CN213171347U

CN213171347U - Liftable omnidirectional robot

Info

Publication number: CN213171347U
Application number: CN202021467061.6U
Authority: CN
Inventors: 王大勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-05-11
Anticipated expiration: 2030-07-21

Abstract

The utility model provides a liftable omnidirectional robot relates to the robotechnology field. A liftable omnidirectional robot comprises a base, wherein the base is provided with a storage plate and a plurality of driving wheels for driving the base to move, and any driving wheel is provided with a driving assembly for driving the driving wheel to rotate; the base is equipped with the lifting unit who is used for the drive to put thing board longitudinal movement, and lifting unit with put the thing board and be connected. Adopt the utility model discloses, be convenient for carry out horizontal and fore-and-aft transfer to article, simple structure does benefit to the popularization.

Description

Liftable omnidirectional robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a liftable omnidirectional robot.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The robot has been used in the place that current a lot of article were transported, replaces artifical transportation goods through the robot, and is efficient, with low costs. Particularly, in a place where the transported article needs to be moved upward, such as a place where the cargo is transported from a low place to a truck or other higher place, the article needs to be moved not only horizontally but also vertically, which is a high requirement for the transporting robot, and the transporting robot needs to be moved not only laterally but also vertically up and down.

The existing robot generally only realizes the longitudinal movement of articles through the rotation of the mechanical arm, the articles have a centrifugal force in the rotation process of the mechanical arm, the articles are easy to drop, and the robot has higher requirements on the structural design and high cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a liftable omnidirectional robot, it is convenient for carry out horizontal and fore-and-aft transfer to article, and simple structure does benefit to the popularization.

The embodiment of the utility model is realized like this:

the embodiment of the application provides a liftable omnidirectional robot, which comprises a base, wherein the base is provided with a storage plate and a plurality of driving wheels for driving the base to move, and any driving wheel is provided with a driving assembly for driving the driving wheels to rotate; the base is equipped with the lifting unit who is used for the drive to put thing board longitudinal movement, and lifting unit with put the thing board and be connected.

Furthermore, in some embodiments of the present invention, the lifting assembly includes a first connecting rod, a first screw, a first supporting rod and a second supporting rod, which are arranged in a crossed manner, one end of the first supporting rod is hinged to the object placing plate, and the other end of the first supporting rod is rotatably sleeved on the first connecting rod; one end of the second supporting rod is hinged with the base, and the other end of the second supporting rod is connected with the object placing plate in a sliding manner; the first connecting rod is arranged on the base in a sliding mode, is provided with a first screw hole matched with the first screw rod, and the first screw rod penetrates through the first screw hole; the base is provided with a first driving motor used for driving the first screw rod to rotate, and the first driving motor is in transmission connection with the first screw rod.

Further, in some embodiments of the present invention, the base is provided with a limiting groove along the axial direction, and one end of the first connecting rod slides to locate the limiting groove.

Further, in some embodiments of the present invention, the above-mentioned object placing plate is provided with a first sliding groove along the axial direction, and the second supporting rod is located in the first sliding groove near the one end of the object placing plate.

Further, in some embodiments of the present invention, the number of the lifting assemblies is two and is set relatively, the first connecting rod is located by rotating the sleeve for one end of the first supporting rod of the two lifting assemblies, and the first screw rod is located between the two lifting assemblies.

Further, in some embodiments of the present invention, the first connecting rod is fixed to a fixing block, the first screw hole is disposed on the fixing block, and the first screw rod passes through the fixing block.

Furthermore, in some embodiments of the present invention, the article placing plate is provided with a sliding plate in a sliding manner.

Furthermore, in some embodiments of the present invention, the article placing plate further includes a sliding sleeve and a second connecting rod, the second screw rod is rotatably disposed on the article placing plate, the sliding sleeve is provided with a second screw hole matched with the second screw rod, and the second screw rod passes through the second screw hole; one end of the second connecting rod is hinged with the sliding sleeve, and the other end of the second connecting rod is hinged with the sliding plate; the object placing plate is provided with a second driving motor for driving the second screw rod to rotate.

Further, in some embodiments of the present invention, the cross section of the sliding sleeve is polygonal, the object placing plate is provided with a second sliding groove matched with the shape of the sliding sleeve, and the sliding sleeve is slidably disposed on the second sliding groove.

Further, in some embodiments of the present invention, the driving wheel is a track wheel.

