CN211310675U - Lifting type mobile robot system - Google Patents
Lifting type mobile robot system Download PDFInfo
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- CN211310675U CN211310675U CN201922104864.9U CN201922104864U CN211310675U CN 211310675 U CN211310675 U CN 211310675U CN 201922104864 U CN201922104864 U CN 201922104864U CN 211310675 U CN211310675 U CN 211310675U
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Abstract
The utility model discloses a lifting type mobile robot system, which comprises a lifting system, a mobile vehicle body and a driving system, wherein the driving system comprises two driving units, and each driving unit comprises a mounting plate, a motor bracket, a driving motor, a driving wheel, a guide shaft, a spring and a spring pressing plate; the driving motor and the driving wheel are arranged on the motor bracket, one end of the motor bracket is rotatably connected with the mounting plate, the top surface of the other end of the motor bracket is fixedly provided with a guide shaft, and the spring is sleeved on the guide shaft; the spring pressure plate presses on the spring, and the spring is in a compressed state. The utility model discloses a lifting type mobile robot system, because spring plate's effect, the spring is in compression state all the time, and on the elasticity of spring passed through motor support and acted on the drive wheel, the normal pressure of increase drive wheel guaranteed that mobile robot has sufficient normal pressure when empty to guarantee that mobile robot is in the normal even running on various road surfaces, reduced the requirement to the ground roughness.
Description
Technical Field
The utility model belongs to the technical field of mobile robot, specifically speaking relates to a type of lifting mobile robot system.
Background
With the development of society and the advancement of science and technology, robots are more and more widely applied in current production and life. The mobile robot is an intelligent device which autonomously controls movement and automatically executes work, can move on the ground or other surfaces, can receive the command of a user, can run a pre-programmed program, and can act according to a principle schema established by an artificial intelligence technology.
At present, small-size lifting type six-wheel AGV (mobile robot) at home and abroad mainly used for workshops or warehouses lifts mobile goods shelves, has higher requirement on ground flatness, and can tilt forwards or backwards when stopping, starting or emergency braking, so that lifted goods are unstable.
Disclosure of Invention
The utility model provides a type of lifting mobile robot system has solved the higher problem of ground flatness requirement among the prior art.
In order to solve the technical problem, the utility model discloses a following technical scheme realizes:
a lifting type mobile robot system comprises a lifting system, a mobile vehicle body and a driving system arranged on the mobile vehicle body, wherein the driving system comprises two driving units, and each driving unit comprises a mounting plate, a motor bracket, a driving motor, a driving wheel, a guide shaft, a spring and a spring pressing plate; the driving motor and the driving wheel are arranged on the motor support, one end of the motor support is rotatably connected with the mounting plate, the mounting plate is fixed on the movable vehicle body, the top surface of the other end of the motor support is fixed with the guide shaft, and the spring is sleeved on the guide shaft; the spring pressing plate is pressed on the spring and fixed with the motor support, and the spring is in a compressed state.
Furthermore, the spring pressing plate is in a shape like a Chinese character 'ji', a central hole is formed in the center of the spring pressing plate, and the spring pressing plate is sleeved on the guide shaft.
Still further, the drive unit further comprises a loose joint bearing, the loose joint bearing is fixed on the spring pressing plate, and the top end of the guide shaft penetrates through the loose joint bearing.
Furthermore, the drive unit further comprises a buffer mechanism, the buffer mechanism comprises a rotating shaft and an oil bearing, one end of the motor support is connected with the mounting plate in a rotating manner, and the oil bearing is sleeved on the rotating shaft.
Still further, the driving unit further comprises a bearing structure, and the bearing structure comprises a driving wheel fixing seat, a bearing group and a bearing mounting seat; an output shaft of the driving motor is fixed with the driving wheel fixing seat, and the driving wheel fixing seat is fixed with the driving wheel; the driving wheel fixing seat is fixed with the inner ring of the bearing group, the outer ring of the bearing group is fixed with the bearing mounting seat, and the bearing mounting seat is fixed on the motor support.
