Chain material transport docking robot

Abstract

The chain material transport docking robot provided by the present invention includes a machine body, a walking device and a chain conveying device; the chain conveying device is rotatably installed on the upper part of the machine body along a first axis, and the extension direction of the first axis is perpendicular to the transport direction of the chain conveying device; a space entrance is provided above the internal space of the machine body; the chain conveying device can swing from a blocking position to an upward flipping position along the first axis, and the chain conveying device in the blocking position blocks the space entrance, and the chain conveying device in the upward flipping position removes the blocking of the space entrance. The chain conveying device is installed on the upper part of the machine body in a flippable form. When the chain conveying device is in the blocking position, the bottom plate effectively seals and blocks the space entrance, thereby effectively protecting the internal device; when it is necessary to inspect the internal equipment, the chain conveying device can be opened to expose the internal space, so as to facilitate the staff to carry out inspection work.

Description

Technical Field

[0001] The invention relates to the technical field of material transportation equipment, and in particular to a chain material transportation docking robot. Background Art

[0002] In the field of automated transportation, conveyor chains are used to cope with large load transportation situations, and conveyor chains are also used in walking docking robots. The existing chain-type material transport docking robot includes a body, a walking device and a chain conveying mechanism, the walking device is arranged at the bottom of the body, and the chain conveying mechanism is arranged at the upper part of the body. The electric control device, battery and other devices of the chain-type material transport docking robot are arranged in the internal space of the body, and the internal space is located below the chain conveying mechanism and the space entrance of the internal space faces upward.

[0003] The problem with the existing chain material transport docking robot is that, in order to facilitate maintenance, the space entrance is not blocked, and this setting leaves the electronic control device, battery and other devices unprotected; if a shielding member is set under the conveyor chain to protect the internal device, there will be a problem of difficulty in disassembly and assembly. Summary of the invention

[0004] The object of the present invention is to provide a chain material transport docking robot which is easy to maintain and can effectively protect internal devices.

[0005] The chain material transport docking robot provided by the present invention includes a body and a walking device, and the walking device is arranged at the bottom of the body; the chain material transport docking robot also includes a chain conveying device; the chain conveying device is rotatably installed on the upper part of the body along a first axis, and the extension direction of the first axis is perpendicular to the transport direction of the chain conveying device; an internal space is provided in the body, and the body is provided with a space entrance to the internal space above the internal space; the chain conveying device can swing from a blocking position to an upward flipping position along the first axis, and the chain conveying device in the blocking position blocks the space entrance, and the chain conveying device in the upward flipping position releases the blocking of the space entrance.

[0006] It can be seen from the above scheme that the chain conveyor device is installed on the upper part of the machine body in a flip-up and openable form. The chain conveyor device can fix a bottom plate at the bottom of the chain conveyor mechanism. When the chain conveyor device is in a blocking position, the bottom plate effectively seals and blocks the entrance to the space, thereby effectively protecting the internal device; when it is necessary to inspect the internal equipment, the chain conveyor device can be opened to expose the internal space, thereby facilitating the staff to carry out maintenance work.

[0007] A further solution is that the chain conveyor device includes a first transmission shaft, a second transmission shaft and at least two groups of chain conveyor mechanisms arranged between the first transmission shaft and the second transmission shaft; the first transmission shaft is arranged at the first axis.

[0008] As can be seen from the above, the first transmission shaft realizes the transmission of the chain conveyor mechanism. The first transmission shaft is arranged at the first axis center, and the upper swing axis center of the chain conveyor device is also located at the first axis center. This arrangement allows the chain conveyor device to swing upward without disassembling the chain conveyor mechanism and without affecting the chain conveyor mechanism, thereby reducing the difficulty of maintenance operations and further facilitating maintenance work for staff.

[0009] A further solution is that the chain material transport docking robot also includes a transport drive unit and a transmission mechanism; the transport drive unit is arranged in the internal space, and the transmission mechanism is arranged between the transport drive unit and the first transmission shaft.

[0010] It can be seen from the above that since tilting the chain conveyor does not change the position of the first transmission shaft, that is, the position of the first transmission shaft is fixed relative to the machine body, the transport drive unit is arranged in the internal space to make the layout more reasonable. At the same time, the transport drive unit is shielded and protected, and the volume of the chain material transport machine is reduced.

