CN215548636U - Crawler-type intelligent transfer robot - Google Patents
Crawler-type intelligent transfer robot Download PDFInfo
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- CN215548636U CN215548636U CN202122169981.0U CN202122169981U CN215548636U CN 215548636 U CN215548636 U CN 215548636U CN 202122169981 U CN202122169981 U CN 202122169981U CN 215548636 U CN215548636 U CN 215548636U
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- depth camera
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Abstract
The utility model provides a crawler-type intelligent transfer robot, which comprises a crawler-type suspension driving system and a chassis arranged on the crawler-type suspension driving system, wherein a quick-release mechanical arm, a depth camera and a master control system are arranged on the chassis; the quick-release mechanical arm, the depth camera, the laser radar and the network card antenna are in electric signal connection with the main control module, and the laser radar and the depth camera are used for monitoring a path in real time; the quick detach arm is fixed at the front end on chassis through the quick detach buckle, but the quick detach buckle is inside to be equipped with the spring that the arm was dismantled to a key formula, and the quick detach arm is used for snatching the object. The utility model has the beneficial effects that: utility model's crawler-type hangs actuating system has sensitive, steady characteristics to make degree of depth camera and laser radar scanning scene more accurate, can realize the accurate transport of goods and avoid the barrier automatically.
Description
Technical Field
The utility model relates to the technical field of transfer robots, in particular to a crawler-type intelligent transfer robot.
Background
The intelligent robot is a multi-shutdown mechanical arm or a multi-degree-of-freedom machine device facing the industrial field and the educational field, and can realize machines with various functions through various sensors, self power and control capacity. The unmanned industrial robot applied to a factory has great demands, the space of the robot market in China is huge, and the crawler-type robot can be more stably suitable for various places to work.
Present transfer robot considers indoor scene official working mostly, and laser radar, degree of depth camera and sensor are not enough to cause the intellectuality not enough, run into the unable laser radar that dodges through short little barrier in ground, and the trafficability characteristic can lead to goods slope or fall not good enough, can cause the organism damage to cause the accident when serious, along with economy and scientific and technological rapid development, how high efficiency, low cost, automatic, the completion transport work of intellectuality is that people need explore and study always.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a crawler-type intelligent transfer robot, which solves or improves the above-mentioned problems.
In order to solve the technical problems, the utility model adopts the technical scheme that: a crawler-type intelligent transfer robot comprises a crawler-type intelligent transfer robot body,
the crawler-type suspension driving system is arranged on a chassis on the crawler-type suspension driving system, the chassis is provided with a quick-release mechanical arm, a depth camera and a master control system, and a laser radar and a network card antenna are arranged above the master control system;
the quick-release mechanical arm, the depth camera, the laser radar and the network card antenna are in electric signal connection with the main control module, and the laser radar and the depth camera are used for monitoring a path in real time;
the quick detach arm is fixed at the front end on chassis through the quick detach buckle, but the quick detach buckle is inside to be equipped with the spring that the arm was dismantled to a key formula, and the quick detach arm is used for snatching the object.
Furthermore, the chassis comprises a frame, a plurality of sectional materials are arranged below the frame, a battery fixing plate is arranged below the sectional materials, and inner frames are arranged on two sides of the sectional materials.
Further, the crawler-type suspension driving system comprises a driving wheel, a driven wheel, a crawler, a driving motor, an outer baffle, a bearing wheel and a damping spring connected with the bearing wheel; the bearing wheel and the damping spring form a lever through the damping pull rod, the fulcrum is a supporting shaft penetrating through the damping pull rod, two ends of the supporting shaft are respectively fixed on the outer baffle and the inner frame, the track is sleeved on the driving wheel, the bearing wheel and the driven wheel, and the driving motor is fixed on the inner frame.
Further, the angle of the shock absorption pull rod is 135 degrees.
Furthermore, the tail end of the driving motor is provided with an encoder for reading the angular speed of the driving motor.
Furthermore, the mechanical arm comprises two double-output-shaft steering engines, a single-output-shaft steering engine, two shaft arms and a mechanical claw, the two double-output-shaft steering engines are connected with the two shaft arms, and the single-output-shaft steering engine is connected with the mechanical claw.
Furthermore, the crawler-type intelligent transfer robot also comprises an electric quantity display system, wherein the electric quantity display system is composed of a high-density light bar, a light guide bar and a battery; the battery is fixed below the chassis through the battery fixing plate.
