Heavy load driving robot

Abstract

The utility model discloses a heavy load drive robot belongs to the field of robot technology, including frame, set up the loading platform of frame and multiple wheel groups set below the frame still include multiple topography adjusting module corresponding wheel group respectively, topography adjusting module includes the disc spring rod who is connected with frame to and the disc spring of disc spring rod sleeve setting, and wheel group is connected with the end of disc spring rod, and disc spring is used for providing elastic buffer when the displacement of wheel group relative frame, this application sets up topography adjusting module, makes every wheel group can independently self -adapted ground undulation, ensures that all wheel groups always effectively contact ground to even distribution heavy load pressure, effective absorption impact, greatly improved the stability and security of robot heavy load march.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a heavy-duty drive robot. Background Technology

[0002] With the development of intelligent manufacturing, heavy-duty automated guided vehicles (AGVs) are playing an increasingly important role in scenarios such as large equipment handling and automated production line logistics. However, existing heavy-duty automated guided vehicles usually face a serious challenge: although the ground in industrial sites may appear flat, there are often slight height differences, seams, or unevenness.

[0003] Traditional heavy-duty driven robots typically have wheels rigidly connected to the frame or use simple coil springs for shock absorption. When the robot is carrying loads of several tons or even tens of tons, encountering uneven surfaces will cause the rigidly connected structure to vibrate violently, resulting in some wheels being suspended in the air. This concentrates the enormous load pressure entirely on the remaining grounded wheels. This not only severely affects the stability of the transportation process and interferes with high-precision assembly or docking tasks, but also leads to rapid wear and even damage to the pressure-bearing wheels and their bearings, causing safety hazards and high maintenance costs.

[0004] In conclusion, there is an urgent need for a robot that can smoothly travel on non-ideal road surfaces under heavy loads and achieve even load distribution among all wheels. Utility Model Content

[0005] In view of this, this application provides a heavy-duty driven robot. The main purpose is to solve the technical problems of poor stability and uneven load when the robot travels on uneven roads.

[0006] This utility model provides a heavy-duty driven robot, including a frame, a loading platform mounted on the frame, and multiple wheel sets mounted below the frame, and multiple terrain adjustment modules corresponding to the wheel sets respectively; each terrain adjustment module includes a disc spring rod connected to the frame and a disc spring sleeved on the disc spring rod; the wheel sets are connected to the ends of the disc spring rods; the disc springs provide elastic cushioning when the wheel sets are displaced relative to the frame due to uneven road surfaces, so that the wheel sets always maintain contact with the road surface.

[0007] Furthermore, the disc spring consists of multiple sets of disc springs of the same thickness connected in series on the disc spring rod in a mating combination manner. When the wheel set encounters an uneven road surface, the disc spring absorbs energy through elastic deformation, ensuring that the four steel wheels are always in contact with the ground, sharing the pressure of the heavy load, and improving the stability and safety of driving.

[0008] Furthermore, the heavy-duty drive robot also includes a lifting mechanism disposed between the frame and the loading platform; the lifting mechanism includes a pressure sensor for acquiring the load pressure on the loading platform, and a hydraulic cylinder connected to the pressure sensor signal; the piston rod of the hydraulic cylinder is used to drive the loading platform to lift.

[0009] Furthermore, the lifting mechanism also includes a spring disposed below the loading platform, the spring being located at the lower part of the piston rod, for relieving pressure during the descent of the loading platform.

[0010] Furthermore, the lifting mechanism also includes a control center, which is electrically connected to the pressure sensor and the hydraulic cylinder, and controls the operation of the hydraulic cylinder based on the pressure signal transmitted by the pressure sensor.

[0011] Furthermore, the frame is composed of multiple modules that are connected and fixed by mortise and tenon joints.

[0012] Furthermore, the wheel assembly includes a steel wheel and a wheel frame for mounting the steel wheel; the wheel frame is connected to the end of the disc spring rod.

[0013] Furthermore, the upper end of the disc spring rod is fixedly connected to the bottom of the frame, and the lower end is rotatably connected to the wheel frame via a bearing; The disc spring is sleeved in the middle of the disc spring rod, and its upper and lower ends are respectively pressed and fitted with the stepped surface of the disc spring rod and the upper surface of the wheel frame through compression nuts.

[0014] Furthermore, the frame is provided with a pad, and the disc spring rod passes through the pad; the steel wheel is connected to the lower end of the disc spring rod through a wheel frame, and the disc spring is located between the pad and the wheel frame.

[0015] Furthermore, the oil inlet of the hydraulic cylinder is threadedly connected to the oil outlet of the hydraulic pump station via a high-pressure oil pipe, and an O-ring is provided at the oil pipe joint; the oil outlet is connected to the return oil flange of the hydraulic pump via a return oil pipe, and an oil filter and a pressure regulating valve are connected in series in the return oil pipe; the oil inlet and the oil outlet are arranged symmetrically at 180 degrees on the cylinder body of the hydraulic cylinder, and the inner wall of the port is provided with a chamfered structure for guiding the oil flow.

[0016] Beneficial effects This invention, through the inclusion of a terrain adjustment module, particularly utilizing the elastic properties of disc springs, allows the disc spring rod to extend and retract relative to the frame when any wheel set encounters a bump or depression in the road surface. This structure endows each wheel set with independent terrain adaptability, ensuring that all wheel sets maintain effective contact with uneven road surfaces. The terrain adjustment module, especially the combination of the disc spring rod and disc spring, passively and reliably achieves a uniform distribution of heavy load pressure among all wheels, effectively absorbing impacts and vibrations, and greatly improving the stability and safety of the robot during heavy-load travel.

[0017] The heavy-duty driven robot disclosed in this application combines a pressure sensor and a hydraulic cylinder lifting mechanism, enabling precise sensing of load weight and achieving smooth lifting and reliable support of heavy objects. Through intelligent management at the control center, the working state of the hydraulic system can be optimized, reducing energy loss and ensuring precision in heavy-duty operations. Furthermore, the heavy-duty frame of this application adopts a modular design combining mortise and tenon joints and welding, which not only ensures the robustness and stability of the connections between modules and effectively resists deformation caused by heavy loads, but also greatly simplifies the production and assembly process of large frames. This design avoids the use of large and complex clamping molds, reduces manufacturing costs, and improves production efficiency and ease of on-site assembly.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0019] The accompanying drawings, as part of this utility model, are used to provide a further understanding of the present utility model. The illustrative embodiments and descriptions of the present utility model are used to explain the present utility model, but do not constitute an undue limitation of the present utility model. Obviously, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0020] In the attached diagram: Figure 1 This diagram shows an overall structural schematic of a heavy-duty drive robot provided by an embodiment of the present invention; Figure 2 A schematic diagram of the lifting mechanism provided in an embodiment of this utility model is shown; Figure 3 A schematic diagram of the terrain adjustment module provided in an embodiment of the present invention is shown.

[0021] Icon labels: 1-Tenon and tenon structure, 2-Piston rod, 3-Oil inlet, 4-Oil outlet, 5-Pressure sensor, 6-Hydraulic cylinder, 7-Control center, 8-Spring, 10-Loading platform, 11-Pad plate, 12-Disc spring, 13-Disc spring rod, 14-Wheel frame, 15-Steel wheel.

[0022] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0024] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Example like Figure 1-3 As shown, this utility model provides a heavy-duty driven robot, including a frame composed of multiple modules connected and welded together by a tenon and mortise structure 1, a loading platform 10 disposed above the frame, and multiple wheel sets evenly distributed below the frame, preferably four wheel sets. The core of this embodiment is that the robot also includes four terrain adjustment modules, each corresponding to one of the four wheel sets, and a lifting mechanism for raising and lowering the loading platform 10.

[0027] In one feasible implementation, the terrain adjustment module, the core component of this invention, will first be described in detail. Please refer to... Figure 1 and Figure 3Each terrain adjustment module is used to elastically connect one of the wheelsets to the frame. The wheelset includes a steel wheel 15 and a wheel frame 14 for mounting the steel wheel 15. A pad 11 with a through hole is welded to the bottom of the frame. A disc spring rod 13 passes through this through hole, with its upper end overlapping or fixedly connected to the bottom area of ​​the frame, and its lower end rotatably connected to the wheel frame 14. The steel wheel 15 is coaxially mounted on the wheel frame 14 via bearings or other components, and is connected to the lower end of the disc spring rod 13 through the wheel frame 14.

[0028] In this embodiment, multiple sets of mating disc springs 12 are fitted onto the disc spring rod 13 to provide elastic cushioning when the wheel assembly shifts relative to the frame. Specifically, the disc springs 12 are located between the pad 11 and the wheel frame 14. Preferably, the disc springs 12 are fitted onto the middle of the disc spring rod 13, and their upper and lower ends are respectively pressed into the stepped surface of the disc spring rod 13 and the upper surface of the wheel frame 14 by clamping nuts. In this application, "matting combination" refers to combining the concave surfaces of two disc springs facing each other. Such series connection can obtain a larger deformation amount and cushioning capacity.

[0029] In this embodiment, the working logic and beneficial effects are as follows: When the robot carries a heavy load on an uneven factory floor, if one of the steel wheels 15 passes over a raised section of the road surface, the steel wheel 15 and the wheel frame 14 will move upward, pushing the disc spring rod 13 upward, thereby compressing the disc spring 12 assembly on the disc spring rod 13. The compression process of the disc spring 12 absorbs the impact energy from the ground. Conversely, when the steel wheel 15 passes over a recessed section of the road surface, under the action of gravity, the steel wheel 15 and the wheel frame 14 will move downward, the disc spring rod 13 will move downward accordingly, and the disc spring 12 assembly will stretch or recover its deformation accordingly, also playing a buffering role. This structure allows each steel wheel 15 to float up and down independently, thereby ensuring that the four steel wheels 15 of the robot can always keep in close contact with the ground, achieving the purpose of sharing the pressure of the heavy load with the four steel wheels 15. The purely mechanical passive suspension system described in this application, consisting of the disc spring 12 and the disc spring rod 13, has a simple structure, rapid response, and is extremely reliable. It can perfectly solve the problem of uniform distribution of dynamic load without the need for complex sensors and controllers.

[0030] In one feasible implementation, the lifting mechanism of this embodiment is described. The lifting mechanism includes a pressure sensor 5 for acquiring the load pressure on the loading platform 10, and a hydraulic cylinder 6 signal-connected to the pressure sensor 5; the piston rod 2 of the hydraulic cylinder 6 is used to drive the loading platform 10 to lift. See also... Figure 2The lifting mechanism is located between the frame and the loading platform 10. Multiple hydraulic cylinders 6 are fixed on the frame, and the piston rods 2 of the hydraulic cylinders 6 support the loading platform 10 upwards. Multiple pressure sensors 5 and springs 8 are evenly distributed below the loading platform 10 and between it and the frame. The springs 8 are used to reduce pressure during the descent of the loading platform 10. When a heavy object is placed on the loading platform 10, the pressure sensors 5 monitor and transmit the load pressure signal to the control center 7 in real time. Specifically, the control center 7 can be a PLC or a microcontroller, etc. The control center 7 is electrically connected to the pressure sensors 5 and the hydraulic cylinders 6, and controls the hydraulic cylinders 6 to operate based on the pressure signal transmitted by the pressure sensors 5. The working process is as follows: the control center 7 precisely controls the hydraulic cylinders 6 to receive oil from the inlet 3 or discharge oil from the outlet 4 according to a preset program, thereby driving the piston rods 2 to push the loading platform 10 smoothly down to a predetermined height or up. During this process, the springs 8 provide auxiliary pressure reduction and buffering, making the lifting process smoother.

[0031] In one feasible implementation, the oil inlet 3 of the hydraulic cylinder 6 is threadedly connected to the oil outlet of the hydraulic pump station via a high-pressure oil pipe, and an O-ring is provided at the oil pipe joint; the oil outlet 4 is connected to the return oil flange of the hydraulic pump via a return oil pipe, and an oil filter and a pressure regulating valve are connected in series in the return oil pipe; the oil inlet 3 and the oil outlet 4 are arranged symmetrically at 180 degrees on the cylinder body of the hydraulic cylinder 6, and the inner wall of the port is provided with a chamfered structure for guiding the oil flow.

[0032] Finally, the modular rack of this embodiment will be described. For example... Figure 1 As shown, the main load-bearing structure of the robot, namely the frame, is not a single, integrally manufactured frame. It is composed of multiple smaller, standardized modules assembled using traditional Chinese mortise and tenon joints. After assembly, the joints of the mortise and tenon joints are reinforced by welding. This composite connection method of "mortise and tenon + welding" achieves rapid and precise positioning and assembly using the mortise and tenon structure, while significantly enhancing the strength of the connection and the overall rigidity of the structure through welding. The advantage of this design is that it not only allows for flexible adjustment of the overall dimensions of the vehicle but also avoids the processing difficulties, welding bubbles, or deformation problems caused by machining and welding a large frame, significantly improving production efficiency and structural stability.

[0033] Optional technical solutions and equivalent replacements: In another feasible implementation, the disc spring 12 in the terrain adjustment module can be replaced by other elastic elements, such as high-strength helical springs or composite material springs. As long as the elastic extension and retraction function of the wheel assembly relative to the frame can be achieved, it should fall within the protection scope of this utility model. Similarly, the lifting mechanism can also use a motor screw structure instead of the hydraulic cylinder 6 structure to achieve a similar lifting function. The frame connection method can also be other high-strength detachable or permanent connection methods.

[0034] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present utility model. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A heavy load driving robot comprising a frame, a loading table (10) provided on the frame, and a plurality of wheel sets provided below the frame, characterized by, It also includes multiple terrain adjustment modules, each corresponding to the wheel set; The terrain adjustment module includes a disc spring rod (13) connected to the frame, and a disc spring (12) sleeved on the disc spring rod (13). The wheel assembly is connected to the end of the disc spring rod (13); The disc spring (12) is used to provide elastic cushioning when the wheel assembly is displaced relative to the frame.

2. The heavy duty drive robot of claim 1, wherein, Multiple disc springs (12) of the same thickness are connected in series on the disc spring rod (13) in a pairing combination manner.

3. The heavy duty drive robot of claim 2, wherein, It also includes a lifting mechanism disposed between the frame and the loading platform (10); The lifting mechanism includes a pressure sensor (5) for acquiring the load pressure on the loading platform (10), and a hydraulic cylinder (6) connected to the pressure sensor (5) via a signal. The piston rod (2) of the hydraulic cylinder (6) is used to drive the loading platform (10) to rise and fall.

4. The heavy duty drive robot of claim 3, wherein, The lifting mechanism also includes a spring (8) located below the loading platform (10). The spring (8) is located at the lower part of the piston rod (2) and is used to reduce pressure during the descent of the loading platform (10).

5. The heavy duty drive robot of claim 3, wherein, The lifting mechanism also includes a control center (7), which is electrically connected to the pressure sensor (5) and the hydraulic cylinder (6). The control center (7) controls the hydraulic cylinder (6) to work according to the pressure signal transmitted by the pressure sensor (5).

6. The heavy duty drive robot of claim 1, wherein, The frame is composed of multiple modules that are connected and fixed by mortise and tenon structure (1).

7. The heavy duty drive robot of claim 1, wherein, The wheelset includes a steel wheel (15) and a wheel frame (14) for mounting the steel wheel (15). The wheel frame (14) is connected to the end of the disc spring rod (13).

8. The heavy duty drive robot of claim 7, wherein, The upper end of the disc spring rod (13) is fixedly connected to the bottom of the frame, and the lower end is rotatably connected to the wheel frame (14) through a bearing; The disc spring (12) is sleeved in the middle of the disc spring rod (13), and its upper and lower ends are respectively pressed and fitted with the stepped surface of the disc spring rod (13) and the upper surface of the wheel frame (14) by clamping nuts.

9. The heavy-duty drive robot according to claim 8, characterized in that, The frame is provided with a pad (11), and the disc spring rod (13) passes through the pad (11). The steel wheel (15) is connected to the lower end of the disc spring rod (13) via the wheel frame (14), and the disc spring (12) is located between the pad (11) and the wheel frame (14).

10. The heavy duty drive robot of claim 3, wherein, The oil inlet (3) of the hydraulic cylinder (6) is connected to the oil outlet of the hydraulic pump station via a high-pressure oil pipe, and an O-ring is provided at the oil pipe joint. The oil outlet (4) is connected to the return end flange of the hydraulic pump through the return oil pipe. An oil filter and a pressure regulating valve are connected in series in the return oil pipe. The oil inlet (3) and the oil outlet (4) are arranged symmetrically at 180 degrees on the cylinder body of the hydraulic cylinder (6), and the inner wall of the port is provided with a chamfered structure for guiding the oil flow.

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