CN219506134U - Travelling car and mobile robot - Google Patents
Travelling car and mobile robot Download PDFInfo
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- CN219506134U CN219506134U CN202320705258.6U CN202320705258U CN219506134U CN 219506134 U CN219506134 U CN 219506134U CN 202320705258 U CN202320705258 U CN 202320705258U CN 219506134 U CN219506134 U CN 219506134U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model provides a mobile trolley and a mobile robot, wherein the mobile trolley comprises: a chassis; the first driving unit and the second driving unit are arranged on the chassis, are staggered with each other in the width direction of the chassis, and are used for driving the chassis to move; the first driven unit and the second driven unit are arranged on the chassis, and the first driven unit and the second driven unit are staggered in the width direction of the chassis. According to the technical scheme provided by the utility model, the problem that the moving trolley body in the prior art is large and cannot be applied to a narrow space can be solved.
Description
Technical Field
The utility model relates to the technical field of welding devices, in particular to a mobile trolley and a mobile robot.
Background
The large-scale engineering structural members (such as ship bodies, tank bodies, bridge bodies and the like) are formed by splicing and welding large-scale steel plates, a large number of annular and linear angle joint welding seams exist at the inner part and the outer part, particularly T-shaped welding seams formed by splicing thick plates, the welding workload is large, and the welding skill requirement of welding workers is high. At present, industrial manipulator welding is widely applied, and industrial manipulators are difficult to apply to large structural parts due to limited operation range. In the prior art, some mobile trolleys exist, but the defects of large volume, low load and manual continuous intervention and adjustment in the welding process generally exist, the intelligent degree is low, and the welding trolley cannot be well adapted to welding working conditions such as a certain special narrow space, high altitude and the like.
Disclosure of Invention
The utility model provides a mobile trolley and a mobile robot, which are used for solving the problem that the mobile trolley in the prior art is large in volume and cannot be applied to a narrow space.
In order to solve the above-described problems, according to an aspect of the present utility model, there is provided a moving cart including: a chassis; the first driving unit and the second driving unit are arranged on the chassis, are staggered with each other in the width direction of the chassis, and are used for driving the chassis to move; the first driven unit and the second driven unit are arranged on the chassis, and the first driven unit and the second driven unit are staggered in the width direction of the chassis.
Further, the mobile trolley further comprises an image sensor and a control part, wherein the image sensor, the first driving unit and the second driving unit are electrically connected with the control part, the image sensor is arranged at the front end of the chassis and is used for shooting images, and the control part respectively controls the movement of the first driving unit and the second driving unit through the images shot by the image sensor.
Further, the first driving unit and the second driving unit are disposed along opposite corners of the chassis; the first driven unit and the first driving unit are positioned on the same rotation axis, the second driven unit and the second driving unit are positioned on the same rotation axis, and the first driven unit and the second driven unit are arranged along the diagonal of the chassis.
Further, the first driving unit comprises a mounting seat, a driving part and a driving wheel component, wherein the mounting seat is connected with the chassis, the driving part is mounted on the mounting seat, the driving part is connected with the driving wheel component, and the driving part drives the driving wheel component to move.
Further, the driving part comprises a driving motor and a driving speed reducer, wherein the driving motor is a servo motor, and the driving speed reducer is a harmonic speed reducer.
Further, the driving wheel part comprises a mandrel, a first choke iron, a second choke iron and a magnet, the output shaft of the servo motor drives the flexible wheel of the harmonic speed reducer to rotate, the output shaft of the harmonic speed reducer drives the mandrel to rotate, the magnet is sleeved on the mandrel, and the first choke iron and the second choke iron are respectively arranged on two sides of the magnet; the second driving unit and the first driving unit have the same structure.
Further, the first driven unit comprises a locking seat and a driven magnetic wheel, wherein the driven magnetic wheel is sleeved at one end of the locking seat and is rotationally connected with the locking seat, and the locking seat is connected with the chassis.
Further, the locking seat comprises a connecting block and a connecting shaft which are connected with each other, the driven magnetic wheel is sleeved on the connecting shaft and is rotationally connected with the connecting shaft, the connecting block is connected with the chassis, the first driven unit further comprises a plurality of gaskets, and the gaskets are selectively arranged between the connecting block and the chassis to adjust the installation height of the first driven unit; the second driven unit and the first driven unit have the same structure.
Further, the mobile cart further includes: the vehicle body shell is connected with the chassis; the first baffle is arranged on one side of the vehicle body shell and the chassis and is detachably connected with the vehicle body shell and the chassis; the second baffle is arranged on the other side of the vehicle body shell and the chassis and is detachably connected with the vehicle body shell and the chassis.