[0011] A further solution is that the chain conveyor device includes a base plate and at least two connecting frames. In the transport direction, the first transmission shaft and the second transmission shaft are respectively rotatably connected to the extended ends of the connecting frames, and the base plate is connected to the lower side of multiple connecting frames; when the chain conveyor device is in the blocking position, the base plate blocks the entrance of the space.

[0012] As can be seen from the above, the bottom plate not only effectively shields the internal space, but the bottom plate as a whole is located below the conveyor chain, and its disassembly and assembly does not interfere with the chain conveying mechanism, and it has the characteristics of easy disassembly and assembly.

[0013] A further solution is that the connecting frame includes a horizontal plate and two side baffles extending along the transport direction; the chain conveying mechanism includes a first sprocket, a second sprocket and a conveying chain, the first sprocket is installed on the first transmission shaft, the second sprocket is installed on the second transmission shaft, and the conveying chain is connected between the first sprocket and the second sprocket; in the extension direction of the first axis, the first sprocket, the second sprocket and the conveying chain are all arranged between the two side baffles; in the vertical direction, the lower part of the conveying chain is located between the horizontal plate and the bottom plate, and the upper part of the conveying chain is located above the horizontal plate.

[0014] It can be seen from the above that with the cooperation of the connecting frame and the bottom plate, only the upper part of the conveyor chain is exposed, and the rest of the chain is protected by the connecting frame and the bottom plate, which extends the life of the chain conveying mechanism and ensures the operational stability of the chain conveying mechanism.

[0015] A further solution is that a first limiter is provided on the horizontal plate, and a second limiter is provided on the bottom plate; in the extension direction of the first axis, the first limiter limits the upper part of the chain, and the second limiter limits the lower part of the chain.

[0016] It can be seen from the above that this arrangement can reduce the vibration of the conveyor chain and effectively improve the stability of the chain conveying mechanism.

[0017] A further solution is that, in the transport direction, the installation position of the second transmission shaft on the connecting frame is adjustable.

[0018] As can be seen from the above, this setting enables the conveyor chain to be adjusted to a suitable tension state, thereby improving stability during transportation.

[0019] A further solution is that the chain conveyor device includes three groups of chain conveyor mechanisms.

[0020] As can be seen from the above, this setting enables the chain material transport docking robot to adapt to the transportation of carriers or goods of different widths, thereby improving its applicability and carrying capacity.

[0021] A further solution is that a guide side wall is provided on the machine body, the guide side wall is higher than the chain conveyor device in the shielding position, and the two guide side walls are respectively located on both sides of the chain conveyor device; a transport channel extending along the transport direction is formed between the two guide side walls.

[0022] A further solution is that the chain material transport docking robot also includes a beam sensor arranged on the guide side wall, and the transport channel is located within the detection range of the beam sensor.

[0023] As can be seen from the above, this setting enables the goods entering the transport channel to be effectively guided, ensuring the docking effect; the goods arriving at the transport channel will also be detected, so that the system can complete the determination of the location of the goods, thereby enabling the subsequent automated transportation steps to be carried out effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the first embodiment of the chain material transport docking robot of the present invention.

[0025] Figure 2 This is a structural diagram of some hidden components of the first embodiment of the chain material transport docking robot of the present invention.

[0026] Figure 3 This is a structural diagram of the chain conveying device of the first embodiment of the chain material transport docking robot of the present invention in the flipped-up position.

[0027] Figure 4 It is a structural exploded view of the chain conveying device in the first embodiment of the chain material transport docking robot of the present invention.

[0028] Figure 5 This is a structural exploded view of the connecting frame and the chain conveying mechanism in the first embodiment of the chain material transport docking robot of the present invention.

[0029] Figure 6 for Figure 3 Enlarged view of point A in the middle.

[0030] Figure 7 It is a schematic structural diagram of the chain conveying device in the second embodiment of the chain material transport docking robot of the present invention. DETAILED DESCRIPTION

[0031] First embodiment of the chain material transport docking robot

[0032] See also Figures 1 to 3 The chain material transport docking robot provided by the present invention is a docking robot, and a transport channel 300 is arranged on the top thereof, which runs through the transport direction (the x-axis direction shown in the figure). The chain material transport docking robot mainly includes a body 1, a walking device 2, a chain conveying device 3, an internal device 81, a battery 82 and a corresponding sensor 9. The walking device 2 is arranged at the bottom of the body 1, and the walking device 2 includes a differential drive device. A universal wheel set is also arranged at the bottom of the body 1. The chain conveying device 3 is located at the upper part of the body 1. The chain conveying device 3 includes three groups of chain conveying mechanisms 4 located below the transport channel 300. The chain conveying mechanisms 4 extend along the x-axis direction, and the three groups of chain conveying mechanisms 4 are arranged in sequence along the y-axis direction.

