Safety type mobile robot platform

Abstract

The utility model provides a safety type mobile robot platform which comprises a frame, a first swing arm assembly, a second swing arm assembly, a sensor assembly and a battery assembly, and single-wheel assemblies are arranged on the two sides of the middle of the frame in the first direction; first trundles are arranged on the two sides of the first end of the frame respectively, and second trundles are arranged on the two sides of the second end of the frame respectively, so that the first swing arm assemblies are distributed on the two sides of the frame in the first direction and connected with the single-wheel assemblies and the first trundles respectively; the second swing arm assembly is connected with the second trundles on the two sides of the second end in the preset second direction perpendicular to the first direction. The internal structure of the robot platform can be more compact, and the robot platform has higher stability in the climbing process. The sensor assembly is arranged at one end or two ends of the diagonal line of the plane where the frame is located, so that the obstacle avoidance capability and safety of the robot platform in the moving process can be improved.

Description

Technical Field

[0001] The utility model relates to the field of mobile robots, in particular to a safe mobile robot platform. Background Art

[0002] The equipment currently used for automatic handling mainly includes AGV (Automated Guided Vehicle), unmanned forklift, AMR (Autonomous Mobile Robot), etc. AGV requires magnetic strips or auxiliary deployment equipment, which is limited in many scenarios; unmanned forklifts require wider channels, and their operation efficiency is not high in dense warehouses and complex scenarios; AMR is relatively more flexible, but AMR is generally used for automatic handling, or it is used as a carrier to manufacture customized functional equipment, but the functions are often relatively fixed and single, and the cost is also high.

[0003] With the continuous development of intelligent handling and warehousing, storage resources per unit area are becoming more and more dense, space utilization is getting higher and higher, and the environment is becoming more and more complex. Existing mobile robots still have problems such as large size, poor environmental adaptability, difficulty in passing through narrow passages, unstable center of gravity, easy damage, and high maintenance costs. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a safe mobile robot platform to solve at least one of the above-mentioned technical problems, as follows:

[0005] A safe mobile robot platform comprises a frame, a first swing arm assembly, a second swing arm assembly, a sensor assembly and a battery assembly. The frame is provided with single wheel assemblies on both sides of the middle part in a preset first direction, wherein the front and rear of the middle part of the frame along the first direction are respectively a first end and a second end, first casters are respectively provided on both sides of the first end, and second casters are respectively provided on both sides of the second end.

[0006] The first swing arm assembly is distributed on both sides of the frame along the first direction and is respectively connected to the single wheel assembly and the first caster; the second swing arm assembly is connected to the second casters on both sides of the second end along a preset second direction perpendicular to the first direction. By setting the first swing arm assembly connecting the single wheel assembly and the first caster, when the robot platform is climbing, as the first caster, the single wheel and the second caster are located on the ground with different slopes, the first swing arm assembly can relatively stabilize the position of the single wheel assembly and the first caster, further enhancing the stability of the frame during movement.

[0007] The battery assembly is located on the frame; the sensor assembly is arranged on one end or both ends of the diagonal line of the plane where the frame is located, and the sensor assembly and the single wheel assembly are electrically connected to the battery assembly.

[0008] In some specific embodiments, a fixed frame fixedly connected to the frame is further included. The first swing arm assembly also includes a first rotating shaft, and the first swing arm assembly is movably connected to the fixed frame in an area between the first caster and the single wheel assembly through the first rotating shaft.

[0009] In some specific embodiments, a limiting mechanism is also fixedly connected to the frame, the limiting mechanism is located below the first rotating shaft, and the line connecting the center of the limiting mechanism and the rotation center of the first rotating shaft in the vertical direction is perpendicular to the plane where the frame is located; both sides of the limiting mechanism are provided with preset inclination angles relative to the plane where the frame is located. When the robot is climbing a slope, the first swing arm assembly will tilt as the heights of the first caster and the single wheel assembly are different. By setting a limiting mechanism, the inclination angle of the first swing arm assembly can be limited while the lower edge of the first swing arm assembly collides with the surface of the frame, and the height difference between the first caster and the single wheel is further controlled within a preset range, so that the robot platform can remain stable during movement and climbing.

