Block transport robot capable of longitudinal and transverse movement, transport system and transport method thereof

Abstract

The present invention discloses a block handling robot capable of moving vertically and horizontally, a handling system and a handling method thereof, in the field of block handling technology. The block handling robot capable of moving vertically and horizontally comprises a frame and a battery arranged on the frame, a lateral moving device, a longitudinal moving device, a control device and a measuring device. The handling system comprises a longitudinally arranged block storage rack, a plurality of longitudinally arranged block curing racks arranged in a curing room, and at least one block handling robot capable of moving vertically and horizontally; two parallel transverse guide rails are arranged between the block storage rack and the block curing rack, and the top surface of the transverse guide rail is flush with the ground; a roller groove is arranged on the radial outer peripheral surface of the transverse roller, and the width of the roller groove is adapted to the width of the transverse guide rail. The block handling robot capable of moving vertically and horizontally, the handling system and the handling method thereof of the present invention have the characteristics of saving investment, stable operation and safe use.

Description

Technical Field

[0001] The invention relates to the technical field of building block transportation, and in particular to a building block transportation robot, a transportation system and a transportation method thereof. Background Art

[0002] As an automated device with some capabilities similar to those of humans or biological organisms, such as perception, movement, planning, and coordination, robots have been widely used in industrial production in response to the continuous development of industry, as many jobs require people to perform repetitive labor. Long-term repetitive work can easily lead to safety accidents and low production efficiency. In response to the social production needs of simple operation and high repeatability, robots have been widely used in industrial production.

[0003] A handling robot is a robot that can perform automated handling. It can be programmed to complete certain tasks, such as moving objects from one processing location to another. Robot handling in the brick production process has greatly reduced the heavy manual labor of humans and greatly improved the utilization rate of the site space. In particular, the compression of the high-altitude space has greatly improved the steaming effect of bricks and reduced energy consumption, and has broad application prospects.

[0004] At present, in the brick production process, the pressed finished bricks need to be transferred to the designated stacking area by a robot or a forklift. After the bricks in the designated stacking area are steamed, they are transferred to the designated stacking area by a robot or a forklift. The loading and unloading conveyor belt is troublesome. The bricks are easily damaged during the robot clamping and forklift transportation process. The required site is large, especially the aisle occupies a large space. The entire production line is not compact and occupies a large area. In addition, due to the height of the forklift, the upper space of the brick steaming is large, and the brick steaming effect is poor at the bottom, resulting in great steam waste.

[0005] The patent with publication number CN111674858A discloses a channel kiln block output system, which includes, from front to back, a block output rack, a transport rack, a plurality of block curing racks arranged in the channel kiln, at least two liftable transport vehicles, and a control device; the block output rack includes a block output rack frame body, a first longitudinal track pair, and a second longitudinal track pair; the block curing rack includes a block curing rack frame body, a fourth longitudinal track pair, and a fifth longitudinal track pair; the transport rack includes a transverse track pair, a transverse ferry car is provided on the transverse track pair, and a third longitudinal track pair consisting of two third longitudinal rails is installed on the transverse ferry car; the spacing between the two third longitudinal rails is the same as the spacing between the two second longitudinal rails, and the top surfaces of the two third longitudinal rails are flush with the top surfaces of the two second longitudinal rails. The outstanding defects of this technology are: first, a pair of tracks needs to be set under the frame of the block output rack, and a pair of tracks is needed for the block curing rack, especially since the longitudinal length of the block curing rack is very long and there are many of them, and the length of the track pairs required at the bottom is generally tens of meters and the number is large, which requires huge investment; second, a horizontal shuttle car is provided, which can lift the transport vehicle plus the weight of the shuttle car, so it is heavy and energy-consuming; third, AC power is adopted, which requires additional safety facilities and transformer equipment, and the investment is large, and the investment in electricity safety is large; fourth, the horizontal shuttle car is used to dock with the track pair, which is difficult to dock and easy to overturn if it is not aligned; fifth, because the maintenance temperature in the maintenance room is higher than the room temperature, it is in an environment of maintenance, unloading, maintenance, and unloading for a long time. The length of the track pairs in the maintenance room is generally tens of meters, which is very easy to deform, making it difficult for the trolley to run on it and consuming relatively high energy. Summary of the invention

[0006] The purpose of the present invention is to provide a block handling robot, a handling system and a handling method thereof which can move vertically and horizontally and do not require a pair of tracks under a block output rack or a block curing rack, in view of the deficiencies in the prior art, and which has the characteristics of saving investment, stable operation and safe use.

