CN110126929A - A self-propelled load-carrying robot - Google Patents

Abstract

The invention discloses a self-propelled object-carrying robot, which comprises a frame device, a power device, a track wheel device and a controller. The power device is located on the circular box, which drives the frame structure to move, the track wheel device is installed on both sides of the circular box, and the controller is installed on one side of the circular box. The present invention provides convenience for loading objects to a large extent, can follow without manpower traction, can walk automatically on flat ground, and can also intelligently adjust the inclination of the track wheel device to adapt to various slopes and easily realize loading Climbing stairs is labor-saving and efficient, with high intelligence and strong practicability.

Description

A self-propelled load-carrying robot

technical field

The invention belongs to the technical field of robots, and in particular relates to a self-propelled object-carrying robot.

Background technique

At present, with the acceleration of social development, people's travel needs are increasing, and the objects carried in daily travel are too heavy, and the items are easy to lose and other problems, which often cause some troubles in shopping or traveling, causing travel fatigue and reducing travel time. Go out and have fun. In the market, there are many kinds of equipment for transporting goods. Although there are many small equipment that can assist in carrying on flat ground, it becomes extremely difficult when going up and down stairs. A self-propelled object-carrying robot solves the difficulty of carrying objects when going out, and the device has a positioning system, which does not require manual traction and fundamentally liberates human hands.

Contents of the invention

The invention provides a self-propelled object-carrying robot to solve the inconvenience that people currently carry objects to go out and go up stairs.

The technical problem to be solved by the present invention is realized by the following technical solutions: a self-propelled load-carrying robot includes a frame device, a power device, a crawler wheel device, and a controller, and the frame device includes a circular box body and a walking wheel. , Ring groove, track wheel positioning device 1, track wheel positioning device 2, arc positioning device, there are two ring grooves, which are respectively located on both sides of the circular box; the walking wheels have Two groups, respectively located on both sides of the circular box, the traveling wheels include cylindrical rollers, load-bearing steel rings, circular tracks, and crawlers. There are eighty cylindrical rollers, which are installed in the grooves of the circular rings; The load-bearing steel ring is set on the cylindrical roller; the annular track is fixedly connected to the inner side of the load-bearing steel ring; the track track is installed on the load-bearing steel ring; the track wheel positioning device is installed on the circular box One side of the body; the track wheel positioning device one includes motor one, worm one, turbine one, shaft one, and the first cylinder, and the motor one is installed on one side of the circular box, and the worm one Fixedly connected on the output shaft of motor one; said shaft one is fixedly connected on the circular box; said turbine one is mounted on shaft one through bearing; said worm one meshes with turbine one to form a turbine Worm drive; the first cylinder is composed of the first cylinder body and the first cylinder piston rod, the first cylinder body is fixedly connected to the turbine one by bolts, and the first cylinder piston rod is connected to the support rod by a hinge; The track wheel positioning device 2 described above is installed on the other side of the circular box body. The track wheel positioning device 2 includes motor 2, worm screw 2, turbine 2, shaft 2, and the second cylinder. The motor 2 is installed in the circular box One side of the body; the second worm is installed on the output shaft of the second motor; the second shaft is fixed on the circular box; the second turbine is installed on the second shaft through a bearing; the worm The second meshes with the turbine two to form a worm gear transmission; the second cylinder is composed of a second cylinder block and a second cylinder piston rod, and the second cylinder block is fixedly connected to the turbine two by bolts. The piston rod of the two cylinders is hingedly connected with the support rod; there are two arc-shaped positioning devices, which are respectively located on both sides of the circular box; the arc-shaped positioning devices include arc-shaped pulley grooves, arc-shaped pressing pieces, The third cylinder, the arc-shaped pulley groove is located on the circular box, and the arc-shaped pulley groove has a hole; the arc-shaped pressing piece is fixedly connected to the end of the piston rod of the third cylinder, and the third cylinder It is composed of the third cylinder block and the third cylinder piston rod. The third cylinder block is fixedly connected to the circular box body by bolts; Fixed connection; the power unit is installed on the circular box; the track wheel device has two groups, which are respectively installed on the arc positioning devices at both ends of the circular box; the controller is installed on the circular box side of the box.