[0010] In some specific embodiments, the fixing frame is formed with a placement area on an area corresponding to the first end of the vehicle frame; and the battery assembly is fixedly connected in the placement area.

[0011] In some specific embodiments, the fixed frame is further formed with a counterweight area for placing a counterweight member in an area corresponding to the second end of the frame, so as to balance the weight of the first end and the second end of the frame.

[0012] In some specific embodiments, the single wheel assembly includes a single wheel and a driving mechanism that are connected to each other, and the single wheel is used to drive the frame, the first caster and the second caster to move under the drive of the driving mechanism.

[0013] In some specific embodiments, a reducer is further included, and the reducer is connected to the driving mechanism to adjust the speed of the driving mechanism.

[0014] In actual applications, the frame also includes a main control module that is electrically connected to the drive mechanism and the sensor assembly. The main control module can send signals to the drive mechanism through a preset action mode or in real time by receiving external instructions, so that the drive mechanism drives the single wheel to move and drives the entire robot platform to move; or the main control module can receive information transmitted by the sensor assembly in real time, and send signals to the drive mechanism by analyzing the information.

[0015] In a specific embodiment, the main control module is a PLC system (PLC, Programmable Logic Controller). The PLC system can read the signals transmitted by the sensor components, perform logical operations according to a pre-written control program, and further control the driving mechanism to achieve automated operation with high reliability.

[0016] In some specific embodiments, a support platform and a cantilever are further included, and the cantilever is fixedly connected to the frame through the support platform. The sensor assembly is rotatably connected to the cantilever so that the sensor assembly has a preset height difference relative to the plane where the frame is located. In practical applications, by arranging the sensor assembly on the diagonal line of the frame and selectively connecting the sensor assembly to the cantilever, the scanning range that the sensor assembly can cover can be maximized. In practical applications, the sensor assembly can be a laser radar or a navigation radar. By making a height difference between the sensor assembly and the plane where the frame is located, that is, the ground, the scanning range and scanning efficiency of the sensor assembly can be further improved.

[0017] In some specific embodiments, a light strip assembly is further included, and the light strip assembly is electrically connected to the battery assembly. The light strip assembly is fixedly connected to part or all of the side edges of the frame. In practical applications, the light strip assembly can be a warning light, and different warning light color settings can be used to indicate the movement of the robot platform, such as the forward direction and the turning direction, etc. Further, this warning light can be an LED light.

[0018] In some specific embodiments, a receiving space is provided on the frame at positions corresponding to the first caster and the second caster, and the first caster and the second caster extend through the receiving space. A dust baffle is provided at an edge of the receiving space close to the first caster and / or the second caster. In practical applications, the first caster and the second caster may be partially extended through the receiving space, that is, the plane where the frame is located is lower than the highest point of the first caster and the second caster, so that the center of gravity of the frame can be further lowered, thereby improving the stability of the robot platform during operation.

[0019] Beneficial effects: The utility model provides a safe mobile robot platform. By simplifying and compacting the components inside the platform, the center of gravity of the robot platform can be lowered, the battery capacity can be increased, the size of the robot can be reduced, and the possibility of the robot running in narrow passages can be increased, so that it can adapt to more usage scenarios. By using sensor components to scan external obstacles, the safety, stability, and walking accuracy of the robot platform can be greatly improved. At the same time, the robot can also be used in conjunction with the navigation radar to realize the function of bypassing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of a three-dimensional structure of the utility model;

[0022] Figure 2 It is a schematic diagram of another three-dimensional structure of the utility model;

[0023] Figure 3 It is a side view structural schematic diagram of the utility model;

[0024] Figure 4 It is a schematic diagram of the top structure of the utility model.

