Route detection climbing and carrying robot

Abstract

The utility model belongs to the technical field of carrying robots, and particularly relates to a route detection climbing carrying robot which comprises a first connecting frame and a second connecting frame, and the first connecting frame and the second connecting frame are installed at the two ends of a first moving vehicle respectively. In the carrying experiment process, in order to achieve the carrying process of a route containing stairs, a first moving vehicle and a second moving vehicle are spliced to form a combined vehicle body, and a first ultrasonic generator and a second ultrasonic generator emit ultrasonic waves to detect the front route; when the ultrasonic waves emitted by the second ultrasonic generator are reflected, and the ultrasonic waves emitted by the first ultrasonic generator are not reflected, it is indicated that the robot can climb and pass, judge the front obstacles and adjust the carrying route, the stable carrying process is guaranteed, and the robot can better adapt to various carrying routes.

Description

Technical Field

[0001] The utility model belongs to the technical field of transport robots, in particular to a route detection and climbing transport robot. Background Art

[0002] Robot is a common name for automatic control machines, which include all machines that simulate human behavior or thoughts and simulate other living things. In a narrow sense, there are many classifications and controversies about the definition of robots. Some computer programs are even called robots.

[0003] Existing transport robots cannot accurately identify obstacles ahead. When there are obstacles such as stairs on the transport route, the transport robot cannot climb over them and needs to replan the route, resulting in transport failure and affecting transport efficiency. Therefore, a route detection climbing transport robot is proposed to address the above problems. Utility Model Content

[0004] In order to make up for the deficiencies of the prior art and address the problems existing in existing equipment, the utility model proposes a route-detecting climbing carrying robot.

[0005] The technical solution adopted by the utility model to solve the technical problem is a route detection climbing carrying robot, comprising a first connecting frame and a second connecting frame, wherein the first connecting frame and the second connecting frame are respectively installed at both ends of the first moving vehicle;

[0006] a first bidirectional motor, the first bidirectional motor being assembled inside the first connecting frame, the two output shafts of the first bidirectional motor being respectively connected to first output motor shafts, the first output motor shafts being respectively rotatably mounted on the side walls of the first connecting frame, the ends of the first output motor shafts being fixed to a first swing frame, a drive motor being mounted on the inner side of the bottom side of the first swing frame, the output shaft of the drive motor passing through the bottom of the first swing frame, and a propulsion wheel being mounted on the end of the output shaft of the drive motor;

[0007] A second mobile vehicle, wherein the bottom side of the second mobile vehicle is connected to a second swing frame, a second bidirectional motor is assembled in the second connecting frame, and second output motor shafts are respectively mounted at both ends of the second bidirectional motor, the second output motor shaft is rotatably mounted in the side wall of the second connecting frame, and one end of the second output motor shaft is externally connected to the second swing frame;

[0008] A first fixing plate is fixed on the top of the second mobile vehicle, and a first ultrasonic generator is installed on the first fixing plate;

[0009] A second fixing plate is fixed to one side of the first moving vehicle, and a second ultrasonic generator is installed on the second fixing plate.

[0010] Preferably, the first mobile vehicle and the second mobile vehicle have the same structure, wherein the second mobile vehicle includes a body, a rear support axle frame is fixed to the bottom of the body, a rear rotating shaft is rotatably installed in the rear support axle frame, and rear rotating wheels are respectively installed at both ends of the rear rotating shaft, a front support axle frame is installed at the bottom of the body, and a third bidirectional motor is assembled on the bottom side of the body, and the two output shafts of the third bidirectional motor are respectively installed with front rotating shafts, the front rotating shaft is rotatably installed in the front support axle frame, and the front rotating wheel is installed on the front support axle frame. The front rotating wheel and the rear rotating wheel on the same side of the body are externally covered with the same transmission belt, which can cooperate to realize the robot's climbing and crossing operations.

[0011] Preferably, when the second moving vehicle is in a vertical state with respect to the first moving vehicle, the first ultrasonic generator and the second ultrasonic generator have the same orientation, and a battery box and a central control box are installed on the top side of the first moving vehicle. The battery box is used to provide power, and the central control box is used for signal control and the sending and receiving of detection signals. An ultrasonic receiver is provided in the central control box, which can realize the identification and determination of obstacles on the route ahead.

