A carriage robot lift flap device

Abstract

The application discloses a carriage robot lifting and turning plate device, which comprises a first connecting rod mechanism, one side of the first connecting rod mechanism is connected with a bearing plate, and the other side of the first connecting rod mechanism is connected with a pushing assembly; the first connecting rod mechanism comprises a base, a first rod body and a second rod body, one end of the first rod body is connected with the base through a shaft pin, the other side of the first rod body is connected with the second rod body through a shaft pin, and the other end of the second rod body is connected with one side of the bearing plate through a shaft pin; the first rod body and the second rod body are linked through the pushing assembly, the bearing plate is pushed out from the inner side of the carriage to the outer side of the carriage, so that the bearing plate is close to the ground, and the driving part is used to make one end of the bearing plate away from the first connecting rod mechanism and close to the ground. Compared with a mechanical hand, the device has the advantages of simple structure, small space occupied by a motion track and suitability for the rapid lifting of a robot.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted robot technology, specifically to a lifting and flipping device for a vehicle-mounted robot. Background Technology

[0002] As global environmental pollution intensifies, environmental protection has become a key area of ​​human research. The development of robots provides strong support for environmental protection, as robot operation is beginning to replace human labor, and robots can operate in polluted environments, thus reducing harm to workers. However, most robots operate in remote and harsh environments with insufficient energy storage, requiring them to be carried in containers for recharging. Therefore, how to successfully and quickly transport robots into these containers has become an urgent problem to solve.

[0003] Currently, most robotic delivery devices on the market use robotic arms. However, this method has drawbacks such as large space requirements and high costs. Summary of the Invention

[0004] The purpose of this invention is to provide a lifting and flipping device for a car body robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a lifting and flipping device for a vehicle compartment robot, comprising a first linkage mechanism, one side of which is connected to a support plate, and the other side of which is connected to a pushing component; the first linkage mechanism includes a base, a first rod, and a second rod, one end of which is pin-connected to the base, and the other side of which is pin-connected to the second rod, and the other end of which is pin-connected to one side of the support plate; the base is fixed to the inner side of the vehicle compartment, and the end of the pushing component away from the first linkage mechanism is pin-connected to the top surface of the vehicle compartment; by pushing the first rod and the second rod in linkage, the support plate is pushed from the inner side of the vehicle compartment to the outer side, so that the support plate is close to the ground, and a driving component is used to make the end of the support plate away from the first linkage mechanism fit against the ground.

[0006] As a preferred technical solution of the present invention: the second rod body is further provided with a first shaft pin seat, and the end of the driving member away from the bearing plate is connected to the first shaft pin seat shaft pin.

[0007] As a preferred technical solution of the present invention: one end of the first rod is connected to the first connecting rod bracket shaft pin, and the first connecting rod bracket is fixedly installed on the base; the end of the first rod away from the first connecting rod bracket is connected to the first shaft pin hole provided on the second rod.

[0008] As a preferred embodiment of the present invention, it further includes a third rod, one end of which is connected to the second connecting rod bracket shaft pin, and the second connecting rod bracket is fixedly installed on the base; the end of the third rod away from the second connecting rod bracket is connected to the second shaft pin hole provided on the second rod.

[0009] As a preferred technical solution of the present invention: the third rod is further provided with an arc portion, and the arc portion abuts against the bottom surface of the first rod to avoid the third rod from adhering to the bottom surface of the first rod.

[0010] As a preferred embodiment of the present invention, the second rod abuts against the outer edge of the carriage floor through a stop portion, thereby preventing the second rod from moving into the carriage.

[0011] As a preferred embodiment of the present invention, it further includes a second linkage mechanism, and the stability of the bearing plate during movement is improved through the cooperation between the second linkage mechanism and the first linkage mechanism.

[0012] As a preferred embodiment of the present invention, the pushing component includes a first pushing member for pushing the first linkage mechanism to unfold and a second pushing member for pushing the second linkage mechanism to unfold.

[0013] As a preferred technical solution of the present invention: a transmission shaft is further provided between the first pusher and the second pusher, and the synchronous deployment of the first pusher and the second pusher is realized through the transmission shaft.