[0033] from Figure 3 It can be seen that the chain conveyor 3 is rotatably mounted on the machine body 1 along the first axis 301. Since the first axis 301 is located at the side of the chain conveyor 3, when the chain conveyor 3 rotates along the first axis 301, the chain conveyor 3 swings upward or downward relative to the machine body 1. Figure 3 The chain conveyor device 3 is in the flipped-up position, at which time the internal space 100 of the body 1 is exposed, the internal device 81 and the battery 82 are installed in the internal space 100 of the body 1, and the body 1 is provided with a space entrance 101 of the internal space 100 above the internal space 100. When the chain conveyor device 3 is in the flipped-up position, the staff can inspect the internal device 81 and the battery 82 through the space entrance 101. Figure 1 , Figure 1 The chain conveyor 3 is in the blocking position, and the chain conveyor 3 can swing along the first axis 301 between the upper position and the blocking position. When the chain conveyor 3 is in the blocking position, the chain conveyor 3 is in a horizontal state, that is, a transport working state, and at this time, the chain conveyor 3 blocks the space entrance 101 from above.

[0034] See also Figure 4The chain conveyor 3 includes a first transmission shaft 311, a second transmission shaft 312, three sets of chain conveyor mechanisms 4, three connecting frames 32, a bottom plate 33 and a cover plate 34. The three connecting frames 32 are sequentially arranged along the y-axis direction, and the connecting frames 32 extend along the x-axis direction to form a long shape. The first transmission shaft 311 and the second transmission shaft 312 are rotatably mounted on the two ends of the extension of the connecting frames 32, and the first transmission shaft 311 and the second transmission shaft 312 both pass through the three connecting frames 32.

[0035] Each of the three chain conveying mechanisms 4 cooperates with a connecting frame 32. The connecting frame 32 includes a horizontal plate 321 extending along the x-axis direction and two side baffles 322, the side baffles 322 are bent and extended from the horizontal plate 321, and the side baffles 322 are perpendicular to the horizontal plate 321. A protective space 320 is formed below the horizontal plate 321 and between the two side baffles 322.

[0036] In the x-axis direction, a first bearing seat 361 is fixedly installed at the first end of the side baffle 322, and the first transmission shaft 311 cooperates with the bearing on the first bearing seat 361 to be rotatably installed on the side baffle 322; a second bearing seat 362 is provided at the second end of the side baffle 322, and the second bearing seat 362 is installed on the side baffle 322 through a connecting plate 35 having an elongated bolt hole 350. Therefore, the position of the second bearing seat 362 in the x-axis direction is adjustable, and the second transmission shaft 312 cooperates with the bearing on the second bearing seat 362 to be rotatably installed on the side baffle 322.

[0037] The chain conveying mechanism 4 includes a first sprocket 41, a second sprocket 42 and a conveying chain 43. The first sprocket 41 is mounted on the first transmission shaft 311, the second sprocket 42 is mounted on the second transmission shaft 312, and the conveying chain 43 is connected between the first sprocket 41 and the second sprocket 42. In the extending direction of the first axis 301, the first sprocket 41, the second sprocket 42 and the conveying chain 43 are all arranged between the two side baffles 322. In the vertical direction, the lower chain portion 432 of the conveying chain 43 is located in the protection space 320, and when the bottom plate 33 is mounted to the lower side of the connecting frame 3, the bottom plate 33 shields the lower chain portion 432 from below, and the upper chain portion 431 of the conveying chain 43 is located above the horizontal plate 321.

[0038] Recombination Figure 4 and Figure 5 The bottom plate 33 is detachably mounted on the lower side of the three connecting frames 32, and the cover plate 34 is detachably mounted on the upper side of the three connecting frames 32. A plurality of engaging protrusions 323 are provided at the bottom of the side baffle 322, and a plurality of engaging holes 331 are provided on the bottom plate 33, into which the engaging protrusions 323 can be inserted.

