CN116573583A

CN116573583A - Mobile robot

Info

Publication number: CN116573583A
Application number: CN202310586971.8A
Authority: CN
Inventors: 孙成也; 金晓孟
Original assignee: Huaxiao Precision Suzhou Co ltd
Current assignee: Huaxiao Precision Suzhou Co ltd
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2023-08-11

Abstract

The invention discloses a mobile robot, and relates to the technical field of automatic guided vehicles. The mobile robot comprises a robot main body and a lifting mechanism; the lifting mechanism is arranged on the robot main body and comprises a driving assembly, a gear assembly and a lifting platform, wherein the driving end of the driving assembly is connected with the input end of the gear assembly, and the output end of the gear assembly is connected with the lifting platform; and the lifting platform is used for moving along the height direction of the robot main body under the drive of the driving assembly so as to lift the material tray on the robot main body. The invention provides a backpack compact mobile robot, which realizes intelligent distribution of electronic component materials and greatly improves the production efficiency. In addition, the mobile robot has low running noise, impact resistance and vibration capability, can resist unbalanced load to a certain extent, is safe and reliable, has relatively low cost and small volume.

Description

Mobile robot

Technical Field

The invention relates to the technical field of automatic guided vehicles, in particular to a mobile robot.

Background

At present, the electronic industry is developed rapidly, and the production rhythm of a manufacturing workshop is fast, so that workshop logistics distribution is developing towards the workshop intelligent informatization trend.

However, in the existing assembly workshops, the distribution of materials such as electronic devices still relies on manpower to push the trolley for distribution, and the materials are lifted to the stations by manpower, so that the material distribution efficiency is low, and great manpower waste is generated. Therefore, there is a need to design a mobile robot to improve the efficiency of material distribution and save labor costs.

Disclosure of Invention

The invention mainly aims to provide a mobile robot which aims to improve the material distribution efficiency and save the labor cost.

To achieve the above object, the present invention provides a mobile robot comprising:

a robot main body; and

the lifting mechanism is arranged on the robot main body and comprises a driving assembly, a gear assembly and a lifting platform, wherein the driving end of the driving assembly is connected with the input end of the gear assembly, and the output end of the gear assembly is connected with the lifting platform;

the lifting platform is used for moving along the height direction of the robot main body under the drive of the driving assembly so as to lift the material tray on the robot main body.

Optionally, the driving assembly is fixed on a bottom plate through a fixing plate, the bottom plate is arranged on a guide shaft through a linear bearing and is fixed on the robot main body, the upper end of the guide shaft is fixed on the lifting platform, the gear assembly is arranged on the bottom plate and is connected with the lifting platform through a floating joint, a plurality of supporting table posts are arranged on the lifting platform, and a positioning pin for butting with a positioning groove of the material tray is arranged on at least one supporting table post; each guide shaft is close to one end of the lifting platform and is sleeved with a support and a connecting rod arranged on the lower side of the support, and two adjacent guide shafts are connected through the connecting rod.

Optionally, the gear assembly includes a gear and a rack, the gear is connected with the output end of the driving assembly, and the rack is meshed with the gear and is connected with the floating joint.

Optionally, a proximity switch and a buffer block are arranged at the bottom of the connecting rod, the proximity switch is used for detecting the position of the lifting platform relative to the bottom plate, and the buffer block is used for buffering the collision impact force received by the lifting platform; the lower end of the guide shaft is provided with a detection plate, and the detection plate is used for detecting the position of the bottom plate relative to the lower end of the guide shaft.

Optionally, the driving assembly comprises a lifting motor and a speed reducer connected with the lifting motor, and the speed reducer is connected with the gear.

Optionally, the mobile robot further comprises a running mechanism, the running mechanism is arranged at the rear side of the bottom of the robot main body, the running mechanism comprises a running motor, a mounting plate and a speed reducer wheel, the running motor is fixed in the robot main body and is in driving connection with the speed reducer wheel, and the speed reducer wheel is mounted at the bottom of the robot main body through the mounting plate.

Optionally, the travelling mechanism further comprises a universal wheel swing bridge, and the universal wheel swing bridge is arranged at the front side of the bottom of the robot main body and used for enabling the speed reducer wheel to maintain stable ground pressure so as to stably drive the robot main body to move.

Optionally, the universal wheel swing bridge includes fixed bolster, extension spring, axle bed, universal wheel and takes the seat bearing, the fixed bolster be fixed in the bottom of robot main part, the concave installation department that is equipped with in middle part of fixed bolster, take the seat bearing to locate installation department and be connected with the transmission shaft, the axle bed is located take on the seat bearing and be fixed in the bottom of robot main part, just the both ends of axle bed respectively with the lateral wall of installation department passes through the extension spring and is connected.