The power device includes a fixed plate, a transmission device one, and a transmission device two, and the fixed plate is fixedly connected to the circular box body; the first transmission device is located on the fixed plate; the first transmission device includes a motor 3. Gear 1, support 1, shaft 3, gear 2, friction wheel 1, the motor 3 is fixed on the fixed plate, the gear 1 is installed on the output shaft of the motor 3; the support One is fixed on the fixed plate; the third shaft is installed on the support one through the bearing; the second gear is installed on one end of the third shaft, and the first gear meshes with the second gear to form a gear pair; the friction The wheel one is installed on the other end of the shaft three, and is in contact with the circular track; the second transmission device is fixedly connected to the fixed plate; the second transmission device includes a motor four, a gear three, a support two, a shaft four, Gear four, friction wheel two, described motor four is fixedly connected on the fixed plate; described gear three is installed on the output shaft of motor four; described bearing two is fixedly connected on the fixed plate; described shaft 4 is installed on the support 2 through bearings; the gear 4 is installed on one end of the shaft 4, and meshes with the gear 3 to form a gear pair; the friction wheel 2 is installed on the other end of the shaft 4, and is connected with the ring track contact.

The crawler wheel device includes a wheel set device, motor five, motor six, baffle plate, support rod, shaft seven, rollers, crawler belt two, and an inductor, and the wheel set device includes a driving wheel one, an auxiliary wheel one, an auxiliary wheel Wheel two, drive wheel two, axle five, axle six, described baffle plate has two pieces; Described axle five is fixedly connected on the baffle plate; Described axle six is fixedly connected on the baffle plate; Described auxiliary The first wheel is installed on the shaft five through the bearing; the second auxiliary wheel is installed on the sixth shaft through the bearing; the fifth motor is installed inside the first driving wheel; the sixth motor is installed inside the second driving wheel; The drive wheel one is mounted on the baffle through a bearing; the second drive wheel is mounted on the baffle through a bearing; the support rod is fixed on one side of the baffle; one end of the shaft seven is fixed on the One end of the baffle plate; the roller is installed on the other end of the shaft seven through bearings, and installed in the arc pulley groove; the track two is installed on the wheel set device; the inductor is installed on the baffle plate.

The beneficial effect of the present invention is: the present invention only needs the user to put the article into the circular box and turn on the switch, the device will automatically follow the person's whereabouts and walk, freeing the hands of the person and the device is equipped with a sensor without human intervention , the device can also avoid obstacles by itself, as long as the control button on the operator can adjust the speed of the device; when encountering stairs or climbing a slope, the device controller will issue instructions to adjust the inclination of the track wheel device; The whole process is completed by the machine itself, which greatly relieves the pressure on people to travel, and at the same time can help vulnerable groups and solve their daily problems.

Description of drawings

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

Fig. 2 is the overall structural schematic diagram II of the present invention;

Fig. 3 is the structural representation of power plant of the present invention;

Fig. 4 is a structural schematic diagram of the track wheel device of the present invention.

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.

