robot

Abstract

The application provides a robot, comprising a main body, two guide wheels rotatably connected with the main body, two driving units, the two guide wheels and the two driving units forming a quadrilateral, the two guide wheels being located at one set of opposite corners of the quadrilateral, the two driving units being located at the other set of opposite corners of the quadrilateral, each driving unit comprising a fixing member, a roller, a translation driving assembly and a rotation driving assembly, the fixing member being connected with the main body, the roller being rotatably connected with the fixing member, the translation driving assembly being arranged on the fixing member and used for driving the roller to roll, and the rotation driving assembly being arranged on the fixing member and used for driving the roller to rotate. The two guide wheels of the robot are located at one set of opposite corners of the quadrilateral, and the two rollers are located at the other set of opposite corners of the quadrilateral, so that a stable motion structure can be formed, the motion precision of the robot is improved, the translation driving assembly, the rotation driving assembly and the roller are independently arranged, the driving unit is convenient to disassemble and assemble, and the maintenance cost of the robot is reduced.

Description

Technical Field

[0001] This application relates to the field of unmanned transportation technology, specifically to a robot. Background Technology

[0002] AGVs (Automated Guided Vehicles) are widely used in manufacturing, logistics, and other industries. The commonly used drive device in AGVs is two independently controlled motors mounted on the main body, which are used to achieve steering through differential control. This method results in high cost and low motion accuracy for AGVs. Utility Model Content

[0003] In view of the above, it is necessary to provide a robot that can improve motion accuracy and reduce maintenance costs.

[0004] This application provides a robot, including:

[0005] main body;

[0006] Two guide wheels are rotatably connected to the main body;

[0007] Two drive units, together with two guide wheels, form a quadrilateral. The two guide wheels are located at one pair of opposite corners of the quadrilateral, and the two drive units are located at the other pair of opposite corners. Each drive unit includes a fixing member, a roller, a translation drive assembly, and a rotation drive assembly. The fixing member is connected to the main body, and the roller is rotatably connected to the fixing member. The translation drive assembly is located on the fixing member and connected to the roller, and is used to drive the roller to roll. The rotation drive assembly is located on the fixing member and is used to drive the fixing member to rotate the roller relative to the main body.

[0008] The robot described above can perform linear motion driven by two sets of translational drive components and can turn under the drive of two sets of rotational drive components. The two drive units and two guide wheels form a quadrilateral, with the two guide wheels located at one pair of opposite corners and the two rollers at the other pair of opposite corners. This creates a stable motion structure, which helps improve the robot's motion accuracy. Furthermore, the translational drive components, rotational drive components, and rollers are independently configured, facilitating the assembly and disassembly of the drive units and reducing the robot's maintenance costs.

[0009] In some embodiments, the fastener includes:

[0010] A fixed body is connected to the main body, and both the translation drive assembly and the rotation drive assembly are disposed on the fixed body;

[0011] The mounting body is vertically connected to the side of the fixing body away from the main body, and the roller is rotatably connected to the mounting body.

[0012] In some embodiments, the translation drive assembly includes a translation drive member and a translation shaft, the translation shaft passing through the roller, the translation drive member being disposed on the fixed body and connected to the translation shaft, for driving the translation shaft to drive the roller to rotate.

[0013] In some embodiments, the translation drive component further includes:

[0014] A support member is provided to connect the mounting body and extend along the axial direction of the translation axis;

[0015] A translation detection element is disposed on the support and is connected to the translation shaft for transmission, and is used to obtain the rotational angular velocity of the roller.

[0016] In some embodiments, the translation drive component further includes:

[0017] A braking element, connected to the mounting body, is used to brake the translation shaft.

[0018] In some embodiments, the fixing body includes a fixing plate and a fixing gear. The fixing gear is connected to the main body, and the fixing plate is connected to the side of the fixing gear opposite to the main body. The translational drive member is disposed on the fixing plate. The rotational drive assembly includes a rotational drive member and a drive gear. The drive gear meshes with the fixing gear. The rotational drive member is disposed on the fixing plate and connected to the drive gear, and is used to drive the drive gear to rotate around the fixing gear, thereby driving the fixing member and the roller to rotate.

