Narrow aisle omni-directional palletizing mobile robot

Abstract

The application discloses a narrow-channel omnidirectional palletizing mobile robot, which comprises a vehicle body system, a portal system, an electrical system, a driving system and a hydraulic system, the electrical system is connected to the front side of the vehicle body system, the portal system is connected to the rear side of the vehicle body system, the driving system is connected below the vehicle body system, the hydraulic system is connected to the left side of the vehicle body system, the number of bearing wheel mounting plates is 2, the two bearing wheel mounting plates are arranged in axial symmetry along the central axis of the vehicle body, the bearing wheel mounting plate comprises a left supporting plate and a right supporting plate, and a differential module is connected between the left supporting plate and the right supporting plate; the driving system and the differential module are respectively connected with the electrical system in signal connection. The application has the advantages that the steering wheel and the driven wheel connected to the differential module can be synchronously rotated through the combination of the differential module and the driving system, the narrow-channel omnidirectional palletizing mobile robot can make omnidirectional movement, can pass through an extremely narrow channel, and can lift the portal, so that the narrow-channel omnidirectional palletizing mobile robot can be used for narrow-channel material carrying and stacking work.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics transportation, in particular to a narrow channel omnidirectional stacking mobile robot. BACKGROUND

[0002] The significant feature of the mobile robot is unmanned driving, and the mobile robot is equipped with an automatic control system, which can ensure that the system can automatically travel along a predetermined route without manual piloting, and automatically transport goods or materials from the starting point to the destination. It is an indispensable transportation equipment for modern factories. However, the mobile robot in the prior art generally occupies a large space, has low integration, and cannot adapt to the use demand of narrow channels. SUMMARY

[0003] The present application provides a narrow channel omnidirectional stacking mobile robot, which can reduce space occupation, adapt to the stacking needs of goods in narrow channels, and improve environmental adaptability.

[0004] To solve the above technical problems, the present application provides a narrow channel omnidirectional stacking mobile robot, which comprises a vehicle body system, a portal system, an electrical system, a drive system and a hydraulic system, the electrical system is connected to the front side of the vehicle body system, the portal system is connected to the rear side of the vehicle body system, the drive system is connected below the vehicle body system, and the hydraulic system is connected to the side of the portal system.

[0005] The vehicle body system comprises a vehicle body, a laser lifting assembly upper support fixed plate, a charging brush plate mounting plate, a front sealing plate, a load wheel mounting plate and a drive wheel mounting plate, the laser lifting assembly upper support fixed plate is connected to the upper end of the vehicle body, the charging brush plate mounting plate is connected to the lower side of the vehicle body, the charging brush plate mounting plate is perpendicular to the vehicle body and extends forward of the vehicle body, the front sealing plate is connected to the front side of the vehicle body, the load wheel mounting plate is connected to the rear side of the vehicle body, and the drive wheel mounting plate is connected to the front sealing plate, the number of drive mounting plates is 2, and two drive wheel mounting plates are symmetrically connected to the vehicle body, and the drive system is connected to the drive mounting plate.

[0006] The number of load wheel mounting plates is 2, and the two load wheel mounting plates are arranged on the central axis of the vehicle body in axial symmetry, the load wheel mounting plate comprises a left support plate and a right support plate, and a differential module is connected between the left support plate and the right support plate.

[0007] The drive system and the differential module are respectively connected with the electrical system.

[0008] Further, the driving system comprises a steering structure, a main driving structure and a steering wheel, the steering structure comprises a steering motor, a first steering gear, a second steering gear, a steering shaft and a steering support seat, the steering shaft is rotatably connected to the steering support seat, the diameter of the second steering gear is larger than that of the first steering gear, the second steering gear is connected to the wheel seat through the steering shaft, the second steering gear is in mesh with the first steering gear, the first steering gear is connected to the driving shaft of the steering motor, the main driving mechanism is connected to the wheel seat, and the steering wheel is in transmission connection with the main driving mechanism.

