A lifting mechanism and a mobile carrying robot

Abstract

The utility model relates to the technical field of mobile carrier robots, in particular to a lifting mechanism and a mobile carrier robot, which include a movable unit, a fixed unit, a body unit and a wheel axle unit, wherein the movable unit includes a main body component and a motor, the fixed unit includes a limit component and a lifting bin, the body unit includes a driving component, a control component and a frame component, and the wheel axle unit includes a receiving component, a wheel axle and an omnidirectional wheel. By arranging the movable unit and the fixed unit, the effect of automatic towing and releasing of the lifting mechanism is achieved, and the problem that the existing material towing device requires human intervention to tow and release the material rack, which is time-consuming and labor-intensive, is solved. By arranging the receiving component and the wheel axle, the effect of improving the rigidity and strength of the wheel end is achieved, and the problem that the insufficient rigidity of the wheel end bearing in the prior art will affect the running accuracy of the mobile robot is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile carrier robots, in particular to a lifting mechanism and a mobile carrier robot. Background Art

[0002] In recent years, mobile robots have been widely used in the industrial field and can perform various repetitive, tedious, dangerous or high-precision tasks. They can perform automated cargo sorting, handling, loading and unloading tasks in manufacturing plants, while improving the speed, accuracy and safety of cargo handling, reducing costs and saving human resources.

[0003] However, there are still some problems with existing mobile robots. The existing single-row tapered roller wheel-end bearings have high requirements for assembly, and the insufficient rigidity of the wheel-end bearings will affect the operating accuracy of the mobile robot. At the same time, the existing material rack towing device cannot be separated from human intervention, and the traditional AGV cart cannot automatically tow the material rack efficiently and accurately. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the problems existing in the prior art, the present utility model is proposed.

[0006] Therefore, the technical problem to be solved by the utility model is that the existing material towing device requires human intervention to tow and release the material rack, which is time-consuming and labor-intensive.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: a lifting mechanism, which includes:

[0008] A movable unit, the movable unit comprising a main body assembly;

[0009] The fixed unit is arranged at one side of the movable unit, and comprises a limit assembly and a lifting compartment, wherein the limit assembly is arranged inside the lifting compartment.

[0010] As a preferred solution of the lifting mechanism of the utility model, the main body component includes a lifting column, a cavity, a return spring, a crank and a motor, the cavity is opened inside the lifting column, the return spring is arranged inside the cavity, and the crank is connected to the motor.

[0011] As a preferred solution of the lifting mechanism described in the utility model, the limit assembly includes a limit column, a limit plate and a linear bearing, the first end of the limit column is connected to the inner wall of the lifting bin, the second end is connected to one end of the return spring, and is movably arranged inside the cavity, the limit plate is connected to one end of the lifting column, and the linear bearing is away from the limit column and arranged on one side of the limit plate.

[0012] As a preferred solution of the lifting mechanism of the utility model, wherein: the lifting bin comprises a first side wall and a second side wall, the second side wall is arranged adjacent to one side of the first side wall, a first opening is formed through the surface of the first side wall, and a second opening is formed through the surface of the second side wall;

[0013] One end of the linear bearing 201c is connected to the lifting chamber 202 through the No. 1 opening 202a, the lifting column 101a is movably arranged inside the linear bearing 201c, and the output end of the motor 101e is connected to the lifting chamber 202 through the No. 2 opening 202b.

[0014] Beneficial effects of the lifting mechanism of the utility model: the utility model realizes the effect of automatic towing and releasing of the lifting mechanism by setting a movable unit and a fixed unit, and solves the problem that the existing material towing device requires human intervention to tow and release the material rack, which is time-consuming and labor-intensive.

[0015] In actual use, there is still a problem that the insufficient rigidity of the wheel-end bearing will affect the running accuracy of the mobile robot.

[0016] In order to solve the above technical problems, the utility model also provides the following technical solutions: a mobile transport robot, comprising a body unit, the body unit is fixedly connected to the movable unit and the fixed unit, and comprises a driving component, a control component and a frame component, the driving component is fixedly connected to the frame component, the control component is far away from the driving component and fixedly connected to the frame component;

[0017] The wheel axle unit is fixedly connected to the body unit, and includes a receiving assembly, a wheel axle and an omnidirectional wheel. The receiving assembly is plugged into the first end of the wheel axle, and the omnidirectional wheel is fixedly connected to the second end of the wheel axle. The mobile transport robot can achieve planar full-degree-of-freedom movement based on the omnidirectional wheel.

