CN211417085U - Anti-toppling mechanism and transportation robot - Google Patents
Anti-toppling mechanism and transportation robot Download PDFInfo
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- CN211417085U CN211417085U CN201922069914.4U CN201922069914U CN211417085U CN 211417085 U CN211417085 U CN 211417085U CN 201922069914 U CN201922069914 U CN 201922069914U CN 211417085 U CN211417085 U CN 211417085U
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Abstract
The utility model provides a prevent empting mechanism and transportation robot, prevent empting the mechanism including the detection subassembly that is used for detecting support plate inclination, the support plate that is used for placing object article and be used for compensating the inclination's of support plate climbing mechanism, climbing mechanism's top connect in the support plate, through adjusting climbing mechanism's height is so that the support plate level sets up. The utility model provides a prevent empting mechanism and transportation robot, climbing mechanism's top is connected in the support plate, and climbing mechanism can change self length in order to push away the support plate. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism is adjusted according to the information detected by the detection assembly, so that the support plate is restored to the horizontal state, and articles on the support plate are prevented from falling.
Description
Technical Field
The utility model belongs to the technical field of the robot, more specifically say, relate to an anti-toppling mechanism and transportation robot.
Background
With the continuous development of the robot, the robot is widely applied in the fields of transportation, routing inspection, mechanical manufacturing and the like. Wherein the transfer robot is mainly used for transferring goods, and reduces the labor burden. When the transport robot transports goods, the goods are stacked on a carrier plate of the robot, and when the robot goes up a slope, goes down a slope or runs on uneven road sections, the goods on the robot easily fall off the carrier plate, so that the goods are damaged, and even workers are injured by crashing.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an anti-toppling mechanism to solve the technical problem that exists among the prior art at the road surface not at ordinary times, the goods on the robot drops easily.
In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides an anti-toppling mechanism, including the detection subassembly that is used for detecting support plate inclination, be used for the support plate of placing object and be used for compensating the climbing mechanism of the inclination of support plate, climbing mechanism's top connect in the support plate, through adjusting climbing mechanism's height is so that the support plate level sets up.
In one embodiment, the jacking mechanism is a cylinder, and an output end of the cylinder is connected to the carrier plate; or the jacking mechanism comprises a motor, a threaded part driven by the motor to rotate and a lead screw in threaded connection with the threaded part, and the top end of the lead screw is connected to the carrier plate.
In one embodiment, the top end of the jacking mechanism is rotatably connected with the support plate, the top end of the jacking mechanism is provided with a rotating shaft hole, and one side of the support plate facing the jacking mechanism is provided with a rotating shaft penetrating through the rotating shaft hole.
In one embodiment, the axial direction of the rotating shaft is perpendicular to both the jacking direction of the jacking mechanism and the movement direction of the carrier plate.
In one embodiment, the top end of the jacking mechanism is connected with the carrier plate in a universal rotation mode through a spherical pair.
In one embodiment, the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed in sequence along the moving direction of the carrier plate; or the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed below the carrier plate in an array manner.
In one embodiment, the detection assembly includes at least two sensors for detecting ground tilt angle.
In one embodiment, the anti-toppling mechanism further comprises a hook assembly for preventing the goods shelf from dropping, the hook assembly comprises a main rod and a secondary rod, one end of the secondary rod is rotatably connected with the main rod, the other end of the secondary rod is provided with a clamping portion, the clamping portion is used for clamping in the goods shelf, and the middle of the secondary rod is rotatably connected with the carrier plate.
The utility model also provides a transfer robot, including foretell anti-overturning mechanism.
