CN218313554U

CN218313554U - Large-load latent robot

Info

Publication number: CN218313554U
Application number: CN202221778756.5U
Authority: CN
Inventors: 李勇; 金鑫; 唐传高; 水盼盼
Original assignee: Hefei Waliqueqi Robot Technology Co ltd
Current assignee: Hefei Waliqueqi Robot Technology Co ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2023-01-17
Anticipated expiration: 2032-07-08

Abstract

The utility model discloses a high-load hidden robot, wherein the bottom of the robot body is provided with a walking wheel component, and a lifting platform is positioned above an opening; the lifting mechanism is arranged in the machine body and drives the transmission screw rod to rotate through the stepping motor, so that the supporting platform extends out of the opening to drive the lifting platform to lift. Through the large-load latent type robot with the optimized design, the lifting mechanism of the lifting platform is improved, the load capacity of the robot is improved, the stability during lifting is guaranteed, meanwhile, the lifting position can be accurately controlled through the transmission screw rod, and reliable support is provided for the lifting platform.

Description

Large-load latent robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a formula robot is hidden to heavy load.

Background

With the development of intelligent warehousing, warehouse transportation robots with automatic navigation are more and more widely applied. The existing warehousing and transportation robot generally has a jacking function, and can jack cargoes to a preset height. The existing latent robot is only suitable for lifting a goods shelf, a jacking structure and a jacking plate are adopted to lift goods, and then a slewing bearing is used for driving the jacking plate to rotate for 360 degrees. However, the jacking structure adopted by the existing latent robot is complex and occupies a large area, and the operation flexibility of the latent robot is influenced.

SUMMERY OF THE UTILITY MODEL

For solving the technical problem who exists among the background art, the utility model provides a heavy load formula robot of hiding.

The utility model provides a large-load formula robot of hiding, include: the lifting device comprises a machine body, a lifting mechanism and a lifting platform;

the machine body comprises a base and a coaming, wherein the bottom of the base is provided with a walking wheel assembly, the coaming is positioned above the base and forms an opening above the base, and the lifting platform is positioned above the opening;

elevating system installs in the opening, elevating system includes brace table, step motor and transmission lead screw, is equipped with the guide pin bushing of vertical extension on the base, and the brace table is located the guide pin bushing top and the bottom be equipped with guide pin bushing complex guide pillar, and the transmission lead screw is vertical arranges in brace table below and rotatable the installation on the base, and transmission lead screw upper end has the locating pin head, and the brace table bottom has with locating pin head complex locating pin hole, and step motor is connected with the transmission lead screw and is used for driving the transmission lead screw to rotate so that the brace table is followed the opening stretches out and drives the elevating platform and go up and down.

Preferably, a plurality of guide pillars are arranged at the bottom of the supporting table, distributed around the transmission screw rod, and a plurality of guide sleeves respectively matched with the guide pillars are arranged on the base.

Preferably, the walking wheel assembly comprises two driving differential wheels and two groups of auxiliary wheels, the two driving differential wheels are positioned at the bottom of the machine body and symmetrically distributed on two sides of the walking direction of the machine body, and the two groups of auxiliary wheels are uniformly distributed around the two driving differential wheels.

Preferably, each set of auxiliary wheels comprises a front auxiliary universal wheel and a rear auxiliary universal wheel, and the front auxiliary universal wheel and the rear auxiliary universal wheel of each set of auxiliary wheels are respectively positioned at the front side and the rear side of one driving differential wheel.

Preferably, the walking wheel assembly further comprises a suspension, a guide rod vertically extending is arranged on the suspension, a support is arranged on the base, a guide hole is formed in the support, the guide rod of the suspension is matched with the guide hole, the suspension is hoisted on the support through the guide rod, elastic buffer parts are arranged on the support and the suspension support, and the driving differential wheel is rotatably arranged on the suspension.

Preferably, the elastic buffer part adopts a spring which is sleeved outside the guide rod.

Preferably, be equipped with the boss on the suspension and be located two guide arms of boss both sides respectively, be equipped with the locating lever of vertical setting on the boss, be equipped with on the support with locating lever complex locating hole.

Preferably, the lifting platform is fixedly connected with the support platform.

In the large-load hidden robot, the bottom of the robot body is provided with the travelling wheel assembly, and the lifting platform is positioned above the opening; the lifting mechanism is arranged in the machine body and drives the transmission screw rod to rotate through the stepping motor, so that the supporting platform extends out of the opening to drive the lifting platform to lift. Through the large-load latent type robot with the optimized design, the lifting mechanism of the lifting platform is improved, the load capacity of the robot is improved, the stability during lifting is guaranteed, meanwhile, the lifting position can be accurately controlled through the transmission screw rod, and reliable support is provided for the lifting platform.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a large-load latent robot according to the present invention.

