WO2020010575A1 - 一种悬挂系统及全背负式移动机器人 - Google Patents

一种悬挂系统及全背负式移动机器人 Download PDF

Info

Publication number
WO2020010575A1
WO2020010575A1 PCT/CN2018/095441 CN2018095441W WO2020010575A1 WO 2020010575 A1 WO2020010575 A1 WO 2020010575A1 CN 2018095441 W CN2018095441 W CN 2018095441W WO 2020010575 A1 WO2020010575 A1 WO 2020010575A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
pulley
ball screw
ball
driven wheel
Prior art date
Application number
PCT/CN2018/095441
Other languages
English (en)
French (fr)
Inventor
叶磊
Original Assignee
苏州元谋智能机器人系统有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州元谋智能机器人系统有限公司 filed Critical 苏州元谋智能机器人系统有限公司
Priority to US16/331,885 priority Critical patent/US11919358B2/en
Priority to EP18865343.0A priority patent/EP3620268A4/en
Publication of WO2020010575A1 publication Critical patent/WO2020010575A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F5/00—Mobile jacks of the garage type mounted on wheels or rollers
    • B66F5/02—Mobile jacks of the garage type mounted on wheels or rollers with mechanical lifting gear
    • B66F5/025—Mobile jacks of the garage type mounted on wheels or rollers with mechanical lifting gear screw-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/14—Mounting of suspension arms
    • B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F2700/00—Lifting apparatus
    • B66F2700/04—Jacks with screw and nut

