Composite robot capable of moving in all directions

Abstract

The invention discloses a composite robot capable of moving in all directions, and belongs to the technical field of robots, the composite robot comprises a robot main body, an air pump is fixedly mounted on the outer surface of the robot main body, the output end of the air pump fixedly communicates with a conveying pipe, and two groups of bearing frames are fixedly mounted on the bottom surface of the robot main body; a rack ring is rotationally connected to the inner wall of each bearing frame, a plurality of brushes are fixedly mounted on the bottom surface of each rack ring, a rotating motor is fixedly mounted on the outer surface of each bearing frame, a connecting gear is fixedly mounted at the output end of each rotating motor, and the outer surface of each connecting gear is meshed with the outer surface of the corresponding rack ring; a connecting pipe is arranged on the outer surface of each bearing frame. According to the composite robot capable of moving in all directions, by arranging the robot body, the bearing frame, the rack ring, the brush, the rotating motor and the connecting gear, impurities are prevented from being clamped in the Mecanum wheels, and then operation of the Mecanum wheels is prevented from being affected.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a compound robot capable of omni-directional movement. BACKGROUND

[0002] The compound robot capable of omni-directional movement is suitable for automatic scenes in narrow spaces and complex paths by integrating an omni-directional movement mechanism and a multifunctional execution module to realize flexible movement and multi-task operation cooperation.

[0003] In use, most of the existing robots capable of omni-directional movement adopt Mecanum wheels for omni-directional movement, but the grooves of the Mecanum wheels are easy to be stuck with small stones, dust, metal scraps and other sundries in the moving process, which not only damages the rollers and the ground, but also seriously interferes with the movement, thereby reducing the practicability of the device.

[0004] Therefore, the compound robot capable of omni-directional movement is provided to solve the above problems. SUMMARY

[0005] The application aims to solve the problem that the grooves of the Mecanum wheels are easy to be stuck with small stones, dust, metal scraps and other sundries in the prior art, and provides a compound robot capable of omni-directional movement.

[0006] In order to achieve the above purpose, the application adopts the following technical scheme:

[0007] The compound robot capable of omni-directional movement comprises a robot main body, an air pump fixedly installed on the outer surface of the robot main body, a conveying pipe fixedly communicated with the output end of the air pump, two groups of bearing frames fixedly installed on the bottom surface of the robot main body, a gear ring rotatably connected to the inner wall of each bearing frame, a plurality of brushes fixedly installed on the bottom surface of each gear ring, a rotating motor fixedly installed on the outer surface of each bearing frame, a connecting gear fixedly installed on the output end of each rotating motor, the outer surface of each connecting gear being engaged with the outer surface of the gear ring, a connecting pipe provided on the outer surface of each bearing frame, and the conveying pipe being penetrated into the inside of the connecting pipe at the end away from the air pump.

[0008] Preferably, two groups of monitoring modules are fixedly installed on the upper surface of the robot main body, and a control module and a wireless transmission module are respectively fixedly installed on the upper surface of the robot main body.

[0009] Preferably, a mechanical claw is fixedly installed on the upper surface of the robot main body, and a placing box is fixedly installed on the upper surface of the robot main body.

[0010] Preferably, the bottom surface of the robot body is fixedly provided with two fixed blocks, and the inner wall of each fixed block is fixedly connected with the outer surface of the conveying pipe.

[0011] Preferably, the outer surface of each bearing frame is fixedly provided with a connecting bearing, and the bottom surface of the inner ring of each connecting bearing is fixedly connected with the upper surface of the connecting gear.

[0012] Preferably, the outer surface of each bearing frame is fixedly provided with a plurality of fixed seats, and the inner wall of each fixed seat is fixedly connected with the outer surface of the connecting pipe.

[0013] Preferably, the upper surface of the robot body is fixedly provided with a battery module, and the battery module is electrically connected with the air pump and the rotating motor through wires.

[0014] Preferably, the upper surface of the robot body is fixedly provided with a protection box, and the upper surface of the protection box is rotatably hinged with a protection cover.

