that the projection point of the center of gravity of the whole body formed by the base, the pallet, the goods, the counterweight unit and the driving assembly on the horizontal plane returns to the projection line of the central axis of the left wheel on the horizontal plane.
In the above wheeled robot, the base is fixed with a linear guide rail extending in the front-rear direction, the linear guide rail is provided with a sliding block in a sliding manner, the sliding block is fixed with a sliding box, and the counterweight unit is arranged in the sliding box.
The number of the linear guide rails is 1-2, and each linear guide rail is at least provided with a sliding block in sliding fit with the linear guide rail. When the number of the linear guide rails is 1, the gravity center of the whole body formed by the sliding box and the counterweight unit is positioned right above the linear guide rails; when the number of the linear guide rails is 2, the two linear guide rails are parallel to each other, and the projection point of the gravity center of the whole body formed by the sliding box and the counterweight unit on the base is positioned between the two linear guide rails. The driving assembly drives the sliding box to move back and forth, the sliding block moves when the sliding box moves, and the linear guide rail does not move.
In the above wheeled robot, the base is fixed with a slider, the slider is slidably provided with a linear guide rail extending in the front-rear direction, the linear guide rail is fixed with a sliding box, and the counterweight unit is arranged in the sliding box.
The linear guide rails can only move along the front-back direction under the guiding action of the sliding blocks, the number of the linear guide rails is 1-2, and each linear guide rail is at least provided with one sliding block in sliding fit with the linear guide rail. When the number of the linear guide rails is 1, the gravity center of the whole body formed by the sliding box and the counterweight unit is positioned right above the linear guide rails; when the number of the linear guide rails is 2, the two linear guide rails are parallel to each other, and the projection point of the gravity center of the whole body formed by the sliding box and the counterweight unit on the base is positioned between the two linear guide rails. The driving assembly drives the sliding box to move back and forth, the linear guide rail moves when the sliding box moves, and the sliding block is fixed.
In the above wheeled robot, the driving assembly includes a driving motor disposed at the lower portion of the pallet, a driving wheel driven by the driving motor, and a driven wheel connected to the driving wheel through a synchronous belt, the sliding box is fixedly connected to the synchronous belt, and the straightened portion of the synchronous belt is parallel to the linear guide rail. When the driving motor works, the driving wheel is driven to rotate, the driving wheel drives the driven wheel to rotate through the synchronous belt, and the straightened part of the synchronous belt makes linear motion, so that the sliding box is driven to make linear motion.
The drive assembly can also be a ball screw driven by a motor, the ball screw is arranged on the base and extends along the front-back direction, the sliding box is sleeved on the ball screw and is in threaded fit with the ball screw, and the sliding box moves linearly along the length direction of the ball screw when the motor drives the ball screw to rotate.
The driving assembly can also be a rack which is fixed on the sliding box and extends along the front-back direction and a gear which is meshed with the rack and is driven by a motor, when the motor works, the gear is driven to rotate, and the gear drives the rack to move linearly, so that the sliding box moves linearly.
The driving assembly can also be a motor arranged at the lower part of the pallet, a driving chain wheel driven by the motor and a driven chain wheel in transmission connection with the driving chain wheel through a chain, the sliding box is fixedly connected with the chain, and the straightened part of the chain is parallel to the linear guide rail. When the motor works, the driving chain wheel is driven to rotate, the driving chain wheel drives the driven chain wheel to rotate through the chain, and the straightened part of the chain makes linear motion, so that the sliding box is driven to make linear motion.
In the wheel robot, the sliding box is provided with a connecting frame, and the top end of the connecting frame is fixedly connected with the straightened part of the synchronous belt through a connecting block. The connecting frame is arched and is arranged on two opposite sides of the sliding box in a spanning mode.
In foretell wheeled robot, the lower part of pallet is fixed with first support and second support, first support on be equipped with along the first support shaft of left right direction horizontal extension, rotatable the connection of action wheel on first support shaft, the second support on be equipped with the second back shaft parallel with first support shaft, rotatable connection on the second back shaft from the driving wheel.
The driving motor is fixed at the lower part of the pallet and is coaxially and fixedly connected with the driving wheel through the coupler, and when the number of the linear guide rails is 1, the synchronous belt is positioned right above the linear guide rails; when the linear guide is 2, the projection of the synchronous belt on the base is positioned between the two linear guide.
In the above wheeled robot, the left side of the base is fixed with a left side plate, the left wheels are arranged on the left side plate, the right side of the base is fixed with a right side plate arranged opposite to the left side plate, the right wheels are arranged on the right side plate, the left end of the pallet is fixed on the left side plate, and the right end of the pallet is fixed on the right side plate.
