CN103659789A - Conveying robot for competition - Google Patents
Conveying robot for competition Download PDFInfo
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- CN103659789A CN103659789A CN201310630516.XA CN201310630516A CN103659789A CN 103659789 A CN103659789 A CN 103659789A CN 201310630516 A CN201310630516 A CN 201310630516A CN 103659789 A CN103659789 A CN 103659789A
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Abstract
The invention discloses a conveying robot for competition, and belongs to the technical field of robots. The conveying robot mainly comprises a clamping device, a traveling gear and a host control system. Set routes on roads are tracked by the aid of an infrared sensor II and an infrared sensor III, so that the traveling gear can advance along the set routes, to-be-clamped objects can be sensed by an infrared sensor I, the traveling gear stops advancing when the to-be-clamped objects are sensed, a clamping hand accurately clamps the objects under the joint effects of a motor I, a motor II, a motor III, a motor IV, a motor V, a motor VI and the motor VII, the objects are conveyed to specified locations by the traveling gear along the set routes after the objects are clamped, the traveling gear stops advancing when reaching the specified locations, the clamped objects are placed at the specified locations by the clamping device, the traveling gear returns original positions along the original routes after the objects are placed down, and next conveying procedures can be carried out. The conveying robot has the advantage that the objects can be completely automatically conveyed by the conveying robot during competition.
Description
Technical field
The invention belongs to Robotics field, relate to a kind of transfer robot for contest.
Background technology
China facing aging society, and the present situation such as labor shortage, in order to replace the mankind to be engaged in heavy manual labor, be necessary to encourage to promote the development of transfer robot, wherein, transfer robot contest can excite industrial carrying machine people's design inspiration, in the national robot contest of holding at present, transfer robot contest is an important event, so, be necessary to promote the innovation for the transfer robot of contest.
Summary of the invention
The invention discloses a kind of transfer robot for contest, comprise clamping device, running gear, engine control system.Running gear mainly comprises motor VIII, motor IX, chassis I, chassis II, wheel, infrared sensor I, infrared sensor II, infrared sensor III; Motor IX wheels is rotated, motor IX is connected by connector with motor VIII, and the plane of rotation that motor VIII is controlled is horizontal plane, drive motors IX is rotated together with wheel on horizontal plane, motor VIII, motor IX and wheel have formed omni-directional wheel jointly, this omni-directional wheel has four groups, is arranged in the II of chassis, and the figure that four groups of omni-directional wheels surround in the II of chassis is rectangle; Infrared sensor I is arranged on the dead ahead of chassis II, and on the line of symmetry in chassis II, and the induction end of infrared sensor I is consistent with running gear direction of advance; Infrared sensor II and infrared sensor III are installed on the middle of chassis II, and infrared sensor II and infrared sensor III are symmetrical about the chassis II line of symmetry at infrared sensor I place, and the induction end vertical row of infrared sensor II and infrared sensor III is walked road surface; Chassis I be arranged on chassis II directly over, and the shape of ⅠHe chassis, chassis II is identical; Engine control system is installed on I one end, chassis; The centre of chassis I is installed with clamping device, and clamping device mainly comprises motor I, clamping hand, motor II, motor III, motor IV, motor V, motor VI and motor VII; Clamping device is connected with chassis I by motor VII, and the plane of rotation of motor VII is horizontal plane; Motor VI is connected with motor VII by connector, is positioned at motor VII top, and the plane of rotation that motor VI is controlled is vertical plane; Motor V is connected with motor VI by connector, is positioned at motor VI top, and the plane of rotation that motor V is controlled is horizontal plane; Motor IV is connected by connector with motor V, is positioned at motor V top, and the plane of rotation that motor IV is controlled is vertical plane, and this vertical plane is perpendicular to the plane of rotation of motor VI control; Motor III and motor IV are fixed together; Motor III is connected with motor II, motor II is positioned at motor III top, motor III is controlled the rotation of the vertical plane of the above part of clamping device motor III, the part vertical plane that motor IV is controlled below clamping device motor IV rotates, and vertical plane and motor IV control vertical plane that motor III is controlled overlap completely; Motor II connects with clamping palmistry, controls the rotation of clamping hand vertical plane; Motor I is arranged on clamping on hand, is controlling the clamping and the release function that clamp hand.
