Mobile robots for transporting boxes

Abstract

The present invention provides a mobile robot for transporting cargo boxes, comprising a frame, a moving device and a lifting device, the moving device comprising a travel drive component, a reversing drive component, at least four groups of first moving components traveling along a first direction and a second moving component traveling along a second direction, the first moving component comprising a first frame, a first traveling wheel and a guide component, the second moving component comprising a second frame, a second traveling wheel and a guide component, the travel drive component comprising a travel drive component, the travel drive component being used to drive the first traveling wheel and the second traveling wheel to rotate, the reversing drive component comprising a reversing drive component and at least one cam group, the cam group comprising a first cam and a second cam, the first moving component and the second moving component are in contact with the first cam and the second cam respectively, and the first cam and the second cam are configured so that the first moving component or the second moving component moves up and down along their respective guide components under the driving action of the reversing drive component.

Description

Technical Field

[0001] The present invention relates to the technical field of storage equipment, and in particular to a mobile robot for transporting cargo boxes. Background Art

[0002] In recent years, with the rapid development of e-commerce, consumer demands have gradually become more diversified and personalized, and the order processing of enterprises has also shown the characteristics of "multiple varieties, small batches, and multiple batches". In particular, the introduction of the "new retail" concept has put forward higher requirements for the intelligence and flexibility of the warehousing system; if enterprises want to fulfill orders efficiently and at low cost, an automated and intelligent warehousing system is particularly important. The transport robot solution is extremely flexible and can mobilize robots between multiple warehouses according to business volume, which cannot be replaced by traditional picking models.

[0003] With the development of intelligent transportation robots, transportation robots can realize flexible switching according to pre-defined driving paths; however, when switching the direction of travel, the existing mobile robots used to transport cargo boxes generally need to raise or lower the center of gravity of the entire body, resulting in undesirable load changes, thus affecting the stability of the transportation robot during the handling process. In addition, the existing transportation robots also have high strength requirements for various components in the body, making it difficult to reduce the use cost of the transportation robot. Therefore, how to reduce the load of the reversing drive components of the transportation robot, improve the stability of the transportation robot's operation process, and reduce the use cost of the transportation robot are technical problems that need to be solved urgently. Summary of the invention

[0004] In view of this, the present invention provides a mobile robot for transporting cargo boxes to solve one or more problems existing in the prior art.

[0005] According to one aspect of the present invention, the present invention discloses a mobile robot for transporting cargo boxes, the mobile robot comprising: a frame, a moving device and a lifting device,

[0006] The mobile device includes a travel drive component, a reversing drive component, at least four groups of first mobile components that travel in a first direction, and at least four groups of second mobile components that travel in a second direction perpendicular to the first direction, the first mobile component includes a first frame, a first travel wheel and a guide component, the second mobile component includes a second frame, a second travel wheel and a guide component, the travel drive component includes a travel drive component, and the travel drive component is used to drive the first travel wheel and the second travel wheel to travel, the reversing drive component includes a reversing drive component and at least one cam group, the cam group includes a first cam and a second cam, the first mobile component and the second mobile component are in contact with the first cam and the second cam respectively, and the first cam and the second cam are configured to be driven by the reversing drive component to lift and lower the first mobile component or the second mobile component along their respective guide components, so that when the mobile robot travels in the first direction, the first travel wheel is lower than the second travel wheel, and when the mobile robot travels in the second direction, the second travel wheel is lower than the first travel wheel.

[0007] In some embodiments of the present invention, the first cam and the second cam of each cam group are fixed on the same camshaft, and the displacement curves of the first moving assembly and the second moving assembly within the first angle range are the same, and the displacement curves of the first moving assembly and the second moving assembly within the second angle range are opposite. When the displacement curves are the same, each wheel group contacts the track at the same time; when the displacement curves are opposite, the lifting and lowering of each wheel group is achieved.