As shown in Figure 1, Figure 2 and Figure 3, a self-propelled load-carrying robot includes a frame device 1, a power device 2, a track wheel device 3, and a controller 4, and the frame device 1 includes a circular box 11. Walking wheel 12, ring groove 13, track wheel positioning device one 14, track wheel positioning device two 15, arc positioning device 16, there are two ring grooves 13, which are respectively located in the circular box The two sides of 11; described traveling wheel 12 has two groups, is respectively positioned at the both sides of circular casing 11, and traveling wheel 12 comprises cylindrical roller 121, load-bearing steel ring 122, annular track 123, crawler belt one 124, so There are eighty cylindrical rollers 121, which are installed in the ring groove 13; the load-bearing steel ring 122 is set on the cylindrical rollers 121; the annular track 123 is fixedly connected to the inner side of the load-bearing steel ring 122; Described crawler track one 124 is installed on the load-bearing steel ring 122; Described crawler wheel positioning device one 14 is installed on one side of circular casing 11; Described crawler wheel positioning device one 14 comprises motor one 141, worm screw one 142, turbine one 143, shaft one 144, first cylinder 145, described motor one 141 is installed on one side of circular casing 11, and described worm screw one 142 is fixedly connected on the output shaft of motor one 141; The shaft one 144 is fixedly connected on the circular box body 11; the turbine one 143 is mounted on the shaft one 144 through a bearing; the worm one 142 is meshed with the turbine one 143 to form a worm gear transmission; The first cylinder 145 is made up of the first cylinder block 1451 and the first cylinder piston rod 1452, the first cylinder block 1451 is fixedly connected on the turbine one 143 by bolts, and the first cylinder piston rod 1452 is connected with the support rod 35 by a hinge The track wheel positioning device two 15 is installed on the other side of the circular casing 11, and the track wheel positioning device two 15 includes a motor two 151, a worm screw two 152, a turbine two 153, an axle two 154, and a second cylinder 155, The second motor 151 is installed on one side of the circular box 11; the second worm 152 is installed on the output shaft of the second motor 151; the second shaft 154 is fixedly connected to the circular box 11; The second turbine 153 is installed on the shaft two 154 through bearings; the second worm 152 is meshed with the second turbine 153 to form a worm gear drive; the second cylinder 155 is composed of the second cylinder block 1551, the second cylinder Composed of piston rod 1552, the second cylinder block 1551 is fixedly connected to the turbine 2 153 by bolts, and the second cylinder piston rod 1552 forms a hinge connection with the support rod 35; there are two arc positioning devices 16, They are respectively located on both sides of the circular box 11; the arc-shaped positioning device 16 includes an arc-shaped pulley groove 161, an arc-shaped pressing piece 162, and a third cylinder 163, and the arc-shaped pulley groove 161 is located in the circular box 11, the arc-shaped pulley groove 161 has a hole 1611; the arc-shaped pressing piece 162 is fixedly connected to the end of the third cylinder piston rod 1632, and the third cylinder 163 is formed by the third cylinder body 1 631, the third cylinder piston rod 1632, the third cylinder body 1631 is fixedly connected to the circular box 11 by bolts; the third cylinder piston rod 1632 passes through the hole 1611 and the arc pressure piece 162 The power unit 2 is installed on the circular box body 11; the track wheel device 3 has two groups, which are respectively installed on the arc positioning devices 16 at the two ends of the circular box body 11; the described The controller 4 is installed on one side of the circular box 11 .

As shown in Figure 3, described power unit 2 comprises fixed plate 21, transmission device one 22, transmission device two 23, and described fixed plate 21 is fixedly connected on the circular box body 11; Described transmission device one 22 Located on the fixed plate 21; the transmission device one 22 includes a motor three 221, a gear one 222, a bearing one 223, a shaft three 224, a gear two 225, and a friction wheel one 226, and the three motors 221 are fixedly connected to the fixed On the plate 21, the gear one 222 is installed on the output shaft of the motor three 221; the support one 223 is fixedly connected on the fixed plate 21; the shaft three 224 is installed on the support one 223 through a bearing ; The gear two 225 is installed on one end of the shaft three 224, and the gear one 222 meshes with the gear two 225 to form a gear pair; contact; the transmission device two 23 is fixedly connected on the fixed plate 21; the transmission device two 23 includes motor four 231, gear three 232, support two 233, shaft four 234, gear four 235, friction wheel two 236, the four motors 231 are fixedly connected on the fixed plate 21; the three gears 232 are installed on the output shaft of the four motors 231; the second support 233 is fixed on the fixed plate 21; Axle four 234 is installed on the support two 233 through bearings; said gear four 235 is installed on one end of axle four 234, and meshes with gear three 232 to form a gear pair; said friction wheel two 236 is installed on axle four 234 the other end, and contact with the ring track 123.