Definitions

  • the present application relates to the technical field of mobile robots, and in particular, to a suspension system and a full knapsack mobile robot using the suspension system.
  • AGV automatic guided transport vehicles
  • This intelligent mobile robot performs the role of "porter" in the actual factory.
  • the use of automatic guided transport vehicles not only greatly improves the actual operation of the factory. Efficiency, and release workers from the daily monotonous and frequent work tasks, reducing the rate of operation errors and liberating labor.
  • the movement of the robot is mainly powered by the driving wheels, and the power of the driving wheels is mainly guaranteed by the friction and ground contact of the wheels.
  • the driving wheels are usually made into suspension form separately, and the driving wheels are supported by springs. In this way, for a mobile robot, the ground contact force of the driving wheel is related to the spring force supporting the driving wheel and is a constant value.
  • an existing patent document published as CN107235092A a technology disclosed by a chassis device of an adaptive mobile robot correspondingly solves the above technical problems, but then generates another tricky problem :
  • the rotating connection between the swing arm and the chassis body is prone to cause uneven bending and deformation, which has limitations for applications with heavy load carrying operations.
  • existing backpack-type warehouse logistics robots For heavy load lifting, due to the overall strength of the mechanical structure, the robot's lifting stability is poor, which results in the limited carrying capacity of this knapsack mobile robot.
  • the public number is CN104192762B, and the patent name is "A Rotary Lifting Mechanism” And AGV trolley including a rotary jacking mechanism "discloses a mobile robot based on a rotary jacking mechanism, which has a strong carrying capacity, good jacking stability, and a large lifting stroke (up to 60-100 mm).
  • the volume of the entire lifting mechanism is relatively large, which occupies more installation space on the robot body.
  • the key component to achieve the lifting movement is a special large-diameter ball screw mechanism, which requires high processing accuracy and high cost.
  • the electrical control of the robot body is also relatively complicated, and the vehicle body needs to make a differential movement in the opposite direction relative to the tray on the lifting mechanism.
  • the present invention aims to solve at least one of the technical problems existing in the prior art.
  • the present invention is to propose a suspension system, wherein the rotation shaft of the suspension system is balanced in force.
  • the invention also proposes a full knapsack mobile robot having the above suspension system.
  • the present application provides a suspension system including two suspension mechanisms arranged left and right, namely a left suspension mechanism and a right suspension mechanism, each of which includes a support beam, a driving wheel, a connecting member, and A first driven wheel, the first driven wheel and the driving wheel respectively supporting front and rear ends of the support beam, and the connecting member is connected to the supporting beam and is located on the driving wheel and the first wheel
  • the connecting member is generally in an inverted "concave" shape, and the connecting member includes a first vertical connecting portion provided on the left side of the support beam, and a first connecting portion provided on the right side of the support beam.
  • Two vertical connection portions and a horizontal connection portion provided on the upper side of the support beam, the first vertical connection portion and the second vertical connection portion are rotatably connected to a rotation shaft extending in the left-right direction, respectively; On the support beam.
  • a first sliding bearing is provided between the first vertical connection portion and the rotating shaft, and an inner ring of the first sliding bearing is matched with the rotating shaft, and an outer ring of the first sliding bearing and The hole wall of the first vertical connection portion is interference fit.
  • a second sliding bearing is provided between the second vertical connection portion and the rotating shaft, and the inner ring of the second sliding bearing is spaced from the rotating shaft. In cooperation, the outer ring of the second sliding bearing and the hole wall of the second vertical connection portion are in interference fit.
  • the driving wheel and the first driven wheel are both disposed on a lower mounting surface of the support beam, and a driving assembly for driving the driving wheel is provided on one side of the driving wheel, and the driving assembly It is arranged in a straight line along the axial direction of the driving wheel, and the driving assembly includes a mounting flange, and the mounting flange is connected to the lower mounting surface of the support beam.
  • a full knapsack mobile robot includes a frame, and also includes the suspension system described above.
  • the left suspension mechanism and the right suspension mechanism are respectively detachable from the bottom of the frame through a horizontal connection portion of the connection member. Fixed connection.
  • a base plate is provided on the frame, and a jacking mechanism is provided on the base plate.
  • the jacking mechanism includes a plurality of jacking components and a first driving system for driving the jacking components.
  • a transmission system for transmitting the driving force of the first driving system to the jacking component includes a plurality of follower pulleys, and each of the jacking components includes a set of ball screw nut pairs
  • a first mounting seat for mounting the ball screw nut pair a lower end of the first mounting seat is provided with a fixing seat, the first mounting seat is provided on the base plate, and the ball screw
  • the nut pair includes a ball screw and a ball nut sleeved on the ball screw and adapted to the ball screw.
  • the fixing seat has a through hole for the ball screw to pass through.
  • the first mounting seat has a pair of axially-limiting mounting cavities of the ball nut, and a pulley connecting member is further provided between the follower pulley and the ball nut.
  • the follower pulley is connected, and the other end of the pulley connector is connected with the ball screw. Connection.
  • the pulley connecting piece is sleeved on the ball screw and the inside of the connecting piece has a first annular groove, and the T-shaped small end of the ball nut is embedded in the first annular shape.
  • the notch of the first annular groove abuts against the surface of the T-shaped large end of the ball nut, and the outer wall of the connecting member has a first annular boss, and the first annular boss is sleeved on A deep groove ball bearing is provided.
  • the lower end face of the inner ring of the deep groove ball bearing is abutted against the stepped surface of the first annular boss, and the upper end of the outer ring of the deep groove ball bearing is abutted against the first A mounting seat, a lower support plate provided at the lower end of the ball nut, the lower support plate having a second annular groove and a boss extending in a direction away from the second annular groove, the lower support plate sleeve
  • the T-shaped large end of the ball nut is embedded in the second annular groove.
  • the outer wall of the boss is sleeved with a tapered roller bearing.
  • the tapered roller bearing is provided on the ball screw.
  • the lower end face of the tapered roller bearing is abutted against the fixed seat, and the upper end face of the tapered roller bearing is abutted against the fixed seat.
  • the supporting surface of the disc is provided on the ball screw.
  • the first driving system of the jacking mechanism includes a driving motor
  • the transmission system includes a driving pulley provided at an output end of the driving motor, a timing belt provided on the base plate, and a plurality of idlers.
  • the timing belt is respectively connected to the driving pulley, the following pulley and the idler pulley.
  • the lifting members include four, which are respectively disposed at the four corner positions of the base plate, and the follower pulleys include six, of which four are sleeved on the ball screw, and the remaining two
  • the idler wheels are respectively provided on a side facing two lifting members facing away from one end of the driving motor, and the idler wheels are respectively provided on a side close to a corresponding lifting member and a driving pulley, wherein the driving pulley is close to the driving pulley.
  • the idler is set on a position-adjustable mechanism to adjust the tension of the timing belt.
  • the upper end of the ball screw is provided with a tray support frame, the tray support frame is provided with a tray, and the tray is provided with a non-slip pad along the longitudinal direction.
  • a second driven wheel is provided at an end of the bottom of the frame facing away from the first driven wheel, and the second driven wheel includes two second driven wheels that are located on the same side as the left suspension mechanism.
  • a connecting member is erected on the supporting beam, and the connecting member and the supporting beam are rotationally connected through a rotating shaft, and a horizontal connecting portion is provided on the upper surface of the connecting member to realize uniform stress on the rotating shaft without bending deformation.
  • the driven wheel and the driving wheel of the present application are respectively installed on the lower mounting surface of the support beam to realize stable operation and balanced force, and the driving components are arranged in a straight line to make the overall structure more compact;
  • the suspension system enables the driving wheel to obtain sufficient downforce to achieve smooth operation
  • the lifting mechanism of the present application has a compact structure, takes up little space when integrated into the robot body, has a large lifting stroke, and has high transmission efficiency and low noise.
  • the axial force borne during lifting is finally transmitted to the base plate, and the setting method of the lifting mechanism of the present application can realize stable lifting with a large load.
  • FIG. 1 is a schematic structural diagram of a full-backpack mobile robot of the present application
  • FIG. 2 is another perspective view of the full-carrying mobile robot of the present application
  • FIG. 3 is an isometric view of a full knapsack mobile robot of the present application
  • FIG. 4 is a front view of the internal structure of the full-carrying mobile robot of the present application.
  • FIG. 5 is a schematic diagram of a driving wheel and a driving assembly of the present application.
  • FIG. 6 is a schematic diagram of a suspension system of a full knapsack mobile robot according to the present application.
  • FIG. 7 is a cross-sectional view of a connection between a rotating shaft and a support beam of the present application.
  • FIG. 8 is a schematic diagram of a supporting beam of the present application.
  • FIG. 9 is a schematic diagram of a vehicle frame of the present application.
  • FIG. 10 is an overall schematic diagram of a jacking mechanism embodying the present application.
  • FIG. 10 is an exploded view of FIG. 10 of the present application.
  • Figure 12 is a schematic diagram of a jacking component of the present application.
  • FIG. 13 is a sectional view of a jacking member of the present application.
  • FIG. 14 is a schematic diagram of a ball screw nut pair of the present application.
  • FIG. 15 is a schematic structural diagram of a full knapsack mobile robot casing of the present application.
  • FIG. 16 is a schematic diagram of a connecting member of the present application.
  • FIG. 17 is a schematic diagram of the full-backpack mobile robot working in the present application.
  • FIG. 18 is a working flowchart of the present application.
  • 2 is a supporting beam
  • 4 is a driving wheel
  • 5 is a driving component
  • 501 is a first motor
  • 502 is a reducer
  • 503 is an encoder
  • 504 is a brake
  • 505 is a mounting support
  • 6 is a connection piece
  • 601 is a horizontal connection 602 is a first vertical connection
  • 603 is a second vertical connection
  • 7 is a left suspension mechanism
  • 8 is a first driven wheel
  • 9 is a right suspension mechanism
  • 10 is a rotating shaft
  • 12 is a first sliding bearing
  • 13 is the second sliding bearing
  • 14 is the frame
  • 1401 is the frame body
  • 1402 is the auxiliary frame
  • 1403 is the sensor support frame
  • 16 is the lifting member
  • 1601 is the ball screw
  • 1602 is the ball nut
  • 1603 is the first A mounting seat
  • 1604 is a pulley connection
  • 1605 is a first annular groove
  • 1606 is a first annular boss
  • each suspension mechanism of the present application includes: a support beam 2 having an upper mounting surface and a lower mounting surface.
  • a driving wheel 4, a connecting member 6, and a first driven wheel 8 are provided, and the first driven wheel and the driving wheel respectively support the front and rear ends of the support beam, that is, the driving wheel 4 is arranged at the The rear end of the support beam 2, the first driven wheel 8 is arranged at the front end of the support beam 2, and the connecting member 6 is located at an installation position between the driving wheel 4 and the first driven wheel 8.
  • the connecting member 6 of the present application has a larger area, and the horizontal connecting portion 601 above the upper mounting surface is used for installation with the bottom of the frame 14. In order to achieve uniform force, no bending deformation occurs.
  • the connecting member 6 is generally in the shape of an inverted “concave", which is erected on the support beam 2 and includes a first vertical connection portion 602 provided on the left side of the support beam and a first vertical connection portion 602 provided on the right side of the support beam.
  • Two vertical connection portions 603, the installation position has a first installation hole penetrating the support beam 2 in the left-right direction, a rotation shaft 10 is detachably fixed in the first installation hole, and the first vertical connection
  • the portion 602 and the second vertical connecting portion 603 are provided with a second through hole through which the rotating shaft 10 passes, and the connecting member 6 is rotatably connected about the axis of the rotating shaft 10.
  • the suspension mechanism is provided with At the bottom of the frame, when the frame has a load, the suspension mechanism can swing up and down about the rotation axis.
  • a first sliding bearing 12 is provided between the first vertical connecting portion 602 and the rotating shaft 10.
