Carrying robot

Abstract

The invention relates to a transfer robot, and relates to the technical field of intelligent transfer equipment, the transfer robot comprises a vehicle body and a driving system, the vehicle body is provided with a navigation system, the navigation system comprises a visual sensor, and the visual sensor is used for identifying road signs and obstacles; the driving system comprises a driving wheel set arranged on the vehicle body and a transmission shaft for driving the driving wheel set to rotate, the driving wheel set comprises a rotating cylinder, a plurality of openings arranged in an array mode are formed in the peripheral wall of the rotating cylinder, sliding rails are arranged in the openings in a staggered mode, and extension rods are arranged on the sliding rails in a sliding mode; the end, penetrating out of the sliding rail, of the extension rod is fixedly connected with an arc-shaped plate, and the arc-shaped plate is tightly attached to the peripheral wall of the rotating cylinder. The driving system further comprises a driving assembly, the driving assembly controls the extension rod to move on the sliding rail, and when the extension rod extends out of the sliding rail, the multiple arc-shaped plates are combined to form a variable-diameter wheel with holes. The obstacle crossing capability of the transfer robot is improved, and the transfer efficiency of the transfer robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent handling equipment, and in particular to a handling robot. Background Art

[0002] AGV handling robots are automated devices that integrate navigation, positioning, control, sensing, communication and other technologies, and are designed to automatically handle, transfer and distribute materials or goods. AGV handling robots play an important role in the warehousing and logistics industries. They can automatically handle, load and unload goods, sort and adjust inventory in warehouses, thereby improving logistics speed and reducing labor costs.

[0003] At present, AGV handling robots mainly use laser sensors to measure obstacles and calculate reasonable routes to avoid obstacles. However, during the transportation process, the AGV handling machine may cause the goods to fall due to shaking or other reasons, blocking the way forward. In addition, since the chassis height of the AGV handling robot is too low, it needs to be manually cleaned before the handling robot can carry out the handling work normally, which affects the handling efficiency. Summary of the invention

[0004] The purpose of this application is to provide a transport robot that can improve the transport robot's ability to overcome obstacles and improve the transport efficiency of the transport robot.

[0005] In the first aspect, the present application provides a transport robot, which adopts the following technical solution: A handling robot, comprising: A vehicle body, wherein a navigation system is arranged on the vehicle body, wherein the navigation system comprises a visual sensor arranged on the vehicle body, and wherein the visual sensor is used to identify road signs and obstacles; A driving system, the driving system comprising a driving wheel set arranged on the vehicle body, and a transmission shaft driving the driving wheel set to rotate, the driving wheel set comprising a rotating cylinder, a plurality of openings arranged in an array are opened on the outer peripheral wall of the rotating cylinder, slide rails are arranged in a staggered manner in the openings, an extension rod is slidably arranged on the slide rail, an end of the extension rod passing through the slide rail is fixedly connected to an arc plate, and a plurality of the arc plates are tightly fitted on the outer peripheral wall of the rotating cylinder; The driving system further comprises a driving assembly, and the driving assembly is used for controlling the extension rod to move on the slide rail. When the extension rod extends out of the slide rail, a plurality of the arc-shaped plates are combined to form a variable diameter wheel with a hole.

[0006] Optionally, the arc-shaped plate is covered with a rubber pad.

[0007] Optionally, a sealing plate is connected to one end of the rotating cylinder, and the sealing plate closes the opening of one end of the rotating cylinder. The driving assembly includes a rotating shaft arranged on the axis of the rotating cylinder, and one end of the rotating shaft is rotatably arranged on the sealing plate. A driving disk is sleeved and fixed on the rotating shaft, and a plurality of sliding holes are opened on the driving disk. A sliding block inserted into the sliding hole is connected to the extension rod, and when the driving disk rotates, it can drive the extension rod to reciprocate along the length direction of the slide rail.