Fig. 2 is a schematic structural diagram of the installation of the lifting mechanism on the base in one embodiment of the large-load latent robot provided by the present invention.

Fig. 3 is an illustration of an explosion structure of an embodiment of the present invention, which is a heavy-load latent robot.

Fig. 4 is a schematic view of a suspension mounting structure of an embodiment of the large-load latent robot according to the present invention.

Detailed Description

As shown in fig. 1 to 4, fig. 1 is the utility model provides an embodiment's of heavy load formula robot of hiding structure schematic diagram, fig. 2 is the utility model provides a structure schematic diagram of elevating system installation on the base in an embodiment of heavy load formula robot of hiding, fig. 3 is the utility model provides an embodiment's of heavy load formula robot of hiding explosion structure schematic diagram, fig. 4 is the utility model provides an embodiment's of heavy load formula robot of hiding suspension mounting structure schematic diagram.

Referring to fig. 1 to 4, the utility model provides a large-load latent robot, include: the device comprises a machine body 1, a lifting mechanism and a lifting platform 2;

the machine body 1 comprises a base 11 and a coaming 12, wherein a travelling wheel assembly is arranged at the bottom of the base 11, the coaming 12 is positioned above the base 11 and forms an opening above the base 11, and the lifting platform 2 is positioned above the opening;

elevating system installs in the opening, elevating system includes brace table 81, step motor 82 and transmission lead screw 83, be equipped with the guide pin bushing 85 of vertical extension on the base 11, brace table 81 is located guide pin bushing 85 top and bottom and is equipped with guide pillar 84 with guide pin bushing 85 complex, transmission lead screw 83 is vertical arranges in brace table 81 below and rotatable the installation on base 11, transmission lead screw 83 upper end has locating pin head 831, brace table 81 bottom has with locating pin head 831 complex locating pin hole, step motor 82 is connected with transmission lead screw 83 and is used for driving transmission lead screw 83 to rotate so that brace table 81 follows the opening stretches out to drive elevating platform 2 and goes up and down.

In actual design, the lifting table 2 is fixedly connected to the supporting table 81.

In the specific working process of the large-load latent robot of this embodiment, the load has the transport goods on the elevating platform, and the fuselage passes through the removal of walking wheel assembly transport goods. When the goods need rise, step motor drive transmission lead screw rotates, because the transmission lead screw passes through the locating pin head and the cooperation of the locating pin hole of brace table bottom, and the brace table passes through guide pillar and guide pin bushing and base cooperation simultaneously, consequently, the transmission lead screw rises step by step under step motor's effect to promote the elevating platform through the brace table and rise, realize the rising of goods.

In the embodiment, the large-load latent robot is provided with a walking wheel assembly at the bottom of a robot body, and a lifting platform is positioned above the opening; the lifting mechanism is arranged in the machine body and drives the transmission screw rod to rotate through the stepping motor, so that the supporting platform extends out of the opening to drive the lifting platform to lift. Through the large-load latent type robot with the optimized design, the lifting mechanism of the lifting platform is improved, the load capacity of the robot is improved, the stability during lifting is guaranteed, meanwhile, the lifting position can be accurately controlled through the transmission screw rod, and reliable support is provided for the lifting platform.

In a specific design manner of the supporting platform, a plurality of guide posts 84 are disposed at the bottom of the supporting platform 81, the plurality of guide posts 84 are distributed around the transmission screw 83, and a plurality of guide sleeves 85 respectively engaged with the plurality of guide posts 84 are disposed on the base 11.

In a specific embodiment of the traveling wheel assembly, the traveling wheel assembly includes two driving differential wheels 41 and two sets of auxiliary wheels, the two driving differential wheels 41 are located at the bottom of the machine body 1 and symmetrically distributed on two sides of the machine body 1 in the traveling direction, and the two sets of auxiliary wheels are uniformly distributed around the two driving differential wheels 41. The two driving differential wheels are driven to rotate to drive the machine body to walk, and when the machine body needs to turn, the speed difference between the two driving differential wheels is adjusted, so that flexible turning can be completed. The auxiliary wheel is arranged around the driving differential wheel, so that the whole machine body can move stably.

Further, each set of auxiliary wheels includes a front auxiliary universal wheel 42 and a rear auxiliary universal wheel 43, and the front auxiliary universal wheel 42 and the rear auxiliary universal wheel 43 of each set of auxiliary wheels are respectively located at the front and rear sides of one active differential wheel 41.

In another specific embodiment, the traveling wheel assembly further includes a suspension 9, a guide rod 91 extending vertically is disposed on the suspension 9, a bracket 111 is disposed on the base 11, a guide hole is disposed on the bracket 111, the guide rod 91 of the suspension 9 is matched with the guide hole, the suspension 9 is hung on the bracket 111 through the guide rod 91, the bracket 111 and the bracket 111 of the suspension 9 are provided with elastic buffering members, and the driving differential wheel 41 is rotatably mounted on the suspension 9. The driving differential wheel is arranged on the base through the suspension, and when jolting during walking, the driving differential wheel is lifted through the elasticity of the suspension to provide buffer for the driving differential wheel.

