Intelligent transportation robot with high-performance damping driving module

Abstract

The utility model discloses an intelligent transportation robot with a high-performance damping driving module, belongs to the field of transportation robots, and solves the problems that the transportation robot in the prior art is poor in trafficability and poor in damping and stability. The device mainly comprises a driving module, the driving module comprises a hinge damping assembly, a power wheel assembly is arranged on the hinge damping assembly, and a mounting bracket I is connected with a guide seat through a hinge shaft; the guide seat is connected with an adjusting assembly through a spring, the adjusting assembly comprises a rotary supporting mounting plate, an optical axis base and an adjusting seat are arranged on the rotary supporting mounting plate, an optical axis is fixedly arranged on the optical axis base, a limiting plate is arranged at the bottom of the optical axis, and the guide seat is slidably connected with the optical axis. According to the utility model, the hinged damping assembly and the connection of the guide seat and the spring are adopted, so that the robot can better adapt to ground fluctuation and can keep stable running even in uneven terrains, and the damage of vibration to the robot is reduced.

Description

Technical Field

[0001] The utility model relates to the field of transport robots, and in particular to an intelligent transport robot with a high-performance shock-absorbing drive module. Background Art

[0002] Transport robots are computer-controlled transport robots equipped with automatic guidance devices, such as electromagnetic or optical ones, capable of traveling along designated routes. They are widely used in engineering handling, warehousing and logistics, intelligent parking, and port transportation. Intelligent transport robots with high-performance, shock-absorbing drive modules are typically equipped with drive modules to propel the transport robots.

[0003] With the advancement of transport robot technology and the increasing sophistication of its use cases, higher requirements are being placed on the overall size of drive modules, product reliability, and transmission drive accuracy. However, existing drive modules suffer from complex structures, large size, large space requirements, and low transmission accuracy, limiting their use cases. For example, single-wheel steering wheel plus shock-absorbing frame drive modules occupy a large space within the transport robot, making them suitable only for larger conveyor robots and lacking applicability. Direct sliding friction between the wheels and the ground during steering in single-wheel steering wheel drive modules can damage the surface. On uneven surfaces, the robot is prone to severe vibration during travel, which not only compromises the safety of the transported items but can also damage the machine's structure and reduce its service life. Traditional vibration-reduction measures often fail to effectively balance damping effectiveness with structural strength, impacting overall stability. A new type of transport robot is currently needed that can significantly improve its maneuverability in complex environments, improve shock absorption performance, enhance steering control accuracy, and improve powertrain efficiency and ease of maintenance. Utility Model Content

[0004] The purpose of the present utility model is to provide an intelligent transport robot with a high-performance shock-absorbing drive module to solve the problems of poor trafficability, shock absorption and stability of existing transport robots.

[0005] The utility model is realized through the following technical solutions:

[0006] An intelligent transport robot with a high-performance shock-absorbing drive module includes a drive module, which includes an articulated shock-absorbing assembly. The articulated shock-absorbing assembly includes a mounting bracket I, on which a power wheel assembly is mounted. The mounting bracket I is connected to a guide seat via an articulated shaft. The articulated shaft has a gasket, which allows for adjustment of the fore-aft play. The power wheel assembly includes a servo motor connected to a running wheel. The guide seat is connected to an adjustment assembly via a spring. The adjustment assembly includes a slewing support mounting plate, an optical axis base, and an adjustment seat. The optical axis is fixedly mounted on the slewing support mounting plate. A limit plate is provided at the bottom of the optical axis. The guide seat is slidably connected to the optical axis. One end of the spring is connected to the adjustment seat, and the other end is connected to the guide seat. When the relative position of the guide seat and the adjustment assembly changes, the positive pressure of the spring changes accordingly, and the positive pressure of the drive module's drive wheel on the ground also changes accordingly.

[0007] Furthermore, the slewing support mounting plate includes a slewing support bearing, the outer ring and inner ring of the slewing support bearing are both rotatable relative to the axis, a limit block is provided on the mounting plate, the inner ring of the slewing support bearing is fixed on the slewing support mounting plate, and the outer ring of the slewing support bearing is connected to the external transport robot.