[0008] Optionally, one end of the rotating cylinder away from the sealing plate is connected to a fixing frame, and the driving assembly includes a driving motor disposed on the fixing frame, and an output shaft of the driving motor is coaxially fixed with the rotating shaft.

[0009] Optionally, a plurality of cylinders are sleeved on the rotating shaft, and one end of a plurality of the slide rails are respectively connected to the outer wall of the corresponding cylinder.

[0010] Optionally, the transmission shaft is fixedly connected to a sealing plate on a side away from the rotating shaft, and the transmission shaft is used to drive the variable diameter wheel to rotate.

[0011] Optionally, the drive system further includes a shift assembly, which is used to control the rotation speed of the transmission shaft to adjust the movement speed of the vehicle body.

[0012] Optionally, the shift assembly includes an active friction disk, a driven friction disk and an adjustment mechanism, wherein the active friction disk is fixed on a transmission shaft, and the driven friction disk is arranged on a drive shaft of a vehicle power system, the active friction disk and the driven friction disk abut against each other, and the adjustment mechanism is used to separate the driven friction disk from the active friction disk to adjust the rotation speed of the transmission shaft.

[0013] Optionally, a driven friction disc, a push plate and a bracket are sequentially sleeved on the driving shaft, the driven friction disc rotates synchronously with the driving shaft, both ends of the bracket are fixed on the active friction disc, and a plurality of elastic members are arranged between the push plate and the bracket, the elastic members apply thrust to the push plate to press the driven friction disc against the active friction disc.

[0014] Optionally, the adjustment mechanism includes a sliding sleeve sleeve mounted on the drive shaft, and a driving source that pushes the sliding sleeve to move on the drive shaft. At least two ear plates are fixedly connected to the bracket, and a lever is passed through the ear plate. One end of the lever is connected to the push plate, and the other end of the lever is connected to the sliding sleeve.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the vehicle body is in motion and the visual sensor detects an obstacle ahead that cannot be avoided, the drive motor starts to drive the rotating shaft to rotate. When the rotating shaft rotates, the driving disc is also driven to rotate. The sliding hole wall on the driving disc applies thrust to the slider, so that several extension rods extend from the slide rail at the same time, and several arc plates move synchronously in the direction away from the rotating cylinder and are spliced ​​to form a variable diameter wheel, thereby increasing the overall height of the vehicle body. When the transmission shaft rotates, the variable diameter wheel rolls on the ground. At this time, the chassis height of the vehicle body is higher than the height of the obstacle, and the vehicle body can cross the obstacle, reducing the impact of the obstacle on the handling robot and improving the handling efficiency of the handling robot; 2. The rubber pad wrapped on the curved plate can, on the one hand, increase the friction between the curved plate and the ground, making it easier for the handling robot to move without slipping; on the other hand, the rubber pad can increase the contact area between the curved plate and the ground, which can increase the bearing capacity of the vehicle body and the contact area with the ground, further increasing the friction between the curved plate and the ground; on the third hand, when the extension rod extends out of the slide rail, there will be a gap between the contact surfaces of adjacent curved plates, and the rubber pad is elastic and can fill the gap between the curved plates, thereby improving the stability of the variable diameter wheel during operation, and preventing the handling robot from shaking in the process of crossing obstacles, causing the goods on the vehicle body to fall off; 3. The shift assembly can separate the active friction disc from the driven friction disc, thereby temporarily losing power to the transmission shaft, reducing the moving speed of the variable-diameter wheel, and reducing the possibility of collision with other obstacles due to the excessive speed of the handling robot when crossing obstacles; and when the vehicle body passes through obstacles slowly, it can reduce the shaking of the vehicle body caused by the gap on the variable-diameter wheel during movement, thereby ensuring the stability of the goods on the vehicle body; at the same time, the shift assembly is also suitable for downshifting of the handling robot when going uphill or downhill, which helps to control the moving speed of the handling robot and protect the power system and transmission system of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of a transport robot according to an embodiment of the present application; Figure 2 is a schematic diagram showing the structure of a driving wheel set and a shift assembly in an embodiment of the present application; Figure 3 It is a schematic diagram of the enlarged structure of the variable diameter wheel in the embodiment of the present application; Figure 4 is an enlarged structural schematic diagram of a driving wheel set in an embodiment of the present application; Figure 5 is a schematic diagram of the exploded structure of the driving wheel set in the embodiment of the present application; Figure 6 is an enlarged structural schematic diagram of a shift assembly in an embodiment of the present application; Figure 7 It is a schematic cross-sectional structure diagram of the shift assembly in the embodiment of the present application.