[0008] In some embodiments of the present invention, the first cam and the second cam have the same shape, and a phase angle difference of 180 degrees exists between the first cam and the second cam.

[0009] In some embodiments of the present invention, the first frame includes a first side plate, a second side plate, and a first top plate and a first bottom plate arranged in parallel, the first top plate and the first bottom plate each include a longitudinal plate, two transverse plates perpendicular to the longitudinal plate and located at the end and the middle of the longitudinal plate respectively, the first side plate and the second side plate are both located between the first top plate and the first bottom plate;

[0010] The second frame includes a third side plate, a fourth side plate, and a second top plate and a second bottom plate arranged in parallel. The second top plate and the second bottom plate both have grooves, and the grooves are adapted to the transverse plates in the middle of the first top plate and the middle of the first bottom plate.

[0011] In some embodiments of the present invention, the guide component includes a guide rod and a slider, the guide rod is located between the top plate and the bottom plate of each frame, and the slider is fixedly connected to the frame.

[0012] In some embodiments of the present invention, the first moving assembly and the second moving assembly both include a driven wheel, the driven wheel is supported on the first bottom plate or the second bottom plate, and the driven wheel is a follower of the first cam or the second cam.

[0013] In some embodiments of the present invention, the lifting device comprises:

[0014] A cantilever beam frame arranged on one side of the top of the frame;

[0015] A lifting motor is fixed on the cantilever beam frame;

[0016] A plurality of reels, wherein the reels are used to wind or release the steel belt under the drive of the lifting motor;

[0017] A lifting plate fixed to the ends of the steel belts of the plurality of reels;

[0018] A cargo box grabbing device is fixed on the lifting plate.

[0019] In some embodiments of the present invention, the cargo box grabbing device includes a drive motor and multiple groups of hooks, the drive motor is fixed on the lifting plate, each group of hooks includes a first hook and a second hook, and the first hook and the second hook of each group of hooks are used to hook or release the cargo box under the drive of the drive motor.

[0020] In some embodiments of the present invention, the first hook and the second hook in each group of hooks are arranged back to back, the first hook and the second hook are meshed through gear teeth, and one of the first hook and the second hook is driven by the drive motor.

[0021] In some embodiments of the present invention,

[0022] The lifting plate is a square plate, and at least two opposite sides of the lifting plate are respectively provided with at least two groups of hooks, and the cargo box grabbing device further comprises a connecting rod, and both ends of the connecting rod are respectively fixedly connected to the first hooks of the two groups of hooks located on the same side of the lifting plate, so that the two groups of hooks located on the same side of the lifting plate synchronously hook or release the cargo box under the drive of the driving motor; or

[0023] The cargo box grabbing device also includes a brush, which is used to transmit current to the steel belt of the reel.

[0024] The mobile robot for transporting cargo boxes in the above-mentioned embodiment has a reversing drive component including a reversing drive part and at least one cam group, wherein the cam group includes a first cam and a second cam, and the first cam and the second cam are configured to move the first moving component or the second moving component up and down along their respective guide components under the driving action of the reversing drive part; when the mobile robot is reversing, the first moving component or the second moving component is lifted and lowered as a whole under the transmission action of the cam, then during the reversing process, the center of gravity of most of the weight of the vehicle body remains unchanged, and the reversing drive part only needs to overcome the obstacles caused by the mechanical transmission and the spring compression force, so the load of the reversing drive part is small, so that the strength of each component on the vehicle body does not need to be increased, which not only reduces the cost but also ensures the smooth operation of the robot.

[0025] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically pointed out in the written description, claims, and drawings.

[0026] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0028] Figure 1 The figure is a schematic diagram of the overall structure of a mobile robot for transporting cargo boxes according to an embodiment of the present invention.

[0029] Figure 2a This is a schematic diagram of the state when the second driving wheel of the mobile robot for transporting cargo boxes contacts the track according to an embodiment of the present invention.

