CN215318804U - Intelligent bottom layer control device of omnidirectional mobile robot - Google Patents
Intelligent bottom layer control device of omnidirectional mobile robot Download PDFInfo
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- CN215318804U CN215318804U CN202120543534.4U CN202120543534U CN215318804U CN 215318804 U CN215318804 U CN 215318804U CN 202120543534 U CN202120543534 U CN 202120543534U CN 215318804 U CN215318804 U CN 215318804U
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- 230000001276 controlling effect Effects 0.000 description 2
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Abstract
The utility model relates to the technical field of application of intelligent robots, in particular to an intelligent bottom layer control device of an omnidirectional mobile robot, which comprises a device main body, wherein the device main body comprises a mobile device main body, the top end of the mobile device main body is fixedly connected with the bottom end of a lifting device base, a motor main body is embedded in the middle of the lifting device base, the top end of the motor main body is fixedly connected with the bottom end of a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is fixedly connected with a sleeve rod, a threaded rod is embedded in one end, far away from the second bevel gear, of the sleeve rod, the sleeve rod is in sliding connection with the threaded rod, one end, far away from the sleeve rod, of the threaded rod is in rotating connection with the lifting device base, and the threaded rod is in threaded connection with a nut. The utility model can clamp and fix the goods loaded by the device and can avoid the goods from being lifted too high.
Description
Technical Field
The utility model relates to the technical field of application of intelligent robots, in particular to an intelligent bottom layer control device of an omnidirectional mobile robot.
Background
Along with the development of modern science and technology, people utilize omnidirectional movement robot to carry the goods, for example, the omnidirectional movement transfer robot that publication number is CN106276009B discloses, combine the lifing arm and the robot body into an organic whole, compact structure, make the robot can directly get into the goods bottom and utilize elevating system to realize the transport to the goods, it is little to occupy the space in warehouse, in addition, the robot adopts the power universal wheel to realize the omnidirectional movement function, cooperation is based on the location navigation method of decoupling zero omnidirectional movement, can realize the autonomic location and the navigation function of robot, make the robot do not rely on the marker alright realize the location of oneself and go in the workshop, possess the intelligent movement function, therefore can know that current omnidirectional movement robot has basically satisfied people's user demand, still have following problem.
In the use of device, lift up the goods as user operation elevating system to in the time of the realization is to the transport of goods, the top of traditional device does not realize the centre gripping to the goods, lifts up the back when the device with the goods, and when the device drove the goods and removes, the goods can move under inertial effect, can even follow the top landing of device, and the goods can have the risk of damage, consequently urgently need an intelligent bottom controlling means of omnidirectional movement robot to solve above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an intelligent bottom layer control device of an omnidirectional mobile robot, which aims to solve the problem that goods can be damaged when the traditional device provided by the background technology transports the goods.
In order to achieve the purpose, the utility model provides the following technical scheme: an intelligent bottom control device of an omnidirectional mobile robot comprises a device main body, wherein the device main body comprises a mobile device main body, the top end of the mobile device main body is fixedly connected with the bottom end of a lifting device base, a motor main body is embedded in the middle of the lifting device base, the top end of the motor main body is fixedly connected with the bottom end of a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is fixedly connected with a sleeve rod, a threaded rod is embedded into one end, far away from the second bevel gear, of the sleeve rod and is in sliding connection with the threaded rod, one end, far away from the sleeve rod, of the threaded rod is rotatably connected with the lifting device base, the threaded rod is in threaded connection with a nut sleeve, the bottom end of the nut sleeve is in sliding connection with a first guide groove, a first guide groove is formed in the top end of the lifting device base, the top end of the nut sleeve is rotatably connected with the bottom end of a hinged rod, the top end of the hinged rod is rotationally connected with the rotating shaft seat, the top end of the rotating shaft seat is fixedly connected with the bottom end of the lifting plate, the top end of the first bevel gear is fixedly connected with the bottom end of the fixing sleeve, the bottom end of the transmission rod is embedded in the fixing sleeve, the fixing sleeve is slidably connected with the transmission rod, the transmission rod is rotationally connected with the middle part of the bottom end of the lifting plate, a hollow groove formed in the middle part of the lifting plate is provided with a clamping bolt, the top end of the clamping bolt is fixedly connected with the third bevel gear, the lifting plate is slidably connected with the control block, connecting blocks are fixedly connected to two sides of the control block, the connecting blocks are slidably connected with the lifting plate, a reset spring is fixedly connected between the connecting blocks and the lifting plate, the bottom end of the control block is rotationally connected with the top end of the third bevel gear, the lifting plate is rotationally connected with the clamping rod, and one end, close to the third bevel gear, of the clamping rod is fixedly connected with the fourth bevel gear, one end, far away from the fourth bevel gear, of the clamping rod is in threaded connection with the clamping block, and the bottom end of the clamping block is in sliding connection with the lifting plate.
