The invention relates to the technical field of automatic carrying equipment, and discloses an omni-directional driving stacking type robot which comprises a vehicle body, two steering wheel assemblies are fixedly arranged on one side of the bottom of the vehicle body, a swing bridge frame is rotationally connected to the inner side of the vehicle body through a connecting shaft, and two driving steering wheel assemblies are fixedly arranged at the bottom of the swing bridge frame; the two sides of the top of the swing bridge are fixedly connected with speed reducers. The walking absolute value motor is used for controlling the vehicle body to walk, the steering absolute value motor is used for controlling and driving the steering wheel assembly to deflect, and the steering wheel assembly on one side of the vehicle body is matched to realize four-fulcrum full-servo-driven movement control, so that the stability and flexibility of vehicle body running are ensured; and meanwhile, the driving mechanism is matched with the moving mechanism to drive the adjusting roller to adjust the position of the tray according to the pressure sensor, the influence of tray cargo stacking eccentricity on omni-directional movement is reduced, and the running stability of the stacking type robot is further improved.
本申请涉及自动搬运设备技术领域,且公开了一种全向行驶的堆垛式机器人,包括车体,所述车体底部的一侧固定设置有两个舵轮总成,所述车体的内侧通过连接轴转动连接有摆动桥架,所述摆动桥架底部固定设置有两个驱动舵轮组件,所述摆动桥架顶部的两侧均固定连接有减速器。本发明通过行走绝对值电机控制车体行走,转向绝对值电机控制驱动舵轮组件的偏转,配合车体一侧的舵轮总成实现四支点全伺服驱动的移动控制,保证车身行驶的稳定和灵活,同时驱动机构配合移动机构带动调节辊根据压力传感器调节托盘的位置,减小托盘货物堆放偏心对全向移动造成的影响,进一步提高该堆垛式机器人行驶的稳定性。
Omni-directional driving stacking type robot
一种全向行驶的堆垛式机器人
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen |
OMNI-DIRECTIONAL DRIVING WHEEL AND OMNI-DIRECTIONAL MOVABLE BODY
European Patent Office | 2018
|Novel omni-directional mobile robot and omni-directional mobile chassis
European Patent Office | 2021
|