The left wheel is located the left side of left side board and by locating its inside in-wheel motor drive, and the right wheel is located the right side of right side board and by locating its inside in-wheel motor drive. The hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, the left wheel and the right wheel are coaxially fixed on the outer rotor of the hub motor which is arranged correspondingly to the left wheel and the right wheel, and the outer rotor rotates around the central axis of the inner stator during working. The stator of the hub motor for driving the left wheel is fixed on the left side plate, and the stator of the hub motor for driving the right wheel is fixed on the right side plate. The robot moves straight when the rotating speeds of the two hub motors are the same. When the rotating speeds of the two are different, the robot can be steered: when the speed of the left wheel is higher than that of the right wheel, the robot turns to the right, and when the speed of the right wheel is higher than that of the left wheel, the robot turns to the left.
In the wheeled robot, the left side plate is fixed with a first extending frame extending upwards, the right side plate is fixed with a second extending frame arranged opposite to the first extending frame, and the top ends of the first extending frame and the second extending frame are fixed with a cross bar. The cross bar can be provided with a camera/sensor/lighting source/traction interface/operation panel, and can realize operations such as camera shooting, gas detection, cable traction and the like. When the first extending frame, the second extending frame, the cross bar and the like are not arranged, the robot is independently used as a carrying robot.
In the wheeled robot, the counterweight unit includes a battery and an electric box. The battery provides electric energy for the two hub motors and the driving motor, the controller is arranged in the electric box and controls the action of the hub motors and the action of the driving motor, the gyroscope sensor is arranged in the pallet and is electrically connected with the signal input end of the controller.
In the wheeled robot, the counterweight unit includes a counterweight.
Compared with the prior art, the wheel type robot has the following advantages:
after goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the pallet cannot incline, so that the goods can be carried conveniently; the structure is reasonable in design, strong in loading capacity, good in driving stability and strong in functionality; the battery, the electric box and the like are used as the counterweight unit, namely, the essential components of the robot are used as the counterweight unit, so that the weight of the robot is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is another schematic structural diagram of the first embodiment of the present invention.
Fig. 3 is a rear view of the first embodiment of the present invention.
Fig. 4 is a front-rear sectional view of a first embodiment of the present invention.
Fig. 5 is a schematic partial structural diagram of a first embodiment of the present invention.
In the figure, 1, a base; 2. a pallet; 3. a left wheel; 4. a right wheel; 5. a linear guide rail; 6. a slider; 7. a slide box; 8. a counterweight unit; 9. a drive motor; 10. a driving wheel; 11. a synchronous belt; 12. a driven wheel; 13. a connecting frame; 14. connecting blocks; 15. a first support; 16. a second support; 17. a left side plate; 18. a right side plate; 19. a first extension frame; 20. a second extension frame; 21. a cross bar; 22. the plate was manipulated.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
Example one
The wheeled robot shown in fig. 1-3 comprises a base 1 and a pallet 2 which is arranged above the base 1 and is fixed relative to the base 1, wherein a left side plate 17 is fixed on the left side of the base 1, a left wheel 3 driven by a hub motor is arranged on the left side plate 17, a right side plate 18 is fixed on the right side of the base 1, a right wheel 4 driven by the hub motor is arranged on the right side plate 18, and the left wheel 3 and the right wheel 4 are coaxial. The hub motor comprises an inner stator and an outer rotor sleeved on the inner stator, the left wheel 3 and the right wheel 4 are coaxially fixed on the outer rotor of the hub motor which is arranged correspondingly, and the outer rotor rotates around the central axis of the inner stator during working. The stator of the in-wheel motor driving the left wheel 3 is fixed to the left side plate 17, and the stator of the in-wheel motor driving the right wheel 4 is fixed to the right side plate 18. The robot moves straight when the rotating speeds of the two hub motors are the same. When the rotating speeds of the two are different, the robot can be steered: when the speed of the left wheel 3 is higher than the speed of the right wheel 4, the robot turns to the right, and when the speed of the right wheel 4 is higher than the speed of the left wheel 3, the robot turns to the left.
As shown in fig. 1 to 4, a linear guide 5 extending in the front-rear direction is fixed to the base 1, a slider 6 is slidably provided on the linear guide 5, a slide box 7 is fixed to the slider 6, a weight unit 8 is provided in the slide box 7, and a driving unit for driving the weight unit 8 to move forward and backward is provided at the lower portion of the pallet 2. The counterweight unit 8 in this embodiment includes a battery and an electric box, the battery supplies electric power to the two hub motors and the driving motor 9, a controller is provided in the electric box, the controller controls the actions of the hub motors and the driving motor 9, a gyro sensor is provided in the pallet 2, and the gyro sensor is electrically connected to a signal input end of the controller.
