CN110884420B - Anti-toppling mechanism, anti-toppling method and transportation robot - Google Patents
Anti-toppling mechanism, anti-toppling method and transportation robot Download PDFInfo
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- CN110884420B CN110884420B CN201911163609.XA CN201911163609A CN110884420B CN 110884420 B CN110884420 B CN 110884420B CN 201911163609 A CN201911163609 A CN 201911163609A CN 110884420 B CN110884420 B CN 110884420B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 2
- 230000008859 change Effects 0.000 abstract description 4
- 230000032258 transport Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
- B60P9/00—Other vehicles predominantly for carrying loads, e.g. load carrying vehicles convertible for an intended purpose
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Abstract
The invention provides an anti-toppling mechanism, an anti-toppling method and a transportation robot, wherein the anti-toppling mechanism comprises a detection assembly for detecting the inclination angle of a carrier plate, the carrier plate for placing objects and a jacking mechanism for compensating the inclination angle of the carrier plate, the top end of the jacking mechanism is connected with the carrier plate, and the carrier plate is horizontally arranged by adjusting the height of the jacking mechanism. According to the anti-toppling mechanism, the anti-toppling method and the transportation robot provided by the invention, the top end of the jacking mechanism is connected with the carrier plate, and the jacking mechanism can change the length of the jacking mechanism so as to push the carrier plate. When the detection assembly detects the inclination angle of the ground, the height of the lifting mechanism is adjusted according to the information detected by the detection assembly, so that the carrier plate is restored to a horizontal state, and articles on the carrier plate are prevented from falling.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an anti-toppling mechanism, an anti-toppling method and a transportation robot.
Background
With the continuous development of robots, robots are widely used in the fields of transportation, inspection, mechanical manufacturing and the like. Wherein the transportation robot is mainly used for transporting goods, and reduces the manpower burden. When the transportation robot transports goods, the goods are stacked on the carrier plate of the robot, and when the robot ascends a slope, descends a slope or runs on an uneven road section, the goods on the robot easily fall off the carrier plate, so that the goods are damaged, and even workers are injured by smashing.
Disclosure of Invention
The invention aims to provide an anti-toppling mechanism which solves the technical problem that goods on a robot are easy to drop when the road surface is uneven in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a prevent empting mechanism, including the detection component that is used for detecting support plate inclination, be used for placing the support plate of article and be used for the compensation the inclination of support plate's climbing mechanism, climbing mechanism's top connect in the support plate, through adjusting climbing mechanism's height is in order to make the support plate level sets up.
In one embodiment, the jacking mechanism is a cylinder, and an output end of the cylinder is connected to the carrier plate; or the jacking mechanism comprises a motor, a screw member driven to rotate by the motor and a screw rod in threaded connection with the screw member, and the top end of the screw rod is connected with the carrier plate.
In one embodiment, the top end of the jacking mechanism is rotatably connected with the carrier plate, the top end of the jacking mechanism is provided with a rotating shaft hole, and one side of the carrier plate facing the jacking mechanism is provided with a rotating shaft penetrating through the rotating shaft hole.
In one embodiment, the axial direction of the rotating shaft is perpendicular to the lifting direction of the lifting mechanism and the moving direction of the carrier plate.
In one embodiment, the top end of the jacking mechanism is connected with the carrier plate through a spherical pair in a universal rotation mode.
In one embodiment, the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed in sequence along the moving direction of the carrier plate; or the number of the jacking mechanisms is multiple, and the arrays are distributed below the carrier plate.
In one embodiment, the detection assembly includes at least two sensors for detecting the ground inclination angle.
In one embodiment, the anti-toppling mechanism further comprises a trip assembly for preventing the goods shelf from falling, the trip assembly comprises a main rod and an auxiliary rod, one end of the auxiliary rod is rotationally connected with the main rod, the other end of the auxiliary rod is provided with a clamping part which is used for being clamped in the goods shelf, and the middle part of the auxiliary rod is rotationally connected with the carrier plate.
The invention also provides an anti-toppling method for the anti-toppling mechanism, which comprises the following steps:
the detection component detects the inclination angle of the carrier plate and transmits detection information to the control system;
the control system controls the lifting of the jacking mechanism to compensate the inclination angle of the carrier plate, so that the carrier plate for placing articles is horizontally arranged.
In one embodiment, the step of detecting the inclination of the ground by the detection assembly comprises: the detection assembly detects the inclination angle of the carrier plate relative to the X direction and the inclination angle of the carrier plate relative to the Y direction respectively, wherein the X direction is the advancing direction of the carrier plate, and the Y direction is perpendicular to the X direction.
