A new type of latent lifting type carrying robot

Abstract

The application discloses a novel latent lifting type carrying robot, which comprises a lifting mechanism, a driving assembly and a driven assembly. In the lifting mechanism, a cam lifting design scheme is adopted, compared with a traditional screw rod lifting or a connecting rod lifting structure design mode, the structure is compact and reasonable, the space occupation is smaller, the lifting mechanism has higher freedom in space design, and the height of the lifting mechanism after contraction is lower, so that the overall height of the carrying robot is reduced. In the driving assembly, a parallel design scheme of a servo motor and a speed reducer is adopted, compared with coaxial arrangement (namely direct connection) of the servo motor and the speed reducer, the space occupation of the carrying robot in the horizontal direction can be significantly reduced, so that the width of the carrying robot is significantly shortened. In the driven assembly, a swing arm type suspension scheme is adopted, compared with a traditional independent type suspension structure, the space occupation of the carrying robot in the vertical direction can be reduced, so that the overall height of the carrying robot is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics handling robots, and particularly relates to a novel concealment lifting type handling robot. BACKGROUND

[0002] The logistics handling robot belongs to a kind of mobile robot, mainly used for automatic handling and automatic sorting work in logistics industry, and can also be used for automatic handling of goods in factory, which can replace the original manual handling mode, has the characteristics of improving handling efficiency and reducing production cost.The concealment lifting type handling robot is one of the logistics handling robots, and its working principle is to penetrate into the bottom of goods or shelves, lift the goods or shelves off the ground, and then perform automatic handling work.

[0003] At present, the existing concealment lifting type handling robot in the market is limited by the too complex suspension mechanism and the high height after the lifting mechanism is retracted, and its own height is relatively high (more than 300mm), which cannot penetrate into the bottom of the shelf for the scene with low space height at the bottom of the shelf (for example, less than 300mm). For example, the Chinese patent application document with publication number CN215287812U discloses a scissor lifting device and AGV car, which comprises a seat body and a support part, and the two are connected by a scissor mechanism, and further comprises a linear drive mechanism and a lifting piece, the first end of the lifting piece is hinged with the linear drive mechanism, and the second end is hinged with the scissor mechanism, so that the linear drive mechanism drives the scissor mechanism to act through the lifting piece, so that the scissor lifting device has the ability of lifting and lowering. For example, the Chinese patent application document with publication number CN212049253U discloses a lifting device and an automatic guided vehicle, which comprises a power assembly and a driving shaft connected with the power assembly, the driving shaft is connected with a first swing arm and a second swing arm, and the first swing arm and the second swing arm are arranged in a spaced manner; the first swing arm is hinged with a first connecting rod mechanism, and the second swing arm is hinged with a second connecting rod mechanism, and the top of the first connecting rod mechanism and the second connecting rod mechanism is provided with a lifting platform, and the lifting is realized by the cooperation of the plurality of connecting rod mechanisms.

[0004] The above-mentioned prior art scheme realizes the lifting movement of the lifting piece through the screw rod, nut, connecting rod or fork arm structure, and the structure design is complex, even in the case of completely retracted lifting device, the overall height is still high, which leads to small product use range. If considering from the perspective of automation transformation, the original shelf needs to be replaced by a shelf with higher space height at the bottom (for example, higher than 300mm), which will greatly increase the transformation cost and hinder the automation transformation work in the related field.

[0005] Therefore, there is an urgent need in the prior art to invent a concealment lifting type handling robot with compact structure and wider application range. SUMMARY

[0006] In order to overcome at least one of the defects of the prior art, the present application provides a new type of latent jacking carrying robot, which has the characteristics of compact and reasonable structure design, greatly reduced assembly space and wide application range.

[0007] The technical scheme adopted by the present application to solve the problems is:

[0008] In the first embodiment of the present application, a new type of latent jacking carrying robot is provided, which comprises a base and a shell arranged on the base, and further comprises a jacking mechanism, the jacking mechanism comprising:

[0009] a jacking plate;

[0010] a shaft support, a connecting shaft and a roller, the shaft support being fixedly installed at the bottom of the jacking plate, the connecting shaft being fixedly connected with the shaft support, and the roller being rotatably sleeved on the outer circumferential side of the connecting shaft;

[0011] a drive mechanism and a cam, the drive mechanism being fixedly installed at the top of the base, the cam being fixedly connected with the output end of the drive mechanism, and the outer circumferential side of the cam abutting against the outer circumferential side of the roller;

[0012] a plurality of guide columns and a plurality of guide cylinders, the guide columns being fixedly installed at the bottom of the jacking plate, the guide cylinders being fixedly installed at the top of the base, and the guide columns being liftably inserted into the guide cylinders;

[0013] wherein the drive mechanism is used to drive the rotational movement of the cam, thereby driving the jacking plate to make lifting movement relative to the shell.

[0014] Further, the guide cylinder comprises a linear bearing, a bearing support plate and a bearing mounting plate, the bearing support plate being fixedly installed at the top of the base, the bearing mounting plate being fixedly installed on the bearing support plate, and the linear bearing being fixedly installed on the bearing mounting plate, the linear bearing being provided with a guide hole for inserting the guide column.

[0015] Further, the drive mechanism comprises a first servo motor and a first speed reducer, the output end of the first servo motor being fixedly connected with the input end of the first speed reducer, the output end of the first speed reducer being fixedly connected with the cam, and the first speed reducer being fixedly installed on the top of the base through a speed reducer support.

[0016] In the second embodiment of the present application, a technical scheme about the specific structural arrangement of the drive assembly is disclosed on the basis of the first embodiment.

