CN110632926A - Dolly for picking up spherical objects - Google Patents
Dolly for picking up spherical objects Download PDFInfo
- Publication number
- CN110632926A CN110632926A CN201910906268.4A CN201910906268A CN110632926A CN 110632926 A CN110632926 A CN 110632926A CN 201910906268 A CN201910906268 A CN 201910906268A CN 110632926 A CN110632926 A CN 110632926A
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- grabbing
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- 244000309464 bull Species 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 241000834287 Cookeolus japonicus Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a trolley for picking up spherical objects, which comprises a mounting frame, wherein a movable arm is arranged on the mounting frame, a grabbing component is arranged on the movable arm, an identification component is also arranged on the mounting frame, a movement component is arranged on the bottom side of the mounting frame, the movement component comprises at least two motors arranged on the bottom surface of the mounting frame and bull's eye wheels arranged on the bottom surface of the mounting frame, the output ends of the motors are connected with wheels, the rotation axes of all the wheels are parallel to each other, and the bull's eye wheels are positioned between any two adjacent wheels.
Description
Technical Field
The invention relates to a trolley for picking up spherical objects.
Background
With the development of science and technology and the progress of society, more and more intelligent products will go into our life, and there is not product in the existing market for the patrol of globular object, and most products are in the design stage, and do not have practical use. Most of design works in the current stage are all ideal environment conditions, lack of consideration of practical application fields in the aspects of vehicle size, body type and working mode, are easy to fall down in actual walking and repeated back and forth turning movement, and have low stability.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a trolley for picking up spherical objects is needed, and the stability in operation is improved.
The solution of the invention for solving the technical problem is as follows: the utility model provides a pick up globular object dolly, includes the mounting bracket, be provided with the digging arm on the mounting bracket, be provided with on the digging arm and snatch the subassembly, be provided with the discernment subassembly on the mounting bracket, the bottom side of mounting bracket is provided with the motion subassembly, the motion subassembly including set up in two at least motors of mounting bracket bottom surface, set up in the bull's eye wheel of mounting bracket bottom surface, the output of motor is connected with the wheel, all the rotation axis of wheel is parallel to each other, the bull's eye wheel is located arbitrary two adjacent between the wheel.
As a further improvement of the technical scheme, the number of the wheels is two, the number of the bull-eye wheels is two, and a connecting line between the two bull-eye wheels is intersected with a connecting line between the two wheels.
As a further improvement of the technical scheme, a clearance groove is formed in the position, opposite to the wheel, of the bottom surface of the mounting frame, and the wheel extends into the clearance groove.
As a further improvement of the above technical scheme, the movable arm includes a first support, a first steering engine, an arm plate, a second steering engine, a second support and a mounting plate, the first support is fixedly arranged on the mounting frame, an output end of the first steering engine is connected to the first support, the first steering engine is fixedly arranged at one end of the arm plate, the second steering engine is fixedly arranged at the other end of the arm plate, an output end of the second steering engine is connected to the second support, the mounting plate is fixedly connected to the second support, and the grabbing component is arranged on the mounting plate.
As a further improvement of the above technical scheme, the grabbing assembly comprises a third steering engine, a driving gear, a driven gear, a driving grabbing plate and a driven grabbing plate, the third steering engine is fixedly connected to the mounting plate, the driving gear is in transmission connection with the output end of the third steering engine, the driving gear is meshed with the driven gear, the driving grabbing plate is fixedly connected to the driving gear, the driven grabbing plate is fixedly connected to the driven gear, and when the driving gear rotates forwards, the driving grabbing plate and the driven grabbing plate are close to each other; when the driving gear rotates reversely, the driving grabbing plate and the driven grabbing plate are far away from each other.
As a further improvement of the technical scheme, the driving gear is provided with a limit switch.
As a further improvement of the technical scheme, the identification component comprises a visual identification camera, and the visual identification camera is arranged on one side surface of the mounting frame in the advancing direction.
As a further improvement of the above technical solution, the identification component includes an ultrasonic module, and the ultrasonic module is disposed on one side surface of the mounting frame in the advancing direction.
