CN112758854A

CN112758854A - Mobile robot vertical jacking device and working method

Info

Publication number: CN112758854A
Application number: CN202011604258.4A
Authority: CN
Inventors: 韦宝琛; 岳义; 李研彪
Original assignee: Taicang Zhenyi Technology Co ltd
Current assignee: Taicang Zhenyi Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-07

Abstract

A mobile robot jacking device can realize the function of jacking large-sized workpieces in the vertical direction and ensure that the robot keeps the stability and reliability of the workpieces in high-speed motion. The invention relates to a novel jacking system for a mobile robot, which consists of a front jacking device and a rear jacking device with the same structure, wherein the two jacking devices are driven by a motor through a speed reducer, so that the synchronism of the two jacking devices is ensured, each jacking device comprises two identical jacking modules, the jacking modules are arranged in a bilateral symmetry manner, each jacking module is driven through a screw rod-slide block-connecting rod, and the synchronism of the two jacking modules is ensured through the coaxial output of the speed reducer. The jacking system formed by jacking the modules is uniformly loaded, the synchronism of each module is ensured through linked mechanical transmission, and the stability and reliability of the process of carrying workpieces are improved.

Description

Mobile robot vertical jacking device and working method

Technical Field

The invention belongs to the technical field of mobile robot jacking devices, and particularly relates to a mobile robot vertical jacking device and a working method thereof.

Background

Mobile robot wide application in material handling field, jacking system installs on mobile robot chassis, be used for carrying out the lift operation to being carried the material, common jacking system includes ejector pin jacking system and X type jacking system, but the ejector pin device needs longer guider just can resist great transverse load, can increase mobile robot's height, X device structure is complicated, the interference phenomenon appears easily, and because every X type structure top contact point is many, to the required precision height.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a mobile robot vertical jacking device, wherein a jacking module of a jacking system of the mobile robot vertical jacking device is simpler in structure compared with an X-shaped jacking module, and four jacking modules are driven by the same motor in a linkage manner and have good synchronism; adopt four simpler "income" style of calligraphy structure jacking modules of structure, divide into two sets ofly around, two jacking modules bilateral symmetry of every group arrange, and four jacking modules are driven by a motor linkage, guarantee the reliability of jacking process and the homogeneity and the stress stability that bear.

The technical scheme is as follows: the invention provides a mobile robot vertical jacking device and a working method, wherein the mobile robot vertical jacking device comprises a chassis, a driving motor is arranged in the middle of the front part and the rear part of the chassis, an output shaft of the driving motor is connected with a first speed reducer, transmission shafts are arranged at the front end and the rear end of the first speed reducer, the end parts of the two transmission shafts are connected with two symmetrical jacking devices, each jacking device comprises a second speed reducer, a jacking module and a jacking platform, and the second speed reducer is connected with the transmission shafts; the two jacking modules are symmetrically arranged at the left end and the right end of the second speed reducer; the jacking platform is arranged at the upper end part of the jacking module. The linkage transmission system of the vertical jacking device of the mobile robot adopts a transmission mode of a motor, a first speed reducer, a front and rear transmission shaft, a front and rear second speed reducer, a left and right screw nut system and four jacking modules, wherein a set of lifting driving devices are respectively arranged at the front and rear ends of the mobile robot, the stress is uniform, each set of driving device consists of two jacking modules which are bilaterally symmetrical, and each module is matched with a screw through a nut on a bottom moving block to convert the rotation of the screw into the up-and-down movement of a jacking platform.

Further, according to the mobile robot vertical jacking device and the working method, the output ends of the front end and the rear end of the second speed reducer are connected with the lead screw supporting seat, the lead screw is connected to the lead screw supporting seat, and the second speed reducer is connected with the lead screw through the lead screw supporting seat.

Further, the mobile robot vertical jacking device and the working method thereof are characterized in that the jacking module comprises two first connecting rods and two second connecting rods, and the end parts of the two second connecting rods are respectively rotatably connected with the middle parts of the two first connecting rods; a moving block is rotatably connected between the lower end parts of the two first connecting rods; the top end of the first connecting rod is rotatably connected with a top shaft seat, and the upper end part of the top shaft seat is fixedly connected with the jacking platform; one end of the second connecting rod, which is far away from the first connecting rod, is rotatably connected with a bottom shaft seat, and the lower end part of the bottom shaft seat is fixedly connected with the chassis.

Further, according to the vertical jacking device of the mobile robot and the working method, the moving block is provided with the nut, and the nut is connected with the lead screw in a matching manner.

Further, according to the mobile robot vertical jacking device and the working method, the length of the first connecting rod is 2 times that of the second connecting rod. The geometric constraint can ensure that the lifting is vertical linear lifting.

Further, according to the vertical jacking device of the mobile robot and the working method, the lower end part of the first connecting rod is provided with the guide wheel.

Further, according to the mobile robot vertical jacking device and the working method, the lower end part of the chassis is provided with the plurality of driving wheels.

The technical scheme shows that the invention has the following beneficial effects: according to the mobile robot vertical jacking device, the four jacking modules are positioned at the four vertexes of the robot chassis and are uniformly loaded; a motor driving system realizes synchronous lifting of the four jacking modules through linked mechanical transmission; each jacking module adopts a simpler connecting rod system shaped like a Chinese character 'in', and is easy to realize; the jacking device has the characteristics of uniform bearing, simple structure, stable operation and strong unbalance loading resistance and lateral force resistance, provides a reliable and stable jacking scheme for the heavy-load carrying mobile robot, and has high popularization value.

Drawings

Fig. 1 is a schematic structural view of a mobile robot vertical jacking apparatus according to the present invention;

FIG. 2 is a schematic top view of a mobile robotic vertical lift apparatus according to the present invention;

FIG. 3 is a schematic structural diagram of the jacking apparatus of the present invention;

fig. 4 is a schematic structural diagram of a jacking module according to the present invention.

In the figure: the jacking device comprises a base plate 1, a jacking device 2, a first speed reducer 3, a driving motor 4, a driving wheel 5, a jacking module 6, a lead screw 7, a second speed reducer 8, a jacking platform 9, a transmission shaft 10, a lead screw supporting seat 11, a lead screw nut 12, a first connecting rod 13, a moving block 14, a guide wheel 15, a top shaft seat 16, a second connecting rod 17 and a bottom shaft seat 18.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of 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, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

As shown in fig. 1-4: the mobile robot jacking system is arranged on a robot chassis 1, a jacking platform 9 is an output platform of the jacking system, a jacking driving motor 4 is positioned at the front and rear central positions of the robot chassis, an output shaft of the driving motor 4 is connected with a first speed reducer 3, the front and rear ends of the first speed reducer 3 are respectively provided with an output transmission shaft 10, the first speed reducer 3 decelerates the high-speed rotation of the driving motor 4 and converts the motor rotation into the rotation of the front and rear transmission shafts 10, each transmission shaft 10 is connected with an input end of a second speed reducer 8, the left and right of the second speed reducer 8 are respectively provided with an output end, the left and right lead screw supporting seats 11 are respectively connected with the left and right lead screws 7, so that the rotation of the transmission shaft 10 is converted into the same-speed reverse rotation of the two lead screws 7, each lead screw 7 drives the moving block 14 on the jacking module 6 to move left and right through the nut 12, and the left and right movement of the moving block 14 is converted into the up and down movement of the jacking platform 9 through the connecting rod system.

The jacking system comprises a front driving device 2 and a rear driving device 2 which are identical in structure, and the first speed reducer 3 realizes synchronous jacking movement of the two driving devices 2 through synchronous rotation of the front output transmission shaft 10 and the rear output transmission shaft 10. The synchronous lifting of the left and right jacking modules 6 is ensured by the synchronous reverse rotation of the two output ends of the second speed reducer 8 through one jacking device 2, and the four jacking modules realize synchronous lifting movement through the set of transmission system.