As shown in Figure 4, described crawler wheel device 3 comprises wheel set device 31, motor five 32, motor six 33, baffle plate 34, support bar 35, axle five 36, roller 37, crawler belt two 38, inductor 39, The belonging wheel set device 31 comprises driving wheel one 311, auxiliary wheel one 312, auxiliary wheel two 313, driving wheel two 314, axle five 315, axle six 316, and described baffle plate 34 has two pieces; Described axle five 315 is fixedly connected on the baffle plate 34; described axle six 316 is fixedly connected on the baffle plate 34; described auxiliary wheel one 312 is installed on the axle five 315 by bearing; described auxiliary wheel two 313 is installed on the axle five 315 by bearing On the shaft six 316; the five motors 32 are installed inside the driving wheel one 311; the six motors 33 are installed inside the two driving wheels 314; the driving wheels one 311 is installed on the baffle plate 34 through bearings; The drive wheel two 314 is installed on the baffle plate 34 through bearings; the support rod 35 is fixedly connected to one side of the baffle plate 34; one end of the shaft five 36 is fixedly connected to one end of the baffle plate 34; Roller 37 is installed on the other end of axle five 36 by bearing, and is installed in the arc pulley groove 161; Described crawler belt two 38 is installed on the wheel set device 31; Described inductor 39 is installed on the baffle plate 34.

When in use: the person puts the article to be transported into the circular box 11, and when the robot is walking on a flat road, the controller 4 installed on one side of the circular box 11 issues an instruction, and the three motors 221 and the four motors 231 simultaneously Start to rotate, because motor three 221, motor four 231 are fixedly connected on the fixed plate 21, gear one 222, gear three 232 are respectively installed on the output shaft of motor three 221, motor four 231 by key, so along with motor three 221, The rotation of motor four 231 can drive gear one 222, gear three 232 to rotate, because support one 223, support two 233 are fixedly connected on the fixed plate 21, axle three 224, axle four 234 are installed on support one 223 by bearing respectively 1. On the support two 233, the friction wheel one 226 is fixedly connected to one end of the shaft three 224, and the second gear 225 is installed on the other end of the shaft three 224 through a key. Since the gear one 222 is meshed with the gear two 225, the gear one 222 Can drive gear 2 225 to rotate, and the rotation of gear 2 225 can drive friction wheel 1 226 to rotate, because friction wheel 2 236 is fixed on an end of shaft 4 234, gear 4 235 is installed on the other end of shaft 4 234 by key, because gear Three 232 meshes with gear four 235, so gear three 232 can drive gear four 235 to rotate, and the rotation of gear four 235 can drive friction wheel two 236 to rotate, because friction wheel one 226, friction wheel two 236 are in contact with ring track 123 again , so the rotation of the friction wheel 1 226 and the friction wheel 2 236 will drive the ring track 123 to rotate. Since the ring track 123 is fixedly connected to the load-bearing steel ring 122, the circular box 11 has a ring groove 13, and the cylinder rolls The child 121 is installed in the ring groove 13, and the load-bearing steel ring 122 is sleeved on the cylindrical roller 121, so as the ring track 123 rotates, the load-bearing steel ring 122 will rotate relative to the circular box body 11, and due to the track One 124 is installed on the load-bearing steel ring 122, and the rotation of the load-bearing steel ring 122 drives the crawler belt one 124 to rotate, so the frame device 1 completes the function of walking, and now the motor five 32 and the six motors 33 in the crawler wheel device 3 start to rotate. Motor five 32 are installed in the drive wheel one 311, and motor six 33 are installed in the drive wheel two 314, so drive wheel one 311, drive wheel two 314 rotate along with the rotation of motor five 32, motor six 33, and because drive wheel The first 311 and the second driving road 314 are installed on the baffle 34 through bearings, the first auxiliary wheel 312 and the second auxiliary wheel 313 are installed on the fifth shaft 315 and the sixth shaft 316 through bearings, and the fifth shaft 315 and the sixth shaft 316 are fixedly connected to the baffle 34, so when driving wheel 1 311 and driving wheel 2 314 rotate, auxiliary wheel 1 312 and auxiliary wheel 313 can be driven to start to rotate. On the driving wheel two 314, so the crawler wheel device 3 completes the walking function.

When the front meets an obstacle and needs to turn, the sensor 39 sends a signal to the controller 4, and the controller 4 sends an instruction to utilize the difference in the speed of the motor three 221 and the motor four 231 to form a differential rotation to achieve the purpose of turning.