[0007] The technical solution adopted by the present invention is as follows.

[0008] A block transport robot capable of longitudinal and transverse movement comprises a frame, a storage battery arranged on the frame, a transverse movement device, a longitudinal movement device, a control device, and a measuring device.

[0009] The lateral moving device includes four lateral rollers respectively arranged at the four corners of the bottom end of the frame. Among the four lateral rollers, a lateral roller located at the front end of the frame and a lateral roller located at the rear end of the frame are respectively connected to lateral roller drive motors, and the lateral roller drive motors are connected to batteries.

[0010] The longitudinal moving device includes a hydraulic lifting device, a chassis installed at the bottom end of the hydraulic lifting device, two longitudinal rollers installed on the chassis, a guide wheel, a longitudinal movement drive motor, and a longitudinal movement steering drive motor; the guide wheel is installed on the steering device, and the steering device is connected to the longitudinal movement steering drive motor; the guide wheel or the two longitudinal rollers are connected to the longitudinal movement drive motor; the longitudinal movement drive motor and the longitudinal movement steering drive motor are connected to the battery through a line; a hydraulic pump is provided on the frame, and the hydraulic lifting device is connected to the hydraulic pump.

[0011] As a preferred technical solution, the longitudinal roller is a non-metallic wheel.

[0012] As a preferred technical solution, the transverse roller drive motor is connected to a longitudinally arranged transverse roller drive motor power output shaft, and transverse roller drive motor power output wheels are respectively provided at the front and rear ends of the transverse roller drive motor power output shaft.

[0013] A transverse roller mounting shaft is respectively provided at the four corners of the bottom end of the frame, and the transverse roller is installed on the longitudinally arranged transverse roller mounting shaft; a first transmission gear is respectively provided on one of the two transverse roller mounting shafts located at the front end of the frame and one of the two transverse roller mounting shafts located at the rear end of the frame.

[0014] Each first transmission gear is connected to the power output wheel of the transverse roller driving motor closest to it through a transmission chain.

[0015] As a preferred technical solution, the longitudinal moving device includes two longitudinal rollers arranged on the base frame, whose central axes are in the same horizontal straight line, and the guide wheels are located in front of or behind the two longitudinal rollers.

[0016] Each longitudinal roller is respectively installed on a transversely arranged longitudinal roller mounting shaft, and the left and right ends of the longitudinal roller mounting shaft are respectively hinged with a longitudinal roller rotating plate perpendicular to the central axis of the longitudinal roller mounting shaft; the end of each longitudinal roller rotating plate away from the longitudinal roller mounting shaft is hinged to the longitudinal connecting rod through the first transverse hinge shaft; the end of each longitudinal connecting rod away from the longitudinal roller rotating plate is hinged to the guide wheel rotating plate perpendicular to the central axis of the longitudinal roller mounting shaft.

[0017] The end of the guide wheel rotating plate away from the longitudinal roller rotating plate is hinged with a rotating plate, and the two rotating plates are connected by a horizontal plate, and a hydraulic lifting device is vertically mounted on the horizontal plate; the bottom end of the hydraulic lifting device is connected to a guide wheel shaft; and a guide wheel shaft is provided with a guide wheel.

[0018] The longitudinal motion driving motor is arranged on the guide wheel shaft, or,

[0019] The two longitudinal roller installation shafts are connected through a linkage rod, and the longitudinal motion driving motor is installed on one or two longitudinal roller installation shafts.

[0020] The longitudinal motion drive motor is connected to the battery.

[0021] The two guide wheel rotating plates are hinged to the bottom end of the frame through a second transverse hinge axis, and the second transverse hinge axis is located between the front and rear ends of the two guide wheel rotating plates; the two longitudinal roller rotating plates connected to the longitudinal roller mounting shaft are hinged to the bottom end of the frame through a fourth transverse hinge axis, and the fourth transverse hinge axis is located between the front and rear ends of the two longitudinal roller rotating plates.

