阅读说明：本技术 一种搬运智能机器人用智能移动底架 (Intelligent movement chassis for intelligent carrying robot ) 是由 李洋 于 2019-11-13 设计创作，主要内容包括：本发明公开的属于机器人技术领域,具体为一种搬运智能机器人用智能移动底架,包括底座,所述底座顶端左侧的前后两端均固定安装有液压缸,所述液压缸的顶端固定安装有机器人安装座,前后两组所述液压缸的右端均设有防护板,前后两组所述防护板均与底座固定连接,前后两组所述防护板的右端固定连接有隔板,所述底座右端的前后两侧均转动连接有电机驱动的主动滚轮,通过驱动电机控制底座的运动,通过转向电机控制底座的运动方向,有效避免了现有的搬运智能机器人大多需要轨道配合进行定位移动,而轨道需要特定固定,从而造成拆装起来较为繁琐,且不便于移动的问题。(The invention discloses an intelligent moving underframe for carrying an intelligent robot, belonging to the technical field of robots, comprising a base, the front and rear ends of the left side of the top end of the base are fixedly provided with hydraulic cylinders, the top end of the hydraulic cylinder is fixedly provided with a robot mounting seat, the right ends of the front and rear groups of hydraulic cylinders are respectively provided with a protection plate, the front and rear groups of protection plates are respectively and fixedly connected with the base, the right ends of the front and rear groups of protection plates are respectively and fixedly connected with a partition plate, the front and rear sides of the right end of the base are respectively and rotatably connected with a driving, the motion of the base is controlled by the driving motor, the motion direction of the base is controlled by the steering motor, the problem that most of the existing intelligent carrying robots need to be positioned and moved by rail matching is effectively avoided, and the track needs specific fixed to cause the dismouting comparatively loaded down with trivial details, and the not convenient problem that removes.)

1. The utility model provides a transport intelligent robot uses intelligent movement chassis, includes base (1), its characterized in that: the robot comprises a base (1), hydraulic cylinders (4) are fixedly mounted at the front end and the rear end of the left side of the top end of the base (1), a robot mounting seat (41) is fixedly mounted at the top end of the hydraulic cylinders (4), protection plates (11) are arranged at the right ends of the hydraulic cylinders (4), the front protection plate (11) and the rear protection plate (11) are fixedly connected with the base (1), a partition plate (12) is fixedly connected at the right ends of the protection plates (11), motor-driven driving rollers (2) are rotatably connected at the front side and the rear side of the right end of the base (1), steering rollers (3) are arranged at the front end and the rear end of the left side of the bottom end of the base (1), a steering motor (5) is fixedly mounted at the top end of the right side of the inner cavity of the base (1), a driving rod (52) is, the outer side of the driving rod (52) is sleeved with a driving gear (53), the driving gear (53) is fixedly connected with the driving rod (52), transmission rods (6) are arranged at the left end and the right end of the driving gear (53), transmission gears (61) are fixedly connected at the left end and the right end of each transmission rod (6), the transmission gears (61) at one ends, close to the driving gear (53), of the left group and the right group of transmission rods (6) are meshed with the driving gear (53), the transmission gears (61) at one ends, far away from the driving gear (53), of the left group and the right group of transmission rods (6) are meshed with driven gears (33), the bottom ends of the left group and the right group of driven gears (33) are fixedly connected with steering shafts (32), the left group and the right group of steering shafts (32) penetrate through the bottom end of an inner cavity of the base (1), the bottom ends of the left and right groups of steering shafts (32) are fixedly connected with roller frames (31), and the inner cavities of the left and right groups of roller frames (31) are rotatably connected with steering rollers (3).

2. The intelligent mobile chassis for a handling intelligent robot of claim 1, wherein: the bottom fixed mounting on base (1) inner chamber right side has driving motor (7), driving motor (7) are the biax motor, the equal fixedly connected with drive gear (71) of output of driving motor (7) controls two sets ofly the bottom of drive gear (71) all meshes and is connected with from drive gear (81), controls two sets ofly from the equal fixedly connected with connecting axle (8) of one end of drive gear (7) is kept away from about drive gear (81), controls two sets of from the equal fixedly connected with shaft (21) of one end of drive gear (81) are kept away from in connecting axle (8), controls two sets of shaft (21) and runs through respectively in the left and right sides wall of base (1), controls two sets of shaft (21) all rotate with base (1) and are connected, controls two sets of shaft (21) all with initiative gyro wheel (2) fixed connection.

3. The intelligent mobile chassis for the intelligent handling robot of claim 2, wherein: the wheel edge of the outer side of the left connecting shaft and the right connecting shaft (8) are respectively and rotatably connected with a supporting seat (14), and the bottom ends of the left supporting seat and the right supporting seat (14) are fixedly connected with the base (1).

4. The intelligent mobile chassis for a handling intelligent robot of claim 1, wherein: the wheel edge of the outer side of the left group of driving rods (6) and the right group of driving rods (6) are rotatably connected with a supporting table (13), and the bottom ends of the left group of supporting table and the right group of supporting table (13) are fixedly connected with the base (1).