[0008] Furthermore, the slewing support mounting plate is provided with a slewing gear and an encoder, the encoder is provided with a pinion, and the pinion is connected to the slewing gear; it is used to feedback the steering angle signal of the driving module

[0009] Furthermore, a mounting bracket III is provided on the slewing support mounting plate, and a proximity switch is provided on the mounting bracket III. The proximity switch cooperates with the limit block to play the role of soft limit of the drive module.

[0010] Furthermore, a protective coil is provided on the slewing support mounting plate; the power line harness and signal line harness of the drive module pass through the middle of the spring, the adjustment seat and the protective coil.

[0011] Furthermore, the adjustment seat is mounted on the bottom of the slewing support mounting plate via an adjustment screw, and the adjustment screw can adjust the relative position of the adjustment seat in a direction perpendicular to the ground.

[0012] Furthermore, a planetary reducer is connected between the servo motor and the travel wheel, the planetary reducer is connected to a parallel gear box, and the parallel gear box is connected to the travel wheel; the planetary reducer can be replaced with different speed ratios according to needs.

[0013] Furthermore, the parallel gear box is provided with a mounting bracket II, and the mounting bracket II is provided with a motor driver and a driving resistor.

[0014] Furthermore, there are two power wheel assemblies, which are symmetrically arranged at 180 degrees along the axis of the mounting bracket I, and the material of the walking wheel is polyurethane.

[0015] Furthermore, the guide seat is provided with a bushing I and a bushing II, and the guide seat is slidably connected to the optical axis through the bushing I; the guide seat is rotationally connected to the hinge shaft through the bushing II.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The utility model adopts an articulated shock-absorbing component and a guide seat connected to the spring, so that the robot can better adapt to the undulations of the ground and maintain stable driving even on uneven terrain, reducing the damage to the cargo and the robot itself caused by vibration.

[0018] 2. The utility model adopts the combination of slewing support bearings, encoders and proximity switches to achieve precise control of the transport robot's travel direction and angle monitoring, allowing the transport robot to accurately turn in a small space, thereby improving operational flexibility and automation.

[0019] 3. The power wheel assembly of the utility model is equipped with a servo motor, a planetary reducer and a parallel gearbox to form an efficient transmission system, ensuring strong driving force and dynamic load balancing. Even in the event of slippage, traction can be restored by adjusting the spring pressure.

[0020] 4. The utility model improves the transport robot's ability to pass through complex environments, operating accuracy, power efficiency and long-term operation reliability, and solves the shortcomings of traditional transport robots in adaptability, stability, control accuracy and power efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the drive module of the utility model;

[0022] Figure 2 This is a schematic structural diagram of the hinged shock-absorbing assembly of the present utility model;

[0023] Figure 3 It is the longitudinal ( Figure 1 AB line) cross-sectional view;

[0024] Figure 4 It is the longitudinal ( Figure 1 CD line) cross-sectional view;

[0025] Figure 5 It is the longitudinal ( Figure 1 EF line) cross-sectional view;

[0026] Figure 6 This is an exploded view of the drive module of the present utility model;

[0027] Figure 7 It is a structural diagram of the adjustment component of the utility model;

[0028] Figure 8 It is the longitudinal ( Figure 1 AB line) cross-sectional view.

[0029] In the figure: 1. Articulated shock absorber assembly; 2. Power wheel assembly; 3. Driver resistor assembly; 4. Encoder assembly; 5. Limit switch assembly; 6. Lower wire guard plate; 11. Mounting bracket I; 12. Articulated shaft; 13. Guide seat; 132. Bushing I; 133. Bushing pressure plate; 134. Bushing II; 14. Adjustment assembly; 141. Slewing support mounting plate; 142. Optical axis base; 143. Optical axis; 144. Adjustment seat; 145. Fixing screw; 146. Limit plate; 147. Adjustment screw; 15. Slewing support bearing; 151. Limit block; 152. Guard wire coil; 16. Spring; 21. Servo motor; 22. Planetary reducer; 23. Parallel gearbox; 24. Travel wheel; 31. Motor driver; 32. Drive resistor; 33. Mounting bracket II; 41. Pinion; 42. Encoder; 51. Mounting bracket III; 52. Proximity switch. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the following is a clear and complete description of the technical solution of the present invention in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only referenced to the directions of the drawings. Therefore, the directional terms used are used to illustrate rather than limit the invention of the present invention.