[0017] In the technical scheme of the embodiment, the novel latent lifting type carrying robot further comprises a driving assembly, wherein the driving assembly comprises:

[0018] A second servo motor and a main synchronous wheel, wherein the output end of the second servo motor is fixedly connected with the main synchronous wheel;

[0019] A driven synchronous wheel, a second speed reducer and a driving wheel, wherein the input end of the second speed reducer is fixedly connected with the driven synchronous wheel, and the output end of the second speed reducer is fixedly connected with the driving wheel;

[0020] A conveying belt, wherein the conveying belt is wound around the outer circumferential side of the main synchronous wheel and the driven synchronous wheel;

[0021] Further, the second servo motor and the second speed reducer are arranged in parallel with each other.

[0022] Further, the main synchronous wheel and the driven synchronous wheel are belt pulleys, and the conveying belt is a synchronous belt.

[0023] Alternatively, the main synchronous wheel and the driven synchronous wheel are sprockets, and the conveying belt is a chain.

[0024] Further, the driving assembly further comprises a motor mounting seat, a speed reducer support, a tensioning seat and a tensioning screw, wherein the second servo motor is movably mounted on the base through the motor mounting seat, the second speed reducer is fixedly mounted on the base through the speed reducer support, the tensioning seat is fixedly mounted on the base, the tensioning screw is threadedly connected with the tensioning seat, one end of the tensioning screw is rotatably connected with the second servo motor, and the tensioning screw is used to drive the second servo motor to move towards or away from the second speed reducer by rotating.

[0025] In the third embodiment of the present application, a specific structural arrangement of the driven assembly is provided on the basis of the first embodiment.

[0026] In the technical scheme of the embodiment, the novel latent lifting type carrying robot further comprises a driven assembly, wherein the driven assembly comprises:

[0027] A swing plate and a driven wheel, wherein the driven wheel is rotatably mounted on the swing plate;

[0028] A swing support, a swing bearing seat and a swing shaft, wherein the swing support is fixedly connected with the swing plate, the swing bearing seat is fixedly mounted on the base, and the swing shaft is arranged through the swing support and the swing bearing seat and rotatably connected with both.

[0029] A spring, an upper spring seat and a lower spring seat, the top of the spring is fixedly connected with the upper spring seat and the bottom, and the bottom of the spring is fixedly connected with the lower spring seat and the swing plate.

[0030] The swing plate can swing around the swing shaft.

[0031] Further, the driven assembly further comprises a limiting screw, which is arranged at the bottom of the swing plate and is threadedly connected with the swing plate, and the limiting screw is used for adjusting the distance between the bottom end of the limiting screw and the bottom by rotation.

[0032] In the fourth embodiment of the present application, a specific structural arrangement of the driving wheel, the front driven wheel and the rear driven wheel is provided on the basis of the first, second and third embodiments.

[0033] In the technical scheme of this embodiment, the novel latent lifting type carrying robot further comprises a driving wheel, a front driven wheel and a rear driven wheel, which can rotate relative to the shell, the front driven wheel and the rear driven wheel are arranged on the front and rear sides of the driving wheel respectively, and the lifting plate is arranged between the driving wheel and the rear driven wheel.

[0034] The center height of the rear driven wheel is lower than that of the front driven wheel, and the wheel diameter of the rear driven wheel is greater than that of the front driven wheel.

[0035] Alternatively, the center height of the rear driven wheel is equal to that of the front driven wheel, and the wheel diameter of the rear driven wheel is greater than that of the front driven wheel.

[0036] Alternatively, the center height of the rear driven wheel is lower than that of the front driven wheel, and the wheel diameter of the rear driven wheel is greater than that of the front driven wheel.

[0037] In the fifth embodiment of the present application, a specific structural arrangement of various components such as ultrasonic sensors, laser radars and anti-collision sensors is provided on the basis of the first, second and third embodiments.

[0038] In the technical scheme of this embodiment, the novel latent lifting type carrying robot further comprises ultrasonic sensors, laser radars and anti-collision sensors, the ultrasonic sensors are arranged at the top rear end and / or the top left and right sides of the bottom, the laser radar is arranged at the top front end of the bottom, and the anti-collision sensor is arranged at the top front end of the bottom.

[0039] In summary, the novel latent lifting type carrying robot provided by the present application has at least the following technical effects compared with the prior art:

[0040] 1) The new type of latent jacking type carrying robot provided by the application comprises a jacking mechanism, the jacking mechanism comprises a jacking plate, a roller, a cam and a driving mechanism, etc., the bottom of the roller and the top of the cam abut against each other, the roller is driven to move up and down by driving the cam to rotate, and then the jacking plate is driven to move up and down, and after descending, the jacking plate is hidden in the bottom of goods or shelves, and when rising, the goods or shelves are jacked away from the ground to realize automatic carrying work. Compared with the structure design mode of the existing technology of screw jacking or connecting rod jacking, the structure design of the cam jacking design scheme of the application is more compact and reasonable, occupies less space, can have higher freedom in space design, and the height of the jacking mechanism after contraction is lower, which can significantly reduce the space occupation of the carrying robot in the vertical direction, thereby facilitating the reduction of the overall height of the carrying robot, so that it can be adapted to shelves or goods of various heights, and the application range is improved.

