CN209274572U - A kind of mobile robot automatic locking apparatus in place - Google Patents

Abstract

The utility model discloses a kind of mobile robot automatic locking apparatus in place, and the lifting device of robot body two sides is independently disposed to including two sets.Lifting device includes support frame, the driving assembly for driving support frame to go up and down relative to robot body, the guidance set for guiding support frame to go up and down relative to robot body；Driving assembly is using the electric cylinders of independent control as power source, support frame oscilaltion under electric cylinders effect, which leaves ground or falls robot to lift robot, drops down onto ground, robot is lifted afterwards in place in mobile robot and locks its position automatically, prevent vehicle body from generating offset and shaking, stability is improved, so as to carry out high-precision operation.It is simple, high-efficient, at low cost that the utility model has the advantages that structure, and lifting device is made to have certain flexibility, even if two sides electric cylinders are asynchronous in lifting process, finally also can guarantee mobile robot platform horizontal stable.

Description

A kind of mobile robot automatic locking apparatus in place

Technical field

The utility model relates to mobile robots, and in particular to a kind of mobile robot automatic locking apparatus in place.

Background technique

Currently, what mobile robot generallyd use is power wheel drive, movement is generated by the frictional force on wheel and ground, And spring vibration damper can be equipped between wheel and robot body.When mobile robot in place after, due to driving wheel pass Dynamic gap, wheel and ground face contact is unstable, elasticity ... of damping device waits many reasons that mobile robot ontology is caused to exist Slight offset and shaking can be generated under the action of external force.Common application is influenced less, but for some high The different areas of activity of precision influences great.Such as occasion is assembled in movement, is carried out in high precision on mobile robot ontology equipped with mechanical arm Assembling work, even if there is slight shaking to also result in assembly failure on ontology.

Patent No. 207953855U discloses " a kind of mobile robot stabilizing mechanism and the moving machine equipped with the stabilizing mechanism Device people ".The utility model passes through positive and negative nut side-to-side movement on the horizontally disposed screw rod of gear set drive using motor, then passes through Ground is left to drive the lifting of two sides lifter plate to be lifted wheels of mobile robot by the cam ramp mechanism that is arranged symmetrically, Improve the stability of robot.But the utility model drive mechanism is complicated, and low efficiency is at high cost；The difference in height of cam path is determined Determine that two sides adjustable height is constant, so that the situation of ground injustice cannot be adapted to；Universal stand is fitted without under lifting support, no It can solve asynchrony phenomenon small in Liang Tao independent-lifting mechanism lifting process.

Utility model content

For overcome the deficiencies in the prior art, the purpose of the utility model is to provide a kind of mobile robots to lock automatically in place Determine device, eliminates mobile robot slight offset and shaking, improve its stability, allow to carry out high-precision operation.

The purpose of this utility model adopts the following technical scheme that realization: a kind of mobile robot automatic locking apparatus in place, The lifting device of robot body two sides is independently disposed to including two sets.Lifting device includes support frame, for driving support frame Driving assembly relative to robot body lifting, the guidance set for guiding support frame to go up and down relative to robot body； Driving assembly using independent control electric cylinders be used as power source, support frame electric cylinders act under oscilaltion with lift robot from It opens ground or falls robot and drop down onto ground.

Further, above-mentioned guidance set includes guiding mandrel, bearing block and linear bearing；The inner ring of linear bearing with Guiding mandrel is slidably connected, and the outer ring of linear bearing is fixed on bearing block.

Further, the both ends for being oriented to mandrel on the support frame are fixedly mounted in above-mentioned bearing block and robot body is solid Fixed connection.

Further, above-mentioned guidance set includes mandrel support, and the both ends for being oriented to mandrel are fixed with mandrel support respectively Connection, mandrel support are fixed on robot body.

Further, above-mentioned driving assembly includes electric cylinders mounting base, and the cylinder body of electric cylinders is fixedly mounted on electric cylinders mounting base On, electric cylinders mounting base is fixed on the support frame.

Further, above-mentioned lifting device includes that support frame bottom and the Universal stand with certain flexibility is arranged in.

Further, above-mentioned driving assembly includes electric cylinders connector and fulcrum, the piston rod thread of electric cylinders connector and electric cylinders Connection, electric cylinders connector are fixedly connected with fulcrum, and fulcrum is fixed on robot body.

Further, above-mentioned electric cylinders are furnished with brake gear, and brake gear embraces motor shaft when power-off, prevent robot It falls.

