Mobile platform for intelligent warehouse logistics

Abstract

The utility model belongs to the technical field of logistics transportation, and particularly relates to a mobile platform for intelligent warehouse logistics, which comprises a shell, a storage platform, a lifting mechanism and a steering mechanism are arranged in the shell, and a plurality of traveling mechanisms are arranged at the lower end of the shell; the lifting mechanism comprises a lead screw, nuts and a first driving mechanism, the multiple nuts are fixed to the storage platform, the lead screw is in threaded connection with the nuts, and the first driving mechanism drives the lead screw to rotate; the steering mechanism comprises multiple second driving mechanisms and steering shafts, the second driving mechanisms drive the corresponding steering shafts to rotate, and the lower ends of the steering shafts extend out of the shell to be connected with the walking mechanism; the walking mechanism comprises a wheel frame and omnidirectional wheels, the lower end of the steering shaft is fixedly connected with the wheel frame, the omnidirectional wheels are installed on the wheel frame, and each omnidirectional wheel is connected with a third driving mechanism used for driving the corresponding omnidirectional wheel to walk. According to the utility model, the steering driving mechanisms are respectively arranged on the plurality of wheels, and the walking driving mechanism is independently arranged on each wheel, so that the movement flexibility of the mobile platform is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of logistics transportation, specifically relates to a mobile platform for intelligent warehousing logistics. BACKGROUND

[0002] Mobile robots or mobile platforms can be used in automated production lines, warehouses, hospitals and other occasions for unmanned autonomous material transfer or service navigation, and are an indispensable key equipment for intelligent manufacturing, intelligent logistics and intelligent social services. At present, mobile platforms have been widely used in various fields of society, such as patrol inspection, exploration and rescue, especially in the logistics field. The application of mobile platforms in the logistics field greatly saves manpower, and fixed routes and fewer unexpected situations also reduce the design difficulty of the logistics mobile platform. However, the existing mobile platform based on warehousing logistics still lacks flexibility in motion, which affects work efficiency. SUMMARY

[0003] The utility model discloses to solve the problem that the existing mobile platform based on warehousing logistics still lacks flexibility in motion and shock absorption effect, which affects work efficiency, and provides a mobile platform for intelligent warehousing logistics, which effectively improves the motion flexibility of the mobile platform by equipping multiple wheels with steering drive mechanisms and installing a walking drive mechanism for each wheel.

[0004] In order to achieve the above-mentioned purpose, the technical scheme of the utility model is:

[0005] A mobile platform for intelligent warehousing logistics, comprising a shell, a storage platform, a lifting mechanism and a steering mechanism are arranged in the shell, and multiple walking mechanisms are arranged at the lower end of the shell; the lifting mechanism comprises a lead screw, a nut and a first drive mechanism, multiple nuts are fixedly arranged at the lower end of the storage platform, multiple lead screws are rotatably arranged at the bottom of the shell, the upper end of each lead screw extends into the storage platform through the corresponding nut, each lead screw is threadedly connected with the corresponding nut, and the lower end of each lead screw is further connected with the first drive mechanism; the first drive mechanism is used for driving the corresponding lead screw to rotate and driving the nut and the storage platform to lift.

[0006] The steering mechanism comprises multiple second drive mechanisms and steering shafts, the second drive mechanisms are used for driving the corresponding steering shafts to rotate, and the lower ends of the steering shafts extend out of the shell to connect the walking mechanisms; the walking mechanism comprises a wheel frame and an omni-directional wheel, the lower end of each steering shaft is fixedly connected with the wheel frame, the wheel frame is arranged on each steering shaft, the omni-directional wheel is arranged on each wheel frame, each omni-directional wheel is connected with a third drive mechanism, and the third drive mechanism is used for driving the corresponding omni-directional wheel to walk; and each steering shaft rotates to realize the steering of the corresponding omni-directional wheel.

[0007] Preferably, the first driving mechanism comprises a first motor, a first worm and a first worm wheel, a plurality of first motors are fixedly arranged on the inner bottom surface of the shell, a first worm is fixedly connected to the output end of the first motor, a first worm wheel is fixedly sleeved on the lower end of each lead screw, the first worm is engaged with the corresponding first worm wheel, the first motor drives the first worm to rotate, drives the first worm wheel to rotate and drives the lead screw to rotate, so that the storage platform is lifted.