[0015] In summary, the technical effects and advantages of the present application are as follows: by setting the robot body, bearing frame, rack ring, brush, rotating motor and connecting gear, the power provided by the rotating motor is used to drive the rack ring and brush to rotate around the outside of the Mecanum wheel, so that the robot body can continuously clean the impurities around the Mecanum wheel during movement, thereby avoiding the impurities from being stuck in the inside of the Mecanum wheel and affecting the operation of the Mecanum wheel. By setting the air pump, conveying pipe, connecting pipe and spray head, the power provided by the air pump is used to spray the gas outside the conveying pipe, connecting pipe and spray head onto the ground, so as to form a gas flowing outward around the Mecanum wheel, thereby blowing the impurities around the Mecanum wheel away from the robot body, further avoiding the impurities from being stuck in the inside of the Mecanum wheel. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of the robot body of the present application;

[0017] Figure 2 It is a three-dimensional structure schematic view of the bottom view of the robot body of the present application;

[0018] Figure 3 It is a three-dimensional structure schematic view of the bearing frame of the present application;

[0019] Figure 4 It is a three-dimensional structure schematic view of the connecting bearing of the present application;

[0020] Figure 5 It is a three-dimensional structure schematic view of the rear view of the robot body of the present application.

[0021] In the figure: 1, the robot body; 2, air pump; 3, conveying pipe; 4, bearing frame; 5, rack ring; 6, brush; 7, rotating motor; 8, connecting gear; 9, connecting pipe; 10, spray head; 11, monitoring module; 12, control module; 13, wireless transmission module; 14, mechanical claw; 15, placing box; 16, fixed block; 17, connecting bearing; 18, fixed seat; 19, battery module; 20, protective box; 21, protective cover. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0023] Reference Figures 1-5 A omnidirectional mobile composite robot, comprising a robot body 1, the upper surface of the robot body 1 is fixedly installed with a mechanical claw 14, the upper surface of the robot body 1 is fixedly installed with a placing box 15, by being provided with the mechanical claw 14, the goods can be conveniently clamped and moved, the installation of the placing box 15 plays a role in placing the goods.

[0024] The outer surface of the robot body 1 is fixedly installed with an air pump 2, the output end of the air pump 2 is fixedly communicated with a conveying pipe 3, the bottom surface of the robot body 1 is fixedly installed with two fixed blocks 16, the inner wall of each fixed block 16 is fixedly connected with the outer surface of the conveying pipe 3, the installation of the fixed block 16 plays a role in limiting and fixing the conveying pipe 3, so as to avoid the phenomenon that the conveying pipe 3 shakes by itself during conveying the gas.

[0025] The bottom surface of the robot body 1 is fixedly installed with two groups of bearing frames 4, the inner wall of each bearing frame 4 is rotatably connected with a rack ring 5, the bottom surface of each rack ring 5 is fixedly installed with a plurality of brushes 6, the upper surface of the robot body 1 is fixedly installed with two groups of monitoring modules 11, the upper surface of the robot body 1 is respectively fixedly installed with a control module 12 and a wireless transmission module 13, the monitoring module 11 is composed of a visual sensor, a GPS positioning instrument and the like, so that the robot body 1 can realize the obstacle avoidance function, the control module 12 is composed of a PLC controller and the like, so as to control the operation of the robot body 1, and the wireless transmission module 13 enables the worker to remotely control the operation of the robot body 1 through an external remote control device.

[0026] The outer surface of each bearing frame 4 is fixedly installed with a rotating motor 7, the output end of each rotating motor 7 is fixedly installed with a connecting gear 8, the outer surface of each connecting gear 8 is engaged with the outer surface of the rack ring 5, the outer surface of each bearing frame 4 is fixedly installed with a connecting bearing 17, the bottom surface of the inner ring of each connecting bearing 17 is fixedly connected with the upper surface of the connecting gear 8, the installation of the connecting bearing 17 plays a role in stabilizing the connecting gear 8, thereby avoiding the phenomenon of shaking of the connecting gear 8 during rotation, and further ensuring the stability of the rotation of the connecting gear 8.

[0027] The outer surface of each bearing frame 4 is provided with a connecting pipe 9, the end of the conveying pipe 3 away from the air pump 2 penetrates into the inside of the connecting pipe 9, the outer surface of each bearing frame 4 is fixedly installed with a plurality of fixing seats 18, the inner wall of each fixing seat 18 is fixedly connected with the outer surface of the connecting pipe 9, the installation of the fixing seat 18 plays a role in fixedly connecting the connecting pipe 9 with the bearing frame 4.