[0025] The figure numbers are as follows: 1-frame; 11-first end; 12-middle; 13-second end; 14-single wheel assembly; 141-single wheel; 142-driving mechanism; 15-first caster; 16-second caster; 17-fixed frame; 171-placing area; 172-counterweight area; 173-counterweight; 174-support table; 18-limiting mechanism; 19-accommodating space; 2-first swing arm assembly; 21-first rotating shaft; 3-second swing arm assembly; 4-sensor assembly; 41-cantilever; 5-battery assembly; 51-charging port; 6-light strip assembly; 61-dust baffle; 7-reducer; A-preset first direction; B-preset second direction. DETAILED DESCRIPTION

[0026] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in combination with the embodiments and drawings to fully understand the purpose, features and effects of the present invention.

[0027] In the following, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather the present invention should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present invention.

[0028] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of disclosed functions, operations or elements, and do not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing.

[0029] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0030] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various components in the various embodiments, but may not limit the corresponding components. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0031] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] The terms used in the various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments of the present invention. The terms (such as the terms defined in the dictionary used in general) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the present invention.

[0034] Example

[0035] This embodiment provides a safe mobile robot platform, and the specific scheme is as follows:

[0036] A safe mobile robot platform comprises a frame 1, a first swing arm assembly 2, a second swing arm assembly 3, a sensor assembly 4 and a battery assembly 5. The frame 1 is provided with single wheel assemblies 14 on both sides of a middle portion 12 in a preset first direction; the middle portion 12 is provided with a first end 11 and a second end 13 at the front and rear ends along the first direction, first casters 15 are provided on both sides of the first end 11, and second casters 16 are provided on both sides of the second end 13.

[0037] The first swing arm assembly 2 is distributed on both sides of the frame 1 along the first direction, and is respectively connected to the single wheel assembly 14 and the first caster 15; the second swing arm assembly 3 is connected to the second casters 16 on both sides of the second end 13 along a preset second direction perpendicular to the first direction. By setting the first swing arm assembly 2 connecting the single wheel assembly 14 and the first caster 15, when the robot platform is climbing, as the first caster 15, the single wheel 141 and the second caster 16 are located on the ground with different slopes, the first swing arm assembly 2 can relatively stabilize the positions of the single wheel assembly 14 and the first caster 15, further enhancing the stability of the frame 1 during movement.

[0038] The positions of the first end 11, the middle portion 12 and the second end 13 of the frame 1 are shown in the figure. Figure 4 As shown, the first direction is preset as Figure 4 As shown in the direction A in the figure, the preset second direction is shown in the direction B in the figure.

[0039] The battery assembly 5 is located on the frame 1 ; the sensor assembly 4 is arranged on one or both ends of the diagonal line of the plane where the frame 1 is located, and the sensor assembly 4 and the single wheel assembly 14 are electrically connected to the battery assembly 5 .

[0040] In some specific embodiments, a fixed frame 17 is further included which is fixedly connected to the vehicle frame 1. The first swing arm assembly 2 also includes a first rotating shaft 21, and the first swing arm assembly 2 is movably connected to the fixed frame 17 at a region between the first caster 15 and the single wheel assembly 14 through the first rotating shaft 21. Figure 1 and Figure 3 shown.

[0041] In some specific embodiments, a limiting mechanism 18 is also fixedly connected to the frame 1. The limiting mechanism 18 is located below the first rotating shaft 21. The vertical line connecting the center of the limiting mechanism 18 and the rotation center of the first rotating shaft 21 is perpendicular to the plane where the frame 1 is located. Both sides of the limiting mechanism 18 are provided with preset inclination angles relative to the plane where the frame 1 is located. When the robot is climbing, the first swing arm assembly 2 will tilt as the heights of the first caster 15 and the single wheel assembly 14 are different. By setting the limiting mechanism 18, the inclination angle of the first swing arm assembly 2 can be limited while the lower edge of the first swing arm assembly 2 collides with the surface of the frame 1. The height difference between the first caster 15 and the single wheel 141 is further controlled within a preset range, so that the robot platform can remain stable during movement and climbing. Its specific structure is as follows: Figure 3 shown in side view.