The utility model provides an anti-toppling mechanism and transfer robot's beneficial effect lies in: compared with the prior art, the utility model discloses prevent empting the mechanism and include determine module, support plate and climbing mechanism, determine module is used for detecting the inclination on ground, and the support plate is used for placing the article of treating the transportation, and climbing mechanism's top is connected in the support plate, and climbing mechanism can change self length in order to push away the support plate. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism is adjusted according to the information detected by the detection assembly, so that the support plate is restored to the horizontal state, and articles on the support plate are prevented from falling.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a three-dimensional structure diagram of an anti-toppling mechanism provided in an embodiment of the present invention;
fig. 2 is a sectional view of the anti-toppling mechanism provided in the embodiment of the present invention;
fig. 3 is an exploded view of a jacking mechanism according to an embodiment of the present invention;
fig. 4 is a top view of the anti-toppling mechanism provided in the embodiment of the present invention;
fig. 5 is an enlarged view of the junction between the main rod and the auxiliary rod according to the embodiment of the present invention;
fig. 6 is a three-dimensional structure diagram of a transportation robot provided by the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-an anti-toppling mechanism; 1-a carrier plate; 2-a jacking mechanism; 21-a screw; 22-a lead screw; 220-rotating shaft hole; 4-a rotating shaft; 5, fixing a sleeve; 6-a hook component; 61-main rod; 62-the secondary rod; 621-a clamping part; 200-a base; 300-vehicle head.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the 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, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 and fig. 2, an anti-toppling mechanism 100 according to an embodiment of the present invention will now be described. In one embodiment, the anti-toppling mechanism 100 includes a detection assembly, a carrier plate 1 and a jacking mechanism 2. The detection assembly is used for detecting the inclination angle of the support plate 1, the support plate 1 is used for placing articles to be transported, the top end of the jacking mechanism 2 is connected to the support plate 1, and the jacking mechanism 2 can move up and down to push the support plate 1. The detection component detects the specific situation that the transportation robot is ascending, descending or inclining left and right, and can correspondingly obtain the inclination state of the carrier plate 1. Specifically, the detecting assembly can detect the inclination angle of the carrier plate 1 with respect to the X direction and the inclination angle of the carrier plate 1 with respect to the Y direction, respectively, so as to obtain the inclination state of the carrier plate 1. Wherein, the X direction is the advancing direction of the carrier plate 1, and the Y direction is perpendicular to the X direction. According to the inclined state of the carrier plate 1, the height of the jacking mechanism 2 needing to be lifted or lowered is calculated, and the jacking mechanism 2 is lifted or lowered to enable the carrier plate 1 to return to the horizontal state again, so that the articles on the carrier plate 1 cannot be inclined, and the phenomenon of falling and falling cannot occur. In the anti-toppling mechanism 100, the detection assembly detects and feeds back the inclination angle of the ground in real time, so that the jacking mechanism 2 adjusts the state of the carrier plate 1 in real time.
The anti-toppling mechanism 100 in the above embodiment includes a detection component, a support plate 1 and a jacking mechanism 2, the detection component is used for detecting the inclination angle of the ground, the support plate 1 is used for placing the article to be transported, the top end of the jacking mechanism 2 is connected to the support plate 1, and the jacking mechanism 2 can change its length to push the support plate 1. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism 2 is adjusted according to the information detected by the detection assembly, so that the support plate 1 is restored to the horizontal state, and the articles on the support plate 1 are prevented from falling.
In one embodiment of the anti-toppling mechanism 100, when the number of the jacking mechanisms 2 is one or more, and when the number of the jacking mechanisms 2 is more than one, the jacking mechanisms 2 are sequentially distributed along the X direction, in this embodiment, when the carrier plate 1 inclines relative to the X direction, the carrier plate 1 can be adjusted by the jacking mechanisms 2, so as to eliminate the inclination angle of the carrier plate 1 relative to the X direction. For example, the number of the jacking mechanisms 2 is one, and the jacking mechanisms 2 are arranged at the tail part of the carrier plate 1, and the ascending or descending of the jacking mechanisms 2 can adjust the inclination angle of the carrier plate 1 relative to the X direction; the number of the jacking mechanisms 2 is two, the two jacking mechanisms are sequentially arranged along the X direction, and the ascending and descending of each jacking mechanism 2 can also adjust the inclination angle of the carrier plate 1 relative to the X direction.