The invention also provides a transport robot comprising the anti-toppling mechanism.
The anti-toppling mechanism, the anti-toppling method and the transportation robot provided by the invention have the beneficial effects that: compared with the prior art, the anti-toppling mechanism comprises the detection component, the carrier plate and the jacking mechanism, wherein the detection component is used for detecting the inclination angle of the ground, the carrier plate is used for placing articles to be transported, the top end of the jacking mechanism is connected to the carrier plate, and the jacking mechanism can change the length of the jacking mechanism to push the carrier plate. When the detection assembly detects the inclination angle of the ground, the height of the lifting mechanism is adjusted according to the information detected by the detection assembly, so that the carrier plate is restored to a horizontal state, and articles on the carrier plate are prevented from falling.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of an anti-toppling mechanism according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an anti-toppling mechanism according to an embodiment of the present invention;
FIG. 3 is an exploded view of a jack-up mechanism according to an embodiment of the present invention;
FIG. 4 is a top view of an anti-toppling mechanism according to an embodiment of the present invention;
FIG. 5 is an enlarged view of the junction of the primary and secondary levers provided in an embodiment of the present invention;
Fig. 6 is a perspective view of a transport robot according to an embodiment of the present invention;
Fig. 7 is a flowchart of an anti-toppling method according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
100-anti-toppling mechanism; 1-a carrier plate; 2-a jacking mechanism; 21-a screw; 22-screw rod; 220-a rotating shaft hole; 4-rotating shaft; 5-fixing the sleeve; 6-a clamping hook component; 61-a main lever; 62-a secondary rod; 621-a clamping part; 200-base; 300-locomotive.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 and 2, an anti-toppling mechanism 100 according to an embodiment of the invention will be described. In one embodiment, anti-toppling mechanism 100 includes a detection assembly, carrier plate 1, and climbing mechanism 2. The detection assembly is used for detecting the inclination angle of the carrier plate 1, the carrier plate 1 is used for placing articles to be transported, the top end of the jacking mechanism 2 is connected to the carrier plate 1, and the jacking mechanism 2 can move up and down to push the carrier plate 1. The detection component detects the specific condition that the transport robot is inclining up, down or left and right, and the inclination state of the carrier plate 1 can be correspondingly obtained. Specifically, the detection assembly can detect the inclination angle of the carrier plate 1 relative to the X direction and the inclination angle of the carrier plate 1 relative to the Y direction, respectively, so as to obtain the inclination state of the carrier plate 1. Wherein, the X direction is the advancing direction of the carrier plate 1, and the Y direction is perpendicular to the X direction. According to the inclination state of the carrier plate 1, the height of the lifting mechanism 2 which needs to be lifted or lowered is calculated, and the lifting mechanism 2 is lifted or lowered to enable the carrier plate 1 to return to the horizontal state again, so that articles on the carrier plate 1 cannot incline, and the phenomenon of falling and falling cannot occur. In the anti-toppling mechanism 100, the detection component detects and feeds back the inclination angle of the ground in real time, so that the jacking mechanism 2 adjusts the state of the carrier plate 1 in real time.
The anti-toppling mechanism 100 in the above embodiment includes a detection assembly, a carrier plate 1 and a lifting mechanism 2, the detection assembly is used for detecting an inclination angle of the ground, the carrier plate 1 is used for placing an article to be transported, the top end of the lifting mechanism 2 is connected to the carrier plate 1, and the lifting mechanism 2 can change its length to push the carrier plate 1. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism 2 is adjusted according to the information detected by the detection assembly, so that the carrier plate 1 is restored to a horizontal state, and articles on the carrier plate 1 are prevented from falling.
In one embodiment of the anti-toppling mechanism 100, when the number of the jacking mechanisms 2 is one or more and the number of the jacking mechanisms is a plurality of, the jacking mechanisms 2 are distributed in sequence along the X direction, in this embodiment, when the carrier plate 1 is inclined relative to the X direction, the carrier plate 1 can be adjusted by the jacking mechanisms 2, so that the inclination angle of the carrier plate 1 relative to the X direction is eliminated. For example, the number of the jacking mechanisms 2 is one, the jacking mechanisms 2 are arranged at the tail part of the carrier plate 1, and the lifting or descending of the jacking mechanisms 2 can adjust the inclination angle of the carrier plate 1 relative to the X direction; the number of the jacking mechanisms 2 is two, the jacking mechanisms 2 are sequentially arranged along the X direction, and the inclination angle of the carrier plate 1 relative to the X direction can be adjusted by ascending and descending the jacking mechanisms 2.
