CN115157301A

CN115157301A - Reconfigurable carrying platform

Info

Publication number: CN115157301A
Application number: CN202210786526.1A
Authority: CN
Inventors: 韦中; 张富; 刘佳; 杨扬; 项升; 罗勇; 宋爱国
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-10-11

Abstract

The invention belongs to the technical field of information and automation, and discloses a reconfigurable carrying platform which comprises a base, wherein two power machines are fixedly arranged on the base, two spur gears are fixedly arranged on output shafts of the two power machines, four support frames are distributed in a cross shape, racks and sliding grooves are distributed on the four support frames, the four support frames are arranged on a sliding seat of the base through the sliding grooves, the racks on the support frames are respectively meshed with the two spur gears, the two power machines are driven to control the support frames in symmetrical positions to move towards opposite directions, so that the size of the carrying platform is changed to adapt to goods in different sizes, butt joint male ports and butt joint female ports are respectively distributed on the support frames which are distributed symmetrically, the butt joint of the carrying platforms is completed to carry the goods in larger sizes, and the butt joint and size adjustment of the carrying platforms are completed by the same power machine.

Description

Reconfigurable carrying platform

Technical Field

The invention belongs to the technical field of information and automation, and particularly relates to a reconfigurable carrying platform.

Background

Modern warehouses, while considering storage, consider more business revenue, which puts demands on the efficiency of the warehouse work done. In addition to scientific management systems and rational arrangements, the use of economical, efficient, mechanized, automated storage and retrieval facilities can also improve the operating efficiency of the warehouse. In these automated facilities, mobile transfer robots are used in many cases and play an important role. Goods in the warehouse need be accessed frequently, and this work is not only hard but also boring, uses manpower to accomplish inefficiency the cost still high simultaneously, therefore many large enterprises have researched and developed mobile transfer robot. The existing warehouse mobile transfer robot mainly has two design schemes, one is that all robots adopt a unified design, which requires that all goods are packed into the same size, and the application range is limited. The other design is to design robots of different models for goods of different sizes, which increases the research and development cost and does not solve the problem of limited application range well.

Disclosure of Invention

In view of the deficiencies of the prior art, the present invention provides a reconfigurable carrying platform, which solves the problems mentioned in the background art.

The purpose of the invention can be realized by the following technical scheme:

a reconfigurable carrying platform comprises a base, wherein a first power machine mounting seat is fixedly arranged at the upper end of the base, a first power machine is fixedly arranged on the first power machine mounting seat, a second power machine mounting seat is fixedly arranged at the lower end of the base, a second power machine is fixedly arranged on the second power machine mounting seat, a first spur gear and a second spur gear are vertically arranged in the middle of the inner side of the base from top to bottom, the first spur gear is fixedly arranged on an output shaft of the first power machine, and the second spur gear is fixedly arranged on an output shaft of the second power machine.

The side surfaces of the first spur gear and the second spur gear are provided with four racks in total, two racks are in meshed connection with the first spur gear, the other two racks are in meshed connection with the second spur gear, one end of one of the racks in meshed connection with the first spur gear is fixedly provided with a first support frame, one end of the other rack in meshed connection with the first spur gear is fixedly provided with a second support frame, one end of the one of the racks in meshed connection with the second spur gear is fixedly provided with a third support frame, and one end of the other rack in meshed connection with the second spur gear is fixedly provided with a fourth support frame.

Further, the lower extreme of rack is provided with the spout, wherein two with first spur gear meshing is connected the lower extreme of rack is provided with the first group installation slide of horizontal parallel distribution, first group installation slide is in spout sliding connection, wherein two other with second spur gear meshing is connected the lower extreme of rack is provided with the second group installation slide of horizontal parallel distribution, the second group installation slide is in spout sliding connection, first group installation slide with the second group installation slide is fixed to be set up on the base.

Furthermore, the outer side surfaces of the first support frame and the second support frame are fixedly provided with butt joint male opening convex blocks, and circular holes are formed in the butt joint male opening convex blocks.

Further, the third support frame with the inboard of fourth support frame is provided with the cavity, rack one end medial surface is provided with the quad slit, the quad slit with the one end of cavity link up, the third support frame with the lateral surface of fourth support frame is provided with protruding hole, protruding hole with the other end of cavity link up.

Furthermore, the third support frame with the fourth support frame be provided with the layering in the cavity, the layering is close to the fixed square convex block that is provided with in side of quad slit one end, the fixed elastomer that is provided with in another side, the layering is close to the fixed cylinder that is provided with in side of the one end in protruding hole.

Furthermore, the square bump and the elastic body are arranged on two sides of the same end of the pressing strip and are symmetrically arranged, and the elastic body and the cylinder are arranged on the same side of the pressing strip.