[0009] Further, the electrical system comprises a navigation laser assembly, a laser lifting assembly, a charging brush plate, an electrical control assembly and a battery, the navigation laser assembly and the laser lifting assembly are connected, the laser lifting assembly is connected to the support fixing plate of the laser lifting assembly, the charging brush plate is connected to the charging brush mounting plate, the electrical control assembly is connected to the front sealing plate, and the battery is connected below the electrical control assembly. The main driving mechanism and the differential module are electrically connected with the electrical control assembly.

[0010] Further, the vehicle body system further comprises an anti-collision laser mounting plate, the anti-collision laser mounting plate is a U-shaped structure, the anti-collision laser mounting plate is connected to the side of the vehicle body, a laser sensor is connected to the front of the anti-collision laser mounting plate for anti-collision detection, the number of the driving wheel mounting plates is two, the two driving wheel mounting plates are symmetrically arranged along the central axis of the vehicle body, and a laser sensor is connected to each of the driving wheel mounting plates for obstacle avoidance detection. The laser sensor is electrically connected with the electrical control assembly.

[0011] Further, the vehicle body system further comprises an anti-collision laser mounting plate and an obstacle avoidance laser mounting plate, the anti-collision laser mounting plate is connected to the front middle position of the vehicle body, and the obstacle avoidance laser mounting plates are symmetrically connected to the two sides of the vehicle body, two laser sensors are connected to the anti-collision laser mounting plate for obstacle avoidance detection, and a laser sensor is connected to each of the obstacle avoidance laser mounting plates for anti-collision detection. The laser sensor is signal-connected with the electrical system.

[0012] Further, the hydraulic system comprises a pump station support, a pump station, an oil tank, an oil tank support and a three-way joint, the pump station support is connected to the front sealing plate, the pump station is connected to the pump station support, the oil tank is arranged below the pump station and in communication with the pump station through a pipeline, the oil tank is connected to the oil tank fixing plate on the left side of the vehicle body through the oil tank connecting plate, and the three-way joint comprises an oil inlet connected to the pump station and two oil outlets connected to the oil cylinder of the gantry system.

[0013] Further, the portal system comprises a portal body and an inner portal, the inner portal has an upper crossbeam connected to the upper end of the oil cylinder, the upper crossbeam is connected with a lifting chain, the lower end of the lifting chain is connected with a stacking carriage, the number of the oil cylinder is 2, and the two oil cylinders are symmetrically arranged about the central axis of the upper crossbeam, and the two oil cylinders are respectively connected to different oil outlets.

[0014] Further, the portal system further comprises a carriage baffle connected to the outer side of the portal body, the fork tip of the stacking carriage is connected with a fork tip photoelectric switch through a photoelectric switch connecting plate, the outer side of the carriage baffle is connected with a cargo in-place sensing plate, the inner side of the carriage baffle is connected with a cargo in-place detection switch through a fixing plate, the cargo in-place sensing plate is signal connected with the cargo in-place detection switch, and the cargo in-place detection switch and the photoelectric switch are signal connected with the electrical system.

[0015] Further, the differential module comprises a differential module seat, a differential drive mechanism, an encoding assembly and a support assembly, the differential module seat is provided with a mounting hole, the differential drive mechanism is mounted in the mounting hole, the encoding assembly is fixed with the differential module seat, the differential drive mechanism is connected with the support assembly, the encoding assembly is fixed with the differential module seat, the support assembly is in contact with the inner wall of the mounting hole, thereby supporting the differential drive mechanism to rotate as a whole in the mounting hole, the encoding assembly is used for acquiring the number of degrees of rotation of the differential drive mechanism and transmitting information to a controller, the controller controls the differential drive mechanism to accurately steer, and the controller is electrically connected with the electrical system.

[0016] Further, the differential module comprises a motor fixing seat, a drive wheel and a support, two groups of the motor, the motor fixing seat, the drive wheel and the support are oppositely mounted in the mounting hole, the shell of the motor is fixed with the motor fixing seat, the gear of the output end of the motor is in transmission connection with the gear of the drive wheel, the two motors respectively drive the two drive wheels to rotate, the support is fixed with the two motor fixing seats, and the support is connected with the support assembly through a pin.

