CN213950489U

CN213950489U - Heavy type submersible robot

Info

Publication number: CN213950489U
Application number: CN202022433337.5U
Authority: CN
Inventors: 王昆; 姜新军; 汪治; 周天炜; 王陈龙
Original assignee: Hefei Huanzhi Technology Co ltd
Current assignee: Hefei Huanzhi Technology Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-08-13
Anticipated expiration: 2030-10-28

Abstract

The utility model belongs to the technical field of robots, in particular to a heavy-duty submersible robot, which adopts two pairs of differential driving wheel sets and universal wheels to walk; the first servo motor drives the main shaft to rotate through the second speed reducer, so as to drive the driving wheel to rotate, thereby realizing the walking of the submersible robot, and realizing the functions of forward and backward turning and transverse movement of the driving according to the control of the rotating speed of the first servo motor; lifting devices passes through the screw lift and realizes going up and down, the screw lift is ton for single screw lift range, it rotates to drive the power shaft through second servo motor and first speed reducer, provide power for the screw lift, and then drive the mounting panel through the screw lift and go up and down, the position that is used for fixing a position work or material rest and automobile body at the two-dimensional code read head of formula robot main part upper end that dives, reach accurate work or material rest that lifts, lower extreme two-dimensional code read head is used for fixing a position special website, further confirm navigation positioning, the precision of point is arrived in the dual assurance.

Description

Heavy type submersible robot

Technical Field

The utility model relates to the technical field of robots, specifically a heavy type dive formula robot.

Background

At present, a large-sized robot and a small-sized robot exist in a submerged robot, but the position of goods cannot be accurately known in the use process of a material rack carried by the robot, and the goods cannot be accurately lifted.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a heavy type dive formula robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a heavy type submerged robot, includes submerged robot main part, is provided with the protection along the outside limit of submerged robot main part bottom and touches the limit, the one end of submerged robot main part is provided with the touch-sensitive screen, is provided with the pilot lamp along submerged robot main part both sides limit, the pilot lamp is located the intermediate position of submerged robot main part, two-dimensional code read head and lifting device are all installed to the upper and lower end of submerged robot main part, lifting device sets up about two-dimensional code read head symmetry, the two-dimensional code read head is located the intermediate position of submerged robot main part, the both sides of submerged robot main part bottom are provided with differential driving wheel group and universal wheel respectively, the universal wheel is located the outside of differential driving wheel group, one side of submerged robot main part is installed and is kept away the barrier sensor.

Preferably, the differential driving wheel set comprises two driving wheels positioned on two sides, a main shaft connected with the two driving wheels, a second speed reducer connected with the main shaft, a first servo motor connected with one side of the second speed reducer, and a driving mechanism arranged above the first servo motor.

Preferably, the lifting device comprises a second servo motor located inside the submersible robot body, a first speed reducer connected with the second servo motor, a power shaft connected with the first speed reducer, a spiral elevator connected with the power shaft, and a mounting plate mounted at the top end of the spiral elevator.

Preferably, the upper end of the mounting plate is flush with the top of the submersible robot body.

Compared with the prior art, the beneficial effects of the utility model are that: the side edge of the submerged robot main body is provided with the obstacle avoidance sensor, so that obstacles around the vehicle body can be detected in time, convenience is brought to the vehicle body to avoid the obstacles during movement, and the protective touch edges are arranged on the two sides of the submerged robot main body to play a certain protective role on the periphery of the submerged robot vehicle body; the bottom of the submerged robot main body adopts two pairs of differential driving wheel sets and universal wheels to walk; the first servo motor drives the main shaft to rotate through the second speed reducer, so as to drive the driving wheel to rotate, thereby realizing the walking of the submersible robot, and realizing the functions of forward and backward turning and transverse movement of the driving according to the control of the rotating speed of the first servo motor; lifting device realizes going up and down through the spiral lift that sets up, the spiral lift is ton for single spiral lift range, it rotates to drive the power shaft through second servo motor and first speed reducer, provide power for the spiral lift, and then drive the mounting panel through the spiral lift and go up and down, lower extreme adoption two-dimensional code read head on the formula robot main part of diving into, the two-dimensional code read head of upper end is used for fixing a position the position of work or material rest and automobile body, reach accurate work or material rest that lifts, the lower extreme two-dimensional code read head is used for fixing a position special website, further confirm navigation location, the precision of point is dually guaranteed.

Drawings

Fig. 1 is a schematic overall structure diagram of the present invention;

fig. 2 is a perspective view of the structure of the submersible robot main body according to the present invention;

FIG. 3 is a schematic structural view of the differential driving wheel set of the present invention;

FIG. 4 is a schematic structural diagram of the lifting device of the present invention;

fig. 5 is a schematic structural diagram of a second servo motor according to the present invention.

