CN203600234U - Transfer robot for competition - Google Patents
Transfer robot for competition Download PDFInfo
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- CN203600234U CN203600234U CN201320776832.3U CN201320776832U CN203600234U CN 203600234 U CN203600234 U CN 203600234U CN 201320776832 U CN201320776832 U CN 201320776832U CN 203600234 U CN203600234 U CN 203600234U
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Abstract
The utility model discloses a transfer robot for competition and belongs to the technical field of robots. The transfer robot mainly comprises a clamping device, a walking device and a host control system. A route which is already set on the road surface is tracked through an infrared sensor II and an infrared sensor III so that the walking device can advance along the set route. An infrared sensor I senses an object to be clamped. When the infrared sensor I senses the object to be clamped, the transfer robot stops advancing, and the object is accurately clamped under the joint action of a motor I, a motor II, a motor III, a motor IV, a motor V, a motor VI and a motor VII on clamping hands. After the object is clamped, the walking device transfers the object to a designated place along the set route. When arriving at the designated place, the walking device stops advancing, and the clamping device places the clamped object at the designated place. After the object is placed down, the walking device returns to the initial position along the original route, and the transfer robot continues to conduct next transfer. The transfer robot can realize full-automatic transfer in competition.
Description
Technical field
The utility model belongs to Robotics field, relates 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 utility model 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 of motor VIII control 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 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 about the chassis II line of symmetry 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 chassis I is identical with the shape of chassis II; 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 of motor VI control is vertical plane; Motor V is connected with motor VI by connector, is positioned at motor VI top, and the plane of rotation of motor V control is horizontal plane; Motor IV is connected by connector with motor V, is positioned at motor V top, and the plane of rotation of motor IV control 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, the rotation of the vertical plane of the above part of motor III control clamping device motor III, part vertical plane below motor IV control clamping device motor IV rotates, and the vertical plane of motor III control and motor IV control vertical plane 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 utility model discloses a kind of transfer robot for contest, carry out tracking by the route having set in infrared sensor II and infrared sensor III road pavement, 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, clamp after object, again by running gear according to arrange route by object transport to appointed place, in the time arriving appointed place, running gear halts, the object of clamping is placed on appointed place by clamping device, 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
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 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 about the chassis II 16 line of symmetry 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 the plane of rotation controlled perpendicular to motor VI 7 of this vertical plane; 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 the vertical plane controlled of motor III 4 and motor IV 5 are controlled vertical plane and overlapped 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 utility model discloses a kind of transfer robot for contest, carry out tracking by the route having set in infrared sensor II 14 and infrared sensor III 15 road pavement, running gear is advanced according to the route setting, infrared sensor I 12 is responded to the object that will clamp, 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, clamp after object, again by running gear according to arrange route by object transport to appointed place, in the time arriving appointed place, running gear halts, the object of clamping is placed on appointed place by clamping device, 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 of motor VIII control 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 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 about the chassis II line of symmetry 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, the rotation of the vertical plane of the above part of motor III control clamping device motor III, and the part vertical plane below motor IV control 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 of motor VI control is vertical plane; The plane of rotation of motor V control is horizontal plane; The plane of rotation of motor IV control is vertical plane, and this vertical plane is perpendicular to the plane of rotation of motor VI control; The vertical plane of motor III control and motor IV control vertical plane overlap completely.
3. a kind of transfer robot for contest according to claim 1, is characterized in that, chassis I is identical with the shape of chassis II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320776832.3U CN203600234U (en) | 2013-12-02 | 2013-12-02 | Transfer robot for competition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320776832.3U CN203600234U (en) | 2013-12-02 | 2013-12-02 | Transfer robot for competition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203600234U true CN203600234U (en) | 2014-05-21 |
Family
ID=50712933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320776832.3U Expired - Fee Related CN203600234U (en) | 2013-12-02 | 2013-12-02 | Transfer robot for competition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203600234U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104552307A (en) * | 2015-01-09 | 2015-04-29 | 西北农林科技大学 | Elderly people assistive robot |
| CN104669234A (en) * | 2015-02-16 | 2015-06-03 | 辽宁石油化工大学 | Hunting-type mechanical vehicle capable of self-taking objects |
| CN107097599A (en) * | 2017-03-01 | 2017-08-29 | 中北大学 | A kind of air-ground amphibious robot |
-
2013
- 2013-12-02 CN CN201320776832.3U patent/CN203600234U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104552307A (en) * | 2015-01-09 | 2015-04-29 | 西北农林科技大学 | Elderly people assistive robot |
| CN104669234A (en) * | 2015-02-16 | 2015-06-03 | 辽宁石油化工大学 | Hunting-type mechanical vehicle capable of self-taking objects |
| CN107097599A (en) * | 2017-03-01 | 2017-08-29 | 中北大学 | A kind of air-ground amphibious robot |
| CN107097599B (en) * | 2017-03-01 | 2019-08-30 | 中北大学 | A kind of air-ground amphibious robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140521 Termination date: 20151202 |
|
| EXPY | Termination of patent right or utility model |