  • An inner ring of a sliding bearing is fitted with the rotating shaft 10, and an outer ring of the first sliding bearing is interference-fitted with a hole wall of a second through hole of the first vertical connection portion, and the second vertical direction is
  • a second sliding bearing 13 is provided between the connecting portion 603 and the rotating shaft 10.
  • the inner ring of the second sliding bearing 13 and the rotating shaft 10 are clearance fit.
  • the outer ring of the second sliding bearing 13 and the second vertical bearing 13 Interference fit to the hole wall of the second through hole of the connecting portion 603.
  • the driven wheel and the driving wheel 4 of the present application are respectively installed on the lower mounting surface of the support beam 2, and one side of the driving wheel 4 is provided with a driving assembly for driving the driving wheel 4. 6, and the drive assembly 6 adopts a straight-line structure in the structural layout.
  • the drive assembly 6 includes a first motor 501, a reducer 502, an encoder 503, and a brake.
  • the output end of the first motor 501 is connected to the reducer 502.
  • the input end is directly connected.
  • the reducer 502 of the present application is preferably a reducer 502 equipped with a flange output shaft 1804, which has a strong radial bearing capacity.
  • the driving wheel 4 is connected to the reducer 502 flange output shaft 1804 by screws.
  • the connection is fixed.
  • the brake is installed on the rear side of the first motor 501.
  • the encoder 503 is provided at the rear end of the brake.
  • the driving unit 6 and the driving wheel 4 form a driving unit.
  • the driving unit is fixed by the mounting flange of the reducer 502.
  • the mounting bracket 505 is mounted on a lower mounting surface of the support beam 2 by screws.
  • a base plate 17 is provided inside the frame 14 of the present application, and the base plate 17 is provided with a jacking mechanism.
  • the jacking mechanism includes four sets of jacks respectively disposed at the four corner positions of the base plate 17.
  • the lower end of the mounting seat 1603 is provided with a fixing seat 19, the first mounting seat 1603 is provided on the base plate 17, the ball screw nut pair includes a ball screw 1601 and a sleeve screw 1601 is sleeved on the ball screw 1601
  • the first mounting seat 1603 has a mounting cavity for limiting the ball nut 1602 along the axial direction of the ball screw 1601, and A pulley connection 1604 is also provided between the follower pulley and the ball nut 1602, and the pulley is connected One end of the piece 1604 is connected to the follower pulley, and the other end of the pulley connecting piece 1604 is connected to the ball nut 1602.
  • the ball screw nut pair of the present application has high precision, low friction coefficient, self-lubrication, etc. Characteristics, can greatly improve the mechanical efficiency and transmission accuracy of the jacking mechanism, and maintenance-free during the service life.
  • the pulley connecting member 1604 is sleeved on the ball screw 1601 and the connecting member 6 has a first annular groove 1605 inside.
  • the T-shaped small end of the ball nut 1602 is embedded in the first In an annular groove 1605, the notch of the first annular groove 1605 abuts against the surface of the T-shaped large end of the ball nut 1602, and the outer wall of the connecting member 6 has a first annular boss 1606.
  • a deep groove ball bearing 1607 is sleeved on the first annular boss 1606, and the lower end face of the inner ring of the deep groove ball bearing 1607 abuts on the step surface of the first annular boss 1606.
  • the deep groove ball bearing The upper end of the outer ring of 1607 is abutted against the first mounting seat 1603, and the lower end of the ball nut 1602 is provided with a lower support plate 1608.
  • the lower support plate 1608 has a second annular groove and faces away from the second The boss extending in the direction of the annular groove, the lower support plate 1608 is sleeved on the ball screw 1601, and the T-shaped large end of the ball nut 1602 is embedded in the second annular groove.
  • a tapered roller bearing 1609 is sleeved on an outer wall of the boss, and a lower end surface of the tapered roller bearing 1609 abuts On the fixed seat 19, the upper end surface of the tapered roller bearing 1609 is abutted against the surface of the lower support plate 1608, and the lower end of the ball screw 1601 passes through the bottom wall of the first mounting seat 1603.
  • the upper end of the ball screw 1601 is connected to a tray 24 through a tray support frame 22, which is in a closed "mouth" shape.
  • One side is fixed to the tray 24 with screws and the other side passes through the ball screw 1601.
  • the lock nut is locked, and the ball screw is provided with a support frame connector for installing a tray support frame.
  • the upper surface of the tray 24 is also provided with a non-slip pad 26 for increasing the friction between the robot and the material vehicle contact portion. Force, when the robot is carrying the material cart, it can prevent the robot from sliding under the emergency stop condition.
  • the deep groove ball bearing 1607 of the present application is provided to provide auxiliary support for the ball screw nut pair to prevent the ball screw 1601 from swinging around the axis during linear movement. Since the linear movement of the ball screw 1601 has a certain stroke, the present invention is adopted.
  • the applied setting can have a guiding effect, and there is no need to additionally provide a guiding mechanism, which greatly saves space and cost.
  • This application can finally transmit the axial force when the ball screw nut pair is lifted to the base plate 17, and because The base plate 17 is welded to the frame 14.
  • the axial force generated by the lifting mechanism is finally dispersed to the frame 14.
  • the nut 1602 is restrained by other parts, and its axial direction is fixed and it can only rotate in the circumferential direction.
  • the ball screw 1601 is indirectly fixed to the tray support frame 22, its circumferential rotation is restricted. Therefore, the rotational movement of the ball nut 1602 will force the ball screw to produce a linear motion in the vertical direction, thereby realizing the up-and-down reciprocating motion of the tray support frame 22.
  • the transmission system 20 of the present application further includes a driving pulley 2002 provided at the output end of the driving motor, a timing belt 2003 provided on the base plate 17, a plurality of idlers 2004 and a plurality of second driven pulleys.
  • the timing belt 2003 is connected to the driving pulley 2002, the first following pulley 2001, the second following pulley 2005, and the idler 2004 to realize that the driving pulley 2002 is driven by the timing belt 2003, respectively.
  • the first follower pulley 2001 and the second follower pulley 2005 rotate simultaneously and synchronously.
  • the first follower pulley 2001 of the present application includes four, which are respectively connected to the pulley connection members 1604 of the respective jacking members 16 by screws, and the second follower pulley 2005 includes two, which are respectively provided at On one side of the base plate 17 facing away from the two lifting members 16 at one end of the drive motor.
  • the idler 2004 is mounted on the base plate 17 and is disposed on the side close to the follower pulley and the drive pulley 2002.
  • the installation position of the group of idlers 2004 near the active pulley 2002 is adjustable and adjusted by screwing, so that the timing belt 2003 can be tensioned to ensure synchronization of the pulleys. Coordination. It is worth noting that the installation positions of the five sets of idlers 2004 of the present application are as close as possible to the first follower pulley 2001 or the active pulley 2002, the purpose is to increase the envelope angle of the pulley, so as to improve the actual lifting member 16 Transmission capacity. The larger the pulley envelope angle, the greater the transmission capacity of the jacking member 16. Therefore, within the allowable range of the axial load carrying capacity of the ball screw nut pair, the axial load of the ball screw 1601 is larger, thereby improving the actual lifting load carrying capacity of the entire lifting mechanism.
  • the above-mentioned first driving system 18 includes a second motor 1801, a first-stage timing belt 2003 mechanism, a second-stage reducer 1803, an output shaft 1804, and a brake.
  • the second motor 1801 outputs motion and power via the first-stage timing belt 2003 mechanism and
  • the two-stage reducer 1803 obtains the appropriate speed and torque and transmits it to the output shaft 1804 to drive the driving pulley 2002.
  • the driving pulley 2002 drives the four first following pulleys 2001 to rotate through the timing belt 2003.
  • Four The rotation of the first follower pulley 2001 causes the four sets of lifting members 16 to move linearly in the vertical direction at the same time, thereby achieving a stable and synchronous lifting movement of the lifting mechanism.
  • the first drive system 18 of the present application is provided with a brake, the purpose of which is to ensure that the jacking mechanism can self-lock in the event of a sudden power failure, to ensure the safety of the jacking movement, and the brake is a permanent magnet type Brake.
  • a second driven wheel 28 is also provided at an end of the bottom of the frame 14 facing away from the first driven wheel 8, and the second driven wheel 28 includes two, which are respectively the first and the second suspension wheels 7 located on the same side as the left suspension mechanism 7. Two driven wheels 28 and a second driven wheel 28 located on the same side as the right suspension mechanism 9.
  • the frame 14 of the present application uses a welded frame structure, and the mechanical mechanism is strong and reliable.
  • the frame 14 of the present application includes a frame body and auxiliary frames 1402 respectively provided at the front and rear ends of the frame body 1401.
  • the side wall of the frame body is further provided with a sensor support frame 1403.
  • An anti-collision contact edge 32 is provided at the front end of the auxiliary frame 1402.
  • the sensor support frame 1403 is diagonally arranged on the frame body 1401 for mounting the laser sensor 34.
  • the present application also includes a casing 30 covering the frame 14.
  • the casing 30 is fixed to the frame body 1401 by screws and is divided into a front case 3001, a rear case 3002, and two side cases 3003.
  • the robot is equipped with two laser sensors 34, two collision-proof contact edges 32, and four ultrasonic sensors 36.
  • the two laser sensors 34 are respectively arranged on the sensor support frame 1403 to realize the diagonal arrangement of the two laser sensors 34.
  • the scanning range of each laser sensor 34 is a maximum of 270 ° field, so the two laser sensors 34 cooperate with each other. It can be used to detect obstacles without blind spots in all directions around the robot body.
  • Two anti-collision edges 32 are respectively arranged on the auxiliary frame 1402.
  • the ultrasonic sensor 36 is mounted on the front case 3001 and the rear case 3002 respectively at the front and rear, and its role is also to detect a low-level obstacle, and in combination with the collision-proof contact edge 32, it has a double protection function for the robot.
  • the application also includes electrical accessories including two speakers 42, a battery, a control panel 52, two touch switches 40, two magnetic induction sensors 46, and a set of controllers 44.
  • the speakers 42 are arranged in a stack Said two sides of the frame body 1401, the battery is a lithium iron phosphate battery, which is arranged in the middle of the frame body 1401, the control panel 52 is mounted on the front case 3001, and the two touch switches 40 are respectively
  • the robot is installed on the edge side of the front case 3001 and the rear case 3002 of the robot, so that the operator can stop or run the robot by only touching the foot without bending over, which improves the man-machine friendliness.
  • Two magnetic induction sensors 46 are symmetrically arranged on both sides of the middle part of the frame body 1401. When the robot moves below the material cart, the magnetic induction sensor 46 detects a magnet fixed directly below the material cart. After detection, the robot will stop moving immediately. Then the next work flow is executed.
  • the controller 44 is located in the middle of the frame body 1401, and plays an overall regulating role on the entire motion flow of the robot.
  • the application also includes a charging port 38.
  • the charging electrode of the charging port 38 is composed of two beryllium copper parts, and both electrodes are fixed on an insulating part, and then fixed to the rear case 3002 of the case 30 by screws.
  • the first driven wheel 8 and the second driven wheel 28 of the present application are swivel casters, respectively.
  • the full-carrying mobile robot of the present application has a strong carrying capacity, and is fully autonomous in operation based on a laser sensor, and does not need auxiliary equipment such as a magnetic stripe, a landmark, a reflector, and is more convenient and reliable in practical use.
  • auxiliary equipment such as a magnetic stripe, a landmark, a reflector
  • the lifting mechanism executes the "lifting" action. After the lifting stroke reaches a preset value and the No. 1 material cart is completely raised, the lifting mechanism stops moving and maintains the current state;
  • the jacking mechanism executes the "lowering" action. After the lowering stroke reaches a preset value and the No. 1 material cart is completely grounded, the jacking mechanism stops moving;
  • the full-carrying mobile robot of the present application uses a lever-balanced suspension mechanism, so that the downforce of the active wheel to the ground changes with the load, which can effectively eliminate the "slip" phenomenon when running under heavy loads, which greatly improves the loading of the robot. Reliability during operation, and the modular design concept is adopted.
  • the entire suspension mechanism can be directly fixed to the frame body through the connection piece.
  • the suspension mechanism is easy to disassemble and facilitate later maintenance.
  • the jacking mechanism of this application is highly integrated and installed.
  • the synchronous belt connects the movements of the lifting components at the four corner positions of the lifting mechanism in series, thereby realizing the linear lifting movement of the tray.
  • the lifting mechanism of the present application has a compact structure and is integrated into the volume occupied by the robot. It is small, and the lifting mechanism has a large stroke, which can realize large load lifting.