[0028] The outer surface of each connecting pipe 9 is fixedly communicated with a plurality of spray heads 10, the upper surface of the robot body 1 is fixedly installed with a battery module 19, the battery module 19 is electrically connected with the robot body 1, the air pump 2, the rotating motor 7, the monitoring module 11, the control module 12, the wireless transmission module 13 and the mechanical claw 14 through wires, thereby providing electric energy for the electric equipment of the device.

[0029] The upper surface of the robot body 1 is fixedly installed with a protection box 20, the upper surface of the protection box 20 is rotatably hinged with a protection cover 21, the installation of the protection box 20 and the protection cover 21 plays a role in safely protecting the control module 12, the wireless transmission module 13 and the battery module 19, thereby avoiding damage caused by external objects.

[0030] The working principle of the present application is: when in use, the worker controls the operation of the robot body 1 through the external remote control device, in the process of the operation of the robot body 1, the power provided by the rotating motor 7 drives the rotation of the connecting gear 8, thereby making the connecting gear 8 drive the rotation of the rack ring 5, and further making the rack ring 5 drive the rotation of the brush 6, so that the brush 6 sweeps the impurities on the ground, at the same time, the power provided by the air pump 2 inputs the external gas into the inside of the conveying pipe 3, so that the gas flows to the ground after passing through the conveying pipe 3, the connecting pipe 9 and the spray head 10, thereby forming the gas flowing away from the side of the Mecanum wheel, thereby avoiding the impurities being stuck in the inside of the Mecanum wheel under the action of the gas and the brush 6, and further ensuring the normal operation of the Mecanum wheel, when the robot body 1 moves to the target location, the mechanical claw 14 clamps the goods, and places the goods in the inside of the placing box 15, thereby making the robot body 1 carry the goods.

[0031] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0033] The above description is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. An omnidirectional mobile composite robot, comprising a robot body (1), characterized in that: An air pump (2) is fixedly installed on the outer surface of the robot body (1). The output end of the air pump (2) is fixedly connected to a delivery pipe (3). Two sets of bearing frames (4) are fixedly installed on the bottom surface of the robot body (1). A rack ring (5) is rotatably connected to the inner wall of each bearing frame (4). Several brushes (6) are fixedly installed on the bottom surface of each rack ring (5). A rotating motor (7) is fixedly installed on the outer surface of each bearing frame (4). A connecting gear (8) is fixedly installed at the output end of each rotating motor (7). The outer surface of each connecting gear (8) meshes with the outer surface of the rack ring (5). A connecting pipe (9) is provided on the outer surface of each bearing frame (4). The end of the delivery pipe (3) away from the air pump (2) extends into the interior of the connecting pipe (9). Several nozzles (10) are fixedly connected to the outer surface of each connecting pipe (9).

2. The omnidirectional mobile composite robot according to claim 1, characterized in that: Two sets of monitoring modules (11) are fixedly installed on the upper surface of the robot body (1), and a control module (12) and a wireless transmission module (13) are fixedly installed on the upper surface of the robot body (1).

3. The omnidirectional mobile composite robot according to claim 1, characterized in that: A mechanical claw (14) is fixedly installed on the upper surface of the robot body (1), and a placement box (15) is fixedly installed on the upper surface of the robot body (1).

4. The omnidirectional mobile composite robot according to claim 1, characterized in that: Two fixing blocks (16) are fixedly installed on the bottom surface of the robot body (1), and the inner wall of each fixing block (16) is fixedly connected to the outer surface of the conveying pipe (3).

5. The omnidirectional mobile composite robot according to claim 1, characterized in that: Each of the bearing frames (4) has a connecting bearing (17) fixedly mounted on its outer surface, and the bottom surface of the inner ring of each connecting bearing (17) is fixedly connected to the upper surface of the connecting gear (8).

6. The omnidirectional mobile composite robot according to claim 1, characterized in that: Each bearing bracket (4) has several fixed seats (18) fixedly installed on its outer surface, and the inner wall of each fixed seat (18) is fixedly connected to the outer surface of the connecting pipe (9).

7. The omnidirectional mobile composite robot according to claim 1, characterized in that: A battery module (19) is fixedly installed on the upper surface of the robot body (1). The battery module (19) is electrically connected to the air pump (2) and the rotating motor (7) respectively through wires.

8. The omnidirectional mobile composite robot according to claim 1, characterized in that: A protective box (20) is fixedly installed on the upper surface of the robot body (1), and a protective cover (21) is rotatably hinged to the upper surface of the protective box (20).

Images