Furthermore, the top end of the bearing mounting seat is connected with the motor support through a screw, a protrusion is arranged at the top end of the bearing mounting seat, a stepped hole matched with the protrusion is formed in the motor support, and the protrusion extends into the stepped hole.
Still further, the driving system further comprises two driving wheel pressure compensation units, and the two driving wheel pressure compensation units correspond to the two driving units one to one; each driving wheel pressure compensation unit comprises a fixed bottom plate, a connecting rod and an extension spring; the fixed base plate is fixed on the movable vehicle body, the connecting rod is rotatably connected with the fixed base plate, one end of the connecting rod is fixed with one end of the extension spring, the other end of the extension spring is connected with the lifting support of the lifting system, and the other end of the connecting rod is abutted to the top end of the guide shaft.
Furthermore, the lifting system comprises a scissor mechanism, a lifting support and an electric push rod; the bottom end of the scissor mechanism is mounted on the movable vehicle body, the top end of the scissor mechanism is rotatably connected with the lifting support, the bottom end of the electric push rod is fixed on the movable vehicle body, and the top end of the electric push rod is fixed on the lifting support.
Furthermore, the scissor mechanism comprises two scissor type connecting rod structures which are arranged below the lifting support in parallel; each group of shear type connecting rod structures comprises a shear type connecting rod, a base and a guide rail; the scissor type connecting rod comprises two scissor arms, the middle parts of the two scissor arms are rotatably connected, the top ends of the two scissor arms are respectively rotatably connected with the lifting support, the bottom end of one scissor arm is rotatably connected with the base, the bottom end of the other scissor arm is rotatably connected with a roller, and the roller rolls along the guide rail; the base and the guide rail are fixed on the movable vehicle body.
Furthermore, the lifting system also comprises a switch bracket, two limit switches, a butt joint plate and an induction contact; the switch bracket is positioned below the lifting bracket, and the two limit switches are vertically arranged and fixed on the switch bracket; the butt joint plate is located lift support below, and with it is fixed to lift the support, the inductive contact is fixed on the butt joint plate.
Compared with the prior art, the utility model discloses an advantage is with positive effect: the utility model discloses a lifting type mobile robot system, through set up spring clamp plate and spring in motor support top, and because spring clamp plate's effect, the spring is in compression state all the time, the elasticity of spring passes through motor support and acts on the drive wheel, the normal pressure of increase drive wheel guarantees that mobile robot has sufficient normal pressure when empty, satisfy the drive power requirement that mobile robot walking needs, thereby guarantee mobile robot at the normal even running on various road surfaces, the requirement to ground roughness has been reduced.
Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the invention, which is to be read in connection with the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a lifting type mobile robot system provided by the present invention;
FIG. 2 is a bottom view of FIG. 1;
FIG. 3 is a cross-sectional view of FIG. 1;
FIG. 4 is a schematic view of the structure of the driving unit of FIG. 2;
FIG. 5 is a schematic view of a load bearing structure of the drive unit;
FIG. 6 is a schematic structural view of a driving wheel pressure compensating unit of FIG. 3;
FIG. 7 is a schematic view of the lift system of FIG. 1;
fig. 8 is a front view of fig. 7.
