Cross-floor transfer robot

Abstract

A floor-crossing transfer robot comprises a crawler walking chassis and a grabbing robot installed on the crawler walking chassis, the crawler walking chassis comprises a bearing frame, two main driving units and an auxiliary driving unit, and the two main driving units are installed on the two opposite sides of the bearing frame correspondingly; the auxiliary driving unit is installed at one end of the main driving unit. When the two first motors rotate in the same direction at the same time, the transfer robot advances or retreats, and when the two first motors rotate in the opposite directions at the same time, or the first motor on one side rotates and the first motor on the other side does not rotate, the transfer robot steers. When the double output shafts of the auxiliary driver rotate, the follower wheel support is driven to rotate, and therefore the angle between the auxiliary crawler belt and the ground is adjusted. By means of the structure, the transfer robot can adjust the angle of the auxiliary crawler belt according to the inclination angle of stairs, and adaptability is better.

Description

Technical Field

[0001] The utility model relates to the technical field of transfer robots, in particular to a cross-floor transfer robot. Background Art

[0002] With the development of China's water conservancy power generation industry, the maintenance requirements of hydro-generator units are gradually increasing. When overhauling the lower parts such as the turbine volute and runner chamber, maintenance workers on site need to use a large number of tools. However, there are no equipment such as elevators and skylights for transferring tools between the operation platform and the runner chamber in some hydro-generator units. The current transfer method relies on a large amount of manpower to transfer tools through stairs. This method has a high labor intensity, low efficiency, and is prone to danger during tool transfer. There is a need for a new transfer device to replace manual operation.

[0003] Existing cross-floor robots usually have a crawler chassis with a single structure, and have poor adaptability to the staircase environment and cannot pass through stairwells with a large slope. For example, Chinese patent document CN116652982A discloses a visual handling mobile robot, including a crawler chassis and a bottom plate. The crawler chassis is located on the bottom plate. Four crawler wheels are rotatably connected inside the crawler chassis, and a crawler is meshed with the outer surface of the crawler wheels. Its advantages are: through the rotation of six degrees of freedom of the robotic arm, and then through the visual detection mechanism to sort the goods, and at the same time position the goods, and then through the grasping mechanism, goods of different sizes can be grasped, and multiple goods can be grasped at one time, so as to realize that goods of different colors, shapes or sizes on the belt conveyor can be grasped under different positions or different postures, and the different goods can be placed in the corresponding positions on the shelf, thus greatly improving the grasping and sorting ability of the goods, and thus improving the handling efficiency of the handling mobile robot; its disadvantages are: poor adaptability to the staircase environment and cannot pass through stairwells with a large slope.

[0004] Regarding the problem of walking on stairs, Chinese patent document CN217552402U discloses an indoor bomb disposal robot, including a vehicle body. A component mounting plate is provided on the vehicle body, and control components are provided on the component mounting plate. One end of the component mounting plate is provided with a robotic arm mounting seat. Four crawler wheel mounting seats are provided below the vehicle body. One side of two of the crawler wheel mounting seats is provided with a crawler wheel motor, and the other side of the crawler wheel mounting seat is provided with a driving crawler wheel. An obstacle-crossing crawler driving wheel is provided on the side of the driving crawler wheel away from the crawler wheel mounting seat. One side of the other two crawler wheel mounting seats is provided with a driven crawler wheel. Its advantages are: by providing a driven crawler wheel on one side of the crawler wheel mounting seat, the passability is improved; its disadvantages are: the angle of the obstacle-avoiding crawler cannot be adjusted, so the angle of the obstacle-avoiding crawler cannot be adjusted according to the inclination angle of the stairs, and the adaptability is poor. Summary of the Invention

[0005] The purpose of the present utility model is to provide a cross - floor transfer robot, which can adjust the angle of the auxiliary track according to the inclination angle of the stairs, and has better adaptability.