[0030] Figure 2b This is a schematic diagram of a state in which a first driving wheel and a second driving wheel of a mobile robot for transporting cargo boxes are in contact with a track at the same time according to an embodiment of the present invention.

[0031] Figure 2cThis is a schematic diagram of the state when the first driving wheel of the mobile robot for transporting cargo boxes contacts the track according to an embodiment of the present invention.

[0032] Figure 3 It is a first structural schematic diagram of a moving device of a mobile robot according to an embodiment of the present invention.

[0033] Figure 4 It is a second structural schematic diagram of the moving device of the mobile robot according to an embodiment of the present invention.

[0034] Figure 5 It is a structural schematic diagram of a reversing drive assembly of a mobile device according to an embodiment of the present invention.

[0035] Figure 6 FIG. 4 is a schematic structural diagram of a first moving component of a mobile device according to an embodiment of the present invention.

[0036] Figure 7 FIG. 4 is a schematic structural diagram of a second moving component of a mobile device according to an embodiment of the present invention.

[0037] Figure 8 It is a schematic structural diagram of a lifting device of a mobile robot according to an embodiment of the present invention.

[0038] Fig. 9 It is a schematic structural diagram of a lifting plate of a mobile robot according to an embodiment of the present invention.

[0039] Fig.10 Schematic diagram of the structure of a hook according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0041] It should be noted here that in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0042] It should be emphasized that the terms “include / comprises / has” when used herein refer to the presence of features, elements, steps or components, but do not exclude the presence or addition of one or more other features, elements, steps or components.

[0043] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0044] Figure 1 FIG. 1 is a schematic diagram of the structure of a mobile robot for transporting cargo boxes according to an embodiment of the present invention. Figure 1 As shown, the mobile robot at least comprises a frame, a moving device and a lifting device. The moving device is used to realize the walking action and the reversing action of the mobile robot, and the lifting device is used to realize the lifting action of the cargo box.

[0045] The mobile device includes a travel drive component, a reversing drive component, at least four groups of first mobile components that travel along a first direction, and at least four groups of second mobile components that travel along a second direction perpendicular to the first direction, the first mobile component includes a first frame, a first travel wheel 1, and a guide component, the second mobile component includes a second frame, a second travel wheel 2, and a guide component, the travel drive component includes a travel drive component 3, the travel drive component 3 is used to drive the first travel wheel 1 and the second travel wheel 2 to travel, the reversing drive component includes a reversing drive component 4 and at least one cam group, the cam group includes a first cam 403 and a second cam 404, the first mobile component and the second mobile component are in contact with the first cam 403 and the second cam 404 respectively, and the first cam 403 and the second cam 404 are configured to be driven by the reversing drive component 4 so that the first mobile component and / or the second mobile component are lifted and lowered along their respective guide components, so that when the mobile robot travels in the first direction, the first travel wheel 1 is lower than the second travel wheel 2, and when the mobile robot travels in the second direction, the second travel wheel 2 is lower than the first travel wheel 1.

[0046] The first direction is the horizontal direction in the main view of the mobile robot shown in FIG2 , and the second direction is the direction perpendicular to the paper surface. Figure 2a 2 shows the state of the robot when it is traveling in the second direction, at which time the second traveling wheel 2 is lower than the first traveling wheel 1, that is, the second traveling wheel 2 contacts the track; Figure 2b The figure shows the state of the robot when it is stopped, at which time the second traveling wheel 2 is at the same height as the first traveling wheel 1, that is, the second traveling wheel 2 and the first traveling wheel 1 are both in contact with the track; Figure 2c The figure shows the state of the robot when it is traveling in the first direction, at which time the first traveling wheel 1 is lower than the second traveling wheel 2 , that is, the first traveling wheel 1 is in contact with the track.