[0017] Further, the support assembly comprises a support fixed plate and an arc-shaped plate, the support fixed plate is in a bent shape, the upper half of the support fixed plate is in the groove of the support, the upper end of the support fixed plate is provided with a needle support bearing, and the lower rolling surface of the needle support bearing is in contact with the upper plate surface of the arc-shaped plate, the lower end of the support fixed plate is provided with a pin hole, and the pin hole is fixedly provided with a shaft sleeve, the pin is rotatable in the shaft sleeve, the pin is fixed to the support, the support and the support fixed plate are rotatable connected through the pin, the support fixed plate and the arc-shaped plate are fixedly connected, the upper plate surface of the support fixed plate is provided with a mounting hole for fixing the encoding assembly, when the differential module encounters uneven road surface during driving, the differential drive mechanism can be inclined left and right, so that the differential module can run stably.

[0018] Further, the plate surface of the arc-shaped plate is provided with a circular hole, the circular hole is used for air flow, and the surface of the arc-shaped plate forms an air flow lubrication effect, so that the differential drive mechanism can rotate in the mounting hole.

[0019] Further, the differential module, the encoding assembly comprises an encoder, an encoder support fixed plate, a large gear and a small gear, the encoder is fixed to the encoder support fixed plate, the encoder support fixed plate is fixed to the differential module seat, the shaft of the small gear passes through the encoder support fixed plate and is fixed to the code disc of the encoder, the small gear is engaged with the large gear, the large gear is fixed to the two support fixed plates, the rotation of the differential drive mechanism drives the rotation of the large gear, the encoder obtains the number of degrees of the rotation angle of the differential drive mechanism and transmits the information to the controller, and the controller is electrically connected with the electrical system.

[0020] Further, the upper end of the mounting hole is provided with a positioning step, the lower plate surface of the large gear is provided with an arc-shaped rail, the arc-shaped rail is clamped above the positioning step, and the large gear rotates along the positioning step.

[0021] Further, the large gear is provided with a rectangular hole corresponding to the two drive wheels, so as to avoid hindering the inclination of the differential drive mechanism and the rotation of the drive wheels when encountering uneven road surface.

[0022] Further, the support assembly further comprises a limiting block, the lower end of the differential module seat is provided with a limiting step, the limiting block is clamped at the lower end of the differential module seat, the limiting step is used for mechanically limiting the limiting block, the limiting block is fixed to the lower plate surface of the support fixed plate, and the differential drive mechanism rotates by 180 degrees in the mounting hole.

[0023] Further, the differential module further comprises a protective cover assembly, the protective cover assembly comprises a differential module protective cover and a differential module protective cover, the differential module protective cover and the differential module protective cover are fixed to the differential module seat, and the differential module is connected between the left support plate and the right support plate.

[0024] Further, the motor fixing seat is provided with a motor wire cover, and the large gear and the differential module cover are each provided with a circular hole for wire arrangement.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] 1. By combining the differential module and the driving system, the steering wheel and the driven wheel connected to the differential module can be synchronously rotated, the omnidirectional code stacking mobile robot in a narrow channel can be moved omnidirectionally, and the robot can pass through an extremely narrow channel, lift a door frame, and perform narrow-channel material handling and stacking work;

[0027] 2. Automatic navigation and automatic obstacle avoidance can be achieved, so as to improve the walking efficiency and automatic stacking efficiency of the stacking robot;

[0028] 3. The differential driving module is directly installed on the mobile robot to realize the in-place turning motion of the mobile robot, has small space limitation influence on the handling operation, has excellent driving performance, and is accurate and fast in turning.

[0029] 4. The differential driving mechanism is installed in the differential module seat, has small volume, stable structure, and strong carrying capacity, and is more suitable for heavy-load mobile robots.

[0030] 5. The support assembly has small space occupation, and the support is rotatable relative to the fixed plate to ensure that the differential module can still move stably when driving on uneven road surfaces.

[0031] 6. The driving module is supported by the support assembly provided with the needle roller support bearing to rotate in the mounting hole, and the structure is simple. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is an overall structure explosion schematic view of the narrow-channel omnidirectional code stacking mobile robot.

[0033] Figure 2 It is a structure schematic view of the vehicle body system.

[0034] Figure 3 It is a structure schematic view of the electrical system.