As shown in fig. 3 and 4, each driving module 6 includes two first connecting rods 13 and two second connecting rods 17 connected by a rotating joint, wherein the first connecting rod 13 has a rotating joint parallel to each other in the axial direction at the bottom end, the middle end and the top end, and is respectively connected to a moving block 14, the top end of the second connecting rod 17 and a top shaft seat 16, the top end and the bottom end of the second connecting rod 17 have a rotating joint, and are respectively rotatably connected to the middle rotating joint and the bottom shaft seat 18 of the first connecting rod 13, the top shaft seat 16 is fixedly connected to the jacking platform, the bottom shaft seat 18 is fixedly connected to the robot chassis 1, the length of the first connecting rod 13 is designed to be 2 times the length of the second connecting rod 17, and the geometric constraint can ensure that the axis of the shaft seat 16 is lifted vertically and linearly.

During work, based on the structural foundation, the mobile robot moves to the position below an article; the driving motor 4 is started, and the front transmission shaft 10 and the rear transmission shaft 10 are driven to rotate through the first speed reducer 3; the rotation of the rotating shaft 10 is converted into the same-speed reverse rotation of the two lead screws 7; through the matching of the screw rod 7 and the nut 12, the moving block 14 moves left and right, so that the jacking platform 9 moves up and down under the matching of the first connecting rod 13 and the second connecting rod 17; thereby jacking up, transporting and placing the article.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims

1. The vertical jacking device of the mobile robot and the working method are characterized by comprising a chassis (1), wherein a driving motor (4) is arranged in the center of the front and back of the chassis (1), an output shaft of the driving motor (4) is connected with a first speed reducer (3), transmission shafts (10) are arranged at the front end and the back end of the first speed reducer (3), two symmetrical jacking devices (2) are connected to the end parts of the two transmission shafts (10), each jacking device (2) comprises a second speed reducer (8), a jacking module (6) and a jacking platform (9), and the second speed reducer (8) is connected with the transmission shafts (10); the two jacking modules (6) are symmetrically arranged at the left end and the right end of the second speed reducer (8); the jacking platform (9) is arranged at the upper end part of the jacking module (6).

2. The mobile robot vertical jacking device and the working method thereof according to claim 1, wherein output ends of the front end and the rear end of the second reducer (8) are connected with a lead screw support seat (11), the lead screw support seat (11) is connected with a lead screw (7), and the second reducer (8) is connected with the lead screw (7) through the lead screw support seat (11).

3. The mobile robotic vertical jacking device and method of operation of claim 2, wherein said jacking module (6) includes two first links (13) and two second links (17) pivotally connected at their ends to the center of said two first links (13); a moving block (14) is rotatably connected between the lower end parts of the two first connecting rods (13); the top end of the first connecting rod (13) is rotatably connected with a top shaft seat (16), and the upper end part of the top shaft seat (16) is fixedly connected with the jacking platform (9); one end, far away from the first connecting rod (13), of the second connecting rod (17) is rotatably connected with a bottom shaft seat (18), and the lower end of the bottom shaft seat (18) is fixedly connected with the chassis (1).

4. The mobile robot vertical jacking device and operating method according to claim 3, wherein a nut (12) is provided on the moving block (14), and the nut (12) is connected with the lead screw (7) in a matching manner.

5. The mobile robotic vertical lift apparatus and method of operation of claim 3 wherein the length of the first link (13) is 2 times the length of the second link (17).

6. The mobile robot vertical lift apparatus and operating method according to claim 3, wherein the lower end of the first link (13) is provided with a guide wheel (15).

7. The mobile robot vertical jacking device and operating method according to claim 1, wherein a plurality of driving wheels (5) are provided at a lower end of the chassis (1).

8. The mobile robot vertical lifting apparatus and the working method according to any one of claims 1 to 7, wherein the working method is: 1) the mobile robot moves to the lower part of the article; 2) the driving motor (4) is started, and the front transmission shaft (10) and the rear transmission shaft (10) are driven to rotate through the first speed reducer (3); 3) the rotation of the rotating shaft (10) is converted into the same-speed reverse rotation of the two lead screws (7); 4) through the matching of the screw rod (7) and the nut (12), the moving block (14) moves left and right, so that the jacking platform (9) moves up and down under the matching of the first connecting rod (13) and the second connecting rod (17).