[0019] In some embodiments, the rotation drive assembly further includes:

[0020] The driven gear meshes with the fixed gear and is rotatably connected to the fixed plate;

[0021] A rotation detection element is disposed on the fixed plate and rotatably connected to the driven gear, used to obtain the rotation angle of the driven gear.

[0022] In some embodiments, the outer diameters of the driving gear and the driven gear are equal.

[0023] In some embodiments, the ratio c of the outer diameter of the driving gear and the fixed gear satisfies the relationship: 0.25≤c≤0.5.

[0024] In some embodiments, the fastener further includes:

[0025] Two protective bodies are respectively connected to the fixed body and located on opposite sides of the mounting body, and the translation drive assembly and the roller are both located between the two protective bodies. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the robot structure according to an embodiment of this application.

[0027] Figure 2 for Figure 1 The diagram shows the structure of the drive unit in the robot.

[0028] Figure 3 for Figure 2 The diagram shows the structure of the drive unit from another angle.

[0029] Explanation of main component symbols: Robot 100, main body 110, guide wheel 120, drive unit 130, fixing component 131, fixing body 1311, fixing plate 1311a, fixing gear 1311b, mounting body 1312, protective body 1313, roller 132, translation drive assembly 133, translation drive component 1331, translation shaft 1332, support component 1333, translation detection component 1334, brake component 1335, rotation drive assembly 134, rotation drive component 1341, driving gear 1342, driven gear 1343, rotation detection component 1344. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction between two elements. In the description of this application, it should be noted that "multiple" means two or more, unless otherwise expressly and specifically limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0033] Please see Figure 1This application provides a robot 100, including a main body 110, two guide wheels 120, and two drive units 130. The robot 100 can be used to transport materials, and can perform translational and turning movements under the action of the two drive units 130 and the two guide wheels 120.

[0034] Please see Figure 1 and Figure 2 Two guide wheels 120 are rotatably connected to the main body 110. Two drive units 130 and the two guide wheels 120 form a quadrilateral. The two guide wheels 120 are located at one pair of opposite corners of the quadrilateral, and the two drive units 130 are located at the other pair of opposite corners. Each drive unit 130 includes a fixing member 131, a roller 132, a translation drive assembly 133, and a rotation drive assembly 134. The fixing member 131 is connected to the main body 110, the roller 132 is rotatably connected to the fixing member 131, the translation drive assembly 133 is located on the fixing member 131 and connected to the roller 132, and is used to drive the roller 132 to roll. The rotation drive assembly 134 is located on the fixing member 131 and is used to drive the fixing member 131 to drive the roller 132 to rotate relative to the main body 110. For example, the guide wheel 120 is a caster wheel.

[0035] The robot 100 described above can perform linear motion under the drive of two sets of translation drive components 133, and can turn under the drive of two sets of rotation drive components 134. The two drive units 130 and two guide wheels 120 form a quadrilateral, with the two guide wheels 120 located at one pair of opposite corners of the quadrilateral, and the two rollers 132 located at the other pair of opposite corners. This creates a stable motion structure, which helps improve the motion accuracy of the robot 100. Furthermore, the translation drive components 133, rotation drive components 134, and rollers 132 are independently configured, facilitating the assembly and disassembly of the drive units 130 and reducing the maintenance cost of the robot 100.

[0036] Please see Figure 1 and Figure 2 In some embodiments, the fixing member 131 includes a fixing body 1311 and a mounting body 1312. The fixing body 1311 is connected to the main body 110, and the translation drive assembly 133 and the rotation drive assembly 134 are both disposed on the fixing body 1311. The mounting body 1312 is vertically connected to the side of the fixing body 1311 away from the main body 110, and the roller 132 is rotatably connected to the mounting body 1312.

[0037] Therefore, the mounting body 1312 is vertically connected to the fixing body 1311, so that the fixing member 131 is roughly T-shaped. The area between the mounting body 1312 and the fixing body 1311 can be used to install the translation drive assembly 133 and the rotation drive assembly 134, which can avoid the translation drive assembly 133 and the rotation drive assembly 134 occupying the space of the fixing member 131, and is conducive to reducing the overall height of the drive unit 130.