[0047] refer to Figure 3 , the number of the first moving components and the second moving components can be four, and the four groups of first moving components are symmetrical to each other, and the four groups of second moving components are also symmetrical to each other. The travel drive component and the reversing drive component can both be motors. The travel drive component drives the first travel wheels 1 in the four groups of first moving components to travel in the first direction through a mechanical transmission mechanism, and the travel drive component can also drive the second travel wheels 2 in the four groups of second moving components to travel in the second direction through a mechanical transmission mechanism. For example, refer to Figure 3 and Figure 4 , the first driving component is fixed on the vehicle frame, and the mobile device also includes two transmission shafts that are parallel or perpendicular to the output shaft of the travel driving component, a gear transmission mechanism 301 is provided between the first transmission shaft 302 (parallel to the output shaft of the travel driving component) and the output shaft of the travel driving component, and synchronous pulleys are respectively fixed at both ends of the first transmission shaft 302, so that the two travel wheels on the same side of the vehicle frame are synchronously driven by the first transmission shaft 302. Similarly, a bevel gear transmission mechanism 303 is provided between the second transmission shaft 304 (perpendicular to the output shaft of the travel driving component) and the output shaft of the travel driving component, and synchronous pulleys are also provided at both ends of the second transmission shaft 304.

[0048] In addition, in the mobile device, the first transmission shaft 302 drives the four second traveling wheels 2 to move synchronously, and the second transmission shaft 304 drives the four first traveling wheels 1 to move synchronously. Under the driving action of the reversing drive component, the first moving component or the second moving component moves up and down along their respective guide components. At this time, since the first transmission shaft 302 and the second transmission shaft 304 are both fixed on the frame, after the first traveling wheel 1 or the second traveling wheel 2 is lifted and lowered, in order to ensure the tension of the synchronous belts on each side of the frame, tensioning wheels (not shown in the figure) can be further provided for each synchronous belt.

[0049] The reversing drive component is similar to the traveling drive component and is also fixed on the vehicle frame. For example, when the first moving assembly and the second moving assembly each have four groups, the number of cam groups is also four. Figure 4, at this time, the reversing drive assembly specifically includes two parallel camshafts (402 and 405), and each camshaft has two cam groups, and the two first cams 403 on each camshaft can be correspondingly in contact with the two first moving assemblies on the same side, so that each first moving assembly serves as a follower of each first cam 403; and the two second cams 404 on each camshaft can be correspondingly in contact with the two second moving assemblies on the same side, so that each second moving assembly serves as a follower of each second cam 404. In order to ensure the synchronous rotation of the two camshafts, the two parallel camshafts are driven by a synchronous belt, and a gear mechanism is provided between the output shaft of the reversing drive component and one of the two camshafts, so that the power output by the output shaft 401 of the reversing drive component is transmitted to the camshaft through the gear mechanism. It should be noted that in the mobile device, each connecting shaft, fixed shaft or camshaft fixed on the frame should ensure its own smooth rotation, that is, a bearing is installed between each shaft and the frame. In addition, it should be understood that in this embodiment, setting the number of cam groups to four is only an example. In other embodiments, the number of cam groups may also be one group, two groups or more groups; for example, in an embodiment in which four first movable components or four second movable components are fixedly connected as one, there may be only one cam group. At this time, since the four groups of first movable components are fixedly connected as one, the integrated first movable component can be raised and lowered synchronously with the rotation of the first cam 403; and in order to ensure the synchronous rotation of the two camshafts, in addition to the synchronous belt drive, other mechanical transmission methods such as chain drive, gear drive, etc. can also be used between the two camshafts.

[0050] The mobile robot for transporting cargo boxes of the present invention has a travel drive component that drives the second transmission shaft 304 to rotate through a bevel gear, and further drives the first travel wheels 1 in the four groups of first moving components to rotate through two transmission belts located at both ends of the second transmission shaft 304, so that the robot can travel in the first direction. If the robot needs to change direction (travel in the second direction), the output shaft of the reversing drive component rotates at this time, and under the driving action of the reversing drive component, the two camshafts rotate synchronously, and the second cam 404 on each camshaft pushes the corresponding second moving component to move downward, and the corresponding first moving component rises until the second travel wheel 2 is lower than the first travel wheel 1. Then, the travel drive component drives the first transmission shaft 302 to rotate based on the gear mechanism between its output shaft and the first transmission shaft 302. Similarly, the synchronous belt structure at both ends of the first transmission shaft 302 drives the two second travel wheels 2 on the same side to rotate synchronously, thereby realizing the travel movement of the mobile robot in the second direction.