When the robot climbs a slope or needs to climb stairs, the sensor 39 sends a signal to the controller 4, and the controller 4 sends an instruction, and the motor one 141 starts to rotate. 142 rotates along with the rotation of motor one 141, and because worm one 142 and turbine one 143 form worm gear transmission again, and turbine one 143 is installed on the axle one 144 by bearing, and axle one 144 is fixedly connected on the circular box body 11 , so the turbine one 143 rotates with the rotation of the worm one 142, and because the first cylinder block 1451 is fixedly connected on the turbine one 143 by bolts, so the first cylinder 145 rotates with the rotation of the turbine one 143, at this time The controller 4 issues an instruction, and the first cylinder piston rod 1452 is retracted. Since the support rod 35 forms a hinge connection with the first cylinder piston rod 1452, and the support rod 35 is fixedly connected on the baffle plate 34, the shaft 7 36 is fixedly connected to the baffle plate 34. Above, the roller 37 is installed on the shaft 7 36 through the bearing, so when the piston rod 1452 of the first cylinder is withdrawn, it will drive the baffle plate 34 to rotate around the roller 37, and the motor 2 151 starts to rotate at the same time, because the worm 2 152 is fixedly connected to the motor 2 151 On the output shaft, the second worm 152 rotates with the rotation of the second motor 151, because the second worm 152 and the second turbine 153 form a worm gear drive, and the second turbine 153 is installed on the second shaft 154 through a bearing, and the second shaft 154 is fixedly connected to the On the circular casing 11, so the turbine two 153 rotates with the rotation of the worm screw two 152, and because the second cylinder block 1551 is fixedly connected on the turbine two 153 by bolts, so the second cylinder 155 follows the rotation of the turbine two 153 Rotate and rotate, now controller 4 issues instruction, and second cylinder piston rod 1552 is ejected, because support rod 35 forms hinged connection with second cylinder piston rod 1552, and support rod 35 is fixedly connected on the baffle plate 34, the shaft seven 36 is fixedly connected on the baffle plate 34, and the roller 37 is installed on the shaft 36 through the bearing, so the first cylinder piston rod 1452 will drive the baffle plate 34 to rotate around the roller 37 when the first cylinder piston rod 1452 is withdrawn. Piston rod 1632 is ejected, because the third cylinder block 1631 is fixedly connected on the circular box body 11 by bolt, and arc-shaped pulley groove 161 is installed on the circular box body 11, has hole 1611 on the arc-shaped pulley groove 161, The third cylinder piston rod 1632 passes through the hole 1611 and the end is fixedly connected with the arc-shaped pressing piece 162, and the roller 37 is installed in the arc-shaped pulley groove 161, so the arc-shaped pressing piece 162 will follow the movement of the third cylinder piston rod 1632 Push out and squeeze the roller 37 so that the roller 37 is fixed, so that the inclination angle of the track wheel device 3 is consistent with the slope, and the uphill action is completed.

After the climbing is finished, the sensor sends 39 signals, the controller 4 sends an instruction, and the third cylinder piston rod 1632 is retracted, so the arc pressure piece 162 is not squeezing the roller 37, and the roller 37 can roll along the arc pulley groove 161. When motor one 141 and motor two 151 rotate, thereby drive the first cylinder 145 and the second cylinder 155 to rotate through the worm gear transmission, the first cylinder piston rod 1452 is ejected, the second cylinder piston rod 1552 is withdrawn, and the track wheel device 3 returns to initial position.