5. The intelligent mobile chassis for a handling intelligent robot of claim 1, wherein: the steering mechanism is characterized in that a coupler (51) is arranged between the output end of the steering motor (5) and the active rod (52), the top end of the coupler (51) is fixedly connected with the output end of the steering motor (5), and the bottom end of the coupler (51) is fixedly connected with the top end of the active rod (52).

6. The intelligent mobile chassis for a handling intelligent robot of claim 1, wherein: the steering motor (5) is a stepping motor, the driving gear (53), the transmission gear (61) and the driven gear (33) are all bevel gears, and the left and right groups of the roller carriers (31) are both in a U-shaped structure.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an intelligent moving underframe for an intelligent carrying robot.

Background

In the existing working environment, articles at one position need to be manually carried to another position, and people who need to take the articles at the position where the articles need to be taken, so that the operation is very troublesome. Therefore, the intelligent mobile underframe for the intelligent transfer robot is put into use, so that the problem is solved.

Disclosure of Invention

The invention aims to provide an intelligent mobile underframe for an intelligent carrying robot, which aims to solve the problems that the existing intelligent carrying robot mostly needs a rail to be matched for positioning and moving, and the rail needs to be fixed specifically, so that the intelligent carrying robot is complex to assemble and disassemble and is inconvenient to move.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent moving underframe for an intelligent carrying robot comprises a base, wherein hydraulic cylinders are fixedly arranged at the front end and the rear end of the left side of the top end of the base, a robot mounting seat is fixedly arranged at the top end of each hydraulic cylinder, two groups of the hydraulic cylinders are respectively provided with a protection plate, the front protection plate and the rear protection plate are respectively fixedly connected with the base, the front end and the rear end of each protection plate are respectively fixedly connected with a partition plate, the front side and the rear side of the right end of the base are respectively and rotatably connected with a motor-driven driving roller, the front end and the rear end of the left side of the bottom end of the base are respectively provided with a steering roller, the top end of the right side of an inner cavity of the base is fixedly provided with a steering motor, the output end of the steering motor is fixedly connected, both ends all are equipped with the transfer line about the driving gear, the equal fixedly connected with drive gear in both ends about the transfer line controls two sets of the drive gear that the transfer line is close to driving gear one end all is connected with the driving gear meshing, controls two sets ofly the drive gear that driving gear one end was kept away from to the transfer line all meshes and is connected with driven gear, controls two sets ofly the equal fixedly connected with steering spindle in driven gear's bottom controls two sets of the steering spindle all runs through the inner chamber bottom of base, and controls two sets of the steering spindle all is connected with the base rotation, controls two sets of the equal fixedly connected with gyro wheel frame in bottom of steering spindle just controls two sets of the inner chamber of gyro wheel frame.

Preferably, the bottom fixed mounting on the right side of the inner cavity of the base is provided with a driving motor, the driving motor is a double-shaft motor, the output end of the driving motor is fixedly connected with a driving gear, the bottom ends of the driving gear are meshed with a driven gear, the two ends of the driven gear far away from the driving motor are fixedly connected with a connecting shaft, the two ends of the driven gear far away from the driving gear are fixedly connected with wheel shafts, the two sets of wheel shafts penetrate through the left side wall and the right side wall of the base respectively, the two sets of wheel shafts are rotatably connected with the base, and the two sets of wheel shafts are fixedly connected with driving rollers.

Preferably, the outer wheel edges of the left and right groups of connecting shafts are rotatably connected with supporting seats, and the bottom ends of the left and right groups of supporting seats are fixedly connected with the base.

Preferably, the outer wheel edges of the left and right groups of transmission rods are rotatably connected with supporting tables, and the bottom ends of the left and right groups of supporting tables are fixedly connected with the base.

Preferably, a coupler is arranged between the output end of the steering motor and the active rod, the top end of the coupler is fixedly connected with the output end of the steering motor, and the bottom end of the coupler is fixedly connected with the top end of the active rod.

Preferably, the steering motor is a stepping motor, the driving gear, the transmission gear and the driven gear are all bevel gears, and the left and right groups of roller frames are both in a U-shaped structure.

Compared with the prior art, the invention has the beneficial effects that: through setting up driving motor, can drive connecting axle and initiative gyro wheel when making driving motor rotate and rotate, thereby drive the base motion, set up simultaneously and turn to the motor, can drive transfer line and steering spindle when making to turn to the motor and rotate, thereby two sets of gyro wheels that turn to about the drive rotate, make the base take place to rotate, through the motion of driving motor control base, through the direction of motion that turns to the motor control base, the most needs the track cooperation to fix a position the removal effectively to have avoided current transport intelligent robot, and the track needs specific fixed, thereby it is comparatively loaded down with trivial details to cause the dismouting, and the problem of the removal of being not convenient for.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a left side view of the base structure of the present invention;

FIG. 3 is a right side view of the base structure of the present invention.