Further, the mobile trolley further comprises a posture sensor and a mounting bracket, the mounting bracket is connected with the chassis, the posture sensor is connected with the mounting bracket, and the posture sensor is used for detecting the movement postures of the first driving unit and the second driving unit.
Further, the first drive unit includes mount pad, drive division and rubber wheel, and the mount pad passes through the fastener to be connected with the chassis, and drive division is installed on the mount pad, and drive division and rubber wheel are connected, and drive division drive rubber wheel removes, and the travelling car still includes first magnetic force module and second magnetic force module, and first magnetic force module sets up the front end at the chassis, and the second magnetic force module sets up the rear end at the chassis.
According to another aspect of the present utility model, there is provided a mobile robot including the above-described mobile cart, the mobile robot further including: and the welding device is arranged on the body shell of the mobile trolley.
By applying the technical scheme of the utility model, the utility model provides a mobile trolley, which comprises the following components: a chassis; the first driving unit and the second driving unit are arranged on the chassis, are staggered with each other in the width direction of the chassis, and are used for driving the chassis to move; the first driven unit and the second driven unit are arranged on the chassis, and the first driven unit and the second driven unit are staggered in the width direction of the chassis. By adopting the scheme, the first driving unit and the second driving unit are mutually staggered in the width direction of the chassis, and the first driving unit and the second driving unit can both drive the chassis to move, compared with a traditional driving mode of gear transmission and belt transmission, the arrangement mode can effectively reduce the volume and the structural size of the chassis, so that the device can be suitable for a narrow space; meanwhile, the first driven unit and the second driven unit are staggered in the width direction of the chassis, so that the size and the structural size of the chassis can be further reduced. The movable trolley with the scheme effectively solves the problem that the movable trolley body in the prior art is large and cannot be suitable for a narrow space.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:
fig. 1 shows a schematic structural view of a mobile cart provided by an embodiment of the present utility model;
FIG. 2 shows an exploded view of the mobile cart of FIG. 1;
fig. 3 shows an exploded view of the first drive unit of fig. 1;
fig. 4 shows an exploded view of the first driven unit of fig. 1.
Wherein the above figures include the following reference numerals:
10. a chassis;
20. a first driving unit; 21. a mounting base; 211. a fixing seat; 212. a mounting plate; 22. a driving section; 221. a driving motor; 222. driving a speed reducer; 23. a driving wheel component; 231. a mandrel; 232. a first yoke; 233. a second yoke; 234. a magnet;
30. a second driving unit;
40. a first driven unit; 41. a locking seat; 411. a connecting block; 412. a connecting shaft; 42. a driven magnetic wheel;
50. a second driven unit;
60. a vehicle body shell;
70. a first baffle;
81. an attitude sensor; 82. a mounting bracket;
91. a motor cover plate; 92. a sheath; 93. and a protective end cover.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1 to 4, an embodiment of the present utility model provides a moving cart including: a chassis 10; the first driving unit 20 and the second driving unit 30 are mounted on the chassis 10, the first driving unit 20 and the second driving unit 30 are staggered from each other in the width direction of the chassis 10, and the first driving unit 20 and the second driving unit 30 are used for driving the chassis 10 to move; the first and second driven units 40 and 50 are mounted on the chassis 10, and the first and second driven units 40 and 50 are offset from each other in the width direction of the chassis 10.
By adopting the scheme, the first driving unit 20 and the second driving unit 30 are mutually staggered in the width direction of the chassis 10, and the first driving unit 20 and the second driving unit 30 can drive the chassis 10 to move, compared with a driving mode of utilizing traditional gear transmission and belt transmission, the arrangement mode can effectively reduce the volume and the structural size of the chassis 10, so that the chassis can be suitable for a narrow space; meanwhile, the first and second driven units 40 and 50 are staggered from each other in the width direction of the chassis 10, which can further reduce the volume and structural size of the chassis 10. The travelling car that utilizes this scheme can effectively solve travelling car volume among the prior art great to can't be applicable to the problem in narrow space.
It should be noted that: the first driving unit 20, the second driving unit 30, the first driven unit 40 and the second driven unit 50 in this embodiment are all independent units, there is no connection between the first driving unit 20 and the first driven unit 40, and there is no connection between the second driving unit 30 and the second driven unit 50.
The movable trolley can move in a narrow space, differential movement of inner angle welding conditions of the small-size hubs of the inner curved surfaces of the ship body and the cylinder body is achieved, and the position of the movable trolley can be adjusted in real time according to the welding conditions, and is independent of profiling walking of the cylinder body.