Further, above-mentioned lifting device is equipped with two sets of guidance sets, is located at the two sides of support frame.

Compared with the prior art, the advantages of the utility model are: being independently arranged at robot body two sides by two sets Lifting device, slight offset and shaking, improve its stability after being eliminated in place by lifting locking to mobile robot, Allow to carry out high-precision operation；Support frame liter is pushed directly under the guiding role of guiding mandrel using two sides electric cylinders Drop, has the advantages that structure is simple, high-efficient, at low cost；The stroke of two sides electric cylinders can be controlled separately, can the injustice of ground Enough ensure mobile platform level；Support frame bottom is equipped with Universal stand, has certain flexibility, can adapt to two sides lifting dress Set small out of step conditions.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of mobile robot automatic locking apparatus in place.

Fig. 2 is the mechanism part figure of mobile robot automatic locking apparatus in place.

Fig. 3 is mobile robot status diagram of automatic locking apparatus when unlocked in place.

Fig. 4 is the mobile robot status diagram of automatic locking apparatus when being contacted with ground in place.

Fig. 5 is mobile robot status diagram of the automatic locking apparatus in locking in place.

Fig. 6 is the top view of mobile robot automatic locking apparatus in place.

Fig. 7 is the side view of mobile robot automatic locking apparatus in place.

Fig. 8 is the nonsynchronous operating condition schematic diagram of two sides electric cylinders lifting process.

Label of the Fig. 1 into Fig. 8 is entitled: support frame 1, mandrel support 2, guiding mandrel 3, bearing block 4, linear bearing 5, Universal stand 6, electric cylinders mounting base 7, electric cylinders 8, electric cylinders connector 9, fulcrum 10, robot body 11, wheel 12.

Specific embodiment

The embodiments of the present invention are described in further detail below in conjunction with attached drawing.

As depicted in figs. 1 and 2, the mobile robot of the present embodiment automatic locking apparatus in place, including two sets be independently arranged Lifting device in 11 two sides of robot body.Lifting device includes support frame 1, for driving support frame 1 relative to robot Driving assembly, the guidance set for guiding support frame 1 to go up and down relative to robot body 11 of the lifting of ontology 11.Driving assembly It is used as power source using the electric cylinders 8 of independent control, the oscilaltion under the effect of electric cylinders 8 of support frame 1 to lift robot leaves ground Face falls robot and drops down onto ground.

Guidance set includes guiding mandrel 3, bearing block 4 and linear bearing 5.The inner ring and guiding mandrel 3 of linear bearing 5 are sliding Dynamic connection, the outer ring of linear bearing 5 is fixed on bearing block 4.

Bearing block 4 is fixedly mounted on support frame 1.Guidance set includes mandrel support 2, the both ends difference of guiding mandrel 3 It is fixedly connected with mandrel support 2, mandrel support 2 is fixed on robot body 11.

Driving assembly includes electric cylinders mounting base 7, electric cylinders 8, electric cylinders connector 9 and fulcrum 10.The cylinder body of electric cylinders 8 is fixedly mounted on In electric cylinders mounting base 7, electric cylinders mounting base 7 is fixed on support frame 1.Electric cylinders connector 9 is connect with the piston rod thread of electric cylinders 8, electricity Cylinder connector 9 is fixedly connected with fulcrum 10, and fulcrum 10 is fixed on robot body 11.

Electric cylinders 8 are furnished with brake gear, and brake gear embraces motor shaft when power-off, prevent robot from falling.

In the present embodiment, support frame 1, bearing block 4, linear bearing 5, Universal stand 6 and 8 cylinder part of electric cylinders are connected to one Rising becomes an entirety, under the telescopic action of 8 piston rod of electric cylinders, along guiding mandrel 3 relative to about 11 robot body Lifting, to lift robot body 11 and wheel 12 leaves ground or falls to ground.Wheel 12 is mounted on robot body 11 Bottom.

In a preferred embodiment, every set lifting device is equipped with one group of driving assembly and two groups of guidance sets, two groups of guiding groups Part is located at the two sides of support frame 1.10 quantity of fulcrum 2 in every set lifting device, 2 quantity of mandrel support 4 are oriented to mandrel 3 quantity 2,5 quantity of linear bearing 4,6 quantity of Universal stand 4,4 quantity of bearing block 4, remaining quantity is 1.But The quantity of each component is not limited thereto in the utility model.