[0018] As a preferred solution of the mobile transport robot of the utility model, the receiving assembly includes a bearing component, a retaining ring component and a bearing seat, the bearing component is fixedly arranged on one side of the retaining ring component, and the retaining ring component and the bearing component are both fixedly installed inside the bearing seat.

[0019] As a preferred solution of the mobile transport robot of the utility model, the bearing component includes a double-row angular contact bearing and a deep groove ball bearing, the double-row angular contact bearing is fixedly arranged in a bearing seat close to one end of the omnidirectional wheel, and the deep groove ball bearing is arranged on the other side of the double-row angular contact bearing.

[0020] As a preferred solution of the mobile carrier robot of the utility model, the retaining ring member includes an outer retaining ring and an inner retaining ring, the outer retaining ring is arranged on the first side of the double-row angular contact bearing, and the inner retaining ring is arranged on the second side of the double-row angular contact bearing.

[0021] As a preferred solution of the mobile transport robot of the utility model, the frame assembly includes a frame body and a mounting panel, and a plurality of the mounting panels are connected to the frame body.

[0022] As a preferred solution of the mobile transport robot of the utility model, the control component includes a laser radar, a touch screen and a QR code reader, the laser radar is installed at both ends of the mounting panel, the touch screen is away from the laser radar and installed on both sides of the frame, and the QR code reader is installed in the middle of the mounting panel.

[0023] Beneficial effects of the mobile carrier robot of the utility model: the utility model achieves the effect of improving the rigidity and strength of the wheel end by setting the receiving assembly and the wheel axle, and solves the problem in the prior art that the insufficient rigidity of the wheel end bearing will affect the running accuracy of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0025] Figure 1 This is the overall appearance diagram of the utility model.

[0026] Figure 2 It is an overall schematic diagram of the lifting mechanism of the utility model.

[0027] Figure 3 It is a cross-sectional schematic diagram of the lifting mechanism of the utility model.

[0028] Figure 4 This is a schematic diagram of the wheel axle unit of the present utility model.

[0029] Figure 5 It is a cross-sectional schematic diagram of the receiving component of the utility model. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present invention more understandable, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0033] Example 1

[0034] Reference Figure 1 , Figure 2 , which is the first embodiment of the utility model, provides a lifting mechanism, including a movable unit 100 and a fixed unit 200, which realizes the effect of automatic towing and releasing of the lifting mechanism, and solves the problem that the existing material towing device requires human intervention to tow and release the material rack.

[0035] Specifically, the mobile unit 100 includes a main body assembly 101 .

[0036] Furthermore, the fixed unit 200 is movably disposed on one side of the movable unit 100 , and includes a limit assembly 201 and a lifting compartment 202 , wherein the limit assembly 201 is fixedly disposed inside the lifting compartment 202 .

[0037] During use, when the mobile carrier robot reaches the designated material rack position, the control program sends a command to start the motor 101e, driving the main body component 201 to extend from the lifting bin 202 and hook the material rack for subsequent movement. When the mobile carrier robot reaches the designated unloading location, the control program sends a command to start the motor 101e, causing the main body component 201 to end the extended state and be retracted into the lifting bin 202, thereby breaking away from the traction of the material rack and carrying out the next towing and traction task.

[0038] In summary, by setting up the movable unit and the fixed unit, the effect of automatic towing and releasing of the lifting mechanism is achieved, which solves the problem that the existing material towing device requires human intervention to tow and release the material rack, which is time-consuming and labor-intensive.

[0039] Example 2

[0040] Reference Figure 1 to Figure 3 , which is the second embodiment of the utility model, and this embodiment is based on the previous embodiment:

[0041] Specifically, the main body component 101 includes a lifting column 101a, a cavity 101b, a return spring 101c, a crank 101d and a motor 101e, wherein the lifting column 101a is cylindrical, the cavity 101b is cylindrical, the return spring 101c is arranged inside the cavity 101b, and the return spring 101c is placed inside the cavity 101b, and the crank 101d is zigzag-shaped, one end of which is plugged into the output end of the motor 101e, and the other end is in active contact with the limit component 201.