[0051] Through the above embodiments, it can be found that the first cam 403 and the second cam 404 of each cam group can be fixed on the same camshaft. In order to further ensure the stability of the reversing process, the displacement curves of the first moving assembly and the second moving assembly within the first angle range can be the same, while the displacement curves of the first moving assembly and the second moving assembly within the second angle range can be opposite. Specifically, the displacement curves of the first moving assembly and the second moving assembly within the first angle range are the same, which means that the contour curves of the first cam 403 and the second cam 404 within a certain angle range are the same. For example, within the range of 0° to 3°, the contour curves of the first cam 403 and the second cam 404 are the same. At this time, the first moving assembly and the second moving assembly move at the same speed and in the same direction, that is, the first moving assembly and the second moving assembly are lifted or lowered at the same time. The displacement curves of the first moving assembly and the second moving assembly within the second angle range are opposite, which means that the contour curves of the first cam 403 and the second cam 404 within a certain angle range are symmetrical to each other. At this time, when the camshaft rotates within the angle range, the first moving assembly and the second moving assembly move at the same speed and in opposite directions.

[0052] In one embodiment of the present invention, the first cam 403 and the second cam 404 have the same shape, and the first cam 403 and the second cam 404 have a certain angle deviation in the installation direction. Preferably, the angle deviation in the installation direction between the first cam 403 and the second cam 404 is 180 degrees. In other words, the phase angle of the first cam 403 and the second cam 404 differs by 180 degrees. Figure 5 As shown, the phase angles of the first cam 403 on each camshaft are the same, and the phase angles of the second cam 404 on each camshaft are also the same, and the phase angles of the first cam 403 and the second cam 404 differ by 180 degrees. At this time, it can be considered that the 360-degree rotation angle of the camshaft is divided into four parts; and in the first rotation angle range and the second rotation angle range, the contour curves of the first cam 403 and the second cam 404 are the same, that is, the displacement curves of the first moving component and the second moving component are the same; in the third rotation angle range and the fourth rotation angle range, the contour curves of the first cam 403 and the second cam 404 are opposite, that is, the displacement curves of the first moving component and the second moving component are opposite.

[0053] Figure 6 FIG. 1 is a schematic diagram of the structure of a first moving component of a mobile device according to an embodiment of the present invention. Figure 6As shown, the first frame includes a first side plate 11, a second side plate 12, and a first top plate 13 and a first bottom plate 14 arranged in parallel, wherein the first top plate 13 and the first bottom plate 14 each include a longitudinal plate, two transverse plates perpendicular to the longitudinal plate and respectively located at the end and the middle of the longitudinal plate, and the first side plate 11 and the second side plate 12 are both located between the first top plate 13 and the first bottom plate 14. The first top plate 13 and the first bottom plate 14 are similar in structure, and the first top plate 13 and the first bottom plate 14 are both similar in "F" shape, that is, the length of the transverse plate located in the middle of the longitudinal plate is shorter than the length of the transverse plate located at the end of the longitudinal plate. The top and bottom ends of the first side plate 11 are respectively connected to the longitudinal plate of the first top plate 13 and the longitudinal plate of the first bottom plate 14, while the top and bottom ends of the second side plate 12 can be fixedly connected to the long transverse plate of the first top plate 13 and the long transverse plate of the first bottom plate 14, respectively.