In this embodiment, the mobile cart further includes an image sensor and a control part, the image sensor, the first driving unit 20, and the second driving unit 30 are all electrically connected to the control part, the image sensor is disposed at the front end of the chassis 10, the image sensor is used for capturing images, and the control part controls the movement of the first driving unit 20 and the second driving unit 30 respectively through the images captured by the image sensor. The image sensor is arranged at the front end of the chassis 10, so that the shot image can be transmitted to the control part in real time through the image sensor, and then the control part can respectively control the movement of the first driving unit 20 and the second driving unit 30 through the image shot by the image sensor, thereby realizing the multidirectional movement of the mobile trolley and further improving the intelligent degree of the mobile trolley.
Specifically, the first driving unit 20 and the second driving unit 30 are disposed along the diagonal of the chassis 10; the first driven unit 40 and the first driving unit 20 are positioned on the same rotation axis, the second driven unit 50 and the second driving unit 30 are positioned on the same rotation axis, and the first driven unit 40 and the second driven unit 50 are disposed along the diagonal of the chassis 10. By adopting the arrangement mode, the width of the chassis 10 can be reduced as low as possible, so that the overall structural size of the mobile trolley is reduced, and the mobile trolley can be applied to a narrow space.
As shown in fig. 2 and 3, the first driving unit 20 includes a mounting seat 21, a driving part 22 and a driving wheel member 23, the mounting seat 21 is connected with the chassis 10, the driving part 22 is mounted on the mounting seat 21, the driving part 22 is connected with the driving wheel member 23, and the driving part 22 drives the driving wheel member 23 to move. The mounting seat 21 is provided to be connected to the chassis 10, and the driving part 22 is mounted on the mounting seat 21, and the driving part 22 is connected to the driving wheel member 23, so that the driving part 22 and the driving wheel member 23 can be fixed to the chassis 10.
The driving unit 22 includes a driving motor 221 and a driving speed reducer 222, the driving motor 221 is a servo motor, and the driving speed reducer 222 is a harmonic speed reducer. The drive motor 221 is provided as a servo motor, and the drive speed reducer 222 is provided as a harmonic speed reducer, so that the size of the drive section 22 can be reduced.
Further, the driving wheel part 23 comprises a mandrel 231, a first choke iron 232, a second choke iron 233 and a magnet 234, the output shaft of the servo motor drives the flexible wheel of the harmonic speed reducer to rotate, the output shaft of the harmonic speed reducer drives the mandrel 231 to rotate, the magnet 234 is sleeved on the mandrel 231, and the first choke iron 232 and the second choke iron 233 are respectively arranged on two sides of the magnet 234; the second driving unit 30 and the first driving unit 20 have the same structure. By the above arrangement, the moving trolley can be prevented from falling by the magnets 234 being attracted to the structural members (e.g., the hull, the tank, the bridge, etc.). Wherein, the diameter of the first yoke 232 and the diameter of the second yoke 233 are larger than the diameter of the magnet 234, and a gap is arranged between the magnet 234 and the structural member.
In this embodiment, the mounting base 21 includes a fixing base 211 and a mounting plate 212 that are connected to each other, the fixing base 211 is connected to the chassis 10, a driving motor 221 is mounted on the fixing base 211, an output shaft of the driving motor 221 passes through the mounting plate 212 and is connected to a driving speed reducer 222, and an output shaft of the driving speed reducer 222 is connected to the driving wheel member 23. Thus, the driving motor 221 can be fixed by the fixing base 211; the mounting plate 212 is provided to limit the output shaft of the drive motor 221, and the drive wheel member 23 is driven to rotate by the drive speed reducer 222.
As shown in fig. 2 and 4, the first driven unit 40 includes a locking seat 41 and a driven magnetic wheel 42, and the driven magnetic wheel 42 is sleeved at one end of the locking seat 41 and is rotatably connected with the locking seat 41, and the locking seat 41 is connected with the chassis 10. A locking seat 41 is arranged to fix the driven magnetic wheel 42 on the chassis 10; meanwhile, the driven magnetic wheel 42 has magnetism, so that the adsorptivity of the mobile trolley can be enhanced, and the mobile trolley is further prevented from falling.
