CN220948281U - Motion assembly of transportation robot - Google Patents
Motion assembly of transportation robot Download PDFInfo
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- CN220948281U CN220948281U CN202322705496.XU CN202322705496U CN220948281U CN 220948281 U CN220948281 U CN 220948281U CN 202322705496 U CN202322705496 U CN 202322705496U CN 220948281 U CN220948281 U CN 220948281U
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000004140 cleaning Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000010405 clearance mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of transportation robots, in particular to a motion assembly of a transportation robot, which comprises: a main body including a transport robot body; the lifting mechanism comprises an oil cylinder, the oil cylinder is fixedly connected to the lower surface of the transportation robot body, a connecting frame is fixedly connected to a piston rod of the oil cylinder, the oil cylinder drives the connecting frame to lift through the piston rod, a rotating shaft is rotatably connected to the lower surface of the connecting frame through a bearing, and lifting rollers are fixedly connected to the lower surface of the rotating shaft. According to the utility model, lifting and driving of the lifting roller are completed through the oil cylinder, the connecting frame, the rotating shaft, the first gear, the first motor and the second gear, and the lifting roller continuously lifts and drives the transportation robot body to move, so that the whole transportation robot body can completely move to the upper part of the step, the transportation robot body can be ensured to pass over the step and reach the designated position, and the problem that the transportation robot body is not in front of a stop is avoided.
Description
Technical Field
The utility model relates to the technical field of transportation robots, in particular to a motion assembly of a transportation robot.
Background
The transport robot is a robot system capable of autonomous movement and used for carrying and transporting objects. They have wide application prospect in the fields of industry, logistics, storage, medical treatment and the like. The motion components of the transport robot are a critical part of achieving its movement function.
The existing transport robot moves on the road surface through the rollers, but some steps can be encountered in the moving process, the rollers cannot cross the steps, and the transport robot cannot reach a designated place, so that the transport robot is stopped.
Disclosure of utility model
The utility model aims to provide a motion assembly of a transport robot, which solves the problem that the existing transport robot in the background art cannot reach a designated place due to the fact that rollers cannot pass over steps, so that the transport robot is not stopped.
In order to achieve the above object, the present utility model provides a motion assembly of a transportation robot, including:
The main body comprises a transportation robot body, and a fixed roller is arranged on the lower surface of the transportation robot body;
The lifting mechanism comprises an oil cylinder, the oil cylinder is fixedly connected to the lower surface of the transportation robot body, a connecting frame is fixedly connected to a piston rod of the oil cylinder, the oil cylinder drives the connecting frame to lift through the piston rod, the lower surface of the connecting frame is rotationally connected with a rotating shaft through a bearing, a lifting roller is fixedly connected to the surface of the rotating shaft, a first gear is fixedly connected to the surface of the rotating shaft, a first motor is fixedly connected to the upper surface of the connecting frame, an output shaft is arranged on the surface of the first motor, a second gear is fixedly connected to the output shaft of the first motor, and the first motor drives the second gear to rotate through the output shaft.
Preferably, the barrier removing mechanism is arranged on the surface of the transportation robot body and comprises a fixed plate, the fixed plate is fixedly connected on the surface of the transportation robot body, the second motor is fixedly connected with the upper surface of the oil cylinder, an output shaft is arranged on the surface of the second motor, the output shaft of the second motor is fixedly connected with a third gear, the second motor drives the third gear to rotate through the output shaft, the bottom of the fixed plate is fixedly connected with a guide rod, the surface of the guide rod is slidably connected with a movable plate, the bottom of the movable plate is fixedly connected with a cleaning plate, and the surface of the movable plate is fixedly connected with a rack.
Preferably, the lifting mechanisms are provided with two groups, one group of lifting mechanisms and the fixed rollers form symmetry at the bottom of the transportation robot body, and the other group of lifting mechanisms are arranged at the middle position of the transportation robot body.
Preferably, the connecting frame drives the lifting roller to lift in the lifting process, and the lifting roller changes the horizontal position relation with the fixed roller through lifting.
Preferably, the first gear and the second gear are meshed with each other, and the second gear rotates to drive the first gear to rotate.