In another embodiment of the anti-toppling mechanism 100, when the number of the jacking mechanisms 2 is one or more and the number of the jacking mechanisms is plural, the jacking mechanisms 2 are sequentially distributed along the Y direction, in this embodiment, when the carrier plate 1 is tilted relative to the Y direction, the carrier plate 1 can be adjusted by the jacking mechanisms 2, so that the tilting angle of the carrier plate 1 relative to the Y direction is eliminated. For example, the number of the jacking mechanisms 2 is one, the jacking mechanisms 2 are arranged on the left side or the right side of the carrier plate 1, and the lifting or descending of the jacking mechanisms 2 can adjust the inclination angle of the carrier plate 1 relative to the Y direction; the number of the jacking mechanisms 2 is two, the jacking mechanisms 2 are sequentially arranged along the Y direction, and the inclination angle of the carrier plate 1 relative to the Y direction can be adjusted by ascending and descending the jacking mechanisms 2.
Referring to fig. 1, in another embodiment of the anti-toppling mechanism 100, the number of jacking mechanisms 2 is plural, each jacking mechanism 2 is distributed in an array, and at least two jacking mechanisms 2 are provided in the X direction and the Y direction, so that the inclination angles of the carrier plate 1 relative to the X direction and the Y direction can be adjusted simultaneously. Therefore, the novel road-condition protective device is applicable to various road conditions and can prevent articles from tilting left, tilting right, tilting forward and tilting backward.
In one embodiment of the lifting mechanism, the lifting mechanism is an air cylinder, the output end of the air cylinder can move up and down, the output end of the air cylinder is connected to the carrier plate 1, and the carrier plate 1 can be pushed when the output end of the air cylinder moves up and down. The jacking mechanism adopts an air cylinder, has a simple structure, and does not need to additionally arrange a pushing piece to push the carrier plate 1.
In one embodiment of the detection assembly, the detection assembly comprises a sensor for detecting the inclination angle of the ground, the sensor can be arranged on the carrier plate 1, and the distance sensor can be an ultrasonic sensor, a laser radar, and the like. For example, the laser radar is arranged on the carrier plate 1, the laser radar emits light, when the carrier plate 1 is horizontal, the laser radar cannot receive reflected light, when the carrier plate 1 is inclined, the light emitted by the laser radar is received through the laser radar after being reflected by the ground, and the distance L between the reflection point of the ground and the laser radar can be obtained through analysis and calculation of the laser radar, so that sin θ=d/L is obtained, wherein θ is the inclination angle of the carrier plate 1 relative to the ground, and d is the distance between the carrier plate 1 and the ground.
Referring to fig. 2 and 3, in another embodiment of the lifting mechanism 2, the lifting mechanism 2 includes a motor, a screw 21 and a screw 22, and the screw 22 is vertically disposed to push the carrier 1 in a vertical direction. The motor outputs a rotational motion to drive the screw 21 to rotate, and the motor includes, but is not limited to, a servo motor, a stepping motor, and the like as long as the rotational motion can be output. Because the screw rod 22 is in threaded connection with the screw member 21, the screw member 21 can be sleeved on the periphery of the screw rod 22, and when the screw member 21 rotates, the screw rod 22 moves up and down under the action of the rotation of the screw member 21 so as to push the carrier plate 1, thereby realizing the control of the inclination angle of the carrier plate 1. The motion of the carrier plate 1 is controlled by adopting the lead screw 22, so that the control precision is higher, the mechanical clearance is smaller, and the carrier plate 1 can be controlled more accurately.
Referring to fig. 2 and 3, in one embodiment of the jacking mechanism 2, the top end of the jacking mechanism 2 is rotatably connected with the carrier plate 1, so that the carrier plate 1 can tilt relative to the jacking mechanism 2, and the jacking mechanism 2 is ensured not to tilt when the carrier plate 1 rotates in a tilting manner. The top end of the jacking mechanism 2 is provided with a rotating shaft hole 220, one side of the carrier plate 1 facing the jacking mechanism 2 is provided with a rotating shaft 4, and the rotating shaft 4 is arranged in the rotating shaft hole 220 in a penetrating way, so that the carrier plate 1 can rotate relative to the jacking mechanism 2. Of course, the rotating shaft can also be arranged at the output end of the jacking mechanism, and one side of the carrier plate facing the jacking mechanism is provided with a rotating shaft hole.