[0012] The utility model is beneficial in that:

[0013] During the transportation experiment, in order to realize the transportation process of the route containing stairs, the first moving vehicle and the second moving vehicle are spliced ​​together to form a combined vehicle body, and the first ultrasonic generator and the second ultrasonic generator emit ultrasonic waves to detect the route ahead;

[0014] When the ultrasonic waves emitted by the first ultrasonic generator and the second ultrasonic generator are not reflected, it indicates that there is a passable path ahead;

[0015] When the ultrasonic waves emitted by the first ultrasonic generator and the second ultrasonic generator are both reflected, it means that there is a high obstacle on the path ahead and it cannot be passed by climbing, and the route needs to be adjusted;

[0016] When the ultrasonic wave emitted by the second ultrasonic generator is reflected and the ultrasonic wave emitted by the first ultrasonic generator is not reflected, it means that the robot can climb through. By determining the obstacle ahead, the robot's transportation route is adjusted to ensure the stability of the transportation process and better adapt to various transportation routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Fig. 1 is a first overall three-dimensional schematic diagram;

[0019] Fig. 2 is a schematic diagram of a second three-dimensional structure;

[0020] Fig. 3 It is a schematic diagram of the overall structure when viewed from above;

[0021] In the figure: 1. first mobile vehicle; 2. second mobile vehicle; 3. battery box; 4. central control box; 5. first connecting frame; 6. first bidirectional motor; 7. first output motor shaft; 8. first swing frame; 9. propulsion wheel; 10. drive motor; 11. second connecting frame; 12. second swing frame; 13. second output motor shaft; 14. second bidirectional motor; 15. first fixed plate; 16. first ultrasonic generator; 17. second fixed plate; 18. second ultrasonic generator; 201. rear rotating shaft; 202. rear supporting shaft frame; 203. rear rotating wheel; 204. transmission belt; 205. front supporting shaft frame; 206. front rotating wheel; 207. front rotating shaft; 208. third bidirectional motor; 209. vehicle body. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figs. 1-3 As shown, a route detection climbing carrying robot includes a first connecting frame 5 and a second connecting frame 11, and the first connecting frame 5 and the second connecting frame 11 are respectively installed at both ends of the first moving vehicle 1;

[0024] A first bidirectional motor 6 is mounted inside the first connecting frame 5. The two output shafts of the first bidirectional motor 6 are respectively connected to first output motor shafts 7. The first output motor shafts 7 are rotatably mounted on the side walls of the first connecting frame 5. The ends of the first output motor shafts 7 are fixed with first swing frames 8. A drive motor 10 is mounted on the inner side of the bottom side of the first swing frame 8. The output shaft of the drive motor 10 passes through the bottom of the first swing frame 8. A propulsion wheel 9 is mounted on the end of the output shaft of the drive motor 10.

[0025] A second mobile vehicle 2, the bottom side of which is connected to a second swing frame 12, a second bidirectional motor 14 is assembled in the second connecting frame 11, and second output motor shafts 13 are respectively installed at both ends of the second bidirectional motor 14, the second output motor shaft 13 is rotatably mounted in the side wall of the second connecting frame 11, and one end of the second output motor shaft 13 is externally connected to the second swing frame 12;

[0026] A first fixing plate 15 is fixed on the top of the second mobile vehicle 2, and a first ultrasonic generator 16 is installed on the first fixing plate 15;

[0027] A second fixing plate 17 is fixed to one side of the first moving vehicle 1 , and a second ultrasonic generator 18 is mounted on the second fixing plate 17 .

[0028] The first mobile vehicle 1 and the second mobile vehicle 2 have the same structure, wherein the second mobile vehicle 2 includes a body 209, a rear support axle frame 202 is fixed to the bottom of the body 209, a rear rotating shaft 201 is rotatably installed in the rear support axle frame 202, and rear rotating wheels 203 are respectively installed at both ends of the rear rotating shaft 201, a front support axle frame 205 is installed at the bottom of the body 209, and a third bidirectional motor 208 is assembled on the bottom side of the body 209, and front rotating shafts 207 are respectively installed on the two output shafts of the third bidirectional motor 208, and the front rotating shaft 207 is rotatably installed in the front support axle frame 205, and a front rotating wheel 206 is installed on the front support axle frame 205. The front rotating wheel 206 and the rear rotating wheel 203 on the same side of the body 209 are externally covered with the same transmission belt 204. When the second mobile vehicle 2 and the first mobile vehicle 1 are in a vertical state, the first ultrasonic generator 16 and the second ultrasonic generator 18 are oriented in the same direction.

[0029] A battery box 3 and a central control box 4 are installed on the top side of the first mobile vehicle 1. The battery box 3 is used to provide power, and the central control box 4 is used for signal control and sending and receiving detection signals. An ultrasonic receiver is provided in the central control box 4.

[0030] Working principle: During the transportation experiment, in order to realize the transportation process on the route containing stairs, the first mobile vehicle 1 and the second mobile vehicle 2 are spliced ​​together to form a combined vehicle body;

[0031] In the initial state of transportation, the second mobile vehicle 2 is perpendicular to the first mobile vehicle 1. During the movement, the third bidirectional motor 208 at the bottom is used as a power drive structure to realize the forward movement of the first mobile vehicle 1. During the forward movement, ultrasonic waves are emitted by the first ultrasonic generator 16 and the second ultrasonic generator 18 respectively to detect the route ahead.