Reference numerals:
10. moving the vehicle body;
20. a drive unit; 21. a drive wheel; 22. a motor bracket; 23. a drive motor; 24. mounting a plate; 25. a rotating shaft; 26. a guide shaft; 27. a spring pressing plate; 28. a spring; 29. a loose joint bearing;
201. a driving wheel fixing seat; 202. a bearing set; 203. a bearing mount;
30. a lifting system; 31. lifting the support; 32 electric push rod; 33. a switch bracket; 34. a limit switch; 35. a limit switch; 36. a butt plate; 37. an inductive contact; 38. a scissor mechanism;
381. a scissors-type connecting rod structure 3811, a scissors-type connecting rod; 3812. a base; 3813. a guide rail; 3814. a roller;
40. a driving wheel pressure compensation unit; 41. an extension spring; 42. a connecting rod; 43. a rotating shaft; 44. fixing the bottom plate;
50. a universal wheel; 60. safe edge contact; 70 laser sensor; 80. two-dimensional code scanner.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The lifting type mobile robot system of the present embodiment mainly includes a navigation system, a control system, a lifting system 30, a mobile vehicle body 10, a driving system provided on the mobile vehicle body 10, and the like, as shown in fig. 1 to 4; the navigation system navigates the moving vehicle body 10, the control system controls the movement of the moving vehicle body 10, the driving system is used for driving the moving vehicle body 10 to move, the driving system comprises two driving units 20, and each driving unit 20 comprises a mounting plate 24, a motor support 22, a driving motor 23, a driving wheel 21, a guide shaft 26, a spring 28, a spring pressing plate 27 and the like; the driving motor 23 drives the driving wheel 21 to rotate, so as to realize the forward and backward movement of the moving vehicle body 10, and the differential speed of the two driving wheels realizes the steering of the moving vehicle body 10. Driving motor 23 and drive wheel 21 are installed on motor support 22, the one end and the mounting panel 24 of motor support 22 rotate to be connected, mounting panel 24 is fixed on removing automobile body 10, the top surface of the other end of motor support 22 is fixed with guiding axle 26, namely, the bottom of guiding axle 26 is connected with motor support 22, spring 28 cover is established on guiding axle 26, spring clamp plate 27 presses on spring 28, spring clamp plate 27 is fixed with motor support 22, make spring 28 be in compression state, namely spring clamp plate 27 fastens spring 28 pre-compaction, form the spring and hang the form, satisfy the drive power requirement that removes automobile body 10 walking needs.
The lifting type mobile robot system of the embodiment is characterized in that the spring pressing plate 27 and the spring 28 are arranged above the motor support 22, the spring 28 is always in a compression state due to the action of the spring pressing plate 27, the elastic force of the spring 28 acts on the driving wheel 21 through the motor support 22, the positive pressure of the driving wheel 21 is increased, the mobile robot is guaranteed to have enough positive pressure when in no-load, the driving force requirement required by walking of the mobile robot is met, the mobile robot is guaranteed to normally and stably run on various road surfaces, and the requirement on the flatness of the ground is lowered. The guide shaft 26 plays a role in guiding, when the driving wheel 21 moves up and down due to bumping, the driving wheel 21 moves up and down along the guide shaft 26 through the guide function of the guide shaft 26 by acting on the guide shaft 26 through the motor bracket 22.
In the lifting type mobile robot system of the embodiment, the lifting system 30 is located at the top of the mobile vehicle body 10 and is used for carrying lifted goods; a laser sensor 70 is provided at the front end of the moving vehicle body 10 for detecting and avoiding an obstacle; safety contact edges 60 are arranged at the front end and the rear end of the mobile vehicle body 10 to prevent the mobile vehicle body 10 from being damaged by collision, as shown in fig. 1; the bottom of the moving vehicle body 10 is provided with a two-dimensional code scanner 80, specifically located at the midpoint of the bottom of the moving vehicle body 10, as shown in fig. 2; the two driving units 20 of the driving system are located at the middle of the moving vehicle body 10 in the length direction, and are symmetrically arranged in the width direction, that is, the robot of the embodiment is a dual-drive robot, and can realize the actions of forward movement, backward movement, in-situ rotation and the like of the moving robot; four universal wheels 50 are directly fixed to the moving body 10.
In this embodiment, in order to facilitate the spring pressing plate 27 to pre-press the fastening spring 28, the spring pressing plate 27 is shaped like a Chinese character 'ji', a central hole is formed at the central position of the spring pressing plate 27, the guide shaft 26 passes through the central hole of the spring pressing plate 27, i.e. the spring pressing plate 27 is sleeved on the guide shaft 26 and presses the top end of the spring 28, and the spring pressing plate 27 is fixed to the motor bracket 22 by a screw.