the operation principle of transfer robot
The invention discloses a kind of transfer robot for contest, by the route having set in infrared sensor II and infrared sensor III road pavement, carry out tracking, running gear is advanced according to the route setting, infrared sensor I is responded to the object that will clamp, when sensing the object that will clamp, halt, in motor I, folder motor II, motor III, motor IV, motor V, motor VI and motor VII are jointly under the effect of clamping hand, object is accurately clamped, clamped after object, again by running gear according to the route arranging by object transport to appointed place, when arriving appointed place, running gear halts, clamping device is placed on appointed place by the object of clamping, after putting down, running gear returns to initial position by original route again, continue to carry out carrying next time.
Accompanying drawing explanation
Fig. 1 is a kind of schematic three dimensional views of the transfer robot for contest
Fig. 2 is that the black and white of a kind of actual figure of transfer robot for contest is shone
Fig. 3 is that a kind of A of the transfer robot schematic diagram for contest is to profile
reference numeral table
1, motor I 2, clamping hand 3, motor II 4, motor III 5, motor IV
6, motor V 7, motor VI 8, engine control system 9, chassis I
10, motor VII 11, motor VIII 12, infrared sensor I 13, wheel
14, infrared sensor II 15, infrared sensor III 16, chassis II
17, motor IX
By reference to the accompanying drawings described a kind of transfer robot for contest to be further illustrated below.
the specific embodiment one
Be a kind of transfer robot for contest as depicted in figs. 1 and 2, comprise clamping device, running gear, engine control system.Running gear mainly comprises motor VIII 11, motor IX 17, chassis I 9, chassis II 16, wheel 13, infrared sensor I 12, infrared sensor II 14, infrared sensor III 15; Motor IX 17 wheels 13 are rotated, motor IX 17 is connected by connector with motor VIII 11, and the plane of rotation that motor VIII 11 is controlled is horizontal plane, drive motors IX 17 is rotated together with wheel 13 on horizontal plane, motor VIII 11, motor IX 17 and wheel 13 have formed omni-directional wheel jointly, this omni-directional wheel has four groups, is arranged in chassis II 16, and the figure that four groups of omni-directional wheels surround in chassis II 16 is rectangle; Infrared sensor I 12 is arranged on the dead ahead of chassis II 16, and on the line of symmetry in chassis II 16, and the induction end of infrared sensor I 12 is consistent with running gear direction of advance; Infrared sensor II 14 and infrared sensor III 15 are installed on the middle of chassis II 16, and infrared sensor II 14 and infrared sensor III 15 are symmetrical about chassis II 16 line of symmetries at infrared sensor I 12 places, the induction end vertical row of infrared sensor II 14 and infrared sensor III 15 is walked road surface, as shown in Figure 3; Chassis I 9 be arranged on chassis II directly over, and chassis I 9 is identical with the shape of chassis II 16; Engine control system is installed on chassis I 9 one end; The centre of chassis I 9 is installed with clamping device, and clamping device mainly comprises motor I 1, clamping hand 2, motor II 3, motor III 4, motor IV 5, motor V 6, motor VI 7 and motor VII 10; Clamping device is connected with chassis I 9 by motor VII 10, and the plane of rotation of motor VII 10 is horizontal plane; Motor VI 7 is connected with motor VII 10 by connector, is positioned at motor VII 10 tops, and the plane of rotation that motor VI 7 is controlled is vertical plane; Motor V 6 is connected with motor VI 7 by connector, is positioned at motor VI 7 tops, and the plane of rotation that motor V 6 is controlled is horizontal plane; Motor IV 5 is connected by connector with motor V 6, is positioned at motor V 6 tops, and the plane of rotation that motor IV 5 is controlled is vertical plane, and this vertical plane is perpendicular to the plane of rotation of motor VI 7 controls; Motor III 4 is fixed together with motor IV 5; Motor III 4 is connected with motor II 3, motor II 3 is positioned at motor III 4 tops, motor III 4 is controlled the rotation of more than 4 vertical plane of part of clamping device motor III, motor IV 5 is controlled the part vertical plane of clamping device motor IV below 5 and is rotated, and vertical plane and motor IV 5 control vertical planes that motor III 4 is controlled overlap completely; Motor II 3 is connected with clamping hand 2, controls the rotation of clamping hand 2 vertical planes; Motor I 1 is arranged on clamping hand 2, is controlling the clamping and the release function that clamp hand 2.