Compared with the prior art, the embodiment of the utility model has following advantage or beneficial effect at least:

the embodiment of the utility model provides a liftable omnidirectional robot, which comprises a base, wherein the base is provided with a storage plate and a plurality of driving wheels for driving the base to move, and any driving wheel is provided with a driving component for driving the driving wheels to rotate; the base is equipped with the lifting unit who is used for the drive to put thing board longitudinal movement, and lifting unit with put the thing board and be connected.

During the in-service use, can place article on putting the thing board, then drive assembly drive wheel rotates, and then make the robot move the destination, and lifting unit drive puts the thing board and rises to reach the suitable position in top, and the staff removes the article on putting the thing board, accomplishes article transport work.

The lifting assembly drives the object placing plate to descend, the robot moves to the original position to continue carrying objects, the objects are carried in a reciprocating mode, transverse and longitudinal transfer is conducted on the objects conveniently, and the robot is simple in structure and beneficial to popularization. Because any driving wheel is provided with a driving component for driving the driving wheel to rotate, each driving wheel can be driven independently, and the robot can rotate to all directions conveniently.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention;

FIG. 2 is a bottom view of the shelf of FIG. 1;

fig. 3 is a side view of the shelf in fig. 1.

Icon: 1-a base; 2-driving wheels; 3-a storage plate; 4-a first support bar; 5-a second support bar; 6-first connecting rod; 7-a first screw; 8-a first drive motor; 9-a first chute; 10-a limiting groove; 11-fixing block; 12-a slide plate; 13-a second connecting rod; 14-a sliding sleeve; 15-a second screw; 16-a second drive motor; 17-second runner.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "upper", "lower", "vertical", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship that the product of the present invention is usually placed when in use, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be interpreted as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not require that the components be absolutely horizontal or vertical, but may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, "a plurality" means at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless explicitly stated or limited otherwise, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, 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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Examples

Referring to fig. 1, the present embodiment provides a liftable omnidirectional robot, including a base 1, where the base 1 is provided with a storage plate 3 and a plurality of driving wheels 2 for driving the base 1 to move, and any driving wheel 2 is provided with a driving assembly for driving the driving wheel 2 to rotate; the base 1 is provided with a lifting assembly used for driving the object placing plate 3 to move longitudinally, and the lifting assembly is connected with the object placing plate 3.

During the in-service use, can place article on putting thing board 3, then drive assembly drive wheel 2 rotates, and then make the robot move to the destination, and lifting unit drive puts that thing board 3 rises and reaches the suitable position in top, and the staff removes the article on putting thing board 3, accomplishes article transport work.

Lifting unit drive puts the decline of thing board 3, and the robot moves and continues to carry article to primary position, so reciprocal carries article, is convenient for carry out horizontal and fore-and-aft transfer to article, and simple structure does benefit to the popularization. Because any drive wheel 2 is provided with a drive assembly for driving the drive wheels 2 to rotate, each drive wheel 2 can be driven independently, for example, one drive wheel 2 can be driven to rotate clockwise, and the other drive wheel 2 can rotate anticlockwise, so that the robot can turn on the spot, the orientation of the robot can be adjusted, and the robot can conveniently rotate to all directions.

Alternatively, the number of the driving wheels 2 of the present embodiment is two and the two driving wheels are oppositely arranged on the base 1. The driving assembly of this embodiment can optionally use a motor for driving the driving wheel 2, and the driving assembly is disposed at the bottom of the base 1. Optionally, the 3 tops of putting the thing board of this embodiment are equipped with a plurality of bar recesses, so increase the article place put on the thing board 3 after with put the friction between the thing board 3, prevent that article from sliding along putting the thing board 3.

As shown in fig. 1, in some embodiments of the present invention, the lifting assembly includes a first connecting rod 6, a first screw 7, a first supporting rod 4 and a second supporting rod 5, which are arranged in a crossed manner, one end of the first supporting rod 4 is hinged to the object placing plate 3, and the other end of the first supporting rod 4 is rotatably sleeved on the first connecting rod 6; one end of a second supporting rod 5 is hinged with the base 1, and the other end of the second supporting rod 5 is connected with the object placing plate 3 in a sliding manner; the first connecting rod 6 is slidably arranged on the base 1, the first connecting rod 6 is provided with a first screw hole matched with the first screw 7, and the first screw 7 penetrates through the first screw hole; the base 1 is provided with a first driving motor 8 for driving the first screw 7 to rotate, and the first driving motor 8 is in transmission connection with the first screw 7.