In another embodiment of the anti-toppling mechanism 100, when the number of the jacking mechanisms 2 is one or more, and when the number of the jacking mechanisms 2 is more than one, each jacking mechanism 2 is distributed in sequence along the Y direction, in this embodiment, when the carrier plate 1 inclines relative to the Y direction, the carrier plate 1 can be adjusted by the jacking mechanisms 2, so as to eliminate the inclination angle of the carrier plate 1 relative to the Y direction. For example, the number of the jacking mechanisms 2 is one, and the jacking mechanisms 2 are arranged on the left side or the right side of the carrier plate 1, and the ascending or descending of the jacking mechanisms 2 can adjust the inclination angle of the carrier plate 1 relative to the Y direction; the number of the jacking mechanisms 2 is two, the two jacking mechanisms are sequentially arranged along the Y direction, and the ascending and descending of each jacking mechanism 2 can also adjust the inclination angle of the carrier plate 1 relative to the Y direction.
Referring to fig. 1, in another embodiment of the anti-toppling mechanism 100, the number of the jacking mechanisms 2 is multiple, and each jacking mechanism 2 is distributed in an array, and has at least two jacking mechanisms 2 in both the X direction and the Y direction, so that the inclination angles of the carrier plate 1 relative to the X direction and the Y direction can be adjusted simultaneously. Thus, the device is applicable to various road conditions, and can prevent articles from inclining left, right, forward and backward.
In one embodiment of the lifting mechanism, the lifting mechanism is a cylinder, an output end of the cylinder can move up and down, the output end of the cylinder is connected to the support plate 1, and the support plate 1 can be pushed by the output end of the cylinder when the output end moves up and down. The jacking mechanism adopts a cylinder, has simple structure and does not need to be additionally provided with a pushing piece to push the carrier plate 1.
In one embodiment of the detecting assembly, the detecting assembly includes a sensor for detecting the inclination angle of the ground, the sensor may be disposed on the carrier plate 1, and the distance sensor may be an ultrasonic sensor, a laser radar, or the like. For example, laser radar sets up on support plate 1, and laser radar sends light, and when support plate 1 level, laser radar can not receive the reflection light, and when support plate 1 inclined, the light that laser radar sent can receive via laser radar after the reflection on ground, and through laser radar's analysis calculation, can derive the distance L between the reflection point on ground and the laser radar to derive sin theta d/L, wherein, theta is the inclination of support plate 1 relative ground, and d is the distance between support plate 1 and the ground.
Referring to fig. 2 and 3, in another embodiment of the lifting mechanism 2, the lifting mechanism 2 includes a motor, a screw 21 and a lead screw 22, and the lead screw 22 is vertically disposed to push the carrier plate 1 in a vertical direction. The motor outputs a rotational motion to drive the screw 21 to rotate, and the motor includes, but is not limited to, a servo motor, a stepping motor, and the like as long as the rotational motion can be output. Because the screw rod 22 is in threaded connection with the screw member 21, the screw member 21 can be sleeved on the periphery of the screw rod 22, and when the screw member 21 rotates, the screw rod 22 moves up and down under the rotation action of the screw member 21 to push the carrier plate 1, thereby realizing the control of the inclination angle of the carrier plate 1. The lead screw 22 is adopted to control the movement of the carrier plate 1, the control precision is higher, the mechanical clearance is smaller, and the carrier plate 1 can be controlled more accurately.
Referring to fig. 2 and 3, in one embodiment of the jacking mechanism 2, the top end of the jacking mechanism 2 is rotatably connected to the carrier plate 1, so that the carrier plate 1 can tilt relative to the jacking mechanism 2, and the jacking mechanism 2 is prevented from tilting when the carrier plate 1 is tilted and rotated. The top end of the jacking mechanism 2 is provided with a rotating shaft hole 220, one side of the support plate 1 facing the jacking mechanism 2 is provided with a rotating shaft 4, and the rotating shaft 4 penetrates through the rotating shaft hole 220, so that the support plate 1 can rotate relative to the jacking mechanism 2. Of course, the rotating shaft can also be arranged at the output end of the jacking mechanism, and the side of the support plate facing the jacking mechanism is provided with a rotating shaft hole.