[0008] Preferably, the second driving mechanism comprises a second motor, a second worm and a second worm wheel, a plurality of second motors are fixedly arranged on the inner bottom surface of the shell, a second worm is fixedly connected to the output end of the second motor, a second worm wheel is fixedly sleeved on the upper end of each steering shaft, the second worm is engaged with the corresponding second worm wheel, the second motor drives the second worm to rotate, drives the second worm wheel to rotate and drives the steering shaft to rotate, so that the omni-directional wheel is steered.

[0009] Preferably, the third driving mechanism is a wheel hub motor installed on the corresponding omni-directional wheel, the wheel hub motor drives the corresponding omni-directional wheel to rotate, and the moving platform walks.

[0010] Preferably, a damping mechanism is arranged between the shell bottom and the plurality of wheel frames, the damping mechanism comprises a first flange plate, a damping block and a second flange plate which are sleeved on the steering shaft from bottom to top, the second flange plate is fixedly connected with the shell bottom, a plurality of light shafts are uniformly arranged on the outer side of the damping block, the lower end of the light shaft is fixedly connected with the first flange plate, the upper end of the light shaft penetrates through the second flange plate, the light shaft and the second flange plate are connected through a linear bearing, the upper end of the light shaft penetrates through the shell bottom and is limited to move in the transverse direction and change in angle through the linear bearing, so that the light shaft is kept in a vertical state, the steering shaft is kept in a vertical state, and the vertical vibration is absorbed through the damping block.

[0011] Preferably, the damping block is a cylindrical structure made of polyurethane material.

[0012] Through the above technical scheme, the utility model has the beneficial effects that:

[0013] 1. The utility model discloses a motor-driven worm and worm wheel transmission to realize the rotation of the lead screw, realizes the lifting of the storage platform through the cooperation of the lead screw and the nut, realizes self-locking when the lead angle of the lead screw is small, and guarantees the stability during the transportation of articles.

[0014] 2. The utility model discloses a motor-driven worm and worm wheel transmission to realize the rotation of the steering shaft, realizes the steering of the omni-directional wheel, utilizes the self-locking effect of the worm and worm wheel, offsets the impact force transmitted by the omni-directional wheel, and avoids the damage or wear of the motor caused by the impact force transmitted by the omni-directional wheel during the walking process.

[0015] 3. The utility model discloses a single steering mechanism and walking driving mechanism are equipped for each omni-directional wheel, effectively improve the motion flexibility of mobile platform, including the motion such as in -place rotation, front and back left and right each direction movement, convenient in various narrow or complex space corridor flexible movement and take and put articles etc.

[0016] 4. The utility model discloses a cylindrical damping material is adopted, realizes vertical damping, utilizes the linear bearing to limit the meridian movement of optical axis, and further limits the circumferential movement of hollow shaft, realizes radial damping, guarantees damping effect.

[0017] 5. The utility model discloses modular design, simple structure, convenient to detach, easy maintenance, high universality can carry mechanical arm, various sensors and other tools and use, satisfy diversified application scene and demand. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is structure diagram of the utility model Figure 1 .

[0019] Figure 2 It is structure diagram of the utility model Figure 2 .

[0020] Figure 3 It is structure diagram of the utility model lifting mechanism.

[0021] Figure 4 It is structure diagram of the utility model steering mechanism and damping mechanism.

[0022] The figure mark is: 1 is the shell, 2 is the article platform, 3 is the screw rod, 4 is the nut, 5 is the steering axle, 6 is the wheel frame, 7 is the omni-directional wheel, 8 is the first motor, 9 is the first worm, 10 is the first worm wheel, 11 is the second motor, 12 is the second worm, 13 is the second worm wheel, 14 is the first flange, 15 is the damping block, 16 is the second flange, 17 is the optical axis, 18 is the linear bearing. DETAILED DESCRIPTION

[0023] The utility model will be further explained in connection with the drawings and specific embodiment:

[0024] As Figures 1-4 Shown, the embodiment provides a kind of mobile platform for intelligent warehousing logistics, including shell 1, setting up article platform 2, lifting mechanism and steering mechanism in the shell 1, the shell 1 lower end is provided with multiple walking mechanism, the shell 1 is the hollow cylindrical structure of upper end opening, the article platform 2 is cylindrical structure, the article platform 2 is slidably arranged in the shell 1 and its upper end extends shell 1.