[0035] Figure 4 It is an overall structure schematic view of the door frame system.

[0036] Figure 5 It is a partial structure schematic view of the door frame system.

[0037] Figure 6 It is a structure schematic view of the driving system.

[0038] Figure 7 It is a structure schematic view of the hydraulic system.

[0039] Figure 8 Figure 1 is a schematic diagram of the overall structure of the narrow channel omnidirectional palletizing mobile robot of the present application.

[0040] Figure 9 Figure 2 is an exploded schematic diagram of the differential module.

[0041] Figure 10 Figure 3 is a schematic diagram of the appearance of the differential module.

[0042] Figure 11 Figure 4 is a schematic diagram of the support assembly of the differential module.

[0043] Figure 12 Figure 5 is a schematic diagram of the structure of the support assembly of the differential module.

[0044] In the figure: 1, vehicle body system; 11, vehicle body body; 12, laser lifting assembly upper support fixing plate; 13, charging brush plate mounting plate; 14, front sealing plate; 15, bearing wheel mounting plate; 16, drive wheel mounting plate; 17, anti-collision laser mounting plate; 18, obstacle avoidance laser mounting plate; 19, touch edge mounting plate; 2, portal system; 21, portal body; 22, inner portal; 23, upper cross beam; 24, lifting chain; 2. Portal system; 3. Electrical system; 31, navigation laser assembly; 32, laser lifting assembly; 33, charging brush plate; 34, electrical control assembly; 35, battery; 36, touch edge assembly; 4. Drive system; 41, steering structure; 411, steering motor; 412, first steering gear; 413, second steering gear; 414, steering support seat; 42, main drive structure; 43, rudder wheel; 44, wheel seat; 5. Hydraulic system; 51, pump station support; 52, pump station; 53, oil tank; 54, oil tank support; 55, tee joint; 551, oil inlet; 552, oil outlet; 6, oil cylinder; 7, differential module; 71, differential module seat; 711, mounting hole; 712, limiting step; 72, differential drive mechanism; 721, motor; 722, motor fixing seat; 7221, motor outlet cover; 723, drive wheel; 724, support; 73, encoder assembly; 731, encoder; 732, encoder support fixing plate; 733, large gear; 734, small gear; 74, support assembly; 741, support fixing plate; 742, arc plate; 743, limiting block; 75, shroud assembly; 751, differential module shroud cover; 752, differential module shroud. DETAILED DESCRIPTION

[0045] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0046] The narrow-channel omnidirectional palletizing mobile robot comprises a vehicle body system 1, a portal system 2, an electrical system 3, a drive system 4 and a hydraulic system 5, the electrical system 2 is connected to the front side of the vehicle body system 1, the portal system 2 is connected to the rear side of the vehicle body system 1, the drive system 4 is connected below the vehicle body system 1, and the hydraulic system 5 is connected to the left side of the vehicle body system 1.

[0047] The vehicle body system 1 comprises a vehicle body 11, a laser lifting assembly upper support fixed plate 12, a charging brush plate mounting plate 13, a front sealing plate 14, a load wheel mounting plate 15 and a drive wheel mounting plate 16, the laser lifting assembly upper support fixed plate 12 is connected to the upper end of the vehicle body 11, the charging brush plate mounting plate 13 is connected to the lower side of the vehicle body 11, the charging brush plate mounting plate 13 is perpendicular to the vehicle body 11 and extends forward of the vehicle body 11, the front sealing plate 14 is connected to the front side of the vehicle body 11, the load wheel mounting plate 15 is connected to the rear side of the vehicle body 11, the drive wheel mounting plate 16 is connected to the front sealing plate 14, the number of the drive mounting plate 16 is two, and two drive wheel mounting plates are symmetrically connected to the vehicle body 11, and the drive system 4 is connected to the drive mounting plate 16.

[0048] The number of the load wheel mounting plate 15 is two, and two load wheel mounting plates 15 are arranged on the central axis of the vehicle body 11 in axial symmetry, the load wheel mounting plate 15 comprises a left support plate 151 and a right support plate 152, and a differential module 7 is connected between the left support plate 151 and the right support plate 152.

[0049] The drive system 4 and the differential module are respectively connected with the electrical system 3.