Optionally, the axial direction of the rotating shaft 4 is perpendicular to the lifting direction of the lifting mechanism 2 and the moving direction of the carrier plate 1, that is, the axial direction of the rotating shaft 4 is perpendicular to the X direction and the Z direction, and the axial direction of the rotating shaft 4 is parallel to the Y direction, so that the carrier plate 1 can rotate on the XOZ plane, the inclination state of the carrier plate 1 is adjusted, the inclination angle of the carrier plate 1 relative to the X direction is eliminated, and the forward inclination or backward inclination of the article is prevented. In other embodiments, the axial direction of the rotating shaft 4 may be parallel to the X direction, so that the carrier plate 1 can rotate in the YOZ plane, the tilt state of the carrier plate 1 is adjusted, the tilt angle of the carrier plate 1 with respect to the Y direction is eliminated, and the article is prevented from tilting left or right.
Optionally, a fixing sleeve 5 is arranged at the bottom of the carrier plate 1, the fixing sleeve 5 is fixed at the bottom of the carrier plate 1, the top end of the jacking mechanism 2 stretches into the fixing sleeve 5, and the rotating shaft 4 passes through the fixing sleeve 5 and the top end of the jacking mechanism 2, so that the fixing sleeve 5 can rotate relative to the jacking mechanism 2.
In one embodiment of the jacking mechanism 2, the top end of the jacking mechanism 2 is connected with the carrier plate 1 through a spherical pair in a universal rotation manner, so that the carrier plate 1 can tilt towards any direction, and the jacking mechanism 2 pushes the carrier plate 1 to adjust the tilt angles of the carrier plate 1 relative to the X direction and the Y direction. For example, the top end of the jacking mechanism is provided with a spherical part, the carrier plate is provided with a spherical cavity, and the spherical part is matched in the spherical cavity, so that the carrier plate can rotate towards any direction; or the top end of the jacking mechanism is provided with a spherical cavity, and the carrier plate is provided with a spherical part.
Referring to fig. 4 and 5, in one embodiment of the anti-toppling mechanism 100, the anti-toppling mechanism 100 further includes a hook assembly 6, and the hook assembly 6 is used for preventing the article shelf from falling. When the clamping hook component 6 works, the clamping hook component 6 hooks the goods shelf of the goods, and the goods on the goods shelf are prevented from falling. Specifically, the hook assembly 6 includes a main lever 61 and an auxiliary lever 62, one end of the auxiliary lever 62 is rotatably connected to the main lever 61, and the other end of the auxiliary lever 62 has a clamping portion 621, where the clamping portion 621 is used for clamping in a shelf. The middle part of the auxiliary lever 62 is rotatably connected to the carrier plate 1. Thus, when the main lever 61 is pushed, the main lever 61 drives the auxiliary lever 62 to rotate, the rotation of the auxiliary lever 62 can make the clamping portion 621 exposed out of the carrier plate 1 and clamped in the shelf, or the rotation of the auxiliary lever 62 can make the clamping portion 621 retract from the shelf. Thus, pushing the main lever 61 can make the clamping portion 621 clamped in the shelf, or make the clamping portion 621 retracted, so as to control locking and releasing of the shelf.
Optionally, the number of the auxiliary rods 62 is multiple, and all the auxiliary rods 62 are rotatably connected to the main rod 61, so that the auxiliary rods 62 rotate simultaneously, and the clamping parts 621 are clamped in the shelf, so that the shelf is more stable when locked. The main lever 61 has a length direction X, and the engaging portion 621 of the sub lever 62 extends to the left or right of the carrier 1 to engage the shelf.
Alternatively, the number of the hook assemblies 6 is two, and the hook assemblies are respectively arranged at the left side and the right side of the carrier plate 1, and the length directions of the two main rods 61 are all in the X direction.
Referring to fig. 6, the embodiment of the invention further provides a transport robot, which includes the anti-toppling mechanism 100 in any of the embodiments, and further includes a base 200 and a headstock 300, wherein the headstock 300 drives the carrier 1 to move, and the base 200 is disposed at the bottom of the carrier 1 and is used for supporting and fixing the jacking mechanism 2.
The transport robot of the above embodiment adopts the anti-toppling mechanism 100 in any of the above embodiments, the detection assembly is used for detecting the inclination angle of the ground, the carrier plate 1 is used for placing the articles to be transported, the top end of the jacking mechanism 2 is connected to the carrier plate 1, and the jacking mechanism 2 can change its length to push the carrier plate 1. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism 2 is adjusted according to the information detected by the detection assembly, so that the carrier plate 1 is restored to a horizontal state, and articles on the carrier plate 1 are prevented from falling.
Referring to fig. 7, an embodiment of the invention further provides an anti-toppling method, which can be applied to the anti-toppling mechanism 100 in any of the above embodiments.
