CN215206962U

CN215206962U - AMR automatic extending device of ground tray type autonomous mobile robot

Info

Publication number: CN215206962U
Application number: CN202121407802.6U
Authority: CN
Inventors: 刘志刚; 程远; 丁健
Original assignee: Wuxi Institute of Technology
Current assignee: Wuxi Institute of Technology
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2021-12-17
Anticipated expiration: 2031-06-23

Abstract

The utility model discloses an automatic device that stretches out of ground tray formula autonomous mobile robot AMR aims at providing the automatic device that stretches out that thereby the equipment of being convenient for enters into the goods below conveniently lifts up, and its technical scheme main points are, the on-line screen storage device comprises a base, be equipped with drive arrangement on the base, the drive arrangement export is equipped with adjusting device, adjusting device locates axostylus axostyle both sides and drive arrangement export meshed bevel gear including the carrier that is equipped with on being located the base, with carrier rotation, the cover is located the axostylus axostyle both sides, is located the axostylus axostyle both ends and still is equipped with drive sprocket, is located the base top and still is equipped with the support, is located support one side and rotates driven sprocket, the cover that is connected with and matches with drive sprocket and driven sprocket's chain, is located the support opposite side and is equipped with the gear and is located the displacement device that matches with the gear on the base.

Description

AMR automatic extending device of ground tray type autonomous mobile robot

Technical Field

The utility model relates to an automatic conveying equipment field, concretely relates to automatic device that stretches out of ground tray formula autonomous mobile robot AMR.

Background

(Automated Guided Vehicle, AGV), also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.

At present, Chinese patent with publication number CN212605547U discloses a logistics trolley, which comprises a trolley body; the travelling mechanism comprises two first wheel sets and two second wheel sets, the two first wheel sets are arranged at intervals along a first direction, each first wheel set comprises a first universal wheel, a driving wheel and a first hinge frame, the first universal wheels and the driving wheels are sequentially arranged along a second direction perpendicular to the first direction and are connected with the first hinge frames, the first hinge frames are hinged with the vehicle body at first hinge holes, the second wheel sets are arranged at the downstream of the driving wheels along the second direction and comprise second hinge frames and two second universal wheels, the two second universal wheels are connected to the two ends of the second hinge frames along the first direction, and the second hinge frames are hinged with the vehicle body at the second hinge holes; and the traction rod is arranged on the vehicle body and is used for connecting the logistics trolley with the towed vehicle, and the traction rod is positioned between the first hinge hole and the second hinge hole and is close to the first hinge hole in the second direction.

Although the logistics trolley improves the loading capacity of the logistics trolley, the moving parts cannot be displaced relative to the base, so that the diversity of operation is reduced.

Disclosure of Invention

The utility model aims at providing a ground tray formula is from automatic device that stretches out of mobile robot AMR, it has can be effectual to stretch into the article below from the mobile robot to lift up the transport object, carry out the advantage of effective transportation.

The above technical purpose of the present invention can be achieved by the following technical solutions:

the utility model provides an automatic device that stretches out of AMR of ground tray formula autonomous mobile robot, includes the base, be equipped with drive arrangement on the base, the drive arrangement export is equipped with adjusting device, adjusting device is including lieing in the carrier that is equipped with on the base, the axostylus axostyle of being connected with the carrier rotation, the bevel gear that the cover was located axostylus axostyle both sides and drive arrangement export meshing, lie in the axostylus axostyle both ends and still be equipped with drive sprocket, lie in the base top and still be equipped with the support, lie in support one side and rotate and be connected with the driven sprocket who matches with drive sprocket, the chain on drive sprocket and the driven sprocket is located to the cover, lie in the support opposite side and be equipped with the gear and lie in the displacement device that matches with the gear on the base.

Through adopting above-mentioned technical scheme, the drive arrangement who is equipped with will drive adjusting device and adjust, stretches out whole displacement device to the outside through adjusting device's drive to supplementary autonomic mobile robot stretches into the goods bottom, the subsequent transport work of being convenient for.

Further setting: the driving device comprises a stretching motor positioned on the base and a speed reducer positioned at the outlet of the stretching motor and connected with the bevel gear.

Through adopting above-mentioned technical scheme, the drive arrangement that is equipped with can effectually drive the axostylus axostyle and rotate to drive displacement device and take place to remove.