Abstract

悬挂系统及全背负式移动机器人，全背负式移动机器人包括悬挂系统、车架（14）和顶升机构，悬挂系统包括左右设置的两个悬挂机构，每个悬挂机构包括支撑梁（2）、主动轮（4）、连接件（6）和第一从动轮（8），第一从动轮（8）和主动轮（4）分别位于支撑梁（2）的前、后两端，连接件（6）连接于支撑梁（2）上并位于主动轮（4）和第一从动轮（8）之间。

Description

一种悬挂系统及全背负式移动机器人 技术领域
本申请涉及移动机器人技术领域，尤其涉及悬挂系统及应用悬挂系统的全背负式移动机器人。
背景技术
随着科技的进步，越来越多的企业向智能化工厂模式转变。其中，自动导引运输车(简称AGV)的作用不容小觑，这种智能移动机器人在实际工厂中行使着“搬运工”的职能，自动导引运输车的使用不但大大提高了工厂的实际作业效率，而且将工人从日常单调频繁的作业任务中释放出来，降低了作业失误率、解放了劳动力。
在移动机器人领域，机器人的移动主要靠驱动轮提供动力，而驱动轮的动力主要靠轮子的摩擦力和触地力保证，触地力越大，摩擦力则越大，所以保证驱动轮有足够的触地力至关重要。为了保证驱动轮保持与地面接触，现在一般是单独把驱动轮做成悬挂形式，使用弹簧支撑驱动轮。这样对移动机器人来说，驱动轮的触地力和支撑驱动轮的弹簧力相关，是一个恒定值。这样来说会出现几个问题：①当负载比较大时，因为弹簧力恒定，驱动力对地的摩擦力恒定，容易出现驱动轮打滑现象；②如果为适应较大负载，设计时将弹簧力设计得比较大，这时当机器人空载时驱动轮的弹簧力可能会把机器人顶起来，导致从动轮悬空；③在爬坡或者过坎开始过程中，因为前从动轮太高，中间驱动轮的弹簧伸长(压簧)或变短(拉簧)，弹簧力变小，驱动轮的触地力也变小，容易出现打滑现象。④在地形比较复杂的路面，驱动轮弹簧的力可能会因为过凹坑时减小，从而无法继续正常行驶。对于上述的技术问题，现有的一篇公开号为CN107235092A的专利文献：一种自适应式移动机器人的底盘装置公开的技术相应的解决了上述技术问题，但是随之产生了另外一个棘手的问题：在工作过程 中，摆臂与底盘本体之间的转动连接处容易造成受力不均产生弯曲变形，对于大负载背负运行的应用场合有局限性，与此同时现有的背负式仓储物流机器人，对于大负载抬升时，受限于机械结构整体强度，机器人抬升的稳定性差，因而导致这种背负式移动机器人的承载能力受限，公开号为CN104192762B，专利名为《一种旋转顶升机构及包括旋转顶升机构的AGV小车》公开了一种基于旋转顶升机构的移动机器人，其承载能力强、顶升平稳性好、抬升行程也较大(可达60～100mm)。但是整套顶升机构的体积较为庞大，占用了机器人本体上较多的安装空间。而且，实现顶升运动的关键部件为特种大直径滚珠丝杆机构，对加工精度要求较高，成本不菲。在顶升运动实现方面，机器人本体的电气控制也较为复杂，车体需相对于顶升机构上的托盘作反方向差速运动。
发明内容
本发明旨在至少解决上述现有技术中存在的技术问题之一。为此，本发明在于提出一种悬挂系统，所述悬挂系统的转轴受力均衡。
本发明还提出一种具有上述悬挂系统的全背负式移动机器人。
为了解决上述技术问题，本申请提供了一种悬挂系统，包括左右设置的两个悬挂机构，分别为左悬挂机构和右悬挂机构，每个所述悬挂机构包括支撑梁、主动轮、连接件以及第一从动轮，所述第一从动轮和所述主动轮分别支撑所述支撑梁的前、后两端，所述连接件连接于所述支撑梁上并位于所述主动轮和所述第一从动轮之间，所述连接件大体呈倒置“凹”字型，所述连接件包括设于所述支撑梁左侧的第一竖向连接部、设于所述支撑梁右侧的第二竖向连接部以及设于所述支撑梁上侧的水平连接部，所述第一竖向连接部和所述第二竖向连接部分别通过一沿左右方向延伸的转轴可转动的连接于所述支撑梁上。
进一步的，所述第一竖向连接部与所述转轴之间设有第一滑动轴承，所述第一滑动轴承的内圈与所述转轴间隙配合，所述第一滑动轴承的外圈与所述第一竖向连接部的孔壁过盈配合，所述第二竖向连接部与所述转轴之间设有第二滑动轴承，所述第二滑动轴承的内圈与所述转轴间隙配合，所述第二滑动轴承的外圈与所述第二竖向连接部的孔壁过盈配合。
进一步的，所述主动轮与所述第一从动轮均设于所述支撑梁的下安装面上，所述主动轮的一侧设有用于驱动所述主动轮的驱动组件，所述驱动组件沿所述主动轮的轴向呈一字直列式布设，所述驱动组件包括一安装法兰，所述安装法兰与所述支撑梁的下安装面连接。
一种全背负式移动机器人，包括车架，还包括上述的悬挂系统，所述左悬挂机构及所述右悬挂机构分别通过所述连接件的水平连接部与所述车架的底部可拆卸式固定连接。
进一步的，所述车架上设有基座板，所述基座板上设有顶升机构，所述顶升机构包括若干顶升部件、用于驱动所述顶升部件的第一驱动系统、用于将所述第一驱动系统的驱动力传递给所述顶升部件的传动系统，所述传动系统包括若干随动带轮，每个所述顶升部件包括一组滚珠丝杠螺母副和用于安装所述滚珠丝杠螺母副的第一安装座，所述第一安装座的下端设有一固定座，所述第一安装座设于所述基座板上，所述滚珠丝杠螺母副包括滚珠丝杠和套设于所述滚珠丝杠上并且与所述滚珠丝杠相适配的滚珠螺母，所述固定座具有一供所述滚珠丝杠穿设的通孔，所述第一安装座具有一对所述滚珠螺母轴向限位的安装腔，所述随动带轮与所述滚珠螺母之间还设有一带轮连接件，所述带轮连接件的一端与所述随动带轮连接，所述带轮连接件的另一端与所述滚珠螺母连接。
进一步的，所述带轮连接件套设于所述滚珠丝杠上并且所述连接件的内部具有一第一环形凹槽，所述滚珠螺母的T形小端嵌设于所述第一环形凹槽内，所述第一环形凹槽的槽口抵持于所述滚珠螺母的T形大端的表面，所述连接件的外壁具有第一环形凸台，所述第一环形凸台上套设有一深沟球轴承，所述深沟球轴承的内圈下端面抵持于所述第一环形凸台的台阶面上，所述深沟球轴承的外圈上端抵持于所述第一安装座，所述滚珠螺母的下端设有一下支撑盘，所述下支撑盘具有一第二环形凹槽和向背离所述第二环形凹槽的方向延伸的凸台，所述下支撑盘套设于所述滚珠丝杠上，所述滚珠螺母的T形大端嵌设于所述第二环形凹槽内，所述凸台的外壁套设有一圆锥滚子轴承，所述圆锥滚子轴承的下端面抵持于所述固定座上，所述圆锥滚子轴承的上端面抵持于所述下支撑盘的表面。
进一步的，所述顶升机构的第一驱动系统包括驱动电机，所述传动系统包括设于所述驱动电机的输出端的主动带轮、设于所述基座板上的同步带和若干 惰轮，所述同步带分别连接所述主动带轮、所述随动带轮以及所述惰轮。
进一步的，所述顶升部件包括四个，分别设于所述基座板的四角位置，所述随动带轮包括六个，其中四个套设于所述滚珠丝杠上，其余两个分别设于背离驱动电机一端的两个顶升部件的一侧，所述惰轮包括五个，分别设于靠近对应的顶升部件和主动带轮的一侧，其中，靠近所述主动带轮的惰轮设于一位置可调机构上以实现同步带的张紧度调节。
进一步的，所述滚珠丝杠的上端设有托盘支撑架，所述托盘支撑架上设有托盘，所述托盘沿纵长方向设有防滑垫。
进一步的，所述车架底部背离所述第一从动轮的一端还设有第二从动轮，所述第二从动轮包括两个，分别为与所述左悬挂机构位于同侧的第二从动轮和与所述右悬挂机构位于同侧的第二从动轮。
本申请的有益效果是：
1)本申请通过在支撑梁架设一连接件，并且连接件与支撑梁通过一转轴实现转动连接，并且在连接件的上表面设置水平连接部，实现转轴的受力均匀，不会发生弯曲变形；
2)通过在转轴上套设滑动轴承实现减小支撑梁在绕转轴摆动的时候与转轴之间的磨损；
3)本申请的从动轮和主动轮分别安装在所述支撑梁的下安装面，实现运行平稳，并且受力均衡，驱动组件呈一字直列式设置使得整体结构更加紧凑；
4)悬挂系统使得主动轮能够获得足够的下压力，实现平稳运行；
5)本申请的顶升机构结构紧凑，集成到机器人本体上所占用的体积空间小，顶升行程较大，且传动效率高、噪音低，并且通过本申请的设置方式使得在滚珠丝杠在顶升的时候承担的轴向力最终传递到基座板上，本申请的顶升机构的设置方式能够实现大负载平稳顶升。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明如后。