[0042] In some specific embodiments, the fixing frame 17 is formed with a placement area 171 in the area corresponding to the first end 11 of the frame 1; the battery assembly 5 is fixedly connected in the placement area 171. The battery assembly 5 includes a battery body, and a placement area 171 is formed in an empty area in the frame 1 to be specifically used for placing the battery, so that the battery capacity can be increased. Figure 1 and Figure 4 shown.

[0043] In some specific embodiments, a charging port 51 electrically connected to the battery assembly 5 is further disposed on the second end 13 or the first end 11 of the frame 1 for obtaining electrical energy from an external charging device.

[0044] In some specific embodiments, Figure 2 As shown, the fixed frame 17 is further formed with a counterweight area 172 for placing a counterweight 173 in the area corresponding to the second end 13 of the frame 1, so as to balance the weight of the first end 11 and the second end 13 of the frame 1. In practical applications, the counterweight 173 of the counterweight area 172 can also be a backup battery, so that the counterweight area 172 can not only achieve the weight balance of the first end 11 and the second end 13 of the workshop, but also further ensure the power supply of the robot platform, thereby improving the safety of its operation.

[0045] In some specific embodiments, the single wheel assembly 14 includes a single wheel 141 and a driving mechanism 142 that are connected to each other. The single wheel 141 is used to drive the frame 1, the first caster 15 and the second caster 16 to move under the drive of the driving mechanism 142.

[0046] In some specific embodiments, a reducer 7 is further included, and the reducer 7 is connected to the driving mechanism 142 to adjust the speed of the driving mechanism 142.

[0047] In actual applications, the frame 1 also includes a main control module electrically connected to the drive mechanism 142 and the sensor assembly 4. The main control module can send a signal to the drive mechanism 142 through a preset action mode or in real time receiving an instruction from the outside, so that the drive mechanism 142 drives the single wheel 141 to move and drives the entire robot platform to move; or the main control module can receive the information transmitted by the sensor assembly 4 in real time, and send a signal to the drive mechanism 142 by analyzing the information.

[0048] In some specific embodiments, a support platform 174 and a cantilever 41 are further included, and the cantilever 41 is fixedly connected to the frame 1 through the support platform 174. The sensor assembly 4 is rotatably connected to the cantilever 41 so that the sensor assembly 4 has a preset height difference relative to the plane where the frame 1 is located. In practical applications, by arranging the sensor assembly 4 on the diagonal line of the frame 1 and selectively connecting the sensor assembly 4 to the cantilever 41, the scanning range that the sensor assembly 4 can cover can be maximized. In practical applications, by making a height difference between the sensor assembly 4 and the plane where the frame 1 is located, that is, the ground, the scanning range and scanning efficiency of the sensor assembly 4 can be further improved. In a specific embodiment, the sensor assembly 4 can be a navigation radar, which can realize the function of bypassing or avoiding obstacles during the movement of the robot platform by emitting radio waves to the obstacles around it when the robot platform moves.

[0049] In some specific embodiments, a light strip assembly 6 is further included, and the light strip assembly 6 is electrically connected to the battery assembly 5. The light strip assembly 6 is fixedly connected to part or all of the side edges of the frame 1. In practical applications, the light strip assembly 6 can be a warning light, and different warning light color settings can be used to indicate the movement of the robot platform, such as the forward direction and the turning direction, etc. Further, this warning light can be an LED light.

[0050] In some specific embodiments, a receiving space 19 is provided on the frame 1 at positions corresponding to the first caster 15 and the second caster 16, and the first caster 15 and the second caster 16 extend through the receiving space 19. A dust baffle 61 is provided at the edge of the receiving space 19 close to the first caster 15 and / or the second caster 16. In practical applications, the first caster 15 and the second caster 16 may be partially extended through the receiving space 19, that is, the plane where the frame 1 is located is lower than the highest point of the first caster 15 and the second caster 16, which allows the center of gravity of the frame 1 to be further lowered, thereby improving the stability of the robot platform during operation.

