Wheeled floating mechanism and mobile robot

Abstract

The wheel floating mechanism for the mobile robot includes a guide plate and a suspension guide seat with an upper and lower end cover. A lead screw assembly consisting of a ball screw and nut is supported between these covers by bearings. A suspension connecting plate is driven by a screw nut and mounts the wheel. A braking mechanism locks the ball screw in response to a wheel control signal. A compression spring surrounds the ball screw and connects the suspension plate to the upper end cover. This design ensures stability of the mobile robot's manipulator posture during operation, improving traction and reducing manipulator sway by guaranteeing that all four wheels remain in contact with the ground.

Description

Technical Field

[0001] The present disclosure relates to industrial robots, and particularly to wheel floating mechanisms and mobile robots.

Background Art

[0002] Industrial robots are intelligent devices equipped with sensors, objective lenses, and electro-optical systems, and can quickly sort and transport articles.

[0003] More and more visual sensors and force sensors are used in industrial robots, and industrial robots are becoming more intelligent. With the progress of sensing and identification systems, artificial intelligence, and other technologies, robots have evolved from being unidirectionally controlled to storing and utilizing data by themselves, and thus are gradually becoming information-driven.

Summary of the Invention

[0004] In consideration of the deficiencies of the prior art, the present disclosure aims to provide a wheel floating mechanism and a mobile robot. In order to expand the application scenarios and scope of industrial robots, industrial robots are mounted on a mobile base to be used as mobile robots, thereby realizing the movement of industrial robots and realizing functions such as depalletizing, sorting during movement, and other functions. However, when the mobile robot moves on the ground, it often encounters uneven ground, and the drive wheels of the mobile robot lose contact with the ground, resulting in slipping and swaying, which hinders the smooth operation of the industrial robot. When a conventional floating device is directly installed on the mobile base, when the industrial robot is in a depalletizing state or a sorting state, vibrations are generated due to the presence of the floating device, and these vibrations affect the gripping accuracy of the industrial robot, causing problems such as gripping failure, unstable gripping, and dropping of parts.

[0005] A wheel floating mechanism provided in accordance with this disclosure comprises: a suspension guide seat having a guide plate, an upper end cover, and a lower end cover, wherein the upper end cover is provided on the upper end of the guide plate and the lower end cover is provided on the lower end of the guide plate; a ball lead screw assembly having a screw and a screw nut, wherein the upper end of the ball screw is connected to the upper end cover via a first bearing, the lower end of the ball screw is connected to the lower end cover via a second bearing, and the screw nut is rotatably connected to the ball screw; a suspension connection plate connected to the ball screw via the screw nut and used to mount a wheel; a brake mechanism used to brake the ball screw after receiving a wheel control signal; and a compression spring mounted on the outside of the ball screw, wherein the lower end of the compression spring is connected to the suspension connection plate and the upper end of the compression spring is connected to the upper end cover.

[0006] Optionally, when the brake mechanism is turned off, the brake mechanism brakes the ball screw, thereby providing rigid support for the wheel. When the brake mechanism is turned on, the ball screw is driven by a screw nut and can rotate within the first and second bearings, and the screw nut moves up and down along the ball screw, providing floating cushioning for the wheel.

[0007] Optionally, a first guide rail and a second guide rail are provided on the front sides of the guide plate, respectively, and are positioned on both sides of the compression spring. The suspension connection plate is connected to the first guide rail via a first slide block and to the second guide rail via a second slide block.

[0008] Optionally, an upper limit rod is provided on the upper side of the suspension connection plate, so that when the suspension connection plate moves upward, the upper limit rod abuts against the upper end cover to restrict its movement, and a lower limit rod is provided on the lower side of the suspension connection plate, so that when the suspension connection plate moves downward, the lower limit rod abuts against the lower end cover to restrict its movement.

[0009] Optionally, shock-absorbing pads are provided at the free end of the limiting rod for vibration damping when the upper limiting rod and upper end cover are in contact, and for vibration damping when the lower limiting rod and lower end cover are in contact.