The working principle is as follows: when putting thing board 3 and rising when needs, first driving motor 8 drive first screw rod 7 rotates, and then drives head rod 6 along 7 axial displacement of first screw rod, promotes the one end that first bracing piece 4 is close to base 1 and removes towards the one end that second bracing piece 5 is close to base 1, so first bracing piece 4 and second bracing piece 5 are vertical gradually, and the top is supporting and is putting thing board 3 and up moving, makes and put thing board 3 and rise. When the object placing plate 3 is required to descend, the first screw 7 is rotated in the direction opposite to the previous direction, so that the object placing plate 3 descends.

As shown in fig. 1, in some embodiments of the present invention, the base 1 is provided with a limiting groove 10 along the axial direction, and one end of the first connecting rod 6 is slidably disposed in the limiting groove 10. The utility model discloses a set up spacing groove 10, the sliding of head rod 6 one end is located spacing groove 10, so can carry on spacingly to the sliding distance of head rod 6, the sliding of also being convenient for head rod 6 in spacing groove 10.

As shown in fig. 1, in some embodiments of the present invention, the object placing plate 3 is provided with a first sliding groove 9 along the axial direction, and the second supporting rod 5 is slidably disposed at the first sliding groove 9 near one end of the object placing plate 3. The utility model discloses a put thing board 3 and be equipped with first spout 9 along the axial, second bracing piece 5 is close to the one end slip of putting thing board 3 and locates first spout 9, and the one end that so is convenient for second bracing piece 5 to be close to putting thing board 3 slides along first spout 9, increases the stability of second bracing piece 5 during operation.

As shown in fig. 1, in some embodiments of the present invention, the number of the lifting assemblies is two and is relatively set, the first connecting rod 6 is sleeved on one end of the first supporting rod 4 of the two lifting assemblies, and the first screw 7 is disposed between the two lifting assemblies. The utility model discloses a lifting unit quantity is two and relative setting, and so two lifting unit simultaneous workings make and put thing board 3 and rise or descend, and it is more stable when putting thing board 3 and remove to make.

As shown in fig. 1, in some embodiments of the present invention, the first connecting rod 6 is fixedly provided with a fixing block 11, the first screw hole is provided in the fixing block 11, and the first screw rod 7 passes through the fixing block 11. The utility model discloses a set up fixed block 11, the removal of the head rod 6 of being convenient for.

As shown in fig. 1-3, in some embodiments of the present invention, the object placing plate 3 is slidably provided with a sliding plate 12. The utility model discloses a set up sliding plate 12, can slide sliding plate 12 along putting thing board 3 and slide, so in order to increase the area of putting thing board 3, the scope that increase article can be placed is convenient for place more article. Optionally, the object placing plate 3 of the present embodiment is provided with a sliding groove, and the sliding plate 12 is clamped in the sliding groove and slides along the sliding groove.

As shown in fig. 1-3, in some embodiments of the present invention, the above-mentioned device further comprises a sliding sleeve 14 and a second connecting rod 13, the object placing plate 3 is rotatably provided with a second screw 15, the sliding sleeve 14 is provided with a second screw hole matched with the second screw 15, and the second screw 15 passes through the second screw hole; one end of the second connecting rod 13 is hinged with the sliding sleeve 14, and the other end of the second connecting rod 13 is hinged with the sliding plate 12; the object placing plate 3 is provided with a second driving motor 16 for driving the second screw rod 15 to rotate.

The utility model discloses a set up second screw rod 15 and sliding sleeve 14, can make sliding sleeve 14 slide along second screw rod 15 through rotating second screw rod 15, so with the angle of adjustment connecting rod 13 and sliding plate 12, and then be convenient for slide sliding plate 12 out and put thing board 3, also be convenient for make sliding plate 12 slide and accomodate back and put thing board 3.

As shown in fig. 1-3, in some embodiments of the present invention, the cross section of the sliding sleeve 14 is polygonal, the object placing plate 3 is provided with a second sliding groove 17 matching with the shape of the sliding sleeve 14, and the sliding sleeve 14 is slidably disposed on the second sliding groove 17.