[0006] To achieve the above purpose, the present utility model provides a cross - floor transfer robot, which includes a tracked walking chassis and a grasping robot installed on the tracked walking chassis. The tracked walking chassis includes a bearing frame, a main drive unit, and an auxiliary drive unit. The two main drive units are respectively installed on opposite sides of the bearing frame, and the auxiliary drive unit is installed at one end of the main drive unit. The auxiliary drive unit includes an auxiliary drive wheel, an auxiliary follower wheel, an auxiliary track, an auxiliary driver, and a follower wheel bracket. The auxiliary driver is installed on the bearing frame. The auxiliary driver has a double - output - shaft structure. At the two output shaft ends of the auxiliary driver, follower wheel brackets are respectively installed. At one end of the auxiliary driver, the follower wheel bracket is rotatably installed with an auxiliary drive wheel, and at the end far from the auxiliary driver, an auxiliary follower wheel is rotatably installed. The auxiliary track is sleeved on the auxiliary drive wheel and the auxiliary follower wheel. The main drive unit includes a main track drive wheel, a main track follower wheel, a main track, and a first motor. The main track follower wheel is rotatably positioned and installed on the output shaft of the auxiliary driver. The main track follower wheel is located on one side of the auxiliary drive wheel. The auxiliary drive wheel is connected and driven with the main track follower wheel. The first motor is installed on the bearing frame. The main track drive wheel is in transmission connection with the first motor. The main track is sleeved on the main track drive wheel and the main track follower wheel.

[0007] The auxiliary driver includes a second motor and a second reducer. The output shaft of the second motor is in transmission connection with the input shaft of the second reducer. The second reducer has two relatively arranged output shafts.

[0008] Bearing seats are respectively installed on both sides of the bearing frame where the auxiliary driver is located. The output shafts on both sides of the auxiliary driver are respectively in transmission connection and installed with transmission shafts. The transmission shafts are rotatably installed in the bearing seats. The main track follower wheel and the follower wheel bracket are respectively installed and connected with the transmission shafts.

[0009] A right - angle reducer is further installed at the output shaft end of the first motor, and the main track drive wheel is installed on the output shaft of the right - angle reducer.

[0010] A spacer sleeve is arranged between the auxiliary drive wheel and the main track follower wheel. The auxiliary drive wheel and the main track follower wheel are respectively connected and fixed with the spacer sleeve.

[0011] On both sides of the load-bearing frame, main crawler tensioning wheels are respectively installed. The main crawler tensioning wheels are located between the main crawler drive wheels and the main crawler idler wheels on each side, and the main crawler tensioning wheels abut against the upper side of the main crawler. On both sides of the load-bearing frame, main crawler support wheels are respectively installed. The main crawler support wheels are located between the main crawler drive wheels and the main crawler idler wheels on each side, and the main crawler tensioning wheels abut against the lower side of the main crawler.

[0012] An equipment compartment is also installed on the crawler walking chassis, and the grasping robot is installed on the equipment compartment. The equipment compartment is used to install driving equipment, and the driving equipment includes a battery and a controller.

[0013] A first camera is also installed on the grasping robot.

[0014] A tool bin is also installed on the equipment compartment.

[0015] A second camera and / or a laser scanner are also installed on the crawler walking chassis.

[0016] Compared with the prior art, the utility model has the following technical effects:

[0017] The main drive unit of the utility model has two on the left and right. When the first motor rotates, it drives the main crawler drive wheel to rotate, thereby driving the main crawler to rotate. When the two first motors rotate in the same direction at the same time, the transfer robot moves forward or backward. When the two first motors rotate in opposite directions at the same time, or one side of the first motor rotates and the other side does not rotate, the transfer robot steers. When the main crawler rotates, it drives the main crawler idler wheel to rotate. When the main crawler idler wheel rotates, it drives the auxiliary drive wheel to rotate. With the support of the auxiliary idler wheel, the auxiliary crawler also rotates. When the double output shafts of the auxiliary driver rotate, they drive the idler wheel bracket to rotate, thereby adjusting the angle between the auxiliary crawler and the ground, so that the transfer robot of the utility model can adjust the angle of the auxiliary crawler according to the inclination angle of the stairs, and has better adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art:

[0019] Figure 1 It is the front view structural schematic diagram of the utility model;

[0020] Figure 2 It is the side view structural schematic diagram of the utility model;

[0021] Figure 3 It is the bottom view structural schematic diagram of the utility model;

[0022] Figure 4Schematic cross-sectional structure diagram of the present utility model;

[0023] Figure 5 Schematic three-dimensional structure diagram of the present utility model.

[0024] Reference numerals:

[0025] Crawler walking chassis 101;

[0026] Gripping robot 1, first camera 2, manipulator 3, tool bin 4, equipment bin 5, second camera 6, laser scanner 7, battery 8, controller 9, main crawler drive wheel 10, main crawler tensioning wheel 11, main crawler support wheel 12, load-bearing frame 13, protective bottom plate 14, right-angle reduction gear 15, first motor 16, main drive unit 17, main crawler idler wheel 18, spacer 19, auxiliary drive wheel 20, auxiliary drive unit 21, transmission shaft 22, auxiliary idler wheel 23, main crawler 24, auxiliary crawler 25, second motor 26, second reducer 27, idler wheel bracket 28. Specific embodiments

[0027] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model.

[0028] Please refer to Figures 1-5 , a cross-floor transfer robot, including a crawler walking chassis 101 and a gripping robot 1 installed on the crawler walking chassis 101. The gripping robot 1 includes a multi-degree-of-freedom robotic arm and a manipulator 3 installed on the robotic arm.

[0029] The crawler walking chassis 101 includes a load-bearing frame 13, a main drive unit 17, and an auxiliary drive unit. The two main drive units 17 are respectively installed on opposite sides of the load-bearing frame 13, and the auxiliary drive unit is installed at one end of the main drive unit 17.

[0030] The auxiliary drive unit includes an auxiliary drive wheel 20, an auxiliary idler wheel 23, an auxiliary crawler 25, an auxiliary driver, and an idler wheel bracket 28. The auxiliary driver is installed on the load-bearing frame 13. The auxiliary driver has a double-output shaft structure. The two output shaft ends of the auxiliary driver are respectively installed with idler wheel brackets 28. An auxiliary drive wheel 20 is rotatably installed at one end of the idler wheel bracket 28 close to the auxiliary driver, and an auxiliary idler wheel 23 is rotatably installed at one end far from the auxiliary driver. The auxiliary crawler 25 is sleeved on the auxiliary drive wheel 20 and the auxiliary idler wheel 23.

[0031] The main drive unit 17 includes a main crawler drive wheel 10, a main crawler idler wheel 18, a main crawler 24, and a first motor 16. The main crawler idler wheel 18 is rotatably mounted on the output shaft of the auxiliary driver. The main crawler idler wheel 18 is located on one side of the auxiliary drive wheel 20. The auxiliary drive wheel 20 is connected and driven with the main crawler idler wheel 18. The first motor 16 is mounted on the bearing frame 13. The main crawler drive wheel 10 is drivingly connected with the first motor 16. The main crawler 24 is sleeved on the main crawler drive wheel 10 and the main crawler idler wheel 18.

[0032] With the above structure, there are two main drive units 17 on the left and right. When the first motor 16 rotates, it drives the main crawler drive wheel 10 to rotate, thereby driving the main crawler 24 to rotate. When the two first motors 16 rotate in the same direction at the same time, the transfer robot moves forward or backward. When the two first motors 16 rotate in opposite directions at the same time, or when one first motor 16 rotates and the other first motor 16 does not rotate, the transfer robot steers. When the main crawler 24 rotates, it drives the main crawler idler wheel 18 to rotate. When the main crawler idler wheel 18 rotates, it drives the auxiliary drive wheel 20 to rotate. With the support of the auxiliary idler wheel 23, the auxiliary crawler 25 also rotates. When the double output shafts of the auxiliary driver rotate, they drive the idler wheel bracket 28 to rotate, thereby adjusting the angle between the auxiliary crawler 25 and the ground, enabling the transfer robot of the present utility model to adjust the angle of the auxiliary crawler according to the inclination angle of the stairs, with better adaptability.