Optionally, the axial direction of the rotating shaft 4 is perpendicular to both the jacking direction of the jacking mechanism 2 and the moving direction of the carrier plate 1, that is, the axial direction of the rotating shaft 4 is perpendicular to both the X direction and the Z direction, and the axial direction of the rotating shaft 4 is parallel to the Y direction, so that the carrier plate 1 can rotate on an XOZ plane, the inclined state of the carrier plate 1 is adjusted, the inclination angle of the carrier plate 1 relative to the X direction is eliminated, and articles are prevented from inclining forwards or backwards. In other embodiments, the axial direction of the rotating shaft 4 can also be parallel to the X direction, so that the carrier plate 1 can rotate on the YOZ plane, the tilt state of the carrier plate 1 can be adjusted, the tilt angle of the carrier plate 1 relative to the Y direction is eliminated, and the article is prevented from tilting left or right.
Optionally, the bottom of the support plate 1 is provided with a fixing sleeve 5, the fixing sleeve 5 is fixed at the bottom of the support plate 1, the top end of the jacking mechanism 2 extends into the fixing sleeve 5, and the rotating shaft 4 passes through the fixing sleeve 5 and the top end of the jacking mechanism 2, so that the fixing sleeve 5 can rotate relative to the jacking mechanism 2.
In one embodiment of the jacking mechanism 2, the top end of the jacking mechanism 2 is connected with the carrier plate 1 through a spherical pair in a universal rotation manner, so that the carrier plate 1 can tilt and rotate towards any direction, and the jacking mechanism 2 can push the carrier plate 1 to adjust the tilt angles of the carrier plate 1 relative to the X direction and the Y direction. For example, the top end of the jacking mechanism is provided with a spherical part, the carrier plate is provided with a spherical cavity, and the spherical part is matched in the spherical cavity, so that the carrier plate can rotate towards any direction; or the top end of the jacking mechanism is provided with a spherical cavity, and the carrier plate is provided with a spherical part.
Referring to fig. 4 and 5, in one embodiment of the anti-toppling mechanism 100, the anti-toppling mechanism 100 further includes a hook assembly 6, and the hook assembly 6 is used for preventing the goods shelf from dropping. When the clamping hook component 6 works, the clamping hook component 6 hooks the goods shelf of the goods, and the goods on the goods shelf and the goods shelf are prevented from falling. Specifically, the hook assembly 6 includes a main rod 61 and an auxiliary rod 62, one end of the auxiliary rod 62 is rotatably connected to the main rod 61, the other end of the auxiliary rod 62 has a clamping portion 621, and the clamping portion 621 is used for being clamped in a shelf. Furthermore, the middle part of the secondary lever 62 is rotatably connected to the carrier plate 1. Thus, when the main rod 61 is pushed, the main rod 61 drives the auxiliary rod 62 to rotate, the rotation of the auxiliary rod 62 causes the fastening portion 621 to be exposed out of the carrier plate 1 and fastened in the shelf, or the rotation of the auxiliary rod 62 causes the fastening portion 621 to be retracted from the shelf. So, promote mobile jib 61 and can make joint portion 621 joint in goods shelves, perhaps make joint portion 621 withdraw to can control the locking and the release to goods shelves.
Optionally, the number of the auxiliary rods 62 is multiple, and the auxiliary rods 62 are all rotatably connected to the main rod 61, so that the auxiliary rods 62 are simultaneously rotated, and the clamping portions 621 are all clamped in the shelf, so that the shelf is more stable when being locked. The length direction of the main rod 61 is the X direction, so that the clamping portion 621 of the auxiliary rod 62 extends towards the left side or the right side of the carrier plate 1, thereby clamping the shelf.
Optionally, the number of the hook assemblies 6 is two, and the two hook assemblies are respectively disposed on the left and right sides of the carrier plate 1, and the length directions of the two main rods 61 are both in the X direction.
Referring to fig. 6, an embodiment of the present invention further provides a transportation robot, the transportation robot includes the anti-toppling mechanism 100 in any of the above embodiments, further includes a base 200 and a head 300, the head 300 drives the support plate 1 to move, and the base 200 is disposed at the bottom of the support plate 1 for supporting and fixing the jacking mechanism 2.