Optionally, the mobile robot further comprises a control unit, and a shape-changing sensor, a polarity sensor and an RFID sensor which are respectively connected with the control unit in a signal manner, wherein the shape-changing sensor, the polarity sensor and the RFID sensor are respectively arranged at the bottom of the robot main body;

the shape sensor and the polarity sensor are used for navigating and outputting navigation signals to the control unit; the control unit is used for controlling the running mechanism to work according to the navigation signal so as to enable the mobile robot to run according to a target route;

the RFID sensor is used for recording site position information and outputting a position signal to the control unit; and the control unit is used for controlling the running mechanism to work according to the position signal.

Optionally, still be equipped with trichromatic lamp area, warning light, safe limit and obstacle sensor of touching on the robot main part, trichromatic lamp area with the warning light is used for warning far away, safe limit of touching is used for contact safety to keep away the barrier, obstacle sensor is used for non-contact safety to keep away the barrier.

In the technical scheme of the invention, the mobile robot comprises a robot main body and a lifting mechanism; the lifting mechanism is arranged on the robot main body and comprises a driving assembly, a gear assembly and a lifting platform, wherein the driving end of the driving assembly is connected with the input end of the gear assembly, and the output end of the gear assembly is connected with the lifting platform; and the lifting platform is used for moving along the height direction of the robot main body under the drive of the driving assembly so as to lift the material tray on the robot main body.

It can be appreciated that in the manufacturing process, the mobile robot can carry a certain number of material trays through the lifting platform, move the material trays to the target station, then control the lifting platform to lift the material trays to a proper height, so that an operator picks up the material trays, and after the material trays are taken out, the material trays are moved to the material taking position, and the material taking position is circulated, so that the material distribution efficiency is greatly improved, and the labor cost is saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a mobile robot according to an embodiment of the present invention;

FIG. 2 is a rear view of an embodiment of the mobile robot of the present invention;

FIG. 3 is a bottom view of an embodiment of a mobile robot of the present invention;

FIG. 4 is a schematic view of a lifting mechanism in an embodiment of a mobile robot according to the present invention;

FIG. 5 is a side view of a lifting mechanism in an embodiment of the mobile robot of the present invention;

FIG. 6 is a schematic view of a walking mechanism of an embodiment of a mobile robot according to the present invention;

fig. 7 is a schematic structural view of a swing bridge of a universal wheel in an embodiment of the mobile robot of the present invention.

Reference numerals illustrate:

10. a robot main body; 20. a lifting mechanism; 21. a drive assembly; 22. a gear assembly; 23. lifting the platform; 201. a fixing plate; 202. a bottom plate; 203. a linear bearing; 204. a guide shaft; 205. a floating joint; 206. supporting the table column; 2061. a positioning pin; 207. a support; 208. a connecting rod; 221. a gear; 222. a rack; 209. a proximity switch; 210. a buffer block; 211. a detection plate; 213. lifting a motor; 214. a speed reducer; 30. a walking mechanism; 31. a walking motor; 32. a mounting plate; 33. a speed reducer wheel; 34. a universal wheel swing bridge; 341. a fixed bracket; 342. a tension spring; 343. a shaft seat; 344. a universal wheel; 345. a bearing with a seat; 110. a control unit; 101. a shape sensor; 102. a polarity sensor; 103. an RFID sensor; 104. a tri-colored light band; 105. a warning light; 106. safe edge touching; 107. an obstacle sensor; 108. an operation panel; 109. an emergency stop button; 40. a battery; 41. and a side charging brush.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 at least one such feature. In addition, if the meaning of "and/or" is presented throughout this document, it is intended to include three schemes in parallel, taking "a and/or B" as an example, including a scheme, or B scheme, or a scheme where a and B meet simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The present invention proposes a backpack compact mobile robot, in particular an automated guided vehicle (Automated Guided Vehicle, AGV) or a guided vehicle (Rail Guided Vehicle, RGV), without limitation.

Referring to fig. 1 to 5, in an embodiment of the present invention, the mobile robot includes a robot body 10 and a lifting mechanism 20; the lifting mechanism 20 is arranged on the robot main body 10, the lifting mechanism 20 comprises a driving assembly 21, a gear assembly 22 and a lifting platform 23, the driving end of the driving assembly 21 is connected with the input end of the gear assembly 22, and the output end of the gear assembly 22 is connected with the lifting platform 23; the lifting platform 23 is used for being driven by the driving assembly 21 to move along the height direction of the robot main body 10 so as to lift the material tray thereon.