The invention has the beneficial effects that: provides a trolley for picking up spherical objects, which comprises a mounting rack, a movable arm for driving a grabbing component to move is arranged on the mounting rack, when in use, the specific position of the object is firstly identified by the identification component, then the moving component is utilized to make the whole body move to the side of the object, finally the object is grabbed by the grabbing component, the moving component specifically comprises at least two motors, the output end of each motor is in transmission connection with a wheel, the wheels can be driven to rotate by the motors, the bull-eye wheel is arranged between any two wheels, can play the roles of auxiliary support and improvement of the stability during the integral operation, and respectively drives different wheels to move through different motors, therefore, the straight walking and turning motions are combined, the wheels and the bull's eye wheels move in a matched mode, the position of the rotation center of the trolley can be better controlled, the area occupied by the motion assembly is reduced, and the possibility that the trolley is clamped by obstacles is greatly reduced.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the kinematic assembly of the present invention.
In the drawings: 100-mounting frame, 210-first support, 220-first steering engine, 230-arm plate, 240-second support, 250-mounting plate, 310-third steering engine, 320-driving grabbing plate, 330-driven grabbing plate, 340-limit switch, 410-motor, 420-bull's eye wheel, 430-wheel, 440-clearance groove, 510-visual identification camera and 520-ultrasonic module.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1 and 2, the trolley for picking up spherical objects comprises a mounting frame 100, wherein a movable arm is arranged on the mounting frame 100, a grabbing component is arranged on the movable arm, an identification component is further arranged on the mounting frame 100, a movement component is arranged on the bottom side of the mounting frame 100, the movement component comprises at least two motors 410 arranged on the bottom surface of the mounting frame 100 and a bull's eye wheel 420 arranged on the bottom surface of the mounting frame 100, wheels 430 are connected to the output ends of the motors 410, the rotation axes of all the wheels 430 are parallel to each other, and the bull's eye wheel 420 is positioned between any two adjacent wheels 430.
From the above, the invention provides a trolley for picking up spherical objects, which comprises a mounting frame 100, wherein a movable arm for driving a grabbing component to move is arranged on the mounting frame 100, when in use, the specific position of an object is recognized through the recognition component, then the whole body is moved to the side of the object through the movement component, finally the object is grabbed through the grabbing component, the movement component specifically comprises at least two motors 410, the output end of each motor 410 is connected with a wheel 430 in a transmission manner, the wheels 430 can be driven to rotate through the motors 410, a bull's eye wheel 420 is arranged between any two wheels 430, the bull's eye wheel 420 can play a role in auxiliary support and improving the stability during the whole operation, different wheels 430 are respectively driven to move through different motors 410, so that the direct walking and turning motions are combined, the wheels 430 and the bull's eye wheel 420 move in a matching manner, and the position of the rotation center of the trolley can be, the area occupied by the moving assembly is reduced, and the possibility that the trolley is clamped by the obstacle is greatly reduced.
In some embodiments, there are two wheels 430 and two bull's eye wheels 420, and a line between the two bull's eye wheels 420 intersects a line between the two wheels 430. Further, the rotation axes of the two wheels 430 are collinear, and the wheels 430 and the bull's eye wheels 420 form a cross distribution, so that the rotation center of the trolley is located at the center of the trolley body at lower cost, and the possibility that the trolley is blocked by an obstacle is further reduced.
In some embodiments, the location of the motor 410 may be disposed between the two wheels 430, further reducing the overall area of the moving components.
In some embodiments, a clearance groove 440 is formed on the bottom surface of the mounting bracket 100 opposite to the wheel 430, and the wheel 430 extends into the clearance groove 440. A portion of the wheels 430 may be received in the mounting block 100 to reduce the distance between the bottom surface of the mounting block 100 and the ground, further improving the stability of the cart.
In this embodiment, the movable arm includes first support 210, first steering wheel 220, arm plate 230, the second steering wheel, second support 240, mounting panel 250, first support 210 is fixed to be set up on mounting bracket 100, the output of first steering wheel 220 is connected in first support 210, first steering wheel 220 is fixed to be set up in the one end of arm plate 230, the second steering wheel is fixed to be set up in the other end of arm plate 230, the output of second steering wheel is connected in second support 240, mounting panel 250 fixed connection is on second support 240, it sets up on mounting panel 250 to snatch the subassembly. The shell part of the first steering engine 220 is fixed on the arm plate 230, when the first steering engine 220 moves, the arm plate 230 rotates around the first support 210, the shell part of the same second steering engine is fixed on the arm plate 230, when the second steering engine moves, the arm plate 230 rotates around the second support 240, and the two steering engines can move in coordination, so that the grabbing component on the mounting plate 250 swings to a required position.