[0038] In some embodiments, the translation drive assembly 133 includes a translation drive member 1331 and a translation shaft 1332. The translation shaft 1332 passes through the roller 132. The translation drive member 1331 is disposed on the fixed body 1311 and connected to the translation shaft 1332, and is used to drive the translation shaft 1332 to rotate the roller 132. Exemplarily, the translation drive member 1331 can be a composite structure of a linear motor and a geared motor.

[0039] Therefore, the above settings can simplify the installation of the translation drive assembly 133 and the fixing member 131, and improve the efficiency of disassembly and assembly of the translation drive assembly 133 relative to the fixing member 131.

[0040] In some embodiments, the translation drive assembly 133 further includes a support member 1333 and a translation detection member 1334. The support member 1333 is connected to the mounting body 1312 and extends axially along the translation shaft 1332. The translation detection member 1334 is disposed on the support member 1333 and is throttle-connected to the translation shaft 1332, and is used to acquire the rotational angular velocity of the roller 132. Exemplarily, the translation detection member 1334 may be an encoder.

[0041] Therefore, the driving accuracy of the translation drive component 1331 can be improved by using the translation detection component 1334.

[0042] It should be noted that the translation detection component 1334 and the translation drive component 1331 can be electrically connected to the controller provided on the main body 110. The controller controls the drive of the translation drive component 1331 on the translation shaft 1332 based on the rotational angular velocity of the roller 132 obtained by the translation detection component 1334.

[0043] In some embodiments, the translation drive assembly 133 further includes a brake 1335. The brake 1335 is connected to the mounting body 1312 and is used to brake the translation shaft 1332. Exemplarily, the brake 1335 may be a solenoid valve.

[0044] Therefore, the accuracy of robot 100's movement can be improved by using brake 1335.

[0045] It should be noted that the brake 1335 can be electrically connected to the controller located on the main body 110. When the robot 100 needs to stop moving, the controller controls the brake 1335 to brake the translation shaft 1332 so that the guide wheel 132 stops rotating.

[0046] Please see Figure 1 and Figure 2 In some embodiments, the fixed body 1311 includes a fixed plate 1311a and a fixed gear 1311b. The fixed gear 1311b is connected to the main body 110, and the fixed plate 1311a is connected to the side of the fixed gear 1311b away from the main body 110. A translational drive member 1331 is disposed on the fixed plate 1311a. The rotational drive assembly 134 includes a rotational drive member 1341 and a drive gear 1342. The drive gear 1342 meshes with the fixed gear 1311b. The rotational drive member 1341 is disposed on the fixed plate 1311a and connected to the drive gear 1342, and is used to drive the drive gear 1342 to rotate around the fixed gear 1311b, so as to drive the fixed body 131 and the roller 132 to rotate.

[0047] Therefore, when the rotating drive 1341 drives the active gear 1342 to rotate, the active gear 1342 rotates around the fixed gear 1311b, thereby driving the fixed part 131 and the roller 132 to rotate, realizing the steering of the robot 100. The structure is simple and the manufacturing cost is low. Moreover, the rotation structure transmitted by the gear can improve the stability of the rotation of the fixed part 131 and the roller 132.

[0048] In some embodiments, the rotation drive assembly 134 further includes a driven gear 1343 and a rotation detection element 1344. The driven gear 1343 meshes with a fixed gear 1311b and is rotatably connected to a fixed plate 1311a. The rotation detection element 1344 is disposed on the fixed plate 1311a and rotatably connected to the driven gear 1343, and is used to obtain the rotation angle of the driven gear 1343. Exemplarily, the rotation detection element 1344 can be an encoder.

[0049] Therefore, the driving accuracy of the rotation drive component 1341 can be improved by rotating the detection component 1344.

[0050] It should be noted that the rotation detection element 1344 and the rotation drive element 1341 can be electrically connected to the controller provided on the main body 110. The controller controls the rotation drive element 1341 to drive the drive gear 1342 based on the rotation angle of the roller 132 obtained by the rotation detection element 1344.

[0051] In some embodiments, the outer diameters of the driving gear 1342 and the driven gear 1343 are equal.