[0041] 2) The new type of latent jacking type carrying robot provided by the application comprises a driving assembly, the driving assembly comprises a second servo motor, a main synchronous wheel, a second speed reducer, a slave synchronous wheel and a conveyor belt, etc., the second servo motor and the second speed reducer are arranged in parallel with each other, the main synchronous wheel and the slave synchronous wheel are connected by the conveyor belt, the second servo motor drives the main synchronous wheel to rotate, which in turn drives the main synchronous wheel and the slave synchronous wheel to rotate, and finally realizes the rotary motion of the driving wheel. Compared with the structure design mode of coaxially arranging (i.e. directly connecting) the servo motor and the speed reducer, the application can significantly reduce the space occupation of the carrying robot in the horizontal direction, thereby significantly shortening the width of the carrying robot, the structure design is compact and reasonable, so that it can be adapted to shelves or goods of various widths, and the application range is further improved.

[0042] 3) The new type of latent jacking type carrying robot provided by the application comprises a driven assembly, the driven assembly comprises a swing plate, a swing support, a swing bearing seat and a swing shaft, etc., the swing plate can swing around the swing shaft, so that the two driven wheels on the swing plate can be arranged close to the ground, avoiding the phenomenon of slipping of the driven wheels when the carrying robot is walking, and then ensuring that the carrying robot moves in the preset direction. Compared with the traditional independent type suspension structure, the structure design of the swing arm type suspension design scheme of the application is more compact and reasonable, occupies less space, can reduce the space occupation of the carrying robot in the vertical direction, thereby facilitating the reduction of the overall height of the carrying robot, so that it can be adapted to shelves or goods of various heights, and the application range is further improved.

[0043] 4) The new type of latent lifting carrying robot provided by the application comprises a driving wheel, a rear driven wheel and a front driven wheel, the front driven wheel and the rear driven wheel are arranged on the front and rear sides of the driving wheel respectively, and a lifting plate is arranged between the driving wheel and the rear driven wheel. In the initial state or the cargo carrying state, the bottom end of the rear driven wheel and the bottom end of the driving wheel are located at the same height, and the bottom end of the front driven wheel is higher than the height. The center of gravity of the carrying robot is located between the driving wheel and the rear driven wheel. When the carrying robot moves at a constant speed or accelerates, the rear driven wheel and the driving wheel walk on the ground; when the carrying robot decelerates or suddenly brakes, the front driven wheel can be used as a support, and the front driven wheel and the driving wheel walk on the ground, so that the carrying robot and the carried shelf or goods cannot be overturned forward. Through the structural design mode, the overall structural strength and motion stability of the carrying robot can be significantly improved, and the structural design is simple and reasonable. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a structural schematic view of the new type of latent lifting carrying robot and shelf of the application.

[0045] Figure 2 It is an explosion view of the lifting mechanism of the application.

[0046] Figure 3 It is a structural schematic view of the lifting mechanism of the application.

[0047] Figure 4 It is a structural schematic view of the driving assembly of the application.

[0048] Figure 5 It is an explosion view of the driven assembly of the application.

[0049] Figure 6 It is a structural schematic view of the internal structure of the new type of latent lifting carrying robot of the application.

[0050] Figure 7 It is another structural schematic view of the internal structure of the new type of latent lifting carrying robot of the application.

[0051] Figure 8 It is an explosion view of the internal structure of the new type of latent lifting carrying robot of the application.

[0052] Figure 9 It is another explosion view of the internal structure of the new type of latent lifting carrying robot of the application.

[0053] Among them, the meanings of the reference signs are as follows:

[0054] 1, housing; 2, base; 3, jacking plate; 4, shaft support; 5, connecting shaft; 6, roller; 7, driving mechanism; 8, speed reducer support; 9, cam; 10, guide column; 11, bearing support plate; 12, bearing mounting plate; 13, linear bearing; 14, first servo motor; 15, first speed reducer; 16, second servo motor; 17, motor mounting seat; 18, main synchronous wheel; 19, conveyor belt; 20, pulley bearing seat; 21, pulley shaft; 22, slave synchronous wheel; 23, second speed reducer; 24, speed reducer support; 25, driving wheel; 26, tensioning seat; 27, tensioning screw; 28, swing plate; 29, driven wheel; 30, swing support; 31, swing bearing seat; 32, swing shaft; 33, spring; 34, upper spring seat; 35, lower spring seat; 36, limit screw; 37, rear driven wheel; 38, front driven wheel; 39, ultrasonic sensor; 40, laser radar; 41, anti-collision sensor; 42, power supply; 43, operation panel; 44, emergency stop button; 45, start button; 46, stop indicator; 47, walking indicator; 48, cooling fan; 49, control board; 50, servo driver; 51, stepping driver; 52, electric control board; 53, industrial computer; 54, contactor; 55, relay; 56, fuse; 57, key switch; 58, charging port; 59, wire slot. DETAILED DESCRIPTION

[0055] In order to better understand and implement, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0056] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0058] Example 1

[0059] Reference Figure 1As shown, according to the first embodiment of the present application, the new type of hidden lifting carrying robot comprises a base 2 and a shell 1 arranged on the base 2, and a containing space is arranged between the base 2 and the shell 1 to provide installation space for various components such as a lifting mechanism.

[0060] As shown in Figure 2 As shown, the new type of hidden lifting carrying robot further comprises a lifting mechanism, which comprises a lifting plate 3, an axle support 4, a connecting shaft 5 and a roller 6. The axle support 4 is fixedly installed at the bottom of the lifting plate 3, the axle support 4 and the connecting shaft 5 are fixedly connected, and the roller 6 is rotatably sleeved on the outer circumferential side of the connecting shaft 5. Among them, the number of axle supports 4 is two, and the two ends of the connecting shaft 5 are fixedly connected with the two axle supports 4 respectively. After the connecting shaft 5 passes through the roller 6, the roller 6 is rotatably sleeved on the outer circumferential side of the connecting shaft 5, and the two axle supports 4 on the front and back sides can provide axial limiting effect for the roller 6, ensuring that the roller 6 can only rotate on the connecting shaft 5 and cannot move forward and backward.