[0010] Optionally, the braking mechanism comprises an electromagnet, a brake shaft, a movable brake pad, and a fixed brake pad, the movable brake pad being connected to the fixed brake pad via an elastic member, the sleeve of the brake shaft being mounted on a ball screw, the main plate of the brake shaft being positioned between the movable brake pad and the fixed brake pad, the electromagnet being used to apply an electromagnetic force to the movable brake pad, when the electromagnet is powered on, the electromagnet attracts the movable brake pad, the elastic member is compressed at this time, and the ball screw can rotate, when the electromagnet is powered off, the movable brake pad is pulled by the elastic pad and moves toward the fixed brake pad, braking the ball screw via the brake shaft.

[0011] Optionally, a first mounting hole is provided in the upper end cover that penetrates in the thickness direction, the upper bearing seat is placed inside the first mounting hole, and the first bearing is placed inside the upper bearing seat; a second mounting hole is provided in the lower end cover that penetrates in the thickness direction, and the second bearing is placed inside the second mounting hole.

[0012] Optionally, the upper bearing seat comprises a fixed end cover and a limiting sleeve, one end of which is connected to one side of the fixed end cover, the limiting sleeve passing through a first mounting hole, the fixed end cover being positioned on the upper side of the upper end cover, the fixed end cover having a bearing mounting hole, the first bearing being positioned inside the bearing mounting hole, the bearing mounting hole communicating with the limiting sleeve, thereby connecting the upper end of the ball screw through the limiting sleeve to the first bearing.

[0013] Optionally, the braking mechanism comprises an electromagnet, an upper cover plate, a movable brake pad, and a fixed brake pad. The movable brake pad is connected to the electromagnet via an elastic member, the sleeve of the fixed brake pad is mounted on a ball screw, and the main brake plate of the fixed brake pad is positioned between the movable brake plate and the upper cover plate. The electromagnet is used to apply an electromagnetic force to the movable brake pad. When the electromagnet is powered on, it attracts the movable brake pad, at which point the elastic member is compressed, and the ball screw can rotate. When the electromagnet is powered off, the movable brake pad is driven by the elastic pad to move toward the fixed brake pad, braking the ball screw.

[0014] Optionally, the inner diameter of the limiting sleeve is larger than the inner diameter of the bearing mounting hole. The upper end of the compression spring is positioned inside the limiting sleeve and abuts against the inner surface of the fixed end cover.

[0015] A mobile robot provided in accordance with this disclosure further comprises a mobile base used to move to or stop at any position in accordance with a received control command, and a robotic arm positioned on the mobile base for moving a target box transported on a conveyor belt to a target position, or for moving a target box in a material release position onto a conveyor belt, wherein the wheel floating mechanism is provided at the corner end of the mobile base, the wheel floating mechanism is provided with wheels, the wheel floating mechanism is used to float and cushion the wheels to maintain stability on uneven ground, or to rigidly support the wheels, and the wheels are used to drive the mobile base.

[0016] In this disclosure, when the braking mechanism brakes the ball screw, the screw nut cannot move up and down along the ball screw, and the wheel floating mechanism rigidly supports the wheel, ensuring that the posture of the mobile robot is stable when the robot arm is in motion. When the braking mechanism releases the ball screw, the wheel floating mechanism provides floating cushioning to the wheel, and the ball screw can rotate within the first and second bearings driven by the screw nut, thereby allowing the screw nut to move up and down along the ball screw. This movement causes a pressure change in the compression spring, thereby achieving floating cushioning of the wheel, ensuring that all four wheels make contact with the ground when the robot walks, providing sufficient ground gripping force and reducing the robot's sway.

[0017] To more clearly illustrate the embodiments of this disclosure or the technical solutions in the prior art, the accompanying drawings necessary for describing the embodiments or the prior art are briefly introduced below. It is clear that the accompanying drawings described below are only embodiments of this disclosure. Those skilled in the art can obtain other drawings based on the provided drawings without expending any creative effort. Further features, purposes, and advantages of this disclosure will become clearer by reading the detailed description of the non-limiting embodiments with reference to the following drawings. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic diagram of the wheel floating mechanism according to an embodiment of the present disclosure. [Figure 2] This is a cross-sectional view of a wheel floating mechanism according to an embodiment of the present disclosure. [Figure 3] This is a schematic diagram of the wheel floating mechanism according to an embodiment of the present disclosure. [Figure 4] This is a schematic diagram of the mounting of a lead screw assembly according to an embodiment of the present disclosure. [Figure 5] This is a schematic diagram of the brake shaft according to an embodiment of the present disclosure. [Figure 6] This is a schematic diagram illustrating the cooperation between the wheel floating mechanism and the wheel according to an embodiment of the present disclosure. [Figure 7] This is a schematic structural diagram of a wheel floating mechanism mounted on a mobile base according to an embodiment of the present disclosure. [Figure 8] This is a schematic structural diagram of a mobile robot according to an embodiment of the present disclosure.

Mode for Carrying Out the Invention

[0019] In the figure, 1 is a suspension guide seat, 2 is a suspension connection plate, 3 is a brake mechanism, 4 is an upper limit rod, 5 is a lower limit rod, 6 is a first guide rail, 7 is a first slide block, 8 is a compression spring, 9 is a ball screw, 10 is a screw nut, 11 is an upper bearing seat, 101 is a guide plate, 102 is an upper end cover, 103 is a lower end cover, 301 is an electromagnet, 302 is a movable brake pad, 303 is a fixed brake pad, 304 is an upper cover plate, 100 is a wheel floating mechanism, 200 is a wheel, 300 is a mobile base, 400 is a robot arm, and 500 is a suction cup assembly.

[0020] A detailed description of the present disclosure is provided below in conjunction with specific embodiments. The following embodiments will be helpful for those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any form. It should be noted that those skilled in the art can make some changes and improvements without departing from the concept of the present disclosure. All of these are within the scope of the present disclosure. [[ID=IM=19]]

[0021] It is important to note that when a component is described as "fixed" or "arranged" on another component, it may be direct or indirect with respect to the other component. When a component is described as "connected" to another component, the component may be directly connected to the other component or indirectly connected to the other component. Further, the connection may be for a fixing operation or a circuit connection operation.

[0022] The directions or positional relationships indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "upper part", "bottom", "inner side", "outer side", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of facilitating the description of the embodiments of the present disclosure and simplifying the description, and are not intended to imply or suggest that the referenced device or component must have a specific orientation and be configured and operate in a specific orientation, and thus should not be understood as a limitation to the present disclosure.

[0023] Furthermore, the terms "first" and "second" are used only for the purpose of description and should not be understood as indicating, implying, or implicitly indicating the relative importance or the amount of the indicated technical features. Therefore, the features defined by "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, "a plurality of" means two or more unless otherwise defined.

[0024] The wheel floating mechanism provided according to the present disclosure includes a suspension guide seat including a guide plate, an upper end cover, and a lower end cover, wherein the upper end cover is provided at the upper end of the guide plate, and the lower end cover is provided at the lower end of the guide plate; a ball lead screw assembly including a ball screw and a screw nut, wherein the upper end of the ball screw is connected to the upper end cover via a first bearing, the lower end of the ball screw is connected to the lower end cover via a second bearing, and the screw nut is rotatably connected to the ball screw; a suspension connection plate connected to the ball screw via the screw nut and used for mounting a wheel; a brake mechanism used for braking the ball screw after receiving a wheel control signal; and a compression spring mounted outside the ball screw, wherein the lower end of the compression spring is connected to the suspension connection plate, and the upper end of the compression spring is connected to the upper end cover.

[0025] In embodiments of this disclosure, when the brake mechanism brakes the ball screw, the screw nut is unable to move up and down along the ball screw, the wheel floating mechanism rigidly supports the wheel, and ensures that the posture of the mobile robot is stable when the robot arm is in motion. When the brake mechanism releases the ball screw, the wheel floating mechanism provides floating cushioning to the wheel, and can impart ground gripping force to the vehicle via a spring. The ball screw is then driven by the screw nut and can rotate within the first and second bearings. The screw nut moves up and down along the ball screw, and by causing a pressure change in the compression spring as it moves up and down, it provides floating cushioning to the wheel, ensuring that all four wheels are in contact with the ground when the robot walks, providing sufficient ground gripping force and reducing the sway of the robot.

[0026] The central concepts of this disclosure have been described above. To make the above-mentioned objectives, features, and benefits of this disclosure clearer and easier to understand, the technical solutions in the embodiments of this disclosure are described clearly and completely in conjunction with the accompanying drawings of the embodiments of this disclosure. It is clear that the embodiments described are not all embodiments, but only a selection of the embodiments of this disclosure. All other embodiments that can be obtained by those skilled in the art without expending creative effort based on the embodiments of this disclosure are included within the scope of this disclosure.

[0027] Figure 1 is a schematic diagram of a wheel floating mechanism according to one embodiment of the present disclosure, and Figure 2 is a cross-sectional view of the wheel floating mechanism according to an embodiment of the present disclosure. As shown in Figures 1 and 2, the wheel floating mechanism provided in the present disclosure includes a suspension guide seat 1, which comprises a guide plate 101, an upper end cover 102, and a lower end cover 103, wherein the upper end cover 102 is provided on the upper end of the guide plate 101, and the lower end cover 103 is provided on the lower end of the guide plate 101.

[0028] In the embodiments of this disclosure, the guide plate 101, the upper end cover 102, and the lower end cover 103 are integrally constructed.

[0029] A ball lead screw assembly comprising a ball screw 9 and a screw nut 10, wherein the upper end of the ball screw 9 is connected to an upper end cover 102 via a first bearing, the lower end of the ball screw 9 is connected to a lower end cover 103 via a second bearing, and the screw nut 10 is rotatably connected to the ball screw 9. A suspension connection plate 2 is connected to the ball screw 9 via the screw nut 10, and the suspension connection plate 2 is used to mount a wheel. A brake mechanism 3 is used to brake the ball screw 9 after receiving a wheel control signal. A compression spring 8 is mounted on the outside of the ball screw 9, the lower end of the compression spring 8 is connected to the suspension connection plate 2, and the upper end of the compression spring 8 is connected to an upper end cover 102.

[0030] In the disclosed embodiment, as shown in Figure 4, the ball screw 9 is arranged coaxially with the compression spring 8, the guide plate 101 is parallel to the compression spring 8, and the upper end cover 102 and lower end cover 103 are perpendicular to the guide plate 101, and therefore the upper end cover 102 and lower end cover 103 are parallel.

[0031] In the embodiments of this disclosure, when the power to the brake mechanism 3 is turned off, the brake mechanism 3 brakes the ball screw 9, thereby achieving rigid support for the wheel. When the power to the brake mechanism 3 is turned on, the ball screw 9 is driven by the screw nut 10 to rotate within the first and second bearings, and the screw nut 10 moves up and down along the ball screw 9, thereby achieving floating cushioning for the wheel.

[0032] In the embodiments of this disclosure, when the screw nut 10 moves upward along the ball screw 9, the compression spring 8 is compressed, and when the screw nut 10 moves downward along the ball screw 9, the compression spring 8 is extended, thereby achieving wheel float damping through the storage and release of energy in the compression spring 8.

[0033] In the embodiments of this disclosure, the first guide rail 6 and the second guide rail are each provided on the front side surface of the guide plate 101 and are arranged on both sides of the compression spring 8, and the suspension connecting plate 2 is connected to the first guide rail 6 via the first slide block 7 and to the second guide rail via the second slide block.

[0034] In embodiments of this disclosure, the first guide rail 6 and the second guide rail are arranged in parallel, and the suspension connecting plate 2 can slide along the first guide rail 6 and the second guide rail via the first slide block 7 and the second guide rail.

[0035] In the embodiments of this disclosure, an upper limit rod 4 is provided on the upper side of the suspension connection plate 2, and when the suspension connection plate 2 moves upward, the upper limit rod 4 abuts against the upper end cover 102 to restrict it, and a lower limit rod 5 is provided on the lower side of the suspension connection plate 2, and when the suspension connection plate 2 moves downward, the lower limit rod 5 abuts against the lower end cover 103 to restrict it.

[0036] In the embodiments of this disclosure, the suspension connection plate 2 is provided with a first screw hole, the upper limit rod 4 is connected to the upper side surface of the suspension connection plate 2 through the first screw hole, and the suspension connection plate 2 is provided with a second screw hole, the lower limit rod 5 is connected to the lower side surface of the suspension connection plate 2 through the second screw hole.

[0037] In the embodiments of this disclosure, shock-absorbing pads are provided at the free end of the limiting rod for vibration damping when the upper limit rod 4 and the upper end cover 102 are in contact, and for vibration damping when the lower limit rod 5 and the lower end cover 103 are in contact.

[0038] In the embodiments of this disclosure, the upper limit rod 4 is limited by contacting the upper end cover 102 through an impact-absorbing pad provided thereon, and the impact-absorbing pad is capable of reducing impact upon contact. The lower limit rod 5 is limited by contacting the lower end cover 103 through an impact-absorbing pad provided thereon, and the impact-absorbing pad is capable of reducing impact upon contact.

[0039] Figure 3 is a schematic diagram of a brake mechanism according to an embodiment of the present disclosure. As shown in Figure 3, the brake mechanism 3 comprises an electromagnet 301, an upper cover plate 304, a movable brake pad 302, and a fixed brake pad 303. The movable brake pad 302 is connected to the electromagnet 301 via an elastic member, the sleeve of the fixed brake pad 303 is mounted on a ball screw 9, and the main brake plate of the fixed brake pad 303 is positioned between the movable brake plate 302 and the upper cover plate 304. The electromagnet 301 is used to apply an electromagnetic force to the movable brake pad 302. When the power to the electromagnet 301 is turned on, the electromagnet 301 attracts the movable brake pad 302, at which time the elastic member is in a compressed state, and the ball screw 9 can rotate. When the power to the electromagnet 301 is turned off, the movable brake pad 302 is driven by the elastic member to move toward the fixed brake pad 303, braking the ball screw 9.

[0040] The upper cover plate 304 is fixed to the electromagnet 301.

[0041] A spring is used as an elastic component.

[0042] In a modified version of the present disclosure, the brake mechanism comprises an electromagnet 301, a brake shaft, a locking pin, and an elastic member. The sleeve of the brake shaft is mounted on a ball screw 9, and a plurality of locking holes are arranged sequentially in the circumferential direction on the main plate of the brake shaft. The locking pin is connected to the electromagnet 301 by an elastic member, and the electromagnet 301 is used to apply an electromagnetic force to the locking pin. When the power to the electromagnet 301 is turned on, the electromagnet 301 attracts the locking pin, at which point the elastic member is in a compressed state, and the ball screw 9 can rotate. When the power to the electromagnet 301 is turned off, the locking pin is driven by an elastic pad to move toward the brake shaft, thereby causing the locking pin to cooperate with the locking holes to brake the ball screw 9.

[0043] Figure 5 is a schematic diagram of a brake shaft according to an embodiment of the present disclosure. As shown in Figure 5, the fixed brake block 303 comprises a sleeve and a main brake plate, the sleeve being connected to one side of the main brake plate and located at the center of the main brake plate, the sleeve being fixedly connected to a ball screw 9, and through holes extending circumferentially through the electromagnet 301, the movable brake pad 302, and the fixed brake pad 303, with the sleeve being positioned within the through holes.

[0044] In the embodiments of this disclosure, the upper end cover 102 is provided with a first mounting hole that penetrates in the thickness direction, the upper bearing seat 11 is placed inside the first mounting hole, the first bearing is placed inside the upper bearing seat 11, the lower end cover 103 is provided with a second mounting hole that penetrates in the thickness direction, and the second bearing is placed inside the second mounting hole.

[0045] In the embodiments of this disclosure, a fixing nut is provided at the lower end of the ball screw 9 for restricting the ball screw 9 onto the second bearing, and a bearing end cover is provided at the outer end of the second mounting hole, the bearing end cover is used to restrict the second bearing inside the second mounting hole.

[0046] In the embodiments of this disclosure, the upper bearing seat 11 comprises a fixed end cover and a limiting sleeve. One end of the limiting sleeve is connected to one side of the fixed end cover, and the limiting sleeve passes through a first mounting hole. The fixed end cover is positioned on the upper side of the upper end cover 102, and a bearing mounting hole is provided in the fixed end cover. The first bearing is positioned inside the bearing mounting hole, and the bearing mounting hole communicates with the limiting sleeve. As a result, the upper end of the ball screw 9 passes through the limiting sleeve and is connected to the first bearing.

[0047] In the embodiments of this disclosure, the inner diameter of the limiting sleeve is larger than the inner diameter of the bearing mounting hole. The upper end of the compression spring 8 is positioned inside the limiting sleeve and abuts against the inner surface of the fixed end cover.

[0048] The electromagnet 301 is positioned on the upper side of the fixed end cover.

[0049] Figure 8 is a schematic diagram of a mobile robot according to an embodiment of the present disclosure. As shown in Figure 8, the mobile robot provided in the present disclosure comprises a wheeled floating mechanism 100, a mobile base 300 used to move to or stop at any position in accordance with a received control command, and a robot arm 400 positioned on the mobile base 300 for moving a target box transported by a conveyor belt to a target position, or for moving a target box at a material release position onto the conveyor belt. A fixture is provided at the end of the robot arm 400, which may be a suction cup assembly, comprising a back plate, a suction cup body plate, and suction cups, the upper end surface of the back plate being connected to one side of the suction cup body plate, and a right angle being formed between the back plate and the suction cup body plate. Multiple suction cups are arranged on the lower surface of the suction cup body plate, and material is attracted through the suction cups.

[0050] As shown in Figure 7, a wheel floating mechanism 100 is provided at the corner of the movable base 300, and a wheel 200 is provided on the wheel floating mechanism 100. As shown in Figure 6, the wheel floating mechanism 100 is used to float and cushion the wheels to maintain stability on uneven ground, or to rigidly support the wheels 200, and the wheels 200 are used to drive the movable base 300.

[0051] When the brake mechanism 3 brakes the ball screw 9, the screw nut 10 cannot move up and down along the ball screw 9, and the wheel floating mechanism 100 rigidly supports the wheel 200, ensuring that the posture of the mobile robot remains stable when the robot arm is in motion. When the brake mechanism 3 releases the ball screw 9, the wheel floating mechanism 100 provides floating cushioning to the wheel 200, and the ball screw 9 is then driven by the screw nut 10 to rotate within the inner rings of the first and second bearings, thereby causing the screw nut 10 to move up and down along the ball screw 9. This movement causes a pressure change in the compression spring 8, realizing floating cushioning of the wheel 200, ensuring that all four wheels make contact with the ground when the robot walks, providing sufficient ground gripping force and reducing robot sway.

[0052] The various embodiments described herein are described step by step, highlighting how each embodiment differs from the others. Cross-references are permitted between embodiments where there are identical or similar parts. The above descriptions of the disclosed embodiments enable those skilled in the art to implement or use the disclosure. Various modifications to those embodiments will be obvious to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit or scope of the disclosure. Therefore, this disclosure is not limited to the embodiments shown herein, but rather encompasses the broadest scope consistent with the principles and novel features disclosed herein.

[0053] The specific embodiments of this disclosure have been described above. It should be understood that this disclosure is not limited to the specific methods of implementation described above. Those skilled in the art can make various modifications and changes within the claims, which will not affect the substantial content of this disclosure.

Claims

1. A wheeled floating mechanism, A suspension guide seat comprising a guide plate, an upper end cover, and a lower end cover, wherein the upper end cover is provided on the upper end of the guide plate and the lower end cover is provided on the lower end of the guide plate, A ball lead screw assembly comprising a ball screw and a screw nut, wherein the upper end of the ball screw is connected to the upper end cover via a first bearing, the lower end of the ball screw is connected to the lower end cover via a second bearing, and the screw nut is rotatably connected to the ball screw, A suspension connection plate, which is connected to the ball screw via the aforementioned screw nut and used to attach the wheel, A brake mechanism used to brake or release the aforementioned ball screw, A compression spring mounted on the outside of the ball screw, wherein the lower end of the compression spring is connected to the suspension connection plate, and the upper end of the compression spring is connected to the upper end cover, The wheel floating mechanism comprising the above.

2. When the braking mechanism brakes the ball screw, rigid support is provided to the wheel. The wheel floating mechanism according to claim 1, wherein when the brake mechanism releases the ball screw, the ball screw is driven by the screw nut to rotate within the first bearing and the second bearing, and the screw nut moves up and down along the ball screw to provide floating cushioning for the wheel.

3. The first guide rail and the second guide rail are each provided on the front side surface of the guide plate and are arranged on both sides of the compression spring. The wheel floating mechanism according to claim 1, wherein the suspension connecting plate is connected to the first guide rail via a first slide block and to the second guide rail via a second slide block.

4. An upper limit rod is provided on the upper side surface of the suspension connection plate. When the suspension connection plate moves upward, the upper limit rod contacts and restricts the movement of the upper end cover. A lower limit rod is provided on the lower side surface of the suspension connection plate. The wheel floating mechanism according to claim 1, wherein when the suspension connection plate moves downward, the lower limit rod contacts and restricts movement against the lower end cover.

5. The wheel floating mechanism according to claim 4, wherein an impact absorbing pad is provided at the free end of the limiting rod for damping vibrations when the upper limit rod and the upper end cover are in contact, and for damping vibrations when the lower limit rod and the lower end cover are in contact.

6. The brake mechanism comprises an electromagnet, an upper cover plate, a movable brake pad, and a fixed brake pad. The movable brake pad is connected to the electromagnet via an elastic member, the sleeve of the fixed brake pad is mounted on the ball screw, and the main brake plate of the fixed brake pad is positioned between the movable brake plate and the upper cover plate. The electromagnet is used to apply an electromagnetic force to the movable brake pad. When the power to the electromagnet is turned on, the electromagnet attracts the movable brake pad, and at this time the elastic member is in a compressed state, and the ball screw can rotate. The wheel floating mechanism according to claim 1, wherein when the power to the electromagnet is turned off, the movable brake pad is driven by the elastic pad to move toward the fixed brake pad, thereby braking the ball screw.

7. The upper end cover is provided with a first mounting hole that penetrates in the thickness direction. The upper bearing seat is positioned inside the first mounting hole. The first bearing is located inside the upper bearing seat. The lower end cover is provided with a second mounting hole that penetrates in the thickness direction. The wheel floating mechanism according to claim 1, wherein the second bearing is located inside the second mounting hole.

8. The upper bearing seat comprises a fixed end cover and a limiting sleeve. One end of the limiting sleeve is connected to one side of the fixed end cover, and the limiting sleeve passes through the first mounting hole. The fixed end cover is positioned on the upper side of the upper end cover. The fixed end cover is provided with bearing mounting holes. The first bearing is positioned inside the bearing mounting hole. The wheel floating mechanism according to claim 7, wherein the bearing mounting hole communicates with the limiting sleeve, thereby allowing the upper end of the ball screw to pass through the limiting sleeve and be connected to the first bearing.

9. The aforementioned brake mechanism comprises an electromagnet, a brake shaft, a locking pin, and an elastic member. The sleeve of the brake shaft is mounted on the ball screw, and the multiple locking holes are arranged sequentially in the circumferential direction on the main plate of the brake shaft. The locking pin is connected to the electromagnet by the elastic member, The electromagnet is used to apply an electromagnetic force to the locking pin. When the power to the electromagnet is turned on, the electromagnet attracts the locking pin, and at this time the elastic member is in a compressed state, and the ball screw can rotate. The wheel floating mechanism according to claim 1, wherein when the power to the electromagnet is turned off, the locking pin is driven by the elastic pad to move toward the brake shaft, thereby causing the locking pin to cooperate with the locking hole to brake the ball screw.

10. It is a mobile robot, A wheeled floating mechanism, A suspension guide seat comprising a guide plate, an upper end cover, and a lower end cover, wherein the upper end cover is provided on the upper end of the guide plate and the lower end cover is provided on the lower end of the guide plate, A ball lead screw assembly comprising a ball screw and a screw nut, wherein the upper end of the ball screw is connected to the upper end cover via a first bearing, the lower end of the ball screw is connected to the lower end cover via a second bearing, and the screw nut is rotatably connected to the ball screw, A suspension connection plate, which is connected to the ball screw via the aforementioned screw nut and used to attach the wheel, A brake mechanism used to brake or release the aforementioned ball screw, The wheel floating mechanism comprises a compression spring mounted on the outside of the ball screw, the lower end of which is connected to the suspension connection plate, and the upper end of which is connected to the upper end cover. A moving base used to move to or stop at any position according to the received control command, and to determine the angle of orientation, The system includes a robotic arm positioned on the aforementioned mobile base for moving a target box, which is transported by a conveyor belt, to a target position, or for moving a target box, which is in a material release position, to the conveyor belt, The wheel floating mechanism is provided at the corner end of the movable base, and a wheel is provided on the wheel floating mechanism. The wheel floating mechanism is used to float and cushion the wheel to maintain stability on uneven ground, or to rigidly support the wheel. The wheels are used to drive the mobile robot.

Images