The number of the linear guide rails 5 is 1-2, and each linear guide rail 5 is at least provided with a sliding block 6 in sliding fit with the linear guide rail. When the number of the linear guide rails 5 is 1, the center of gravity of the whole body formed by the sliding box 7 and the counterweight unit 8 is positioned right above the linear guide rails 5; when the number of the linear guide rails 5 is 2, the two linear guide rails 5 are parallel to each other, and a projection point of the center of gravity of the whole body formed by the slide box 7 and the counterweight unit 8 on the base 1 is located between the two linear guide rails 5. The driving component drives the sliding box 7 to move back and forth, the sliding block 6 moves when the sliding box 7 moves, and the linear guide rail 5 does not move.
As shown in fig. 4 and 5, a first support 15 and a second support 16 are fixed to a lower portion of the pallet 2, a first support shaft extending horizontally in the left-right direction is provided on the first support 15, and a second support shaft parallel to the first support shaft is provided on the second support 16. The driving assembly comprises a driving motor 9 arranged at the lower part of the pallet 2, a driving wheel 10 driven by the driving motor 9 and a driven wheel 12 in transmission connection with the driving wheel 10 through a synchronous belt 11, the sliding box 7 is fixedly connected with the synchronous belt 11, and the straightened part of the synchronous belt 11 is parallel to the linear guide rail 5. The driving motor 9 is coaxially and fixedly connected with the driving wheel 10 through a coupler, the driving wheel 10 is rotatably connected to the first supporting shaft, and the driven wheel 12 is rotatably connected to the second supporting shaft. When the driving motor 9 works, the driving wheel 10 is driven to rotate, the driving wheel 10 drives the driven wheel 12 to rotate through the synchronous belt 11, and the straightened part of the synchronous belt 11 makes linear motion, so that the sliding box 7 is driven to make linear motion. When the number of the linear guide rails 5 is 1, the synchronous belt 11 is positioned right above the linear guide rails 5; when the number of the linear guide rails 5 is 2, the projection of the synchronous belt 11 on the base 1 is positioned between the two linear guide rails 5.
Specifically, as shown in fig. 5, a connecting frame 13 is disposed on the sliding box 7, a top end of the connecting frame 13 is fixedly connected to the straightened portion of the synchronous belt 11 through a connecting block 14, and the connecting frame 13 is arched and straddles two opposite sides of the sliding box 7.
When the robot is in equilibrium, the upper surfaces of the base 1 and pallet 2 are level with the horizontal plane. When the goods are loaded, the robot can be kept in a balanced state by changing the position of the weight unit 8, and the pallet 2 is not inclined, which is advantageous for carrying the goods.
When no goods are placed on the pallet 2, the projection point of the center of gravity of the whole consisting of the base 1, the pallet 2, the counterweight unit 8 and the driving assembly on the horizontal plane is positioned on the projection line of the central axis of the left wheel 3 on the horizontal plane, and the robot keeps a balanced state.
When the projection point of the gravity center of the placed goods on the horizontal plane is located on the projection line of the central axis of the left wheel 3 on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit 8 to move back and forth.
When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned in front of the projection line of the central axis of the left wheel 3 on the horizontal plane, the robot is unbalanced and tends to topple forwards, and at the moment, the driving assembly drives the counterweight unit 8 to move backwards, so that the projection point of the center of gravity of the whole body consisting of the base 1, the pallet 2, the goods, the counterweight unit 8 and the driving assembly on the horizontal plane returns to the projection line of the central axis of the left wheel 3 on the horizontal plane.
When the projection point of the center of gravity of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel 3 on the horizontal plane, the robot is unbalanced and has a tendency of toppling backwards, and at the moment, the driving assembly drives the counterweight unit 8 to move forwards, so that the projection point of the center of gravity of the whole body consisting of the base 1, the pallet 2, the goods, the counterweight unit 8 and the driving assembly on the horizontal plane returns to the projection line of the central axis of the left wheel 3 on the horizontal plane.
The robot in this embodiment is used alone as a carrier robot.
Example two
The structure principle of the present embodiment is substantially the same as that of the first embodiment, except that a first extending frame 19 extending upward is fixed on the left side plate 17, a second extending frame 20 arranged opposite to the first extending frame 19 is fixed on the right side plate 18, a cross bar 21 is fixed on the top ends of the first extending frame 19 and the second extending frame 20, and an operation panel 22 is arranged on the cross bar 21.