[0061] As shown in Figure 2 and Figure 3 As shown, the lifting mechanism further comprises a driving mechanism 7 and a cam 9. The driving mechanism 7 is fixedly installed at the top of the base 2, the cam 9 is fixedly connected with the output end of the driving mechanism 7, and the outer circumferential side of the cam 9 abuts against the outer circumferential side of the roller 6. Specifically, the cam 9 is an eccentric wheel, the top end of the cam 9 abuts against the bottom end of the roller 6, and the driving mechanism 7 is used to drive the rotating motion of the cam 9, thereby driving the lifting plate 3 to make lifting motion relative to the shell 1.

[0062] As shown in Figure 2 and Figure 3 As shown, the lifting mechanism further comprises a plurality of guide columns 10 and a plurality of guide cylinders. The guide columns 10 are fixedly installed at the bottom of the lifting plate 3, the guide cylinders are fixedly installed at the top of the base 2, and the guide columns 10 are inserted in the guide cylinders in a lifting manner. Specifically, the number of guide columns 10 and guide cylinders can be preferably four, and the four guide columns 10 are arranged at the four corner positions below the lifting plate 3, and the four guide cylinders are arranged at the four corner positions on the base 2. Among them, the guide columns 10 are inserted in the guide cylinders in a lifting manner, thereby providing a guiding and positioning effect for the lifting motion of the lifting plate 3, ensuring that the lifting plate 3 does not deviate in the horizontal direction during the lifting motion, and improving the stability of the lifting plate 3 during the lifting motion.

[0063] In the technical scheme of the embodiment, the working principle of the novel latent jacking type carrying robot is as follows: the jacking mechanism drives the cam 9 to rotate through the driving mechanism 7, which can drive the roller 6 to move up and down, and further drive the jacking plate 3 to move up and down. The lowest height of the jacking plate 3 after descending is lower than or equal to the top height of the shell 1, and the highest height of the jacking plate 3 after ascending can be determined according to the height of the protruding part of the cam 9. The carrying robot penetrates into the bottom of the goods or the shelf after the jacking plate 3 descends, and lifts the goods or the shelf off the ground when the jacking plate 3 ascends, so as to finally realize automatic carrying work. Compared with the structure design mode of the existing technology such as screw jacking or linkage jacking, the structure design of the cam jacking design scheme of the present application is more compact and reasonable, occupies less space, and has higher freedom in space design (for example, various electrical components are arranged between the jacking plate 3 and the base 1), and the height of the jacking plate 3 in the jacking mechanism after contraction is low, which can significantly reduce the space occupation of the carrying robot in the vertical direction, thereby facilitating the reduction of the overall height of the carrying robot, so that it can be adapted to shelves or goods of various heights, thereby improving the product application range.

[0064] Referring to Figure 2 As shown in the drawings, in one preferred embodiment of the present application, the guide cylinder comprises a linear bearing 13, a bearing support plate 11 and a bearing mounting plate 12. The bearing support plate 11 is fixedly installed on the top of the base 2, the bearing mounting plate 12 is fixedly installed on the bearing support plate 11, and the linear bearing 13 is fixedly installed on the bearing mounting plate 12. The linear bearing 13 is provided with a guide hole for inserting the guide column 10. Specifically, the bearing support plate 11 is a plate body structure arranged perpendicular to the base 1, the bearing mounting plate 12 and the bearing support plate 11 are arranged perpendicular to each other, and the two sides thereof are fixedly connected with the two bearing support plates 11, that is, the two bearing support plates 11 and the bearing mounting plate 12 are combined to form a U-shaped structure, which provides structural support for the linear bearing 13, so as to fix the linear bearing 13 on the base 1. The linear bearing 13 is provided with a shaft hole, and the guide column 10 is inserted into the shaft hole and gap-fitted with the linear bearing 13. The linear bearing 13 can reduce the friction force between the two, thereby improving the stability and movement precision of the jacking plate 3.

[0065] Referring to Figure 2 and Figure 3As shown, in another preferred solution of this embodiment, the driving mechanism comprises a first servo motor 14 and a first speed reducer 15, the output end of the first servo motor 14 and the input end of the first speed reducer 15 are fixedly connected, the output end of the first speed reducer 15 and the cam 9 are fixedly connected, and the first speed reducer 15 is fixedly installed on the top of the base 2 through the speed reducer support 8. Specifically, by arranging the first speed reducer 15 between the first servo motor 14 and the cam 9, the speed of the first servo motor 14 is reduced, the output torque is increased, and the rotation movement precision of the cam 9 is improved. More specifically, the first speed reducer 15 can preferably include a housing and a gear or a worm structure arranged inside the housing, and the functions of reducing the rotation speed and increasing the output torque are achieved through gear transmission, worm transmission or gear-worm transmission.

[0066] Embodiment 2

[0067] In the second embodiment of the present application, a technical solution about the specific structural arrangement of the driving assembly is disclosed on the basis of the first embodiment.