In this embodiment, the driving unit 20 further includes a loose joint bearing 29, the loose joint bearing 29 is fixed on the spring pressing plate 27, and the top end of the guide shaft 26 passes through a middle hole of the loose joint bearing 29 and is movable in the middle hole of the loose joint bearing 29. The loose joint bearing 29 gives the guide shaft 26 a certain movement space, so that the top end of the guide shaft 26 can rock to a certain degree, and a buffering effect is achieved.
In this embodiment, the driving unit 20 further includes a buffering mechanism, the buffering mechanism includes a rotating shaft 25 and an oil-retaining bearing, the mounting plate 24 is fixed to the movable body 10 through four screws, the rotating shaft 25 is fixed to the mounting plate 24, one end of the motor bracket 22 is rotatably connected to the mounting plate 24 through the rotating shaft 25, and the oil-retaining bearing is sleeved on the rotating shaft 25 to reduce the rotational friction between the motor bracket 22 and the mounting plate 24.
In this embodiment, the driving unit 20 further includes a bearing structure, which includes a driving wheel fixing seat 201, a bearing set 202, and a bearing mounting seat 203, as shown in fig. 5; an output shaft of the driving motor 23 is fixed with the driving wheel fixing seat 201, and the driving wheel fixing seat 201 is fixed with the driving wheel 21; the driving wheel fixing seat 201 is fixed with an inner ring of the bearing group 202, an outer ring of the bearing group 202 is fixed with the bearing mounting seat 203, and the bearing mounting seat 203 is fixed on the motor support 22. The driving motor 23 drives the driving wheel fixing seat 201 to rotate, and further drives the driving wheel 21 to rotate; the pressure applied to the driving wheel 21 is transmitted to the bearing mounting seat 203 through the bearing set 202 and then transmitted to the motor bracket 22, so that the output shaft of the driving motor 23 is prevented from bearing axial force.
In the present embodiment, the driving system further includes two driving wheel pressure compensating units 40, and the two driving wheel pressure compensating units 40 correspond to the two driving units 20 one to one; the driving wheel pressure compensating unit 40 increases a positive pressure for the driving wheel 21 of the corresponding driving unit 20.
Each driving wheel pressure compensation unit 40 includes a fixed base plate 44, a link 42, and an extension spring 41, as shown in fig. 3 and 6; the fixed base plate 44 is fixed to the movable body 10, the link 42 is rotatably connected to the fixed base plate 44 via the rotating shaft 43, one end of the link 42 is fixed to one end of the tension spring 41, the other end of the tension spring 41 is connected to the lifting bracket 31 of the lifting system 30, and the other end of the link 42 abuts against the tip end of the guide shaft 26. When the lifting support 31 rises, the extension spring 41 is driven to extend, the extension spring 41 drives the connecting rod 42 to rotate, one end of the connecting rod 42 rises, the other end of the connecting rod 42 presses downwards, pressure is transmitted to the guide shaft 26 and then transmitted to the driving wheel 21 through the motor support 22, and positive pressure of the driving wheel 21 is increased. Therefore, when the lifting bracket 31 lifts the heavy object, the driving wheel pressure compensating unit 40 increases the positive pressure of the driving wheel 21, improving the running accuracy.
Through the design of the driving wheel pressure compensation unit 40, the positive pressure of the driving wheel can be directly increased after the mobile robot lifts cargoes, and the requirement of the driving force when the mobile robot carries heavy objects is met, so that the normal operation of the mobile robot on a loaded road surface under the condition of full load is ensured, and the operation precision and reliability are improved. The driving wheel pressure compensating mechanism 40 can prevent the slipping of the driving wheels and improve the operating efficiency and reliability.