Preferably, a square groove is formed in the top end of the transmission rod, the overlooking section of the clamping bolt is set to be square, and the side length of the overlooking section of the clamping bolt is equal to that of the groove formed in the top end of the transmission rod.
Preferably, the vertical distance from the top end of the control block to the top end of the lifting plate is greater than the vertical distance from the bottom end of the clamping bolt to the top end of the transmission rod, and the vertical distance from the bottom end of the groove formed in the top end of the transmission rod to the bottom end of the clamping bolt is greater than the vertical distance from the top end of the control block to the top end of the lifting plate.
Preferably, the bottom of grip block is inlayed and is had the ball, and the inlayed ball of grip block bottom and lifting board laminating.
Preferably, the top of grip block is inlayed and is had the switch main part, and switch main part and motor main part electricity are connected, the one end and the regulating block that second conical gear were kept away from to the loop bar rotate to be connected, and the bottom and the second guide way sliding connection of regulating block, one side bottom and the spacing spring fixed connection that the regulating block is close to second conical gear, and one side fixed connection that the one end and the second guide way inner wall that the regulating block was kept away from to spacing spring are close to second conical gear, the top and the articulated telescopic bottom left end of regulating block are connected, and articulated telescopic inside sliding connection has articulated telescopic link, articulated telescopic link extends to the outside one end of articulated sleeve and the bottom rotation of lifting plate and is connected.
Preferably, one end of the hinged telescopic rod embedded into the hinged sleeve is fixedly connected with a convex block, and the convex block is in sliding connection with a groove formed in the inner wall of the hinged sleeve.
Compared with the prior art, the utility model has the beneficial effects that:
1. this intelligence bottom controlling means of omnidirectional movement robot is provided with the motor main part, lift the board, fixed sleeve and grip block, in the use of device, after the device removed the bottom to the goods, the starter motor main part can drive and lift the board and rise to lift up, and after the goods was lifted up to the device, the motor main part drove the fixed sleeve and rotates, make the grip block remove, the goods centre gripping that will lift up is fixed on the top of lifting up the board, the practicality of device has been improved, and the protectiveness of device to the goods has been improved.
2. The intelligent bottom layer control device of the omnidirectional mobile robot is provided with the lifting plate and the adjusting block, when the hinged rod holds the goods, the switch main body embedded in the clamping block can close the motor main body after being extruded by the goods in the process that the clamping block clamps the goods, the goods are prevented from being lifted too high, the goods are effectively prevented from falling off due to too high gravity center, the safety of the device is improved, if the size of the goods loaded by the device is small, the clamping block needs to operate for a long time to clamp the goods, the motor main body rotates, the lifting plate is lifted to a certain height, the hinged telescopic rod is driven to a certain height by the lifting plate, the hinged telescopic rod and the hinged sleeve cannot continuously slide relative to each other, the lifting plate continues to rise, the adjusting block is driven to move through the hinged sleeve and the hinged sleeve, the sleeve rod connected with the adjusting block in a rotating mode is made to move, the sleeve rod drives the second bevel gear thrust and the first bevel gear to be meshed, the lifting plate cannot lift the goods continuously along with the rotation of the motor main body at the moment, the problem that the center of gravity of the goods is too high is further avoided, and the protection performance of the device on the goods is improved.