[0068] Referring to Figure 4 As shown, in the technical solution of this embodiment, the new type of latent lifting type carrying robot further comprises a driving assembly, which comprises a second servo motor 16 and a main synchronous wheel 18, and the main synchronous wheel 18 and the output end of the second servo motor 16 are fixedly connected. Among them, the second servo motor 16 drives the main synchronous wheel 18 to rotate through its output end. The driving assembly further comprises a slave synchronous wheel 22, a second speed reducer 23 and a driving wheel 25, the input end of the slave synchronous wheel 22 and the second speed reducer 23 are fixedly connected, and the output end of the driving wheel 25 and the second speed reducer 23 are fixedly connected. The driving assembly further comprises a conveying belt 19, which is wound around the outer circumferential side of the main synchronous wheel 18 and the slave synchronous wheel 22. Specifically, when the main synchronous wheel 18 rotates, the slave synchronous wheel 22 is driven to rotate by the conveying belt 19. By arranging the second speed reducer 23 between the second servo motor 16 and the driving wheel 25, the output torque of the second servo motor 16 and the rotation movement precision of the driving wheel 25 can be improved. Similarly, the second speed reducer 23 described in this embodiment can also preferably include a housing and a gear or a worm structure arranged inside the housing. More specifically, since the main synchronous wheel 18 and the slave synchronous wheel 22 are connected through the conveying belt 19, the second servo motor 16 and the second speed reducer 23 can be arranged parallel to each other. Compared with the structural design method of arranging the second servo motor 16 and the second speed reducer 23 coaxially (i.e. directly connecting the second servo motor 16 and the second speed reducer 23), the present application can significantly reduce the space occupation of the carrying robot in the horizontal direction, thereby significantly shortening the width of the carrying robot, and the structural design is compact and reasonable, so that it can be adapted to various widths of shelves or goods, and further improve its application range.

[0069] More specifically, the number of the second servo motor 16, the second speed reducer 23, the main synchronous wheel 18, the slave synchronous wheel 22 and the driving wheel 25 is two, and each component is symmetrically arranged with each other.

[0070] In an alternative of the embodiment, the main synchronous wheel 18 and the slave synchronous wheel 22 can be selected as pulleys, and the transmission belt 19 can be selected as a synchronous belt, that is, the main synchronous wheel 18 and the slave synchronous wheel 22 realize the effect of belt or synchronous belt transmission through the transmission belt 19.

[0071] In another alternative of the embodiment, the main synchronous wheel 18 and the slave synchronous wheel 22 can be selected as sprockets, and the transmission belt 19 can be selected as a chain, that is, the main synchronous wheel 18 and the slave synchronous wheel 22 realize the effect of chain transmission through the transmission belt 19.

[0072] Referring to Figure 4 In a preferred embodiment of the embodiment, the driving assembly further comprises a motor mounting seat 17, a speed reducer support 24, a tensioning seat 26 and a tensioning screw 27, the second servo motor 16 is movably mounted on the base 2 through the motor mounting seat 17, that is, the motor mounting seat 17 plays a structural support role for the installation of the second servo motor 16; the second speed reducer 23 is fixedly installed on the base 2 through the speed reducer support 24, that is, the speed reducer support 24 plays a structural support role for the installation of the second speed reducer 23; the tensioning seat 26 is fixedly installed on the base 2, the tensioning screw 27 is threadedly connected with the tensioning seat 26, and one end of the tensioning screw 27 is rotatably connected with the second servo motor 16, and the tensioning screw 27 is used to drive the second servo motor 16 to move towards the direction of approaching or moving away from the second speed reducer 23 by rotating. Specifically, the speed reducer support 24 is fixedly connected with the base 2 and the second speed reducer 23 respectively, so as to fixedly install the second speed reducer 23 on the base 2. The second servo motor 16 is fixedly connected with the motor mounting seat 17, and the motor mounting seat 17 is movably arranged on the base 2, so as to movably install the second servo motor 16 on the base 2. More specifically, the application further provides a technical solution for adjusting the tightness of the transmission belt 19, that is, by rotating the tensioning screw 27, the second servo motor 16 can be driven to move horizontally on the base 2, and specifically move towards the direction of approaching or moving away from the second speed reducer 23, so as to adjust the distance between the main synchronous wheel 18 and the slave synchronous wheel 22, and further adjust the tightness of the transmission belt 19.

[0073] Referring to Figure 4As shown, in another preferred solution of this embodiment, the driving assembly further comprises a belt wheel bearing seat 20 and a belt wheel shaft 21, the belt wheel bearing seat 20 is fixedly installed on the base 2, the belt wheel shaft 21 is inserted into the shaft hole provided in the belt wheel bearing seat 20 and the two are rotatably connected. Among them, the synchronous wheel 22 is fixedly installed on the belt wheel shaft 21, and the belt wheel shaft 21 and the input end of the second speed reducer 23 are fixedly connected, that is, the synchronous wheel 22 is fixedly connected through the belt wheel shaft 21 and the input end of the second speed reducer 23.

[0074] Embodiment 3

[0075] In the third embodiment of the present application, a technical solution about the specific structural arrangement of the driven assembly is provided on the basis of the first embodiment.

[0076] Reference should be made to Figure 5 As shown, in the technical solution of this embodiment, the new type of dormant lifting type carrying robot further comprises a driven assembly, the driven assembly comprises a swing plate 28 and a driven wheel 29, the driven wheel 29 is rotatably installed on the swing plate 28. The driven assembly further comprises a swing support 30, a swing bearing seat 31 and a swing shaft 32, the swing support 30 and the swing plate 28 are fixedly connected, the swing bearing seat 31 is fixedly installed on the base 2, and the swing shaft 32 is provided through the swing support 30 and the swing bearing seat 31 and is rotatably connected with the two. Among them, the swing plate 28 can swing around the swing shaft 32. Specifically, the swing bearing seat 31 is used to provide structural support for the swing shaft 32, and the two are rotatably connected, the swing plate 28 is rotatably connected through the swing support 30 and the swing shaft 32, so that the swing plate 28 (and the driven wheel 29 on the swing plate 28) can swing around the swing shaft 32. More specifically, the driven wheel 29 is arranged at the bottom position on both sides of the swing plate 28, and the swing support 30 is arranged at the bottom position on the middle of the swing plate 28. Through the above structural design method, it can be ensured that the two driven wheels 29 on the swing plate 28 and the two driving wheels of the carrying robot can be arranged close to the ground (especially when the ground is not flat), avoiding the phenomenon of slipping of the driven wheel 29 when the carrying robot is walking, and further ensuring that the carrying robot moves in the preset direction. Compared with the traditional independent type and the suspension structure, the structure design of the swing arm type suspension design scheme of the present application is more compact and reasonable, occupies less space, can reduce the space occupation of the carrying robot in the vertical direction, thereby being conducive to reducing the overall height of the carrying robot, so that it can be adapted to various height shelves or goods, further improving its application range.