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] Example 1: An intelligent transport robot with a high-performance shock-absorbing drive module, such as Figures 1-8As shown, it includes a driving module, which includes an articulated shock-absorbing component 1, and the articulated shock-absorbing component 1 includes a mounting bracket Ⅰ11. The mounting bracket Ⅰ11 is provided with a power wheel component 2, and the mounting bracket Ⅰ11 is connected to a guide seat 13 through an articulated shaft 12. The articulated shaft 12 is provided with a gasket, and its front and rear direction clearance can be adjusted by the gasket; the power wheel component 2 includes a servo motor 21, and the servo motor 21 is connected to a walking wheel 24; the guide seat 13 is connected to the adjustment component 14 through a spring 16, and the adjustment component 14 includes a slewing support mounting plate 141, and the slewing support mounting plate 141 is provided with four An optical axis base 142 and an adjustment base 144 are each fixedly mounted with an optical axis 143. Each optical axis 143 has a limit plate 146 at its base. A guide base 13 is slidably connected to the optical axis 143. The guide base 13 and the adjustment assembly 14 cooperate through the four optical axes 143 to achieve up and down floating within a certain range perpendicular to the ground. A spring 16 is connected at one end to the adjustment base 144 and at the other end to the guide base 13. When the relative positions of the guide base 13 and the adjustment assembly 14 change, the positive pressure of the spring 16 also changes, and the positive pressure of the drive module's drive wheels on the ground also changes accordingly. By using an articulated shock-absorbing assembly 1 and the connection between the guide base 13 and the spring 16, the robot can better adapt to the undulations of the ground, maintaining stable driving even on uneven terrain, and reducing vibration damage to the cargo and the robot itself.

[0033] Example 2: An intelligent transport robot with a high-performance shock-absorbing drive module, the slewing support mounting plate 141 includes a slewing support bearing 15, the outer ring and inner ring of the slewing support bearing 15 can both rotate relative to the axis, a limit block 151 is provided on the mounting plate, the inner ring of the slewing support bearing 15 is fixed on the slewing support mounting plate 141, and the outer ring of the slewing support bearing 15 is connected to an external transport robot, so that the drive module can rotate along the axis perpendicular to the ground after being installed on the transport robot.

[0034] Furthermore, a slewing gear is provided on the outer ring of the slewing support bearing 15 of the slewing support mounting plate 141, and an encoder assembly 4 is provided on the slewing support mounting plate 141. The encoder assembly 4 includes an encoder 42, and a pinion 41 is provided on the encoder 42. The pinion 41 is connected to the slewing gear; it is used to feedback the steering angle signal of the driving module.

[0035] Furthermore, a limit switch assembly 5 is provided on the slewing support mounting plate 141. The limit switch assembly 5 includes two proximity switches 52 and a mounting bracket III51. Two proximity switches 52 are provided on the mounting bracket III51. The two proximity switches 52 cooperate with the limit block 151 to serve as a soft limit for the drive module.

[0036] The integrated slewing support bearing 15, encoder 42 and proximity switch 52 and other components realize the precise control of the robot's travel direction and angle monitoring, allowing the robot to turn accurately in a small space, thereby improving operational flexibility and automation.

[0037] like Figure 4 As shown, a protective coil 152 is provided on the slewing support mounting plate 141; the power line harness and signal line harness of the drive module pass through the spring 16, the adjustment seat 144 and the protective coil 152, and a lower protective plate 6 is fixed to the bottom end of the optical axis 143. The protective coil 152 and the lower protective plate 6 cooperate to protect the above-mentioned harness, protect the electrical circuit, and extend the service life of the robot.