Further, the square bump is slidably disposed in the square hole of the rack.

Further, the central axis of the first spur gear and the central axis of the second spur gear are coaxial.

Further, the racks on the first support frame and the second support frame are distributed horizontally and parallelly, the racks on the third support frame and the fourth support frame are perpendicular to the racks on the first support frame and the second support frame, and the racks on the third support frame and the fourth support frame are arranged at the lower ends of the racks on the first support frame and the second support frame.

Furthermore, universal wheels are arranged at the bottom ends of the first support frame, the second support frame, the third support frame and the fourth support frame.

The invention has the beneficial effects that:

1. the reconfigurable carrying platform can be conveniently integrated on the existing mobile robot to construct a robot for carrying goods;

2. the reconfigurable carrying platform can be adjusted in size according to the size of goods so as to achieve the purpose of carrying and reduce the space occupied by the robot;

3. the reconfigurable carrying platform can construct a multi-robot system capable of carrying large-size goods through butt joint;

4. the docking and size adjustment of the reconfigurable carrying platform are completed by the same power machine, so that the mechanism is simplified, and the weight is reduced.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a perspective view of the reconfigurable carrying platform of the present invention in an expanded state;

FIG. 2 is an expanded elevation view of the reconfigurable handling platform of the present invention;

FIG. 3 is a right side view of the reconfigurable carrying platform of the present invention in an expanded state;

FIG. 4 is a top plan view of the reconfigurable carrying platform of the present invention in an expanded state;

FIG. 5 is a schematic of the base of the reconfigurable handling platform of the present invention;

FIG. 6 is a partial schematic view of the reconfigurable handling platform of the present invention;

FIG. 7 is a schematic illustration of a docking male interface of the reconfigurable handling platform of the present invention;

FIG. 8 is a schematic view of a third stand of the reconfigurable carrying platform of the present invention;

FIG. 9 is a schematic illustration of a hold-down bar of the reconfigurable carrying platform of the present invention;

FIG. 10 is a docking schematic of the reconfigurable handling platform of the present invention;

FIG. 11 is a schematic illustration of the reconfigurable carrying platform of the present invention in a collapsed state;

FIG. 12 is a schematic illustration of the reconfigurable handling platform of the present invention in an expanded state;

FIG. 13 is a schematic illustration of a robot with the reconfigurable handling platform of the present invention installed (deployed);

FIG. 14 is a schematic illustration of a robot incorporating the reconfigurable handling platform of the present invention (in a retracted state);

figure 15 is a schematic illustration of a plurality of reconfigurable carrying platforms of the present invention docked together.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship merely to facilitate description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced components or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be construed as limiting the invention.

As shown in fig. 1-6, in an embodiment of the present invention, a reconfigurable carrying platform includes a base 1, a first power machine mounting seat 19 is fixedly disposed at an upper end of the base 1, a first power machine 2 is fixedly disposed on the first power machine mounting seat 19, a second power machine mounting seat 20 is fixedly disposed at a lower end of the base 1, a second power machine 7 is fixedly disposed on the second power machine mounting seat 20, a first spur gear 3 and a second spur gear 8 are vertically disposed in the middle of an inner side of the base 1, the first spur gear 3 is fixedly disposed on an output shaft of the first power machine 2, the second spur gear 8 is fixedly disposed on an output shaft of the second power machine 7, and a central axis of the first spur gear 3 is coaxial with a central axis of the second spur gear 8. The first power machine 2 drives the first spur gear 3 to rotate, and the second power machine 7 drives the second spur gear 8 to rotate, so as to drive the rack 6 to do linear motion along the direction of the rack 6.

Four racks 6 are arranged on the side surfaces of the first spur gear 3 and the second spur gear 8, two of the racks 6 are engaged with the first spur gear 3, the other two of the racks 6 are engaged with the second spur gear 8, a first support frame 4 is fixedly arranged at one end of one of the racks 6 engaged with the first spur gear 3, a second support frame 5 is fixedly arranged at one end of the other one of the racks 6 engaged with the first spur gear 3, a third support frame 9 is fixedly arranged at one end of one of the racks 6 engaged with the second spur gear 8, a fourth support frame 10 is fixedly arranged at one end of the other one of the racks 6 engaged with the second spur gear 8, the racks 6 on the first support frame 4 and the second support frame 5 are horizontally distributed in parallel, the racks 6 on the third support frame 9 and the fourth support frame 10 are perpendicular to the racks 6 on the first support frame 4 and the second support frame 5, and the racks 6 on the third support frame 9 and the fourth support frame 10 are arranged at the lower ends of the racks 6 on the first support frame 4 and the second support frame 5. The first power machine 2 drives the first spur gear 3 to rotate, the second power machine 7 drives the second spur gear 8 to rotate, so that the rack 6 moves linearly in the direction of the rack 6, and the first support frame 4, the second support frame 5, the third support frame 9 and the fourth support frame 10 move linearly together with the rack 6.