[0077] More specifically, the driven assembly further comprises a spring 33, an upper spring seat 34 and a lower spring seat 35, the top of the spring 33 is fixedly connected with the upper spring seat 34 and the base 1, and the bottom of the spring 33 is fixedly connected with the lower spring seat 35 and the swing plate 28, that is, the swing plate 28 and the base 2 are connected through the upper spring seat 34. Among them, the number of springs 33 is two, and they are respectively arranged on the left and right sides of the swing shaft 32. Specifically, the spring 33 is used to play a role of elastic buffering when the swing plate 28 swings around the swing shaft 32, and can reduce the vibration of the swing plate 28 in the swing process, thereby further improving the stability of the carrying robot in the movement process.

[0078] Referring to Figure 5 As shown in the preferred embodiment of the embodiment, the driven assembly further comprises a limiting screw 36, which is arranged at the bottom of the swing plate 28 and is threadedly connected with the swing plate 28, and the limiting screw 36 is used to adjust the distance between the bottom end of the limiting screw 36 and the base 2 by rotating. Specifically, when the bottom end of the limiting screw 36 contacts the base 2 during the swing of the swing plate 28 around the swing shaft 32, the swing plate 28 cannot continue to swing, that is, the distance between the bottom end of the limiting screw 36 and the base 2 is the swing range of the swing plate 28, so that the swing range of the swing plate 28 can be adjusted by rotating the limiting screw 36. More specifically, the number of limiting screws 36 can be preferably two, and they are respectively arranged on the left and right sides of the swing shaft 32.

[0079] Embodiment 4

[0080] In the fourth embodiment of the present application, a technical scheme about the specific structural arrangement of the driving wheel 25, the front driven wheel 38 and the rear driven wheel 37 is provided on the basis of the first, second and third embodiments.

[0081] Referring to Figure 6 As shown in the technical scheme of the embodiment, the new type of latent jacking carrying robot further comprises a driving wheel 25, a front driven wheel 38 and a rear driven wheel 37 which can rotate relative to the shell 1, the front driven wheel 38 and the rear driven wheel 37 are respectively arranged on the front and rear sides of the driving wheel 25, and the jacking plate 3 is arranged between the driving wheel 25 and the rear driven wheel 37. Specifically, during the movement of the carrying robot, the driving wheel 25 is driven to rotate under the driving force of the driving assembly, providing power for the movement of the carrying robot; the front driven wheel 38 and the rear driven wheel 37 are used to contact the ground, playing a supporting role. The carrying robot of the present application adopts the structural layout mode of arranging the driving wheel 25 at the middle position and arranging the front driven wheel 38 and the rear driven wheel 37 at the front and rear positions, which is compact and reasonable in structure, occupies small space, and further improves the application range of the product.

[0082] In one optional solution of the embodiment, the diameters of the rear driven wheel 37 and the front driven wheel 38 are equal, and the center height of the rear driven wheel 37 is lower than that of the front driven wheel 38. In this way, it can be ensured that, in the initial state or the state of carrying goods, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are at the same height, and the bottom ends of the two are arranged on the ground, while the bottom end of the front driven wheel is higher than the height, and the center of gravity of the carrying robot is between the driving wheel 25 and the rear driven wheel 37. When the carrying robot moves at a constant speed or accelerates, the rear driven wheel 37 and the driving wheel 25 walk on the ground. When the carrying robot decelerates or brakes suddenly, the front driven wheel 38 can be used as support, and the front driven wheel 38 and the driving wheel 25 walk on the ground, so as to ensure that the carrying robot and the carried goods or goods shelves will not overturn forward.

[0083] In another optional solution of the embodiment, the center heights of the rear driven wheel 37 and the front driven wheel 38 are equal, and the diameter of the rear driven wheel 37 is greater than that of the front driven wheel 38. Similarly, the structural design solution can also ensure that, in the initial state or the state of carrying goods, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are at the same height, and the bottom ends of the two are arranged on the ground, while the bottom end of the front driven wheel is higher than the height, and the center of gravity of the carrying robot is between the driving wheel 25 and the rear driven wheel 37.

[0084] In another optional solution of the embodiment, the center height of the rear driven wheel 37 is lower than that of the front driven wheel 38, and the diameter of the rear driven wheel 37 is greater than that of the front driven wheel 38. Similarly, the structural design solution can also ensure that, in the initial state or the state of carrying goods, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are at the same height, and the bottom ends of the two are arranged on the ground, while the bottom end of the front driven wheel is higher than the height, and the center of gravity of the carrying robot is between the driving wheel 25 and the rear driven wheel 37.

[0085] Therefore, through the above three optional structural design solutions, the overall structural strength and motion stability of the carrying robot can be significantly improved, and the phenomenon of overturning of the carrying robot during carrying goods can be avoided, and the structural design is simple and reasonable.

[0086] Embodiment 5

[0087] In the fifth embodiment of the present application, a specific structural arrangement of various components such as the ultrasonic sensor 39, the laser radar 40 and the anti-collision sensor 41 is provided on the basis of the first, second and third embodiments.