[0033] In this embodiment, a ring-shaped boss is provided on one side of the idler wheel bracket 28 connected to the double output shafts of the auxiliary driver. A bearing is mounted on the ring-shaped boss. The auxiliary drive wheel 20 is mounted on the bearing. The auxiliary drive wheel 20 and the main crawler idler wheel 18 can be fixedly connected coaxially by bolts. When the idler wheel bracket 28 rotates, the auxiliary drive wheel 20 does not rotate, and the auxiliary idler wheel 23 rotates automatically. Specifically, the auxiliary idler wheel 23 is mounted on a fixed shaft through a bearing, and the fixed shaft is fixedly connected to the idler wheel bracket 28.

[0034] In this embodiment, a protective bottom plate 14 is mounted at the bottom of the crawler chassis 101 to protect the first motor 16 and the auxiliary driver and prevent electrical components from being damaged by knocking during movement.

[0035] Specifically, refer to Figure 4 , the auxiliary driver includes a second motor 26 and a second reducer 27. The output shaft of the second motor 26 is drivingly connected to the input shaft of the second reducer 27. The second reducer 27 has two output shafts arranged oppositely.

[0036] Refer to Figure 4, bearing seats are respectively installed on both sides of the auxiliary drive on the load-bearing frame 13. Output shafts on both sides of the auxiliary drive are respectively connected with transmission shafts 22 through transmission. The transmission shafts 22 are rotatably installed on the bearing seats. The main crawler idler 18 and the idler bracket 28 are respectively installed and connected with the transmission shafts 22. By setting the transmission shafts 22, the output shafts of the auxiliary drive are extended, so that the width of the transfer robot can be designed flexibly. The output shaft of the auxiliary drive can be a solid shaft or a hollow shaft. If it is a solid shaft, a coupling can be used for connection. If it is a hollow shaft, a key connection can be used for insertion.

[0037] In Figure 4 , a right-angle speed reducer 15 is further installed at the output shaft end of the first motor 16, and the main crawler drive wheel 10 is installed on the output shaft of the right-angle speed reducer 15. In this way, both the two first motors 16 and the second motor 26 are located at one end of the load-bearing frame 13, and the auxiliary crawler 25 is located at the other end of the load-bearing frame 13, making the transfer robot more balanced.

[0038] Furthermore, Figure 4 In , a spacer sleeve 19 is arranged between the auxiliary drive wheel 20 and the main crawler idler 18, and the auxiliary drive wheel 20 and the main crawler idler 18 are respectively connected and fixed with the spacer sleeve 19. The auxiliary drive wheel 20 and the main crawler idler 18 are separated by a certain distance through the spacer sleeve 19 to prevent contact friction between the auxiliary crawler 25 and the main crawler 24.

[0039] Furthermore, referring to Figure 1 , main crawler tensioning wheels 11 are respectively installed on both sides of the load-bearing frame 13. The main crawler tensioning wheels 11 are located between the main crawler drive wheels 10 and the main crawler idlers 18 on each side. The main crawler tensioning wheels 11 abut against the upper side of the main crawler 24, and the main crawler tensioning wheels 11 can adjust their own height positions through bolts to tension the main crawler 24. Specifically, the main crawler tensioning wheels 11 are installed on the axle seats through bearings, and the axle seats are connected with the load-bearing frame 13 through bolts. The mounting holes on the load-bearing frame 13 are long holes, and the mounting positions of the axle seats up and down are adjusted through the long holes.