[0038] like Figure 7 As shown, the adjustment seat 144 is installed at the bottom of the slewing support mounting plate 141 through the adjustment screw 147, and the adjustment screw 147 can adjust the relative position of the adjustment seat 144 in the direction perpendicular to the ground.

[0039] like Figure 6 As shown, a planetary reducer 22 is connected between the servo motor 21 and the travel wheel 24. The planetary reducer 22 is connected to a parallel gearbox 23, which is in turn connected to the travel wheel 24. The planetary reducer 22 can be equipped with different speed ratios as needed. The power wheel assembly 2 is equipped with a servo motor 21, a planetary reducer 22, and a parallel gearbox 23, forming an efficient transmission system that ensures strong driving force and dynamic load balancing. Even in the event of slippage, traction can be restored by adjusting the pressure of the spring 16.

[0040] like Figure 6 As shown, the parallel gearbox 23 is provided with a driver resistor assembly 3, which consists of a motor driver 31, a drive resistor 32, and a mounting bracket II 33. The two driver resistor assemblies 3 are arranged along the front and rear directions of the drive module and are symmetrically arranged 180 degrees along the axis direction of the drive module. The motor driver 31 and the drive resistor 32 are arranged on the drive module through the mounting bracket II 33.

[0041] like Figure 1 As shown, there are two power wheel assemblies 2, and the two power wheel assemblies 2 are symmetrically arranged 180 degrees along the axis direction of the mounting bracket Ⅰ11. The material of the walking wheel 24 is polyurethane, and the distance between the two walking wheels 24 needs to meet the needs of the ground charging brush plate and the magnetic navigation magnetic strip passing through.

[0042] like Figure 4-Figure 5As shown, the guide seat 13 is equipped with eight bushings I 132 and two bushings II 134. Bushings I 132 are oil-free bushings, while bushings II 134 are oil-free bushings with flanges. The guide seat 13 is slidably connected to the optical axis 143 via bushings I 132, providing guidance and lubrication. Bushings I 132 are limited by bushing pressure plates 133. The guide seat 13 is rotationally connected to the articulated shaft 12 via bushings II 134, providing rotational lubrication. The use of bushings I 132 and II 134 improves the connection stability and wear resistance between the various components.

[0043] To enhance its resistance to off-center loads and maintain stability, the transport robot utilizes a chassis structure consisting of a drive module and auxiliary wheels. The outer ring of the drive module's slewing support bearing 15 is connected to the transport robot. The transport robot's own weight compresses spring 16 to its initial set value, preventing the transport robot from being lifted vertically by the spring's upward force. The drive module pulls the transport robot forward. Other configurations are identical to those in Example 1.

[0044] When the transport robot encounters uneven ground along its route, a height difference will form between the two running wheels 24. The two powered wheels are mounted on mounting bracket I11, which can swing along the axis of hinge shaft 12. This allows one running wheel 24 to swing up and down perpendicular to the ground while the other running wheel 24 swings in the opposite direction, creating a height difference between the two running wheels 24. This adjusts to the height difference between the two running wheels 24, ensures that both running wheels 24 are subjected to the same load, and reduces the shaking of the transport robot. Mounting bracket I11 swings along its axis via hinge shaft 12, and the swing angle can be adjusted using screws on guide seat 13 to ensure that the swing angle meets the usage requirements.

[0045] When the transport robot encounters undulating terrain along its route, the two powered wheels' contact points will rise and fall synchronously. During travel, the two running wheels 24, via the articulated shaft 12, drive the guide seat 13 to float up and down within a certain range along the optical axis 143 of the adjustment assembly 14, causing the spring 16 to compress and release within a certain range. When the ground is concave, the spring 16 releases and extends. The pressure of the spring 16 must ensure that the pressure of the two running wheels 24 on the ground meets the driving force. When the ground is convex, the spring 16 is compressed. The elastic force of the spring 16 must ensure that it does not lift the transport robot.

