A composite robot capable of omni-directional movement

Abstract

The utility model discloses a kind of omnidirectional movement composite robots, belong to robot technical field, including robot main body, the outer surface of robot main body is fixedly installed with air pump, the output end of air pump is fixedly connected with conveying pipe, the bottom surface of robot main body is fixedly installed with two groups of bearing bracket, the inner wall of each bearing bracket is rotatably connected with rack ring, the bottom surface of each rack ring is fixedly installed with several hair brushes, the outer surface of each bearing bracket is fixedly installed with rotating motor, the output end of each rotating motor is fixedly installed with connecting gear, the outer surface of each connecting gear is engaged with the outer surface of rack ring, the outer surface of each bearing bracket is provided with connecting pipe. The omnidirectional movement composite robot, by being provided with robot main body, bearing bracket, rack ring, hair brush, rotating motor and connecting gear, thereby avoid impurities to be stuck in inside mecanum wheel, and then avoid affecting the operation of mecanum wheel.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular relates to an omnidirectional mobile composite robot. Background Technology

[0002] Omnidirectional mobile composite robots integrate omnidirectional mobile mechanisms and multi-functional execution modules to achieve flexible movement and multi-task collaborative operation, making them suitable for automation scenarios in narrow spaces and complex paths.

[0003] Most existing omnidirectional robots use Mecanum wheels for omnidirectional movement. However, because Mecanum wheels have many grooves, small stones, dust, metal shavings and other debris can easily get stuck in the grooves of the small rollers during movement. This not only damages the rollers and the ground, but also seriously interferes with the movement, thus reducing the practicality of the device.

[0004] To address these issues, we propose an omnidirectional mobile composite robot. Utility Model Content

[0005] The purpose of this invention is to solve the problem that small stones, dust, metal shavings and other debris are easily trapped in the grooves of Mecanum wheels in the prior art, and to propose an omnidirectional mobile composite robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An omnidirectional mobile composite robot includes a robot body. An air pump is fixedly installed on the outer surface of the robot body, and the output end of the air pump is fixedly connected to a delivery pipe. Two sets of bearing frames are fixedly installed on the bottom surface of the robot body. A rack ring is rotatably connected to the inner wall of each bearing frame. Several brushes are fixedly installed on the bottom surface of each rack ring. A rotating motor is fixedly installed on the outer surface of each bearing frame. A connecting gear is fixedly installed at the output end of each rotating motor. The outer surface of each connecting gear meshes with the outer surface of the rack ring. A connecting pipe is provided on the outer surface of each bearing frame. The end of the delivery pipe away from the air pump extends into the interior of the connecting pipe. Several nozzles are fixedly connected to the outer surface of each connecting pipe.

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

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

[0010] Preferably, two fixing blocks are fixedly installed on the bottom surface of the robot body, and the inner wall of each fixing block is fixedly connected to the outer surface of the conveying pipe.

[0011] Preferably, a connecting bearing is fixedly installed on the outer surface of each bearing bracket, and the bottom surface of the inner ring of each connecting bearing is fixedly connected to the upper surface of the connecting gear.

[0012] Preferably, each of the bearing brackets has a plurality of fixing seats fixedly installed on its outer surface, and the inner wall of each fixing seat is fixedly connected to the outer surface of the connecting pipe.

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

[0014] Preferably, a protective box is fixedly installed on the upper surface of the robot body, and a protective cover is rotatably hinged to the upper surface of the protective box.

[0015] In summary, the technical effects and advantages of this utility model are as follows: By incorporating a robot body, bearing frame, rack ring, brush, rotating motor, and connecting gear, the power provided by the rotating motor, in conjunction with the connecting gear, drives the rack ring and brush to rotate around the outside of the Mecanum wheel. This allows the robot body to continuously clean impurities around the Mecanum wheel during its movement, preventing impurities from getting stuck inside the Mecanum wheel and thus avoiding affecting its operation. Furthermore, by incorporating an air pump, delivery pipe, connecting pipe, and nozzle, the power provided by the air pump propels external gas through the delivery pipe, connecting pipe, and nozzle onto the ground, creating an outward flow of gas around the Mecanum wheel. This blows impurities away from the robot body, further preventing impurities from getting stuck inside the Mecanum wheel. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the main body of the robot of this utility model;

[0017] Figure 2 This is a three-dimensional structural schematic diagram of the robot body from below;

[0018] Figure 3 This is a three-dimensional structural diagram of the bearing bracket of this utility model;

[0019] Figure 4 This is a three-dimensional structural schematic diagram of the connecting bearing of this utility model (cross-sectional view).