附图说明
图1是本申请的全背负式移动机器人结构示意图；
图2是本申请的全背负式移动机器人另一视角示意图；
图3是本申请的全背负式移动机器人内部轴测图；
图4是本申请的全背负式移动机器人内部结构的主视图；
图5是本申请的主动轮与驱动组件的示意图；
图6是本申请的全背负式移动机器人的悬挂系统的示意图；
图7是本申请的转轴与支撑梁连接处的剖视图；
图8是本申请的支撑梁的示意图；
图9是本申请的车架的示意图；
图10是体现本申请的顶升机构的整体示意图；
图11是本申请的图10的爆炸视图；
图12是本申请的顶升部件的示意图；
图13是本申请的顶升部件的剖视图；
图14是本申请的滚珠丝杠螺母副的示意图；
图15是本申请的全背负式移动机器人外壳结构示意图；
图16是本申请的连接件的示意图；
图17是本申请的全背负式移动机器人工作中的示意图；
图18是本申请工作流程图。
其中：
2是支撑梁、4是主动轮、5是驱动组件、501是第一电机、502是减速器、503是编码器、504是制动器、505是安装支座、6是连接件、601是水平连接部、602是第一竖向连接部、603是第二竖向连接部、7是左悬挂机构、8是第一从动轮、9是右悬挂机构、10是转轴、12是第一滑动轴承、13是第二滑动轴承、14是车架、1401是车架本体、1402是辅助车架、1403是传感器支撑架、 16是顶升部件、1601是滚珠丝杠、1602是滚珠螺母、1603是第一安装座、1604是带轮连接件、1605是第一环形凹槽、1606是第一环形凸台、1607是深沟球轴承、1608是下支撑盘、1609是圆锥滚子轴承、17是基座板、18是第一驱动系统、19是固定座、1801是第二电机、1802是一级同步带轮1802、1803是二级减速器、1804是输出轴、20是传动系统、2001是第一随动带轮、2002是主动带轮、2003是同步带、2004是惰轮、2005是第二随动带轮、22是托盘支撑架、24是托盘、26是防滑垫、28是第二从动轮、30是外壳、3001是前壳、3002是后壳、3003是侧壳、32是防撞触边、34是激光传感器、36是超声波传感器、38是充电口、40是碰触开关、42是喇叭、44是控制器、46是磁感应传感器、48是第一物料车、50是机器人、52是控制面板。
具体实施方式
下面结合附图和具体实施例对本申请作进一步说明，以使本领域的技术人员可以更好地理解本申请并能予以实施，但所举实施例不作为对本申请的限定。
参见附图1至18，本说明一较佳实施例所述的一种悬挂系统及具有该悬挂系统的全背负式移动机器人，其中，该全背负式移动机器人包括车架14和设于所述车架14底部的悬挂系统，所述悬挂系统包括左右设置的两个悬挂机构：分别为设置在车架14左侧的左悬挂机构7和设置在所述车架14右侧的右悬挂机构9，为了保证本申请的全背负式移动机器人能够适应不同的路况以及适应不同的载荷，本申请的每个悬挂机构包括：具有上安装面和下安装面的支撑梁2，所述支撑梁2上设有主动轮4、连接件6以及第一从动轮8，所述第一从动轮和所述主动轮分别支撑所述支撑梁的前、后两端，即：所述主动轮4布置于所述支撑梁2的后端，所述第一从动轮8布置于所述支撑梁2的前端，所述连接件6位于所述主动轮4与所述第一从动轮8之间的安装位上，为了使得车架14与连接件6的接触面积更大，本申请的连接件6具有位于所述上安装面上方的水平连接部601以用于与车架14的底部进行安装，为了实现受力均匀，不会发生弯曲变形，本申请的连接件6大体呈倒置“凹”字型，其架设于所述支撑梁2上并且包括设于所述支撑梁左侧的第一竖向连接部602和设于所述支撑梁右侧的第二竖向连接部603，所述安装位具有沿左右方向贯穿所述支撑梁2的第一安装孔，所述第一安装孔内可拆卸式固定设有一转轴10，所述第一竖向连接部 602与所述第二竖向连接部603上设有供转轴10穿过的第二通孔并且所述连接件6可绕所述转轴10的轴线转动连接，在本申请中，悬挂机构设于所述车架的底部，在车架具有负载的时候，悬挂机构可绕转轴上下摆动。为了减小支撑梁2在绕转轴10摆动的时候连接件与转轴10之间的磨损，所述第一竖向连接部602与所述转轴10之间设有第一滑动轴承12，所述第一滑动轴承的内圈与所述转轴10间隙配合，所述第一滑动轴承的外圈与所述第一竖向连接部的第二通孔的孔壁过盈配合，所述第二竖向连接部603与所述转轴10之间设有第二滑动轴承13，所述第二滑动轴承13的内圈与转轴10间隙配合，所述第二滑动轴承13的外圈与所述第二竖向连接部603的第二通孔的孔壁过盈配合。
为了实现运行平稳，并且受力均衡，本申请的从动轮和主动轮4分别安装在所述支撑梁2的下安装面，主动轮4的一侧设有用于驱动所述主动轮4的驱动组件6，并且驱动组件6在结构布局上采用一字直列式结构，该驱动组件6包括第一电机501、减速器502、编码器503和制动器，所述第一电机501的输出端与减速器502的输入端直连，本申请的减速器502优选的是配有法兰输出轴1804的减速器502，其径向承载能力强，所述主动轮4通过螺钉与减速器502法兰输出轴1804固定连接，所述制动器安装在第一电机501后侧，所述编码器503设置在制动器的后端，驱动组件6及主动轮4组成驱动单元，该驱动单元通过减速器502的安装法兰固定在一安装支座505上，然后安装支座505通过螺钉安装于支撑梁2的下安装面上。
其中，本申请的车架14的内部设有基座板17，所述基座板17上设有顶升机构，所述顶升机构包括分别设置在基座板17的四角位置的四组顶升部件16、用于驱动所述顶升部件16的第一驱动系统18、用于将所述第一驱动系统18的驱动力传递给所述顶升部件16的传动系统20，所述传动系统20包括四个第一随动带轮2001，每个所述顶升部件16包括一组滚珠丝杠螺母副和用于安装所述滚珠丝杠螺母副的第一安装座1603，所述第一安装座1603的下端设有一固定座19，所述第一安装座1603设于所述基座板17上，所述滚珠丝杠螺母副包括滚珠丝杠1601和套设于所述滚珠丝杠1601上并且与所述滚珠丝杠1601相适配的滚珠螺母1602，所述第一安装座1603具有一将所述滚珠螺母1602沿所述滚珠丝杠1601的轴向限位的安装腔，所述随动带轮与所述滚珠螺母1602之间还设有一带轮连接件1604，所述带轮连接件1604的一端与所述随动带轮连接， 所述带轮连接件1604的另一端与所述滚珠螺母1602连接，本申请的滚珠丝杠螺母副具有高精度、低摩擦系数、自润滑等特性，能够极大地提高顶升机构的机械效率和传动精度，且在使用寿命期间免维护。所述带轮连接件1604套设于所述滚珠丝杠1601上并且所述连接件6的内部具有一第一环形凹槽1605，所述滚珠螺母1602的T形小端嵌设于所述第一环形凹槽1605内，所述第一环形凹槽1605的槽口抵持于所述滚珠螺母1602的T形大端的表面，所述连接件6的外壁具有第一环形凸台1606，所述第一环形凸台1606上套设有一深沟球轴承1607，所述深沟球轴承1607的内圈下端面抵持于所述第一环形凸台1606的台阶面上，所述深沟球轴承1607的外圈上端抵持于所述第一安装座1603，所述滚珠螺母1602的下端设有一下支撑盘1608，所述下支撑盘1608具有一第二环形凹槽和向背离所述第二环形凹槽的方向延伸的凸台，所述下支撑盘1608套设于所述滚珠丝杠1601上，所述滚珠螺母1602的T形大端嵌设于所述第二环形凹槽内，所述凸台的外壁套设有一圆锥滚子轴承1609，所述圆锥滚子轴承1609的下端面抵持于所述固定座19上，所述圆锥滚子轴承1609的上端面抵持于所述下支撑盘1608的表面，滚珠丝杠1601的下端穿过所述第一安装座1603的底壁，所述滚珠丝杠1601的上端通过一托盘支撑架22连接一托盘24，所述托盘支撑架22呈封闭的“口”字型，一侧通过螺钉与托盘24固定，另一侧与滚珠丝杠1601通过防松螺母锁紧，滚珠丝杠上设有支撑架连接件用于安装托盘支撑架，该托盘24的上表面还设置有防滑垫26，用于用于增大机器人与物料车接触部分的摩擦力，当机器人背负物料车运行时，可防止机器人在急停情况下物料车滑移。本申请的深沟球轴承1607的设置用于给滚珠丝杠螺母副提供辅助支撑，防止滚珠丝杠1601在直线运动时绕轴摆动，由于滚珠丝杠1601的直线运动有一定的行程，采用本申请的设置，能够具有导向作用，无需再另外设置导向机构，大大节省了空间和成本，本申请能够将滚珠螺丝杠螺母副顶升时候的轴向力最终传递到基座板17上，又因为基座板17是焊接在车架14上的，所以本申请的全背负式移动机器人在执行大负载的顶升时，顶升机构产生的轴向力最终被分散到车架14上，由于滚珠螺母1602受到其他零件的约束，其轴向被固定且只能周向转动。滚珠丝杠1601由于间接固定在所述托盘支撑架22上，其周向转动受限。于是，滚珠螺母1602的旋转运动将迫使滚珠丝杆产生垂直方向上的直线运动，进而实现托盘支撑架22的上下往复运动。