Furthermore, the main control system is installed at the rear of the top of the chassis, a main control board of the main control system is raspberry pi 4B or jetson nano, and an expansion board of the main control system is provided with a gyroscope.
Furthermore, a section bar support is arranged in the middle of the top of the chassis, the laser radar and the network card antenna are arranged on the section bar support, a display screen support is arranged at the tail end of the section bar support, and a display screen is fixedly connected to the display screen support.
Furthermore, a rotating cloud platform is arranged in front of the top of the chassis, a depth camera or a high frame rate camera is arranged on the rotating cloud platform, and a spotlight searchlight is arranged on the high frame rate camera.
The utility model has the beneficial effects that: the crawler-type intelligent transfer robot has the advantages that the intelligent degree is high, the crawler-type suspension driving system has the characteristics of sensitivity and stability, so that the depth camera and the laser radar can scan scenes more accurately, map building is performed through the master control system, the laser radar, the depth camera and the master control system, a movement route and a transfer object can be defined after the building is completed, the robot monitors a path in real time through the laser radar and the depth camera, and accurate transfer of goods and automatic obstacle avoidance can be realized; the automatic carrying device can be used for completing carrying work in a high-efficiency, low-cost, automatic and intelligent mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the mechanisms shown in the drawings without creative efforts.
Fig. 1 is a structural view of a crawler type intelligent transfer robot;
FIG. 2 is a structural view of the crawler-type intelligent transfer robot in another direction;
FIG. 3 is an exploded view of the tracked intelligent transfer robot;
FIG. 4 is an exploded view of a rotating pan-tilt head of the tracked intelligent transfer robot;
FIG. 5 is an exploded view of a quick release robot arm of the tracked intelligent transfer robot;
FIG. 6 is an exploded view of a tracked suspended drive system of a tracked intelligent transfer robot;
FIG. 7 is an exploded view of the load bearing wheels of the tracked intelligent transfer robot;
FIG. 8 is an exploded view of the display system of the tracked intelligent transfer robot;
FIG. 9 is a schematic diagram of a prototype high frame rate camera of the tracked intelligent transfer robot;
fig. 10 is an exploded view of a high frame rate camera of the tracked intelligent transfer robot.
Wherein, 1-crawler; 2-an outer baffle; 3-driven wheel; 4-an inner frame; 5-a battery; 6-driving wheel; 7-driving a motor; 8-a light guide strip; 9-high density light bar; 10-a tracked suspension drive system; 11-section bar support; 12-an encoder; 13-a shock-absorbing pull rod; 14-a damping spring; 15-load-bearing wheels; 16-a support shaft; 17-quick-release buckle; 18-a gripper; 19-a double output shaft steering engine; 20-a chassis; 21-single output steering engine; 22-a cradle head single output steering engine; 23-holder fixing plate; 24-6810ZZ deep groove ball bearing; 25-depth camera mount; 26-depth camera mount; 27-a load bearing shaft; 28-MF74ZZ ball flange bearing; 29-a load-bearing wheel sheet; 30-a master control system; 31-a network card antenna; 32-a display screen mount; 33-a display screen support; 34-a frame; 35-high frame rate camera; 36-vertical rotation structure; 37-a spotlight; 40-laser radar; 50-depth camera; 60-quick-release mechanical arm; 70-electric quantity display system; 80-a display screen; 90-rotating pan-tilt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the description of the utility model relating to "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The following embodiments are described with reference to FIGS. 1-10.
As shown in fig. 1, 2 and 3, the first embodiment of the present invention is: a crawler-type intelligent transfer robot comprises a crawler-type intelligent transfer robot body,
the crawler-type suspension driving system 10 comprises a chassis 20 arranged on the crawler-type suspension driving system 10, wherein a quick-release mechanical arm 60, a depth camera 50 and a master control system 30 are arranged on the chassis 20, and a laser radar 40 and a network card antenna 31 are arranged above the master control system 30;
the quick-release mechanical arm 60, the depth camera 50, the laser radar 40 and the network card antenna 31 are in electric signal connection with the main control module, and the laser radar 40 and the depth camera 50 are used for monitoring a path in real time;
as shown in fig. 5, the quick-release mechanical arm 60 is fixed at the front end of the chassis 20 through a quick-release buckle 17, a spring capable of one-click type quick-release mechanical arm is arranged inside the quick-release buckle 17, and the quick-release mechanical arm 60 is used for grabbing an object.