Preferably, a trapezoid guide groove is formed in the surface of the guide rod, a trapezoid sliding block is arranged at the top of the movable plate, and the movable plate slides on the trapezoid guide groove of the guide rod through the trapezoid sliding block.
Preferably, the third gear and the rack are meshed with each other, the cleaning plate is parallel to the horizontal plane, and the bottom of the cleaning plate is higher than the bottom of the fixed roller.
Compared with the prior art, the utility model has the beneficial effects that:
1. this transportation robot's motion subassembly, through the hydro-cylinder, the link, the pivot, first gear, first motor and second gear, the lift and the drive to lifting roller have been accomplished, wherein two sets of lifting roller cooperate a set of fixed gyro wheel, the in-process that has ensured the transportation robot body is climbing the step has sufficient support, and lifting roller is through constantly lifting and driving transportation robot body removal, make whole transportation robot body can remove to the step top completely, thereby ensure that transportation robot body can cross the step, reach the assigned position, the problem that transportation robot body is not in front has been avoided.
2. This transportation robot's motion subassembly, the second motor passes through the output shaft and drives third gear rotation, and the third gear drives rack translation, and the rack drives the fly leaf and slides in the guide bar bottom to make the fly leaf drive the clearance board slide in fixed gyro wheel's the place ahead, the fly leaf slides the in-process and pushes away other positions with the obstacle in fixed gyro wheel the place ahead, thereby avoided fixed gyro wheel collision obstacle, ensured transportation robot body top article's safety.
Drawings
FIG. 1 is a schematic perspective view of the structure of the present utility model;
FIG. 2 is a schematic bottom perspective view of the structure of the present utility model;
FIG. 3 is a schematic front view of the structure of the present utility model;
FIG. 4 is a bottom perspective view of the lift mechanism of the present utility model;
fig. 5 is an enlarged schematic view of the structure of fig. 2a according to the present utility model.
In the figure: 1. a transport robot body; 11. a fixed roller; 2. an oil cylinder; 21. a connecting frame; 22. a rotating shaft; 23. lifting rollers; 24. a first gear; 25. a first motor; 26. a second gear; 3. a fixing plate; 31. a second motor; 32. a third gear; 33. a guide rod; 34. a movable plate; 35. a cleaning plate; 36. a rack.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-5, an embodiment of the present utility model is provided:
A motion assembly of a transport robot, comprising:
The main body comprises a transport robot body 1, wherein fixed rollers 11 are arranged on the lower surface of the transport robot body 1, two groups of original fixed rollers 11 are replaced by a group of lifting mechanisms, and the transport robot body 1 can climb steps more flexibly;
The lifting mechanism comprises an oil cylinder 2, the oil cylinder 2 is fixedly connected to the lower surface of a transport robot body 1, a connecting frame 21 is fixedly connected to a piston rod of the oil cylinder 2, the oil cylinder 2 drives the connecting frame 21 to lift through the piston rod, the lower surface of the connecting frame 21 is rotationally connected with a rotating shaft 22 through a bearing, lifting rollers 23 are fixedly connected to the surface of the rotating shaft 22, a first gear 24 is fixedly connected to the surface of the rotating shaft 22, a first motor 25 is fixedly connected to the upper surface of the connecting frame 21, an output shaft is arranged on the surface of the first motor 25, a second gear 26 is fixedly connected to the output shaft of the first motor 25, the first motor 25 drives the second gear 26 to rotate through the output shaft, two groups of lifting mechanisms are arranged for mainly lifting the horizontal height of the lifting rollers 23, and the lifting rollers 23 can rotate, so that the transport robot body 1 can be driven to move on a road surface.
Further, be provided with the clearance mechanism on the surface of transport robot body 1, the clearance mechanism includes fixed plate 3, fixed plate 3 fixed connection is on the surface of transport robot body 1, the upper surface fixedly connected with second motor 31 of hydro-cylinder 2, be provided with the output shaft on the surface of second motor 31, the output shaft fixed connection third gear 32 of second motor 31, second motor 31 passes through the output shaft and drives the rotation of third gear 32, the bottom fixedly connected with guide bar 33 of fixed plate 3, sliding connection has fly leaf 34 on the surface of guide bar 33, the bottom fixedly connected with clearance plate 35 of fly leaf 34, fixedly connected with rack 36 on the surface of fly leaf 34, its clearance mechanism sets up in the place ahead of fixed gyro wheel 11, can be with the obstacle of cleaing away fixed gyro wheel 11, thereby avoid transport robot body 1 to take place violently vibrations on the road surface, ensure the safety of transport robot body 1 upper surface goods.