[0025] The lifting mechanism comprises a lead screw 3, a nut 4 and a first driving mechanism, the lower end of the storage platform 2 is fixedly provided with a plurality of nuts 4, the inner bottom of the shell 1 is rotatably provided with a plurality of lead screws 3, the upper end of each lead screw 3 extends into the storage platform 2 after penetrating through the corresponding nut 4, each lead screw 3 is threadedly connected with the corresponding nut 4, the lead screw 3 drives the nut 4 to lift when rotating, thereby driving the storage platform 2 to lift, and the lower end of each lead screw 3 is further connected with a first driving mechanism, the first driving mechanism is used for driving the corresponding lead screw 3 to rotate, the first driving mechanism comprises a first motor 8, a first worm 9 and a first worm wheel 10, a plurality of first motors 8 are fixedly arranged on the inner bottom surface of the shell 1, the first motor 8 is a servo motor, the output end of the first motor 8 is fixedly connected with the first worm 9, the lower end of each lead screw 3 is fixedly sleeved with the first worm wheel 10, the first worm 9 is engaged with the corresponding first worm wheel 10, the first motor 8 drives the first worm 9 to rotate, thereby driving the first worm wheel 10 to rotate and the lead screw 3 to rotate, so as to realize the lifting of the storage platform 2, and the lifting mechanism is arranged in three and evenly distributed along the circumference of the storage platform 2.

[0026] The turning mechanism comprises a plurality of second driving mechanisms and a turning shaft 5, the second driving mechanisms are used for driving the corresponding turning shaft 5 to rotate, the second driving mechanism comprises a second motor 11, a second worm 12 and a second worm wheel 13, the second motor 11 is a step motor, a plurality of second motors 11 are fixedly arranged on the inner bottom surface of the shell 1, the output end of the second motor 11 is fixedly connected with the second worm 12, the second motor 11 drives the corresponding second worm 12 to rotate, the upper end of each turning shaft 5 is fixedly sleeved with the second worm wheel 13, the second worm 12 is engaged with the corresponding second worm wheel 13, the second worm 12 drives the second worm wheel 13 engaged therewith to rotate, thereby driving the corresponding turning shaft 5 to rotate, the lower end of the turning shaft 5 extends out of the shell 1 to connect the walking mechanism, and the turning shaft 5 drives the corresponding walking mechanism to turn when rotating, the turning mechanism is arranged in three and evenly distributed along the circumference of the shell 1.

[0027] The walking mechanism comprises a wheel frame 6 and an omni-directional wheel 7, the lower end of each turning shaft 5 is fixedly connected with the wheel frame 6, the wheel frame 6 is installed with the omni-directional wheel 7, each omni-directional wheel 7 is connected with a third driving mechanism, which is used for driving the corresponding omni-directional wheel 7 to walk, the third driving mechanism is a hub motor, which is installed on the corresponding omni-directional wheel 7, the hub motor is installed inside the omni-directional wheel 7, so that the space can be saved and the independent driving of the omni-directional wheel 7 is realized, the omni-directional wheel 7 is driven to rotate by the hub motor to realize walking, and the turning shaft 5 is a hollow cylindrical structure, which can be used for placing the power line of the hub motor, so as to prevent the winding phenomenon from occurring when the omni-directional wheel 7 rotates.

[0028] The damping mechanism is arranged between the bottom of the shell 1 and the plurality of wheel frames 6, and comprises a first flange plate 14, a damping block 15 and a second flange plate 16 which are arranged on the steering shaft from bottom to top, the damping block 15 is a cylinder structure made of polyurethane material, axial damping is realized by using the damping block 15, vertical vibration impact force is absorbed, the second flange plate 16 is fixedly connected with the bottom of the shell 1, a plurality of light shafts 17 are uniformly arranged on the outer side of the damping block 15, the lower end of the light shaft 17 is fixedly connected with the first flange plate 14, the upper end of the light shaft 17 passes through the second flange plate 16, the light shaft 17 and the second flange plate 16 are connected through a linear bearing 18, the linear bearing 18 is a circular flange linear bearing, which is used to limit the longitudinal movement of the light shaft 17, so that the light shaft 17 can realize upward jumping when the whole damping mechanism is subjected to a vertical force, and the damping block 15 is deformed to absorb the force, thereby playing a damping effect, the upper end of the light shaft 17 passes through the bottom of the shell 1, the first flange plate 14 and the second flange plate 16 are rotatably connected with the steering shaft through angular contact ball bearings, thereby realizing the separation of the damping mechanism and the steering mechanism, and reducing the power required for steering.