Drawings
FIG. 1 is a schematic front sectional view of the present invention;
FIG. 2 is an enlarged view of a portion of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of a portion of the structure shown at B in FIG. 1 according to the present invention;
FIG. 4 is an enlarged view of a portion of the structure of FIG. 1 at C according to the present invention;
FIG. 5 is a schematic view of a partial top cross-sectional structure of the present invention;
fig. 6 is an enlarged view of a portion of the structure at D in fig. 1 according to the present invention.
In the figure: 110. a mobile device main body; 120. a lifting device base; 121. a first guide groove; 122. a second guide groove; 210. a motor main body; 211. a first bevel gear; 212. a second bevel gear; 213. a loop bar; 214. a threaded rod; 215. a nut sleeve; 216. a hinged lever; 217. a rotating shaft seat; 218. lifting the plate; 220. Fixing the sleeve; 221. a transmission rod; 222. fastening a bolt; 223. a third bevel gear; 224. a fourth bevel gear; 225. a clamping rod; 226. a clamping block; 227. a switch main body; 230. a control block; 231. connecting blocks; 232. a return spring; 310. an adjusting block; 311. a limiting spring; 312. a hinged sleeve; 313. the telescopic rod is hinged.
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.
Referring to fig. 1-6, an embodiment of the present invention is shown:
example 1:
an intelligent bottom layer control device of an omnidirectional mobile robot comprises a device main body, the device main body comprises a mobile device main body 110, the top end of the mobile device main body 110 is fixedly connected with the bottom end of a lifting device base 120, a motor main body 210 is embedded in the middle of the lifting device base 120, the top end of the motor main body 210 is fixedly connected with the bottom end of a first bevel gear 211, the first bevel gear 211 is meshed with a second bevel gear 212, the second bevel gear 212 is fixedly connected with a sleeve rod 213, a threaded rod 214 is embedded in one end, far away from the second bevel gear 212, of the sleeve rod 213, the sleeve rod 213 is slidably connected with the threaded rod 214, one end, far away from the sleeve rod 213, of the threaded rod 214 is rotatably connected with the lifting device base 120, the threaded rod 214 is in threaded connection with a nut sleeve 215, the bottom end of the nut sleeve 215 is slidably connected with a first guide groove 121, and the first guide groove 121 is opened at the top end of the lifting device base 120, the top end of the nut sleeve 215 is rotatably connected with the bottom end of the hinge rod 216, the top end of the hinge rod 216 is rotatably connected with the rotating shaft seat 217, the top end of the rotating shaft seat 217 is fixedly connected with the bottom end of the lifting plate 218, the top end of the first conical gear 211 is fixedly connected with the bottom end of the fixed sleeve 220, the bottom end of the transmission rod 221 is embedded in the fixed sleeve 220, the fixed sleeve 220 is slidably connected with the transmission rod 221, the transmission rod 221 is rotatably connected with the middle part of the bottom end of the lifting plate 218, a hollow groove formed in the middle part of the lifting plate 218 is provided with a clamping bolt 222, the top end of the clamping bolt 222 is fixedly connected with the third conical gear 223, the lifting plate 218 is slidably connected with the control block 230, the two sides of the control block 230 are fixedly connected with connecting blocks 231, the connecting blocks 231 are slidably connected with the lifting plate 218, a return spring 232 is fixedly connected between the connecting blocks 231 and the lifting plate 218, and the bottom end of the control block 230 is rotatably connected with the top end of the third conical gear 223, lift board 218 and supporting rod 225 and rotate to be connected, and supporting rod 225 is close to the one end and the fourth bevel gear 224 fixed connection of third bevel gear 223, supporting rod 225 keeps away from the one end and the grip block 226 threaded connection of fourth bevel gear 224, and the bottom and the lifting board 218 sliding connection of grip block 226, through such design, can load the in-process of goods at the device, carry out the centre gripping to the goods, fix the goods on the top of lifting board 218, the effectual risk of dropping of goods emergence in the in-process of transportation has been avoided, the protectiveness and the practicality of device have been improved.