[0050] In the above embodiment, the driving system 4 comprises a steering structure 41, a main driving structure 42 and a rudder wheel 43, the steering structure 41 comprises a steering motor 411, a first steering gear 412, a second steering gear 413, a steering shaft (not shown) and a steering support seat 414, the steering shaft is rotatably connected on the steering support seat 414, the diameter of the second steering gear 413 is greater than that of the first steering gear 412, the second steering gear 413 is connected on the wheel seat 44 through the steering shaft, the second steering gear 413 is in mesh with the first steering gear 412, the first steering gear 412 is connected on the driving shaft of the steering motor 411, the main driving structure 42 is connected on the wheel seat 44, and the rudder wheel 43 is in driving connection with the main driving structure 42.

[0051] In the above embodiment, the electrical system 3 comprises a navigation laser assembly 31, a laser lifting assembly 32, a charging brush plate 33, an electrical control assembly 34 and a battery 35, the navigation laser assembly 31 and the laser lifting assembly 32 are connected, the laser lifting assembly 32 is connected on the laser lifting assembly support fixed plate 12, the charging brush plate 33 is connected on the charging brush plate mounting plate 13, the electrical control assembly 34 is connected on the front sealing plate 14, the battery 35 is connected below the electrical control assembly 34, and the main driving structure 42 and the differential module are electrically connected with the electrical control assembly 34.

[0052] The vehicle body system further comprises a collision avoidance laser mounting plate 17 and an obstacle avoidance laser mounting plate 18, the collision avoidance laser mounting plate 17 is connected at the middle position in front of the vehicle body 11, the obstacle avoidance laser mounting plate 18 is symmetrically connected on both sides of the vehicle body 11, two laser sensors 171 are connected on the collision avoidance laser mounting plate 17 for obstacle avoidance detection, and one laser sensor 171 is connected on each of the obstacle avoidance laser mounting plates 18 for collision avoidance detection, and the laser sensors 171 are in signal connection with the electrical system 3.

[0053] In the above embodiment, the vehicle body system 1 further comprises a touch edge mounting plate 19, the touch edge mounting plate 19 is connected on the front side of the vehicle body 11, the electrical system 3 comprises a touch edge assembly 36, the touch edge assembly 36 is connected on the touch edge mounting plate 19, and the touch edge assembly 36 is in signal connection with the electrical control assembly 34.

[0054] In the above embodiment, the hydraulic system 5 comprises a pump station support 51, a pump station 52, an oil tank 53, an oil tank support 54 and a tee joint 55, the pump station support 51 is connected to the front sealing plate 14, the pump station 52 is connected to the pump station support 51, the oil tank 53 is arranged below the pump station 52 and the pump station 52 communicates with the oil tank 53 through a pipeline, the oil tank 53 is connected to the oil tank fixing plate 110 on the left side of the vehicle body 11 through the oil tank connecting plate 54, and the tee joint 55 comprises an oil inlet 551 communicating with the pump station 52 and two oil outlets 552 connected to the oil cylinders 6 in the portal system.

[0055] In the above embodiment, the portal system 2 comprises a portal body 21 and an inner portal 22, the inner portal 21 has an upper cross beam 23 connected to the upper end of the oil cylinder 6, the upper cross beam 23 is connected with a lifting chain 24, and the lower end of the lifting chain 24 is connected with a stacking carriage 25. The portal system 2 comprises a portal body 21 and an inner portal 22, the inner portal 22 has an upper cross beam 23 connected to the upper end of the oil cylinder, the upper cross beam 23 is connected with a lifting chain 24, and the lower end of the lifting chain 24 is connected with a stacking carriage 25. In the stacking process, the pressure of the hydraulic oil input to the oil cylinder 6 is controlled by the hydraulic controller 51 to adjust the extension length of the oil cylinder rod of the oil cylinder 6, so as to adjust the height of the upper cross beam 23 connected to the oil cylinder rod, and then drive the lifting chain 24 to move, adjust the height of the stacking carriage 25, and facilitate the stacking of goods. The number of oil cylinders 6 is 2, and the two oil cylinders 6 are symmetrically arranged about the central axis of the upper cross beam 23, and the two oil cylinders 6 are respectively connected to different oil outlets.