Wherein the locking seat 41 comprises a connecting block 411 and a connecting shaft 412 which are connected with each other, the driven magnetic wheel 42 is sleeved on the connecting shaft 412 and is rotatably connected with the connecting shaft 412, the connecting block 411 is connected with the chassis 10, the first driven unit 40 further comprises a plurality of gaskets which are selectively arranged between the connecting block 411 and the chassis 10 to adjust the installation height of the first driven unit 40; the second driven unit 50 and the first driven unit 40 have the same structure. A connection block 411 is provided to fix the position of the driven magnetic wheel 42; a connecting shaft 412 is arranged to be connected with the driven magnetic wheel 42 in a rotating way; wherein, a plurality of gaskets are optionally arranged between the connecting block 411 and the chassis 10, so that the installation height of the first driven unit 40 can be adjusted according to the actual requirements of the site, the first driving unit 20 or the second driving unit 30 is prevented from slipping, and the structure is compact and the integration level is high.
Specifically, the travelling car further comprises: a body case 60 connected to the chassis 10; a first baffle 70 provided at one side of the body case 60 and the chassis 10 and detachably connected to the body case 60 and the chassis 10; and a second barrier provided at the other side of the body case 60 and the chassis 10 and detachably connected to the body case 60 and the chassis 10. By providing the first baffle 70 and the second baffle, it is possible to reduce the adhesion and damage of spatters generated during the welding operation to the chassis 10 and other components.
In the present embodiment, the traveling carriage further includes a posture sensor 81 and a mounting bracket 82, the mounting bracket 82 is connected to the chassis 10, the posture sensor 81 is connected to the mounting bracket 82, and the posture sensor 81 is used to detect the movement postures of the first driving unit 20 and the second driving unit 30. By arranging the gesture sensor 81, the motion gesture parameters such as the whole inclination angle of the mobile trolley are detected in real time, and the safety is improved.
Optionally, the mobile cart further comprises a motor cover plate 91, wherein the motor cover plate 91 is connected with the bottom of the chassis 10, and the motor cover plate 91 is used for protecting a motor arranged in the chassis 10.
Optionally, the driven magnetic wheel 42 and the driving wheel part 23 have the same structure, and the first driving unit 20 and the first driven unit 40 are provided with a sheath and a protective end cover, and the sheath is sleeved on the magnet 234, so that the magnet 234 can be protected; the protective end caps can protect the drive reducer 222 and the driven magnetic wheel 42.
Alternatively, in another embodiment not shown in the drawings, the first driving unit 20 includes a mounting seat 21, a driving part 22 and a rubber wheel, the mounting seat 21 is connected with the chassis 10 through a fastener, the driving part 22 is mounted on the mounting seat 21, the driving part 22 is connected with the rubber wheel, the driving part 22 drives the rubber wheel to move, the traveling carriage further includes a first magnetic module and a second magnetic module, the first magnetic module is disposed at the front end of the chassis 10, and the second magnetic module is disposed at the rear end of the chassis 10. By arranging the rubber wheels, vibration can be effectively reduced when the mobile trolley moves; the first magnetic force module is arranged at the front end of the chassis 10, and the second magnetic force module is arranged at the rear end of the chassis 10, so that foreign matters such as scrap iron, splash residues and the like on a movement route can be effectively adsorbed, and the safety and stability during movement are ensured. The second driving unit 30 and the first driving unit 20 have the same structure, and the first driven unit 40 and the second driven unit 50 also have rubber wheels.
In still another embodiment of the present utility model, there is provided a mobile robot including the above-mentioned mobile cart, the mobile robot further including: and a welding device provided on the body case 60 of the traveling carriage. In the present embodiment, the welding device can be provided on the body case 60 of the traveling carriage, so that the traveling robot can realize the welding function.
Alternatively, the mobile robot further includes: polishing device, polishing device sets up on the automobile body shell 60 of travelling car, and mobile robot can realize polishing function like this.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (12)
1. A dolly, comprising:
a chassis (10);
a first driving unit (20) and a second driving unit (30), wherein the first driving unit (20) and the second driving unit (30) are both installed on the chassis (10), the first driving unit (20) and the second driving unit (30) are staggered with each other in the width direction of the chassis (10), and the first driving unit (20) and the second driving unit (30) are both used for driving the chassis (10) to move;
the first driven unit (40) and the second driven unit (50), the first driven unit (40) and the second driven unit (50) are both installed on the chassis (10), and the first driven unit (40) and the second driven unit (50) are staggered from each other in the width direction of the chassis (10).
2. The mobile cart according to claim 1, further comprising an image sensor and a control part, wherein the image sensor, the first driving unit (20), the second driving unit (30) are electrically connected to the control part, the image sensor is disposed at a front end of the chassis (10), the image sensor is used for capturing images, and the control part controls movement of the first driving unit (20) and the second driving unit (30) respectively by the images captured by the image sensor.