[0014] As a preferred technical solution of the present invention: the power ends of the first pusher and the second pusher are both connected to the top surface of the carriage by a pivot pin through a support lug, and the extended end of the first pusher is connected to the second pivot pin seat on the first rod.

[0015] The beneficial effects of the present invention using the above technical solution are as follows: the pushing component causes the first linkage mechanism to unfold or close, allowing the support plate to move closer to or further away from the ground, thereby achieving the lifting and lowering of the support plate; at the same time, the driving component allows the support plate to rotate at the lower end of the second rod, thus enabling the support plate to better fit on the ground, facilitating the robot's up and down movement; based on this, the device can achieve rapid robot entry and exit by utilizing the cooperation between the pushing component and the first linkage mechanism; in particular, the cooperation between the first linkage mechanism and the driving component makes the robot's entry and exit process more stable; in addition, compared with robotic arm deployment, this device has a simple structure, occupies less space for the motion trajectory, and is suitable for the rapid lifting and lowering of the robot. Attached Figure Description

[0016] Figure 1This is a schematic diagram of a certain state of the present invention during the unfolding process;

[0017] Figure 2 This is a schematic diagram of the main structure of the first linkage mechanism;

[0018] Figure 3 This is a schematic diagram of the exploded structure of the first linkage mechanism;

[0019] Figure 4 This is a schematic diagram showing the outer side of the first linkage mechanism viewed from the front.

[0020] Figure 5 This is a schematic diagram showing the inner side of the first linkage mechanism viewed from the front.

[0021] Figure 6 This is a schematic diagram of the main structure of the second linkage mechanism of the present invention;

[0022] Figure 7 This is an exploded structural diagram of the component driving the present invention;

[0023] Figure 8 This is a schematic diagram of the main structure of the present invention when it is fully deployed;

[0024] Figure 9 This is a schematic diagram of the invention when it is fully folded and installed at the rear of the carriage.

[0025] Figure 10 This is a schematic diagram of the invention when it is fully deployed after being installed at the rear of the carriage.

[0026] In the figure: 1. First linkage mechanism; 10. Base; 11. First rod; 12. Second rod; 13. Third rod; 14. First pin seat; 15. Abutment part; 16. Second pin seat; 17. First linkage bracket; 18. Second linkage bracket; 19. Arc part; 110. First pin hole; 111. Second pin hole; 2. Second linkage mechanism; 3. Pushing assembly; 30. First pushing member; 31. Support lug; 32. Transmission shaft; 33. Second pushing member; 4. Driving member; 5. Bearing plate. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "upper surface," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and 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, and therefore should not be construed as limiting the present invention.

[0028] Please see Figure 1-10 An embodiment of the present invention provides a lifting and flipping device for a car body robot, comprising a first linkage mechanism 1, one side of which is connected to a support plate 5, and the other side of which is connected to a pushing component 3; the first linkage mechanism 1 includes a base 10, a first rod 11, and a second rod 12, one end of which is pin-connected to the base 10, and the other side of which is pin-connected to the second rod 12, and the other end of which is pin-connected to one side of the support plate 5; the base 10 is fixed on the inner side of the car body, and the end of the pushing component 3 away from the first linkage mechanism 1 is pin-connected to the top surface of the car body. By pushing the first rod 11 and the second rod 12 together, the support plate 5 is pushed from the inner side of the car body to the outer side of the car body, so that the support plate 5 is close to the ground, and the driving component 4 is used to make the end of the support plate 5 away from the first linkage mechanism 1 fit against the ground.

[0029] In summary, the pushing component 3 causes the first linkage mechanism 1 to unfold or close, allowing the support plate 5 to move closer to or further away from the ground, thus enabling the support plate 5 to rise and fall. Simultaneously, the driving component 4 allows the support plate 5 to rotate at the lower end of the second rod 12, allowing it to better conform to the ground for easier robot movement. Based on this, the device utilizes the cooperation between the pushing component 3 and the first linkage mechanism 1 to achieve rapid robot entry and exit. In particular, the cooperation between the first linkage mechanism 1 and the driving component 4 allows the support plate 5 to tilt on the ground, making the robot's entry and exit more stable. Furthermore, compared to robotic arm deployment, this device has a simpler structure, occupies less space for its motion trajectory, and is suitable for rapid robot lifting and lowering.