[0042] Preferably, the motor 101e executes the operation instructions through the control program. The connection end of the zigzag crank 101d and the motor 101e is assumed to be end A, and the other end is end B. When the lifting column 101a needs to rise, the motor 101e rotates, and the surface where the end B is located rises. At the same time, the end B resists the limit plate 201b and drives it to rise. When the limit plate 201b resists the side wall of the linear bearing 201c, the end B rises to the highest point.

[0043] Furthermore, the limit assembly 201 includes a limit column 201a, a limit plate 201b and a linear bearing 201c, wherein the limit column 201a is cylindrical, one end of the limit column 201a is fixed to the inner bottom surface of the lifting bin 202, and the other end is in contact with one end of the return spring 101c and is movably arranged inside the cavity 101b, the limit plate 201b is fixedly arranged at the other end of the protruding end of the lifting column 101a, the linear bearing 201c is fixedly connected to the lifting bin 202, and the lifting column 101a is movably arranged inside the linear bearing 201c.

[0044] Preferably, the diameter of the cross-section of the circular through hole of the linear bearing 201c is not less than the diameter of the cross-section of the cylindrical lifting column 101a, and the difference is 0.5 to 1 mm. The cross-sectional diameter of the cylindrical cavity 101b is not less than the cross-sectional diameter of the cylindrical limiting column 201a, and the difference is 0.5 to 1 mm. The lifting column 101a is limited on the limiting column 201a and can move up and down inside the linear bearing 201c. However, when the lifting column 101a rises to the set height, the limiting plate 201b will resist the linear bearing 201c to limit the continued rise of the lifting column 101a.

[0045] Furthermore, the lifting bin 202 is rectangular, including a first side wall A and a second side wall B, wherein the first side wall A and the second side wall B are respectively adjacent right-angled sides on both sides of the rectangular lifting bin 202, a surface of the first side wall A is penetrated with a No. 1 opening 202a, and a surface of the second side wall B is penetrated with a No. 2 opening 202b, a linear bearing 201c is vertically installed in the lifting bin 202 through the No. 1 opening 202a, and one end of the linear bearing 201c is connected to the first side wall A, the lifting column 101a is coaxially limited inside the linear bearing 201c and can move up and down, and the output end of the motor 101e is horizontally installed in the lifting bin 202 through the No. 2 opening 202b, and the motor 101e is connected to the second side wall B.

[0046] Preferably, the aperture of the first opening 202a is not less than the diameter of the cross section of the linear bearing 201c, and the difference is 0.5 to 1 mm. The aperture of the second opening 202b is not less than the diameter of the output shaft of the motor 101e, and the difference is 0.5 to 1 mm.

[0047] When in use, the mobile loading robot arrives at the designated location, and the motor 101e executes the operating instructions sent by the control program. When towing is required, the motor 101e drives the first cross bar of the curved crank 101d to rotate. At this time, the horizontal plane where the second cross bar is located rises, abuts against the limit plate 201b and pushes it up, and at the same time drives the lifting column 101a fixedly connected thereto to rise. Due to the guiding effect of the linear bearing 201c, the lifting column 101a is stably and accurately raised to the connection point of the material rack to complete the towing task. When the mobile loading robot arrives at the unloading location, the motor 101e executes the operating instructions sent by the control program. At this time, the first cross bar of the curved crank 101d rotates. At this time, the horizontal plane where the second cross bar is located drops, and it is separated from the abutment against the limit plate 201b. At this time, the lifting column 101a falls and resets to perform the next towing and traction task.

[0048] In summary, the main component 101, the limit component 201, the motor 101e and the lifting bin 202 are provided to realize the effect of automatic towing and releasing of the lifting mechanism, and solve the problem that the existing material towing device requires human intervention to tow and release the material rack, which is time-consuming and labor-intensive.

[0049] Example 3

[0050] Reference Figure 4-5 , which is the third embodiment of the utility model, is based on the previous two embodiments, but differs in that a mobile carrier robot is provided, which includes a body unit 300 and an axle unit 400, so as to achieve the effect of improving the rigidity and strength of the wheel end, and solve the problem in the prior art that the insufficient rigidity of the wheel end bearing will affect the running accuracy of the mobile robot.

[0051] Specifically, the body unit 300 is fixedly connected to the movable unit 100 and the fixed unit 200, and includes a driving component 301, a control component 302 and a frame component 303, wherein the driving component 301 is fixedly connected to the frame component 303, and the control component 302 is away from the driving component 301 and fixedly connected to the frame component 303.