In the present embodiment, the robot body 10 may employ a rear wheel drive or a front wheel drive structure, which is not limited herein.

The driving assembly 21 may employ a motor, a cylinder, an oil cylinder, or the like as a driving part, and the gear assembly 22 may include at least one gear 221, a rack 222, or the like, which is not limited herein.

It will be appreciated that in the manufacturing process, the mobile robot can carry a certain number of material trays by the lifting platform 23, move the material trays to the target station, and then control the lifting platform 23 to lift the material trays to a proper height, so that an operator picks up the material trays, and after the material trays are taken out, the material trays are moved to the material taking position, and the circulation is performed, thereby greatly improving the efficiency of material distribution and saving the labor cost.

In order to improve the convenience of assembly and realize the lifting movement of the lifting platform 23, referring mainly to fig. 4 and 5, in an embodiment, the driving assembly 21 may be fixed on the bottom plate 202 through the fixing plate 201, the bottom plate 202 is sleeved on the guide shaft 204 through the linear bearing 203 and fixed on the robot main body 10, the lifting platform 23 is fixed at the upper end of the guide shaft 204, the gear assembly 22 is arranged on the bottom plate 202 and connected with the lifting platform 23 through the floating joint 205, the lifting platform 23 is provided with a plurality of supporting columns 206, and at least one supporting column 206 is provided with a positioning pin 2061 for docking with a positioning slot of the material tray; one end of each guide shaft 204 close to the lifting platform 23 is sleeved with a support 207 and a connecting rod 208 arranged on the lower side of the support 207, and two adjacent guide shafts 204 are connected through the connecting rod 208.

The support 207 may be an open-hole flange type guide shaft support, which is not limited herein.

In this embodiment, the gear assembly 22 may include a gear 221 and a rack 222, wherein the gear 221 is connected to the output end of the driving assembly 21, and the rack 222 is meshed with the gear 221 and connected to the floating joint 205.

The invention adopts the gear 221 and the rack 222 mechanism as the transmission mechanism of the lifting platform 23, has relatively simple structure and reliable operation, and has lower cost compared with the lifting mechanism on the market.

In this embodiment, the driving assembly 21 may include a lifting motor 213 and a decelerator 214 connected to the lifting motor 213, and the decelerator 214 is connected to the gear 221.

The lifting mechanism 20 of the mobile robot realizes the lifting function by adopting the structures of the gear 221, the rack 222 and the four guide shafts 204, the driving piece can adopt the lifting motor 213 with the band-type brake function, so that the lifting platform 23 can be stopped at any position, the lifting motor 213 can be provided with a speed reducer with the reduction ratio of 100, the torque of the motor can be amplified by 100 times, and the lifting mechanism 20 has larger lifting force so as to bear heavier cargoes.

As shown in fig. 1 and 4, in the present embodiment, the lifting platform 23 of the lifting mechanism 20 is designed with two positioning pins 2061, one large and one small, which are used in cooperation with the trays for material distribution in the workshop, so that the front and back directions can be distinguished, and the positioning pins 2061 have a certain taper, so that errors in the butt joint of the mobile robot and the material trays can be compensated, and meanwhile, the function of fixing the material trays with the lifting platform 23 can be also achieved.

In order to improve the operation stability of the lifting platform 23, avoid collision of parts, prolong the service life, referring to fig. 4 and 5, in an embodiment, a proximity switch 209 and a buffer block 210 may be disposed at the bottom of the connecting rod 208, where the proximity switch 209 is used to detect the position of the lifting platform 23 relative to the bottom plate 202, and the buffer block 210 is used to buffer the collision impact force received by the lifting platform 23; the lower end of the guide shaft 204 is provided with a detection plate 211, and the detection plate 211 is used for detecting the position of the bottom plate 202 relative to the lower end of the guide shaft 204.

The buffer block 210 may be made of soft rubber material such as polyurethane, but is not limited thereto. The number of the proximity switches 209 may be two, and the two proximity switches 209 may be respectively disposed at the bottom of the connection rod 208 and at positions near the lower end of the guide shaft 204.

The lifting mechanism 20 of the mobile robot is provided with two proximity switches 209 serving as upper and lower electrical limits of the mechanism, meanwhile, a buffer block 210 serving as a mechanical lower limit is arranged at a lower limit position, so that a buffer effect can be started, and a detection plate 211 serving as an upper mechanical limit is arranged at the tail end of a guide shaft 204.