[0039] A first stopper 61 is installed on the horizontal plate 321, and a second stopper 62 is installed on the bottom plate 33. Both the first stopper 61 and the second stopper 62 are slender and extend along the x-axis direction. The cross-sections of the first stopper 61 and the second stopper 62 in the x-axis direction are convex. The first stopper 61 has a first stopper 610 protruding upward, and the second stopper 62 has a second stopper 620 protruding upward. Since the projections of the conveyor chain 43 in the x-axis direction are both in an "H" shape, a concave position is formed on the lower side of the upper chain part 431 or the lower side of the lower chain part 432. The first stopper 610 sinks into the concave position on the lower side of the upper chain part 431, and the second stopper 620 sinks into the concave position on the lower side of the lower chain part 432, thereby limiting the swing of the conveyor chain 43 in the y-axis direction and ensuring the stability of the conveyor chain 43.

[0040] In the x direction, the front end of the side baffle 322 is provided with a connection seat 328, and the front end of the cover plate 34 has a front baffle portion 349, and screws can pass through the through holes of the front baffle portion 349 and then cooperate with the screw holes on the connection seat 328. Three long notches 341 are formed on the cover plate 34, and the upper part 431 of the chain protrudes from the long notches 341 outside the cover plate 34. In addition, two handles 342 are installed on the front baffle 349 to facilitate the staff to lift the chain conveyor 3.

[0041] The up and down swing of the chain conveyor device 3 does not affect the transmission of the chain conveyor mechanism 4. Figure 2 , Figure 3 and Figure 6 The chain-type material transport docking robot further includes a transport drive unit 51 and a transmission mechanism 52. The transport drive unit 51 is arranged in the internal space 100. The drive unit 51 is a drive motor. The transmission mechanism 52 is a chain transmission mechanism. The transmission mechanism 52 is arranged on the body 1 but outside the internal space 100. The transmission mechanism 52 includes a driving wheel 521, a driven wheel 522 and a transmission chain (not shown in the figure). The output shaft of the drive unit 51 passes through the shell panel of the body 1 and is connected to the driving wheel 521. The driven wheel 522 is installed on the first transmission shaft 311. The drive unit 51 is started and drives the first transmission shaft 311 to rotate through the transmission mechanism 52, thereby driving the three sets of chain conveying mechanisms 4 to operate.

[0042] In addition, the machine body 1 further includes a connection seat 121, and the first transmission shaft 311 can rotatably pass through the side baffle 322 and the connection seat 121 in sequence. The connection seat 121 has a limit pin 122 protruding along the y-axis direction, and the side baffle 322 is also provided with an arc groove 329 penetrating along the y-axis direction and extending along the arc on the outer periphery of the first transmission shaft 311, and the limit pin 122 is located in the arc groove 329. The limit pin 122 cooperates with the arc groove 329 to limit the swing amplitude of the chain conveyor 3 to about 90 degrees, that is, the chain conveyor 3 can swing upward from the horizontal shielding position to the vertical flip-up position. Since the chain conveyor mechanism 4 is driven by the first transmission shaft 311 and the connecting frame 32 is rotationally connected to the first transmission shaft 311, when the chain conveyor device 3 swings up and down, it is equivalent to the chain conveyor mechanism 4 as a whole moving along the first transmission shaft 311 relative to the first transmission shaft 311. Therefore, the up and down swinging of the chain conveyor device 3 will not affect the transmission of the transport drive unit 51, the transmission mechanism 52 and the chain conveyor mechanism 4.

[0043] The chain conveyor 3 is installed on the upper part of the machine body 1 in a flip-up and openable form, and the bottom plate 33 is fixedly arranged at the bottom of the chain conveyor 3. When the chain conveyor 3 is in the shielding position, the bottom plate 33 effectively seals and shields the space entrance 101, thereby effectively protecting the internal device; when the internal equipment needs to be inspected, the chain conveyor 3 can be opened to expose the installation space 100, thereby facilitating the staff to carry out the inspection work. In addition, the bottom plate 33 is located as a whole below the conveyor chain 43, and its disassembly and assembly is not interfered by the chain conveyor mechanism 4, and has the characteristics of easy disassembly and assembly.

[0044] In addition, see Figure 1 The machine body 1 is provided with a guide side wall 19, which is higher than the chain conveyor 3 in the shielding position, and the two guide side walls 19 are respectively located on both sides of the chain conveyor 3, and the transport channel 300 is located between the two guide side walls 19. Two groups of through-beam sensors 9 are arranged on the guide side wall 19 in the x-axis direction, and the transport channel 300 is located within the detection range of the through-beam sensors 9. The two groups of through-beam sensors 9 are respectively used for position detection of the entry and delivery of goods.

