Mobile transfer robot positioning device

Abstract

The utility model discloses a mobile transfer robot positioning device, and relates to the technical field of positioning devices. The mobile transfer robot positioning device comprises a mounting base and a positioning lifting device, the positioning lifting device comprises two supporting columns, the two supporting columns are fixedly connected to the lower surface of the mounting base, a rectangular plate is fixedly connected to the lower surfaces of the supporting columns, and two connecting plates are fixedly connected to the lower surface of the rectangular plate; guide sleeves are fixedly connected to the upper surfaces of the two connecting plates, the two guide sleeves penetrate out of the lower surfaces of the corresponding connecting plates correspondingly, when the two first circular supporting plates and the second circular supporting plate make contact with the ground, the two air cylinders continue to be started, and the two first circular supporting plates and the second circular supporting plate serve as supporting points; and the whole mounting base is jacked up, so that the four moving wheels are separated from the ground, positioning of the moving transfer robot is completed, and the stability of the moving transfer robot during working is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning devices, in particular to a positioning device for a mobile handling robot. Background Art

[0002] With the advancement of technology and the increasing cost of labor, companies are actively promoting industrial robots. However, during the use of industrial robots, it was found that the traditional method of fixing the robot to a single workstation to operate can only adapt to the production of a single product. If the order volume of the product is small or the order volume of a product with a large order volume decreases, the robot will be idle. Therefore, existing manufacturers will install a base on the industrial robot that can be flexibly controlled and moved. However, the mobile base usually uses rollers for movement. When the robot is located on a certain slope or smooth ground, although the rollers can be self-locking, the inertia generated by the robot's mechanical wall when rotating when carrying heavy objects will cause the rollers to move slightly, resulting in the robot not being able to stay stable in the designated location. Over time, it will slip. Therefore, a positioning device for mobile handling robots is needed. Utility Model Content

[0003] The purpose of the present utility model is to solve at least one of the technical problems existing in the prior art and to provide a positioning device for a mobile transport robot, which can solve the problem that although the rollers can be self-locking, due to the mechanical wall of the robot, when rotating to transport heavier objects, the inertia generated by the rollers will drive the rollers to move slightly, resulting in the rollers being unable to stay stably at the designated location and slipping over a long period of time.

[0004] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a positioning device for a mobile handling robot, comprising a mounting base;

[0005] A positioning and lifting device, the positioning and lifting device comprises two support columns, both of which are fixedly connected to the lower surface of the mounting base;

[0006] The lower surface of the support column is fixedly connected to a first rectangular plate, the lower surface of the first rectangular plate is fixedly connected to two second connecting plates, and the upper surfaces of the two second connecting plates are fixedly connected to a guide sleeve;

[0007] The two guide sleeves respectively penetrate the lower surface of the corresponding connecting plate, and the upper surfaces of the two second connecting plates are fixedly mounted with cylinders.

[0008] Preferably, the telescopic ends of the two cylinders are fixedly connected to connecting discs, the upper surfaces of the two connecting discs are fixedly connected to L-shaped connecting plates, and the lower surfaces of the two L-shaped connecting plates are fixedly connected to lifting rods;

[0009] The lower ends of the two lifting rods are respectively slid through the inner walls of the corresponding guide sleeves, and the lower ends of the two lifting rods are fixedly connected with first circular supporting plates.

[0010] Preferably, the opposite surfaces of the two second connecting plates are fixedly connected with second rectangular plates, and the opposite surfaces of the two L-shaped connecting plates are fixedly connected with first connecting plates.

[0011] Preferably, the upper surfaces of the second rectangular plates are fixedly connected with two guide rods, the upper ends of the two guide rods are slid through the upper surfaces of the first connecting plates, and the outer walls of the two guide rods are movably sleeved with first springs.

[0012] Preferably, the upper ends of the two first springs are fixedly connected with the first connecting plate, and the lower ends of the two first springs are fixedly connected with the second rectangular plate.

[0013] The lower surfaces of the first connecting plates are fixedly connected with supporting rods, and the lower ends of the supporting rods are slid through the lower surfaces of the second rectangular plates.

[0014] Preferably, the outer walls of the supporting rods are movably sleeved with second springs, the upper ends of the second springs are fixedly connected with the second connecting plates, and the lower ends of the second springs are fixedly connected with the rectangular plates.

[0015] The lower ends of the supporting rods are fixedly connected with second circular supporting plates, and the lower surfaces of the two second connecting plates are fixedly installed with moving wheels.

[0016] The two positioning lifting devices are arranged in a front-rear mirror image mode.

[0017] The mounting base is used for mounting the robot.

[0018] Compared with the prior art, the mobile robot positioning device has the following beneficial effects:

[0019] (1) The two first circular supporting plates and the second circular supporting plate are synchronously moved downward, when the two first circular supporting plates and the second circular supporting plate contact the ground, the two cylinders continue to start, the mounting base is lifted as a whole by the two first circular supporting plates and the second circular supporting plate as fulcrums, the four moving wheels are separated from the ground, and thus the positioning of the mobile robot is completed, and the stability of the mobile robot during work is improved.