Since the sliding sleeve 14 may rotate relative to the second screw 15 during the rotation of the second screw 15, the moving efficiency of the sliding sleeve 14 is reduced. The utility model discloses a set up 14 cross sections of sliding sleeve and be the polygon, put thing board 3 and be equipped with the second spout 17 that matches with 14 shapes of sliding sleeve, so sliding sleeve 14 locates and only can slide along second spout 17 behind the second spout 17, can not rotate, increases sliding sleeve 14's removal efficiency. Alternatively, the sliding sleeve 14 of the present embodiment takes a rectangular parallelepiped shape.

As shown in fig. 1, in some embodiments of the present invention, the driving wheel 2 is a track wheel. The utility model discloses a drive wheel 2 adopts the athey wheel, and the athey wheel trafficability characteristic is strong, is applicable to the ground of a lot of unevennesses, so increased the application scope of robot, is favorable to promoting.

To sum up, the embodiment of the utility model provides a liftable omnidirectional robot, which comprises a base 1, wherein the base 1 is provided with an object placing plate 3 and a plurality of driving wheels 2 for driving the base 1 to move, and any one driving wheel 2 is provided with a driving component for driving the driving wheel 2 to rotate; the base 1 is provided with a lifting assembly used for driving the object placing plate 3 to move longitudinally, and the lifting assembly is connected with the object placing plate 3.

Lifting unit drive puts the decline of thing board 3, and the robot moves and continues to carry article to primary position, so reciprocal carries article, is convenient for carry out horizontal and fore-and-aft transfer to article, and simple structure does benefit to the popularization. Because any driving wheel 2 is provided with a driving component for driving the driving wheel 2 to rotate, each driving wheel 2 can be driven independently, and the robot can rotate to various directions conveniently.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a liftable omnidirectional robot which characterized in that: the device comprises a base, wherein the base is provided with a storage plate and a plurality of driving wheels for driving the base to move, and any one driving wheel is provided with a driving component for driving the driving wheel to rotate; the base is provided with a lifting assembly used for driving the object placing plate to move longitudinally, and the lifting assembly is connected with the object placing plate.

2. The liftable omnidirectional robot of claim 1, wherein: the lifting assembly comprises a first connecting rod, a first screw rod, a first supporting rod and a second supporting rod which are arranged in a crossed mode, one end of the first supporting rod is hinged to the object placing plate, and the other end of the first supporting rod is rotatably sleeved on the first connecting rod; one end of the second supporting rod is hinged with the base, and the other end of the second supporting rod is connected with the object placing plate in a sliding manner; the first connecting rod is arranged on the base in a sliding mode and provided with a first screw hole matched with the first screw rod, and the first screw rod penetrates through the first screw hole; the base is provided with a first driving motor used for driving the first screw rod to rotate, and the first driving motor is in transmission connection with the first screw rod.

3. The liftable omnidirectional robot of claim 2, wherein: the base is provided with a limiting groove along the axial direction, and one end of the first connecting rod is slidably arranged in the limiting groove.

4. The liftable omnidirectional robot of claim 2, wherein: the object placing plate is provided with a first sliding groove along the axial direction, and the second supporting rod is close to one end of the object placing plate and is slidably arranged in the first sliding groove.

5. The liftable omnidirectional robot of claim 2, wherein: the number of the lifting assemblies is two, the lifting assemblies are arranged oppositely, one ends of first supporting rods of the two lifting assemblies are rotatably sleeved on the first connecting rod, and the first screw rod is arranged between the two lifting assemblies.

6. The liftable omnidirectional robot of claim 2, wherein: the first connecting rod is fixedly provided with a fixing block, the first screw hole is formed in the fixing block, and the first screw penetrates through the fixing block.

7. The liftable omnidirectional robot of claim 1, wherein: the object placing plate is provided with a sliding plate in a sliding way.

8. The liftable omnidirectional robot of claim 7, wherein: the article placing plate is rotatably provided with a second screw, the sliding sleeve is provided with a second screw hole matched with the second screw, and the second screw penetrates through the second screw hole; one end of the second connecting rod is hinged with the sliding sleeve, and the other end of the second connecting rod is hinged with the sliding plate; the object placing plate is provided with a second driving motor for driving the second screw rod to rotate.

9. The liftable omnidirectional robot of claim 8, wherein: the sliding sleeve cross section is the polygon, put the thing board be equipped with the second spout that the sliding sleeve shape matches, the sliding sleeve slides and locates the second spout.

10. The liftable omnidirectional robot of claim 1, wherein: the driving wheel is a crawler wheel.