Through the design, when the top end of the control block 230 contacts the bottom of the goods, the control block 230 moves downwards to drive the latch 222 and the third bevel gear 223 to move downwards, so that the latch 222 is embedded into the top end of the transmission rod 221, at the moment, the latch 222 can rotate along with the transmission rod 221, so that the transmission rod 221 drives the fourth bevel gear 224 and the clamping rod 225 to rotate through the latch 222 and the third bevel gear 223, the clamping block 226 clamps and fixes the goods under the driving of the clamping rod 225, the rotation of the latch 222 does not need to be controlled artificially, and the convenience and the practicability of the device are improved.
Through the design that the vertical distance from the top end of the control block 230 to the top end of the lifting plate 218 is greater than the vertical distance from the bottom end of the clamping bolt 222 to the top end of the transmission rod 221, and the vertical distance from the bottom end of the groove formed in the top end of the transmission rod 221 to the bottom end of the clamping bolt 222 is greater than the vertical distance from the top end of the control block 230 to the top end of the lifting plate 218, when the control block 230 is pressed by goods and moves downwards, the clamping bolt 222 can be clamped with the transmission rod 221 under the driving of the control block 230, the height of the adjusting block 310 can be ensured to be reduced to be consistent with the height of the lifting plate 218, the bottom of the goods is prevented from being unstable, the third bevel gear 223 can be fully meshed with the fourth bevel gear 224, and the practicability of the device is improved.
The bottom of grip block 226 is inlayed and is had the ball, and the inlayed ball of grip block 226 bottom and lifting plate 218 laminating, through such design, the effectual grip block 226 that has reduced is at the in-process that removes, the frictional force between grip block 226 and the lifting plate 218 for grip block 226 removes more lightly, has improved the portability of device.
Example 2:
the switch main body 227 is inlaid at the top end of the clamping block 226, the switch main body 227 is electrically connected with the motor main body 210, one end of the loop bar 213, which is far away from the second bevel gear 212, is rotatably connected with the adjusting block 310, the bottom end of the adjusting block 310 is slidably connected with the second guide groove 122, the bottom end of one side of the adjusting block 310, which is close to the second bevel gear 212, is fixedly connected with the limiting spring 311, one end of the limiting spring 311, which is far away from the adjusting block 310, is fixedly connected with one side of the inner wall of the second guide groove 122, which is close to the second bevel gear 212, the top end of the adjusting block 310 is connected with the left end of the bottom end of the hinged sleeve 312, the hinged telescopic rod 313 is slidably connected inside the hinged sleeve 312, one end of the hinged telescopic rod 313, which extends to the outside of the hinged sleeve 312, is rotatably connected with the bottom end of the lifting plate 218, through the design, the switch main body 227 is a self-reset switch, and the switch main body 227 can close the motor main body 210 after being squeezed, the cargo can be prevented from being lifted to the too high height by the device, so that the gravity center of the cargo is not too high, the stability of the cargo in the transportation process is improved, and the protection of the device is improved.
The one end fixedly connected with lug that articulated telescopic link 313 embedding articulated sleeve 312 is inside, and the recess sliding connection that lug and articulated sleeve 312 inner wall were seted up for through such design, the slip between articulated telescopic link 313 and the articulated sleeve 312 is more stable, and the effectual card of avoiding the device is pause, has improved the stability of device.