[0088] Referring to Figures 7-9As shown, in the technical scheme of this embodiment, the new latent lifting type carrying robot further comprises an ultrasonic sensor 39, a laser radar 40 and a collision avoidance sensor 41. The ultrasonic sensor 39 is arranged at the top rear end and / or the top left and right sides of the base 2, the laser radar 40 is arranged at the top front end of the base 2, and the collision avoidance sensor 41 is arranged at the top front end of the base 2. Specifically, the laser radar 40 is arranged at the top front end of the base 2 (i.e. the front end position of the carrying robot), and a radar driving board is installed adjacent to the position of the laser radar 40, so that the laser radar 40 can play a role in scanning the front obstacles and is the basis for navigation and obstacle avoidance of the carrying robot. The top front end of the base 2 is also provided with the collision avoidance sensor 41 (also referred to as an obstacle avoidance sensor), which can be used to detect mechanical collision. Further, since the laser radar 40 is arranged only at the front end position of the carrying robot, the left and right sides and the rear side of the carrying robot are all blind areas of the laser radar 40. By installing the ultrasonic sensor 39 at the top rear end and / or the top left and right sides of the base 2, the obstacles in the above blind areas can be detected, thereby playing a role in scanning and avoiding obstacles.

[0089] Referring to Figures 6-9As shown, in an alternative of the present application, the new type of hidden lifting carrying robot further comprises a power supply 42, which is arranged on the base 2 and at the bottom of the lifting plate 3, and the power supply 42 can be preferably a lithium battery. The new type of hidden lifting carrying robot further comprises an operation panel 43, which is arranged on the shell 1 and flush with the shell 1, and the operation panel 43 is provided with an emergency stop button 44 and a start button 45 for controlling the stop and start of the carrying robot, respectively; the operation panel 43 is further provided with a stop indicator light 46 and a walking indicator light 47 for indicating the stop moving state and the moving state of the carrying robot, respectively. The new type of hidden lifting carrying robot further comprises a cooling fan 48, which is installed on the base 2 through a fan support, for ventilating and cooling the high-power and easy-to-heat components inside the carrying robot. The new type of hidden lifting carrying robot further comprises a control board 49, a servo driver 50, a stepping driver 51, an electric control board 52 and an industrial computer 53, the industrial computer 53 is fixed on the base 2 through an industrial computer support, the servo driver 50 and the stepping driver 51 are directly installed on the base 2, the electric control board 52 is arranged directly above the servo driver 50 and connected with the base 2, and the servo driver 50 and the control board 49 are installed on the electric control board 52. The new type of hidden lifting carrying robot further comprises a contactor 54, a relay 55, a fuse 56, a key switch 57 and a charging port 58, the contactor 54 is fixedly installed on the base 2 through a contactor support, the relay 55, the fuse 56, the key switch and the charging port 58 are directly installed on the base 2, and the key switch and the charging port 58 pass through the shell 1 and are arranged towards the outside. The new type of hidden lifting carrying robot further comprises a wire passing groove 59, which is arranged on the driving assembly and used for collecting and fixing the wire harness, so as to avoid the disorderly arrangement of multiple wires inside the carrying robot.

[0090] Compared with the structure design manner of the screw rod jacking or the connecting rod jacking in the prior art, the cam jacking design scheme has the advantages that the structure design is more compact and reasonable, the space occupation is smaller, the degree of freedom in space design is higher, the height after the jacking mechanism is retracted is lower, the space occupation of the transfer robot in the vertical direction can be significantly reduced, the overall height of the transfer robot can be reduced, the transfer robot can be adapted to shelves or goods of various heights, and the application range is improved. Compared with the structure design manner that the servo motor and the speed reducer are coaxially arranged (i.e., the two are directly connected), the conveying belt mechanism design scheme can significantly reduce the space occupation of the transfer robot in the horizontal direction, so that the width of the transfer robot is significantly shortened, the structure design is compact and reasonable, the transfer robot can be adapted to shelves or goods of various widths, and the application range is further improved. Compared with the traditional independent suspension structure, the swing arm suspension design scheme has the advantages that the structure design is more compact and reasonable, the space occupation is smaller, the space occupation of the transfer robot in the vertical direction can be reduced, the overall height of the transfer robot can be reduced, the transfer robot can be adapted to shelves or goods of various heights, and the application range is further improved.

[0091] It is worth mentioning that the "input end" and the "output end" of each component in the present application are preferably shaft structures. The front-rear direction in the present application is the movement direction of the transfer robot, and the left-right direction is perpendicular to the movement direction of the transfer robot.

[0092] The technical means disclosed in the present application scheme is not limited to the technical means disclosed in the above-mentioned embodiments, but also includes technical solutions composed of any combination of the above technical features. It should be noted that, for ordinary skilled persons in the art, without departing from the principles of the present application, several improvements and refinements can be made, and these improvements and refinements are also considered to be within the protection scope of the present application.