In the present embodiment, the lifting system 30 includes a scissor mechanism 38, a lifting bracket 31, and an electric push rod 32, as shown in fig. 7 and 8; the scissor mechanism 38 is located below the lifting support 31, the bottom end of the scissor mechanism 38 is mounted on the movable vehicle body 10, the top end of the scissor mechanism 38 is rotatably connected with the lifting support 31, the bottom end of the electric push rod 32 is fixed on the movable vehicle body 10, the top end of the electric push rod 32 is fixed on the lifting support 31, and the electric push rod 32 extends to push the lifting support 31 to lift. The lifting system 30 with the design has the advantages of simple structure, small occupied space and reliable operation.
In the present embodiment, the scissor mechanism 38 includes two scissor-type link structures 381, and the two scissor-type link structures 381 are arranged in parallel below the lifting frame 31; referring to fig. 7, each set of scissors link structure 381 includes a scissors link 3811, a base 3812, and a rail 3813; the scissor type connecting rod 3811 comprises two scissor arms, the middle parts of the two scissor arms are rotatably connected, the top ends of the two scissor arms are respectively rotatably connected with the lifting support 31, the bottom end of one scissor arm is rotatably connected with the base 3812, the bottom end of the other scissor arm is rotatably connected with a roller 3814, and the roller 3814 rolls along the guide rail 3813; the base 3812 and the guide rails 3813 are fixed to the moving body 10. The top end of the scissor mechanism 38 is referred to as the top end of the scissor arms and the bottom end of the scissor mechanism 38 is referred to as the base and the guide rails. The shear type mechanism with the design is simple in structure, small in occupied space, reliable in operation and high in practicability.
In this embodiment, in order to control the lifting height, the lifting system 30 further includes a switch bracket 33, two limit switches 34 and 35, a docking plate 36, and an inductive contact 37, as shown in fig. 8; switch support 33 is located lifting support 31 below, and two limit switch lay from top to bottom, and fix on switch support 33, and limit switch 35 is located limit switch 34 top, and butt joint board 36 is located lifting support 31 below, and is fixed with lifting support 31, and inductive contact 37 is fixed on butt joint board 36. When the lifting support 31 is lifted, the abutting plate 36 is driven to lift, and further the inductive contact 37 is driven to lift, when the inductive contact 37 touches the limit switch 35, the limit switch 35 is closed, and a signal is sent to the control system, which indicates that the lifting support 31 is lifted to the limit position; when the inductive contact 37 touches the limit switch 34, the limit switch 34 is closed, and a signal is sent to the control system, which indicates that the lifting bracket 31 is lowered to the limit position; therefore, the lifting height of the lifting support 31 is controlled, and safety accidents caused by too high or too low lifting are avoided. The specific heights of the limit switches 35 and 34 can be adjusted according to actual conditions.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or that equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the present invention, which is claimed.
Claims (10)
1. A lifting type mobile robot system comprises a lifting system, a mobile vehicle body and a driving system arranged on the mobile vehicle body, and is characterized in that the driving system comprises two driving units, and each driving unit comprises a mounting plate, a motor bracket, a driving motor, a driving wheel, a guide shaft, a spring and a spring pressing plate;
the driving motor and the driving wheel are arranged on the motor support, one end of the motor support is rotatably connected with the mounting plate, the mounting plate is fixed on the movable vehicle body, the top surface of the other end of the motor support is fixed with the guide shaft, and the spring is sleeved on the guide shaft; the spring pressing plate is pressed on the spring and fixed with the motor support, and the spring is in a compressed state.
2. The lift-type mobile robotic system of claim 1, wherein: the spring pressing plate is in a shape like a Chinese character 'ji', a central hole is formed in the center of the spring pressing plate, and the spring pressing plate is sleeved on the guide shaft.
3. The lift-type mobile robotic system of claim 1, wherein: the driving unit further comprises a loose joint bearing, the loose joint bearing is fixed on the spring pressing plate, and the top end of the guide shaft penetrates through the loose joint bearing.
4. The lift-type mobile robotic system of claim 1, wherein: the drive unit still includes buffer gear, buffer gear includes pivot and oiliness bearing, motor support's one end is passed through the pivot with the mounting panel rotates to be connected the cover is equipped with in the pivot oiliness bearing.