The working principle is as follows: in the use process of the device, when the device moves to the bottom end of the goods, firstly, the motor main body 210 is started, the motor main body 210 drives the first bevel gear 211 to rotate, the first bevel gear 211 rotates to drive the second bevel gear 212 and the sleeve rod 213 to rotate, the sleeve rod 213 drives the threaded rod 214 to rotate, the threaded rod 214 drives the nut sleeve 215 to slide in the rotating process, the nut sleeve 215 drives the lifting plate 218 to move upwards through the cooperation of the hinge rod 216 and the rotating shaft seat 217 in the sliding process until the top end of the adjusting block 310 of the sliding stage in the middle of the lifting plate 218 is contacted with the bottom end of the goods, along with the lifting of the lifting plate 218, the adjusting block 310 moves downwards under the extrusion of the goods, so that the clamping bolt 222 is embedded into the top end of the transmission rod 221, the motor main body 210 drives the fixing sleeve 220 and the transmission rod 221 to rotate in the rotating process, and the clamping bolt 222 and the third bevel gear 223 rotate along with the transmission rod 221, the third bevel gear 223 drives the fourth bevel gear 224 and the clamping rod 225 to rotate in the rotating process, the clamping rod 225 rotates to drive the clamping block 226 to slide, the clamping block 226 slides to fix the goods to be clamped on the top end of the lifting plate 218, and the goods are prevented from falling off from the top end of the device in the transporting process.
In the process that the device loads goods, when the clamping block 226 clamps the goods, the switch main body 227 is squeezed by the goods, the switch main body 227 is set to be a normally open self-resetting switch, the squeezed switch main body 227 enables the motor main body 210 to have a light ratio, the goods are prevented from being lifted by the device too high, the goods are more stable, if the size of the goods loaded by the device is small, the clamping block 226 needs to operate for a long time to clamp and fix the goods, in the process that the lifting plate 218 lifts the goods, the lifting plate 218 can drive the hinged telescopic rod 313 to move until the hinged telescopic rod 313 cannot slide relative to the hinged sleeve 312 in the moving process, at the moment, in the process that the lifting plate 218 continues to lift, the hinged telescopic rod 313 and the hinged sleeve 312 drive the adjusting block 310 to move in the direction away from the first bevel gear 211, and the adjusting block 310 drives the sleeve rod 213 and the second bevel gear 212 to move in the direction away from the first bevel gear 211, the engagement between the second bevel gear 212 and the first bevel gear 211 is disengaged, and the threaded rod 214 stops rotating, so that the lifting plate 218 cannot lift the height any more, and the operation is ended.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an intelligence bottom controlling means of omnidirectional movement robot, includes the device main part, its characterized in that: the device body comprises a mobile device body (110), the top end of the mobile device body (110) is fixedly connected with the bottom end of a lifting device base (120), a motor body (210) is embedded in the middle of the lifting device base (120), the top end of the motor body (210) is fixedly connected with the bottom end of a first bevel gear (211), the first bevel gear (211) is meshed with a second bevel gear (212), the second bevel gear (212) is fixedly connected with a sleeve rod (213), a threaded rod (214) is embedded into one end, away from the second bevel gear (212), of the sleeve rod (213), the sleeve rod (213) is slidably connected with the threaded rod (214), one end, away from the sleeve rod (213), of the threaded rod (214) is rotatably connected with the lifting device base (120), the threaded rod (214) is threadedly connected with a nut sleeve (215), and the bottom end of the nut sleeve (215) is slidably connected with a first guide groove (121), the first guide groove (121) is formed in the top end of the lifting device base (120), the top end of the nut sleeve (215) is rotatably connected with the bottom end of the hinged rod (216), the top end of the hinged rod (216) is rotatably connected with the rotating shaft seat (217), the top end of the rotating shaft seat (217) is fixedly connected with the bottom end of the lifting plate (218), the top end of the first bevel gear (211) is fixedly connected with the bottom end of the fixing sleeve (220), the bottom end of the transmission rod (221) is embedded into the fixing sleeve (220), the fixing sleeve (220) is slidably connected with the transmission rod (221), the transmission rod (221) is rotatably connected with the middle portion of the bottom end of the lifting plate (218), a dead slot formed in the middle portion of the lifting plate (218) is provided with a clamping bolt (222), the top end of the clamping bolt (222) is fixedly connected with the third bevel gear (223), and the lifting plate (218) is slidably connected with the control block (230), and both sides of the control block (230) are fixedly connected with connecting blocks (231), the connecting blocks (231) are slidably connected with the lifting plate (218), a return spring (232) is fixedly connected between the connecting blocks (231) and the lifting plate (218), the bottom end of the control block (230) is rotatably connected with the top end of the third conical gear (223), the lifting plate (218) is rotatably connected with the clamping rod (225), one end, close to the third conical gear (223), of the clamping rod (225) is fixedly connected with the fourth conical gear (224), one end, far away from the fourth conical gear (224), of the clamping rod (225) is in threaded connection with the clamping block (226), and the bottom end of the clamping block (226) is slidably connected with the lifting plate (218).