[0020] (2) When the first connecting plate moves downward, the second spring and the two first springs cooperate with the guide rods to assist the movement of the first connecting plate as a whole, and the stability of the mobile robot during upward and downward movement is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 It is a bottom view schematic diagram of the lower surface of the entire utility model;

[0024] Figure 3 This is a schematic diagram of the connection between the rectangular plate and the guide rod of the utility model.

[0025] Figure numerals: 1. Mounting base; 2. First connecting plate; 3. Connecting disc; 4. L-shaped connecting plate; 5. Cylinder; 6. First circular support plate; 7. Lifting rod; 8. Guide sleeve; 9. Second connecting plate; 10. Moving wheel; 11. First rectangular plate; 12. Support column; 13. Second rectangular plate; 14. Second circular support plate; 15. First spring; 16. Guide rod; 17. Support rod; 18. Second spring. DETAILED DESCRIPTION

[0026] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0027] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0028] In the description of this utility model, terms such as "greater than," "less than," and "exceed" are understood to exclude the number indicated, while terms such as "above," "below," and "within" are understood to include the number indicated. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0029] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0030] See also Figure 1-3, the utility model provides a technical solution: a positioning device for a mobile handling robot, comprising a mounting base 1, a positioning lifting device, the positioning lifting device comprising two support columns 12, the two support columns 12 are fixedly connected to the lower surface of the mounting base 1;

[0031] The lower surface of the support column 12 is fixedly connected to the first rectangular plate 11, the lower surface of the first rectangular plate 11 is fixedly connected to two second connecting plates 9, and the upper surfaces of the two second connecting plates 9 are fixedly connected to the guide sleeve 8;

[0032] The two guide sleeves 8 respectively penetrate the lower surface of the corresponding second connecting plate 9 , and the cylinder 5 is fixedly mounted on the upper surface of the two second connecting plates 9 .

[0033] Furthermore, the telescopic ends of the two cylinders 5 are fixedly connected to the connecting discs 3, the upper surfaces of the two connecting discs 3 are fixedly connected to the L-shaped connecting plates 4, and the lower surfaces of the two L-shaped connecting plates 4 are fixedly connected to the lifting rods 7;

[0034] The lower ends of the two lifting rods 7 slide through the inner walls of the corresponding guide sleeves 8 , and the lower ends of the two lifting rods 7 are fixedly connected to the first circular support plate 6 .

[0035] Furthermore, the second rectangular plates 13 are fixedly connected to the opposite surfaces of the two second connecting plates 9 , and the first connecting plates 2 are fixedly connected to the opposite surfaces of the two L-shaped connecting plates 4 .

[0036] Furthermore, two guide rods 16 are fixedly connected to the upper surface of the second rectangular plate 13 , and the upper ends of the two guide rods 16 slide through the upper surface of the first connecting plate 2 . The outer walls of the two guide rods 16 are movably sleeved with first springs 15 .

[0037] Furthermore, the upper ends of the two first springs 15 are fixedly connected to the first connecting plate 2 , and the lower ends of the two first springs 15 are fixedly connected to the second rectangular plate 13 .

[0038] The lower surface of the first connecting plate 2 is fixedly connected to a support rod 17 , and the lower end of the support rod 17 slides through the lower surface of the second rectangular plate 13 .

[0039] Furthermore, the outer wall of the support rod 17 is movably sleeved with a second spring 18, the upper end of the second spring 18 is fixedly connected to the first connecting plate 2, and the lower end of the second spring 18 is fixedly connected to the second rectangular plate 13;

[0040] The lower end of the support rod 17 is fixedly connected to the second circular support plate 14, and the lower surfaces of the two second connecting plates 9 are fixedly mounted with moving wheels 10;

[0041] Among them, the number of positioning and lifting devices is two, and the structures of the two positioning and lifting devices are arranged in a front-to-back mirror image;

[0042] The mounting base 1 is used for mounting the handling robot.

[0043] Furthermore, when using the positioning device for a mobile handling robot, the handling robot is first fixedly mounted on the mounting base 1, and the mounting base 1 is driven to move as a whole by the four moving wheels 10. When the handling robot moves to the designated working handling position, the four cylinders 5 are activated, and the telescopic ends of the two left and right corresponding cylinders 5 move downward. The telescopic ends of the two left and right corresponding cylinders 5 drive the two L-shaped connecting plates 4 and the first connecting plate 2 to move downward through the two connecting discs 3;

[0044] Among them, the two L-shaped connecting plates 4 drive the two lifting rods 7 and the two first circular support plates 6 to move downward, while the first connecting plate 2 pushes the support rod 17 and the second circular support plate 14 to move downward and compresses the second spring 18;

[0045] Among them, the two first circular support plates 6 and the second circular support plates 14 move downward synchronously. When the two first circular support plates 6 and the second circular support plates 14 touch the ground, the two cylinders 5 continue to start, and use the two first circular support plates 6 and the second circular support plates 14 as fulcrums to lift the mounting base 1 as a whole, so that the four moving wheels 10 are off the ground, thereby completing the positioning of the mobile transport robot and improving the stability of the mobile transport robot during work. The operating principle of the other set of positioning and lifting devices is the same;

[0046] When the first connecting plate 2 moves downward, the second spring 18 and the two first springs 15 will be compressed to cooperate with the guide rod 16 to assist the overall movement of the first connecting plate 2, thereby improving the stability of the transport robot when moving up and down.

