Explosion-proof omnidirectional heavy-load mobile platform

Abstract

The utility model discloses an explosion-proof omni-directional heavy-load mobile platform which comprises a chassis mechanism which is formed by welding a rectangular pipe and a plate, and the chassis mechanism is designed to be lightweight; the multiple sets of walking driving mechanisms are installed on the left side and the right side of the chassis mechanism respectively, the walking driving mechanisms are independently controlled, and operation of advancing, retreating, in-situ rotation, left-right transverse movement and oblique 45-degree movement of the whole vehicle is achieved; the multiple sets of jacking mechanisms are arranged at equal intervals and installed in the middle of the chassis mechanism, and the multiple sets of jacking mechanisms are independently controlled and compatible with cargoes with different lengths and sizes; the control cabinet and the battery are installed in the chassis mechanism, and the control cabinet is used for controlling the walking driving mechanism and the jacking mechanism which are electrically connected with the control cabinet. By means of the mode, the height and angle adjusting capacity is achieved, the better road surface adaptability is achieved, and it is guaranteed that the upper surface of a vehicle body does not incline obviously and all wheels can touch the ground under the different bearing and unbalance loading conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, in particular to an explosion-proof omnidirectional heavy-load mobile platform. Background Art

[0002] The handling of high-precision goods in existing factories usually relies heavily on the flatness of the road surface. The equipment itself does not have the ability to transport high-precision goods. Over-reliance on the ground will make the cost of laying and maintaining the ground too high, making it unsuitable for large-scale factories.

[0003] The load capacity of a single Mecanum wheel is limited and cannot meet the needs of transferring heavy-loaded goods, especially in a small space. On uneven roads, some of the running wheels of ordinary AGV carts are suspended in the air, resulting in a reduction in the load capacity of the suspended running wheels and an increase in the load capacity of the remaining load-bearing wheels. In addition, during the climbing process, the suspended wheels may collide with the body and the ground.

[0004] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design an explosion-proof omnidirectional heavy-load mobile platform. Utility Model Content

[0005] The main technical problem solved by the utility model is to provide an explosion-proof omnidirectional heavy-load mobile platform with height and angle adjustment capabilities, better road adaptability, and ensuring that the upper surface of the vehicle body does not tilt significantly and all wheels can touch the ground under different load and offset load conditions.

[0006] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide an explosion-proof omnidirectional heavy-load mobile platform, the explosion-proof omnidirectional heavy-load mobile platform comprises:

[0007] The chassis structure is welded from rectangular tubes and plates, and the chassis structure is lightweight in design;

[0008] Travel drive mechanism: several groups of travel drive mechanisms are respectively installed on the left and right sides of the chassis mechanism, and each group of travel drive mechanisms is independently controlled to realize the operation of the whole vehicle moving forward, backward, rotating on the spot, moving left and right, and moving diagonally at 45 degrees;

[0009] Lifting mechanism: several groups of lifting mechanisms are equidistantly arranged and installed in the middle of the chassis mechanism. Each group of lifting mechanisms is independently controlled and compatible with goods of different lengths and sizes;

[0010] A control cabinet, installed in the chassis mechanism, for controlling the travel drive mechanism and the jacking mechanism electrically connected thereto;

[0011] A battery, installed in the chassis mechanism, to supply power to the control cabinet;

[0012] The jacking mechanism includes a screw jacking machine, a servo motor, a reducer, a cargo support seat, a guide shaft and a guide seat. The screw jacking machine is fixed on the internal bracket of the chassis mechanism. The reducer drives the screw jacking machine to rotate and move through the servo motor. The cargo support seat is installed at the top output end of the screw jacking machine. At least three guide shafts are installed at the lower end of the cargo support seat. A guide seat matching the guide shaft is installed on the chassis mechanism. The servo motor is connected to the screw jacking machine through the reducer.