[0052] Furthermore, the axle unit 400 is fixedly installed inside the body unit 300, including a receiving component 401, an axle 402 and an omnidirectional wheel 403, wherein the receiving component 401 is fixedly inserted at the first end of the axle 402, and the omnidirectional wheel 403 is fixedly installed at the second end of the axle 402.

[0053] Preferably, three omnidirectional wheels 403 are provided in the embodiment, and the three omnidirectional wheels 403 are arranged in an equilateral triangle. Through the control model, the robot can realize planar full-freedom movement without considering the turning radius, and can rotate on the spot, thereby improving the flexibility and movement accuracy of the mobile transport robot.

[0054] Furthermore, the receiving assembly 401 includes a bearing component 401a, a retaining ring component 401b and a bearing seat 401c, wherein the retaining ring component 401b is fixedly installed inside the bearing component 401a, the bearing component 401a is fixedly installed inside the bearing seat 401c, and the bearing seat 401c is fixedly connected to the frame assembly 303 through bolt holes and positioning pin holes.

[0055] Furthermore, the bearing member 401a includes a double-row angular contact bearing 401a-1 and a deep groove ball bearing 401a-2, wherein the double-row angular contact bearing 401a-1 is fixedly disposed in a bearing seat 401c close to one end of the omnidirectional wheel, and the deep groove ball bearing 401a-2 is disposed on the other side of the double-row angular contact bearing 401a-1.

[0056] Furthermore, the retaining ring member 401b includes an outer retaining ring 401b-1 and an inner retaining ring 401b-2. The outer retaining ring 401b-1 is arranged on a first side of the double-row angular contact bearing 401a-1, and the inner retaining ring 401b-2 is arranged on a second side of the double-row angular contact bearing 401a-1.

[0057] Preferably, the double-row angular contact bearing 401a-1 and the deep groove ball bearing 401a-2 are installed in the bearing seat 401c, and the double-row angular contact bearing 401a-1 is installed at one end of the omnidirectional wheel. Its outer ring is limited by the outer retaining ring 401b-1 and the inner hole boss of the bearing seat 401c, and the inner ring is limited by the shoulder of the wheel axle 402 and the inner retaining ring 401b-2. The inner ring of the deep groove ball bearing 401a-2 is fixed to the locking nut at one end of the wheel axle 402 by the inner retaining ring 401b-2, and the outer ring is not limited, so that it can adapt to the bearing seat 401c with processing errors. A flange with threaded holes and a positioning boss are provided at one end of the wheel axle 402, which can be accurately positioned and quickly disassembled and assembled with the omnidirectional wheel 403, and an internal keyway hole is provided at the other end, which can be quickly connected with the wheel-end right-angle reducer. The bearing seat 401c is provided with bolt through holes and positioning pin holes, which can realize quick disassembly and assembly with the robot body.

[0058] Furthermore, the frame assembly 303 includes a frame body 303a and a plurality of mounting panels 303b, wherein the plurality of mounting panels 303b are welded to the frame body 303a.

[0059] Preferably, the frame body 303a is formed by welding square tubes, and is in the shape of a hexagonal column composed of double-layer hexagons.

[0060] Furthermore, the control component 302 includes a laser radar 302a, a touch screen 302b and a two-dimensional code reader 302c. The laser radar 302a is installed on both ends of the mounting panel 303b by screws, the touch screen 302b is installed on the side of the frame 303a by screws, and the two-dimensional code reader 302c is installed in the middle of the mounting panel 303b by screws.

[0061] Preferably, in this embodiment, two laser radars 302a are provided, and the two laser radars are in opposite directions. The scanning range of the two laser radars covers a 360° area around the robot. The touch screen can display the real-time status of the robot and can also be used as a manual controller for manually controlling the robot. The QR code reader can read the QR code on the ground. When the QR code under the material rack is read, the robot control system will send a command to make the lifting mechanism work.

[0062] When in use, the staff inserts the wheel axle 402 with the omnidirectional wheel 403 installed into the bearing member 401a to achieve one-time fixation, and fixes it on the bearing seat 401c through bolts to achieve a tightening effect.

[0063] In summary, by providing a receiving assembly and a wheel axle, the rigidity and strength of the wheel end are improved, thereby solving the problem in the prior art that the insufficient rigidity of the wheel end bearing affects the running accuracy of the mobile robot.