The main control system 30 is installed at the rear of the top of the chassis 20, the main control board of the main control system 30 is raspberry pi 4B or jetson nano, and the expansion board of the main control system 30 is loaded with a gyroscope.
In the embodiment, the crawler-type intelligent transfer robot is high in intelligent degree, the crawler-type suspension driving system 10 has the characteristics of sensitivity and stability, so that the depth camera 50 and the laser radar 40 can scan scenes more accurately, a map can be built through the main control system 30, the laser radar 40, the depth camera 50 and the main control system 30, a movement route and a transferred object can be defined after the building is completed, the robot can monitor a path in real time by arranging the laser radar 40 and the depth camera 50, and goods can be transferred accurately and obstacles can be avoided automatically; the automatic carrying device can be used for completing carrying work in a high-efficiency, low-cost, automatic and intelligent mode.
As shown in fig. 3 and 6, in a specific embodiment, the chassis 20 includes a frame 34, a plurality of profiles are mounted below the frame 34, a battery fixing plate is mounted below the profiles, and inner frames 4 are disposed at two sides of the profiles.
Further, the crawler-type suspension driving system 10 comprises a driving wheel 6, a driven wheel 3, a crawler 1, a driving motor 7, an outer baffle 2, a bearing wheel 15 and a damping spring 14 connected with the bearing wheel 15; the bearing wheel 15 and the damping spring 14 form a lever through the damping pull rod 13, a supporting shaft 16 penetrates through the damping pull rod 13, two ends of the supporting shaft 16 are respectively fixed on the outer baffle 2 and the inner frame 4, the crawler 1 is sleeved on the driving wheel 6, the bearing wheel 15 and the driven wheel 3, and the driving motor 7 is fixed on the inner frame 4.
As shown in fig. 7, the bearing wheel 15 includes two bearing wheel sheets 29, an MF74ZZ ball flange bearing 28 is sleeved in the bearing wheel sheets 29, and the bearing shaft 27 is sleeved on the MF74ZZ ball flange bearing 28.
Further, the angle of the shock absorption pull rod 13 is 135 degrees.
As shown in fig. 6, the end of the drive motor 7 is provided with an encoder 12 for reading the angular velocity of the drive motor 7.
As shown in fig. 7, in a specific embodiment, the mechanical arm includes two dual output shaft steering engines 19, a single output shaft steering engine 21, two shaft arms, and a gripper 18, where the two dual output shaft steering engines 19 are connected to the two shaft arms, and the single output shaft steering engine 21 is connected to the gripper 18.
As shown in fig. 2 and 3, the tracked intelligent transfer robot further includes an electric quantity display system 70, and the electric quantity display system 70 is composed of a high-density light bar 9, a light guide bar 8 and a battery 5; the battery 5 is fixed below the chassis 20 through a battery fixing plate, and the effect of stabilizing the gravity center of the robot can be achieved.
As shown in fig. 3 and 8, a section bar support 11 is installed in the middle of the top of the chassis 20, the laser radar 40 and the network card antenna 31 are installed on the section bar support 11, a display screen support 33 is installed at the tail end of the section bar support 11, a display screen fixing member 32 is fixed on the display screen support 33, and a display screen 80 is fixedly connected to the display screen fixing member 32.
As shown in fig. 3 and 4, in a specific embodiment, a rotating platform 90 is installed at the front of the top of the chassis 20, and the depth camera 50 is disposed on the rotating platform 90.
Specifically, rotatory cloud platform 90 includes cloud platform single output steering wheel 22, fixedly connected with cloud platform fixed plate 23 on the cloud platform single output steering wheel 22, fixedly connected with 6810ZZ deep groove ball bearing 24 on the cloud platform fixed plate 23, fixedly connected with 50 supports 25 of degree of depth camera on the 6810ZZ deep groove ball bearing 24, fixedly connected with degree of depth camera mounting 26 on the 50 supports 25 of degree of depth camera, fixedly connected with degree of depth camera 50 on the degree of depth camera mounting 26.