[0013] Preferably, the chassis mechanism is peripherally provided with a laser sensor for determining the travel trajectory of the mobile platform through laser navigation and a QR code camera for scanning a QR code for position confirmation.

[0014] Preferably, the travel drive mechanism includes a mounting plate, a hinge support, a hydraulic cylinder and a Mecanum wheel set, one end of the mounting plate is rotatably mounted on a bracket of the chassis mechanism through the hinge support, the other end of the mounting plate is rotatably connected to the extended end driven by the hydraulic cylinder, the end of the hydraulic cylinder is rotatably mounted on the bracket, a Mecanum wheel set is mounted on the mounting plate, the hydraulic cylinder is telescopically extended to drive the mounting plate to rotate along the hinge support, and the Mecanum wheel set rotates around the hinge point of the hinge support.

[0015] Preferably, the Mecanum wheelset comprises a transmission shaft, a bearing, an oil seal skeleton, a Mecanum wheel and a reduction motor, the oil seal skeleton is fixed to a mounting plate, the transmission shaft is rotatably mounted in the oil seal skeleton through a bearing, a Mecanum wheel is mounted on the protruding end of the transmission shaft, a reduction motor is mounted on the side end of the oil seal skeleton, the reduction motor drives the transmission shaft to rotate, the transmission shaft adopts a small-diameter solid shaft for achieving high-torque transmission, and the bearing adopts a tapered roller bearing.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model discloses an explosion-proof omnidirectional heavy-load mobile platform which combines a Mecanum wheel system and a jacking function, has excellent mobility and adaptability, and each Mecanum wheel is driven by an independent reduction motor and equipped with a hydraulic suspension driven by a hydraulic cylinder, which can realize the forward and backward movement, rotation in place, left and right lateral movement, and 45° oblique movement of the whole vehicle, greatly improving the operational flexibility in narrow and complex environments; the hydraulic cylinder equipped with it can ensure that each wheel contacts the ground so that the force of each wheel is more uniform and the equipment is more stable during operation; the posture of the equipment can be adjusted when docking with the cargo platform, so as to realize high-precision cargo docking; it is equipped with a laser sensor, which can determine the driving trajectory through laser navigation, scan the QR code to confirm the position after arriving at the docking point, and then adjust the body posture through the hydraulic cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is a structural schematic diagram of an explosion-proof omnidirectional heavy-load mobile platform.

[0019] Figure 2 This is a top view of the internal structure of an explosion-proof omnidirectional heavy-load mobile platform.

[0020] Figure 3 The figure is a schematic diagram of the lifting mechanism structure of an explosion-proof omnidirectional heavy-load mobile platform.

[0021] Figure 4 The figure is a schematic diagram of the travel drive mechanism structure of an explosion-proof omnidirectional heavy-load mobile platform.

[0022] Figure 5 It is a cross-sectional view of the travel drive mechanism of an explosion-proof omnidirectional heavy-load mobile platform.

[0023] Among them, 1. chassis mechanism, 2. walking drive mechanism, 21. mounting plate, 22. hinge support, 23. hydraulic cylinder, 24. Mecanum wheel set, 241. transmission shaft, 242. bearing, 243. oil seal skeleton, 244. Mecanum wheel, 245. reduction motor, 3. lifting mechanism, 31. screw lifting machine, 32. servo motor, 33. reduction gear, 34. cargo support seat, 35. guide shaft, 36. guide seat, 4. control cabinet, 5. battery, 6. laser sensor. DETAILED DESCRIPTION

[0024] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0025] See also Figures 1 to 5 , the utility model embodiment includes:

[0026] An explosion-proof omnidirectional heavy-load mobile platform comprises a chassis mechanism 1, a travel drive mechanism 2, a lifting mechanism 3, a control cabinet 4, a battery 5 and a laser sensor 6.

[0027] The chassis mechanism 1 is welded from rectangular tubes and plates. The chassis mechanism 1 is lightweight in design. The chassis mechanism 1 is peripherally provided with a laser sensor 6 and a QR code camera. The driving trajectory of the mobile platform is determined by laser navigation. After reaching the docking point, the QR code camera scans the QR code to confirm the position.

[0028] Several groups of travel drive mechanisms are installed on the left and right sides of the chassis mechanism 1, and each group of travel drive mechanisms 2 is independently controlled to realize the operations of moving forward, backward, rotating in place, lateral movement to the left and right, and moving at an angle of 45° for the whole vehicle; the travel drive mechanism 2 includes a mounting plate 21, a hinge support 22, a hydraulic cylinder 23, and a Mecanum wheel set 24. One end of the mounting plate 21 is rotatably mounted on the bracket of the chassis mechanism 1 through the hinge support 22, and the other end of the mounting plate 21 is rotatably connected to the extended end driven by the hydraulic cylinder 23. The end of the hydraulic cylinder 23 is rotatably mounted on the bracket, and a Mecanum wheel set 24 is installed on the mounting plate 21. The hydraulic cylinder 23 is telescopically driven to drive the mounting plate 21 to rotate along the hinge support 22, and the Mecanum wheel set 24 rotates around the hinge point of the hinge support 22 to realize the up and down movement of the Mecanum wheel, thereby realizing hydraulic active leveling.

[0029] The Mecanum wheel set 24 includes a transmission shaft 241, a bearing 242, an oil seal skeleton 243, a Mecanum wheel 244 and a reduction motor 245. The oil seal skeleton 243 is fixed to the mounting plate 21. The transmission shaft 241 is rotatably mounted in the oil seal skeleton 243 through the bearing 242. A Mecanum wheel 244 is mounted on the protruding end of the transmission shaft 241. A reduction motor 245 is mounted on the side end of the oil seal skeleton 243. The reduction motor 245 drives the transmission shaft 241 to rotate. The transmission shaft 241 adopts a solid shaft, and the bearing 242 adopts a tapered roller bearing. The tapered roller bearing and the solid shaft can simultaneously withstand the radial force and axial force generated by the operation of the Mecanum wheel, and the structure is more compact. A small shaft diameter can be used to achieve high torque transmission. The transmission shaft of the existing solution adopts a hollow shaft. When bearing the same load, the required shaft diameter is larger, occupying a larger space, and the structure is bulky. In addition, the prior art adopts a deep groove ball bearing, which can only withstand radial loads and has a very small ability to withstand axial loads. During use, the life of the bearing will be reduced.

[0030] A plurality of equidistantly arranged lifting mechanisms 3 are installed in the middle of the chassis mechanism 1, and each group of lifting mechanisms 3 is independently controlled and compatible with cargoes of different lengths and sizes; the lifting mechanism 3 includes a screw lifting machine 31, a servo motor 32, a reducer 33, a cargo support seat 34, a guide shaft 35 and a guide seat 36, the screw lifting machine 31 is fixed on the internal bracket of the chassis mechanism 1, the reducer 33 drives the screw lifting machine 31 to rotate and move through the servo motor 32, a cargo support seat 34 is installed at the top output end of the screw lifting machine 31, at least three guide shafts 35 are installed at the lower end of the cargo support seat 34, and a guide seat 36 matching the guide shaft 35 is installed on the chassis mechanism 1, the servo motor 32 is connected to the screw lifting machine 31 through the reducer 33, and the lifting speed and direction are determined according to the input speed and direction. The structure itself has good self-locking performance and can remain stable under a large load; the vehicle is provided with four lifting mechanisms 3 to ensure uniform force and stability of the cargo platform.

[0031] A control cabinet 4 is also installed in the chassis mechanism 1, and the control cabinet 4 is used to control the travel drive mechanism 2 and the lifting mechanism 3 electrically connected thereto; a battery 5 is also installed in the chassis mechanism 1, and the battery 5 supplies power to the control cabinet 4.

[0032] The utility model discloses an explosion-proof omnidirectional heavy-load mobile platform, which has the ability to adjust height and angle, has better road adaptability, and ensures that the upper surface of the vehicle body does not tilt obviously and each wheel can touch the ground under different load and offset load conditions.

[0033] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An explosion-proof omnidirectional heavy-load mobile platform, characterized by: include: The chassis structure (1) is welded from rectangular tubes and plates, and the chassis structure (1) is lightweight in design; Travel drive mechanisms (2), wherein a plurality of travel drive mechanisms (2) are respectively installed on the left and right sides of the chassis mechanism (1), and each travel drive mechanism (2) is independently controlled to achieve the operations of moving the vehicle forward, backward, rotating on the spot, moving horizontally, and moving diagonally at 45 degrees; Lifting mechanisms (3), wherein a plurality of groups of lifting mechanisms (3) are equidistantly arranged and installed in the middle of the chassis mechanism (1), and each group of lifting mechanisms (3) is independently controlled and compatible with cargoes of different lengths and sizes; A control cabinet (4) installed in the chassis mechanism (1) and used to control the travel drive mechanism (2) and the lifting mechanism (3) electrically connected thereto; A battery (5) is installed in the chassis mechanism (1) to supply power to the control cabinet (4); The lifting mechanism (3) comprises a screw lifting machine (31), a servo motor (32), a reducer (33), a cargo support seat (34), a guide shaft (35) and a guide seat (36); the screw lifting machine (31) is fixed on an internal bracket of the chassis mechanism (1); the reducer (33) drives the screw lifting machine (31) to rotate and move through the servo motor (32); a cargo support seat (34) is installed at the top output end of the screw lifting machine (31); at least three guide shafts (35) are installed at the lower end of the cargo support seat (34); a guide seat (36) matched with the guide shaft (35) is installed on the chassis mechanism (1); and the servo motor (32) is connected to the screw lifting machine (31) through the reducer (33).

2. The explosion-proof omnidirectional heavy-load mobile platform according to claim 1, characterized in that: The chassis mechanism (1) is peripherally provided with a laser sensor (6) for determining the travel track of the mobile platform through laser navigation and a two-dimensional code camera for scanning a two-dimensional code to confirm a position.

3. The explosion-proof omnidirectional heavy-load mobile platform according to claim 1, characterized in that: The travel drive mechanism (2) comprises a mounting plate (21), a hinge support (22), a hydraulic cylinder (23) and a Mecanum wheel set (24); one end of the mounting plate (21) is rotatably mounted on a bracket of the chassis mechanism (1) via the hinge support (22); the other end of the mounting plate (21) is rotatably connected to the extended end driven by the hydraulic cylinder (23); the end of the hydraulic cylinder (23) is rotatably mounted on the bracket; a Mecanum wheel set (24) is mounted on the mounting plate (21); the hydraulic cylinder (23) is extended and retracted to drive the mounting plate (21) to rotate along the hinge support (22); and the Mecanum wheel set (24) rotates around the hinge point of the hinge support (22).

4. The explosion-proof omnidirectional heavy-load mobile platform according to claim 3, characterized in that: The Mecanum wheel set (24) comprises a transmission shaft (241), a bearing (242), an oil seal skeleton (243), a Mecanum wheel (244), and a reduction motor (245); the oil seal skeleton (243) is fixed to a mounting plate (21); the transmission shaft (241) is rotatably mounted in the oil seal skeleton (243) via the bearing (242); a Mecanum wheel (244) is mounted on the protruding end of the transmission shaft (241); a reduction motor (245) is mounted on the side end of the oil seal skeleton (243); the reduction motor (245) drives the transmission shaft (241) to rotate; the transmission shaft (241) adopts a small-diameter solid shaft for achieving high-torque transmission; and the bearing (242) adopts a tapered roller bearing.

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