[0020] Figure 5 This is a three-dimensional structural schematic diagram of the rear view of the main body of the robot of this utility model.

[0021] In the diagram: 1. Robot body; 2. Air pump; 3. Delivery pipe; 4. Bearing frame; 5. Rack ring; 6. Brush; 7. Rotating motor; 8. Connecting gear; 9. Connecting pipe; 10. Nozzle; 11. Monitoring module; 12. Control module; 13. Wireless transmission module; 14. Mechanical gripper; 15. Placement box; 16. Fixing block; 17. Connecting bearing; 18. Fixing base; 19. Battery module; 20. Protective box; 21. Protective cover. Detailed Implementation

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

[0023] Reference Figure 1-5 A composite robot capable of omnidirectional movement includes a robot body 1, a mechanical claw 14 fixedly mounted on the upper surface of the robot body 1, and a placement box 15 fixedly mounted on the upper surface of the robot body 1. The mechanical claw 14 facilitates the gripping and movement of goods, while the placement box 15 serves to place the goods.

[0024] 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 fixing blocks 16 are fixedly installed on the bottom surface of the robot body 1. The inner wall of each fixing block 16 is fixedly connected to the outer surface of the delivery pipe 3. The installation of the fixing blocks 16 serves to limit and fix the delivery pipe 3, thereby preventing the delivery pipe 3 from shaking on its own during the gas delivery process.

[0025] Two sets of bearing brackets 4 are fixedly installed on the bottom surface of the robot body 1. Each bearing bracket 4 has a rack ring 5 rotatably connected to its inner wall. Several brushes 6 are fixedly installed on the bottom surface of each rack ring 5. Two sets of monitoring modules 11 are fixedly installed on the upper surface of the robot body 1. A control module 12 and a wireless transmission module 13 are fixedly installed on the upper surface of the robot body 1, respectively. The monitoring module 11 is composed of a vision sensor, a GPS locator and other structures, which enables the robot body 1 to achieve obstacle avoidance. The control module 12 is composed of a PLC controller and other components, which controls the operation of the robot body 1. The wireless transmission module 13 allows the worker to remotely control the operation of the robot body 1 through an external remote control device.

[0026] A rotating motor 7 is fixedly installed on the outer surface of each bearing housing 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 bearing 17 is fixedly installed on the outer surface of each bearing housing 4. The bottom surface of the inner ring of each connecting bearing 17 is fixedly connected to 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 preventing the connecting gear 8 from shaking when rotating, and thus ensuring the stability of the rotation of the connecting gear 8.

[0027] Each bearing bracket 4 has a connecting pipe 9 on its outer surface. The end of the delivery pipe 3 away from the air pump 2 passes through the interior of the connecting pipe 9. Several fixing seats 18 are fixedly installed on the outer surface of each bearing bracket 4. The inner wall of each fixing seat 18 is fixedly connected to the outer surface of the connecting pipe 9. The installation of the fixing seat 18 serves to fix the connecting pipe 9 to the bearing bracket 4.

[0028] Each connecting pipe 9 has several nozzles 10 fixedly connected to its outer surface. 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 robot body 1, air pump 2, rotating motor 7, monitoring module 11, control module 12, wireless transmission module 13 and mechanical claw 14 through wires, thereby providing power to the electrical equipment of the device.

[0029] A protective box 20 is fixedly installed on the upper surface of the robot body 1. A protective cover 21 is rotatably hinged to the upper surface of the protective box 20. The installation of the protective box 20 and the protective cover 21 serves to protect the control module 12, the wireless transmission module 13 and the battery module 19, thereby preventing damage from external objects.

[0030] The working principle of this utility model is as follows: During use, the worker controls the operation of the robot body 1 through an external remote control device. During the operation of the robot body 1, the power provided by the rotating motor 7 drives the connecting gear 8 to rotate, thereby causing the connecting gear 8 to drive the rack ring 5 to rotate, which in turn causes the rack ring 5 to drive the brush 6 to rotate, so that the brush 6 can sweep away the impurities on the ground. At the same time, the power provided by the air pump 2 is used to input the external gas into the inside of the delivery pipe 3, so that the gas passes through the delivery pipe 3, the connecting pipe 9 and the nozzle 10 and is blown towards the ground at an angle, thereby forming gas flowing away from the Mecanum wheel. Under the action of the gas and the brush 6, impurities are prevented from getting stuck inside the Mecanum wheel, thus 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 inside the placement box 15, thereby enabling the robot body 1 to transport the goods.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

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).

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