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Four-claw type vehicle carrying robot and moving method thereof
The invention belongs to the technical field of vehicle carrying robots, and discloses a four-claw type vehicle carrying robot and a moving method thereof. The robot comprises a cross beam of a linear structure, two longitudinal beams and fork arms, wherein a length adjusting structure is arranged in the middle of the cross beam, one end of each longitudinal beam is provided with a steering wheel, the other end of each longitudinal beam is provided with a universal wheel, one end of each longitudinal beam is connected with one end of the cross beam through a lifting structure, the two pairs of fork arms are symmetrical and identical in structure, and are respectively and movably arranged on the left side and the right side of the same side of the cross beam and the longitudinal beam, and the projections of the central points of universal wheels on the horizontal plane and the projections of the central points of steering wheels on the horizontal plane are connected together to form a rectangle. The intersection point of the diagonals of the rectangle is used as the center of motion, the calculation process during rotation of the vehicle carrying robot is simplified, the angles where the four wheels should rotate can be obtained only by calculating one angle, and the angles where the two steering wheels should rotate can be obtained only by calculating one calculation angle.
本发明属于车辆搬运机器人技术领域，公开一种四爪式车辆搬运机器人及其移动方法。所述机器人包括：一字形结构的横梁，其中间设有长度调节结构；两个纵梁，其一端有舵轮，另一端有万向轮，且其一端与横梁的一端通过升降结构连接在一起；两对结构对称相同的叉臂，两分别可移动的安装在横梁的与纵梁同一侧的左右两侧；所述万向轮的中心点在水平面上的投影与舵轮的中心点在水平面上的投影一起连成一个矩形。以所述矩形的对角线交点为运动中心，简化了车辆搬运机器人旋转时的计算过程，只需要计算一个角度即可获得四个轮子应当旋转的角度，只需要计算一个计算角度即可获得两个舵轮应当转动的角度。
Four-claw type vehicle carrying robot and moving method thereof
The invention belongs to the technical field of vehicle carrying robots, and discloses a four-claw type vehicle carrying robot and a moving method thereof. The robot comprises a cross beam of a linear structure, two longitudinal beams and fork arms, wherein a length adjusting structure is arranged in the middle of the cross beam, one end of each longitudinal beam is provided with a steering wheel, the other end of each longitudinal beam is provided with a universal wheel, one end of each longitudinal beam is connected with one end of the cross beam through a lifting structure, the two pairs of fork arms are symmetrical and identical in structure, and are respectively and movably arranged on the left side and the right side of the same side of the cross beam and the longitudinal beam, and the projections of the central points of universal wheels on the horizontal plane and the projections of the central points of steering wheels on the horizontal plane are connected together to form a rectangle. The intersection point of the diagonals of the rectangle is used as the center of motion, the calculation process during rotation of the vehicle carrying robot is simplified, the angles where the four wheels should rotate can be obtained only by calculating one angle, and the angles where the two steering wheels should rotate can be obtained only by calculating one calculation angle.
本发明属于车辆搬运机器人技术领域，公开一种四爪式车辆搬运机器人及其移动方法。所述机器人包括：一字形结构的横梁，其中间设有长度调节结构；两个纵梁，其一端有舵轮，另一端有万向轮，且其一端与横梁的一端通过升降结构连接在一起；两对结构对称相同的叉臂，两分别可移动的安装在横梁的与纵梁同一侧的左右两侧；所述万向轮的中心点在水平面上的投影与舵轮的中心点在水平面上的投影一起连成一个矩形。以所述矩形的对角线交点为运动中心，简化了车辆搬运机器人旋转时的计算过程，只需要计算一个角度即可获得四个轮子应当旋转的角度，只需要计算一个计算角度即可获得两个舵轮应当转动的角度。
Four-claw type vehicle carrying robot and moving method thereof
一种四爪式车辆搬运机器人及其移动方法
JIA BAOHUA (author)
2022-01-21
Patent
Electronic Resource
Chinese
IPC:
E04H
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