Further setting: the displacement device comprises a stretching frame arranged on two sides of the base, an industrial guide rail arranged at one end, close to the gear, of the stretching frame, a rack arranged on the industrial guide rail and meshed with the gear, and a universal wheel arranged at the bottom of the stretching frame.

Through adopting above-mentioned technical scheme, the displacement device that is equipped with can be effectual carries out the displacement through the cooperation of guide rail and rack and gear.

Further setting: the base both sides still are equipped with testing arrangement, testing arrangement is equipped with distance sensor including lieing in the montant that the base both sides were equipped with, lieing in the montant and being close to guide rail one side, stretch out and be equipped with the controller of being connected with distance sensor electricity on the motor.

Through adopting above-mentioned technical scheme, the testing arrangement that is equipped with can effectual control stretch out the rotation of motor, feeds back to the controller through distance sensor, and the controller then controls the rotation condition of stretching out the motor through corresponding distance data.

Further setting: the base is further provided with a supporting device, and the supporting device comprises a plurality of supporting blocks arranged on the base, supporting rods arranged on the supporting blocks and damping springs arranged on the supporting rods.

Through adopting above-mentioned technical scheme, the damping spring that is equipped with can effectual reduction shake circumstances such as appear when carrying the goods to increase holistic stable effect.

Further setting: the top end of the damping spring is also provided with a supporting frame.

Through adopting above-mentioned technical scheme, the carriage that is equipped with can effectual increase lifting surface area to make whole more firm.

To sum up, the utility model discloses following beneficial effect has: the condition that can effectual supplementary autonomous mobile robot stretches out inserts the goods bottom that needs the transport with whole stretching out, and is whole comparatively stable, the effectual shock attenuation that carries on in the handling.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the overall structure of an AMR automatic extension device of a ground tray type autonomous mobile robot;

fig. 2 is a partially enlarged structural schematic diagram of an AMR automatic extending device of the ground tray type autonomous mobile robot.

In the figure, 1, a base; 2. a drive device; 21. extending the motor; 22. a speed reducer; 3. an adjustment device; 31. a gear carrier; 32. a shaft lever; 33. a bevel gear; 34. a drive sprocket; 35. a support; 36. a driven sprocket; 37. a chain; 38. a gear; 39. a displacement device; 391. a projecting frame; 392. an industrial grade guide rail; 393. a rack; 394. a universal wheel; 4. a testing device; 41. a vertical rod; 42. a distance sensor; 43. a controller; 5. a support device; 51. a support block; 52. a support bar; 53. a damping spring; 6. and (4) supporting the frame.

Detailed Description

The following describes the embodiments of the present invention with reference to the accompanying drawings.

The utility model adopts the technical proposal that: an AMR automatic extension device of a ground tray type autonomous mobile robot comprises a base 1, a driving device 2 is arranged on the base 1, the driving device 2 comprises an extension motor 21 positioned on the base 1 and a speed reducer 22 positioned at the outlet of the extension motor 21 and connected with a bevel gear 33, an adjusting device 3 is further arranged at the outlet of the speed reducer 22, the adjusting device 3 comprises a gear carrier 31 positioned on the base 1 and connected with the speed reducer 22, a shaft lever 32 is rotatably connected between the gear carrier 31, bevel gears 33 meshed with the outlet of the driving device 2 are arranged on two sides of the shaft lever 32 between the gear carrier 31, a driving sprocket 34 is further arranged at two ends of the shaft lever 32 positioned outside the gear carrier 31, a support 35 is further arranged at the top end of the base 1, a driven sprocket 36 matched with the driving sprocket 34 is rotatably connected to one side of the support 35, and a chain 37 is sleeved on the driving sprocket 34 and the driven sprocket 36, a gear 38 is provided on the other side of the bracket 35.

The base 1 is also provided with a displacement device 39 matched with the gear 38, the displacement device 39 comprises a projecting frame 391 arranged at two sides of the base 1, an industrial grade guide rail 392 is arranged at one end of the extending frame 391 close to the gear 38, a rack 393 meshed with the gear 38 is arranged on the industrial grade guide rail 392, meanwhile, the bottom of the extension frame 391 is provided with a universal wheel 394, the base 1 is also provided with a supporting device 5, the supporting device 5 comprises a plurality of supporting blocks 51 arranged on the base 1, a support bar 52 is arranged on the support block 51, a damping spring 53 is arranged on the support bar 52, a support frame 6 is also arranged at the top end of the damping spring 53, thereby being convenient for supporting the whole device, the two sides of the base 1 are also provided with the testing devices 4, the testing devices 4 comprise vertical bars 41 which are arranged at the two sides of the base 1, a distance sensor 42 is arranged on one side of the vertical rod 41 close to the guide rail, and a controller 43 electrically connected with the distance sensor 42 is arranged on the extending motor 21.

The main working principle is as follows: the whole equipment works as follows: the extension motor 21 decelerates and increases torque through the speed reducer 22 to drive the bevel gear 33 to rotate, and then the rotation is transmitted to the shaft lever 32 to rotate, the shaft lever 32 drives the driving sprocket 34 to rotate, then the chain 37 drives the driven sprocket 36 to rotate, the driven sprocket 36 and the gear 38 are arranged on the same shaft to do the same rotary motion, and the gear 38 rotates to drive the rack 393 to do linear motion; the universal wheel 394 is contacted with the ground, and when the rack 393 makes a linear motion, the displacement device 39 is driven to make an outward extending motion, and when the displacement device moves to a certain position, a distance length signal detected by the distance sensor 42 is electrically connected with the controller 43 for sending the signal to the extending motor 21, so that the extending motor 21 stops after the whole displacement device 39 reaches a set distance, and the extending is finished.

The above is the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the simple modifications, equivalent changes and modifications made by the technical entity of the present invention to the above embodiments all belong to the scope of the technical solution of the present invention.

Claims

1. The utility model provides a ground tray formula is automatic to be stretched out device from mobile robot AMR, includes base (1), its characterized in that: a driving device (2) is arranged on the base (1), an outlet of the driving device (2) is provided with an adjusting device (3), the adjusting device (3) comprises a gear carrier (31) arranged on the base (1), a shaft lever (32) rotatably connected with the gear carrier (31), bevel gears (33) sleeved on two sides of the shaft lever (32) and meshed with an outlet of the driving device (2), driving chain wheels (34) arranged at two ends of the shaft lever (32), a support (35) arranged on the top end of the base (1), a driven chain wheel (36) rotatably connected with one side of the support (35) and matched with the driving chain wheels (34), chains (37) sleeved on the driving chain wheels (34) and the driven chain wheels (36), and a gear (38) arranged on the other side of the support (35) and a displacement device (39) arranged on the base (1) and matched with the gear (38).

2. The AMR automatic extending device of the ground tray type autonomous mobile robot according to claim 1, characterized in that: the driving device (2) comprises a stretching motor (21) positioned on the base (1) and a speed reducer (22) positioned at the outlet of the stretching motor (21) and connected with a bevel gear (33).

3. The AMR automatic extending device of the ground tray type autonomous mobile robot according to claim 2, characterized in that: the displacement device (39) comprises a protruding frame (391) arranged on two sides of the base (1), an industrial guide rail (392) arranged at one end, close to the gear (38), of the protruding frame (391), a rack (393) arranged on the industrial guide rail (392) and meshed with the gear (38), and a universal wheel (394) arranged at the bottom of the protruding frame (391).

4. A floor tray type autonomous mobile robot AMR automatic extending device according to claim 3, characterized in that: base (1) both sides still are equipped with testing arrangement (4), testing arrangement (4) are equipped with distance sensor (42) including being located montant (41) that base (1) both sides were equipped with, being located montant (41) and being close to guide rail one side, be equipped with controller (43) of being connected with distance sensor (42) electricity on stretching out motor (21).

5. The AMR automatic extension device of the ground tray type autonomous mobile robot of claim 4, characterized in that: the base (1) is further provided with a supporting device (5), and the supporting device (5) comprises a plurality of supporting blocks (51) arranged on the base (1), a supporting rod (52) arranged on the supporting blocks (51) and a damping spring (53) arranged on the supporting rod (52).

6. The AMR automatic extending device of the ground tray type autonomous mobile robot as claimed in claim 5, wherein: the top end of the damping spring (53) is also provided with a supporting frame (6).