Claims (3)

1. a kind of self-propelled loading robot, it is characterised in that: including frame mounting, power device, Track wheel device, control Device, the frame mounting include round box, traveling wheel, ring groove, Athey wheel positioning device one, Athey wheel positioning device Two, arc positioning device, there are two the ring grooves, is located at the two sides of round box；The traveling wheel has two Group is located in the two sides of round box, and traveling wheel includes cylindrical roller, load-bearing steel ring, circular orbit, crawler belt one, described Cylindrical roller have 80, be mounted in ring groove；The load-bearing steel ring sleeve is on cylindrical roller；The circular rails Road is connected on the inside of load-bearing steel ring；The crawler belt one is mounted on load-bearing steel ring；The Athey wheel positioning device one is installed In the side of round box；The Athey wheel positioning device one includes motor one, worm screw one, turbine one, axis one, the first gas Cylinder, the motor one are mounted on the side of round box, and the worm screw one is connected on the output shaft of motor one；Described Axis one is connected on round box；The turbine one is mounted on axis one by bearing；The worm screw one and one phase of turbine Engagement forms turbine and worm transmission；First cylinder is made of the first cylinder block, the first cylinder piston rod, the first gas Cylinder cylinder body is connected on turbine one by bolt, and the first cylinder piston rod is connected by a hinge with support rod；The Athey wheel Positioning device two is mounted on the other side of round box, and Athey wheel positioning device two includes motor two, worm screw two, turbine two, axis Two, the second cylinder, the motor two are mounted on the side of round box；The worm screw two is mounted on the output shaft of motor two On；The axis two is connected on round box；The turbine two is mounted on axis two by bearing；The worm screw two with Turbine two is meshed, and forms turbine and worm transmission；Second cylinder is by the second cylinder block, the second cylinder piston rod group At second cylinder block is connected on turbine two by bolt, and the second cylinder piston rod and support rod form hinge and connect It connects；There are two the arc positioning devices, is located at the two sides of round box；The arc positioning device includes arc Pulley groove, curved tablet, third cylinder, the arc pulley groove are located on round box, are provided with hole on arc pulley groove；Institute The curved tablet stated is connected in third cylinder piston rod end, and the third cylinder is living by third cylinder block, third cylinder Stopper rod composition, the third cylinder block are connected on round box by bolt；The third cylinder piston rod passes through Hole is fixedly connected with curved tablet；The power device is mounted on round box；The Track wheel device has two groups, respectively It is mounted in the arc positioning device at round box both ends；The controller is mounted on the side of round box.

2. a kind of self-propelled loading robot according to claim 1, it is characterised in that: the power device includes solid Fixed board, transmission device one, transmission device two, the fixed plate are connected on round box；The transmission device one is located at In fixed plate；The transmission device one includes motor three, gear one, support one, axis three, gear two, friction pulley one, described Motor three is connected in fixed plate, and the gear one is mounted on the output shaft of motor three；The support one is connected in On fixed board；The axis three is mounted on support one by bearing；The gear two is mounted on one end of axis three, gear one with Gear two is meshed, and forms gear pair；The friction pulley one is mounted on the other end of axis three, and is in contact with circular orbit； The transmission device two is connected in fixed plate；The transmission device two include motor four, gear three, support two, axis four, Gear four, friction pulley two, the motor four are connected in fixed plate；The gear three is mounted on the output shaft of motor four On；The support two is connected in fixed plate；The axis four is mounted on support two by bearing；The gear four is pacified It is meshed mounted in one end of axis four, and with gear three, forms gear pair；The friction pulley two is mounted on the other end of axis four, And it is in contact with circular orbit.

3. a kind of self-propelled loading robot according to claim 1, it is characterised in that: the Track wheel device includes Wheels group arrangement, motor five, motor six, baffle, support rod, axis seven, idler wheel, crawler belt two, inductor, the Wheels group arrangement include Driving wheel one, auxiliary wheel one, auxiliary wheel two, driving wheel two, axis five, axis six, the baffle have two pieces；The axis five is connected On baffle；The axis six is connected on baffle；The auxiliary wheel one is mounted on axis five by bearing；The auxiliary Wheel two is mounted on axis six by bearing；The motor five is mounted on inside driving wheel one；The motor six is mounted on drive Inside driving wheel two；The driving wheel one is mounted on baffle by bearing；The driving wheel two is mounted on gear by bearing On plate；The support rod is connected in the side of baffle；One end of the axis seven is connected in one end of baffle；The idler wheel is logical The other end that bearing is mounted on axis seven is crossed, and is installed in arc pulley groove；The crawler belt two is mounted on Wheels group arrangement；Institute The inductor stated is mounted on baffle.