Running mechanism and autonomous mobile transfer robot
A technology for handling robots and walking mechanisms, applied in the field of automated mobile handling robots, which can solve problems such as uneven force, easy slipping, and affecting walking tracks, so as to achieve the effect of ensuring walking tracks and avoiding slipping
Inactive Publication Date: 2019-10-18
AIROBOT CO LTD
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Problems solved by technology
[0002] When the existing four-wheel walking mechanism walks on uneven ground, there will be a situation where one driving wheel is suspended in the air or although the four wheels are all on the ground, the force is not uniform, that is, the pressure on the ground is not equal. In this case, The friction between each wheel and the ground is different, and it is easy to slip, which will affect the walking track
Method used
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[0041] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.
[0042] In this disclosure, for ease of understanding, it is defined that the autonomous mobile handling robot has length, width and height, corresponding to the longitudinal direction (X direction), the lateral direction (Y direction) and the vertical direction (Z direction), where In the case of the opposite description, the used orientation words such as "up, down", "left, right", "front, back" usually refer to "up, down" in the vertical direction and "left, down" in the horizontal direction. Right", "front and back" in the longitudinal direction, "inner and outer" refer to the inner and outer relative to the contour of the corresponding component, and "far...
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The invention relates to a running mechanism and an autonomous mobile transfer robot. The running mechanism comprises a base (11) and two driving wheels (21) and at least two driven wheels, wherein the two driving wheels (21) and the at least two driven wheels are mounted on the base (11); the driving wheels (21) have central rotation axes; and the driving wheels (21) are hinged to the base (11);elastic eccentric compression pieces are arranged between the base (11) and the driving wheels (21); first ends of the elastic eccentric compression pieces eccentrically compress the base (11); and second ends, opposite to the first ends, of the elastic eccentric compression pieces eccentrically compress the driving wheels (21) so that the driving wheels (21) can rotate around pivoting axes parallel to the central rotation axes so as to move up and down relative to the base (11). According to the running mechanism, the running trajectory can be guaranteed, and trajectory deviation caused by slipping can be avoided.
Description
technical field [0001] The present disclosure relates to the technical field of automatic mobile handling robots, and in particular, relates to a walking mechanism and an autonomous mobile handling robot. Background technique [0002] When the existing four-wheel walking mechanism walks on uneven ground, there will be a situation where one driving wheel is suspended in the air or although the four wheels are all on the ground, the force is not uniform, that is, the pressure on the ground is not equal. In this case, The friction between each wheel and the ground is different, and it is prone to slipping, which affects the walking track. Contents of the invention [0003] The purpose of the present disclosure is to provide a walking mechanism, which can ensure the walking track and avoid track deviation caused by slipping. [0004] In order to achieve the above object, the present disclosure provides a walking mechanism, including a base, two driving wheels and at least two...
Claims
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Login to View More IPC IPC(8): B62D61/00
CPCB62D61/00
Inventor 段炼
Owner AIROBOT CO LTD