3. The mobile cart of claim 1, wherein,
-the first drive unit (20) and the second drive unit (30) are arranged along opposite corners of the chassis (10);
the first driven unit (40) and the first driving unit (20) are located on the same rotation axis, the second driven unit (50) and the second driving unit (30) are located on the same rotation axis, and the first driven unit (40) and the second driven unit (50) are arranged along the opposite angles of the chassis (10).
4. The mobile trolley according to claim 1, wherein the first driving unit (20) comprises a mounting seat (21), a driving part (22) and a driving wheel component (23), the mounting seat (21) is connected with the chassis (10), the driving part (22) is mounted on the mounting seat (21), the driving part (22) is connected with the driving wheel component (23), and the driving part (22) drives the driving wheel component (23) to move.
5. The travelling car according to claim 4, wherein the driving part (22) comprises a driving motor (221) and a driving speed reducer (222), the driving motor (221) is a servo motor, and the driving speed reducer (222) is a harmonic speed reducer.
6. The mobile trolley according to claim 5, wherein the driving wheel part (23) comprises a mandrel (231), a first choke iron (232), a second choke iron (233) and a magnet (234), the output shaft of the servo motor drives the flexible wheel of the harmonic speed reducer to rotate, the output shaft of the harmonic speed reducer drives the mandrel (231) to rotate, the magnet (234) is sleeved on the mandrel (231), and the first choke iron (232) and the second choke iron (233) are respectively arranged on two sides of the magnet (234); the second drive unit (30) and the first drive unit (20) are identical in structure.
7. The mobile trolley according to claim 1, wherein the first driven unit (40) comprises a locking seat (41) and a driven magnetic wheel (42), the driven magnetic wheel (42) is sleeved at one end of the locking seat (41) and is rotatably connected with the locking seat (41), and the locking seat (41) is connected with the chassis (10).
8. The mobile trolley according to claim 7, wherein the locking seat (41) comprises a connecting block (411) and a connecting shaft (412) which are connected with each other, the driven magnetic wheel (42) is sleeved on the connecting shaft (412) and is rotatably connected with the connecting shaft (412), the connecting block (411) is connected with the chassis (10), the first driven unit (40) further comprises a plurality of gaskets, and a plurality of gaskets are selectively arranged between the connecting block (411) and the chassis (10) to adjust the mounting height of the first driven unit (40); the second driven unit (50) and the first driven unit (40) have the same structure.
9. The mobile cart of claim 1, further comprising:
a body shell (60) connected to the chassis (10);
a first baffle (70) which is arranged on one side of the vehicle body shell (60) and the chassis (10) and is detachably connected with the vehicle body shell (60) and the chassis (10);
the second baffle is arranged on the other side of the vehicle body shell (60) and the chassis (10) and is detachably connected with the vehicle body shell (60) and the chassis (10).
10. The mobile cart of claim 1, wherein,
the mobile trolley further comprises a posture sensor (81) and a mounting bracket (82), wherein the mounting bracket (82) is connected with the chassis (10), the posture sensor (81) is connected with the mounting bracket (82), and the posture sensor (81) is used for detecting the movement postures of the first driving unit (20) and the second driving unit (30).
11. The mobile trolley according to claim 1, wherein the first driving unit (20) comprises a mounting seat (21), a driving part (22) and a rubber wheel, the mounting seat (21) is connected with the chassis (10) through a fastener, the driving part (22) is mounted on the mounting seat (21), the driving part (22) is connected with the rubber wheel, the driving part (22) drives the rubber wheel to move, the mobile trolley further comprises a first magnetic module and a second magnetic module, the first magnetic module is arranged at the front end of the chassis (10), and the second magnetic module is arranged at the rear end of the chassis (10).
12. A mobile robot comprising the mobile cart of any of claims 1-11, the mobile robot further comprising: and the welding device is arranged on a body shell (60) of the mobile trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320705258.6U CN219506134U (en) | 2023-03-31 | 2023-03-31 | Travelling car and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320705258.6U CN219506134U (en) | 2023-03-31 | 2023-03-31 | Travelling car and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219506134U true CN219506134U (en) | 2023-08-11 |
Family
ID=87526194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320705258.6U Active CN219506134U (en) | 2023-03-31 | 2023-03-31 | Travelling car and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219506134U (en) |
-
2023
- 2023-03-31 CN CN202320705258.6U patent/CN219506134U/en active Active
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