Referring to fig. 3, 6 and 7, in an embodiment, the mobile robot may further include a traveling mechanism 30, the traveling mechanism 30 is two sets of driving units disposed opposite to each other, the two sets of driving units are disposed at the bottom rear side of the robot body 10, each driving unit includes a traveling motor 31, a mounting plate 32 and a speed reducer wheel 33, the traveling motor 31 is fixed in the robot body 10 and is in driving connection with the speed reducer wheel 33, and the speed reducer wheel 33 is mounted at the bottom of the robot body 10 through the mounting plate 32.

The driving unit of the mobile robot adopts a structure that the speed reducer and the rubber wheel are integrated, and the speed reducer wheel 33 has smaller volume, more convenient installation and lower cost.

To improve the walking stability of the mobile robot, to avoid the materials such as the material tray and the electronic device from being overturned during the distribution process, referring mainly to fig. 3 and 7, in an embodiment, the walking mechanism 30 may further include a universal wheel swinging bridge 34, where the universal wheel swinging bridge 34 is disposed on the bottom front side of the robot body 10, so as to maintain the stable ground pressure of the speed reducer 33 to stably drive the robot body 10 to move.

In this embodiment, the universal wheel swing axle 34 may include a fixed bracket 341, a tension spring 342, an axle seat 343, a universal wheel 344 and a seat bearing 345, the fixed bracket 341 is fixed on the bottom of the robot main body 10, the middle of the fixed bracket 341 is concavely provided with a mounting portion, the seat bearing 345 is disposed on the mounting portion and connected with the transmission shaft, the axle seat 343 is disposed on the seat bearing 345 and fixed on the bottom of the robot main body 10, and two ends of the axle seat 343 are respectively connected with the side wall of the mounting portion through the tension spring 342.

The wheel train of the mobile robot realizes four-wheel simultaneous landing in the running process by adopting two fixed driving units and the universal wheel swinging bridge 34 structure, so that the driving wheels always have stable ground pressure in the running process to drive the mobile robot to walk, and meanwhile, the mobile robot can realize flexible forward and backward movement and turning movement in a differential mode through two mutually independent driving units. The extension spring 342 is added to the universal wheel swing bridge 34, which can effectively absorb noise, impact and vibration of the mobile robot in the running process, and also enables the vehicle body of the mobile robot to have the capability of resisting unbalanced load to a certain extent.

Compared with the traditional mobile robot, the driving gear train of the mobile robot is simple in structure, small in size and flexible to operate. In addition, the mobile robot has smaller overall size and simple structure, and can be suitable for the logistics high-efficiency distribution of light electronic products.

In order to improve the automation degree of the mobile robot and further improve the material distribution efficiency, and realize the automatic distribution of the materials, referring to fig. 1 to 3, in an embodiment, the mobile robot may further include a control unit 110, and a shape-moving sensor 101, a polarity sensor 102, and an RFID sensor 103 respectively connected to the control unit 110 in a signal manner, where the shape-moving sensor 101, the polarity sensor 102, and the RFID sensor 103 are respectively installed at the bottom of the robot body 10; a shape sensor 101 and a polarity sensor 102 for navigating and outputting a navigation signal to the control unit 110; a control unit 110 for controlling the running mechanism 30 to work according to the navigation signal so as to enable the mobile robot to run according to the target route; an RFID sensor 103 for recording site location information and outputting a location signal to the control unit 110; the control unit 110 is used for controlling the running mechanism 30 to work according to the position signal.

In this embodiment, the control unit 110 may be a single chip microcomputer, a DSP, an FPGA, or other devices, which is not limited herein.

The vehicle bottom of the mobile robot is provided with a shape sensor 101, a polarity sensor 102 and an RFID sensor 103, wherein the shape sensor 101 and the polarity sensor 102 are used for navigation, so that the mobile robot can walk along a specific route, and the RFID sensor 103 is used for recording site position information.

In order to improve the use safety of the mobile robot, referring to fig. 1, in an embodiment, the robot body 10 may further be provided with a tri-color light band 104, a warning light 105, a safety touch edge 106, and an obstacle sensor 107, where the tri-color light band 104 and the warning light 105 are used for remote warning, the safety touch edge 106 is used for contact type safety obstacle avoidance, and the obstacle sensor 107 is used for non-contact type safety obstacle avoidance.