Further, the lifting mechanisms are provided with two groups, one group of lifting mechanisms and the fixed rollers 11 form symmetry at the bottom of the transportation robot body 1, the other group of lifting mechanisms are arranged at the middle position of the transportation robot body 1, and the two groups of lifting mechanisms are matched for use, so that the step climbing action of the transportation robot body 1 is completed.
Further, the connecting frame 21 drives the lifting roller 23 to lift in the lifting process, the lifting roller 23 changes the horizontal position relation between the lifting roller 23 and the fixed roller 11 through lifting, and the horizontal heights of the lifting roller 23 and the fixed roller 11 of a group of lifting mechanisms are always kept consistent, so that the stability of the transportation robot body 1 in the moving process is ensured.
Further, the first gear 24 and the second gear 26 are meshed with each other, the second gear 26 rotates to drive the first gear 24 to rotate, and the first gear 24 drives the rotating shaft 22 to rotate at the bottom of the connecting frame 21, so as to drive the lifting roller 23 to rotate, and drive the transporting robot body 1 to move on the road surface.
Further, the surface of the guide rod 33 is provided with a trapezoidal guide groove, the top of the movable plate 34 is provided with a trapezoidal sliding block, the movable plate 34 slides on the trapezoidal guide groove of the guide rod 33 through the trapezoidal sliding block, the guide rod 33 drives the cleaning plate 35 to move in the sliding process, the first motor 25 pushes away the obstacle in front of the fixed roller 11 in the moving process, so that the shock caused by the contact of the fixed roller 11 with the obstacle is avoided, and the running stability of the transport robot body 1 on a road surface is ensured.
Further, the third gear 32 and the rack 36 are meshed with each other, the third gear 32 drives the rack 36 to translate, so that the movable plate 34 is driven to slide at the bottom of the guide rod 33, the movable plate 34 drives the cleaning plate 35 to clean the obstacle in front of the fixed roller 11, the cleaning plate 35 is parallel to the horizontal plane, the bottom of the cleaning plate 35 is higher than the bottom of the fixed roller 11, the cleaning plate 35 is prevented from being contacted with the ground, the cleaning plate 35 is close to the ground, most of obstacles causing vibration are ensured, the obstacle is removed from the front of the fixed roller 11, and the vibration of the transportation robot body 1 is prevented from being caused.
Working principle: when the transportation robot body 1 needs to climb the step, the lifting mechanism is started, the two groups of lifting mechanisms simultaneously lower the positions of the lifting rollers 23 to be lower than the horizontal plane of the fixed rollers 11, meanwhile, the two groups of lifting rollers 23 support the transportation robot body 1, so that the fixed rollers 11 are higher than the horizontal height of the step, any one group of first motors 25 of the lifting mechanisms are started, the first motors 25 drive the second gears 26 to rotate through output shafts, the second gears 26 drive the first gears 24 to rotate, the first gears 24 drive the lifting rollers 23 to rotate through rotating shafts 22, the transportation robot body 1 is enabled to move, the fixed rollers 11 are moved to the upper side of the step, the lifting rollers 23 of the middle lifting mechanism are retracted, the transportation robot body 1 is moved again, the middle part of the transportation robot body 1 is also on the step, at the moment, the lifting rollers 23 of the middle lifting mechanism fall on the step, the transportation robot body 1 is matched with the fixed rollers 11 to be supported, the lifting rollers 23 of the middle lifting mechanism are driven by the first motors 25 to drive the transportation robot body 1 to move, the transportation robot body 1 is enabled to move, and the part of the transportation robot body 1 on the step is not moved to the upper side of the step, and all the movement of the transportation robot body 1 is completed.