[0064] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A lifting mechanism, characterized in that: include, A movable unit (100), the movable unit (100) comprising a main body component (101); A fixed unit (200), the fixed unit (200) being arranged on one side of the movable unit (100), comprising a position limiting component (201) and a lifting bin (202), the position limiting component (201) being arranged inside the lifting bin (202).

2. The lifting mechanism according to claim 1, characterized in that: The main body component (101) comprises A lifting column (101a), a cavity (101b), a return spring (101c), a crank (101d) and a motor (101e), wherein the cavity (101b) is opened inside the lifting column (101a), the return spring (101c) is arranged inside the cavity (101b), and the crank (101d) is connected to the motor (101e).

3. The lifting mechanism according to claim 2, characterized in that: The limiting component (201) The lifting device comprises a limiting column (201a), a limiting plate (201b) and a linear bearing (201c), wherein the first end of the limiting column (201a) is connected to the inner wall of the lifting bin (202), the second end is connected to one end of a return spring (101c), and is movably arranged inside the cavity (101b); the limiting plate (201b) is connected to the lifting column (101a), the linear bearing (201c) is away from the limiting column (201a) and is arranged on one side of the limiting plate (201b).

4. The lifting mechanism according to claim 3, characterized in that: The lifting compartment (202) comprises a A side wall (A) and a second side wall (B), wherein the second side wall (B) is disposed adjacent to one side of the first side wall (A), a first opening (202a) is provided through the surface of the first side wall (A), and a second opening (202b) is provided through the surface of the second side wall (B); One end of the linear bearing (201c) is connected to the lifting bin (202) through the first opening (202a), the lifting column (101a) is movably arranged inside the linear bearing (201c), and the output end of the motor (101e) is connected to the lifting bin (202) through the second opening (202b).

5. A mobile transport robot, characterized in that: A lifting mechanism comprising any one of claims 1 to 4; and a body unit (300), the body unit (300) being connected to the movable unit (100) and the fixed unit (200), comprising a driving component (301), a control component (302) and a frame component (303), the driving component (301) being connected to the frame component (303), and the control component (302) being away from the driving component (301) and connected to the frame component (303); The wheel axle unit (400) is connected to the body unit (300), and comprises a receiving component (401), a wheel axle (402) and an omnidirectional wheel (403). The receiving component (401) is plugged into The first end of the wheel axle (402) and the omnidirectional wheel (403) are connected to the second end of the wheel axle (402). The mobile transport robot can achieve planar full-degree-of-freedom movement based on the omnidirectional wheel (403).

6. The mobile transport robot according to claim 5, characterized in that: The receiving component (401) It comprises a bearing component (401a), a retaining ring component (401b) and a bearing seat (401c), wherein the bearing component (401a) is fixedly arranged on one side of the retaining ring component (401b), and the retaining ring component (401b) and the bearing component (401a) are both fixedly installed inside the bearing seat (401c).

7. The mobile transport robot according to claim 6, characterized in that: The bearing member (401a) comprises a double-row angular contact bearing (401a-1) and a deep groove ball bearing (401a-2); the double-row angular contact bearing (401a-1) is arranged in a bearing seat (401c) close to one end of the omnidirectional wheel, and the deep groove ball bearing (401a-2) is arranged on the other side of the double-row angular contact bearing (401a-1).

8. The mobile transport robot according to claim 7, characterized in that: The retaining ring member (401b) comprises an outer retaining ring (401b-1) and an inner retaining ring (401b-2); the outer retaining ring (401b-1) is arranged on a first side of the double-row angular contact bearing (401a-1); and the inner retaining ring (401b-2) is arranged on a second side of the double-row angular contact bearing (401a-1).

9. The mobile transport robot according to claim 8, characterized in that: The frame assembly (303) It comprises a frame body (303a) and an installation panel (303b), wherein a plurality of the installation panels (303b) are connected to the frame body (303a).

10. The mobile transport robot according to claim 9, characterized in that: The control component (302) The invention comprises a laser radar (302a), a touch screen (302b) and a two-dimensional code reader (302c), wherein the laser radar (302a) is installed at two ends of a mounting panel (303b), the touch screen (302b) is away from the laser radar (302a) and is installed on two sides of a frame (303a), and the two-dimensional code reader (302c) is installed in the middle of the mounting panel (303b).

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