[0054] Figure 7 FIG. 1 is a schematic diagram of the structure of a second moving component of a mobile device according to an embodiment of the present invention. Figure 7 As shown, the second frame includes a third side plate 21, a fourth side plate 22, and a second top plate 23 and a second bottom plate 24 arranged in parallel, and the second top plate 23 and the second bottom plate 24 both have grooves, and the grooves are adapted to the transverse plates in the middle of the first top plate 13 and the middle of the first bottom plate 14. Specifically, the third side plate 21 and the fourth side plate 22 are both located between the second top plate 23 and the second bottom plate 24 which are parallel to each other, and the upper and lower ends of the third side plate 21 and the upper and lower ends of the fourth side plate 22 are fixedly connected to the second top plate 23 and the second bottom plate 24 respectively.

[0055] from Figure 7 As can be seen in the figure, the second top plate 23 and the second bottom plate 24 both have grooves that match the transverse plates in the middle of the first top plate 13 and the middle of the first bottom plate 14; Figure 3 The shape formed by the combination of the first moving component and the second moving component is roughly square. This structure makes the structure of the moving device of the mobile robot more compact and improves the strength of each moving component.

[0056] Furthermore, the guide component includes a guide rod 25, a slider and a spring. The guide rod 25 is located between the top plate and the bottom plate of each frame, the slider is fixedly connected to the frame, and the spring is used to achieve the reset of the slider. Since each guide rod 25 is located between the top plate and the bottom plate of each frame, the spring is specifically arranged between the bottom plate and the slider. The number of guide rods 25 in the first moving assembly and the second moving assembly is at least two. Since the slider outside each guide rod 25 is fixedly connected to the frame, and the two ends of each guide rod 25 are also fixedly connected to the corresponding top plate and bottom plate, when the first moving assembly or the second moving assembly is lifted or lowered, the frame and the travel wheel of each moving assembly move synchronously with the guide rod 25. Illustratively, when the first cam 403 drives the first movable assembly to descend, the first cam 403 pushes the first movable assembly to descend, and at this time the spring located between the first base plate 14 and the slider is compressed; and when the first cam 403 drives the first movable assembly to ascend, the reaction force of the spring between the slider and the first base plate 14 makes the first movable assembly always in contact with the contour of the first cam 403.

[0057] In one embodiment, the first moving assembly and the second moving assembly both include a driven wheel 27, the driven wheel 27 is supported on the first base plate 14 or the second base plate 24, and the driven wheel 27 and the first cam 403 or the second cam 404 form a cam transmission mechanism. In this embodiment, the driven wheel 27 is fixedly connected to the first base plate 14 or the second base plate 24, and the driven wheel 27 serves as a follower of the first cam 403 or the second cam 404. The driven wheel 27 is used as a follower of the first cam 403 and the second cam 404 to reduce the friction between the moving assembly and the cam, thereby reducing the profile wear of the first cam 403 and the second cam 404. It should be understood that fixing the driven wheel 27 on the first base plate 14 or the second base plate 24 is only an example. In addition to the above, the driven wheel 27 can also be supported at other positions of the moving assembly other than the base plate.

[0058] Figure 8 FIG. 1 is a schematic structural diagram of a lifting device of a mobile robot according to an embodiment of the present invention. Figure 8As shown, the lifting device at least includes a cantilever beam frame 511, a lifting motor 512, a plurality of reels 513, a lifting plate 514 and a cargo box grabbing device. The cantilever beam frame 511 can be a square frame as a whole, which is arranged on one side of the top of the frame in a cantilever structure, and the cantilever beam frame 511 can be spliced ​​by profile steel. The lifting motor 512 is fixed on the cantilever beam frame 511, and the reel 513 is used to wind or release the steel belt under the drive of the lifting motor 512; illustratively, two parallel roller fixed shafts are fixed on the cantilever beam frame 511, and the output shaft of the lifting motor 512 rotates synchronously with the roller fixed shaft, and the roller is fixed on the roller fixed shaft, then with the forward or reverse movement of the lifting motor 512, the steel belt on the roller can be wound or released; at this time, the number of lifting motors 512 can be two, and the two lifting motors 512 are respectively fixedly connected to the two roller fixed shafts. The specific number of rollers can be four, and the four rollers are symmetrically arranged on two roller support shafts. The lifting plate 514 is fixed to the ends of the steel belts of the plurality of reels 513 ; and the cargo box grabbing device is fixed to the lifting plate 514 .