[0032] When the ultrasonic waves emitted by the first ultrasonic generator 16 and the second ultrasonic generator 18 are not reflected, it indicates that there is a passable path ahead;

[0033] When the ultrasonic waves emitted by the first ultrasonic generator 16 and the second ultrasonic generator 18 are both reflected, it means that there is a high obstacle in the path ahead and it is impossible to climb over it, and the route needs to be adjusted;

[0034] When the ultrasonic wave emitted by the second ultrasonic generator 18 is reflected, and the ultrasonic wave emitted by the first ultrasonic generator 16 is not reflected, it means that the vehicle can climb through. When climbing, the second bidirectional motor 14 is operated to drive the second output motor shaft 13 to rotate, so that the second mobile vehicle 2 can be brought close to the obstacle. Under the driving cooperation of the third bidirectional motor 208 at the bottom of the second mobile vehicle 2, the climbing movement is realized, driving the first mobile vehicle 1 to rise.

[0035] During the rising process, the first bidirectional motor 6 operates to drive the first swing frame 8 to swing, and with the cooperation of the propulsion wheel 9, the tail of the first mobile vehicle 1 is lifted. The driving motor 10 operates to cooperate to realize the propulsion of the combined body of the first mobile vehicle 1 and the second mobile vehicle 2, so as to achieve overall propulsion, ensure the stability of the transportation process, and better adapt to various transportation routes.

[0036] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention as claimed.

Claims

1. A route detection climbing transport robot, characterized by: include: A first connecting frame (5) and a second connecting frame (11), wherein the first connecting frame (5) and the second connecting frame (11) are respectively installed at both ends of the first moving vehicle (1); A first bidirectional motor (6), the first bidirectional motor (6) is assembled inside the first connecting frame (5), the two output shafts of the first bidirectional motor (6) are respectively connected to the first output motor shaft (7), the first output motor shaft (7) is respectively rotatably mounted on the side wall of the first connecting frame (5), the end of the first output motor shaft (7) is fixed with a first swing frame (8), the inner side of the bottom side of the first swing frame (8) is mounted with a driving motor (10), the output shaft of the driving motor (10) passes through the bottom of the first swing frame (8), and the end of the output shaft of the driving motor (10) is mounted with a propulsion wheel (9); A second mobile vehicle (2), the bottom side of the second mobile vehicle (2) is connected to a second swing frame (12), a second bidirectional motor (14) is installed in the second connecting frame (11), and second output motor shafts (13) are respectively installed at both ends of the second bidirectional motor (14), the second output motor shaft (13) is rotatably installed in the side wall of the second connecting frame (11), and one end of the second output motor shaft (13) is externally connected to the second swing frame (12); A first fixed plate (15) is fixed on the top of the second mobile vehicle (2), and a first ultrasonic generator (16) is installed on the first fixed plate (15); A second fixed plate (17) is fixed to one side of the first moving vehicle (1), and a second ultrasonic generator (18) is installed on the second fixed plate (17).

2. The route detection climbing carrying robot according to claim 1, characterized in that: The first mobile vehicle (1) and the second mobile vehicle (2) have the same structure, wherein the second mobile vehicle (2) comprises a vehicle body (209), a rear support axle frame (202) is fixed to the bottom of the vehicle body (209), a rear rotating shaft (201) is rotatably mounted in the rear support axle frame (202), and rear rotating wheels (203) are respectively mounted at both ends of the rear rotating shaft (201).

3. The route detection climbing carrying robot according to claim 2, characterized in that: A front support shaft frame (205) is installed at the bottom of the vehicle body (209), and a third bidirectional motor (208) is installed on the bottom side of the vehicle body (209). Front rotating shafts (207) are respectively installed on the two output shafts of the third bidirectional motor (208). The front rotating shaft (207) is rotatably installed in the front support shaft frame (205). A front rotating wheel (206) is installed on the front support shaft frame (205). The front rotating wheel (206) and the rear rotating wheel (203) on the same side of the vehicle body (209) are externally sheathed with the same transmission belt (204).

4. The route detection climbing carrying robot according to claim 1, characterized in that: When the second moving vehicle (2) and the first moving vehicle (1) are in a vertical state, the first ultrasonic generator (16) and the second ultrasonic generator (18) are oriented in the same direction.

5. The route detection climbing carrying robot according to claim 1, characterized in that: A battery box (3) and a central control box (4) are installed on the top side of the first mobile vehicle (1); the battery box (3) is used to provide power; the central control box (4) is used for signal control and the sending and receiving of detection signals; an ultrasonic receiver is provided in the central control box (4).

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