Further, referring to fig. 1, the robot body 10 may further include an emergency stop button 109 electrically connected to the control unit 110 to improve safety.

The three-color light belt 104 and the warning light 105 of the mobile robot have a remote warning function, the safety contact edge 106 is a contact type safety obstacle avoidance, and the obstacle sensor 107 is used as a non-contact type safety obstacle avoidance of the mobile robot, so that the risk of collision of the mobile robot with a person is effectively avoided.

Further, referring to fig. 1 and 2, the mobile robot may further include a battery 40 and a side charging brush 41 electrically connected to the battery 40 to form a power distribution system, thereby realizing automatic charging and further improving production efficiency. Among them, the battery 40 may be provided inside the robot body 10, and the side charging brush 41 may be provided on the rear surface of the robot body 10 so as to perform side charging.

In addition, referring to fig. 1, the mobile robot may also be provided with a personalized operation panel 108 and a navigation control system, and may be manually and automatically controlled. In practical application, the mobile robot automatic operation mode can be configured as follows: the material is first submerged under the material rack of the workshop, then the lifting mechanism 20 is controlled to lift the material tray, then the material tray is conveyed to a designated station, and then the material tray is returned to the position under the material rack, and the material tray is circulated. It can be understood that the whole process is an automatic carrying process of the mobile robot, so that the production efficiency is greatly improved, and the labor cost is saved.

The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A mobile robot, comprising:

a robot main body; and

2. The mobile robot of claim 1, wherein the driving assembly is fixed on a bottom plate through a fixing plate, the bottom plate is arranged on a guide shaft through a linear bearing and is fixed on the robot main body, the lifting platform is fixed at the upper end of the guide shaft, the gear assembly is arranged on the bottom plate and is connected with the lifting platform through a floating joint, a plurality of supporting table posts are arranged on the lifting platform, and a positioning pin for butting with a positioning groove of the material tray is arranged on at least one supporting table post; each guide shaft is close to one end of the lifting platform and is sleeved with a support and a connecting rod arranged on the lower side of the support, and two adjacent guide shafts are connected through the connecting rod.

3. The mobile robot of claim 2, wherein the gear assembly comprises a gear and a rack, the gear being coupled to the output of the drive assembly, the rack being meshed with the gear and coupled to the floating joint.

4. The mobile robot of claim 2, wherein a proximity switch and a buffer block are arranged at the bottom of the connecting rod, the proximity switch is used for detecting the position of the lifting platform relative to the bottom plate, and the buffer block is used for buffering the collision impact force received by the lifting platform; the lower end of the guide shaft is provided with a detection plate, and the detection plate is used for detecting the position of the bottom plate relative to the lower end of the guide shaft.

5. A mobile robot as claimed in claim 3, wherein the drive assembly comprises a lifting motor and a decelerator coupled to the lifting motor, the decelerator coupled to the gear.

6. The mobile robot of claim 1, further comprising a traveling mechanism disposed at a bottom rear side of the robot body, the traveling mechanism comprising a traveling motor, a mounting plate, and a speed reducer wheel, the traveling motor being fixed in the robot body and in driving connection with the speed reducer wheel, the speed reducer wheel being mounted at the bottom of the robot body through the mounting plate.

7. The mobile robot of claim 6, wherein the traveling mechanism further comprises a universal wheel swing bridge provided at a bottom front side of the robot body for maintaining the speed reducer wheel at a stable ground pressure to smoothly drive the robot body to move.

8. The mobile robot of claim 7, wherein the universal wheel swing bridge comprises a fixed support, a tension spring, a shaft seat, universal wheels and a belt seat bearing, the fixed support is fixed at the bottom of the robot main body, a mounting part is concavely arranged at the middle part of the fixed support, the belt seat bearing is arranged at the mounting part and connected with a transmission shaft, the shaft seat is arranged on the belt seat bearing and fixed at the bottom of the robot main body, and two ends of the shaft seat are respectively connected with the side wall of the mounting part through the tension spring.

9. The mobile robot of claim 6, further comprising a control unit, and a shape sensor, a polarity sensor, and an RFID sensor respectively in signal connection with the control unit, wherein the shape sensor, the polarity sensor, and the RFID sensor are respectively mounted at the bottom of the robot body;

10. The mobile robot of claim 9, wherein the robot body is further provided with a tri-color light band, a warning light, a safety touch edge, and an obstacle sensor, the tri-color light band and the warning light are used for warning at a distance, the safety touch edge is used for contact type safety obstacle avoidance, and the obstacle sensor is used for non-contact type safety obstacle avoidance.