An industrial transport robot capable of overcoming obstacles

Abstract

The application discloses an industrial transport robot capable of crossing obstacles, which comprises a rectangular chassis, rear wheels, crossing wheels, auxiliary wheels and front wheels which are symmetrically arranged on both sides of the chassis along the walking direction of the chassis, the rear wheels are connected with the auxiliary wheels through connecting plates, the rear wheels are connected with the chassis, connecting cross beams are arranged between the connecting plates arranged on both sides, the connecting cross beams are connected with turnover oil cylinders along the length direction of the connecting cross beams, turnover supports are arranged on the end of the chassis close to the rear wheels, one end of the turnover oil cylinder is connected with the turnover support, and the other end of the turnover oil cylinder is connected with the connecting cross beam, lifting oil cylinders are arranged at the wheel shafts of the auxiliary wheels, the cylinder barrels of the lifting oil cylinders penetrate through the chassis and are vertically and fixedly connected with the chassis, the pistons of the lifting oil cylinders are fixedly connected with the wheel shafts of the auxiliary wheels, transport frames are arranged on the chassis along the height direction of the chassis, and clamping mechanisms are arranged on the top of the transport frames, and the stable obstacle-crossing operation can be realized through the auxiliary wheels and the crossing wheels.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of transportation equipment, in particular to an industrial conveying robot capable of crossing obstacles. BACKGROUND

[0002] With the sustained and rapid economic development, China is transforming from labor-intensive to modern manufacturing industry, revitalizing manufacturing industry and realizing industrialization are important tasks for China's economic development, as an important equipment and means that cannot be replaced in advanced manufacturing industry, the application and popularization of industrial robots naturally become the ideal choice for enterprises, but in a large number of small and medium-sized enterprises, the comprehensive popularization of industrial robots and the site reconstruction do not meet the actual demand, so part of the robots need to replace industrial labor, so as to gradually realize mechanization and automation, at present, the precision equipment cannot be inclined during the conveying process, otherwise the precision of the instrument will be affected, but during the conveying process, it is inevitable to encounter obstacles such as steps, and manual conveying will inevitably be inclined, so a robot capable of crossing obstacles while keeping the equipment horizontal is needed. SUMMARY

[0003] In view of the above problems, the present application provides an industrial conveying robot capable of crossing obstacles, which has the advantages of good obstacle crossing stability and stable conveying of materials while crossing obstacles.

[0004] The technical scheme of the present application is as follows:

[0005] An industrial conveying robot capable of crossing obstacles, comprising a rectangular chassis, rear wheels, crossing wheels, auxiliary wheels and front wheels are symmetrically arranged on both sides of the chassis along the walking direction of the chassis, one end of the wheel shaft of the crossing wheel on each side is connected with an obstacle crossing power mechanism, and the other end is connected with the wheel shaft of the rear wheel on the same side through a connecting plate, the obstacle crossing power mechanism comprises a power motor and a transmission chain, the power motor is fixedly connected with the chassis, a first transmission gear is connected with the output end of the power motor, the first transmission gear is sleeved on the wheel shaft of the crossing wheel on the same side, a second transmission gear is sleeved on the wheel shaft of the rear wheel on the same side, the transmission chain is wound between the first transmission gear and the second transmission gear, one end of the connecting plate arranged on each side is hinged with the wheel shaft of the crossing wheel on the same side, and the other end is hinged with the wheel shaft of the rear wheel on the same side, a connecting cross beam is connected between the connecting plates arranged on both sides, the connecting cross beam and the connecting plates on both sides form an I-shaped structure, the connecting cross beam is hinged with a turnover oil cylinder along the length direction of the connecting cross beam, a turnover support is arranged at one end of the chassis close to the rear wheel, one end of the turnover oil cylinder is hinged with the turnover support, and the other end is hinged with the connecting cross beam, a lifting oil cylinder is arranged at the wheel shaft of each auxiliary wheel, the cylinder barrel of the lifting oil cylinder penetrates through the chassis and is fixedly connected with the chassis perpendicularly, the piston of the lifting oil cylinder is fixedly connected with the wheel shaft of the auxiliary wheel, a conveying frame is arranged on the chassis along the height direction of the chassis, and a clamping mechanism is arranged on the top of the conveying frame.

[0006] The front wheel and the rear wheel are both Mecanum wheels.

[0007] The piston of the lifting oil cylinder and the connecting plate are both provided with a gyroscope and a travel switch.