[0022] The steering device comprises a passive gear arranged on the radial outer peripheral surface of the hydraulic lifting device, a longitudinal motion steering drive motor is mounted on the transverse plate, and a driving gear which can mesh with the passive gear is arranged on the longitudinal motion steering drive motor.

[0023] As a preferred technical solution, each longitudinal link is transversely hinged to the guide wheel rotating plate through a third transverse hinge, and the guide wheel rotating plate is hinged to the rotating plate through a fifth transverse hinge axis.

[0024] As a preferred technical solution, the measuring device includes several rangefinders, several positioning devices using photoelectric induction or electromagnetic induction, photoelectric sensors for sensing whether there are block pallets on the top plate of the block transport robot, several travel switches for controlling the height of the top surface of the frame, and an angle measuring instrument for measuring the rotation angle of the guide wheel.

[0025] As a preferred technical solution, the rangefinder is arranged on the side of the frame; the positioning device is arranged at the bottom of the frame; the photoelectric sensor and the travel switch are arranged inside the frame; the angle measuring instrument is arranged near the guide wheel on the frame; and the control device is a PLC.

[0026] A transport system, the transport system comprising a longitudinally arranged block storage rack, a plurality of longitudinally arranged block curing racks arranged in a curing room, and at least one of the above-mentioned block transport robots that can move longitudinally and transversely; two parallel transverse guide rails are arranged between the block storage rack and the block curing rack, the top surface of the transverse guide rails is flush with the ground, and transverse grooves are arranged on the left and right sides of the transverse guide rails, and the distance between the left side surface of the transverse groove on the left side of the transverse guide rail and the right side surface of the transverse groove on the right side of the transverse guide rail is greater than the width of the transverse roller; a roller groove is arranged on the radial outer peripheral surface of the transverse roller, and the width of the roller groove is adapted to the width of the transverse guide rail.

[0027] Each block storage rack includes two block storage sub-racks, each block storage sub-rack is provided with a block storage sub-rack longitudinal rod at the top longitudinally, and block support plates are placed horizontally on the two block storage sub-rack longitudinal rods, and blocks are placed on the block support plates; each block maintenance rack includes two block maintenance sub-racks, and each two block maintenance sub-racks are provided with a block maintenance sub-rack longitudinal rod at the top longitudinally.

[0028] The transport method of the above transport system comprises the following steps:

[0029] Step 1: Place the block handling robot that can move vertically and horizontally between two block storage racks, extend the hydraulic lifting device, lift the block pallet on the top surface of the block handling robot that can move vertically and horizontally, the longitudinal rollers are in contact with the ground and the transverse rollers are not in contact with the ground, the longitudinal motion driving motor drives the longitudinal rollers to move, and the longitudinal motion steering driving motor ensures the longitudinal motion of the block handling robot that can move vertically and horizontally, and the block handling robot that can move vertically and horizontally drives out of the block storage rack;

[0030] Step 2: When the two transverse rollers at the front and the two transverse rollers at the rear of the block transport robot that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device is shortened, the longitudinal rollers are not in contact with the ground and the transverse rollers are in contact with the ground, and the transverse roller driving device drives the transverse motion rollers to rotate, thereby realizing the transverse movement of the block transport robot that can move vertically and horizontally;

[0031] Step 3: When the block transport robot capable of longitudinal and transverse movement moves to between two block storage sub-racks of a preset block curing rack, the hydraulic lifting device is extended, the longitudinal roller contacts the ground and the transverse roller does not contact the ground, the longitudinal motion driving motor drives the longitudinal roller to move and the longitudinal motion steering driving motor ensures the longitudinal motion of the block transport robot capable of longitudinal and transverse movement, and the block transport robot capable of longitudinal and transverse movement drives into the preset position of the block curing rack; the hydraulic lifting device is retracted, and the block pallet on the top surface of the block transport robot capable of longitudinal and transverse movement is placed on the block curing rack;

[0032] Step 4: The longitudinal motion driving motor drives the longitudinal roller to move and ensures the longitudinal motion of the block transporting robot capable of longitudinal and transverse motion through the longitudinal motion steering driving motor, so that the block transporting robot capable of longitudinal and transverse motion drives out of the block curing rack;