[0017] Explanation of the reference numerals in the accompanying drawings: 1. body; 2. driving wheel set; 21. rotating cylinder; 22. sealing plate; 23. opening; 24. slide rail; 25. extension rod; 26. arc plate; 27. cylinder; 28. slider; 29. ​​rubber pad; 3. driving assembly; 31. rotating shaft; 32. driving disk; 33. sliding hole; 34. fixing frame; 35. driving motor; 4. transmission shaft; 5. shifting assembly; 51. active friction disk; 52. driven friction disk; 53. adjusting mechanism; 531. sliding sleeve; 532. ear plate; 533. lever; 534. driving source; 54. driving shaft; 55. power system; 56. push plate; 57. bracket; 58. elastic member. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1 -Attached Figure 7 , further details of this application are given.

[0019] A handling robot, referring to Figure 1 , including a vehicle body 1, on which a control system, a navigation system and a driving system are arranged. The control system includes a controller, which is responsible for coordinating the navigation system and the driving system. The navigation system includes a visual sensor arranged on the vehicle body 1, and the visual sensor is used to identify road signs and obstacles. According to the environmental information obtained by the sensor, the navigation algorithm is responsible for calculating the current position, posture and target path of the robot, and generating corresponding control instructions to guide the robot to accurately drive to the target position.

[0020] Reference Figure 1-Figure 7 The driving system includes a driving wheel set 2, a driving assembly 3, a transmission shaft 4 and a shift assembly 5 arranged on the vehicle body 1. The transmission shaft 4 is used to drive the driving wheel set 2 to rotate. The driving wheel set 2 includes a rotating cylinder 21. The rotating cylinder 21 is connected to a sealing plate 22 that closes an opening 23 at one end of the rotating cylinder 21. The transmission shaft 4 is fixedly connected to the sealing plate 22 to facilitate driving the rotating cylinder 21 to rotate.

[0021] Reference Figure 4 and Figure 5 The outer wall of the rotating cylinder 21 is provided with a plurality of openings 23 arranged in an array. In this embodiment, the openings 23 on the outer wall of the rotating cylinder 21 are arranged in three circles. In other embodiments, the number of circles of the openings 23 may be greater than three. Slide rails 24 are fixed on the inner wall of the openings 23. The slide rails 24 are arranged in a staggered manner in the plurality of openings 23. The other ends of the slide rails 24 are all facing the axis direction of the rotating cylinder 21.

[0022] Reference Figure 4 and Figure 5An extension rod 25 is slidably provided on the slide rail 24. The extension rod 25 is clamped in the clamping groove of the slide rail 24 and can slide along the length direction of the slide rail 24. One end of the extension rod 25 extending out of the slide rail 24 is fixedly connected with an arc plate 26. Several arc plates 26 can fit tightly on the outer peripheral wall of the rotating cylinder 21, and the ends of adjacent arc plates 26 can be accurately connected, thereby covering the outer peripheral wall of the rotating cylinder 21.

[0023] Reference Figure 5 The driving assembly 3 includes a rotating shaft 31 arranged on the axis of the rotating cylinder 21, one end of the rotating shaft 31 is rotatably arranged on the sealing plate 22, a plurality of cylinders 27 are sleeved on the rotating shaft 31, the number of the cylinders 27 is the same as the number of the openings 23, and each cylinder 27 is located on the same plane as the openings 23 on the corresponding ring layer, and one end of the slide rail 24 facing the axis of the rotating cylinder 21 is fixed on the outer wall of the corresponding cylinder 27.