2. The intelligent floor control device of the omnidirectional mobile robot as recited in claim 1, wherein: the top end of the transmission rod (221) is provided with a square groove, the overlooking section of the clamping bolt (222) is square, and the side length of the overlooking section of the clamping bolt (222) is equal to that of the groove formed in the top end of the transmission rod (221).
3. The intelligent floor control device of the omnidirectional mobile robot as recited in claim 1, wherein: the vertical distance from the top end of the control block (230) to the top end of the lifting plate (218) is greater than the vertical distance from the bottom end of the clamping bolt (222) to the top end of the transmission rod (221), and the vertical distance from the bottom end of the groove formed in the top end of the transmission rod (221) to the bottom end of the clamping bolt (222) is greater than the vertical distance from the top end of the control block (230) to the top end of the lifting plate (218).
4. The intelligent floor control device of the omnidirectional mobile robot as recited in claim 1, wherein: the bottom end of the clamping block (226) is inlaid with a ball, and the ball inlaid at the bottom end of the clamping block (226) is attached to the lifting plate (218).
5. The intelligent floor control device of the omnidirectional mobile robot as recited in claim 1, wherein: the top end of the clamping block (226) is embedded with a switch main body (227), and the switch main body (227) is electrically connected with the motor main body (210), one end of the sleeve rod (213) far away from the second bevel gear (212) is rotationally connected with the adjusting block (310), the bottom end of the adjusting block (310) is connected with the second guide groove (122) in a sliding way, the bottom end of one side of the adjusting block (310) close to the second bevel gear (212) is fixedly connected with a limiting spring (311), and one end of the limiting spring (311) far away from the adjusting block (310) is fixedly connected with one side of the inner wall of the second guide groove (122) close to the second bevel gear (212), the top end of the adjusting block (310) is connected with the left end of the bottom end of the hinged sleeve (312), and the inner part of the hinged sleeve (312) is connected with a hinged telescopic rod (313) in a sliding way, one end of the hinged telescopic rod (313) extending to the outside of the hinged sleeve (312) is rotatably connected with the bottom end of the lifting plate (218).
6. The intelligent floor control device of the omnidirectional mobile robot as recited in claim 5, wherein: the one end fixedly connected with lug that articulated telescopic link (313) embedding articulated sleeve (312) is inside, and the recess sliding connection that the lug and articulated sleeve (312) inner wall were seted up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120543534.4U CN215318804U (en) | 2021-03-16 | 2021-03-16 | Intelligent bottom layer control device of omnidirectional mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120543534.4U CN215318804U (en) | 2021-03-16 | 2021-03-16 | Intelligent bottom layer control device of omnidirectional mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215318804U true CN215318804U (en) | 2021-12-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120543534.4U Expired - Fee Related CN215318804U (en) | 2021-03-16 | 2021-03-16 | Intelligent bottom layer control device of omnidirectional mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215318804U (en) |
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2021
- 2021-03-16 CN CN202120543534.4U patent/CN215318804U/en not_active Expired - Fee Related
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