The lower end of the rack 6 is provided with a sliding groove 24, wherein the lower ends of two racks 6 engaged with the first spur gear 3 are provided with a first group of mounting sliders 21 distributed horizontally and in parallel, the first group of mounting sliders 21 are slidably connected in the sliding groove 24, the lower ends of the other two racks 6 engaged with the second spur gear 8 are provided with a second group of mounting sliders 22 distributed horizontally and in parallel, the second group of mounting sliders 22 are slidably connected in the sliding groove 24, and the first group of mounting sliders 21 and the second group of mounting sliders 22 are fixedly arranged on the base 1. The first and second sets of mounting

carriages

21, 22 are arranged to support the rack 6 and to guide it.

It should be further noted that the first support frame 4 and the second support frame 5 are driven by the first power machine 2 to move linearly along the first set of mounting slides 21 in the same direction as the direction of the rack 6 on the first support frame 4 and the second support frame 5, and the third support frame 9 and the fourth support frame 10 are driven by the first power machine 2 to move linearly along the second set of mounting slides 22 in the same direction as the direction of the rack 6 on the third support frame 9 and the fourth support frame 10.

The bottom of the first support frame 4, the bottom of the second support frame 5, the bottom of the third support frame 9 and the bottom of the fourth support frame 10 are provided with universal wheels 11, the height of the four support frames is designed to be a height-adjustable mechanism according to the height of the mobile robot, and the four universal wheels 11 and the mobile mechanism of the mobile robot can be ensured to be in contact with the ground together.

The outer side surfaces of the first support frame 4 and the second support frame 5 are fixedly provided with butt joint male opening convex blocks 12, and circular holes 13 are formed in the butt joint male opening convex blocks 12. The butt male joint lug 12 is used for being inserted into the wider part of the convex hole 14 in a sliding mode, and is convenient to butt with the butt female joint.

As shown in fig. 7-10, female joint openings are provided on the third support frame 9 and the fourth support frame 10, and the female joint openings mainly include a pressing strip 15 disposed in the cavities of the third support frame 9 and the fourth support frame 10 and an elastic body 17 fixedly disposed on the pressing strip 15.

Specifically, cavities are arranged on the inner sides of a third support frame 9 and a fourth support frame 10, a square hole 23 is arranged on the inner side face of one end of a rack 6, the square hole 23 is communicated with one end of the cavity, convex holes 14 are arranged on the outer side faces of the third support frame 9 and the fourth support frame 10, the convex holes 14 are communicated with the other end of the cavity, a pressing strip 15 is arranged in the cavity, a square bump 16 is fixedly arranged on the side face of one end, close to the square hole 23, of the pressing strip 15, an elastic body 17 is symmetrically and fixedly arranged on the other side face of the side face, the side face of one end, close to the convex holes 14, of the pressing strip 15 is fixedly provided with a cylinder 18, the square bump 16 and the elastic body 17 are arranged on the two sides of the pressing strip 15, the elastic body 17 and the cylinder 18 are arranged on the same side of the pressing strip 15, the square bump 16 is arranged in the square hole 23 of the rack 6 in a sliding manner, the square hole 23 and the narrower part of the convex hole 14 jointly limit the movement of the pressing strip only in the direction perpendicular to the rack 6, when the square hole 23 on the rack 6 is meshed with the second spur gear 8, the square lug 16 on the pressing strip 15 is pressed by the second spur gear 8 to move towards the square hole 23, so that the elastic body 17 on the back of the rack 6 is compressed, the rack 15 integrally moves, the cylinder 18 is inserted into the circular hole 13 on the butt male lug 12, when the square hole 23 on the rack 6 is not meshed with the second spur gear 8, the pressing strip 15 is pressed by the elastic body 17 to move towards the outside of the square hole 23, so that the cylinder 18 is separated from the circular hole 13 on the butt male lug 12, and the wider part of the convex hole 14 is used for butt joint with the butt male lug 12.

As shown in fig. 11 and 12, the first power machine 2 can be driven to control the first support frame 4 and the second support frame 5 to move towards the base 1 or away from the base 1 at the same time, and the second power machine 7 can be driven to control the third support frame 9 and the fourth support frame 10 to move towards the base 1 or away from the base 1 at the same time, so that the carrying platform can be controlled to be in a contracted state and an expanded state to adapt to the size of the goods.

As shown in fig. 13 and 14, mounting the pedestal 1 of the carrying platform on the mobile robot 25 can easily change the mobile robot 25 into a carrying robot, and can adapt to goods of different sizes by controlling the state of the carrying platform.