In one embodiment, the anti-toppling method comprises the steps of:
s10: the detection component detects the inclination angle of the carrier plate 1 and transmits detection information to the control system;
S20: the control system controls the lifting of the jacking mechanism 2 to compensate the inclination angle of the carrier plate 1, so that the carrier plate 1 for placing articles is horizontally arranged.
The detection component can be a detection device such as a laser radar, an ultrasonic radar and the like. The detection assembly detects the inclination angle of the carrier plate 1 in real time, uploads detection data to the control system, and obtains the lifting height of each climbing mechanism 2 after calculation and analysis by the control system so as to compensate the inclination angle of the carrier plate 1 and enable the carrier plate 1 to recover to the horizontal state.
In the step of step S10, the step of detecting the inclination condition of the ground by the detection assembly includes: the detection assembly detects the inclination angle of the carrier plate 1 relative to the X direction and the inclination angle of the carrier plate 1 relative to the Y direction respectively, and adjusts each jacking mechanism 2 to compensate the inclination angles relative to the X direction and the Y direction.
In step S10, the detecting component detects the inclination of the ground, and may also separately detect the inclination angle of the carrier 1 with respect to the X direction or separately detect the inclination angle of the carrier 1 with respect to the Y direction. The inclination angle of the detection carrier plate 1 relative to which direction can be selected according to the requirements.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. Anti-toppling mechanism, its characterized in that: the lifting device comprises a detection assembly for detecting the inclination angle of a carrier plate, the carrier plate for placing articles and a lifting mechanism for compensating the inclination angle of the carrier plate, wherein the top end of the lifting mechanism is connected with the carrier plate, and the carrier plate is horizontally arranged by adjusting the height of the lifting mechanism; the anti-toppling mechanism further comprises a clamping hook assembly for preventing the goods shelf from falling, the clamping hook assembly comprises a main rod and an auxiliary rod, one end of the auxiliary rod is rotationally connected with the main rod, the other end of the auxiliary rod is provided with a clamping part which is used for being clamped in the goods shelf, and the middle part of the auxiliary rod is rotationally connected with the carrier plate; the auxiliary rods are multiple in number and are connected to the main rod in a rotating mode, so that the auxiliary rods rotate simultaneously, and the clamping portions are clamped in the goods shelf.
2. The anti-toppling mechanism of claim 1, wherein: the jacking mechanism is an air cylinder, and the output end of the air cylinder is connected with the carrier plate; or the jacking mechanism comprises a motor, a screw member driven to rotate by the motor and a screw rod in threaded connection with the screw member, and the top end of the screw rod is connected with the carrier plate.
3. The anti-toppling mechanism of claim 1, wherein: the top of the jacking mechanism is rotationally connected with the carrier plate, the top of the jacking mechanism is provided with a rotating shaft hole, and one side of the carrier plate facing the jacking mechanism is provided with a rotating shaft penetrating through the rotating shaft hole.
4. A toppling prevention mechanism according to claim 3, wherein: the axial direction of the rotating shaft is perpendicular to the lifting direction of the lifting mechanism and the moving direction of the carrier plate.
5. The anti-toppling mechanism of claim 1, wherein: the top end of the jacking mechanism is connected with the carrier plate through a spherical pair in a universal rotation mode.
6. The anti-toppling mechanism of claim 1, wherein: the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed in sequence along the moving direction of the carrier plate; or the number of the jacking mechanisms is multiple, and the arrays are distributed below the carrier plate.
7. The anti-toppling mechanism of claim 1, wherein: the detection assembly comprises at least two sensors for detecting the inclination angle of the ground.
8. A method of preventing toppling, for use in a toppling prevention mechanism as claimed in any one of claims 1 to 7, comprising the steps of:
the detection component detects the inclination angle of the carrier plate and transmits detection information to the control system;
the control system controls the lifting of the jacking mechanism to compensate the inclination angle of the carrier plate, so that the carrier plate for placing articles is horizontally arranged.
9. The anti-toppling method according to claim 8, wherein the step of detecting the inclination of the ground by the detection assembly includes: the detection assembly detects the inclination angle of the carrier plate relative to the X direction and the inclination angle of the carrier plate relative to the Y direction respectively, wherein the X direction is the advancing direction of the carrier plate, and the Y direction is perpendicular to the X direction.
10. Transport robot, its characterized in that: comprising an anti-toppling mechanism according to any one of claims 1 to 7.
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| CN201911163609.XA CN110884420B (en) | 2019-11-25 | 2019-11-25 | Anti-toppling mechanism, anti-toppling method and transportation robot |
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