[0059] Furthermore, the cargo box grabbing device includes a driving motor and a plurality of hooks, the driving motor is fixed on the lifting plate 514, each hook group includes a first hook 516 and a second hook 517, and the first hook 516 and the second hook 517 of each hook group are driven by the driving motor to grab or release the cargo box. Fig.10 The first hook 516 and the second hook 517 in each group of hooks are arranged opposite to each other, the first hook 516 and the second hook 517 are meshed through gear teeth, and one of the first hook 516 and the second hook 517 is driven by the driving motor.

[0060] like Fig. 9As shown, the lifting plate 514 is a square plate, and the two opposite sides of the lifting plate 514 are respectively provided with two groups of hooks, and the cargo box grabbing device further includes a connecting rod 518, and the two ends of the connecting rod 518 are respectively fixedly connected to the first hooks 516 of the two groups of hooks on the same side of the lifting plate 514, so that the two groups of hooks on the same side of the lifting plate 514 can synchronously hook or release the cargo box under the drive of the driving motor 515. A slot is provided on the corresponding cargo box to be hooked, and when the cargo box is hooked, the first hook 516 rotates clockwise first, and the ends of the first hook 516 and the second hook 517 gradually approach each other, and when each group of hooks is lowered into the slot of the cargo box as the steel belt is released, the first hook 516 rotates counterclockwise again, and the ends of the first hook 516 and the second hook 517 are released at this time, and each group of hooks achieves effective cooperation with the slot on the cargo box; further, as the steel belt is wound, the cargo box is lifted. Among them, setting two groups of hooks on the opposite sides of the lifting plate 514 is only an example. In other embodiments, more groups of hooks can be set on the opposite sides of the lifting plate 514, or more groups of hooks can be set on the four sides of the lifting plate 514.

[0061] Furthermore, in order to provide better guidance during the descent of the lifting plate 514, guide columns 519 may be respectively provided vertically downward at the four corner positions of the lifting plate 514, and the guide columns 519 are used to cooperate with corresponding through holes on the cargo box.

[0062] In one embodiment, the steel belt on the roller can not only play the role of lifting, but also further play the role of transmitting current. At this time, the lifting device also includes a brush 520, which is fixed on the cantilever beam frame 511 and is specifically located between the roller and the cantilever beam frame 511. During the lifting and lowering movement of the cargo box, in order to prevent the cargo box from sliding due to its own weight, the lifting motor 512 can also use a motor with a brake function to ensure that the lifting plate 514 with the cargo box can be stopped at any height.

[0063] Through the above embodiments, it can be found that during the reversing process of the mobile robot used to transport cargo boxes, the center of gravity of most of the weight of the vehicle body remains unchanged, so that the reversing drive component only needs to overcome the obstacles caused by the mechanical transmission and the spring compression force, and the adjustment of the size of the spring compression force can also be achieved by replacing the spring; the robot greatly reduces the load of the reversing drive component, improves the energy utilization efficiency during the operation of the equipment, and improves the stability of the robot during operation.