[0056] In the above embodiment, the portal system 2 further comprises a carriage baffle 26 connected to the outer side of the portal body, the fork tip of the stacking carriage 25 is connected with a fork tip photoelectric switch 261 through a photoelectric switch connecting plate, the outer side of the carriage baffle 26 is connected with a goods in place sensing plate 262, the inner side of the carriage baffle 26 is connected with a goods in place detection switch 263 through a fixing plate, the goods in place sensing plate 262 is signal connected with the goods in place detection switch 263, and the goods in place detection switch 263 and the photoelectric switch 261 are signal connected with the electrical system 3.

[0057] In the above embodiment, the differential module 7 comprises a differential module seat 71, a differential drive mechanism 72, an encoding assembly 73, a support assembly 74, the differential module seat 71 is provided with a mounting hole 711, the differential drive mechanism 72 is installed in the mounting hole 711, the encoding assembly 73 is fixed with the differential module seat 71, the differential drive mechanism 72 is connected with the support assembly 74, the encoding assembly 73 is fixed with the differential module seat 71, the support assembly 74 is in contact with the inner wall of the mounting hole 711, which supports the differential drive mechanism 72 to rotate as a whole in the mounting hole 711, the encoding assembly 73 is used to obtain the angle of the differential drive mechanism 72 and transmit information to the controller, and the controller controls the accurate steering of the differential drive mechanism 72, and the controller is electrically connected with the electrical system 3.

[0058] In the above embodiment, the differential drive mechanism 72 comprises a motor 721, a motor fixing seat 722, a drive wheel 723, and a bracket 724, two groups of the motor 721, the motor fixing seat 722, the drive wheel 723, and the bracket 724 are installed in the mounting hole 711, the shell of the motor 721 is fixed with the motor fixing seat 722, the gear of the output end of the motor 721 is in transmission connection with the gear of the drive wheel 723, two groups of the motor 721 respectively drive two groups of the drive wheel 723 to rotate, the bracket 724 is fixed with two groups of the motor fixing seat 722, and the bracket 724 is connected with the support assembly 74 through a pin.

[0059] In the above embodiment, the support assembly 74 comprises a fixed plate 741 and an arc-shaped plate 742, the fixed plate 741 is in a bent shape, the upper half of the fixed plate 741 is in a groove of the bracket 724, the upper end of the fixed plate 741 is provided with a needle roller support bearing, and the lower rolling surface of the needle roller support bearing is in contact with the upper plate surface of the arc-shaped plate 742, the lower end of the fixed plate 741 is provided with a pin hole, and a shaft sleeve is fixed in the pin hole, the pin is rotatable in the shaft sleeve, the pin is fixed with the bracket 724, the bracket 724 is rotatably connected with the fixed plate 741 through the pin, the fixed plate 741 is fixedly connected with the arc-shaped plate 742, the upper plate surface of the fixed plate 741 is provided with a mounting hole for fixing the encoding assembly 73, when the differential module encounters uneven road surface during driving, the differential drive mechanism 72 can be inclined left and right, so that the differential module can run stably.

[0060] In the above embodiment, the arc-shaped plate 742 is provided with a circular hole, the circular hole is used for air flow and forms an air flow lubrication effect on the surface of the arc-shaped plate 742, so that the differential drive mechanism 72 can rotate in the mounting hole 711.

[0061] In the above embodiment, the encoding component 73 comprises an encoder 731, an encoder fixing plate 732, a large gear 733, and a small gear 734, the encoder 731 is fixed with the encoder fixing plate 732, the encoder fixing plate 732 is fixed with the differential module seat 71, the shaft of the small gear 734 penetrates through the encoder fixing plate 732 and is fixed with the code disc of the encoder 731, the small gear 734 is engaged with the large gear 733, the large gear 733 is fixed with the two fixing plates 741, the differential drive mechanism 72 drives the rotation of the large gear 733, and the encoder 731 acquires the number of degrees of the rotation of the differential drive mechanism 72 and transmits information to the controller.