the specific embodiment two
The invention discloses a kind of transfer robot for contest, by the route having set in infrared sensor II 14 and infrared sensor III 15 road pavement, carry out tracking, running gear is advanced according to the route setting, 12 pairs of objects that will clamp of infrared sensor I are responded to, when sensing the object that will clamp, halt, in motor I 1, folder motor II 3, motor III 4, motor IV 5, motor V 6, motor VI 7 and motor VII 10 are jointly under the effect of clamping hand 2, object is accurately clamped, clamped after object, again by running gear according to the route arranging by object transport to appointed place, when arriving appointed place, running gear halts, clamping device is placed on appointed place by the object of clamping, after putting down, running gear returns to initial position by original route again, continue to carry out carrying next time.
Claims (3)
1. for a transfer robot for contest, comprise clamping device, running gear, engine control system; Running gear mainly comprises motor VIII, motor IX, chassis I, chassis II, wheel, infrared sensor I, infrared sensor II, infrared sensor III; Motor IX wheels is rotated, motor IX is connected by connector with motor VIII, and the plane of rotation that motor VIII is controlled is horizontal plane, drive motors IX is rotated together with wheel on horizontal plane, motor VIII, motor IX and wheel have formed omni-directional wheel jointly, this omni-directional wheel has four groups, is arranged in the II of chassis, and the figure that four groups of omni-directional wheels surround in the II of chassis is rectangle; Infrared sensor I is arranged on the dead ahead of chassis II, and on the line of symmetry in chassis II, and the induction end of infrared sensor I is consistent with running gear direction of advance; Infrared sensor II and infrared sensor III are installed on the middle of chassis II, and infrared sensor II and infrared sensor III are symmetrical about the chassis II line of symmetry at infrared sensor I place, and the induction end vertical row of infrared sensor II and infrared sensor III is walked road surface; Chassis I be arranged on chassis II directly over; Engine control system is installed on I one end, chassis; The centre of chassis I is installed with clamping device, and clamping device mainly comprises motor I, clamping hand, motor II, motor III, motor IV, motor V, motor VI and motor VII; Clamping device is connected with chassis I by motor VII; Motor VI is connected with motor VII by connector, is positioned at motor VII top; Motor V is connected with motor VI by connector, is positioned at motor VI top; Motor IV is connected by connector with motor V, is positioned at motor V top; Motor III and motor IV are fixed together; Motor III is connected with motor II, and motor II is positioned at motor III top, and motor III is controlled the rotation of the vertical plane of the above part of clamping device motor III, and the part vertical plane that motor IV is controlled below clamping device motor IV rotates; Motor II connects with clamping palmistry, controls the rotation of clamping hand vertical plane; Motor I is arranged on clamping on hand, is controlling the clamping and the release function that clamp hand.
2. a kind of transfer robot for contest according to claim 1, is characterized in that, the plane of rotation of the motor VII in clamping device is horizontal plane; The plane of rotation that motor VI is controlled is vertical plane; The plane of rotation that motor V is controlled is horizontal plane; The plane of rotation that motor IV is controlled is vertical plane, and this vertical plane is perpendicular to the plane of rotation of motor VI control; The vertical plane that motor III is controlled and motor IV are controlled vertical plane and are overlapped completely.