In the figure: the automatic control device comprises a base 1, 11 protection plates, 12 partition plates, 13 support tables, 14 support seats, 2 driving rollers, 21 wheel shafts, 3 steering rollers, 31 roller frames, 32 steering shafts, 33 driven gears, 4 hydraulic cylinders, 41 robot mounting seats, 5 steering motors, 51 couplers, 52 driving rods, 53 driving gears, 6 transmission rods, 61 transmission gears, 7 driving motors, 71 driving gears, 8 connecting shafts and 81 driven gears.

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.

Referring to fig. 1-3, the present invention provides a technical solution: an intelligent moving underframe for an intelligent carrying robot comprises a base 1, wherein hydraulic cylinders 4 are fixedly arranged at the left front end and the rear end of the top end of the base 1, a robot mounting seat 41 is fixedly arranged at the top end of each hydraulic cylinder 4, protection plates 11 are arranged at the right ends of the front hydraulic cylinder 4 and the rear hydraulic cylinder 4, the front protection plate 11 and the rear protection plate 11 are fixedly connected with the base 1, partition plates 12 are fixedly connected with the right ends of the front protection plate 11 and the rear protection plate 11, motor-driven driving rollers 2 are rotatably connected with the front side and the rear side of the right end of the base 1, steering rollers 3 are arranged at the left front end and the rear end of the bottom end of the base 1, a steering motor 5 is fixedly arranged at the top end of the right side of an inner cavity of the base 1, a driving rod 52 is fixedly connected with the output end, just driving gear 53 and driving lever 52 fixed connection, both ends all are equipped with transfer line 6 about driving gear 53, the equal fixedly connected with drive gear 61 in both ends about transfer line 6 controls two sets of drive line 6 is close to the drive gear 61 of driving gear 53 one end and all is connected with driving gear 53 meshing, controls two sets of drive gear 61 that driving gear 53 one end was kept away from to transfer line 6 all meshes and is connected with driven gear 33, controls two sets of the equal fixedly connected with steering spindle 32 in bottom of driven gear 33 controls two sets of steering spindle 32 all runs through the inner chamber bottom of base 1, and controls two sets of steering spindle 32 all rotates with base 1 to be connected, controls two sets of the equal fixedly connected with gyro wheel frame 31 in bottom of steering spindle 32, and controls two sets of the inner chamber of gyro wheel frame 31 all rotates and is connected with steering wheel 3.

Wherein, a driving motor 7 is fixedly installed at the bottom end of the right side of the inner cavity of the base 1, the driving motor 7 is a double-shaft motor, the output end of the driving motor 7 is fixedly connected with a driving gear 71, the bottom ends of the left and right groups of driving gears 71 are respectively engaged with a driven gear 81, one ends of the left and right groups of driving gears 81 far away from the driving motor 7 are respectively fixedly connected with a connecting shaft 8, one ends of the left and right groups of connecting shafts 8 far away from the driven gear 81 are respectively fixedly connected with a wheel shaft 21, the left and right groups of wheel shafts 21 are respectively penetrated through the left and right side walls of the base 1, the left and right groups of wheel shafts 21 are respectively rotatably connected with the base 1, the left and right groups of wheel shafts 21 are respectively fixedly connected with a driving roller 2, the outer wheel rims of the, it is two sets of to control the outside rim department of transfer line 6 all rotates and is connected with brace table 13, controls two sets of the bottom of brace table 13 all with base 1 fixed connection, it is equipped with shaft coupling 51 to turn to between motor 5's the output and the active rod 52, shaft coupling 51's top and the output fixed connection who turns to motor 5, shaft coupling 51's bottom and active rod 52's top fixed connection, it is step motor to turn to motor 5, driving gear 53, drive gear 61 and driven gear 33 are conical gear, control two sets of gyro wheel frame 31 is "U" shape structure.

The working principle is as follows: when the mobile base 1 is used, a transfer robot is fixedly arranged at the top end of a robot mounting seat 41, when the transfer robot needs to move, a driving motor 7 rotates to drive a driving gear 71 to rotate, then the driving gear 71 drives a driven driving gear 81 engaged with the driving gear to rotate, then a driven gear 33 drives a connecting shaft 8 and a driving roller 2 to rotate, so as to drive a base 1 to move, meanwhile, a steering motor 5 is electrified to rotate, so that the steering motor 5 drives a driving rod 52 and a driving gear 53 to rotate, the driving gear 53 drives a transmission gear 61 engaged with the driving gear to rotate, the transmission gear 61 drives the driven gear 33 and a steering shaft 32 to rotate, so as to drive the steering roller 3 to rotate, so as to realize steering of the base 1, the movement of the base 1 is controlled by the driving motor 7, and the movement direction of the base 1 is controlled by the steering, the problem of effectively having avoided the most track cooperation of needing of current transport intelligent robot to advance line location and having removed, and the track needs specific fixed to cause the dismouting to get up comparatively loaded down with trivial details, and be not convenient for remove, can be through the flexible of control pneumatic cylinder 4 simultaneously, make the robot snatch the object of co-altitude.

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.