[0064] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0065] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mobile robot for transporting cargo boxes, characterized in that: The mobile robot comprises a frame, a moving device and a lifting device. The mobile device includes a travel drive component, a reversing drive component, at least four groups of first mobile components that travel in a first direction, and at least four groups of second mobile components that travel in a second direction perpendicular to the first direction, the first mobile component includes a first frame, a first travel wheel and a guide component, the second mobile component includes a second frame, a second travel wheel and a guide component, the travel drive component includes a travel drive component, and the travel drive component is used to drive the first travel wheel and the second travel wheel to travel, the reversing drive component includes a reversing drive component and at least one cam group, the cam group includes a first cam and a second cam, the first mobile component and the second mobile component are in contact with the first cam and the second cam respectively, and the first cam and the second cam are configured to be driven by the reversing drive component to lift and lower the first mobile component and / or the second mobile component along their respective guide components, so that when the mobile robot travels in the first direction, the first travel wheel is lower than the second travel wheel, and when the mobile robot travels in the second direction, the second travel wheel is lower than the first travel wheel.

2. The mobile robot for transporting cargo boxes according to claim 1, characterized in that: The first cam and the second cam of each cam group are fixed on the same camshaft, and the displacement curves of the first moving assembly and the second moving assembly within a first angle range are the same, and the displacement curves of the first moving assembly and the second moving assembly within a second angle range are opposite.

3. The mobile robot for transporting cargo boxes according to claim 2, characterized in that: The first cam and the second cam have the same shape, and a phase angle difference between the first cam and the second cam is 180 degrees.

4. The mobile robot for transporting cargo boxes according to claim 1, characterized in that: The first frame includes a first side plate, a second side plate, and a first top plate and a first bottom plate arranged in parallel, wherein the first top plate and the first bottom plate each include a longitudinal plate, and two transverse plates perpendicular to the longitudinal plate and respectively located at the end and the middle of the longitudinal plate, and the first side plate and the second side plate are both located between the first top plate and the first bottom plate; The second frame includes a third side plate, a fourth side plate, and a second top plate and a second bottom plate arranged in parallel. The second top plate and the second bottom plate both have grooves, and the grooves are adapted to the transverse plates in the middle of the first top plate and the middle of the first bottom plate.

5. The mobile robot for transporting cargo boxes according to claim 4, characterized in that: The guide component comprises a guide rod, a slider and a spring. The guide rod is located between the top plate and the bottom plate of each frame. The slider is fixedly connected to the frame. The spring is used to realize the reset of the slider.

6. The mobile robot for transporting cargo boxes according to claim 4, characterized in that: The first moving assembly and the second moving assembly both include a driven wheel, the driven wheel is supported on the first bottom plate or the second bottom plate, and the driven wheel is a follower of the first cam or the second cam.

7. The mobile robot for transporting cargo boxes according to claim 1, characterized in that: The lifting device comprises: A cantilever beam frame arranged on one side of the top of the frame; A lifting motor is fixed on the cantilever beam frame; A plurality of reels, wherein the reels are used to wind or release the steel belt under the drive of the lifting motor; A lifting plate fixed to the ends of the steel belts of the plurality of reels; A cargo box grabbing device is fixed on the lifting plate.

8. The mobile robot for transporting cargo boxes according to claim 7, characterized in that: The cargo box grabbing device includes a drive motor and multiple groups of hooks, the drive motor is fixed on the lifting plate, each group of hooks includes a first hook and a second hook, and the first hook and the second hook of each group of hooks are used to hook or release the cargo box under the drive of the drive motor.

9. The mobile robot for transporting cargo boxes according to claim 8, characterized in that: The first hook and the second hook in each group of hooks are arranged opposite to each other, the first hook and the second hook are meshed through gear teeth, and one of the first hook and the second hook is driven by the driving motor.

10. The mobile robot for transporting cargo boxes according to claim 9, characterized in that: The lifting plate is a square plate, and at least two opposite sides of the lifting plate are respectively provided with at least two groups of hooks, and the cargo box grabbing device further comprises a connecting rod, and both ends of the connecting rod are respectively fixedly connected to the first hooks of the two groups of hooks located on the same side of the lifting plate, so that the two groups of hooks located on the same side of the lifting plate synchronously hook or release the cargo box under the drive of the driving motor; or The cargo box grabbing device also includes a brush, which is used to transmit current to the steel belt of the reel.

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