[0062] In the above embodiment, the upper end of the mounting hole 711 is provided with a positioning step, the lower plate surface of the large gear 733 is provided with an arc-shaped rail, the arc-shaped rail is clamped above the positioning step, and the large gear 733 rotates along the positioning step.

[0063] In the above embodiment, the large gear 733 is provided with a rectangular hole corresponding to the two drive wheels 723, so as to avoid hindering the inclination of the differential drive mechanism 72 and the rotation of the drive wheels 723 when encountering uneven road surfaces.

[0064] In the above embodiment, the support component 74 further comprises a limiting block 743, the lower end of the differential module seat 71 is provided with a limiting step 712, the limiting block 743 is clamped at the lower end of the differential module seat 71, the limiting step 712 is used for mechanically limiting the limiting block 743, the limiting block 743 is fixed with the lower plate surface of the fixing plate 741, the differential drive mechanism 72 rotates by 180 degrees in the mounting hole 711, and the line harness is avoided from being interfered.

[0065] In the above embodiment, the differential module further comprises a shroud component 75, the shroud component 75 comprises a differential module shroud cover 751 and a differential module shroud 752, the differential module shroud cover 751 and the differential module shroud 752 are fixed with the differential module seat 71, and the differential module can be connected between the left support plate 151 and the right support plate 152 through the differential module shroud cover 751.

[0066] In the above embodiment, the motor fixing seat 722 is provided with a motor wire cover 7221, the large gear 733 and the differential module shroud 752 are each provided with a circular hole for wire routing.

[0067] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A narrow channel omnidirectional palletizing mobile robot, comprising: a vehicle body system, the vehicle body system comprising a vehicle body, a laser lifting assembly upper support fixed plate, a charging brush plate mounting plate, a front sealing plate, a load wheel mounting plate, and a drive wheel mounting plate, the laser lifting assembly upper support fixed plate being connected to an upper end of the vehicle body, the charging brush plate mounting plate being connected to a lower side of the vehicle body, the charging brush plate mounting plate extending perpendicularly to the vehicle body and forward of the vehicle body, the front sealing plate being connected to a front side of the vehicle body, the load wheel mounting plate being connected to a rear side of the vehicle body, the load wheel mounting plate being provided in a number of two, the two load wheel mounting plates being arranged in axial symmetry along a central axis of the vehicle body, the load wheel mounting plate comprising a left support plate and a right support plate, the drive wheel mounting plate being connected to the front sealing plate, the drive mounting plate being provided in a number of two and the two drive wheel mounting plates being symmetrically connected to the vehicle body; an electrical system, a gantry system, and a hydraulic system being respectively connected to front, rear, and left sides of the vehicle body system, and a drive system being connected to a lower side of the vehicle body system and the drive mounting plate; characterized in that: a differential module is connected between the left support plate and the right support plate, the differential module and the drive system being respectively connected to the electrical system, the differential module comprising a differential module seat, a differential drive mechanism, an encoding assembly, and a support assembly, the differential module seat being provided with a mounting hole, the differential drive mechanism comprising a motor being oppositely mounted in the mounting hole, a motor fixing seat, a drive wheel, and a bracket, the motor housing being fixed to the motor fixing seat, the motor output end being in transmission connection with the drive wheel, the bracket being fixed to the motor fixing seat and being connected to the support assembly through a pin, the support assembly being in contact with an inner wall of the mounting hole, the support assembly comprising a fixed plate and an arc plate being fixedly connected, the upper half of the fixed plate being bent in a groove of the bracket, a lower end of the fixed plate being provided with a pin hole and a shaft sleeve being fixed in the pin hole, the pin being fixed to the bracket and being rotatably inserted into the shaft sleeve, the fixed plate upper end being provided with a needle bearing and a lower rolling surface of the needle bearing being in contact with a plate surface of the arc plate, the plate surface of the arc plate being provided with a circular hole, the circular hole being used for air flow and forming an air lubrication effect on the surface of the arc plate, so that the differential drive mechanism can rotate in the mounting hole.