As shown in fig. 15, when the square hole 23 on the butt female rack 6 is not engaged with the second spur gear 8, the wider portion of the convex hole 14 is abutted with the butt male protrusion 12, and then the second power machine 7 is driven to engage the square hole 23 on the butt female rack 6 with the second spur gear 8, so that the pressing strip 15 is pressed to move towards the square hole 23, the elastic body 17 on the back of the rack 6 is compressed, the cylinder 18 is inserted into the circular hole 13 on the butt male protrusion 12, and the butt joint is completed, and the multiple transfer robots are butted to construct the multiple robot system, which can meet the transfer requirements of larger-sized goods.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.

Claims

1. A reconfigurable carrying platform comprises a base (1), and is characterized in that a first power machine mounting seat (19) is fixedly arranged at the upper end of the base (1), a first power machine (2) is fixedly arranged on the first power machine mounting seat (19), a second power machine mounting seat (20) is fixedly arranged at the lower end of the base (1), a second power machine (7) is fixedly arranged on the second power machine mounting seat (20), a first spur gear (3) and a second spur gear (8) are vertically arranged in the middle of the inner side of the base (1) from top to bottom, the first spur gear (3) is fixedly arranged on an output shaft of the first power machine (2), and the second spur gear (8) is fixedly arranged on an output shaft of the second power machine (7);

the side of the first spur gear (3) and the second spur gear (8) is provided with four racks (6), wherein two racks (6) are meshed with the first spur gear (3) to be connected, the other two racks (6) are meshed with the second spur gear (8) to be connected, one of the racks (6) meshed with the first spur gear (3) is fixedly provided with a first supporting frame (4), the other of the racks (6) meshed with the first spur gear (3) is fixedly provided with a second supporting frame (5), one of the racks (6) meshed with the second spur gear (8) is fixedly provided with a third supporting frame (9), and the other of the racks (6) meshed with the second spur gear (8) is fixedly provided with a fourth supporting frame (10).

2. A reconfigurable carrying platform according to claim 1, characterized in that the lower ends of the racks (6) are provided with sliding grooves (24), wherein the lower ends of two of the racks (6) engaged with the first spur gear (3) are provided with a first set of mounting slides (21) distributed horizontally and in parallel, the first set of mounting slides (21) being slidably connected within the sliding grooves (24), wherein the lower ends of the other two of the racks (6) engaged with the second spur gear (8) are provided with a second set of mounting slides (22) distributed horizontally and in parallel, the second set of mounting slides (22) being slidably connected within the sliding grooves (24), and the first set of mounting slides (21) and the second set of mounting slides (22) being fixedly arranged on the base (1).

3. A reconfigurable carrying platform according to claim 1, characterized in that the outer side of the first support frame (4) and the second support frame (5) are fixedly provided with male docking lugs (12), and the male docking lugs (12) are provided with circular holes (13).

4. A reconfigurable carrying platform according to claim 1, characterized in that the third support frame (9) and the fourth support frame (10) are provided with cavities on their inner sides, the rack (6) is provided with a square hole (23) on its inner side, the square hole (23) is through-connected with one end of the cavity, the third support frame (9) and the fourth support frame (10) are provided with a convex hole (14) on their outer side, the convex hole (14) is through-connected with the other end of the cavity.

5. A reconfigurable carrying platform according to claim 4, wherein a batten (15) is provided in the cavity of the third support frame (9) and the fourth support frame (10), a square bump (16) is fixedly provided on one side of the batten (15) close to one end of the square hole (23), an elastic body (17) is fixedly provided on the other side, and a cylinder (18) is fixedly provided on one side of the batten (15) close to one end of the convex hole (14).

6. A reconfigurable carrying platform according to claim 5, characterized in that the square bumps (16) and the resilient bodies (17) are disposed on opposite sides of the same end of the batten strip (15) and are symmetrically disposed, the resilient bodies (17) and the cylinders (18) being disposed on the same side of the batten strip (15).

7. A reconfigurable carrying platform according to claim 5, characterized in that the square projections (16) are slidingly disposed within the square holes (23) of the rack (6).

8. A reconfigurable handling platform according to claim 1, characterised in that the central axis of the first spur gear (3) and the central axis of the second spur gear (8) are coaxial.

9. A reconfigurable carrying platform according to claim 1, characterized in that the racks (6) on the first (4) and second (5) supports are distributed horizontally in parallel, the racks (6) on the third (9) and fourth (10) supports are perpendicular to the racks (6) on the first (4) and second (5) supports, and the racks (6) on the third (9) and fourth (10) supports are provided at the lower ends of the racks (6) on the first (4) and second (5) supports.

10. A reconfigurable carrying platform according to claim 1, characterized in that the bottom ends of the first support (4), the second support (5), the third support (9) and the fourth support (10) are provided with universal wheels (11).