3. a kind of transfer robot for contest according to claim 1, is characterized in that, the shape of ⅠHe chassis, chassis II is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310630516.XA CN103659789A (en) | 2013-12-02 | 2013-12-02 | Conveying robot for competition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310630516.XA CN103659789A (en) | 2013-12-02 | 2013-12-02 | Conveying robot for competition |
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| Publication Number | Publication Date |
|---|---|
| CN103659789A true CN103659789A (en) | 2014-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310630516.XA Pending CN103659789A (en) | 2013-12-02 | 2013-12-02 | Conveying robot for competition |
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| Country | Link |
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| CN (1) | CN103659789A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538324A (en) * | 2015-12-28 | 2016-05-04 | 浙江大学 | Acoustic control robot based on DTMF signals |
| CN107244275A (en) * | 2017-06-23 | 2017-10-13 | 华柳钧 | A kind of Multi-functional transporting machine people |
| CN107526357A (en) * | 2017-08-03 | 2017-12-29 | 宁波工程学院 | Relay robot car and its relay method |
| CN107696008A (en) * | 2017-09-28 | 2018-02-16 | 浙江大学城市学院 | One kind transport confrontation robot combining structure |
| CN109048837A (en) * | 2018-08-13 | 2018-12-21 | 无锡城市职业技术学院 | Sorting transport robot and control system and sorting transport method in complicated contest task |
| CN110127256A (en) * | 2019-03-29 | 2019-08-16 | 杭州师范大学钱江学院 | It is a kind of based on the logistics trolley pneumatically grabbed and its transportation resources |
| CN111829473A (en) * | 2020-07-29 | 2020-10-27 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
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| CN101326034A (en) * | 2006-03-24 | 2008-12-17 | 松下电器产业株式会社 | Manipulator control method and control system |
| CN201736218U (en) * | 2010-05-12 | 2011-02-09 | 于皓瑜 | Multifunctional explosive setting manipulator based on remote blasting technique |
| CN103010289A (en) * | 2013-01-18 | 2013-04-03 | 西北农林科技大学 | Omni-directional steering and lifting agricultural remote control mobile robot platform |
| CN203600234U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Transfer robot for competition |
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Patent Citations (7)
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| JPS62282886A (en) * | 1986-05-28 | 1987-12-08 | 株式会社日立製作所 | Module type manipulator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538324A (en) * | 2015-12-28 | 2016-05-04 | 浙江大学 | Acoustic control robot based on DTMF signals |
| CN105538324B (en) * | 2015-12-28 | 2018-01-30 | 浙江大学 | Televox based on dtmf signal |
| CN107244275A (en) * | 2017-06-23 | 2017-10-13 | 华柳钧 | A kind of Multi-functional transporting machine people |
| CN108859908A (en) * | 2017-06-23 | 2018-11-23 | 宁波恒进自动化技术有限公司 | A kind of novel transportation robot |
| CN107526357A (en) * | 2017-08-03 | 2017-12-29 | 宁波工程学院 | Relay robot car and its relay method |
| CN107526357B (en) * | 2017-08-03 | 2020-09-15 | 宁波工程学院 | Relay robot trolley and relay method thereof |
| CN107696008A (en) * | 2017-09-28 | 2018-02-16 | 浙江大学城市学院 | One kind transport confrontation robot combining structure |
| CN109048837A (en) * | 2018-08-13 | 2018-12-21 | 无锡城市职业技术学院 | Sorting transport robot and control system and sorting transport method in complicated contest task |
| CN109048837B (en) * | 2018-08-13 | 2021-06-22 | 无锡城市职业技术学院 | Sorting and carrying robot in complex competition task, control system and sorting and carrying method |
| CN110127256A (en) * | 2019-03-29 | 2019-08-16 | 杭州师范大学钱江学院 | It is a kind of based on the logistics trolley pneumatically grabbed and its transportation resources |
| CN111829473A (en) * | 2020-07-29 | 2020-10-27 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
| CN111829473B (en) * | 2020-07-29 | 2022-04-26 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
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Application publication date: 20140326 |