[0040] Main crawler support wheels 12 are respectively installed on both sides of the load-bearing frame 13. The main crawler support wheels 12 are located between the main crawler drive wheels 10 and the main crawler idlers 18 on each side. The main crawler tensioning wheels 11 abut against the lower side of the main crawler 24. The main crawler support wheels 12 can provide support force for the robot when the transfer robot climbs stairs, and keep the transfer robot running stably. Specifically, the main crawler support wheels 12 are installed on the axle seats through bearings, and the axle seats are fixedly connected with the load-bearing frame 13.

[0041] Furthermore, referring to Figure 1, an equipment bin 5 is also installed on the crawler walking chassis 101, and the grasping robot 1 is installed on the equipment bin 5; the equipment bin 5 is used to install driving equipment, and the driving equipment includes a battery 8 and a controller 9. By installing the equipment bin 5, it is convenient to install equipment such as the battery 8, the controller 9, and the wireless receiver into the equipment bin 5, enabling the transfer robot to operate flexibly without cables.

[0042] In this embodiment, a first camera 2 is also installed on the grasping robot 1. This facilitates the grasping robot 1 to identify the environment and objects.

[0043] Furthermore, a tool bin 4 is also installed on the equipment bin 5, and the tool bin 4 is used to place the objects grasped by the grasping robot 1.

[0044] Furthermore, a second camera 6 and / or a laser scanner 7 are also installed on the crawler walking chassis 101 for the automatic operation of the transfer robot. The automatic walking of the robot based on vision and the laser scanner is prior art. For example, in CN210610354U, a tomato picking robot based on OpenCV binocular stereo vision, it walks and identifies objects based on vision and lidar.

[0045] The working principle or operation process of the present utility model is as follows:

[0046] When the two first motors 16 rotate in the same direction simultaneously, the transfer robot moves forward or backward; when the two first motors 16 rotate in opposite directions simultaneously, or when one side of the first motor 16 rotates and the other side of the first motor 16 does not rotate, the transfer robot turns.

[0047] When the main track 24 rotates, it drives the main track follower wheel 18 to rotate. The rotation of the main track follower wheel 18 drives the auxiliary drive wheel 20 to rotate. Supported by the auxiliary follower wheel 23, the auxiliary track 25 also rotates accordingly. When the double output shafts of the auxiliary driver rotate, they drive the follower wheel bracket 28 to rotate, thereby adjusting the angle between the auxiliary track 25 and the ground.

[0048] When going upstairs, control to adjust the auxiliary track 25 to tilt up, as Figure 1 shown, which is convenient for climbing up the stairs. After going upstairs, control to adjust the auxiliary track 25 so that the auxiliary track 25 contacts the stairs, which can increase the contact area between the tracks and the stairs when the transfer robot goes up and down the stairs, improve the stability of going up and down the stairs. At the same time, by controlling the front and rear tilt of the grasping robot 1, the center of gravity position of the transfer robot can be adjusted to avoid the transfer robot getting out of control due to unstable center of gravity.

[0049] When going down a steep slope, control to adjust the auxiliary crawler 25 to be in full contact with the slope surface, or make the auxiliary drive unit 21 rotate clockwise so that the crawler at one end of the auxiliary follower wheel 23 supports the slope surface, adjust the level of the equipment bin 5, and ensure the stable operation of the transfer robot.