为了传动的平稳，本申请的传动系统20还包括设于驱动电机输出端的主动带轮2002、设于基座板17上的同步带2003、若干个惰轮2004和若干第二从动带轮，所述同步带2003分别连接所述主动带轮2002、所述第一随动带轮2001、所述第二随动带轮2005以及所述惰轮2004以实现主动带轮2002通过同步带2003带动所述第一随动带轮2001和所述第二随动带轮2005同时、同步地转动。本申请的第一随动带轮2001包括四个，分别通过螺钉连接在各个对应的顶升部件16的带轮连接件1604上，所述第二随动带轮2005包括两个，分别设置在背离驱动电机一端的两个顶升部件16的一侧基座板17上。所述的惰轮2004安装在基座板17上，并设置在靠近随动带轮和主动带轮2002的一侧，一共有五组惰轮2004，其中靠近第一随动带轮2001的四组惰轮2004安装位置固定，靠近主动带轮2002的一组惰轮2004安装位置可调并通过旋拧螺钉进行调节，进而可将所述同步带2003进行张紧，保证带轮运动时的同步协调性。值得注意的是，本申请的五组惰轮2004安装位置尽量靠近第一随动带轮2001或主动带轮2002，目的是为了增大带轮的包络角，以提高顶升部件16的实际传动能力。带轮包络角越大，所述顶升部件16的传动能力越大。于是，在滚珠丝杠螺母副轴向承载能力允许的范围内，滚珠丝杠1601的轴向承载则越大，进而提高了整个顶升机构的实际抬升承载能力。
上述的第一驱动系统18包括第二电机1801、一级同步带2003机构、二级减速器1803、输出轴1804和制动器组成，由第二电机1801输出运动和动力经一级同步带2003机构和二级减速器1803得到合适的速度和转矩并传递给输出轴1804进而驱动所述主动带轮2002，主动带轮2002再通过同步带2003带动四个第一随动带轮2001转动，四个第一随动带轮2001的转动使四组顶升部件16同时产生垂直方向上的直线移动，从而实现顶升机构的平稳、同步抬升运动。值得注意的是，本申请的第一驱动系统18设置有制动器，目的是保证顶升机构在突然断电的情况下能够自锁，确保顶升运动的安全性，且所述制动器为永磁式制动器。
在车架14的底部背离所述第一从动轮8的一端还设有第二从动轮28，所述第二从动轮28包括两个，分别为与所述左悬挂机构7位于同侧的第二从动轮28和与所述右悬挂机构9位于同侧的第二从动轮28。
本申请的车架14采用的是焊接的框架结构，机械机构强度结实、可靠，本 申请的车架14包括车架本体和分别设置在车架本体1401的前后两端的辅助车架1402，所述车架本体的侧壁上还设置有传感器支撑架1403，本申请的全背负式移动机器人在负重的时候，重量最终被分散到车架本体1401上并由车架本体1401来承担。在辅助车架1402的前端设置有防撞触边32，该传感器支撑架1403对角布置在车架本体1401上用于安装激光传感器34。
本申请还包括一罩于车架14上的外壳30，外壳30通过通过螺钉固定在所述车架本体1401上并且分为一个前壳3001、一个后壳3002和两个侧壳3003，为了保证机器人大负载运行时的安全性，机器人在配置有两个激光传感器34、两个个防撞触边32、四个超声波传感器36。其中，两个激光传感器34分别设置在传感器支撑架1403上以实现两个激光传感器34的对角布置，每个激光传感器34的扫描范围最大为270°场域，因此通过两个激光传感器34配合使用，可以对机器人本体四周360°全方位进行无盲区障碍检测。两个防撞触边32分别设置在辅助车架1402上，当所述防撞触边32受到低位障碍物撞击时，将会触发防撞触边32内部电气信号，系统会自动通知机器人立即停止运动，保证运行安全性。所述超声波传感器36前后各两个安装所述前壳3001和后壳3002上，其作用也是对低位障碍物进行检测，结合防撞触边32，对机器人起到双重保护的作用。本申请还包括电气附件，其包括两个喇叭42、一个电池、一个控制面板52、两个碰触开关40、两个磁感应传感器46和一套控制器44，所述喇叭42堆成布置在所述车架本体1401的两侧，所述电池采用的是磷酸铁锂电池，配置在车架本体1401的中部，所述控制面板52安装在前壳3001上，所述两个碰触开关40分别安装在机器人前壳3001和后壳3002的边缘侧，使得操作人员无需弯腰，只需通过脚碰，即可使机器人停止或运行，提高了人机友好性。两个磁感应传感器46对称布置在车架本体1401的中间部位两侧，当机器人运动到物料车下方时，磁感应传感器46检测固定在物料车正下方的磁铁，检测到后，机器人将立即停止运动，然后再执行下一步工作流程，所述控制器44位于车架本体1401中部，对机器人的整个运动流程起总体调控作用。本申请还包括充电口38，该充电口38的充电电极是由两个铍铜件组成，两个电极均固定在一绝缘件上，再通过螺钉固定在所述外壳30的后壳3002上，通过与机器人充电设备配合使用，用于完成机器人自主充电或手动充电，本申请的第一从动轮8与第二从动轮28分别为万向脚轮。
本申请的全背负式移动机器人承载能力强，运行时是基于激光传感器全自主导航，无需磁条、地标、反光板等辅助设备，在实际使用上更加方便、可靠。下面结合附图17级附图18,对本申请的全背负式移动机器人在执行自主搬运物料车时候的动作流程进行详细说明：
1)首先，本申请的机器人停留在始发地A点；
2)接收到上位机发出的执行“搬运”指令后，机器人50开始运动；
3)机器人50自主运动到物料车所在地B点(载货区)，并潜伏到第一号物料车48下方，直至机器人上磁感应传感器感应到第一号物料48车正下方的磁铁后，机器人停止运动；
4)顶升机构执行“抬升”动作，抬升行程达到预先设定值并将第一号物料车完全抬起后，顶升机构停止动作并保持当前状态；
5)机器人背负第一号物料车运动到C点(卸货区)，机器人停止运行；
6)顶升机构执行“下降”动作，下降行程达到预先设定值且第一号物料车完全着地后，顶升机构停止动作；
7)机器人运动，回归到A点结束工作，或继续执行上述3-6的流程，搬运其他编号的物料车，如第二号物料车、第三号物料车等。
本申请的全背负式移动机器人采用基于杠杆平衡式的悬挂机构，使得主动轮对地的下压力随负载变化而改变，可有效消除大负载运行时产生“打滑”现象，大大提高了机器人带载运行时的可靠性，并且采用模块化设计思想，通过连接件可直接将整个悬挂机构固定在车架本体上，悬挂机构装拆方便，便于后期维护；本申请的顶升机构高度集成设置方式，且同步带将位于顶升机构四个边角位置处的顶升部件的运动进行串联，进而实现托盘的直线顶升运动，本申请的顶升机构结构紧凑，集成到机器人上所占用的体积空间小，且顶升机构行程较大，可实现大负载抬升。
以上所述实施例仅是为充分说明本申请而所举的较佳的实施例，本申请的保护范围不限于此。本技术领域的技术人员在本申请基础上所作的等同替代或变换，均在本申请的保护范围之内。本申请的保护范围以权利要求书为准。