[0008] The clamping mechanism comprises a fixed plate, the length direction of the fixed plate is perpendicular to the walking direction of the chassis, symmetrically arranged with fixed seats at both ends of the length direction of the fixed plate, a sliding rod is connected between the fixed seats, symmetrically sleeved with sliding blocks at the length direction of the sliding rod, each sliding block is connected with a clamping plate, the clamping plate is perpendicular to the sliding rod, a clamping power rod penetrating through the sliding rod is arranged at the center of the sliding rod along the height direction of the chassis, the end of the clamping power rod away from the ground is connected with a pull block, a pull rod is hinged between the pull block and the sliding block on each side, and the clamping power rod and the sliding rod form a screw nut transmission mechanism.

[0009] A synchronous height adjusting rod penetrating through the fixed plate is arranged at the bottom of each fixed seat.

[0010] A rotating disc is arranged between the clamping mechanism and the transport frame.

[0011] The beneficial effects of the present application are:

[0012] 1. The rear wheel is hinged with a leap-over wheel, when overcoming obstacles, the auxiliary wheel and the rear wheel lift the machine body as a whole, the height difference between the front wheel and the rear wheel maintains the stability of the machine body when overcoming obstacles, the transport frame with a clamping mechanism arranged on the chassis can ensure the reliability and convenience of material transportation, and the stability of material transfer can be ensured;

[0013] 2. The front wheel and the rear wheel are both Mecanum wheels, which can ensure that the robot can move in all directions, and can improve the flexibility of use;

[0014] 3. The piston of the lifting oil cylinder and the connecting plate are both provided with a gyroscope and a travel switch, which can ensure the stability of the robot when lifting;

[0015] 4. The clamping mechanism is driven by the screw nut mechanism to move the pull block up and down, thereby synchronously moving the pull rod, and further driving the clamping plate to perform clamping action, the clamping force is strong, and the clamping reliability is high;

[0016] 5. The bottom of the fixed seat is provided with a synchronous height adjusting rod penetrating through the fixed plate, the height of the transfer can be adjusted according to the material to be transferred, and the flexibility of use is increased;

[0017] 6. A rotating disc is arranged between the clamping mechanism and the transport frame, the direction of clamping can be adjusted according to the need, and the reliability of transfer is increased. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1is a front view of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application;

[0019] Figure 2 is a top view of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application;

[0020] Figure 3 is a bottom view of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application;

[0021] Figure 4 is a left view of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application;

[0022] Figure 5 is a perspective view of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application;

[0023] Figure 6 is a schematic diagram of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application in the state of crossing obstacles;

[0024] Figure 7 is a schematic diagram of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application in the state after crossing obstacles;

[0025] Figure 8 is a schematic diagram of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application with the structure of the rotating disc;

[0026] Figure 9 is a schematic diagram of the industrial transport robot capable of crossing obstacles according to the embodiment of the present application with the structure of the sliding block.

[0027] Explanation of reference signs:

[0028] 1 is a chassis, 2 is a rear wheel, 3 is a crossing wheel, 4 is an auxiliary wheel, 5 is a front wheel, 6 is an obstacle-crossing power mechanism, 7 is a connecting plate, 8 is a connecting cross beam, 9 is a turnover oil cylinder, 10 is a clamping mechanism, 11 is a turnover support, 12 is a transport frame, 13 is a rotating disc, 41 is a lifting oil cylinder, 61 is a power motor, 62 is a transmission chain, 63 is a first transmission gear, 64 is a second transmission gear, 101 is a fixed plate, 102 is a fixed seat, 103 is a sliding rod, 104 is a sliding block, 105 is a clamping plate, 106 is a clamping power rod, 107 is a pulling block, 108 is a pulling rod, and 109 is a synchronous height adjusting rod. DETAILED DESCRIPTION

[0029] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0030] Embodiment:

[0031] As Figures 1-7As shown, an industrial transport robot capable of overcoming obstacles comprises a rectangular chassis 1, with rear wheels 2, overrunning wheels 3, auxiliary wheels 4 and front wheels 5 symmetrically arranged on both sides of the chassis 1 along its walking direction. One end of the axle of the overrunning wheel 3 on each side is connected to an obstacle-crossing power mechanism 6, and a connecting plate 7 is connected between the other end and the axle of the rear wheel 2 on that side. The obstacle-crossing power mechanism 6 comprises a power motor 61 and a transmission chain 62. The power motor 61 is fixedly connected to the chassis 1, and the output end of the power motor 61 is connected to a first transmission gear 63, which is sleeved on the axle of the overrunning wheel 3 on that side, and a second transmission gear 64 is sleeved on the axle of the rear wheel 2 on that side. A transmission chain 62 is wound between the first transmission gear 63 and the second transmission gear 64, and one end of the connecting plate 7 arranged on each side is connected to the overrunning wheel 3 on that side. The axle of the overrunning wheel 3 is hinged, and the other end is hinged to the axle of the rear wheel 2 on that side. A connecting beam 8 is connected between the connecting plates 7 on both sides. The connecting beam 8 and the connecting plates 7 on both sides form an I-shaped structure. The connecting beam 8 is hinged to the flip cylinder 9 along its length direction. A flip bracket 11 is provided at one end of the chassis 1 near the rear wheel. One end of the flip cylinder 9 is hinged to the flip bracket 11, and the other end is hinged to the connecting beam 8. A lifting cylinder 41 is provided at the axle of each auxiliary wheel 4. The cylinder barrel of the lifting cylinder 41 passes through the chassis 1 and is perpendicular and fixedly connected to the chassis 1. The piston of the lifting cylinder 41 is fixedly connected to the axle of the auxiliary wheel 4. A transport frame 12 is provided along its height direction, and a clamping mechanism 10 is provided on the top of the transport frame 12.

[0032] The working principle of the above technical solution is as follows:

[0033] When the robot is traveling on a flat road, the clamping mechanism 10 on the top of the transport frame 12 clamps and fixes the materials to be transferred. When the front wheel 2 encounters a step obstacle, the lifting cylinder 41 pushes the auxiliary wheel 4 to move in the height direction, and at the same time the tilting cylinder 9 is pushed out, so that the rear wheel 2 and the overturning wheel 3 form a height difference, and the chassis 1 is lifted by the rear wheel 2 and the auxiliary wheel 4 so that the front wheel 5 touches the edge of the step. The lifting cylinder 41 is controlled to retract the auxiliary wheel 4, and the robot is stably supported by the front wheel 5 and the rear wheel 2 of different heights. The rear wheel 2 is pushed forward by the chain drive driven by the power motor 61, so that the overturning wheel 3 reaches the step, and at the same time the tilting cylinder 9 is controlled to pull the rear wheel 2 back. At this time, the robot is supported by the front wheel 5 and the overturning wheel 3, and the power motor 61 controls the overturning wheel 3 to move, and then brings the rear wheel 5 up the step to achieve obstacle crossing. During the obstacle crossing process, the robot can be kept in a stable state, thereby ensuring the stability and safety of the transported materials.

[0034] like Figures 1-7 As shown, the front wheel 5 and the rear wheel 2 are both Mecanum wheels, which can ensure that the robot can move in all directions and can effectively solve the shaking problem caused by excessive curvature when the robot turns.

[0035] As Figures 1-7 shown, the piston of the lifting oil cylinder 41 and the connecting plate 7 are both provided with a gyroscope and a travel switch, which can ensure the stability of the robot when it is lifted.

[0036] As Figures 1-7 shown, the clamping mechanism 10 includes a fixed plate 101, the length direction of the fixed plate 101 is perpendicular to the running direction of the chassis 1, the fixed plate 101 is symmetrically provided with a fixed seat 102 at both ends along the length direction, the fixed seat 102 is connected with a sliding rod 103, the sliding rod 103 is symmetrically sleeved with a sliding block 104 along the length direction, each sliding block 104 is connected with a clamping plate 105, the clamping plate 105 is perpendicular to the sliding rod 103, the clamping power rod 106 is provided at the center of the sliding rod 103 along the height direction of the chassis 1, the clamping power rod 106 is connected with a pull block 107 at the end away from the ground, the pull block 107 is hingedly connected with a pull rod 108 between each side sliding block 104, the clamping power rod 106 and the sliding rod 103 form a screw nut transmission mechanism, in use, the screw nut transmission pair formed by the clamping power rod 106 and the sliding rod 103 drives the clamping power rod 106 to lift, the top plate of the clamping power rod 106 is provided with the pull block 107, the pull block 107 pulls the sliding block 104 to move relatively along the sliding rod 103 through the pull rod 108, so as to realize the clamping action of the clamping plate 105, the clamping of the goods to be transferred is reliable, and the flexibility of the transfer can be improved.