[0047] Working Principle: When using the mobile handling robot positioning device, first, the handling robot is fixedly mounted on the mounting base 1, and the mounting base 1 is driven to move as a whole by the four moving wheels 10. When the handling robot moves to the designated working handling position, the four cylinders 5 are activated, and the telescopic ends of the two corresponding cylinders 5 on the left and right move downward. The telescopic ends of the two corresponding cylinders 5 on the left and right drive the two L-shaped connecting plates 4 and the first connecting plate 2 to move downward through the two connecting discs 3;

[0048] Among them, the two L-shaped connecting plates 4 drive the two lifting rods 7 and the two first circular support plates 6 to move downward, while the first connecting plate 2 pushes the support rod 17 and the second circular support plate 14 to move downward and compresses the second spring 18;

[0049] Among them, the two first circular support plates 6 and the second circular support plates 14 move downward synchronously. When the two first circular support plates 6 and the second circular support plates 14 touch the ground, the two cylinders 5 continue to start, and use the two first circular support plates 6 and the second circular support plates 14 as fulcrums to lift the mounting base 1 as a whole, so that the four moving wheels 10 are off the ground, thereby completing the positioning of the mobile transport robot and improving the stability of the mobile transport robot during work. The operating principle of the other set of positioning and lifting devices is the same;

[0050] When the first connecting plate 2 moves downward, the second spring 18 and the two first springs 15 will be compressed to cooperate with the guide rod 16 to assist the overall movement of the first connecting plate 2, thereby improving the stability of the transport robot when moving up and down.

[0051] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A positioning device for a mobile handling robot, characterized in that: include: Install the base (1); A positioning lifting device, the positioning lifting device comprising two support columns (12), both support columns (12) being fixedly connected to the lower surface of the mounting base (1); The lower surface of the support column (12) is fixedly connected to a first rectangular plate (11), the lower surface of the first rectangular plate (11) is fixedly connected to two second connecting plates (9), and the upper surfaces of the two second connecting plates (9) are fixedly connected to guide sleeves (8); The two guide sleeves (8) respectively penetrate the lower surface of the corresponding second connecting plate (9), and the upper surfaces of the two second connecting plates (9) are fixedly mounted with cylinders (5).

2. A mobile handling robot positioning device according to claim 1, characterized in that: The telescopic ends of the two cylinders (5) are fixedly connected to the connecting discs (3), the upper surfaces of the two connecting discs (3) are fixedly connected to the L-shaped connecting plates (4), and the lower surfaces of the two L-shaped connecting plates (4) are fixedly connected to the lifting rods (7); The lower ends of the two lifting rods (7) respectively slide through the inner walls of the corresponding guide sleeves (8), and the lower ends of the two lifting rods (7) are fixedly connected to the first circular support plate (6).

3. The positioning device for a mobile handling robot according to claim 1, characterized in that: The opposite surfaces of the two second connecting plates (9) are fixedly connected to the second rectangular plate (13), and the opposite surfaces of the two L-shaped connecting plates (4) are fixedly connected to the first connecting plate (2).

4. A positioning device for a mobile handling robot according to claim 3, characterized in that: Two guide rods (16) are fixedly connected to the upper surface of the second rectangular plate (13), and the upper ends of the two guide rods (16) slide through the upper surface of the first connecting plate (2). The outer walls of the two guide rods (16) are movably sleeved with first springs (15).

5. The positioning device for a mobile handling robot according to claim 4, characterized in that: The upper ends of the two first springs (15) are fixedly connected to the first connecting plate (2), and the lower ends of the two first springs (15) are fixedly connected to the second rectangular plate (13); The lower surface of the first connecting plate (2) is fixedly connected to a support rod (17), and the lower end of the support rod (17) slides through the lower surface of the second rectangular plate (13).

6. A positioning device for a mobile handling robot according to claim 5, characterized in that: The outer wall of the support rod (17) is movably sleeved with a second spring (18), the upper end of the second spring (18) is fixedly connected to the first connecting plate (2), and the lower end of the second spring (18) is fixedly connected to the second rectangular plate (13); The lower end of the support rod (17) is fixedly connected to the second circular support plate (14), and the lower surfaces of the two second connecting plates (9) are fixedly mounted with moving wheels (10); Among them, the number of positioning and lifting devices is two, and the structures of the two positioning and lifting devices are arranged in a front-to-back mirror image; The mounting base (1) is used for mounting the handling robot.

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