[0030] Specifically, the second rod body 12 is also provided with a first shaft pin seat 14, and the end of the driving member 4 away from the bearing plate 5 is connected to the first shaft pin seat 14 by a shaft pin; at the same time, the end of the driving member 4 away from the first shaft pin seat 14 is also connected to the bearing plate 5 by a shaft pin connection; one end of the first rod body 11 is connected to the first connecting rod bracket 17 by a shaft pin, and the first connecting rod bracket 17 is fixedly installed on the base 10; the end of the first rod body 11 away from the first connecting rod bracket 17 is connected to the first shaft pin hole 110 provided on the second rod body 12 by a shaft pin.

[0031] Furthermore, one end of the third rod 13 is pinned to the second connecting rod bracket 18, and the second connecting rod bracket 18 is fixedly mounted on the base 10; the end of the third rod 13 away from the second connecting rod bracket 18 is pinned to the first pin hole 111 provided on the second rod 12. Thus, the third rod 13, the first rod 11, and the second rod 12 form a quadrilateral linkage structure in the first linkage mechanism 1. Due to the quadrilateral linkage structure, the stability of the bearing plate 5 during the lifting process is further enhanced.

[0032] Meanwhile, the third rod 13 is also provided with an arc portion 19, which abuts against the bottom surface of the first rod 11 to prevent the third rod 13 from adhering to the bottom surface of the first rod 11. Therefore, during the lowering process of the bearing plate 5, the third rod 13 is prevented from colliding with the lower edge of the door. The arc portion 19 extends the downward movement of the third rod 13, so as to facilitate the lowering of the bearing plate 5 to the ground.

[0033] Furthermore, the second rod 12 abuts against the outer edge of the carriage floor via a stop 15, preventing it from moving into the carriage. This avoids the second rod 12 from entering the carriage and causing the linkage structure to jam, thus preventing the bearing plate 5 from unfolding again.

[0034] Based on the above scheme, a second linkage mechanism 2 is also included. Through the cooperation of the second linkage mechanism 2 and the first linkage mechanism 1, the stability of the bearing plate 5 during movement is improved. Since the bearing plate 5 completes its unfolding or closing action under the action of the two linkage mechanisms, its stability is reliably strengthened during movement, and its load-bearing capacity is also improved. The second linkage mechanism 2 has the same main structure as the first rod 11, both including a base 10, a first rod 11, a second rod 12, and a third rod 13; the only difference is that the second rod 12 of the second linkage mechanism 2 does not have a first pivot pin seat 14.

[0035] The pushing component 3 includes a first pushing member 30 for pushing the first linkage mechanism 1 to unfold and a second pushing member 33 for pushing the second linkage mechanism 2 to unfold. Therefore, the two pushing members work synchronously, which can ensure the synchronicity of the movement of the left and right mechanisms, thereby ensuring that the left and right mechanisms can smoothly and steadily complete the lifting and lowering actions.

[0036] A transmission shaft 32 is also provided between the first pushing member 30 and the second pushing member 33, and the synchronous deployment of the first pushing member 30 and the second pushing member 33 is achieved through the transmission shaft 32. One end of the transmission shaft 32 is connected to the output shaft of the first pushing member 30 via a linkage shaft, and the other end of the transmission shaft 32 is also connected to the input shaft of the second pushing member 33 via a coupling. Thus, the transmission shaft 32 enables synchronous movement of the two pushing members and further ensures the stability of the support plate 5 during movement. The two pushing members are commercially available. Their main working principle is as follows: one electric cylinder has a motor that outputs torque. The torque outputs power through gears, and the power is transmitted to the other electric cylinder through the gear shaft and coupling rod, thereby ensuring synchronous movement of the two electric cylinders. The specific structure can be directly referred to in the prior art, so it will not be described in detail here.

[0037] The power ends of the first pusher 30 and the second pusher 33 are both connected to the top surface of the carriage via the lug 31 and the extended end of the first pusher 30 is connected to the second shaft pin seat 16 on the first rod 11.