[0045] Second embodiment of the chain material transport docking robot

[0046] See also Figure 7 In this embodiment, the first transmission shaft 991 is not arranged at the first axis 901, the third transmission shaft 993 is arranged at the first axis 901, and the second transmission mechanism 91 is arranged between the first transmission shaft 993 and the third transmission shaft 991, and the second transmission mechanism 91 is a transmission gear set.

[0047] In addition, in this embodiment, only two sets of chain conveying mechanisms 92 are provided between the first transmission shaft 991 and the second transmission shaft 992. In addition, the second transmission mechanism may also be a chain transmission mechanism or a belt transmission mechanism.

[0048] This embodiment can also ensure that the up and down swinging of the chain conveyor device 3 will not affect the transmission of the chain conveyor mechanism 4.

[0049] In other embodiments, the chain conveyor device does not have a bottom plate as in the first embodiment, and the body has a cover body detachably mounted at the entrance of the space, so that after the chain conveyor device reaches the flip-up position, the staff can lift the cover body to expose the internal space.

[0050] In other embodiments, the transport drive unit and the transmission mechanism are arranged in a chain conveyor device. In the horizontal direction perpendicular to the conveying direction, there is a certain space between the chain conveyor mechanisms, and a transport drive unit and a transmission mechanism with a smaller volume can be selected and arranged in the space between the chain conveyor mechanisms.

[0051] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A chain-type material transport docking robot, comprising a body and a walking device, wherein the walking device is arranged at the bottom of the body; Features: The chain-type material transport docking robot further comprises a chain conveying device; The chain conveyor device is rotatably mounted on the upper part of the machine body along a first axis, and the extension direction of the first axis is perpendicular to the transport direction of the chain conveyor device; An internal space is provided in the body, and a space entrance of the internal space is provided above the body; The chain conveyor device can swing along the first axis from a blocking position to an upward flipping position. The chain conveyor device in the blocking position blocks the space entrance, and the chain conveyor device in the upward flipping position releases the blocking of the space entrance. The chain conveyor device comprises a first transmission shaft, a second transmission shaft and at least two groups of chain conveyor mechanisms arranged between the first transmission shaft and the second transmission shaft; The first transmission shaft is arranged at the first axis; The chain-type material transport docking robot also includes a transport drive unit and a transmission mechanism; The transport drive unit is arranged in the internal space, and the transmission mechanism is arranged between the transport drive unit and the first transmission shaft; The chain conveyor device comprises a bottom plate and at least two connecting frames, wherein in the transport direction, the first transmission shaft and the second transmission shaft are rotatably connected to the two ends of the connecting frames respectively, and the bottom plate is connected to the lower side of the plurality of connecting frames; When the chain conveyor is in the shielding position, the bottom plate shields the space entrance.

2. The chain material transport docking robot according to claim 1, characterized in that: The connecting frame includes a horizontal plate extending along the transport direction and two side baffles; The chain conveying mechanism comprises a first sprocket, a second sprocket and a conveying chain, wherein the first sprocket is mounted on the first transmission shaft, the second sprocket is mounted on the second transmission shaft, and the conveying chain is connected between the first sprocket and the second sprocket; In the extension direction of the first axis, the first sprocket, the second sprocket and the conveying chain are all arranged between the two side baffles; In the vertical direction, the lower part of the conveyor chain is located between the horizontal plate and the bottom plate, and the upper part of the conveyor chain is located above the horizontal plate.

3. The chain material transport docking robot according to claim 2, characterized in that: The horizontal plate is provided with a first limiting member, and the bottom plate is provided with a second limiting member; In the extending direction of the first axis, the first limiting member limits the upper portion of the chain, and the second limiting member limits the lower portion of the chain.

4. The chain material transport docking robot according to claim 1, characterized in that: In the transport direction, the mounting position of the second transmission shaft on the connecting frame is adjustable.

5. The chain material transport docking robot according to claim 1, characterized in that: The chain conveying device comprises three groups of chain conveying mechanisms.

6. The chain material transport docking robot according to any one of claims 1 to 5, characterized in that: The machine body is provided with a guide side wall, the guide side wall is higher than the chain conveyor device in the shielding position, and the two guide side walls are respectively located on both sides of the chain conveyor device; A transport channel extending along the transport direction is formed between the two guide side walls.

7. The chain material transport docking robot according to claim 6, characterized in that: The chain material transport docking robot further comprises a beam sensor arranged on the guide side wall, and the transport channel is located within the detection range of the beam sensor.

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