[0052] Therefore, by setting it up as described above, the rotation angle of the rotation detection element 1344 is the same as the rotation angle of the drive gear 1342, which can improve the control accuracy.

[0053] In some embodiments, the ratio c of the outer diameters of the driving gear 1342 and the stationary gear 1311b satisfies the relationship: 0.25 ≤ c ≤ 0.5. For example, c can be 0.25, 0.3, 0.35, 0.4, 0.45, or 0.5.

[0054] Therefore, by reasonably configuring the outer diameter ratio c, the miniaturization of the rotation drive component 134 can be achieved at a low cost.

[0055] Please see Figure 2 and Figure 3 In some embodiments, the fixing member 131 includes two protective bodies 1313. The two protective bodies 1313 are respectively connected to the fixing body 1311 and located on opposite sides of the mounting body 1312, and the translation drive assembly 133 and the roller 132 are both located between the two protective bodies 1313.

[0056] Therefore, the two protective bodies 1313 can prevent external components from colliding with the translation drive assembly 133, the rotation drive assembly 134 and the roller 132, which is beneficial to improving the service life of the translation drive assembly 133, the rotation drive assembly 134 and the roller 132.

[0057] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A robot, characterized in that, include: main body; Two guide wheels are rotatably connected to the main body; Two drive units, together with two guide wheels, form a quadrilateral. The two guide wheels are located at one pair of opposite corners of the quadrilateral, and the two drive units are located at the other pair of opposite corners. Each drive unit includes a fixing member, a roller, a translation drive assembly, and a rotation drive assembly. The fixing member is connected to the main body, and the roller is rotatably connected to the fixing member. The translation drive assembly is located on the fixing member and connected to the roller, and is used to drive the roller to roll. The rotation drive assembly is located on the fixing member and is used to drive the fixing member to rotate the roller relative to the main body.

2. The robot as described in claim 1, characterized in that, The fastener includes: A fixed body is connected to the main body, and both the translation drive assembly and the rotation drive assembly are disposed on the fixed body; The mounting body is vertically connected to the side of the fixing body away from the main body, and the roller is rotatably connected to the mounting body.

3. The robot as described in claim 2, characterized in that, The translation drive assembly includes a translation drive component and a translation shaft. The translation shaft passes through the roller. The translation drive component is located on the fixed body and connected to the translation shaft, and is used to drive the translation shaft to rotate the roller.

4. The robot as described in claim 3, characterized in that, The translation drive component further includes: A support member is provided to connect the mounting body and extend along the axial direction of the translation axis; A translation detection element is disposed on the support and is connected to the translation shaft for transmission, and is used to obtain the rotational angular velocity of the roller.

5. The robot as described in claim 3, characterized in that, The translation drive component further includes: A braking element, connected to the mounting body, is used to brake the translation shaft.

6. The robot as described in claim 3, characterized in that, The fixing body includes a fixing plate and a fixing gear. The fixing gear is connected to the main body, and the fixing plate is connected to the side of the fixing gear away from the main body. The translation drive is disposed on the fixing plate. The rotation drive assembly includes a rotation drive component and a drive gear. The drive gear meshes with the fixed gear. The rotation drive component is disposed on the fixed plate and connected to the drive gear, and is used to drive the drive gear to rotate around the fixed gear, thereby driving the fixed component and the roller to rotate.

7. The robot as described in claim 6, characterized in that, The rotation drive assembly further includes: The driven gear meshes with the fixed gear and is rotatably connected to the fixed plate; A rotation detection element is disposed on the fixed plate and rotatably connected to the driven gear, used to obtain the rotation angle of the driven gear.

8. The robot as described in claim 7, characterized in that, The outer diameters of the driving gear and the driven gear are equal.

9. The robot as described in claim 8, characterized in that, The ratio c of the outer diameter of the driving gear and the fixed gear satisfies the following relationship: 0.25≤c≤0.

5.

10. The robot as described in claim 2, characterized in that, The fastener also includes: Two protective bodies are respectively connected to the fixed body and located on opposite sides of the mounting body, and the translation drive assembly and the roller are both located between the two protective bodies.

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