The second motor 31 drives the third gear 32 to rotate through the output shaft, the third gear 32 drives the rack 36 to translate, and the rack 36 drives the movable plate 34 to slide at the bottom of the guide rod 33, so that the movable plate 34 drives the cleaning plate 35 to slide in front of the fixed roller 11, and the movable plate 34 pushes the obstacle in front of the fixed roller 11 to other positions in the sliding process, so that the fixed roller 11 is prevented from colliding with the obstacle, and the damage to articles caused by vibration of the transportation robot body 1 is avoided.
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 utility model may be embodied in other specific forms without departing from the spirit or essential characteristics 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 (7)
1. A motion assembly for a transport robot, comprising:
The robot comprises a main body and a control device, wherein the main body comprises a transportation robot body (1), and a fixed roller (11) is arranged on the lower surface of the transportation robot body (1);
Elevating system, including hydro-cylinder (2), hydro-cylinder (2) fixed connection is at the lower surface of transportation robot body (1), fixedly connected with link (21) on the piston rod of hydro-cylinder (2), hydro-cylinder (2) drive link (21) through the piston rod and go up and down, the lower surface of link (21) is connected with pivot (22) through the bearing rotation, fixedly connected with lifting roller (23) on the surface of pivot (22), fixedly connected with first gear (24) on the surface of pivot (22), the last fixedly connected with first motor (25) of link (21), be provided with the output shaft on the surface of first motor (25), fixedly connected with second gear (26) on the output shaft of first motor (25), first motor (25) drive second gear (26) through the output shaft and rotate.
2. A movement assembly for a conveyor robot as claimed in claim 1, wherein: the utility model provides a transportation robot body (1) be provided with barrier removal mechanism on the surface, barrier removal mechanism includes fixed plate (3), fixed plate (3) fixed connection is on the surface of transportation robot body (1), the last fixed surface of hydro-cylinder (2) is connected with second motor (31), be provided with the output shaft on the surface of second motor (31), the output shaft fixed connection third gear (32) of second motor (31), second motor (31) drive third gear (32) through the output shaft and rotate, the bottom fixedly connected with guide bar (33) of fixed plate (3), sliding connection has fly leaf (34) on the surface of guide bar (33), the bottom fixedly connected with clearance board (35) of fly leaf (34), fixedly connected with rack (36) on the surface of fly leaf (34).
3. A movement assembly for a conveyor robot as claimed in claim 1, wherein: the lifting mechanisms are arranged in two groups, one group of lifting mechanisms and the fixed rollers (11) are symmetrical at the bottom of the conveying robot body (1), and the other group of lifting mechanisms are arranged at the middle position of the conveying robot body (1).
4. A movement assembly of a conveyor robot as claimed in claim 3, wherein: the connecting frame (21) drives the lifting roller (23) to lift in the lifting process, and the lifting roller (23) changes the horizontal position relation with the fixed roller (11) through lifting.
5. The movement assembly of a conveyor robot of claim 4, wherein: the first gear (24) and the second gear (26) are meshed with each other, and the second gear (26) rotates to drive the first gear (24) to rotate.
6. A movement assembly of a conveyor robot as claimed in claim 2, wherein: the surface of the guide rod (33) is provided with a trapezoid guide groove, the top of the movable plate (34) is provided with a trapezoid sliding block, and the movable plate (34) slides on the trapezoid guide groove of the guide rod (33) through the trapezoid sliding block.
7. The movement assembly of a conveyor robot of claim 6, wherein: the third gear (32) and the rack (36) are meshed with each other, the cleaning plate (35) is parallel to the horizontal plane, and the bottom of the cleaning plate (35) is higher than the bottom of the fixed roller (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322705496.XU CN220948281U (en) | 2023-10-10 | 2023-10-10 | Motion assembly of transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322705496.XU CN220948281U (en) | 2023-10-10 | 2023-10-10 | Motion assembly of transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220948281U true CN220948281U (en) | 2024-05-14 |
Family
ID=91018889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322705496.XU Active CN220948281U (en) | 2023-10-10 | 2023-10-10 | Motion assembly of transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220948281U (en) |
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2023
- 2023-10-10 CN CN202322705496.XU patent/CN220948281U/en active Active
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