Claims

1. A new type of latent top-lifting type carrying robot, comprising a base (2) and a shell (1) arranged on the base (2), characterized in that, Also include the jacking mechanism, the jacking mechanism includes: Jacking plate (3); Shaft support (4), connecting shaft (5) and roller (6), the shaft support (4) is fixedly installed at the bottom of the jacking plate (3), the connecting shaft (5) and the shaft support (4) are fixedly connected, the roller (6) is rotatably sleeved on the outer circumferential side of the connecting shaft (5); Driving mechanism (7) and cam (9), the driving mechanism (7) is fixedly installed at the top of the base (2), the cam (9) and the output end of the driving mechanism (7) are fixedly connected, and the outer circumferential side of the cam (9) and the outer circumferential side of the roller (6) are abutted; Several guide columns (10) and several guide cylinders, the guide column (10) is fixedly installed at the bottom of the jacking plate (3), the guide cylinder is fixedly installed at the top of the base (2), the guide column (10) is inserted in the guide cylinder in a lifting manner; Wherein, the driving mechanism is used for driving the cam (9) to rotate, and then driving the jacking plate (3) to move up and down relative to the shell (1); The guide cylinder includes linear bearing (13), bearing support plate (11) and bearing mounting plate (12), the bearing support plate (11) is fixedly installed at the top of the base (2), the bearing mounting plate (12) is fixedly installed on the bearing support plate (11), the linear bearing (13) is fixedly installed on the bearing mounting plate (12), the linear bearing (13) is provided with a guide hole for inserting the guide column (10), and the bearing mounting plate (12) and the bearing support plate (11) are perpendicular to each other; The driving mechanism includes first servo motor (14) and first reducer (15), the output end of the first servo motor (14) and the input end of the first reducer (15) are fixedly connected, the output end of the first reducer (15) and the cam (9) are fixedly connected, and the first reducer (15) is fixedly installed on the top of the base (2) through the reducer support (8).

2. The new latent lift-up type carrying robot according to claim 1, characterized in that, The new type of latent jacking type carrying robot also includes a driving assembly, the driving assembly includes: Second servo motor (16) and main synchronous wheel (18), the main synchronous wheel (18) and the output end of the second servo motor (16) are fixedly connected; From the synchronous wheel (22), the second reducer (23) and the driving wheel (25), the from the synchronous wheel (22) and the input end of the second reducer (23) are fixedly connected, the driving wheel (25) and the output end of the second reducer (23) are fixedly connected; Conveying belt (19), the conveying belt (19) is wound on the outer circumferential side of the main synchronous wheel (18) and the from the synchronous wheel (22); Wherein, the second servo motor (16) and the second reducer (23) are arranged in parallel to each other.

3. The novel latent top-lifting type carrying robot according to claim 2, characterized by The main synchronous wheel (18) and the from the synchronous wheel (22) are belt pulleys, and the conveying belt (19) is a synchronous belt. Or, the main synchronous wheel (18) and the from the synchronous wheel (22) are sprockets, and the conveying belt (19) is a chain.

4. The novel latent top-lifting type carrying robot according to claim 2, characterized by The driving assembly further comprises a motor mounting seat (17), a reducer support (24), a tensioning seat (26) and a tensioning screw (27), the second servo motor (16) is movably mounted on the base (2) through the motor mounting seat (17); the second reducer (23) is fixedly mounted on the base (2) through the reducer support (24); the tensioning seat (26) is fixedly mounted on the base (2), the tensioning screw (27) is in threaded connection with the tensioning seat (26), and one end of the tensioning screw (27) is rotatably connected with the second servo motor (16), the tensioning screw (27) is used for driving the second servo motor (16) to move towards or away from the second reducer (23) by rotation.

5. The novel latent top-lifting type carrying robot according to claim 1, characterized by The novel latent jacking type carrying robot further comprises a driven assembly, the driven assembly comprises: a swing plate (28) and a driven wheel (29), the driven wheel (29) is rotatably mounted on the swing plate (28); a swing support (30), a swing bearing seat (31) and a swing shaft (32), the swing support (30) is fixedly connected with the swing plate (28), the swing bearing seat (31) is fixedly mounted on the base (2), and the swing shaft (32) is arranged through and rotatably connected with the swing support (30) and the swing bearing seat (31); a spring (33), an upper spring seat (34) and a lower spring seat (35), the top of the spring (33) is fixedly connected with the base (2) through the upper spring seat (34), and the bottom of the spring (33) is fixedly connected with the swing plate (28) through the lower spring seat (35); wherein, the swing plate (28) can swing around the swing shaft (32).

6. The novel latent top-lifting type carrying robot according to claim 5, characterized by The driven assembly further comprises a limiting screw (36), the limiting screw (36) is arranged at the bottom of the swing plate (28) and in threaded connection therewith, and the limiting screw (36) is used for adjusting the distance between the bottom end thereof and the base (2) by rotation.

7. The novel latent top-lifting type carrying robot according to any one of claims 1 to 6, characterized by, The novel latent jacking type carrying robot further comprises a driving wheel (25) rotatable relative to the shell (1), a front driven wheel (38) and a rear driven wheel (37), the front driven wheel (38) and the rear driven wheel (37) are respectively arranged on the front side and the rear side of the driving wheel (25), and the jacking plate (3) is arranged between the driving wheel (25) and the rear driven wheel (37); wherein, the diameters of the rear driven wheel (37) and the front driven wheel (38) are equal, and the center height of the rear driven wheel (37) is lower than that of the front driven wheel (38); alternatively, the center heights of the rear driven wheel (37) and the front driven wheel (38) are equal, and the diameter of the rear driven wheel (37) is greater than that of the front driven wheel (38); alternatively, the center height of the rear driven wheel (37) is lower than that of the front driven wheel (38), and the diameter of the rear driven wheel (37) is greater than that of the front driven wheel (38).

8. The novel latent top-lifting type carrying robot according to any one of claims 1 to 6, characterized by, The new type of latent lifting type carrying robot also comprises an ultrasonic sensor (39), a laser radar (40) and a collision avoidance sensor (41), the ultrasonic sensor (39) is arranged at the top rear end and / or the top left and right sides of the base (2); the laser radar (40) is arranged at the top front end of the base (2); and the collision avoidance sensor (41) is arranged at the top front end of the base (2).

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