A handling robot based on elastic driving wheels

Abstract

The invention relates to a handling robot based on elastic driving wheels, which includes an AGV body and four driving units installed under the AGV body, and is characterized in that: the driving unit adopts an elastic driving wheel, and the elastic driving wheel includes a motor, an input terminal The speed change mechanism, the speed change mechanism at the output end and the wheels, the motor and the speed change mechanism at the input end are connected together to form the power input end, the speed change mechanism at the output end is connected with the wheels to form the power output end, and a spring is installed between the power input end and the power output end A rotating coupling mechanism, one end of the spring rotating shaft coupling mechanism is connected to the motor through the input end speed change mechanism, and the other end of the spring rotating shaft coupling mechanism is connected to the wheel through the output end speed changing mechanism. The invention adopts an elastic drive unit, effectively avoids the stall current generated by overloading at the moment of motor startup, improves the safety of the load-starting transfer robot, and saves energy consumption when the transfer robot load starts.

Description

technical field [0001] The invention belongs to the technical field of handling robots, in particular to a handling robot based on elastic driving wheels. Background technique [0002] At present, the handling robot usually uses a wheeled platform as a driving device. The wheeled platform driving device is generally composed of a motor as a power input source, a transmission mechanism and a wheel as a power output object. The connecting shaft is connected, which is also called "rigid connection". For occasions where the motor load is heavy, for example, when the rigid connection is loaded with tons of cargo, a "overturning current" will be generated. The overturning current is also called the motor stall current, which will burn the motor, and its The reason is: when the motor load starts at the moment, due to the large static friction between the wheel carrying the goods and the ground, when the static friction exceeds the load capacity of the motor, the motor shaft will ...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a transport robot based on elastic drive wheels, which solves the safety problem caused by static friction to the motor at the moment of load start-up of the transport robot and the large energy consumption at the moment of load start-up of the transport robot. The problem

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