EXAMPLE III
The structural principle of this embodiment is basically the same as that of the first embodiment, and the difference is that a sliding block 6 is fixed on the base 1, a linear guide rail 5 extending in the front-rear direction is slidably arranged on the sliding block 6, a sliding box 7 is fixed on the linear guide rail 5, and a counterweight unit 8 is arranged in the sliding box 7. The linear guide rails 5 can only move along the front-back direction under the guiding action of the sliding blocks 6, the number of the linear guide rails 5 is 1-2, and each linear guide rail 5 is at least provided with one sliding block 6 in sliding fit with the linear guide rail. When the number of the linear guide rails 5 is 1, the center of gravity of the whole body formed by the sliding box 7 and the counterweight unit 8 is positioned right above the linear guide rails 5; when the number of the linear guide rails 5 is 2, the two linear guide rails 5 are parallel to each other, and a projection point of the center of gravity of the whole body formed by the slide box 7 and the counterweight unit 8 on the base 1 is located between the two linear guide rails 5. The driving component drives the sliding box 7 to move back and forth, the linear guide rail 5 moves when the sliding box 7 moves, and the sliding block 6 does not move.
Example four
The structural principle of the present embodiment is substantially the same as that of the first embodiment, except that the counterweight unit 8 includes a counterweight, and the battery and the electric box are disposed at both sides of the base 1 in the present embodiment, so as not to obstruct the movement of the sliding box 7.
EXAMPLE five
The structural principle of the present embodiment is basically the same as that of the first embodiment, except that the counterweight unit 8 includes a battery, an electric box, and a counterweight.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (10)
1. The utility model provides a wheeled robot, includes base (1) and locate base (1) top with base (1) relatively fixed's pallet (2), the left side of base (1) is equipped with left wheel (3), its right side is equipped with right wheel (4) with left wheel (3) coaxial setting, its characterized in that, base (1) on be equipped with counter weight unit (8), pallet (2) and base (1) between be equipped with the drive assembly who is used for driving counter weight unit (8) seesaw.
2. The wheeled robot as claimed in claim 1, wherein said base (1) is fixed with a linear guide (5) extending in a front-rear direction, said linear guide (5) is slidably provided with a slide block (6), said slide block (6) is fixed with a slide box (7), and said counterweight unit (8) is provided in said slide box (7).
3. The wheeled robot as claimed in claim 1, wherein a slide block (6) is fixed to said base (1), a linear guide (5) extending in a front-rear direction is slidably provided on said slide block (6), a slide box (7) is fixed to said linear guide (5), and said weight unit (8) is provided in said slide box (7).
4. A wheeled robot as claimed in claim 2 or 3, wherein said driving assembly comprises a driving motor (9) arranged at the lower part of the pallet (2), a driving wheel (10) driven by the driving motor (9) and a driven wheel (12) in transmission connection with the driving wheel (10) through a synchronous belt (11), said sliding box (7) is fixedly connected with the synchronous belt (11), and the straightened part of the synchronous belt (11) is parallel to the linear guide (5).
5. The wheeled robot as claimed in claim 4, characterized in that the sliding box (7) is provided with a connecting frame (13), and the top end of the connecting frame (13) is fixedly connected with the straightened part of the synchronous belt (11) through a connecting block (14).
6. A wheeled robot as claimed in claim 4, characterised in that a first support (15) and a second support (16) are fixed to the lower part of said pallet (2), said first support (15) being provided with a first support shaft extending horizontally in a left-right direction, said driving wheel (10) being rotatably connected to said first support shaft, said second support (16) being provided with a second support shaft parallel to said first support shaft, said driven wheel (12) being rotatably connected to said second support shaft.
7. The wheeled robot as claimed in claim 1, wherein a left side plate (17) is fixed to the left side of said base (1), said left wheels (3) are provided on said left side plate (17), a right side plate (18) is fixed to the right side of said base (1) and is disposed opposite to said left side plate (17), said right wheels (4) are provided on said right side plate (18), said pallet (2) is fixed to said left side plate (17) at the left end and to said right side plate (18) at the right end.
8. The wheeled robot as claimed in claim 7, wherein a first extending frame (19) extending upwards is fixed on the left side plate (17), a second extending frame (20) arranged opposite to the first extending frame (19) is fixed on the right side plate (18), and a cross bar (21) is fixed at the top ends of the first extending frame (19) and the second extending frame (20).
9. A wheeled robot according to claim 1, characterised in that said counterweight unit (8) comprises a battery and an electrical box.
10. A wheeled robot according to claim 1 or 9, characterized in that said weight unit (8) comprises a counterweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021654947.1U CN212605546U (en) | 2020-08-11 | 2020-08-11 | Wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021654947.1U CN212605546U (en) | 2020-08-11 | 2020-08-11 | Wheeled robot |
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| CN212605546U true CN212605546U (en) | 2021-02-26 |
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| CN202021654947.1U Active CN212605546U (en) | 2020-08-11 | 2020-08-11 | Wheeled robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891255A (en) * | 2020-08-11 | 2020-11-06 | 行星算力(深圳)科技有限公司 | Wheeled robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891255A (en) * | 2020-08-11 | 2020-11-06 | 行星算力(深圳)科技有限公司 | Wheeled robot |
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