[0038] Among them, the pin connection is used to achieve the hinge between two parts, forming a hinge connection that allows relative movement between components, while providing good connection reliability and ease of disassembly. The pin connection enables the drive component 4 to not only complete linear reciprocating motion, but also to simultaneously achieve rotation or swing, reducing the need for additional drive devices, saving space and simplifying the structure; in actual assembly, the protruding end of the drive component 4 and the support plate 5 often have coaxiality deviation or angular offset. The pin connection can absorb the deviation within ±5° and slight eccentricity, avoiding wear of the sealing ring due to uneven force; it avoids the complex structure of traditional robotic arms and is more suitable for cyclic operation scenarios.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A lifting and flipping device for a vehicle compartment robot, characterized in that: It includes a first linkage mechanism (1), one side of which is connected to a bearing plate (5), and the other side of which is connected to a push assembly (3). The first linkage mechanism (1) includes a base (10), a first rod (11), and a second rod (12). One end of the first rod (11) is pin-connected to the base (10), and the other side of the first rod (11) is pin-connected to the second rod (12). The other end of the second rod (12) is pin-connected to one side of the bearing plate (5). The base (10) is fixed on the inner side of the carriage, and the end of the pushing component (3) away from the first linkage mechanism (1) is pinned to the top surface of the carriage. The pushing component (3) pushes the first rod (11) and the second rod (12) to move together, causing the bearing plate (5) to be pushed from the inside of the carriage to the outside of the carriage, so that the bearing plate (5) is close to the ground, and the driving component (4) is used to make the end of the bearing plate (5) away from the first linkage mechanism (1) fit with the ground.

2. The lifting and flipping device for a car body robot according to claim 1, characterized in that: The second rod (12) is also provided with a first shaft pin seat (14), and the end of the driving member (4) away from the bearing plate (5) is connected to the first shaft pin seat (14) by a shaft pin.

3. The lifting and flipping device for a car body robot according to claim 1, characterized in that: One end of the first rod (11) is pin-connected to the first connecting rod bracket (17), and the first connecting rod bracket (17) is fixedly installed on the base (10); the end of the first rod (11) away from the first connecting rod bracket (17) is pin-connected to the first pin hole (110) provided on the second rod (12).

4. The lifting and flipping device for a car body robot according to claim 1, characterized in that: It also includes a third rod (13), one end of which is connected to the shaft pin of the second connecting rod bracket (18), and the second connecting rod bracket (18) is fixedly installed on the base (10); the end of the third rod (13) away from the second connecting rod bracket (18) is connected to the shaft pin of the second shaft pin hole (111) provided on the second rod (12).

5. The lifting and flipping device for a car body robot according to claim 4, characterized in that: The third rod (13) is also provided with an arc portion (19), and the arc portion (19) abuts against the bottom surface of the first rod (11) to avoid the third rod (13) from adhering to the bottom surface of the first rod (11).

6. The lifting and flipping device for a car body robot according to claim 1, characterized in that: The second rod (12) abuts against the outer edge of the carriage floor through the provided stop (15) to prevent the second rod (12) from moving into the carriage.

7. A lifting and flipping device for a carriage robot according to any one of claims 1-6, characterized in that: It also includes a second linkage mechanism (2), and through the cooperation between the second linkage mechanism (2) and the first linkage mechanism (1), the stability of the bearing plate (5) when it moves is improved.

8. The lifting and flipping device for a car body robot according to claim 7, characterized in that: The pushing component (3) includes a first pushing member (30) for pushing the first linkage mechanism (1) to unfold and a second pushing member (33) for pushing the second linkage mechanism (2) to unfold.

9. A lifting and flipping device for a car body robot according to claim 8, characterized in that: A transmission shaft (32) is provided between the first pusher (30) and the second pusher (33), and the first pusher (30) and the second pusher (33) are synchronously deployed through the transmission shaft (32).

10. A lifting and flipping device for a car body robot according to claim 8, characterized in that: The power ends of the first pusher (30) and the second pusher (33) are connected to the top surface of the carriage via a support (31) and the extended end of the first pusher (30) is connected to the second axle pin seat (16) on the first rod (11).

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