Claims (10)

  1. 一种悬挂系统，其特征在于，包括左右设置的两个悬挂机构，分别为左悬挂机构和右悬挂机构，每个所述悬挂机构包括支撑梁、主动轮、连接件以及第一从动轮，所述第一从动轮和所述主动轮分别支撑所述支撑梁的前、后两端，所述连接件连接于所述支撑梁上并位于所述主动轮和所述第一从动轮之间，所述连接件大体呈倒置“凹”字型，所述连接件包括设于所述支撑梁左侧的第一竖向连接部、设于所述支撑梁右侧的第二竖向连接部以及设于所述支撑梁上侧的水平连接部，所述第一竖向连接部和所述第二竖向连接部分别通过一沿左右方向延伸的转轴可转动的连接于所述支撑梁上。
  2. 根据权利要求1所述的悬挂系统，其特征在于，所述第一竖向连接部与所述转轴之间设有第一滑动轴承，所述第一滑动轴承的内圈与所述转轴间隙配合，所述第一滑动轴承的外圈与所述第一竖向连接部的孔壁过盈配合，所述第二竖向连接部与所述转轴之间设有第二滑动轴承，所述第二滑动轴承的内圈与所述转轴间隙配合，所述第二滑动轴承的外圈与所述第二竖向连接部的孔壁过盈配合。
  3. 根据权利要求1所述的悬挂系统，其特征在于，所述主动轮与所述第一从动轮均设于所述支撑梁的下安装面上，所述主动轮的一侧设有用于驱动所述主动轮的驱动组件，所述驱动组件沿所述主动轮的轴向呈一字直列式布设，所述驱动组件包括一安装法兰，所述安装法兰与所述支撑梁的下安装面连接。
  4. 一种全背负式移动机器人，包括车架，其特征在于，还包括权利要求1-3任一项所述的悬挂系统，所述左悬挂机构及所述右悬挂机构分别通过所述连接件的水平连接部与所述车架的底部可拆卸式固定连接。
  5. 根据权利要求4所述的全背负式移动机器人，其特征在于，所述车架上设有基座板，所述基座板上设有顶升机构，所述顶升机构包括若干顶升部件、用于驱动所述顶升部件的第一驱动系统、用于将所述第一驱动系统的驱动力传递给所述顶升部件的传动系统，所述传动系统包括若干随动带轮，每个所述顶升部件包括一组滚珠丝杠螺母副和用于安装所述滚珠丝杠螺母副的第一安装座，所述第一安装座的下端设有一固定座，所述第一安装座设于所述基座板上， 所述滚珠丝杠螺母副包括滚珠丝杠和套设于所述滚珠丝杠上并且与所述滚珠丝杠相适配的滚珠螺母，所述固定座具有一供所述滚珠丝杠穿设的通孔，所述第一安装座具有一对所述滚珠螺母轴向限位的安装腔，所述随动带轮与所述滚珠螺母之间还设有一带轮连接件，所述带轮连接件的一端与所述随动带轮连接，所述带轮连接件的另一端与所述滚珠螺母连接。
  6. 根据权利要求5所述的全背负式移动机器人，其特征在于，所述带轮连接件套设于所述滚珠丝杠上并且所述连接件的内部具有一第一环形凹槽，所述滚珠螺母的T形小端嵌设于所述第一环形凹槽内，所述第一环形凹槽的槽口抵持于所述滚珠螺母的T形大端的表面，所述连接件的外壁具有第一环形凸台，所述第一环形凸台上套设有一深沟球轴承，所述深沟球轴承的内圈下端面抵持于所述第一环形凸台的台阶面上，所述深沟球轴承的外圈上端抵持于所述第一安装座，所述滚珠螺母的下端设有一下支撑盘，所述下支撑盘具有一第二环形凹槽和向背离所述第二环形凹槽的方向延伸的凸台，所述下支撑盘套设于所述滚珠丝杠上，所述滚珠螺母的T形大端嵌设于所述第二环形凹槽内，所述凸台的外壁套设有一圆锥滚子轴承，所述圆锥滚子轴承的下端面抵持于所述固定座上，所述圆锥滚子轴承的上端面抵持于所述下支撑盘的表面。
  7. 根据权利要求5所述的全背负式移动机器人，其特征在于，所述顶升机构的第一驱动系统包括驱动电机，所述传动系统包括设于所述驱动电机的输出端的主动带轮、设于所述基座板上的同步带和若干惰轮，所述同步带分别连接所述主动带轮、所述随动带轮以及所述惰轮。
  8. 根据权利要求7所述的全背负式移动机器人，其特征在于，所述顶升部件包括四个，分别设于所述基座板的四角位置，所述随动带轮包括六个，其中四个套设于所述滚珠丝杠上，其余两个分别设于背离驱动电机一端的两个顶升部件的一侧，所述惰轮包括五个，分别设于靠近对应的顶升部件和主动带轮的一侧，其中，靠近所述主动带轮的惰轮设于一位置可调机构上以实现同步带的张紧度调节。
  9. 根据权利要求5所述的全背负式移动机器人，其特征在于，所述滚珠丝杠的上端设有托盘支撑架，所述托盘支撑架上设有托盘，所述托盘沿纵长方向设有防滑垫。
  10. 根据权利要求5所述的全背负式移动机器人，其特征在于，所述车架底部背离所述第一从动轮的一端还设有第二从动轮，所述第二从动轮包括两个，分别为与所述左悬挂机构位于同侧的第二从动轮和与所述右悬挂机构位于同侧的第二从动轮。
PCT/CN2018/095441 2018-07-11 2018-07-12 一种悬挂系统及全背负式移动机器人 WO2020010575A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/331,885 US11919358B2 (en) 2018-07-11 2018-07-12 Suspension system and a carrying mobile robot
EP18865343.0A EP3620268A4 (en) 2018-07-11 2018-07-12 SUSPENSION SYSTEM AND COMPLETE MOBILE ROBOT

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810759757.7 2018-07-11
CN201810759757.7A CN108839725A (zh) 2018-07-11 2018-07-11 一种悬挂系统及全背负式移动机器人

Publications (1)

Publication Number Publication Date
WO2020010575A1 true WO2020010575A1 (zh) 2020-01-16

Family

ID=64197016

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/095441 WO2020010575A1 (zh) 2018-07-11 2018-07-12 一种悬挂系统及全背负式移动机器人

Country Status (4)

Country Link
US (1) US11919358B2 (zh)
EP (1) EP3620268A4 (zh)
CN (1) CN108839725A (zh)
WO (1) WO2020010575A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114634130A (zh) * 2022-02-25 2022-06-17 三峡大学 圆形截面隧洞内柔性塑胶管道运输及调整安装装置及方法
CN114683237A (zh) * 2022-04-21 2022-07-01 田春红 一种基于目标识别的工业机器人巡检平台
CN115043353A (zh) * 2021-03-09 2022-09-13 沈阳新松机器人自动化股份有限公司 一种可旋转潜入式自动引导车
CN115320748A (zh) * 2022-08-19 2022-11-11 诸城兴贸玉米开发有限公司 一种用于玉米加工用的运输装置