In order to reduce processing and assembly difficulty, the requirement to 8 lift synchronization of two sides electric cylinders is reduced, using in robot sheet Independent 8 vertical lifting mechanism of electric cylinders is arranged in 11 two sides of body, and is oriented to the mode of linear bearing 5 and guiding mandrel 3, ties Structure is simple, high-efficient, at low cost.In the bottom of support frame 1, installation has the Universal stand 6 of certain flexibility, makes entirely to lock dress It sets and all has certain flexibility, even if there is in Fig. 8 nonsynchronous situation in the lifting process of two sides, as long as last two sides electric cylinders 8 Setting stroke is covered, and can finally guarantee the level of robot body 11.Moreover, because two sides lifting device is mutually indepedent, Stroke is individually controllable, even if ground out-of-flatness, also can guarantee the last level of robot body 11.

Automatic locking apparatus influences 11 overall dimension of robot body less, not changing original machine device mobile robot in place The length and height of people, only two sides width has slightly become larger some.The locking device structure is simple, high-efficient, at low cost, mentions The high stability of mobile robot, allows to carry out high-precision operation.

To sum up, the working operating mode of mobile robot automatic locking apparatus in place is as follows: mobile robot in place after, it is first First as shown in figure 4, the piston rod of two sides electric cylinders 8 stretches out, hangs skyborne frame supported on both sides 1 and decline along guiding mandrel 3, make Universal stand 6 and ground face contact are obtained, then as shown in figure 5, support frame 1 is motionless, robot body 11 and 8 piston rod of electric cylinders are together Continuing to rise to setting stroke terminates, and is detached from wheel 12 and ground, and stablize under the action of 8 brake gear of electric cylinders in this position It sets, so far, completes lock out action process.Conversely, when needing to unlock, firstly, the piston rod of two sides electric cylinders 8 retracts, robot Ontology 11 and 8 piston rod of electric cylinders drop to wheel 12 and ground face contact together, and then robot body 11 is motionless, 8 piston of electric cylinders Bar continues to retract, and support frame 1 is made to rise to initial position, and gimbals 6 and ground are detached from, and so far, completes unlocking motion process.

Claims (9)

1. a kind of mobile robot automatic locking apparatus in place, the liter of robot body (11) two sides is independently disposed to including two sets Falling unit, it is characterised in that: the lifting device includes support frame (1), for driving support frame (1) relative to robot sheet Driving assembly, the guidance set for guiding support frame (1) to go up and down relative to robot body (11) of body (11) lifting, and As the power source of the driving assembly, the support frame (1) oscilaltion is made to leave ground or drop to lift robot Lower robot drops down onto the electric cylinders (8) on ground.

2. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the guidance set Including guiding mandrel (3), bearing block (4) and linear bearing (5)；The inner ring of the linear bearing (5) and the guiding mandrel (3) it is slidably connected, the outer ring of the linear bearing (5) is fixed on the bearing block (4).

3. mobile robot according to claim 2 automatic locking apparatus in place, it is characterised in that: the bearing block (4) it is fixedly mounted on the support frame (1), the both ends of guiding mandrel (3) are fixedly connected with robot body (11).

4. mobile robot according to claim 3 automatic locking apparatus in place, it is characterised in that: the guidance set Including mandrel support (2), the both ends of guiding mandrel (3) are fixedly connected with the mandrel support (2) respectively, the core Shaft stool (2) is fixed on robot body (11).

5. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the driving assembly Including electric cylinders mounting base (7), the cylinder body of the electric cylinders (8) is fixedly mounted in the electric cylinders mounting base (7), the electric cylinders Mounting base (7) is fixed on the support frame (1).

6. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the lifting device Including being arranged in support frame (1) bottom and with the Universal stand (6) of certain flexibility.

7. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the driving assembly Including electric cylinders connector (9) and fulcrum (10), the electric cylinders connector (9) is connect with the piston rod thread of the electric cylinders (8), described Electric cylinders connector (9) be fixedly connected with the fulcrum (10), the fulcrum (10) is fixed on robot body (11).

8. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the electric cylinders (8) Equipped with brake gear, brake gear embraces motor shaft when power-off, prevents robot from falling.

9. mobile robot according to claim 1 automatic locking apparatus in place, it is characterised in that: the lifting device Equipped with two sets of guidance sets, it is located at the two sides of support frame (1).