CN110576424A - Latent lifting type mobile robot with double-wheel differential inertial navigation - Google Patents
Latent lifting type mobile robot with double-wheel differential inertial navigation Download PDFInfo
- Publication number
- CN110576424A CN110576424A CN201910946889.5A CN201910946889A CN110576424A CN 110576424 A CN110576424 A CN 110576424A CN 201910946889 A CN201910946889 A CN 201910946889A CN 110576424 A CN110576424 A CN 110576424A
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- clamping
- rod
- block
- rods
- sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a hidden lifting type mobile robot with double-wheel differential inertial navigation, which comprises an outer shell, moving wheels, a driving mechanism and a lifting platform, wherein two sliding grooves are symmetrically formed in one side, far away from the outer shell, of the lifting platform, clamping mechanisms for clamping goods are arranged in the sliding grooves in a sliding mode, each clamping mechanism comprises a threaded rod, a sliding block and clamping rods, the threaded rods are rotatably arranged in the sliding grooves, the sliding blocks are symmetrically sleeved at two ends of the threaded rods in a threaded mode, the two clamping rods are respectively connected with the two sliding blocks, one end of each threaded rod penetrates through the lifting platform and is fixedly connected with a rotating block, an electric towing rod is arranged inside the outer shell, and the driving end of each electric pushing rod is connected with the lifting platform. According to the invention, the clamping mechanism is arranged above the lifting platform, so that goods placed on the lifting platform can be fixedly clamped by the clamping rods, and the goods are more stable and are not easy to slip off in the transportation process.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a latent lifting type mobile robot with double-wheel differential inertial navigation.
Background
Inertial navigation refers to a process of forming a multi-axis inertial measurement unit by using various sensors, wherein the sensors mainly comprise a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, position is obtained through velocity integration, and velocity is obtained through integrating total acceleration, and the total acceleration refers to the sum of acceleration (namely specific force acceleration) generated by gravity acceleration and applied non-gravity. Inertial navigation for indoor positioning of mobile robots is generally merged with other positioning sensors. The latent lifting type mobile robot with the double-wheel differential inertial navigation generally comprises an outer shell, a driving module and a lifting module, wherein the driving module and the lifting module are installed inside the outer shell, and the work of transporting goods is completed.
However, the lifting platform for placing goods in the current latent lifting mobile robot with two-wheel differential inertial navigation is too simple in structure, for example, the latent lifting mobile robot with two-wheel differential inertial navigation disclosed in the patent with the publication number of CN207737387U, the lifting platform is a simple flat plate, so that the robot can only transport objects with relatively regular structures, and for some goods with irregular or round structures, because the contact surface between the object and the platform is small, and the platform lacks a fixed clamping device, the goods are easy to slip off from the lifting platform in the process of transporting goods, so that the transportation efficiency of the goods is reduced, the goods are damaged, and the latent lifting mobile robot is not easy to use; and the inclination that the platform was lifted to unable high-efficient quick regulation of this robot leads to the user can't adjust the inclination who lifts the platform according to the shape of goods, keeps the balance of goods.
Disclosure of Invention
The invention aims to solve the defects in the prior art, such as: the lifting platform for placing the goods in the current hidden lifting type mobile robot with the double-wheel differential inertial navigation is too simple in structure, the goods cannot be effectively clamped and fixed, and the hidden lifting type mobile robot with the double-wheel differential inertial navigation is provided.
in order to achieve the purpose, the invention adopts the following technical scheme:
The utility model provides a formula of lifting mobile robot latent of two rounds of differential inertial navigation, includes the shell body, removes wheel, actuating mechanism, lifts the platform, lift the platform and keep away from one side symmetry of shell body and seted up two spouts, slidable mounting has the fixture that is used for the centre gripping goods in the spout, fixture includes threaded rod, slider, supporting rod, the threaded rod rotates and installs in the spout, the slider cup joints the both ends at the threaded rod for two and symmetrical screw thread, two the supporting rod is connected with two sliders respectively, the one end of threaded rod is passed and is lifted platform and fixedly connected with turning block, shell body internally mounted has electronic tow bar, electric putter's drive end with lift the platform and be connected.
preferably, the screw thread opposite direction at both ends about the threaded rod, the one end that the threaded rod was kept away from to the slider is rotated and is installed first pivot, the supporting rod is articulated with the slider through first pivot, first pivot is perpendicular with the threaded rod, install angle fixed establishment on the supporting rod.
preferably, the angle fixing mechanism comprises a pressing rod parallel to the clamping rod, a jack used for installing the pressing rod is arranged inside the clamping rod, and a clamping groove used for clamping the pressing rod is arranged in the middle of one end, far away from the threaded rod, of the sliding block.
Preferably, the pressing rod is far away from the handheld block of one end fixedly connected with of slider, be equipped with the spring between handheld block and the supporting rod, cup joint on pressing rod and both ends of spring respectively with handheld block, pressing rod fixed connection.
Preferably, two sets of be equipped with between the fixture two with spout vertically centre gripping net, the both ends fixedly connected with installation pole of centre gripping net, the upper end of installation pole is equipped with the inserted bar parallel with the installation pole, offer the slot that is used for the joint inserted bar on the supporting rod.
Preferably, lift one side four corners department that the spout was kept away from to the platform and all be equipped with two fixed blocks, two be equipped with the second pivot between the fixed block, the both ends of second pivot respectively with two fixed block fixed connection, second pivot cover is equipped with the movable block.
preferably, one end of the movable block, which is far away from the second rotating shaft, is rotatably provided with a third rotating shaft perpendicular to the second rotating shaft, the electric push rod is fixedly arranged in the outer shell, and the driving end of the electric push rod is hinged to the movable block through the third rotating shaft.
Preferably, the threaded rod is far away from the one end fixedly connected with stopper of turning block, the inside spacing groove that is used for rotating the stopper of offering of platform lifts.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the clamping mechanism is arranged above the lifting platform, so that goods placed on the lifting platform can be fixedly clamped by the clamping rods, and the goods are more stable and are not easy to slip off in the transportation process; but also detachable mounting has the centre gripping net between two holding rod, when the centre gripping was carried out the goods to the centre gripping, two centre gripping nets also can wrap up the centre gripping to the goods, especially to the thin irregular goods in the thick both sides in some middles, and this centre gripping mode is very effective, has not only improved freight's efficiency, has guaranteed goods safety moreover, avoids the goods landing to damage.
2. in the invention, the sliding block and the clamping rod in the clamping mechanism are rotationally connected, and when the clamping rod is not needed, an operator can rotate the clamping rod to fold the clamping rod in the sliding groove, so that the space is greatly saved, the robot can be conveniently stored, the robot can transport goods with the area larger than that of the lifting platform, the use range of the robot is improved, and various types of goods can be transported.
3. According to the invention, an operator can efficiently and quickly adjust the inclination angle of the lifting platform, and the operator can conveniently adjust the inclination angle according to the shape type of the actual goods to balance the center of gravity of the goods, so that the goods are more stably placed on the lifting platform; and the inclination of lifting platform can be adjusted, and the operator of being convenient for carries out the loading and unloading of goods, has improved operator's work efficiency.
drawings
Fig. 1 is a schematic perspective view of a latent lifting type mobile robot with two-wheel differential inertial navigation according to the present invention;
Fig. 2 is a schematic plan view of a latent lifting type mobile robot with two-wheel differential inertial navigation according to the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
FIG. 4 is an enlarged view of the structure at B in FIG. 2;
FIG. 5 is an enlarged view of the structure at C in FIG. 2;
Fig. 6 is a schematic structural view of a joint between a slide block and a clamping rod of the latent lifting type mobile robot with two-wheel differential inertial navigation provided by the invention.
In the figure: the device comprises an outer shell 1, a lifting platform 2, a driving mechanism 3, a moving wheel 4, an electric push rod 5, a sliding chute 6, a threaded rod 7, a clamping rod 8, an installation rod 9, a clamping net 10, a spring 11, a sliding block 12, a jack 13, a slot 14, an inserted rod 15, an abutting rod 16, a handheld block 17, a rotating block 18, a movable block 19, a clamping groove 20, a first rotating shaft 21, a second rotating shaft 22, a third rotating shaft 23 and a fixed block 24.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-6, a latent lifting type mobile robot with double-wheel differential inertial navigation comprises an outer shell 1, a moving wheel 4, a driving mechanism 3 and a lifting platform 2, wherein two sliding grooves 6 are symmetrically formed in one side of the lifting platform 2, which is far away from the outer shell 1, clamping mechanisms for clamping goods are arranged in the sliding grooves 6 in a sliding mode, each clamping mechanism comprises a threaded rod 7, a sliding block 12 and clamping rods 8, the threaded rods 7 are rotatably arranged in the sliding grooves 6, the sliding blocks 12 are two symmetrical threads sleeved at two ends of the threaded rod 7, the thread directions of the left end and the right end of the threaded rod 7 are opposite, the two clamping rods 8 are respectively connected with the two sliding blocks 12, one end of the threaded rod 7 penetrates through the lifting platform 2 and is fixedly connected with a rotating block 18, an operator drives the threaded rod 7 to rotate by rotating the rotating block 18, and the two sliding, the moving directions of the sliding blocks 12 are opposite, and the sliding blocks are either close to each other or far away from each other, so that the effect of clamping and fixing the goods on the lifting platform 2 is realized, in order to enable the rotation of the threaded rod 7 to be more stable, a limiting block is fixedly connected to one end, far away from the rotating block 18, of the threaded rod 7, a limiting groove used for rotating the limiting block is formed in the lifting platform 2, and the limiting block is matched with the limiting groove so that the threaded rod 7 cannot generate axial displacement;
A first rotating shaft 21 is rotatably mounted at one end, far away from the threaded rod 7, of the sliding block 12, the clamping rod 8 is hinged to the sliding block 12 through the first rotating shaft 21, the first rotating shaft 21 is perpendicular to the threaded rod 7, the clamping rod 8 can rotate around the first rotating shaft 21, and when the clamping rod is not used or large goods cannot be clamped, the clamping rod 8 can be rotated and retracted into the sliding groove 6, so that space is saved; the angle fixing mechanism is arranged on the clamping rod 8, when the clamping rod 8 is used, the angle fixing device can fix the angle between the clamping rod 8 and the lifting platform 2 to be ninety degrees so as to better clamp goods, the angle fixing mechanism comprises a pressing rod 16 parallel to the clamping rod 8, a jack 13 for installing the pressing rod 16 is arranged in the clamping rod 8, a clamping groove 20 for clamping the pressing rod 16 is arranged in the middle of one end of the slider 12 far away from the threaded rod 7, a handheld block 17 is fixedly connected to one end of the pressing rod 16 far away from the slider 12, a spring 11 is arranged between the handheld block 17 and the clamping rod 8, the spring 11 is sleeved on the pressing rod 16, and two ends of the spring 11 are respectively and fixedly connected with the handheld block 17 and the pressing rod 16, under the action of the spring 11, the pressing rod 16 is stably clamped in the clamping groove 20, the clamping rod 8 and the lifting platform 2 are fixed in a vertical state, when the clamping rod 8 is not needed, an operator can rotate the clamping rod 8 only by pulling the abutting rod 16 out of the clamping groove 20 through the holding block 17;
in order to obtain a better clamping effect, two clamping nets 10 perpendicular to the sliding groove 6 are arranged between the two groups of clamping mechanisms, when the clamping rods 8 clamp the goods, the two clamping nets 10 can also clamp the goods, particularly the goods with thick middle parts and thin two sides, the clamping mode is very effective, the two ends of each clamping net 10 are fixedly connected with the mounting rods 9, the upper ends of the mounting rods 9 are provided with the inserting rods 15 parallel to the mounting rods 9, the inserting rods 15 are fixedly connected with the mounting rods 9, the clamping rods 8 are provided with the slots 14 used for clamping the inserting rods 15, the inserting rods 15 are inserted into the slots 14, the mounting of the clamping nets 10 can be completed, the operation is simple, the clamping nets 10 are detachably connected with the clamping rods 8, and the mounting and dismounting of operators are facilitated;
Two fixed blocks 24 are arranged at four corners of one side of the lifting platform 2 far away from the sliding chute 6, the two fixed blocks 24 are in a group, a second rotating shaft 22 is arranged between the two fixed blocks 24, two ends of the second rotating shaft 22 are respectively fixedly connected with the two fixed blocks 24, the second rotating shaft 22 is sleeved with a movable block 19, one end of the movable block 19 far away from the second rotating shaft 22 is rotatably provided with a third rotating shaft 23 vertical to the second rotating shaft 22, the axial direction of the third rotating shaft 23 is taken as a reference direction, the two groups of fixed blocks 24 positioned on the same side are fixedly connected with the lifting platform 2, the other two fixed blocks 24 positioned on the same side are slidably connected with the lifting platform 2, the axial direction of the second rotating shaft 22 is taken as a reference direction, the two movable blocks 19 positioned on the same side are fixedly sleeved on the second rotating shaft 22, and the other two movable blocks 19 positioned on the same side;
The inside fixed mounting of shell body 1 has four electronic tow bars, the position corresponds with fixed block 24 positions in the inside four corners department of shell, electric putter 5's drive end is articulated with movable block 19 through third pivot 23, when the epaxial electric putter 5 that is in second pivot 22 has the difference in height, movable block 19 rotates around third pivot 23, make lift platform 2 at the axial tilt of second pivot 22, when the epaxial electric putter 5 that is in third pivot 23 has the difference in height, movable block 19 rotates around second pivot 22, make lift platform 2 at the axial tilt of third pivot 23, the effect of high-efficient quick regulation lift platform 2's inclination has been realized, make things convenient for the operator to adjust according to the goods shape, guarantee the focus balance of goods in the transportation, and make things convenient for shipment and unloading.
In the invention, when a user uses the device, goods are placed above the lifting platform 2, then the rotating block 18 is rotated to drive the threaded rod 7 to rotate, and the two sliding blocks 12 are sleeved on the two sections of threaded rods 7 with opposite thread directions, so that the sliding blocks 12 have opposite moving directions, are close to each other or are far away from each other, and the two clamping rods 8 move towards the middle part, thereby realizing the effect of clamping and fixing the goods on the lifting platform 2 and ensuring that the goods are not easy to slip; when the clamping rod 8 is not needed to be used, an operator pulls the abutting rod 16 out of the clamping groove 20 through the handheld block 17, the angle fixing state between the clamping rod 8 and the lifting platform 2 is released, the abutting rod can rotate around the first rotating shaft 21 at the moment, the operator can rotate the clamping rod 8 to be contracted in the sliding groove 6, the space is greatly saved, the robot is convenient to store, and meanwhile the robot can transport goods with larger area than the lifting platform 2; the clamping nets 10 are detachably mounted between the clamping rods 8, when the clamping rods 8 clamp the goods, the two clamping nets 10 can also wrap and clamp the goods, and particularly, the clamping mode is very effective for irregular goods with thick middle parts and thin two sides; simultaneously this robot can adjust the inclination that lifts platform 2, produce the difference in height through the ascending electric putter 5 in the axial that makes second pivot 22, the movable block 19 rotates around third pivot 23, and then make and lift platform 2 at the epaxial slope of second pivot 22, there is the production difference in height through the ascending electric putter 5 in the axial that makes third pivot 23, the movable block 19 rotates around second pivot 22, and then make and lift platform 2 at the epaxial slope of third pivot 23, the effect of the inclination of platform 2 is lifted in the quick regulation of high efficiency has been realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. the latent lifting type mobile robot with the double-wheel differential inertial navigation function comprises a shell (1), moving wheels (4), a driving mechanism (3) and a lifting platform (2), and is characterized in that two sliding grooves (6) are symmetrically formed in one side, far away from the shell (1), of the lifting platform (2), clamping mechanisms used for clamping goods are arranged in the sliding grooves (6) in a sliding mode, each clamping mechanism comprises a threaded rod (7), a sliding block (12) and clamping rods (8), the threaded rods (7) are rotatably arranged in the sliding grooves (6), the sliding blocks (12) are two and symmetrically in threaded sleeve connection with two ends of the threaded rods (7), the two clamping rods (8) are respectively connected with the two sliding blocks (12), one end of each threaded rod (7) penetrates through the lifting platform (2) and is fixedly connected with a rotating block (18), and an electric towing rod is arranged inside the shell (1), the driving end of the electric push rod (5) is connected with the lifting platform (2).
2. The latent lifting type mobile robot with double-wheel differential inertial navigation function according to claim 1, characterized in that the threaded directions of the left end and the right end of the threaded rod (7) are opposite, the end of the sliding block (12) far away from the threaded rod (7) is rotatably provided with a first rotating shaft (21), the clamping rod (8) is hinged to the sliding block (12) through the first rotating shaft (21), the first rotating shaft (21) is perpendicular to the threaded rod (7), and the clamping rod (8) is provided with an angle fixing mechanism.
3. the latent lifting type mobile robot with the double-wheel differential inertial navigation function according to claim 2, wherein the angle fixing mechanism comprises a pressing rod (16) parallel to the clamping rod (8), a jack (13) for installing the pressing rod (16) is formed in the clamping rod (8), and a clamping groove (20) for clamping the pressing rod (16) is formed in the middle of one end, far away from the threaded rod (7), of the sliding block (12).
4. The latent lifting type mobile robot with two-wheel differential inertial navigation function according to claim 3, wherein a hand-held block (17) is fixedly connected to one end of the pressing rod (16) far away from the sliding block (12), a spring (11) is arranged between the hand-held block (17) and the clamping rod (8), the spring (11) is sleeved on the pressing rod (16), and two ends of the spring are respectively and fixedly connected with the hand-held block (17) and the pressing rod (16).
5. The latent lifting type mobile robot with the double-wheel differential inertial navigation function according to claim 1, wherein two clamping nets (10) perpendicular to the sliding grooves (6) are arranged between the two groups of clamping mechanisms, mounting rods (9) are fixedly connected to two ends of each clamping net (10), insertion rods (15) parallel to the mounting rods (9) are arranged at the upper ends of the mounting rods (9), and insertion grooves (14) for clamping the insertion rods (15) are formed in the clamping rods (8).
6. The latent lifting type mobile robot with two-wheel differential inertial navigation according to claim 1, characterized in that two fixed blocks (24) are respectively arranged at four corners of one side of the lifting platform (2) far away from the sliding groove (6), a second rotating shaft (22) is arranged between the two fixed blocks (24), two ends of the second rotating shaft (22) are respectively fixedly connected with the two fixed blocks (24), and a movable block (19) is sleeved on the second rotating shaft (22).
7. the latent lifting type mobile robot with two-wheel differential inertial navigation function according to claim 6, characterized in that a third rotating shaft (23) perpendicular to the second rotating shaft (22) is rotatably installed at one end of the movable block (19) far away from the second rotating shaft (22), the electric push rod (5) is fixedly installed in the outer shell (1), and the driving end of the electric push rod (5) is hinged to the movable block (19) through the third rotating shaft (23).
8. the latent lifting type mobile robot with the double-wheel differential inertial navigation function according to claim 1, wherein a limiting block is fixedly connected to one end, far away from the rotating block (18), of the threaded rod (7), and a limiting groove for rotating the limiting block is formed in the lifting platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910946889.5A CN110576424A (en) | 2019-10-07 | 2019-10-07 | Latent lifting type mobile robot with double-wheel differential inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910946889.5A CN110576424A (en) | 2019-10-07 | 2019-10-07 | Latent lifting type mobile robot with double-wheel differential inertial navigation |
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| Publication Number | Publication Date |
|---|---|
| CN110576424A true CN110576424A (en) | 2019-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910946889.5A Pending CN110576424A (en) | 2019-10-07 | 2019-10-07 | Latent lifting type mobile robot with double-wheel differential inertial navigation |
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| Country | Link |
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| CN (1) | CN110576424A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112678478A (en) * | 2020-12-16 | 2021-04-20 | 安徽宇锋智慧物联科技有限公司 | Transport stable towed AGV fork truck of hiding |
| CN114879814A (en) * | 2022-05-26 | 2022-08-09 | 南京理工大学北方研究院 | Portable computer for artificial intelligence application |
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| CN207364561U (en) * | 2017-09-01 | 2018-05-15 | 深圳清元数码科技有限公司 | A kind of clamping device |
| CN207737387U (en) * | 2017-12-19 | 2018-08-17 | 青岛海通机器人系统有限公司 | A kind of latent lifting type mobile robot of two-wheel differential inertial navigation |
| CN208169872U (en) * | 2018-05-04 | 2018-11-30 | 西安航空职业技术学院 | A kind of height-adjustable clamping device |
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2019
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| WO2013131359A1 (en) * | 2012-03-05 | 2013-09-12 | Tsang Lingchu | Screw-driven lift table |
| CN206295441U (en) * | 2016-07-19 | 2017-07-04 | 师丽娜 | A kind of department of general surgery's trauma operation medical treatment device |
| CN205852306U (en) * | 2016-08-02 | 2017-01-04 | 安徽德锐仕机床制造有限公司 | A kind of adjustable cylinder clamp for milling flat |
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| CN114879814A (en) * | 2022-05-26 | 2022-08-09 | 南京理工大学北方研究院 | Portable computer for artificial intelligence application |
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Application publication date: 20191217 |
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| RJ01 | Rejection of invention patent application after publication |