In one embodiment, as shown in fig. 1, 9 and 10, a high frame rate camera 35 is mounted on the top front of the chassis 20, and a spotlight searchlight 37 is provided on the high frame rate camera 35, wherein the high frame rate camera 35 is provided on a vertical rotating structure 36.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a crawler-type intelligence transfer robot which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the crawler-type suspension driving system is arranged on a chassis on the crawler-type suspension driving system, the chassis is provided with a quick-release mechanical arm, a depth camera and a master control system, and a laser radar and a network card antenna are arranged above the master control system;
the quick-release mechanical arm, the depth camera, the laser radar and the network card antenna are in electric signal connection with the main control module, and the laser radar and the depth camera are used for monitoring a path in real time;
the quick detach arm is fixed at the front end on chassis through the quick detach buckle, but the quick detach buckle is inside to be equipped with the spring that the arm was dismantled to a key formula, and the quick detach arm is used for snatching the object.
2. The tracked intelligent transfer robot of claim 1, wherein: the chassis comprises a frame, a plurality of sectional materials are arranged below the frame, a battery fixing plate is arranged below the sectional materials, and inner frames are arranged on two sides of the sectional materials.
3. The tracked intelligent transfer robot of claim 2, wherein: the crawler-type suspension driving system comprises a driving wheel, a driven wheel, a crawler, a driving motor, an outer baffle, a bearing wheel and a damping spring connected with the bearing wheel; the bearing wheel and the damping spring form a lever through the damping pull rod, the fulcrum is a supporting shaft penetrating through the damping pull rod, two ends of the supporting shaft are respectively fixed on the outer baffle and the inner frame, the track is sleeved on the driving wheel, the bearing wheel and the driven wheel, and the driving motor is fixed on the inner frame.
4. The tracked intelligent transfer robot of claim 3, wherein: the angle of the shock absorption pull rod is 135 degrees.
5. The tracked intelligent handling robot of claim 4, wherein: and the tail end of the driving motor is provided with an encoder for reading the angular speed of the driving motor.
6. The tracked intelligent transfer robot of claim 1, wherein: the mechanical arm comprises two double-output-shaft steering engines, a single-output-shaft steering engine, two shaft arms and a mechanical claw, the two double-output-shaft steering engines are connected with the two shaft arms, and the single-output-shaft steering engine is connected with the mechanical claw.
7. The tracked intelligent transfer robot of claim 1, wherein: the crawler-type intelligent carrying robot further comprises an electric quantity display system, wherein the electric quantity display system is composed of a high-density light bar, a light guide bar and a battery; the battery is fixed below the chassis through the battery fixing plate.
8. The tracked intelligent transfer robot of claim 1, wherein: the main control system is arranged at the rear part of the top of the chassis, and a main control board of the main control system is raspberry pi 4B or jetson nanoThe expansion board of the master control system is provided with a gyroscope.
9. The tracked intelligent transfer robot of claim 1, wherein: the laser radar and the network card antenna are mounted on the section bar support, the display screen support is mounted at the tail end of the section bar support, and the display screen is fixedly connected to the display screen support.
10. The tracked intelligent transfer robot of claim 1, wherein: a rotating cloud platform is arranged in front of the top of the chassis, a depth camera or a high frame rate camera is arranged on the rotating cloud platform, and a spotlight searchlight is arranged on the high frame rate camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122169981.0U CN215548636U (en) | 2021-09-08 | 2021-09-08 | Crawler-type intelligent transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122169981.0U CN215548636U (en) | 2021-09-08 | 2021-09-08 | Crawler-type intelligent transfer robot |
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| Publication Number | Publication Date |
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| CN215548636U true CN215548636U (en) | 2022-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122169981.0U Active CN215548636U (en) | 2021-09-08 | 2021-09-08 | Crawler-type intelligent transfer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770541A (en) * | 2022-04-27 | 2022-07-22 | 南京农业大学 | Intelligent inspection robot capable of realizing displacement compensation and intelligent inspection method |
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2021
- 2021-09-08 CN CN202122169981.0U patent/CN215548636U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770541A (en) * | 2022-04-27 | 2022-07-22 | 南京农业大学 | Intelligent inspection robot capable of realizing displacement compensation and intelligent inspection method |
| CN114770541B (en) * | 2022-04-27 | 2022-10-21 | 南京农业大学 | Intelligent inspection robot capable of realizing displacement compensation and intelligent inspection method |
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