Claims

1. A cross-floor transfer robot, comprising a crawler walking chassis (101) and a grasping robot (1) mounted on the crawler walking chassis (101), characterized in that: The crawler walking chassis (101) comprises a bearing frame (13), a main drive unit (17) and an auxiliary drive unit (21), wherein the two main drive units (17) are respectively mounted on two opposite sides of the bearing frame (13), and the auxiliary drive unit is mounted on one end of the main drive unit (17); The auxiliary drive unit (21) comprises an auxiliary drive wheel (20), an auxiliary follower wheel (23), an auxiliary crawler track (25), an auxiliary drive and a follower wheel bracket (28); the auxiliary drive is mounted on the supporting frame (13); the auxiliary drive is a double output shaft structure; the two output shaft ends of the auxiliary drive are respectively mounted with follower wheel brackets (28); the follower wheel bracket (28) is located at one end of the auxiliary drive and is rotatably mounted with the auxiliary drive wheel (20); and the other end away from the auxiliary drive and is rotatably mounted with the auxiliary follower wheel (23); the auxiliary crawler track (25) is sleeved on the auxiliary drive wheel (20) and the auxiliary follower wheel (23); The main drive unit (17) comprises a main crawler track driving wheel (10), a main crawler track follower wheel (18), a main crawler track (24) and a first motor (16); the main crawler track follower wheel (18) is mounted on the output shaft of the auxiliary drive so as to be rotatable; the main crawler track follower wheel (18) is located on one side of the auxiliary drive wheel (20); the auxiliary drive wheel (20) is connected to the main crawler track follower wheel (18) for transmission; the first motor (16) is mounted on the supporting frame (13); the main crawler track driving wheel (10) is connected to the first motor (16) for transmission; and the main crawler track (24) is mounted on the main crawler track driving wheel (10) and the main crawler track follower wheel (18).

2. A cross-floor transfer robot according to claim 1, characterized in that: The auxiliary drive comprises a second motor (26) and a second reducer (27); an output shaft of the second motor (26) is drivingly connected to an input shaft of the second reducer (27); and the second reducer (27) has two output shafts arranged opposite to each other.

3. A cross-floor transfer robot according to claim 1 or 2, characterized in that: The supporting frame (13) is also provided with bearing seats on both sides of the auxiliary drive, and the output shafts on both sides of the auxiliary drive are respectively connected to the drive shafts (22), the drive shafts (22) are rotatably mounted on the bearing seats, and the main crawler follower wheels (18) and the follower wheel brackets (28) are respectively connected to the drive shafts (22).

4. The cross-floor transfer robot according to claim 1, characterized in that: A right-angle reducer (15) is also mounted on the output shaft end of the first motor (16), and the main crawler drive wheel (10) is mounted on the output shaft of the right-angle reducer (15).

5. The cross-floor transfer robot according to claim 1, characterized in that: A spacer sleeve (19) is provided between the auxiliary drive wheel (20) and the main crawler follower wheel (18), and the auxiliary drive wheel (20) and the main crawler follower wheel (18) are respectively connected and fixed to the spacer sleeve (19).

6. The cross-floor transfer robot according to claim 1, characterized in that: Main track tensioning wheels (11) are also installed on both sides of the load-bearing frame (13), and the main track tensioning wheels (11) are located between the main track driving wheels (10) and the main track follower wheels (18) on each side, and the main track tensioning wheels (11) abut against the upper side of the main track (24); main track supporting wheels (12) are also installed on both sides of the load-bearing frame (13), and the main track supporting wheels (12) are located between the main track driving wheels (10) and the main track follower wheels (18) on each side, and the main track tensioning wheels (11) abut against the lower side of the main track (24).

7. The cross-floor transfer robot according to claim 1, characterized in that: The crawler walking chassis (101) is also provided with an equipment bin (5), and the grasping robot (1) is installed on the equipment bin (5); the equipment bin (5) is used to install a driving device, and the driving device includes a battery (8) and a controller (9).

8. The cross-floor transfer robot according to claim 1, characterized in that: The grasping robot (1) is also equipped with a first camera (2).

9. The cross-floor transfer robot according to claim 7, characterized in that: A tool material frame (4) is also installed on the equipment bin (5).

10. A cross-floor transfer robot according to claim 1 or 7, characterized in that: A second camera (6) and / or a laser scanner (7) is also installed on the crawler walking chassis (101).

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