[0037] As Figures 1-7 shown, the bottom of each fixed seat 102 is provided with a synchronous height adjusting rod 109 penetrating through the fixed plate 101, the height of the transfer can be adjusted according to the goods to be transferred, and the flexibility of use is increased.

[0038] As Figure 8 shown, the rotating disc 13 is arranged between the clamping mechanism 10 and the transport frame 12, the direction of clamping can be adjusted as needed, and the reliability of the transfer is increased.

[0039] As Figure 9 shown, the sliding block 104 is a columnar sliding block, and a micro bearing is arranged on each surface of the sliding block, which can effectively resist the tangential force and will not be damaged when subjected to different directions of force.

[0040] The above-described embodiments only express the specific implementation of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. An industrial transport robot capable of overcoming obstacles, characterized in that: The invention comprises a rectangular chassis (1), wherein rear wheels (2), overtaking wheels (3), auxiliary wheels (4) and front wheels (5) are symmetrically arranged on both sides of the chassis (1) along the walking direction thereof, one end of the wheel axle of the overtaking wheel (3) on each side is connected to an obstacle-crossing power mechanism (6), and a connecting plate (7) is connected between the other end and the wheel axle of the rear wheel (2) on that side, and the obstacle-crossing power mechanism (6) comprises a power motor (61) and a transmission chain (62), the power motor (61) is fixedly connected to the chassis (1), the output end of the power motor (61) is connected to a first transmission gear (63), the first transmission gear (63) is sleeved on the wheel axle of the overtaking wheel (3) on that side, a second transmission gear (64) is sleeved on the wheel axle of the rear wheel (2) on that side, a transmission chain (62) is wound between the first transmission gear (63) and the second transmission gear (64), and one end of the connecting plate (7) arranged on each side is connected to the wheel axle of the rear wheel (2) on that side. The axle of the overturning wheel (3) is hinged, and the other end is hinged to the axle of the rear wheel (2) on that side. A connecting beam (8) is connected between the connecting plates (7) provided on both sides. The connecting beam (8) and the connecting plates (7) on both sides form an I-shaped structure. The connecting beam (8) is hinged to the turning cylinder (9) along its length direction. A turning bracket (11) is provided at one end of the chassis (1) near the rear wheel. One end of the turning cylinder (9) is hinged to the turning bracket (11) and the other end is hinged to the connecting beam (8). A lifting cylinder (41) is provided at the axle of each auxiliary wheel (4). The cylinder barrel of the lifting cylinder (41) passes through the chassis (1) and is vertically and fixedly connected to the chassis (1). The piston of the lifting cylinder (41) is fixedly connected to the axle of the auxiliary wheel (4). A transport frame (12) is provided along its height direction of the chassis (1). A clamping mechanism (10) is provided on the top of the transport frame (12). The piston of the lifting cylinder (41) and the connecting plate (7) are both provided with a gyroscope and a travel switch; The clamping mechanism (10) comprises a fixed plate (101), the length direction of the fixed plate (101) is perpendicular to the running direction of the chassis (1), the fixed plate (101) is symmetrically provided with fixed seats (102) at both ends along the length direction, the fixed seats (102) are connected between sliding rods (103), the sliding rods (103) are symmetrically sleeved with sliders (104) along the length direction, each of the sliders (104) is connected to a clamping plate (105), the clamping plates (105) and the slide bar (103) are perpendicular to each other, and a clamping power rod (106) penetrating the slide bar (103) is provided at the center of the slide bar (103) along the height direction of the chassis (1), and the end of the clamping power rod (106) facing away from the ground is connected to a pull block (107), and a pull rod (108) is hinged between the pull block (107) and the slider (104) on each side, and the clamping power rod (106) and the slide bar (103) form a screw nut transmission mechanism.

2. The obstacle-surmountable industrial transport robot according to claim 1, characterized in that: The front wheel (5) and the rear wheel (2) are both Mecanum wheels.

3. The obstacle-surmountable industrial transport robot according to claim 1, characterized in that: A synchronous height adjustment rod (109) penetrating the fixing plate (101) is provided at the bottom of each fixing seat (102).

4. The obstacle-surmountable industrial transport robot according to claim 3, characterized in that: A rotating disk (13) is provided between the clamping mechanism (10) and the transport frame (12).

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