[0046] When the transport robot encounters a slipping phenomenon on the two running wheels 24 during movement, and it is not due to ground stains or the quality of the running wheels 24, the adjustment screw 147 and the fixing screw 145 can be adjusted, and then the adjustment seat 144 can be adjusted to move downward in the vertical direction, thereby increasing the initial compression of the spring 16 to increase the positive pressure of the running wheel 24 on the ground.

[0047] When the transport robot body is lifted up during its movement, the adjustment screw 147 and the fixing screw 145 can be adjusted, and then the adjustment seat 144 can be adjusted to move it upward in the vertical direction, thereby reducing the initial compression of the spring 16 and reducing the elastic force on the body.

[0048] During the transport robot's travel, encoder 42 detects the axial rotation angle of the drive module, controlling the transport robot's turns, directional changes, and lateral movements. A limit switch detects the extreme axial rotation angle of the drive module, which must be greater than 90 degrees. When the drive module rotates along its axis and proximity switch 52 detects a limit block 151, the transport robot stops and issues an alarm.

[0049] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. An intelligent transport robot with a high-performance shock-absorbing drive module, comprising a drive module, characterized in that: The driving module comprises an articulated shock absorbing assembly (1), the articulated shock absorbing assembly (1) comprises a mounting bracket I (11), a power wheel assembly (2) is arranged on the mounting bracket I (11), the mounting bracket I (11) is connected to a guide seat (13) via an articulated shaft (12); the power wheel assembly (2) comprises a servo motor (21), the servo motor (21) is connected to a walking wheel (24); the guide seat (13) is connected to the adjustment assembly (13) via a spring (16) 4) connection, the adjustment component (14) comprises a slewing support mounting plate (141), the slewing support mounting plate (141) is provided with an optical axis base (142) and an adjustment seat (144), the optical axis (143) is fixedly provided on the optical axis base (142), a limit plate (146) is provided at the bottom of the optical axis (143), the guide seat (13) is slidably connected to the optical axis (143), one end of the spring (16) is connected to the adjustment seat (144), and the other end is connected to the guide seat (13).

2. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 1, characterized in that: The slewing support mounting plate (141) comprises a slewing support bearing (15), the outer ring and the inner ring of the slewing support bearing (15) are both rotatable relative to the axis, a limit block (151) is provided on the mounting plate, the inner ring of the slewing support bearing (15) is fixed on the slewing support mounting plate (141), and the outer ring of the slewing support bearing (15) is connected to an external transport robot.

3. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 2, characterized in that: The slewing support mounting plate (141) is provided with a slewing gear and an encoder (42), the encoder (42) is provided with a pinion (41), and the pinion (41) is connected to the slewing gear.

4. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 2, characterized in that: The slewing support mounting plate (141) is provided with a mounting bracket III (51), and the mounting bracket III (51) is provided with a proximity switch (52), and the proximity switch (52) cooperates with the limit block (151).

5. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 2, characterized in that: A protective coil (152) is provided on the slewing support mounting plate (141).

6. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 1, characterized in that: The adjustment seat (144) is installed on the bottom of the slewing support mounting plate (141) through an adjustment screw (147).

7. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 1, characterized in that: A planetary reducer (22) is connected between the servo motor (21) and the running wheel (24), the planetary reducer (22) is connected to a parallel gear box (23), and the parallel gear box (23) is connected to the running wheel (24).

8. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 7, characterized in that: The parallel gear box (23) is provided with a mounting bracket II (33), and the mounting bracket II (33) is provided with a motor driver (31) and a driving resistor (32).

9. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 7, characterized in that: The number of the power wheel assemblies (2) is two, and the two power wheel assemblies (2) are symmetrically arranged at 180 degrees along the axis direction of the mounting bracket I (11), and the material of the walking wheel (24) is polyurethane.

10. The intelligent transport robot with a high-performance shock-absorbing drive module according to claim 1, characterized in that: The guide seat (13) is provided with a bushing I (132) and a bushing II (134); the guide seat (13) is slidably connected to the optical axis (143) through the bushing I (132); the guide seat (13) is rotationally connected to the hinge shaft (12) through the bushing II (134).

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