A driving lifting device and heavy load mobile robot having the same

Abstract

The present application relates to the technical field of heavy load robot, in particular to a driving lifting device and a heavy load mobile robot with the same. The driving lifting device comprises a fixing member adapted to be fixedly installed on the heavy load mobile robot, a lifting assembly penetrating through the fixing member, a driving wheel assembly installed at one end of the lifting assembly, and an abutting lifting member installed at the other end of the lifting assembly away from the driving wheel assembly. A driving assembly is installed on the fixing member, and a driving lifting slope is arranged on the driving assembly. The abutting lifting member is arranged in abutment with the driving lifting slope, and the driving lifting slope is adapted to slide along the extension direction of the driving lifting slope. When the heavy load mobile robot needs to be repaired or maintained, the abutting lifting member is lifted by the driving assembly, so that the driving wheel assembly is separated from the ground. During the repair and maintenance of the heavy load mobile robot, external hoisting and carrying equipment is not required, and the repair and maintenance work of the heavy load mobile robot can be greatly simplified.

Description

Technical Field

[0001] This invention relates to the field of heavy-duty robot technology, specifically to a drive lifting device and a heavy-duty mobile robot having the same. Background Technology

[0002] With the rapid development of heavy industries such as aerospace, shipbuilding, and railway construction, production capacity is constantly increasing. More and more heavy-duty mobile robots are entering the workshops of developing enterprises. The drive mechanism is an important component of mobile robots, providing driving force for them.

[0003] Heavy-duty mobile robots require regular maintenance and upkeep when in long-term service in the workshop. Due to their massive size, often weighing several to tens of tons, removing them from the production line for repair is a challenge. Traditionally, the solution involved hoisting them and then towing them away with a forklift or other vehicle. However, limited space in the workshop restricts the installation of hoisting tools, and the large range of motion of these tools increases the risk of collisions with other equipment, making the maintenance and repair of heavy-duty mobile robots inherently dangerous. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the difficulty in operation of maintenance and repair of heavy-duty mobile robots in the prior art, thereby providing a drive lifting device and a heavy-duty mobile robot having the same.

[0005] To solve the above-mentioned technical problems, the present invention provides a driving lifting device, comprising:

[0006] Fasteners, suitable for fixed installation on heavy-duty mobile robots;

[0007] The lifting component is installed through the fixing member. A drive wheel assembly is installed at one end of the lifting component, and an abutting lifting member is installed at the end of the lifting component away from the drive wheel assembly.

[0008] A drive assembly is mounted on a fixed component. The drive assembly is provided with a drive lifting ramp. The abutting lifting component and the drive lifting ramp are abutted together. The drive lifting ramp is adapted to slide along the extension direction of the drive lifting ramp.

[0009] Optionally, the driving component includes:

[0010] A drive lifting block is slidably mounted on a fixed component, and a drive lifting inclined surface is set on the drive lifting block;

[0011] The lifting drive rod is rotatably mounted on the fixed part. The lifting drive rod is parallel to the extension direction of the driving lifting inclined plane, and the driving lifting block and the lifting drive rod are threaded together.

[0012] Optionally, the driving component also includes:

[0013] The sliding guide rail is fixedly mounted on the fixture.

[0014] The slider mounting plate is slidably mounted on the sliding guide rail, and the drive lifting block is fixedly mounted on the slider mounting plate. The slider mounting plate is threadedly engaged with the lifting drive rod.

[0015] Optionally, an operating element is mounted on the end of the lifting drive rod.

[0016] Optionally, the enhancement components include:

[0017] At least one guide shaft is provided, which passes through the fixing member, and the drive wheel assembly is fixedly installed at one end of the guide shaft.

[0018] The mounting beam is fixedly installed at the other end of the guide shaft;

[0019] An elastic buffer is installed between the mounting beam and the fixing component.

[0020] Optionally, the guide shafts are arranged in pairs, with the two guide shafts in the pair mounted on the same mounting beam.

[0021] Optionally, the abutment lifting member is fixedly installed on the mounting beam.

[0022] Optionally, the drive wheel assembly includes a drive wheel body and a drive wheel mounting component, the drive wheel body being fixedly connected to the drive wheel mounting component, and the lifting component being fixedly mounted on the drive wheel mounting component.

[0023] Optionally, the lifting component is provided with a pair of limiting members, with the two limiting members respectively located on both sides of the drive wheel mounting component.

[0024] The present invention also provides a heavy-duty mobile robot having the drive lifting device described in the present invention.

[0025] The technical solution of this invention has the following advantages:

[0026] 1. The drive lifting device provided by the present invention includes: a fixing member, suitable for being fixedly installed on a heavy-duty mobile robot; a lifting component, which passes through the fixing member, a drive wheel assembly is installed at one end of the lifting component, and an abutting lifting member is installed at the end of the lifting component away from the drive wheel assembly; a drive component, which is installed on the fixing member, and a drive lifting inclined surface is provided on the drive component, the abutting lifting member abutting against the drive lifting inclined surface, and the drive lifting inclined surface is suitable for sliding along the extension direction of the drive lifting inclined surface.

[0027] The drive lifting device is installed on the heavy-duty mobile robot as a drive wheel. When the heavy-duty mobile robot needs repair or maintenance, it needs to be moved, but since the drive wheels are not working, they would obstruct the robot's movement. At this time, the drive assembly operates, causing the drive lifting ramp to slide relative to the fixed component. This, in turn, moves the abutment lifting component along the drive lifting ramp, lifting it up. After the abutment lifting component is lifted, the lifting assembly drives the drive wheel assembly to lift together, causing the drive wheel assembly to leave the ground. At this point, the heavy-duty mobile robot is only supported by its casters, and a little force can be applied to push it to the repair site. During the repair and maintenance of the heavy-duty mobile robot, no external hoisting or handling equipment is needed, greatly simplifying the repair and maintenance work and reducing the risks involved.

[0028] 2. The driving lifting device provided by the present invention includes a driving component comprising: a driving lifting block slidably mounted on a fixed member, with a driving lifting inclined surface disposed on the driving lifting block; and a lifting driving rod rotatably mounted on the fixed member, the lifting driving rod extending parallel to the direction of the driving lifting inclined surface, and a threaded engagement between the driving lifting block and the lifting driving rod. By utilizing the engagement between the lifting driving rod and the driving lifting block, rotating the lifting driving rod causes the driving lifting block to slide, thereby lifting the lifting component upwards and subsequently lifting the driving wheel assembly. By converting the vertical movement of the lifting drive wheel assembly into the horizontal sliding of the driving lifting block, and then into the rotation of the lifting driving rod, the overall structure of the driving component is compact, occupies little space, and does not occupy vertical space, thus not affecting other equipment on the heavy-duty mobile robot.

[0029] 3. The driving lifting device provided by the present invention further includes: a sliding guide rail, fixedly mounted on a fixing member; a slider mounting plate, slidably mounted on the sliding guide rail; and a driving lifting block fixedly mounted on the slider mounting plate, with the slider mounting plate threadedly engaged with the lifting driving rod. By utilizing the sliding engagement between the sliding guide rail and the slider mounting plate, the driving lifting block slides on the mounting member, reducing the resistance during the movement of the driving lifting block and improving the sensitivity of its movement. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1This is a schematic diagram of the drive lifting device provided in an embodiment of the present invention.

[0032] Figure 2 This is a structural schematic diagram of the drive lifting device provided in an embodiment of the present invention from another angle.

[0033] Figure 3 This is a cross-sectional view of the drive lifting device provided in an embodiment of the present invention.

[0034] Figure 4 This is a schematic diagram of the structure of the driving component provided in an embodiment of the present invention.

[0035] Figure 5 This is a structural schematic diagram of the driving component provided in an embodiment of the present invention from another angle.

[0036] Figure 6 This is a schematic diagram of the drive wheel assembly provided in an embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the lifting component provided in an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached drawings: 1. Fixed plate; 2. Guide end cover; 3. Cam bearing follower; 4. Steel bushing; 5. Guide plate; 6. Slider mounting plate; 7. Sliding guide rail; 8. Slider body; 9. Angular contact ball bearing; 10. Flat washer; 11. Hex nut; 12. Bearing seat; 13. Handwheel connecting shaft; 14. Operating handwheel; 15. Bearing end cover; 16. Lifting drive rod; 17. Oil-free bushing; 18. Shaft baffle; 19. Drive wheel body; 20. Drive wheel mounting plate; 21. Suspension spring; 22. Spring sleeve; 23. Drive nut; 24. Guide shaft; 25. Mounting beam; 26. Drive lifting block. Detailed Implementation

[0039] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] Example 1

[0044] like Figures 1 to 7 The image shows a drive lifting device provided in this embodiment, including a lifting component, a drive component, and a fixing plate 1 as a fixing member.

[0045] The fixing plate 1, serving as a fastener, is suitable for fixed installation on a heavy-duty mobile robot, used to mount the entire drive lifting device onto the heavy-duty mobile robot. In other embodiments, the fastener can also be a structural component such as a fixing frame or fixing rod that can be fixedly installed with the heavy-duty mobile robot.

[0046] The lifting assembly is installed through the fixing member. A drive wheel assembly is mounted at one end of the lifting assembly, and an abutting lifting member is mounted at the end of the lifting assembly opposite to the drive wheel assembly. Specifically, the lifting assembly provided in this embodiment includes a guide shaft 24, a mounting beam 25, and a suspension spring 21 as an elastic buffer. At least one guide shaft 24 is provided, and the guide shaft 24 is installed through the fixing member. The drive wheel assembly is fixedly installed at one end of the guide shaft 24. The mounting beam is fixedly installed at the other end of the guide shaft 24. The elastic buffer is installed between the mounting beam and the fixing member. Each guide shaft 24 is provided with two suspension springs 21. The two suspension springs 21 are respectively located on both sides of the guide shaft 24. One end of the suspension spring 21 is fixedly connected to the mounting beam, and the other end is fixedly installed in a spring sleeve 22 on the fixing member. In other embodiments, the suspension spring 21 can also be sleeved on the guide shaft 24 and coaxially arranged with the guide shaft 24. In this embodiment, the guide shafts 24 are arranged in pairs, and the two paired guide shafts 24 are installed on the same mounting beam. The cam bearing follower 3, serving as the abutting lifting member, is fixedly installed on the mounting beam.

[0047] The drive assembly is mounted on a fixed component and has a drive lifting ramp. The drive lifting component and the drive lifting ramp are in contact with each other, and the drive lifting ramp is adapted to slide along its extension direction. Specifically, the drive assembly includes a drive lifting block, a lifting drive rod 16, a sliding guide rail 7, and a slider mounting plate 6. The drive lifting block is slidably mounted on the fixed component, and the drive lifting ramp is located on the drive lifting block. The lifting drive rod 16 is rotatably mounted on the fixed component, and its extension direction is parallel to the drive lifting ramp. The drive lifting block and the lifting drive rod 16 are threadedly engaged. The sliding guide rail 7 is fixedly mounted on the fixed component. The slider mounting plate 6 is slidably mounted on the sliding guide rail 7, and the drive lifting block is fixedly mounted on the slider mounting plate 6. The slider mounting plate 6 is threadedly engaged with the lifting drive rod 16. An operating handwheel 14, serving as an operating element, is mounted at the end of the lifting drive rod 16. In other embodiments, the operating element can also be an operating lever, operating handle, or other structure for facilitating rotation of the lifting drive rod 16.

[0048] The drive wheel assembly includes a drive wheel body 19 and a drive wheel mounting plate 20, which serves as a drive wheel mounting component. The drive wheel body 19 is fixedly connected to the drive wheel mounting plate 20, and the lifting assembly is fixedly mounted on the drive wheel mounting component. A drive motor is also mounted on the drive wheel mounting plate 20 to control the movement of the drive wheel body 19. In other embodiments, the drive wheel mounting component can also be a drive wheel mounting bracket. A pair of limiting plates, serving as limiting members, are provided on the guide shaft 24 of the lifting assembly, with the two limiting members respectively located on both sides of the drive wheel mounting plate 20.

[0049] The fixed plate 1 in the drive lifting device provided in this embodiment can serve as part of the structure of a heavy-duty mobile robot, supporting and fixing the entire drive lifting device. A guide end cap 2 is provided at the top of the mounting beam corresponding to the position of the guide shaft 24. The guide end cap 2 is used to abut against the guide shaft 24 to prevent it from moving upwards and causing abnormal noise. The top surface of the drive lifting block is a drive lifting ramp, and the cam bearing follower 3, which acts as the abutment lifting component, is placed on the drive lifting ramp from the drive lifting block 26. To prevent the abutment lifting component from falling off the drive lifting ramp when the guide shaft 24 moves, a guide plate 5 is provided on the side of the drive lifting block 26 away from the mounting beam. The guide plate 5 is fixedly connected to the drive lifting block 26 and is fixedly installed on one side of the slider mounting plate 6. In this embodiment, two pairs of guide shafts 24 are provided, each pair of guide shafts 24 is mounted on a mounting beam. The two mounting beams are respectively located on both sides of the slider mounting plate 6 along the sliding direction. A pair of sliding guide rails 7 are fixed parallel to each other on the fixed plate 1, and the slider mounting plate 6 slides with the pair of sliding guide rails 7.

[0050] The lifting drive rod 16 is mounted on the fixed plate 1 via two bearing seats 12. An angular contact ball bearing 9 is provided between the lifting drive rod 16 and the bearing seats 12. The angular contact ball bearing 9 and the bearing seats 12 cooperate to rotate the lifting drive rod 16, which acts as a lead screw, and resist the axial force generated by the lifting drive rod 16. A drive nut 23 is threaded onto the lifting drive rod 16 and is fixedly connected to the bottom of the slider mounting plate 6. The cam bearing follower 3 cooperates with the drive lifting block to convert the horizontal rotation of the lifting drive rod 16 into the vertical movement of the guide shaft 24. A steel bushing 4 is installed at the circular hole on the fixed plate 1 where the guide shaft 24 is mounted. The steel bushing 4 is made of 45 steel and chrome-plated. The guide shaft 24 and the inner wall of the steel bushing 4 have a large clearance fit, which helps to adjust the position of the guide shaft 24 and reduce wear between the guide shaft 24 and the frame. The slider mounting plate 6 is fixed to the guide plate 5 on the drive lifting block with screws to transmit the torque of the lead screw, the lifting drive rod 16, to the cam bearing follower 3. The bottom of the slider mounting plate 6 is fixedly connected to the slider body 8. The sliding guide rail 7 and the slider body 8 work together to form a sliding pair. The long bolt for rotating the cam bearing follower 3 passes through the mounting beam and is locked in place by a hexagonal nut 11. A flat washer 10 is installed between the hexagonal nut 11 and the mounting beam. The handwheel connecting shaft 13 and the driven handwheel 14 are installed at one end of the lifting drive rod 16 by a plug-in method, transmitting the torque generated by manual rotation to the lifting drive rod 16, which acts as a lead screw. Bearing end caps 15 are installed on the outward-facing side of both bearing seats 12, and the bearing end caps 15 are used for bearing shaft end constraint. The lifting drive rod 16 converts the rotational motion into the reciprocating motion of the slider mounting plate 6.

[0051] A limiting plate is used to axially limit the guide shaft 24. The guide shaft 24 slides within the drive wheel mounting plate 20. An oil-free bushing 17 is provided on the drive wheel mounting plate 20, and the guide shaft 24 is slidably mounted within the oil-free bushing 17. A shaft baffle 18 is provided at the bottom of the guide shaft 24, which engages with the oil-free bushing 17 to limit and prevent the guide shaft 24 from falling out of the oil-free bushing 17. The drive wheel assembly provides driving force to the mobile robot as a standard power integration component, and the drive wheel mounting plate 20 is used to fix the drive wheel assembly. The suspension spring 21 allows the drive wheel assembly to float up and down, compensating for uneven ground and providing stable traction. The spring sleeve 22 limits the spring position and prevents it from twisting.

[0052] When the drive lifting device is in operation, the pre-compression of the spring before installation ensures that the drive wheel assembly is always in contact with the ground under the action of gravity. The drive wheel body 19 is designed with guide shafts 24 around its perimeter to guide and transmit the traction force of the drive wheel assembly to the heavy-duty mobile robot. When the heavy-duty mobile robot is under maintenance, the maintenance personnel can rotate the operating handwheel 14 to transmit torque to the lifting drive rod 16, causing the lifting drive rod 16 to rotate. The rotation of the lifting drive rod 16 forces the drive nut 23 to drive the slider mounting plate 6 to reciprocate linearly along the sliding guide rail 7, which in turn drives the drive lifting block to reciprocate linearly. Since the cam bearing follower 3, which acts as an abutting lifting component, is in contact with the drive lifting ramp of the drive lifting block, the drive lifting ramp can drive the cam bearing follower 3 to move when the drive lifting block moves. The reciprocating motion of the cam bearing follower 3 causes the mounting beam to drive the guide shaft 24 to move up and down. The drive wheel assembly is hooked on the guide shaft 24 and also moves up and down with the guide shaft 24. When the operating handwheel 14 is rotated clockwise, the slider mounting plate 6 moves inward, the guide shaft 24 moves upward, and the drive wheel assembly is lifted up, thus achieving the effect of the drive mechanism leaving the ground. At this time, only the follower universal wheels remain of the heavy-duty mobile robot. With a little force applied, the heavy-duty mobile robot can be pushed away for maintenance.

[0053] The drive lifting device is installed on the heavy-duty mobile robot as a drive wheel. When the heavy-duty mobile robot needs repair or maintenance, it needs to be moved, but since the drive wheels are not working, they would obstruct the robot's movement. At this time, the drive assembly operates, causing the drive lifting ramp to slide relative to the fixed component. This, in turn, moves the abutment lifting component along the drive lifting ramp, lifting it up. After the abutment lifting component is lifted, the lifting assembly drives the drive wheel assembly to lift together, causing the drive wheel assembly to leave the ground. At this point, the heavy-duty mobile robot is only supported by its casters, and a little force can be applied to push it to the repair site. During the repair and maintenance of the heavy-duty mobile robot, no external hoisting or handling equipment is needed, greatly simplifying the repair and maintenance work and reducing the risks involved.

[0054] Example 2

[0055] This invention also provides a heavy-duty mobile robot with the drive lifting device described in Embodiment 1. When the heavy-duty mobile robot needs repair or maintenance, it needs to be moved. However, because the drive wheels are not working, they obstruct the robot's movement. In this case, the drive assembly operates to make the drive lifting ramp slide relative to the fixed component, thereby driving the abutment lifting component to move along the drive lifting ramp, lifting the abutment lifting component. After the abutment lifting component is lifted, the lifting assembly drives the drive wheel assembly to lift together, causing the drive wheel assembly to leave the ground. At this point, the heavy-duty mobile robot is only supported by the casters, and a slight force can be applied to push it to the repair site. During the repair and maintenance of the heavy-duty mobile robot, no external hoisting and handling equipment is required, greatly simplifying the repair and maintenance work and reducing the risks associated with it.

[0056] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A drive lifting device, characterized in that, include: Fasteners, suitable for fixed installation on heavy-duty mobile robots; A lifting component is provided through the fixing member. A drive wheel assembly is installed at one end of the lifting component, and an abutting lifting member is installed at the end of the lifting component opposite to the drive wheel assembly. A drive assembly is mounted on a fixed member. The drive assembly is provided with a drive lifting ramp. The abutting lifting member abuts against the drive lifting ramp. The drive lifting ramp is adapted to slide along the extension direction of the drive lifting ramp. The driving component includes: A drive lifting block (26) is slidably mounted on the fixing member, and the drive lifting inclined surface is disposed on the drive lifting block; The lifting drive rod (16) is rotatably mounted on the fixed member. The lifting drive rod (16) is parallel to the extension direction of the driving lifting inclined surface. The driving lifting block and the lifting drive rod (16) are threaded together. The driving component also includes: The sliding guide rail (7) is fixedly installed on the fixing member; The slider mounting plate (6) is slidably mounted on the sliding guide rail (7), the driving lifting block is fixedly mounted on the slider mounting plate (6), and the slider mounting plate (6) is threadedly engaged with the lifting driving rod (16). The lifting component includes: At least one guide shaft (24) is provided, the guide shaft (24) is provided through the fixing member, and the drive wheel assembly is fixedly installed at one end of the guide shaft (24); The mounting beam (25) is fixedly installed at the other end of the guide shaft (24); An elastic buffer element is installed between the mounting beam and the fixing element; The abutment lifting component is fixedly installed on the mounting beam.

2. The drive lifting device according to claim 1, characterized in that, An operating element is installed at the end of the lifting drive rod (16).

3. The drive lifting device according to claim 1, characterized in that, The guide shafts (24) are arranged in pairs, and the two guide shafts (24) arranged in pairs are mounted on the same mounting beam.

4. The drive lifting device according to claim 2, characterized in that, The drive wheel assembly includes a drive wheel body (19) and a drive wheel mounting component. The drive wheel body (19) is fixedly connected to the drive wheel mounting component, and the lifting component is fixedly mounted on the drive wheel mounting component.

5. The drive lifting device according to claim 4, characterized in that, The lifting assembly is provided with a pair of limiting members, and the two limiting members are respectively located on both sides of the drive wheel mounting component.

6. A heavy-duty mobile robot, characterized in that, It has the drive lifting device according to any one of claims 1 to 5.

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