Further, the elastic buffer is a spring 92, and the spring 92 is sleeved outside the guide rod 91.

In the concrete design of suspension, be equipped with boss 90 and two guide arms 91 that are located boss 90 both sides respectively on suspension 9, be equipped with the locating lever 93 of vertical setting on the boss 90, be equipped with on support 111 with locating lever 93 complex locating hole. Through locating lever and locating hole cooperation, with the direction restriction that floats of suspension in less within range, avoid the action wheel to float the space too big, influence load stability.

In actual work, the latent robot can use one or more of radar, vision and ultrasonic waves for obstacle avoidance. And when the obstacle is detected, the robot stops running and waits in situ until the obstacle is removed, and then continues to walk. When corresponding design, 1 lateral wall of fuselage has mounting groove 10, mounting groove 10 extends along 1 walking direction both sides direction of fuselage, and radar 3 installs in mounting groove 10, radar 3 are located elevating platform 2 below, mounting groove 10 inboard wall forms two conduction faces 101 that extend to both ends rear from radar 3. Because the radar is hidden in the groove on the side wall of the machine body, the lifting platform is positioned right above the whole machine body, and the cargo loading capacity of the machine body is ensured. In the process of walking, the radar receives radar signals from the front end in the walking direction, and the radiation angle of the radar is increased because the conduction surface extends towards the oblique rear direction.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A large-load latent robot, comprising: the device comprises a machine body (1), a lifting mechanism and a lifting platform (2);

the machine body (1) comprises a base (11) and a coaming (12), a walking wheel assembly is arranged at the bottom of the base (11), the coaming (12) is positioned above the base (11) and forms an opening above the base (11), and the lifting platform (2) is positioned above the opening;

elevating system installs in the opening, elevating system includes brace table (81), step motor (82) and transmission lead screw (83), be equipped with vertical extension's guide pin bushing (85) on base (11), brace table (81) are located guide pin bushing (85) top and bottom and are equipped with guide pin bushing (85) complex guide pillar (84), transmission lead screw (83) are vertical to be arranged in brace table (81) below and rotatable the installing on base (11), transmission lead screw (83) upper end has locating pin head (831), brace table (81) bottom have with locating pin head (831) complex locating pin hole, step motor (82) are connected with transmission lead screw (83) and are used for driving transmission lead screw (83) to rotate so that brace table (81) follow the opening stretches out to drive elevating platform (2) and goes up and down.

2. The large-load latent robot according to claim 1, wherein the support table (81) is provided at a bottom thereof with a plurality of guide posts (84), the plurality of guide posts (84) are distributed around the drive screw (83), and the base (11) is provided with a plurality of guide sleeves (85) respectively engaged with the plurality of guide posts (84).

3. The high-load latent robot according to claim 1, wherein the walking wheel assembly comprises two driving differential wheels (41) and two sets of auxiliary wheels, the two driving differential wheels (41) are located at the bottom of the robot body (1) and symmetrically distributed at two sides of the walking direction of the robot body (1), and the two sets of auxiliary wheels are uniformly distributed around the two driving differential wheels (41).

4. A high-load latent robot according to claim 3, wherein each set of auxiliary wheels comprises a front auxiliary universal wheel (42) and a rear auxiliary universal wheel (43), and the front auxiliary universal wheel (42) and the rear auxiliary universal wheel (43) of each set of auxiliary wheels are respectively located on the front and rear sides of one active differential wheel (41).

5. The large-load latent robot according to claim 3, wherein the traveling wheel assembly further comprises a suspension (9), a vertically extending guide rod (91) is arranged on the suspension (9), a bracket (111) is arranged on the base (11), a guide hole is arranged on the bracket (111), the guide rod (91) of the suspension (9) is matched with the guide hole, the suspension (9) is hoisted on the bracket (111) through the guide rod (91), the bracket (111) and the bracket (111) of the suspension (9) are provided with elastic buffer members, and the driving differential wheel (41) is rotatably mounted on the suspension (9).

6. The high-load latent robot according to claim 5, wherein the elastic buffer member is a spring (92), and the spring (92) is sleeved outside the guide rod (91).

7. The high-load latent robot according to claim 5, wherein the suspension (9) is provided with a boss (90) and two guide rods (91) respectively located at two sides of the boss (90), the boss (90) is provided with a vertically arranged positioning rod (93), and the bracket (111) is provided with a positioning hole matched with the positioning rod (93).

8. A large-load latent robot according to claim 1, wherein the elevating platform (2) is fixedly connected to the supporting platform (81).