Lifting and carrying structure for mobile robots

Abstract

The utility model relates to product transportation technical field, concretely relates to a lifting and carrying structure of mobile robot. Including mobile platform, the upside of mobile platform is provided with the lifting plate, be provided with the scissor type lifting assembly between lifting plate and mobile platform, the scissor type lifting assembly is used for driving lifting plate vertical movement, the upper side wall of lifting plate symmetrical sliding is provided with two main bearing plates, the side of two main bearing plates each other is close and is transversely arrayed fixed mounting has a plurality of horizontal arm. The utility model, through electric telescopic link drive moving block movement, moving block further drives connecting rod action, pulls along the movable slot sliding of work type block, the movement of work type block drives two main bearing plates each other close, and main bearing plate drives horizontal movement to the outside of lifting plate through horizontal arm and takes out secondary bearing plate, makes the support area of the platform of carrying things increase, thereby improved the stability when carrying large area flat plate product.

Description

Technical Field

[0001] This utility model relates to the field of product transportation technology, and more specifically, to a lifting and transporting structure for a mobile robot. Background Technology

[0002] In existing technologies, a typical scenario for mobile robots to handle flat products (such as semiconductor wafer boxes, large glass panels, or precision electronic components) is as follows: The mobile robot uses a mobile platform to precisely move the carrying platform to the bottom of the suspended flat product (the product is supported by supports on both sides). Then, the scissor lift assembly drives the carrying platform to rise vertically, so that the main and secondary support plates simultaneously lift the lower surface of the product, and after detaching from the supports, it is transferred to the target workstation.

[0003] In existing technologies, when handling large-area flat products, the support area of ​​the carrying platform is often fixed. When the flat product is large, its edge area will exceed the support range of the fixed carrying platform, causing the actual support point to be forced away from the product edge and concentrated in the middle area of ​​the product. This inward shift of the support point will reduce the effective support span and leave the product edge area in a suspended state. The smaller support span is difficult to stabilize the larger product size. The suspended edge is prone to swaying due to external force or inertia during handling, forming a leverage effect that amplifies the disturbance, ultimately leading to instability of the entire product's center of gravity. This can easily cause the flat product to sway, tilt, or even slip, affecting the safety and stability of handling. Utility Model Content

[0004] The purpose of this invention is to provide a lifting and transporting structure for a mobile robot to solve the problems mentioned in the background art.

[0005] In existing technologies, when handling large flat products, the support area of ​​the loading platform is often fixed. When the flat product is large, it will affect the safety and stability of the handling.

[0006] To address the above problems, the present invention aims to provide a lifting and transporting structure for a mobile robot, comprising a mobile platform, a lifting plate above the mobile platform, and a scissor-type lifting assembly between the lifting plate and the mobile platform. The scissor-type lifting assembly is used to drive the lifting plate to move vertically. Two main support plates are symmetrically slidably arranged on the upper sidewall of the lifting plate. Several horizontal arms are horizontally arrayed and fixedly installed on the side of the two main support plates that are close to each other. All horizontal arms are staggered in the extension direction of the main support plates. The ends of all horizontal arms on the same main support plate slide through the other main support plate and are jointly and fixedly connected to a secondary support plate. The upper sidewall of the secondary support plate and the upper sidewall of the main support plate are on the same plane. A displacement mechanism is provided on the lower sidewall of the lifting plate for driving the two main support plates to move closer or further apart. When the displacement mechanism drives the two main support plates to move closer together, the secondary support plate moves horizontally to the outside of the lifting plate.

[0007] As a further improvement to this technical solution, movable slots are provided on both sides of the lifting plate, and I-shaped blocks are fixedly connected to the lower side wall of the main bearing plate at positions corresponding to the two movable slots. The I-shaped blocks are slidably disposed inside the corresponding movable slots.

[0008] As a further improvement to this technical solution, the displacement mechanism includes two adjusting mechanisms, which are respectively located below the middle position of the two movable slots. The adjusting mechanisms are used to drive the two I-shaped blocks in their respective movable slots to move closer or further apart from each other.

[0009] As a further improvement to this technical solution, the adjusting mechanism includes a U-shaped assembly frame fixedly installed on the lower side wall of the lifting plate. An electric telescopic rod is vertically fixedly installed on the lower side wall of the assembly frame. The piston rod of the electric telescopic rod slides through the bottom of the assembly frame and is fixedly connected to a moving block.

[0010] As a further improvement to this technical solution, two inclined connecting rods are symmetrically hinged on the moving block, and the other end of the connecting rod is hinged to the lower side wall of the corresponding I-shaped block.

[0011] As a further improvement to this technical solution, guide grooves are symmetrically provided on both sides of the assembly frame, and sliders are fixedly connected to the moving block at positions corresponding to the two guide grooves. The sliders are slidably disposed inside the corresponding guide grooves.

[0012] As a further improvement to this technical solution, the I-shaped block is composed of a vertical section and two horizontal sections that are respectively fixedly connected to both ends of the vertical section, wherein the vertical section is slidably disposed inside the corresponding movable groove.

[0013] As a further improvement to this technical solution, two wheel frames are symmetrically fixedly installed on the sides of the two horizontal sections of the I-shaped block that are close to each other. Several rollers are rotatably mounted in a horizontal array on the wheel frames, and the circumferential sidewalls of the rollers respectively roll into contact with the upper and lower sidewalls of the lifting plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. The lifting and handling structure of this mobile robot is driven by an electric telescopic rod to move the moving block. The moving block then drives the connecting rod to move, pulling the I-shaped block to slide along the movable groove. The movement of the I-shaped block drives the two main bearing plates to move closer to each other. The main bearing plates drive the auxiliary bearing plate to move horizontally to the outside of the lifting plate through the cross arm, thereby increasing the support area of ​​the loading platform and improving the stability when handling large-area flat products. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is one of the partial structural schematic diagrams of this utility model;

[0018] Figure 3 This is the second partial structural schematic diagram of the present utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the auxiliary support plate of this utility model when it is moved to the outside of the lifting plate;

[0020] Figure 5 This is a structural schematic diagram of the main bearing plate, cross arm, and auxiliary bearing plate of this utility model;

[0021] Figure 6 For the present utility model Figure 5 Enlarged view of the structure at point A in the middle.

[0022] The meanings of the labels in the diagram are as follows:

[0023] 1. Mobile platform;

[0024] 2. Lifting plate; 21. Movable groove;

[0025] 3. Scissor lift assembly;

[0026] 4. Main load-bearing plate; 41. Cross arm; 42. Secondary load-bearing plate;

[0027] 5. I-beam block; 51. Wheel frame; 52. Roller;

[0028] 6. Adjustment mechanism; 61. Assembly frame; 611. Guide groove; 62. Electric telescopic rod; 63. Moving block; 64. Connecting rod. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Example 1

[0031] Please see Figure 1 As shown, the purpose of this embodiment is to provide a lifting and transporting structure for a mobile robot, including a mobile platform 1. The mobile platform 1 serves as the walking module of the mobile robot, and walking wheels are installed at the four corners of its bottom. Two adjacent walking wheels are drive wheels, driven by a drive device installed inside the mobile platform 1; the other two walking wheels are steering wheels, driven by a steering device installed inside the mobile platform 1. Through the coordinated work of the two drive wheels and the two steering wheels, the mobile robot can move freely on flat ground.

[0032] A lifting plate 2 is provided above the mobile platform 1, and a scissor lift assembly 3 is provided between the lifting plate 2 and the mobile platform 1. The scissor lift assembly 3 is used to drive the lifting plate 2 to move vertically.

[0033] It should be noted that the scissor lift assembly 3 is existing technology, and the drive and steering devices are mature technologies in the field of robotics. Therefore, its specific structure and working principle will not be described in detail here.

[0034] Reference Figure 2 Two main support plates 4 are symmetrically slidably arranged on the upper side wall of the lifting plate 2. Several horizontal arms 41 are fixedly installed in a horizontal array on the side of the two main support plates 4 that are close to each other. All horizontal arms 41 are staggered in the extension direction of the main support plates 4. The ends of all horizontal arms 41 on the same main support plate 4 slide through the other main support plate 4 and are fixedly connected to a secondary support plate 42. The upper side wall of the secondary support plate 42 and the upper side wall of the main support plate 4 are on the same plane, and the secondary support plate 42 is located directly above the lifting plate 2 in the initial state.

[0035] The upper sidewalls of the main support plate 4 and the secondary support plate 42 together form a carrying platform for carrying flat products. During operation, the flat product in its initial state is suspended by the brackets that are in contact with its lower sidewalls near the two sides. The mobile robot moves the carrying platform under the flat product (between the two brackets) via the mobile platform 1. Then, the scissor lift assembly 3 drives the lifting plate 2, the main support plate 4 and the secondary support plate 42 to rise synchronously until the upper sidewalls of the main support plate 4 and the secondary support plate 42 contact and lift the lower sidewall of the flat product, lifting it away from the brackets. After that, the mobile robot can move via the mobile platform 1 to transport the flat product.

[0036] To increase the support area of ​​the loading platform and improve stability when handling large flat products, the lower side wall of the lifting plate 2 is equipped with a displacement mechanism for driving the two main load-bearing plates 4 to move closer or further apart, as shown in the figure. Figure 4 When the displacement mechanism drives the two main bearing plates 4 to move closer to each other, the main bearing plates 4 drive the auxiliary bearing plates 42 to move synchronously through the cross arm 41, so that the auxiliary bearing plates 42 move horizontally to the outside of the lifting plate 2. At this time, the distance between the two auxiliary bearing plates 42 increases. Therefore, when the extended loading platform is used to lift the flat product, the support area of ​​the loading platform increases, which improves the stability when handling large-area flat products.

[0037] Movable slots 21 are provided on both sides of the lifting plate 2. I-shaped blocks 5 are fixedly connected to the lower side wall of the main bearing plate 4 at positions corresponding to the two movable slots 21. The I-shaped blocks 5 are slidably disposed inside the corresponding movable slots 21. Figure 5 and Figure 6 The I-shaped block 5 consists of a vertical section and two horizontal sections that are fixedly connected to both ends of the vertical section. The vertical section is slidably set inside the corresponding movable groove 21. Two wheel frames 51 are symmetrically fixedly installed on the side of the two horizontal sections of the I-shaped block 5 that are close to each other. Several rollers 52 are horizontally arrayed and rotatably installed on the wheel frames 51. The circumferential sidewalls of the rollers 52 are in rolling contact with the upper and lower sidewalls of the lifting plate 2, respectively.

[0038] The movable groove 21 is used to restrict the movement direction of the I-shaped block 5 and the main support plate 4. The roller 52 can reduce the friction when the I-shaped block 5 moves along the extension direction of the movable groove 21, making it easier to move the I-shaped block 5.

[0039] The following details the structure of the displacement mechanism, referring to... Figure 3 The displacement mechanism includes two adjusting mechanisms 6, which are respectively located below the middle position of the two movable slots 21. The adjusting mechanisms 6 are used to drive the two I-shaped blocks 5 in their respective movable slots 21 to move closer or further apart.

[0040] The structure of the adjusting mechanism 6 is described in detail below. The adjusting mechanism 6 includes a U-shaped assembly frame 61 fixedly installed on the lower side wall of the lifting plate 2. An electric telescopic rod 62 is vertically fixedly installed on the lower side wall of the assembly frame 61. The piston rod of the electric telescopic rod 62 slides through the bottom of the assembly frame 61 and is fixedly connected to a moving block 63. Guide grooves 611 are symmetrically opened on both sides of the assembly frame 61. A slider is fixedly connected to the moving block 63 at the position corresponding to the two guide grooves 611. The slider is slidably set inside the corresponding guide groove 611. The slider and the guide groove 611 cooperate to improve the stability of the moving block 63 when it moves vertically. Two inclined connecting rods 64 are symmetrically hinged on the moving block 63. The other end of the connecting rod 64 is hinged to the lower side wall of the corresponding I-shaped block 5.

[0041] Both electric telescopic poles 62 are electrically connected to the battery and control equipment installed inside the mobile platform 1. The control equipment can synchronously control the two electric telescopic poles 62. The control principle is existing technology and will not be described in detail here.

[0042] When the control device synchronously controls the piston rods of the two electric telescopic rods 62 to retract, the piston rods drive the moving block 63 to move vertically downward. The moving block 63 drives one end of the connecting rod 64 to move downward, causing the other end of the connecting rod 64 to pull the corresponding I-shaped block 5 to move closer to the central axis of the lifting plate 2. At this time, the I-shaped block 5 drives the corresponding main bearing plate 4 to move synchronously, so that the two main bearing plates 4 move closer to each other. The auxiliary bearing plate 42 then moves horizontally to the outside of the lifting plate 2, thereby expanding the support area of ​​the loading platform.

[0043] When there is no need to move large-area flat products, the control equipment synchronously controls the piston rods of the two electric telescopic rods 62 to extend, driving the corresponding moving block 63 to reset. At this time, the auxiliary bearing plate 42 moves above the lifting plate 2 again. This state reduces the space occupied by the mobile robot and increases its passability in narrow spaces.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A lifting and transporting structure for a mobile robot, comprising a mobile platform (1), characterized in that: A lifting plate (2) is provided above the mobile platform (1), and a scissor lift assembly (3) is provided between the lifting plate (2) and the mobile platform (1). The scissor lift assembly (3) is used to drive the lifting plate (2) to move vertically. Two main support plates (4) are symmetrically slidably arranged on the upper side wall of the lifting plate (2). Several horizontal arms (41) are fixedly installed in a horizontal array on the side of the two main support plates (4) that are close to each other. All the horizontal arms (41) are staggered in the extension direction of the main support plates (4). The ends of all the cross arms (41) on the same main bearing plate (4) slide through another main bearing plate (4) and are fixedly connected to a secondary bearing plate (42). The upper side wall of the secondary bearing plate (42) and the upper side wall of the main bearing plate (4) are on the same plane. The lower side wall of the lifting plate (2) is provided with a displacement mechanism for driving the two main bearing plates (4) to move closer or further away from each other. When the displacement mechanism drives the two main bearing plates (4) to move closer to each other, the secondary bearing plate (42) moves horizontally to the outside of the lifting plate (2).

2. The lifting and transporting structure of the mobile robot according to claim 1, characterized in that: The lifting plate (2) has movable slots (21) on both sides. The lower side wall of the main bearing plate (4) is fixedly connected with I-shaped blocks (5) at the positions corresponding to the two movable slots (21). The I-shaped blocks (5) are slidably arranged inside the corresponding movable slots (21).

3. The lifting and transporting structure of the mobile robot according to claim 2, characterized in that: The displacement mechanism includes two adjusting mechanisms (6), which are respectively located below the middle position of the two movable slots (21). The adjusting mechanisms (6) are used to drive the two I-shaped blocks (5) in their respective movable slots (21) to move closer to or further away from each other.

4. The lifting and transporting structure of the mobile robot according to claim 3, characterized in that: The adjusting mechanism (6) includes a U-shaped assembly frame (61) fixedly installed on the lower side wall of the lifting plate (2). An electric telescopic rod (62) is vertically fixedly installed on the lower side wall of the assembly frame (61). The piston rod of the electric telescopic rod (62) slides through the bottom of the assembly frame (61) and is fixedly connected to a moving block (63).

5. The lifting and transporting structure of the mobile robot according to claim 4, characterized in that: Two inclined connecting rods (64) are symmetrically hinged on the movable block (63), and the other end of the connecting rod (64) is hinged to the lower side wall of the corresponding I-shaped block (5).

6. The lifting and transporting structure of the mobile robot according to claim 4, characterized in that: The assembly frame (61) has symmetrical guide grooves (611) on both sides. The moving block (63) is fixedly connected to the position corresponding to the two guide grooves (611), and the slider is slidably disposed inside the corresponding guide groove (611).

7. The lifting and transporting structure for a mobile robot according to claim 2, characterized in that: The I-shaped block (5) consists of a vertical section and two horizontal sections that are respectively fixedly connected to both ends of the vertical section, wherein the vertical section is slidably disposed inside the corresponding movable groove (21).

8. The lifting and transporting structure of the mobile robot according to claim 7, characterized in that: Two wheel frames (51) are symmetrically fixedly installed on the two horizontal sections of the I-shaped block (5) that are close to each other. Several rollers (52) are rotatably mounted on the wheel frames (51) in a horizontal array. The circumferential sidewalls of the rollers (52) respectively roll into contact with the upper and lower sidewalls of the lifting plate (2).

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