5. The lift-type mobile robotic system of claim 1, wherein: the driving unit further comprises a bearing structure, and the bearing structure comprises a driving wheel fixing seat, a bearing group and a bearing mounting seat; an output shaft of the driving motor is fixed with the driving wheel fixing seat, and the driving wheel fixing seat is fixed with the driving wheel; the driving wheel fixing seat is fixed with the inner ring of the bearing group, the outer ring of the bearing group is fixed with the bearing mounting seat, and the bearing mounting seat is fixed on the motor support.
6. The lift-type mobile robotic system of claim 5, wherein: the top end of the bearing mounting seat is connected with the motor support through a screw, a protrusion is arranged at the top end of the bearing mounting seat, a stepped hole matched with the protrusion is formed in the motor support, and the protrusion extends into the stepped hole.
7. The lift-type mobile robotic system of any one of claims 1-6, wherein: the driving system also comprises two driving wheel pressure compensation units, and the two driving wheel pressure compensation units correspond to the two driving units one by one;
each driving wheel pressure compensation unit comprises a fixed bottom plate, a connecting rod and an extension spring; the fixed base plate is fixed on the movable vehicle body, the connecting rod is rotatably connected with the fixed base plate, one end of the connecting rod is fixed with one end of the extension spring, the other end of the extension spring is connected with the lifting support of the lifting system, and the other end of the connecting rod is abutted to the top end of the guide shaft.
8. The lift-type mobile robotic system of claim 1, wherein: the lifting system comprises a scissor mechanism, a lifting support and an electric push rod;
the bottom end of the scissor mechanism is mounted on the movable vehicle body, the top end of the scissor mechanism is rotatably connected with the lifting support, the bottom end of the electric push rod is fixed on the movable vehicle body, and the top end of the electric push rod is fixed on the lifting support.
9. The lift-type mobile robotic system of claim 8, wherein: the scissor mechanism comprises two scissor type connecting rod structures which are arranged below the lifting support in parallel;
each group of shear type connecting rod structures comprises a shear type connecting rod, a base and a guide rail;
the scissor type connecting rod comprises two scissor arms, the middle parts of the two scissor arms are rotatably connected, the top ends of the two scissor arms are respectively rotatably connected with the lifting support, the bottom end of one scissor arm is rotatably connected with the base, the bottom end of the other scissor arm is rotatably connected with a roller, and the roller rolls along the guide rail; the base and the guide rail are fixed on the movable vehicle body.
10. The lift-type mobile robotic system of claim 8, wherein: the lifting system also comprises a switch bracket, two limit switches, a butt plate and an induction contact;
the switch bracket is positioned below the lifting bracket, and the two limit switches are vertically arranged and fixed on the switch bracket;
the butt joint plate is located lift support below, and with it is fixed to lift the support, the inductive contact is fixed on the butt joint plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922104864.9U CN211310675U (en) | 2019-11-29 | 2019-11-29 | Lifting type mobile robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922104864.9U CN211310675U (en) | 2019-11-29 | 2019-11-29 | Lifting type mobile robot system |
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| CN211310675U true CN211310675U (en) | 2020-08-21 |
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| CN201922104864.9U Active CN211310675U (en) | 2019-11-29 | 2019-11-29 | Lifting type mobile robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003655A (en) * | 2019-11-29 | 2020-04-14 | 青岛海通机器人***有限公司 | Lifting type mobile robot system |
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- 2019-11-29 CN CN201922104864.9U patent/CN211310675U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003655A (en) * | 2019-11-29 | 2020-04-14 | 青岛海通机器人***有限公司 | Lifting type mobile robot system |
| CN111003655B (en) * | 2019-11-29 | 2023-12-22 | 苏州海通机器人***有限公司 | Lifting type mobile robot system |
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Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: B3, 10th floor, block B, Qingdao International Innovation Park, 169 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266101 Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |
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