[0051] This embodiment provides a safe mobile robot platform. By simplifying and compacting the various components, the center of gravity of the robot platform can be lowered, the battery capacity can be increased, the size of the robot can be reduced, and the possibility of the robot running in narrow passages can be increased, so that it can adapt to more usage scenarios. Furthermore, the use of sensor components to scan external obstacles can greatly improve the safety, stability and walking accuracy of the robot platform. At the same time, the robot platform can also be used in conjunction with the navigation radar to achieve the function of bypassing.

[0052] The above is a specific description of the preferred implementation of the utility model, but the invention of the utility model is not limited to the embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A safe mobile robot platform, characterized in that: It includes a vehicle frame, a first swing arm assembly, a second swing arm assembly, a sensor assembly and a battery assembly; The frame is provided with single wheel assemblies on both sides of the middle part in a preset first direction; the front and rear of the middle part along the first direction are respectively a first end and a second end, first casters are respectively provided on both sides of the first end, and second casters are respectively provided on both sides of the second end; The first swing arm assembly is distributed on both sides of the frame along the first direction and is respectively connected to the single wheel assembly and the first caster; the second swing arm assembly is connected to the second casters on both sides of the second end along a preset second direction perpendicular to the first direction; The battery assembly is located on the frame; the sensor assembly is arranged on one end or both ends of the diagonal line of the plane where the frame is located, and the sensor assembly and the single wheel assembly are electrically connected to the battery assembly.

2. A safe mobile robot platform according to claim 1, characterized in that: Also includes a fixed frame fixedly connected to the frame; The first swing arm assembly further comprises a first rotating shaft, and the first swing arm assembly is movably connected to the region of the fixed frame between the first caster and the single wheel assembly via the first rotating shaft.

3. A safe mobile robot platform according to claim 2, characterized in that: The frame is also fixedly connected to a limiting mechanism, the limiting mechanism is located below the first rotating shaft, and a line connecting the center of the limiting mechanism and the rotation center of the first rotating shaft in the vertical direction is perpendicular to the plane where the frame is located; Both sides of the limiting mechanism are provided with preset inclination angles relative to the plane where the frame is located.

4. A safe mobile robot platform according to claim 2, characterized in that: The fixing frame is formed with a placement area on an area corresponding to the first end of the vehicle frame; the battery assembly is fixedly connected in the placement area.

5. A safe mobile robot platform according to claim 4, characterized in that: The fixing frame is further formed with a counterweight area for placing a counterweight member in an area corresponding to the second end of the frame, so as to balance the weight of the first end and the second end of the frame.

6. The safe mobile robot platform according to claim 1, characterized in that: The single wheel assembly comprises a single wheel and a driving mechanism that are connected to each other. The single wheel is used to drive the frame, the first caster and the second caster to move under the drive of the driving mechanism.

7. A safe mobile robot platform according to claim 6, characterized in that: It also includes a reducer, which is connected to the driving mechanism and is used to adjust the speed of the driving mechanism.

8. The safe mobile robot platform according to claim 1, characterized in that: It also includes a support platform and a cantilever, wherein the cantilever is fixedly connected to the frame through the support platform; The sensor assembly is rotatably connected to the cantilever so that a preset height difference exists between the sensor assembly and the plane where the frame is located.

9. The safe mobile robot platform according to claim 1, characterized in that: Also included is a light strip assembly, wherein the light strip assembly is electrically connected to the battery assembly; The light strip assembly is fixedly connected to part or all of the side edges of the frame.

10. The safe mobile robot platform according to claim 1, characterized in that: An accommodation space is provided on the frame at positions corresponding to the first caster and the second caster, and the first caster and the second caster extend through the accommodation space; A dustproof baffle is arranged at an edge of the accommodating space close to the first caster and / or the second caster.

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