In this embodiment, the grabbing assembly includes a third steering engine 310, a driving gear, a driven gear, a driving grabbing plate 320 and a driven grabbing plate 330, the third steering engine 310 is fixedly connected to the mounting plate 250, the driving gear is connected to an output end of the third steering engine 310 in a transmission manner, the driving gear is engaged with the driven gear, the driving grabbing plate 320 is fixedly connected to the driving gear, the driven grabbing plate 330 is fixedly connected to the driven gear, and when the driving gear rotates forward, the driving grabbing plate 320 and the driven grabbing plate 330 approach each other; when the driving gear rotates reversely, the driving grabbing plate 320 and the driven grabbing plate 330 are far away from each other. The driving gear is controlled to rotate positively and negatively through the third steering gear 310, so that the driving grabbing plate 320 and the driven grabbing plate 330 are controlled to be close to or far away from each other, and grabbing and releasing of objects are achieved.
In some embodiments, the gear is provided with a limit switch 340 as a signal for determining whether there is a vacant grab. Whether an object is clamped or not is judged through the limit switch 340, the electric signal generated by the limit switch 340 is utilized to make a judgment, the feedback control grabbing component needs to grab or release the object, if the object is not grabbed stably, the limit switch 340 does not give an electric signal, the third steering engine 310 keeps rotating, the driving grabbing plate 320 and the driven grabbing plate 330 are close to each other, if the object is grabbed stably, the limit switch 340 is closed, the feedback control third steering engine 310 stops rotating, and therefore the driving grabbing plate 320 and the driven grabbing plate 330 are enabled to keep the position state.
In some embodiments, the identification component includes a visual identification camera 510, and the visual identification camera 510 is disposed on one side of the mounting frame 100 in the advancing direction. The camera is used for searching objects, obtaining images and assisting in calculating the movement tracks of the trolley and the movable arm.
In some embodiments, the identification component includes an ultrasonic module 520, and the ultrasonic module 520 is disposed at one side of the forward direction of the mounting frame 100. The ultrasonic module 520 is used to detect the environment around the cart, assist in the cart path calculation, and detect obstacles that obstruct the cart movement.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (8)
1. The utility model provides a pick up globular object dolly which characterized in that: including mounting bracket (100), be provided with the digging arm on mounting bracket (100), be provided with on the digging arm and snatch the subassembly, be provided with the discernment subassembly on mounting bracket (100), the bottom side of mounting bracket (100) is provided with the motion subassembly, the motion subassembly including set up in two at least motors (410) of mounting bracket (100) bottom surface, set up in bull's eye wheel (420) of mounting bracket (100) bottom surface, the output of motor (410) is connected with wheel (430), all the rotation axis of wheel (430) is parallel to each other, bull's eye wheel (420) are located arbitrary two adjacent between wheel (430).
2. The cart for picking up spherical objects of claim 1, wherein: the wheel (430) is provided with two, bull's eye wheel (420) is provided with two, two line between bull's eye wheel (420) and two line between wheel (430) are crossing.
3. The cart for picking up spherical objects of claim 2, wherein: the bottom surface of the mounting rack (100) is provided with a clearance groove (440) at a position opposite to the wheel (430), and the wheel (430) extends into the clearance groove (440).
4. The cart for picking up spherical objects of claim 1, wherein: the movable arm comprises a first support (210), a first steering engine (220), an arm plate (230), a second steering engine, a second support (240) and a mounting plate (250), the first support (210) is fixedly arranged on the mounting frame (100), the output end of the first steering engine (220) is connected to the first support (210), the first steering engine (220) is fixedly arranged at one end of the arm plate (230), the second steering engine is fixedly arranged at the other end of the arm plate (230), the output end of the second steering engine is connected to the second support (240), the mounting plate (250) is fixedly connected to the second support (240), and the grabbing assembly is arranged on the mounting plate (250).