In the figure: 1. a submersible robot body; 2. a touch screen; 3. protecting the contact edge; 4. an indicator light; 5. a two-dimensional code reading head; 6. a lifting device; 61. a second servo motor; 62. a first speed reducer; 63. a power shaft; 64. a screw elevator; 65. mounting a plate; 7. a differential drive wheel set; 71. a drive wheel; 72. a main shaft; 73. a first servo motor; 74. a drive mechanism; 75. a second speed reducer; 8. a universal wheel; 9. keep away barrier sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. 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. 1-5, the present invention provides a technical solution: a heavy-duty submersible robot comprises a submersible robot body 1, a protective contact edge 3 arranged along the outer side edge of the bottom of the submersible robot body 1, one end of the submerged robot main body 1 is provided with a touch screen 2, indicator lights 4 are arranged along two side edges of the submerged robot main body 1, the indicator light 4 is positioned in the middle of the submersible robot main body 1, the two-dimensional code reading head 5 and the lifting device 6 are mounted at the upper end and the lower end of the submersible robot main body 1, the lifting devices 6 are symmetrically arranged about the two-dimensional code reading head 5, the two-dimensional code reading head 5 is positioned at the middle position of the submersible robot main body 1, the two sides of the bottom of the submerged robot main body 1 are respectively provided with a differential driving wheel set 7 and a universal wheel 8, the universal wheels 8 are located on the outer side of the differential driving wheel set 7, and an obstacle avoidance sensor 9 is installed on one side of the submerged robot main body 1.

Further, the differential drive wheel group 7 includes two drive wheels 71 located on both sides, a main shaft 72 connecting the two drive wheels 71, a second speed reducer 75 connected to the main shaft 72, a first servo motor 73 connected to one side of the second speed reducer 75, and a drive mechanism 74 disposed above the first servo motor 73.

Further, the lifting device 6 includes a second servo motor 61 located inside the submersible robot body 1, a first speed reducer 62 connected to the second servo motor 61, a power shaft 63 connected to the first speed reducer 62, a screw elevator 64 connected to the power shaft 63, and an attachment plate 65 attached to a tip end of the screw elevator 64.

Further, the upper end of the mounting plate 65 is flush with the top of the submersible robot body 1.

The working principle is as follows:

the side edge of the submerged robot main body 1 is provided with the obstacle avoidance sensor 9, so that obstacles around the vehicle body can be detected in time, convenience is brought to avoiding the obstacles when the vehicle body moves, and the protective touch edges 3 are arranged on the two sides of the submerged robot main body 1, so that a certain protective effect is achieved on the periphery of the submerged robot vehicle body;

the bottom of the submerged robot body 1 adopts two pairs of differential driving wheel sets 7 and universal wheels 8 to walk; the first servo motor 73 drives the main shaft 72 to rotate through the second speed reducer 75, further drives the driving wheel 71 to rotate, walking of the submersible robot is achieved, forward and backward turning and transverse moving functions of driving are achieved according to control of the rotating speed of the first servo motor 73, the first servo motor adopts 1.5KW, and power and climbing requirements are met;

the lifting device 6 is lifted through the arranged spiral lifter 64, the range of the spiral lifter 64 is 5 tons for a single spiral lifter 64, the power shaft 63 is driven to rotate through the second servo motor 61 and the first speed reducer 62 to provide power for the spiral lifter 62, the mounting plate 65 is driven to lift through the spiral lifter 64, the surface of the mounting plate 65 can be paved with rubber pads to play a certain anti-skidding role, the single jacking force of the spiral lifter 64 can reach 5T, SJA50 is selected, the power of the second servo motor 61 is 3KW,

the upper end and the lower end of the submerged robot main body 1 adopt two-dimensional code reading heads 5, the two-dimensional code reading head 5 at the upper end is used for positioning the positions of the material rack and the vehicle body, so that the material rack is accurately lifted, the two-dimensional code reading head 5 at the lower end is used for positioning a special station, the navigation positioning is further confirmed, and the point-reaching precision is dually ensured; the two-dimensional code reading head 5 adopts a reading head of doubly good PGV 100-F200A.

It is worth noting that: the spiral elevator, the second servo motor, the first speed reducer, the first servo motor, the second speed reducer, the driving mechanism, the obstacle avoidance sensor and the two-dimensional code reading head belong to mature technologies in the field, are fully disclosed, and are not specifically described here.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A heavy duty submersible robot comprising a submersible robot body (1), characterized in that: the protective touch edge (3) is arranged along the outer side edge of the bottom of the submersible robot body (1), one end of the submersible robot body (1) is provided with a touch screen (2), indicator lamps (4) are arranged along the two side edges of the submersible robot body (1), the indicator lamps (4) are located at the middle position of the submersible robot body (1), two-dimensional code reading heads (5) and lifting devices (6) are installed at the upper end and the lower end of the submersible robot body (1), the lifting devices (6) are symmetrically arranged relative to the two-dimensional code reading heads (5), the two-dimensional code reading heads (5) are located at the middle position of the submersible robot body (1), differential driving wheel sets (7) and universal wheels (8) are respectively arranged at the two sides of the bottom of the submersible robot body (1), and the universal wheels (8) are located at the outer sides of the differential driving wheel sets (7), an obstacle avoidance sensor (9) is installed on one side of the submerged robot main body (1).

2. A heavy duty submersible robot as recited in claim 1, wherein: the differential driving wheel set (7) comprises two driving wheels (71) positioned on two sides, a main shaft (72) connected with the two driving wheels (71), a second speed reducer (75) connected with the main shaft (72), a first servo motor (73) connected with one side of the second speed reducer (75) and a driving mechanism (74) arranged above the first servo motor (73).

3. A heavy duty submersible robot as recited in claim 1, wherein: the lifting device (6) comprises a second servo motor (61) positioned inside the submersible robot body (1), a first speed reducer (62) connected with the second servo motor (61), a power shaft (63) connected with the first speed reducer (62), a spiral lifter (64) connected with the power shaft (63) and a mounting plate (65) mounted at the top end of the spiral lifter (64).

4. A heavy duty submersible robot as recited in claim 3, wherein: the upper end of the mounting plate (65) is flush with the top of the submersible robot body (1).