2. The narrow aisle omni-directional, palletizing mobile robot of claim 1, wherein: the drive system comprising a steering structure, a main drive mechanism, and a rudder wheel, the steering structure comprising a steering motor, a first steering gear, a second steering gear, a steering shaft, and a steering support seat, the steering shaft being rotatably connected to the steering support seat, the second steering gear being larger in diameter than the first steering gear, the second steering gear being connected to the wheel seat through the steering shaft, the second steering gear and the first steering gear being in mesh with each other, the first steering gear being connected to a drive shaft of the steering motor, the main drive mechanism being connected to the wheel seat, and the rudder wheel being in transmission connection with the main drive mechanism.

3. The narrow channel omnidirectional palletizing mobile robot according to claim 2, wherein the electrical system comprises a navigation laser assembly, a laser lifting assembly, a charging brush plate, an electrical control assembly, and a battery, the navigation laser assembly and the laser lifting assembly are connected, the laser lifting assembly is connected to a support fixed plate on the laser lifting assembly, the charging brush plate is connected to the charging brush mounting plate, the electrical control assembly is connected to the front sealing plate, the battery is connected below the electrical control assembly, and the main drive mechanism and the differential module are electrically connected to the electrical control assembly.

4. The narrow aisle omni-directional, palletizing mobile robot of claim 3, wherein: The vehicle body system further comprises an anti-collision laser mounting plate, the anti-collision laser mounting plate is a U-shaped structure, the anti-collision laser mounting plate is connected to the side of the vehicle body, one laser sensor is connected to the front of the anti-collision laser mounting plate, the number of the drive wheel mounting plates is two, the two drive wheel mounting plates are symmetrically arranged along the central axis of the vehicle body, one laser sensor is connected to each drive wheel mounting plate, and the laser sensor is electrically connected to the electrical control assembly.

5. The narrow aisle omni-directional, palletizing mobile robot of claim 4, wherein: The vehicle body system further comprises an anti-collision laser mounting plate and an obstacle avoidance laser mounting plate, the anti-collision laser mounting plate is connected to the front middle position of the vehicle body, the obstacle avoidance laser mounting plates are symmetrically connected to the two sides of the vehicle body, the anti-collision laser mounting plate is connected with two laser sensors for obstacle avoidance detection, and each obstacle avoidance laser mounting plate is connected with one laser sensor for anti-collision detection, and the laser sensors are signal connected with the electrical system.

6. The narrow aisle omni-directional, palletizing mobile robot of claim 1, wherein: The hydraulic system comprises a pump station support, a pump station, an oil tank, an oil tank support, and a three-way joint, the pump station support is connected to the front sealing plate, the pump station is connected to the pump station support, the oil tank is arranged below the pump station and in communication with the pump station through a pipeline, the oil tank is connected to the oil tank fixed plate on the left side of the vehicle body through the oil tank connecting plate, and the three-way joint comprises an oil inlet connected to the pump station and two oil outlets connected to the oil cylinders in the portal system.

7. The narrow aisle omni-directional, palletizing mobile robot of claim 6, wherein: The portal system comprises a portal body and an inner portal, the inner portal has an upper cross beam connected to the upper ends of the oil cylinders, the upper cross beam is connected with a lifting chain, the lifting chain is connected with a stacking carriage at the lower end, the number of the oil cylinders is two, the two oil cylinders are symmetrically arranged about the central axis of the upper cross beam, and the two oil cylinders are respectively connected to different oil outlets.

8. The narrow aisle omni-directional, palletizing mobile robot of claim 7, wherein: The portal system further comprises a carriage baffle connected to the outer side of the portal body, the fork tip of the stacking carriage is connected with a fork tip photoelectric switch through a photoelectric switch connecting plate, the outer side of the carriage baffle is connected with a goods in place sensing plate, the inner side of the carriage baffle is connected with a goods in place detection switch through a fixed plate, the goods in place sensing plate is signal connected with the goods in place detection switch, and the goods in place detection switch and the photoelectric switch are signal connected with the electrical system.

9. The narrow aisle omni-directional, palletizing mobile robot of claim 1, wherein: The encoding component is fixed with the differential module seat, the encoding component is used for acquiring the angle number of the differential drive mechanism and transmitting information to the controller, the controller controls the accurate steering of the differential drive mechanism, and the controller is connected with the electrical system signal.

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