5. The cart for picking up spherical objects of claim 4, wherein: the grabbing assembly comprises a third steering engine (310), a driving gear, a driven gear, a driving grabbing plate (320) and a driven grabbing plate (330), the third steering engine (310) is fixedly connected to the mounting plate (250), the driving gear is in transmission connection with the output end of the third steering engine (310), the driving gear is meshed with the driven gear, the driving grabbing plate (320) is fixedly connected to the driving gear, the driven grabbing plate (330) is fixedly connected to the driven gear, and when the driving gear rotates forwards, the driving grabbing plate (320) and the driven grabbing plate (330) are close to each other; when the driving gear rotates reversely, the driving grabbing plate (320) and the driven grabbing plate (330) are far away from each other.
6. The cart for picking up spherical objects of claim 5, wherein: the driving gear is provided with a limit switch (340).
7. The cart for picking up spherical objects of claim 1, wherein: the identification assembly comprises a visual identification camera (510), and the visual identification camera (510) is arranged on one side face of the mounting frame (100) in the advancing direction.
8. The cart for picking up spherical objects of claim 1, wherein: the identification component comprises an ultrasonic module (520), and the ultrasonic module (520) is arranged on one side surface of the advancing direction of the mounting rack (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906268.4A CN110632926A (en) | 2019-09-24 | 2019-09-24 | Dolly for picking up spherical objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906268.4A CN110632926A (en) | 2019-09-24 | 2019-09-24 | Dolly for picking up spherical objects |
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| Publication Number | Publication Date |
|---|---|
| CN110632926A true CN110632926A (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910906268.4A Pending CN110632926A (en) | 2019-09-24 | 2019-09-24 | Dolly for picking up spherical objects |
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| CN (1) | CN110632926A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745618A (en) * | 2020-07-14 | 2020-10-09 | 浙江大学昆山创新中心 | Robot chassis |
| CN112171686A (en) * | 2020-09-18 | 2021-01-05 | 武汉大学 | Intelligent experiment robot based on self-learning system |
| CN112873258A (en) * | 2021-01-08 | 2021-06-01 | 江苏科技大学 | Ball automatic picking mechanical arm |
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| CN106621240A (en) * | 2016-12-29 | 2017-05-10 | 河南科技大学 | Intelligent vehicle system capable of picking up balls automatically |
| CN106863259A (en) * | 2017-04-14 | 2017-06-20 | 天津理工大学 | A kind of wheeled multi-robot intelligent ball collecting robot |
| WO2018018625A1 (en) * | 2016-07-29 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
| CN109204596A (en) * | 2018-08-31 | 2019-01-15 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Universal walking mechanism, universal travelling bogie and the matched logistics warehouse used |
| WO2019095013A1 (en) * | 2017-11-20 | 2019-05-23 | Ashok Krishnan | Training of vehicles to improve autonomous capabilities |
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2019
- 2019-09-24 CN CN201910906268.4A patent/CN110632926A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018018625A1 (en) * | 2016-07-29 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
| CN106621240A (en) * | 2016-12-29 | 2017-05-10 | 河南科技大学 | Intelligent vehicle system capable of picking up balls automatically |
| CN106863259A (en) * | 2017-04-14 | 2017-06-20 | 天津理工大学 | A kind of wheeled multi-robot intelligent ball collecting robot |
| WO2019095013A1 (en) * | 2017-11-20 | 2019-05-23 | Ashok Krishnan | Training of vehicles to improve autonomous capabilities |
| CN109204596A (en) * | 2018-08-31 | 2019-01-15 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Universal walking mechanism, universal travelling bogie and the matched logistics warehouse used |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745618A (en) * | 2020-07-14 | 2020-10-09 | 浙江大学昆山创新中心 | Robot chassis |
| CN112171686A (en) * | 2020-09-18 | 2021-01-05 | 武汉大学 | Intelligent experiment robot based on self-learning system |
| CN112873258A (en) * | 2021-01-08 | 2021-06-01 | 江苏科技大学 | Ball automatic picking mechanical arm |
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Application publication date: 20191231 |
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