[0024] Reference Figure 5 The rotating shaft 31 is sleeved and fixed with drive disks 32 of the same number as the cylinder 27, and each drive disk 32 is close to the corresponding sleeve. The drive disk 32 is provided with a plurality of sliding holes 33, and the plurality of sliding holes 33 are evenly arranged around the central axis of the drive disk 32. One end of the extension rod 25 is fixedly connected with a slider 28, and the slider 28 is inserted into the corresponding sliding hole 33 and can slide in the sliding hole 33.

[0025] One end of the rotating cylinder 21 away from the sealing plate 22 is connected to a fixing frame 34 , on which a driving motor 35 is disposed, and an output end of the driving motor 35 is coaxially fixed to the rotating shaft 31 .

[0026] When the vehicle body 1 is in motion and the visual sensor detects an obstacle ahead that cannot be avoided, the controller instructs the drive motor 35 to drive the rotating shaft 31 to rotate. When the rotating shaft 31 rotates, it also drives the driving disk 32 to rotate. The wall of the sliding hole 33 on the driving disk 32 applies a thrust to the slider 28. The extension rod 25 slides on the slide rail 24, and a plurality of extension rods 25 extend from the slide rail 24 at the same time. A plurality of arc plates 26 synchronously move in a direction away from the rotating cylinder 21 and are spliced ​​to form a variable diameter wheel, thereby increasing the overall height of the vehicle body 1. When the transmission shaft 4 rotates, the variable diameter wheel rolls on the ground. At this time, the chassis height of the vehicle body 1 is higher than the height of the obstacle, and the vehicle body 1 can cross the obstacle, reducing the impact of the obstacle on the transport robot and improving the transport efficiency of the transport robot.

[0027] Reference Figure 2The curved plate 26 is covered with a rubber pad 29. The rubber pad 29 can firstly increase the friction between the curved plate 26 and the ground, so as to facilitate the movement of the handling robot without slipping. Secondly, the rubber pad 29 can increase the contact area between the curved plate 26 and the ground, which can not only increase the bearing capacity of the vehicle body 1, but also increase the contact area with the ground, further increasing the friction between the curved plate 26 and the ground. Thirdly, when the extension rod 25 extends out of the slide rail 24, there will be a gap between the contact surfaces of adjacent curved plates 26, and the rubber pad 29 is elastic and can fill the gap between the curved plates 26, thereby improving the stability of the variable diameter wheel during operation, and making it less likely for the handling robot to shake in the process of crossing obstacles, causing the goods on the vehicle body 1 to fall off.

[0028] Reference Figure 6 and Figure 7 The shift assembly 5 includes an active friction disc 51, a driven friction disc 52 and an adjusting mechanism 53. The active friction disc 51 is sleeved and fixed on the transmission shaft 4. The active friction disc 51 is located at the end of the transmission shaft 4 away from the rotating cylinder 21. The driven friction disc 52 is arranged on the driving shaft 54 ​​of the power system 55 of the vehicle body 1. The active friction disc 51 and the driven friction disc 52 are pressed against each other. The adjusting mechanism 53 can be used to separate the driven friction disc 52 from the active friction disc 51, so that the transmission shaft 4 temporarily loses power, reduces the moving speed of the variable diameter wheel, and reduces the possibility of collision with other obstacles due to the excessive speed of the handling robot when crossing obstacles; at the same time, the shift assembly 5 is also suitable for downshifting the handling robot when going uphill or downhill, which helps to control the moving speed of the handling robot and protect the power system 55 and transmission system of the vehicle body 1.

[0029] Reference Figure 6 and Figure 7 A driven friction disc 52, a push plate 56 and a bracket 57 are slidably arranged on the driving shaft 54 ​​in sequence. The driven friction disc 52 rotates synchronously with the driving shaft 54. Both ends of the bracket 57 are fixed on the active friction disc 51. A plurality of elastic members 58 are arranged between the push plate 56 and the bracket 57. The elastic members 58 apply a thrust to the push plate 56 to press the driven friction disc 52 against the active friction disc 51.

[0030] Reference Figure 6 and Figure 7The adjustment mechanism 53 includes a sliding sleeve 531 sleeved on the driving shaft 54, and a driving source 534 for pushing the sliding sleeve 531 to move on the driving shaft 54. At least two ear plates 532 are fixedly connected to the bracket 57. The two ear plates 532 are symmetrically arranged with the driving shaft 54 ​​as the axis, and a lever 533 is penetrated in each ear plate 532. One end of the lever 533 is connected to the push plate 56, and the other end of the lever 533 is connected to the sliding sleeve 531. In this embodiment, the driving source 534 is an electric push rod. The controller can control the electric push rod to adjust the speed of the vehicle body 1 when passing obstacles and going up or downhill according to the environmental information given by the navigation system and the current running speed of the vehicle body 1.

[0031] Under normal circumstances, the elastic member 58 applies a thrust to the push plate 56, so that the push plate 56 pushes the driven friction disc 52 and the active friction disc 51 tightly, and the drive shaft 54 ​​drives the driven friction disc 52, the active friction disc 51, the push plate 56 and the bracket 57 to rotate together. When the vehicle body 1 encounters an obstacle and needs to pass through it slowly, the controller controls the output end of the electric push rod to push the sliding sleeve 531 to move toward the push plate 56, and the sliding sleeve 531 applies a thrust to the lever 533, so that the other end of the lever 533 is tilted, thereby driving the push plate 56 to overcome the elastic force of the elastic member 58 and move toward the sliding sleeve 531. At this time, the push plate 56 is separated from the driven friction disc 52, and the friction force between the driven friction disc 52 and the active friction disc 51 is insufficient to drive the active friction disc 51 to rotate. The driven friction disc 52 rotates on itself, and the rotation speed of the active friction disc 51 gradually decreases under the action of inertia. The speed of the vehicle body 1 is reduced, which makes it easier for the vehicle body 1 to pass through obstacles at a slow speed, reducing the possibility of collision with obstacles due to excessive speed.

[0032] The distance between the end of the lever 533 on the sliding sleeve 531 and the bracket 57 is much larger than the distance between the end of the lever 533 on the push plate 56 and the bracket 57, so that a smaller thrust can be used to overcome the elastic force of the elastic member 58, thereby making the driving source 534 energy-saving.

[0033] On the other hand, when the vehicle body 1 passes through an obstacle, the extension rod 25 extends out of the slide rail 24, so that there are gaps between the variable-diameter wheels composed of several arc-shaped plates 26. The faster the variable-diameter wheels roll, the stronger the shaking on the vehicle body 1 is caused, which can easily cause the cargo on the vehicle body 1 to overturn. The active friction plate 51 and the driven friction plate 52 are separated and downshifted, which reduces the rotation speed of the variable-diameter wheels and improves the stability of the cargo on the vehicle body 1.

[0034] At the same time, the shift assembly 5 is also suitable for downshifting when the transport robot is going uphill or downhill, which helps to control the moving speed of the transport robot and protect the power system 55 and transmission system of the vehicle body 1.

[0035] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A transport robot, characterized in that: include: A vehicle body (1), wherein a navigation system is arranged on the vehicle body (1), wherein the navigation system comprises a visual sensor arranged on the vehicle body (1), and wherein the visual sensor is used to identify road signs and obstacles; A driving system, the driving system comprising a driving wheel group (2) arranged on the vehicle body (1), and a transmission shaft (4) driving the driving wheel group (2) to rotate, the driving wheel group (2) comprising a rotating cylinder (21), a plurality of openings (23) arranged in an array are provided on the outer peripheral wall of the rotating cylinder (21), sliding rails (24) are arranged in a staggered manner in the openings (23), an extension rod (25) is slidably arranged on the sliding rail (24), one end of the extension rod (25) passing through the sliding rail (24) is fixedly connected to an arc plate (26), and the plurality of arc plates (26) are tightly fitted on the outer peripheral wall of the rotating cylinder (21); The drive system further comprises a drive assembly (3), wherein the drive assembly (3) is used to control the extension rod (25) to move on the slide rail (24); when the extension rod (25) extends out of the slide rail (24), a plurality of the arc-shaped plates (26) are combined to form a variable diameter wheel with a hole.

2. A handling robot according to claim 1, characterized in that: The arc-shaped plate (26) is covered with a rubber pad (29).

3. A handling robot according to claim 1, characterized in that: One end of the rotating cylinder (21) is connected to a sealing plate (22), and the sealing plate (22) seals an opening (23) at one end of the rotating cylinder (21). The driving assembly (3) comprises a rotating shaft (31) arranged on the axis of the rotating cylinder (21), one end of the rotating shaft (31) is rotatably arranged on the sealing plate (22), a driving disk (32) is sleeved and fixed on the rotating shaft (31), a plurality of sliding holes (33) are formed on the driving disk (32), and a sliding block (28) inserted into the sliding hole (33) is connected to the extension rod (25), and when the driving disk (32) rotates, it can drive the extension rod (25) to reciprocate along the length direction of the slide rail (24).

4. A handling robot according to claim 3, characterized in that: One end of the rotating cylinder (21) away from the sealing plate (22) is connected to a fixing frame (34), and the driving assembly (3) comprises a driving motor (35) arranged on the fixing frame (34), wherein an output shaft of the driving motor (35) is coaxially fixed to the rotating shaft (31).

5. A handling robot according to claim 3, characterized in that: A plurality of cylinders (27) are sleeved on the rotating shaft (31), and one end of a plurality of the slide rails (24) is respectively connected to the outer wall of the corresponding cylinder (27).

6. A handling robot according to claim 3, characterized in that: The transmission shaft (4) is fixedly connected to the sealing plate (22) on the side away from the rotating shaft (31), and the transmission shaft (4) is used to drive the diameter-changing wheel to rotate.

7. A handling robot according to claim 3, characterized in that: The drive system further comprises a gear shift assembly (5), wherein the gear shift assembly (5) is used to control the rotation speed of the transmission shaft (4) so ​​as to adjust the movement speed of the vehicle body (1).

8. A handling robot according to claim 7, characterized in that: The shift assembly (5) comprises an active friction disc (51), a driven friction disc (52) and an adjustment mechanism (53); the active friction disc (51) is fixed on a transmission shaft (4); the driven friction disc (52) is arranged on a drive shaft (54) of a power system (55) of a vehicle body (1); the active friction disc (51) and the driven friction disc (52) abut against each other; and the adjustment mechanism (53) is used to separate the driven friction disc (52) from the active friction disc (51) to adjust the rotation speed of the transmission shaft (4).

9. A handling robot according to claim 8, characterized in that: A driven friction disc (52), a push plate (56) and a bracket (57) are sequentially sleeved on the drive shaft (54); the driven friction disc (52) rotates synchronously with the drive shaft (54); two ends of the bracket (57) are fixed on the active friction disc (51); a plurality of elastic members (58) are provided between the push plate (56) and the bracket (57); the elastic members (58) apply a thrust to the push plate (56) so as to press the driven friction disc (52) against the active friction disc (51).

10. A handling robot according to claim 9, characterized in that: The adjusting mechanism (53) comprises a sliding sleeve (531) sleeved on a driving shaft (54), and a driving source (534) for pushing the sliding sleeve (531) to move on the driving shaft (54); at least two ear plates (532) are fixedly connected to the bracket (57); a lever (533) is inserted through the ear plate (532); one end of the lever (533) is connected to the push plate (56), and the other end of the lever (533) is connected to the sliding sleeve (531).

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