[0029] In use, the plurality of omnidirectional wheels 7 are independently driven by the hub motors, and the independent steering of the omnidirectional wheels 7 is realized by cooperating with the second motor 11, so as to realize the forward and backward movement and the rotation in place of the whole mobile platform, the placing platform 2 is driven to ascend and descend by the first motor 8, so as to realize the convenient material taking, and according to actual needs, an external device such as a mechanical arm can be carried on the placing platform 2, so as to adapt to various different working requirements, such as article sorting, carrying, distribution and the like.

[0030] The above-described embodiments are only preferred embodiments of the present application, and are not intended to limit the implementation range of the present application, so that equivalent changes or modifications made according to the structure, features and principles described in the patent range of the present application should be included in the patent range of the present application.

Claims

1. A mobile platform for intelligent warehousing and logistics, characterized in that, Includes a housing (1), inside which is provided a storage platform (2), a lifting mechanism and a steering mechanism, and at the lower end of the housing (1) are provided multiple walking mechanisms; The lifting mechanism includes a lead screw (3), a nut (4) and a first drive mechanism. Multiple nuts (4) are fixedly installed at the lower end of the storage platform (2). Multiple lead screws (3) are rotatably installed at the bottom of the housing (1). The upper end of each lead screw (3) passes through the corresponding nut (4) and extends into the storage platform (2). Each lead screw (3) is threadedly connected to the corresponding nut (4). The lower end of each lead screw (3) is also connected to the first drive mechanism, which is used to drive the corresponding lead screw (3) to rotate. The steering mechanism includes multiple second drive mechanisms and a steering shaft (5). The second drive mechanism is used to drive the corresponding steering shaft (5) to rotate. The lower end of the steering shaft (5) extends out of the housing (1) and connects to the walking mechanism. The walking mechanism includes a wheel frame (6) and an omnidirectional wheel (7). The lower end of each steering shaft (5) is fixedly connected to the wheel frame (6). Each wheel frame (6) is equipped with an omnidirectional wheel (7). Each omnidirectional wheel (7) is connected to a third drive mechanism for driving the corresponding omnidirectional wheel (7) to walk.

2. A mobile platform for intelligent warehousing and logistics according to claim 1, characterized in that, The first drive mechanism includes a first motor (8), a first worm (9) and a first worm wheel (10). Multiple first motors (8) are fixedly arranged on the bottom surface of the housing (1). The output end of the first motor (8) is fixedly connected to the first worm (9). The lower end of each lead screw (3) is fixedly sleeved with a first worm wheel (10). The first worm (9) meshes with the corresponding first worm wheel (10).

3. A mobile platform for intelligent warehousing and logistics according to claim 1, characterized in that, The second drive mechanism includes a second motor (11), a second worm (12), and a second worm wheel (13). Multiple second motors (11) are fixedly arranged on the bottom surface of the housing (1). The output end of the second motor (11) is fixedly connected to the second worm (12). The upper end of each steering shaft (5) is fixedly sleeved with a second worm wheel (13). The second worm (12) meshes with the corresponding second worm wheel (13).

4. A mobile platform for intelligent warehousing and logistics according to claim 1, characterized in that, The third drive mechanism is a hub motor, which is installed on the corresponding omnidirectional wheel (7).

5. A mobile platform for intelligent warehousing and logistics according to claim 1, characterized in that, A shock-absorbing mechanism is provided between the bottom of the housing (1) and multiple wheel frames (6). The shock-absorbing mechanism includes a first flange (14), a shock-absorbing block (15), and a second flange (16) mounted on the steering shaft from bottom to top. The second flange (16) is fixedly connected to the bottom of the housing (1). Multiple optical shafts (17) are evenly distributed around the outer circumference of the shock-absorbing block (15). The lower end of the optical shaft (17) is fixedly connected to the first flange (14), and the upper end passes through the second flange (16). The optical shaft (17) and the second flange (16) are connected by a linear bearing (18). The upper end of the optical shaft (17) passes through the bottom of the housing (1).

6. A mobile platform for intelligent warehousing and logistics according to claim 5, characterized in that, The shock absorber (15) is a cylindrical structure made of polyurethane material.

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