The transportation robot of the above embodiment employs the anti-toppling mechanism 100 of any of the above embodiments, the detection assembly is used for detecting the inclination angle of the ground, the support plate 1 is used for placing the object to be transported, the top end of the jacking mechanism 2 is connected to the support plate 1, and the jacking mechanism 2 can change its length to push the support plate 1. When the detection assembly detects the inclination angle of the ground, the height of the jacking mechanism 2 is adjusted according to the information detected by the detection assembly, so that the support plate 1 is restored to the horizontal state, and the articles on the support plate 1 are prevented from falling.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. Anti-toppling mechanism, its characterized in that: including the detecting element who is used for detecting support plate inclination, be used for placing the support plate of article and be used for compensating the inclination's of support plate climbing mechanism, climbing mechanism's top connect in the support plate, through adjusting climbing mechanism's height is in order to make the support plate level sets up.
2. The anti-toppling mechanism according to claim 1, wherein: the jacking mechanism is an air cylinder, and the output end of the air cylinder is connected to the support plate; or the jacking mechanism comprises a motor, a threaded part driven by the motor to rotate and a lead screw in threaded connection with the threaded part, and the top end of the lead screw is connected to the carrier plate.
3. The anti-toppling mechanism according to claim 1, wherein: the top of climbing mechanism with the support plate rotates to be connected, climbing mechanism's top has the pivot hole, the support plate towards one side of climbing mechanism has to wear to locate the pivot in pivot hole.
4. An anti-tipping mechanism according to claim 3, characterised in that: the axial direction of the rotating shaft is perpendicular to the jacking direction of the jacking mechanism and the movement direction of the support plate.
5. The anti-toppling mechanism according to claim 1, wherein: the top end of the jacking mechanism is connected with the support plate through a spherical pair in a universal rotating manner.
6. The anti-toppling mechanism according to claim 1, wherein: the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed in sequence along the moving direction of the support plate; or the number of the jacking mechanisms is multiple, and the jacking mechanisms are distributed below the carrier plate in an array manner.
7. The anti-toppling mechanism according to claim 1, wherein: the detection assembly comprises at least two sensors for detecting the inclination angle of the ground.
8. The anti-toppling mechanism according to claim 1, wherein: the anti-toppling mechanism is still including the trip subassembly that is used for preventing article goods shelves from dropping, the trip subassembly includes mobile jib and vice pole, the one end of vice pole with the mobile jib rotates to be connected, the other end of vice pole has joint portion just joint portion is used for the joint in goods shelves, just the middle part of vice pole with the support plate rotates to be connected.
9. A transport robot is characterized in that: comprising an anti-tipping mechanism according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922069914.4U CN211417085U (en) | 2019-11-25 | 2019-11-25 | Anti-toppling mechanism and transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922069914.4U CN211417085U (en) | 2019-11-25 | 2019-11-25 | Anti-toppling mechanism and transportation robot |
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| CN211417085U true CN211417085U (en) | 2020-09-04 |
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| CN201922069914.4U Active CN211417085U (en) | 2019-11-25 | 2019-11-25 | Anti-toppling mechanism and transportation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884420A (en) * | 2019-11-25 | 2020-03-17 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN114148431A (en) * | 2021-12-09 | 2022-03-08 | 江苏财经职业技术学院 | Auxiliary transport trolley for manufacturing workshop based on industrial internet |
-
2019
- 2019-11-25 CN CN201922069914.4U patent/CN211417085U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884420A (en) * | 2019-11-25 | 2020-03-17 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN110884420B (en) * | 2019-11-25 | 2024-04-23 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN114148431A (en) * | 2021-12-09 | 2022-03-08 | 江苏财经职业技术学院 | Auxiliary transport trolley for manufacturing workshop based on industrial internet |
| CN114148431B (en) * | 2021-12-09 | 2022-11-15 | 江苏财经职业技术学院 | Auxiliary transportation trolley for manufacturing workshop based on industrial internet |
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Effective date of registration: 20231007 Address after: 518000 Wanke Yuncheng Phase 4, Dashi 1st Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province (Centralized Commercial Project) A08 (12-08) Patentee after: Kandra (Shenzhen) Intelligent Technology Co.,Ltd. Address before: 518000 3501, 35th floor, Shenzhen Bay venture capital building, 25 Haitian 2nd Road, Binhai community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: CANDELA (SHENZHEN) TECHNOLOGY INNOVATION Co.,Ltd. |