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109305253A (zh) * 2018-12-11 2019-02-05 无锡百禾工业机器人有限公司 一种潜伏式agv小车
CN110482267A (zh) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 轨道机构及装卸系统
CN112172959B (zh) * 2019-07-05 2023-09-29 坎德拉（深圳）科技创新有限公司 一种室外机器人
CN110582156B (zh) * 2019-07-31 2021-06-01 中国科学院近代物理研究所 一种用于环形粒子加速器中的粒子束偏转装置
CN111268000B (zh) * 2020-03-26 2021-08-27 厦门奇达电子有限公司 一种3c产品agv物料流转小车及3c物料的流转方法
CN113276123A (zh) * 2020-08-07 2021-08-20 山东光大线路器材有限公司 一种自移动搬运机器人
CN113371099B (zh) * 2020-08-18 2023-02-14 广州赛特智能科技有限公司 一种分体式智能输送小车
TWI734595B (zh) * 2020-08-25 2021-07-21 威剛科技股份有限公司 用於無人車的承載機構
US20230311605A1 (en) * 2020-09-14 2023-10-05 Lg Electronics Inc. Robot
FR3119165A1 (fr) * 2021-01-22 2022-07-29 Mob-Energy Dispositif mobile de transport d’objet lourd
CN115259017B (zh) * 2021-04-29 2023-12-19 法博智能移动股份有限公司 载物架及含该载物架的移动式顶升输送机
CN113218673A (zh) * 2021-05-18 2021-08-06 长沙立中汽车设计开发股份有限公司 一种用于超平承载机器人的驱动及控制系统
CN113200103A (zh) * 2021-05-25 2021-08-03 上海润璋智能科技股份有限公司 一种新型全向移动机器人及全向移动底盘
US11731264B2 (en) * 2021-06-07 2023-08-22 Immense Digitize Engineering Co., Ltd. Mobile vehicle having an AOI dynamic inspection system with multi-angle visual quality
CN114227714A (zh) * 2021-12-29 2022-03-25 天津中科智能技术研究院有限公司 一种用于送药的智能移动平台
CN114228821A (zh) * 2021-12-31 2022-03-25 华晓精密工业(苏州)有限公司 长距离底盘机构及agv
CN114378502B (zh) * 2022-03-24 2022-06-24 中国核工业二四建设有限公司 一种用于直角角焊缝自动连贯焊接的移动机器人
CN115215024A (zh) * 2022-05-11 2022-10-21 云机时代(上海)智能科技有限公司 一种机器人装置
CN115180049A (zh) * 2022-08-11 2022-10-14 法睿兰达科技(武汉)有限公司 一种差速驱动的重载式agv及其使用方法
CN115973277B (zh) * 2022-12-26 2023-08-18 山东腾阳智能装备有限公司 一种机器人行走底盘装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001233260A (ja) * 2000-02-18 2001-08-28 Kazumori Ide 前輪球体駆動ライン・トレース・ロボット
CN101665059A (zh) * 2009-09-26 2010-03-10 蔡长平 高承载半挂运输车或专用运输车的车轴
CN201856248U (zh) * 2010-08-20 2011-06-08 上海电机学院 多自由度机器人的底盘
CN104192762A (zh) 2014-07-11 2014-12-10 湖州上电科电器科学研究有限公司 一种旋转顶升机构及包括旋转顶升机构的agv小车
CN205819329U (zh) * 2016-06-29 2016-12-21 比亚迪股份有限公司 一种前副车架及具有其的车辆
CN107235092A (zh) 2017-06-21 2017-10-10 斯坦德机器人（深圳）有限公司 一种自适应式移动机器人的底盘装置
CN207208027U (zh) * 2017-09-13 2018-04-10 北京真机智能科技有限公司 一种室外无人驾驶小车的移动底盘

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1578742A (en) * 1976-02-24 1980-11-12 Nat Res Dev Peripatetic vehicles
US4496274A (en) * 1982-08-11 1985-01-29 Eaton Corporation Material handling vehicle
JPS6283792U (zh) * 1985-11-18 1987-05-28
JP6467124B2 (ja) * 2013-05-09 2019-02-06 三菱ロジスネクスト株式会社 走行台車の車輪支持構造
US9637318B2 (en) 2014-12-16 2017-05-02 Amazon Technologies, Inc. Mobile configurable conveyor component
CN104809606B (zh) 2015-04-29 2018-05-04 上海交通大学 具有多导引车调度分配功能的仓库管理系统
CN106354131B (zh) 2016-08-25 2019-10-25 艾信智慧医疗科技发展（苏州）有限公司 一种医用接驳机器人
CN206437093U (zh) * 2016-12-30 2017-08-25 云南昆船智能装备有限公司 一种地面自适应差速驱动浮动轮系
CN206828025U (zh) * 2017-03-28 2018-01-02 广州智能装备研究院有限公司 一种双丝杆同步升降装置及应用其的agv小车
CN206967467U (zh) * 2017-07-20 2018-02-06 上海一坤电气工程有限公司 室内移动机器人悬挂系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001233260A (ja) * 2000-02-18 2001-08-28 Kazumori Ide 前輪球体駆動ライン・トレース・ロボット
CN101665059A (zh) * 2009-09-26 2010-03-10 蔡长平 高承载半挂运输车或专用运输车的车轴
CN201856248U (zh) * 2010-08-20 2011-06-08 上海电机学院 多自由度机器人的底盘
CN104192762A (zh) 2014-07-11 2014-12-10 湖州上电科电器科学研究有限公司 一种旋转顶升机构及包括旋转顶升机构的agv小车
CN205819329U (zh) * 2016-06-29 2016-12-21 比亚迪股份有限公司 一种前副车架及具有其的车辆
CN107235092A (zh) 2017-06-21 2017-10-10 斯坦德机器人（深圳）有限公司 一种自适应式移动机器人的底盘装置
CN207208027U (zh) * 2017-09-13 2018-04-10 北京真机智能科技有限公司 一种室外无人驾驶小车的移动底盘

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3620268A4

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115043353A (zh) * 2021-03-09 2022-09-13 沈阳新松机器人自动化股份有限公司 一种可旋转潜入式自动引导车
CN114634130A (zh) * 2022-02-25 2022-06-17 三峡大学 圆形截面隧洞内柔性塑胶管道运输及调整安装装置及方法
CN114634130B (zh) * 2022-02-25 2023-10-27 三峡大学 圆形截面隧洞内柔性塑胶管道运输及调整安装装置及方法
CN114683237A (zh) * 2022-04-21 2022-07-01 田春红 一种基于目标识别的工业机器人巡检平台
CN114683237B (zh) * 2022-04-21 2023-08-25 精景慧城科技(西安)有限公司 一种基于目标识别的工业机器人巡检平台
CN115320748A (zh) * 2022-08-19 2022-11-11 诸城兴贸玉米开发有限公司 一种用于玉米加工用的运输装置
CN115320748B (zh) * 2022-08-19 2023-07-14 诸城兴贸玉米开发有限公司 一种用于玉米加工用的运输装置

Also Published As

Publication number Publication date
US11919358B2 (en) 2024-03-05
US20210331542A1 (en) 2021-10-28
CN108839725A (zh) 2018-11-20
EP3620268A1 (en) 2020-03-11
EP3620268A4 (en) 2020-04-29

Similar Documents

Publication Publication Date Title
WO2020010575A1 (zh) 一种悬挂系统及全背负式移动机器人
CN109436119B (zh) 一种非接触轮式爬壁机器人底盘装置
CN206914469U (zh) 具有多自由度的爬行机器人
CN113086041B (zh) 一种爬杆机器人
CN109606495B (zh) 磁吸附攀爬机器人
CN106379409A (zh) 角度可控动力差速全向轮及其控制方法以及全向移动平台
CN210734339U (zh) 一种爬壁机器人
CN109911060A (zh) 一种移动机器人的通用底盘
CN207473408U (zh) 一种差速驱动机构及自动引导车
CN210027020U (zh) 一种差速驱动装置
WO2020244341A1 (zh) 一种差速驱动装置及agv
CN209351490U (zh) 一种磁吸附爬壁机器人的被动自适应机构
CN106428281A (zh) 磁吸附爬壁机器人
CN211809955U (zh) 一种独立悬挂式的舵轮机构
CN209833344U (zh) 运输车及运输车的驱动模块
CN215043251U (zh) 用于自动导引车的驱动装置、自动导引车及机器人
CN215043249U (zh) 用于自动导引车的驱动装置、自动导引车及机器人
CN206654150U (zh) 姿态车
CN113635989B (zh) 一种集成式多足机器人
CN209776616U (zh) 一种移动机器人的通用底盘
CN110182273B (zh) 一种具有过障功能的爬壁机器人系统及其使用方法
CN112896364A (zh) 用于自动导引车的驱动装置、自动导引车及机器人
CN111452883A (zh) 一种差速驱动移动机器人平台
CN208021490U (zh) 一种全向行驶移动平台的转向驱动装置
CN211731626U (zh) 一种机器人履带轮的监测系统

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2018865343

Country of ref document: EP

Effective date: 20190506

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18865343

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE