Omnidirectional mobile robot with moving and lifting functions

Abstract

The invention relates to the technical field of robots, and provides an omni-directional mobile robot with moving and lifting functions, which comprises a base, a moving assembly is arranged at the lower end of the base, lifting assemblies are respectively arranged on the upper end surface of the base and located at four corners, and supporting plates are arranged on the upper end surfaces of the lifting assemblies. A judgment assembly is arranged at the bottom end of the supporting plate and located between every two adjacent lifting assemblies, and the upper end face of the supporting plate is detachably connected with a protection frame. Through reasonable application of the lifting assembly and the judgment assembly, after an object passes through a slope, a disc is driven to incline, then a rotating wheel and a rotating rod are driven to incline, inspection is conducted through an inclination angle sensor, then a first motor is started through a background control motor, and then the lifting assembly moves; in the moving process, the inclination angle of the supporting plate is gradually decreased, so that objects on the supporting plate become stable gradually, collision caused by inclination of the objects is avoided, and waste of the objects is further avoided.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an omnidirectional mobile robot with moving and lifting functions. Background Art

[0002] The omnidirectional mobile robot is developed based on high-tech technologies such as robotics technology, sensor technology, embedded computer technology, and network communication technology. It can move and rotate freely in different planes, easily pass through narrow spaces and environments, and has high flexibility and adaptability. It can perform both handling and transportation tasks, so it is widely used in various factories, warehouses and other scenarios.

[0003] An omnidirectional mobile robot can move in any direction on a plane by adjusting the angle and rotation speed of the wheels; however, in some cases, such as when transporting tall objects, the transport plate on which the object is transported needs to be kept flush with the object to avoid collision and damage; doing so not only avoids waste, but also improves the efficiency and safety of the robot's handling.

[0004] In some application scenarios, such as in factories, warehouses and other environments, when the omnidirectional mobile robot needs to carry heavy objects or travel on uneven ground, especially when passing through some slopes, due to the influence of gravity, the bottom plate and the object maintain the same inclination angle, which may cause the object to slide or collide, thereby resulting in waste of the object.

[0005] In summary, the present invention provides an omnidirectional mobile robot with moving and lifting functions. Summary of the invention

[0006] The present invention provides an omnidirectional mobile robot with a moving and lifting function, which controls the stable state of an object according to a slope with different inclination angles, so as to solve the problems in the prior art such as collision or spillage of objects caused by the robot when passing through a slope.

[0007] The prior art solutions of the present invention are as follows:

[0008] An omnidirectional mobile robot with mobile and lifting functions comprises: a base, a moving component is arranged at the lower end of the base, lifting components are arranged on the upper end surface of the base and at four corners respectively, a support plate is arranged on the upper end surface of the lifting component, a judgment component is arranged at the bottom end of the support plate and between two adjacent lifting components, and a protective frame is detachably connected to the upper end surface of the support plate.

[0009] Furthermore, the rising component includes a fixed block, a threaded rod and a rotating shaft 1, the bottom end of the fixed block is fixedly connected to the upper end surface of the base, one end of the threaded rod passes through the fixed block, and the end of the threaded rod away from the fixed block is sleeved with a connecting plate, the end of the threaded rod close to the connecting plate is fixedly connected to a bevel gear 1, one side of the connecting plate is fixedly connected to a shell, and the four sides of the connecting plate are respectively fixedly connected to the four sides of the inner wall of the shell, one end of the rotating shaft 1 passes through the shell, the rotating shaft 1 is sleeved with a bevel gear 2, and the bevel gear 1 is meshed with the bevel gear 2, and a motor 1 is provided on one side of the shell, and the drive shaft of the motor 1 is fixedly connected to the rotating shaft 1.

[0010] Furthermore, the judgment component includes a fixing part 1, a disc 1, a disc 2, a connecting column 1 and an electric telescopic rod, the upper end surface of the fixing part 1 is fixedly connected to a supporting column, the upper end surface of the supporting column is fixedly connected to a rolling ball, a circular groove 2 is provided at the bottom end of the disc 1, the rolling ball is connected to the circular groove 2, rotating components are provided on opposite sides of the disc 1 and the disc 2, the rotating components are located at the edge and the center of the upper end surface of the disc 1, the rotating components located at the edge are distributed in an array with the disc 1 as the center, and the number is at least three, the disc 2 is located directly above the disc 1, the rotating components located on the opposite sides of the disc 1 and the disc 2 are connected through a connecting column 1, a circular hole is provided on the disc 2, a circular groove 1 is provided on the upper end surface of the disc 2, a telescopic column is slidably connected in the circular groove 1, the end of the telescopic column away from the disc 1 is fixedly connected to the disc 3, and the disc 3 is located directly above the disc 2;

[0011] A rotating assembly is disposed on one side of the disk 3 close to the disk 2 and at the center thereof, and the rotating assembly located at the center of the disk 1 and the disk 3 is connected via an electric telescopic rod;

[0012] An inverted L-shaped block is fixedly connected to one side wall of the disc, a second rotating shaft is rotatably connected to one side of the inverted L-shaped block, one end of the second rotating shaft is fixedly connected to a first rotating column, and both ends of the first rotating column are respectively fixedly connected to moving wheels.

[0013] Furthermore, the rotating assembly includes a U-shaped block, the bottom end of the U-shaped block is fixedly connected to the upper end surface of the disc, one side of the U-shaped block is rotatably connected to a rotating column two, and the two ends of the rotating column two are respectively rotatably connected to the opposite ends of the U-shaped block, a square frame is sleeved on the rotating column two, the opposite ends of the square frame are connected by connecting column two, and the connecting column two is vertical to the rotating column two, and the side wall of the connecting column two is connected to one end of the connecting column one.

[0014] Furthermore, the moving component includes two turntables, which are rotatably connected to the bottom end of the base respectively, and a limiting member is fixedly connected to the side of the turntable away from the base, and a rotating shaft three is rotatably connected to the side of the limiting member away from the turntable, and roller one is fixedly connected to both ends of the rotating shaft three.

[0015] Furthermore, roller 2 is respectively arranged at the four corners of the bottom end of the base, and the roller 2 is flush with the side of the roller 1 away from the base.

[0016] Furthermore, the second rotating shaft is fixedly connected to the center position of the first rotating column.

[0017] Furthermore, a rotating rod is fixedly connected to a side of the rotating shaft 2 away from the inverted L-shaped block, and a tilt sensor is provided on one side of the rotating rod.

[0018] Furthermore, the two turntables are bilaterally symmetrical with the center line of the base as the symmetry line.

[0019] Furthermore, the two rotating components located at the edge of the first disk are both provided with a second motor, and the driving shaft of the second motor is fixedly connected to one end of the second rotating column.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention uses the rising component and the judging component reasonably. After the object passes through the slope, the robot body is driven to tilt. The disc three is driven by the motor to remain stable, and the electric telescopic rod is extended to push the disc three to move upward, so that the rotating wheel changes from tilt to balance. After that, the tilt sensor is used to check which side the rotating rod is deflected, and then the data is transmitted to the background, which is conducive to reading the inclination rate of the slope, and then preparing for the subsequent ascent, thereby reducing the possibility of the object falling.

[0022] 2. Through the rational use of the lifting assembly, the present invention starts the motor 1 that controls the deflection direction of the rotating rod through the background, thereby driving the rotating shaft 1 to start, further driving the bevel gear 2 to rotate, and further driving the bevel gear 1 to rotate, further driving the threaded rod to rotate, and then the threaded rod moves in the direction away from the base, thereby driving the shell to rise, and as the shell rises, the inclination angle of the support plate gradually decreases, so that the objects on the support plate gradually become stable, avoiding collisions of objects due to inclination, and further avoiding waste of objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the front three-dimensional structure of the overall device of the present invention;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the overall device of the present invention;

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the judgment component of the present invention;

[0026] Figure 4 It is a schematic diagram of the front three-dimensional structure of the judgment component of the present invention;

[0027] Figure 5 It is a schematic diagram of the front three-dimensional structure of the internal part of the judgment component of the present invention;

[0028] Figure 6 It is a schematic diagram of the internal three-dimensional structure of the judgment component of the present invention;

[0029] Figure 7 The present invention Figure 5 A partial enlarged view of the middle part;

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the rising assembly of the present invention;

[0031] Fig. 9 It is a schematic diagram of the three-dimensional structure of the rising assembly of the present invention from top view;

[0032] Fig.10 It is a schematic diagram of the internal three-dimensional structure of the rising component of the present invention.

[0033] In the figure:

[0034] 1. Base; 2. Moving assembly; 20. Turntable; 21. Limiting piece; 22. Rotating shaft three; 23. Roller one; 3. Rising assembly; 30. Fixed block; 31. Threaded rod; 32. Connecting plate; 33. Bevel gear one; 34. Housing; 35. Rotating shaft one; 36. Bevel gear two; 37. Motor one; 4. Judgment assembly; 40. Fixed piece one; 41. Support column; 42. Rolling ball; 43. Circular groove two; 44. Circular disc one; 45. Circular disc two; 46 , rotating assembly; 460, U-shaped block; 461, rotating column two; 462, square frame; 463, connecting column two; 464, motor two; 47, connecting column one; 48, circular groove one; 49, telescopic column; 410, disc three; 411, electric telescopic rod; 412, inverted L-shaped block; 413, rotating shaft two; 414, rotating column one; 415, driving wheel; 416, rotating rod; 5, support plate; 6, protective frame; 7, roller two; 8, inclination sensor. DETAILED DESCRIPTION

[0035] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] like Figure 1-10As shown, the present invention provides an omnidirectional mobile robot with moving and lifting functions, including: a base 1, a moving component 2 is arranged at the lower end of the base 1, and rising components 3 are arranged on the upper end surface of the base 1 and located at four corners respectively, and a support plate 5 is arranged on the upper end surface of the rising component 3. A judgment component 4 is arranged at the bottom end of the support plate 5 and located between two adjacent rising components 3, and a protective frame 6 is detachably connected to the upper end surface of the support plate 5.

[0037] Embodiment 1:

[0038] like Figure 1-10 As shown, in this embodiment, during the transportation of objects, the objects may pass through a slope. During the process of passing through the slope, the support plate 5 maintains the same angle with the slope, which may cause the objects on the support plate 5 to slide or collide. If the objects are liquids, the liquids may leak due to the tilt, resulting in waste.

[0039] Then, when an object is placed on the support plate 5, and the roller 1 23 and the roller 2 7 drive the support plate 5 to pass through the slope, with the effect of gravity, and the rolling ball 42 is movably connected to the disk 3 410, the base 1 and the support plate 5 are tilted, and at this time, the motor 2 464 starts and drives the rotating column 2 461 to rotate, thereby driving the square frame 462 and the connecting column 1 47 to move in the opposite direction of its tilting direction, so that the disk 2 45 and the disk 3 410 are kept level with the horizontal line, and then the electric telescopic rod 411 extends and pushes the disk 3 410 to move in the direction away from the disk 1 44, and the tilt of the support plate 5 drives the rotating column 1 414 to tilt until one end of the tilt is The moving wheel 415 is driven to contact the disk three 410. During the movement of the disk three 410, the moving wheel 415 in contact with it is pushed to move, thereby making the moving wheels 415 at both ends of the rotating column one 414 on the same horizontal line. At the same time, the inclination sensor 8 rotates with the rotating rod 416, and the inclination sensor 8 is based on Newton's second law. By measuring the acceleration of gravity and the acceleration of the object relative to the vertical direction, the inclination angle is calculated; at the same time, the inclination sensor 8 can be used to check which direction the rotating rod 416 deflects, and then the data is transmitted to the background, and the motor one 37 that controls the deflection direction of the rotating rod 416 is started through the background, thereby driving the lifting component 3 to move.

[0040] That is Figure 3-5As shown, the motor 1 37 starts and drives the rotating shaft 1 35 to start, further driving the bevel gear 2 36 to rotate, and because the bevel gear 1 33 is meshed with the bevel gear 2 36, and the threaded rod 31 is rotatably connected to the fixed block 30, and the shell 34 is slidably connected to the side wall of the fixed block 30, and the threaded rod 31 is fixedly connected to the shell 34 through the connecting plate 32, the bevel gear 1 33 is rotatably connected to one side of the inner wall of the shell 34, and then the bevel gear 2 36 drives the bevel gear 1 33 to rotate, and the relative positions of the two do not change, which further drives the threaded rod 31 to rotate, and then the threaded rod 31 moves in the direction away from the base 1, and then drives the shell 34 to rise; as the shell 34 rises, the inclination angle of the support plate 5 gradually decreases, so that the objects on the support plate 5 gradually become stable, avoiding collision of the objects due to inclination.

[0041] Since the support plate 5 is not easy to be over-raised when tilted, and the height of the rise cannot be accurately measured, it is difficult for workers to grasp the appropriate rise data during operation. Therefore, in order to better grasp the rise data of the support plate 5, when the tilt angle of the support plate 5 gradually decreases and finally reaches a stable state, the rotating rod 416 will also return to the initial position. In this process, the inclination sensor 8 will continue to monitor the deflection angle of the rotating rod 416 and transmit these data to the background. By analyzing these angle data, the background can accurately calculate the required rise height of the support plate 5 at the tilt. When the rise height of the shell 34 is consistent with the data calculated by the background, the background control motor 37 is turned off to prevent the rise height of the lifting component 3 from being too high, which will cause the support plate 5 to tilt again, thereby causing the object to collide or spill, resulting in waste of the object.

[0042] It should be noted that: in the actual operation process, the inclination angles of the slopes encountered by the robot during movement are inconsistent, and the present invention can balance and move upward through the disk three 410, and push the moving wheel 415 to move upward, so that the moving wheels 415 at both ends of the rotating column one 414 are transformed from tilted to balanced, thereby driving the rotating shaft two 413 to return to the initial position, and the inclination generated by the rotating shaft two 413 is consistent with the inclination of the slope, and then the inclinations of different slopes are measured, so as to reasonably control the rising height of the rising component 3, thereby keeping the support plate 5 stable and preventing objects from falling or colliding on the support plate 5.

[0043] And if the object is too high, in order to avoid the object from colliding with the upper end surface of the support plate 5 during the transmission process, the rising components 3 at the four corners of the base 1 can be started, and the rising components 3 at the four corners can move in the same pace, thereby driving the support plate 5 to move away from the base 1, so as to make it consistent with the transmission height, which is beneficial to the transmission of the object.

[0044] Embodiment 2: Figure 2As shown, because the robot may encounter collision or blockage during movement, distance sensors are arranged around the base 1. The distance between the robot and the object is measured by the distance sensor. If the measured distance is small, the turntable 20 rotates to drive the roller 1 23 to rotate, and further drives the roller 2 7 to rotate. The roller 2 7 is a universal wheel, so that it can move in different directions to avoid collision or blockage, which in turn affects the normal transportation of the object.

[0045] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An omnidirectional mobile robot with mobile lifting function, comprising: The base (1) is characterized in that: a moving component (2) is arranged at the lower end of the base (1); a rising component (3) is arranged on the upper end surface of the base (1) and located at four corners respectively; a supporting plate (5) is arranged on the upper end surface of the rising component (3); a judging component (4) is arranged at the bottom end of the supporting plate (5) and located between two adjacent rising components (3); and a protective frame (6) is detachably connected to the upper end surface of the supporting plate (5).

2. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 1, characterized in that: The lifting assembly (3) comprises a fixed block (30), a threaded rod (31) and a rotating shaft (35); the bottom end of the fixed block (30) is fixedly connected to the upper end surface of the base (1); one end of the threaded rod (31) passes through the fixed block (30); and the end of the threaded rod (31) away from the fixed block (30) is sleeved with a connecting plate (32); the end of the threaded rod (31) close to the connecting plate (32) is fixedly connected to a bevel gear (33); the connecting plate (32 ) is fixedly connected to one side of the housing (34), and the four sides of the connecting plate (32) are respectively fixedly connected to the four sides of the inner wall of the housing (34), one end of the rotating shaft (35) passes through the housing (34), a bevel gear (36) is sleeved on the rotating shaft (35), and the bevel gear (33) is meshingly connected with the bevel gear (36), and a motor (37) is provided on one side of the housing (34), and the driving shaft of the motor (37) is fixedly connected to the rotating shaft (35).

3. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 1, characterized in that: The judging component (4) comprises a fixing member (40), a disc (44), a disc (45), a connecting column (47) and an electric telescopic rod (411). The upper end surface of the fixing member (40) is fixedly connected to a supporting column (41), the upper end surface of the supporting column (41) is fixedly connected to a rolling ball (42), a circular groove (43) is provided at the bottom end of the disc (44), and the rolling ball (42) is connected to the circular groove (43). The disc (44) and the disc (45) are provided with rotating components (46) on opposite sides. The rotating components (46) are located at the edge and the center of the upper end surface of the disc (44). The rotating components (46) located at the edge are provided at the center of the upper end surface of the disc (44). The rotating components (46) are arranged in an array with the disk 1 (44) as the center of the circle, and the number of the rotating components (46) is at least three. The disk 2 (45) is located directly above the disk 1 (44). The rotating components (46) located on opposite sides of the disk 1 (44) and the disk 2 (45) are connected via a connecting column 1 (47). A circular hole is provided on the disk 2 (45). A circular groove 1 (48) is provided on the upper end surface of the disk 2 (45). A telescopic column (49) is slidably connected in the circular groove 1 (48). The end of the telescopic column (49) away from the disk 1 (44) is fixedly connected to the disk 3 (410), and the disk 3 (410) is located directly above the disk 2 (45); A rotating assembly (46) is provided at a central position of the third disk (410) on one side close to the second disk (45), and the rotating assembly (46) at the central position of the first disk (44) and the third disk (410) is connected via an electric telescopic rod (411); The side wall of the disc 1 (44) is fixedly connected with an inverted L-shaped block (412), one side of the inverted L-shaped block (412) is rotatably connected with a second rotating shaft (413), one end of the second rotating shaft (413) is fixedly connected with a first rotating column (414), and both ends of the first rotating column (414) are respectively fixedly connected with moving wheels (415).

4. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 1, characterized in that: The rotating assembly (46) comprises a U-shaped block (460), the bottom end of the U-shaped block (460) is fixedly connected to the upper end surface of the disc one (44), one side of the U-shaped block (460) is rotatably connected to a rotating column two (461), and the two ends of the rotating column two (461) are respectively rotatably connected to the opposite two ends of the U-shaped block (460), a square frame (462) is sleeved on the rotating column two (461), the opposite two ends of the square frame (462) are connected by connecting column two (463), and the connecting column two (463) and the rotating column two (461) are in a vertical state, and the side wall of the connecting column two (463) is connected to one end of the connecting column one (47).

5. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 1, characterized in that: The moving assembly (2) comprises two rotating disks (20), the two rotating disks (20) are rotatably connected to the bottom end of the base (1), the side of the rotating disk (20) away from the base (1) is fixedly connected to a limiting member (21), the side of the limiting member (21) away from the rotating disk (20) is rotatably connected to a rotating shaft three (22), and the two ends of the rotating shaft three (22) are respectively fixedly connected to roller one (23).

6. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 5, characterized in that: Roller 2 (7) is respectively arranged at the four corners of the bottom end of the base (1), and the side of roller 2 (7) and roller 1 (23) away from the base (1) is flush.

7. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 3, characterized in that: The second rotating shaft (413) is fixedly connected to the center position of the first rotating column (414).

8. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 3, characterized in that: A rotating rod (416) is fixedly connected to the side of the second rotating shaft (413) away from the inverted L-shaped block (412), and a tilt sensor (8) is arranged on one side of the rotating rod (416).

9. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 5, characterized in that: The two rotating disks (20) are symmetrical with respect to the center line of the base (1).

10. The omnidirectional mobile robot with mobile and lifting functions as claimed in claim 3, characterized in that: The two rotating components (46) located at the edge of the first disk (44) are both provided with a second motor (464), and the driving shaft of the second motor (464) is fixedly connected to one end of the second rotating column (461).

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