[0033] When the two transverse rollers at the front and the two transverse rollers at the rear of the block transport robot that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device is shortened, the longitudinal rollers are not in contact with the ground and the transverse rollers are in contact with the ground, and the transverse roller driving device drives the transverse motion rollers to rotate, thereby realizing the transverse movement of the block transport robot that can move vertically and horizontally;

[0034] Step 5: When the block transport robot capable of longitudinal and transverse movement moves to between two block storage racks, the hydraulic lifting device is extended, the longitudinal roller contacts the ground and the transverse roller does not contact the ground, the longitudinal motion driving motor drives the longitudinal roller to move and the longitudinal motion steering driving motor ensures the longitudinal movement of the block transport robot capable of longitudinal and transverse movement, and the block transport robot capable of longitudinal and transverse movement drives into between the two block storage racks, so that the block transport robot capable of longitudinal and transverse movement returns to its original position;

[0035] This is repeated to move the block support plate with blocks placed on the block storage rack to the block curing rack.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] First, the horizontal roller is driven by the horizontal roller driving motor to realize the horizontal movement of the block handling robot. The height of the top surface of the block handling robot from the ground is adjusted by the hydraulic lifting device to realize that the longitudinal roller is in contact with the ground and the horizontal roller is not in contact with the ground, or the longitudinal roller is not in contact with the ground and the horizontal roller is in contact with the ground, so as to realize the power separation of the vertical and horizontal movement; the longitudinal roller is driven by the longitudinal movement driving motor to realize the longitudinal movement of the block handling robot. The longitudinal movement steering drive motor drives the guide wheel to realize the adjustment of the longitudinal movement of the block handling robot, so that it is convenient for it to walk in the block storage rack and the block curing rack. The battery-driven hydraulic lifting device is adopted, so that the block handling robot can lift up to 3 tons, which can be suitable for heavy loads.

[0038] Second, there is no need to set up a pair of tracks under the block output rack, and the block curing rack does not need a pair of tracks, which saves a lot of investment; it solves the problems of the prior art in which the curing temperature in the curing room is higher than the room temperature, and the track is deformed, difficult to operate, and has high energy consumption due to the long-term curing, unloading, re-curing, and re-unloading environment.

[0039] Third, there is no horizontal shuttle bus, so the energy consumption is low;

[0040] Fourth, it does not use AC power supply and does not require electricity safety investment, thus avoiding the problem of the existing technology of horizontal shuttle bus docking with the track, which is difficult to dock and easy to overturn due to misalignment.

[0041] The present invention is driven in the longitudinal and transverse directions respectively, runs along the track in the transverse direction, and walks freely in the longitudinal direction. It is equipped with a walking and steering drive device, a four-wheel supporting chassis structure for track walking, and a three-wheel supporting chassis structure for free walking. A lifting mechanism is provided between the chassis structure for track walking and the chassis structure for free walking to achieve longitudinal and transverse movement isolation. The present invention adopts PLC as the control core, and the PLC controls and manages the entire system, mainly completing the coordinated control of the robot; the lifting and lowering synchronization of the longitudinal roller and the guide wheel is realized by the principle of combined lever and hydraulic lever, and the lifting height is balanced and consistent, which is relatively stable. There are laser safety protection devices and proximity positioning devices at the front and rear of the chassis of the vehicle body, ultrasonic rangefinders are installed at the front and rear of the remote control vehicle body, and a steering angle and lifting position laser positioning device is installed on the lifting support seat to realize start and stop, speed regulation, track finding, addressing, automatic lifting, and transfer. It cooperates with the driving control system and human-machine interaction system of the handling robot body, which is safe and reliable, low cost, and has high integration of internal functional modules. It can meet various usage requirements and has strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of a preferred embodiment of the block transporting robot capable of vertical and horizontal movement of the present invention.

[0043] Figure 2 yes Figure 1 A partial enlarged view of part A.

[0044] Figure 3 yes Figure 2 A partial enlarged view of part C.

[0045] Figure 4 yes Figure 1 A partial enlarged view of part B.

[0046] Figure 5 yes Figure 4 A partial enlarged view of part D.

[0047] Figure 6 yes Figure 4 A partial enlarged view of part E.

[0048] Figure 7 yes Figure 6 A partial enlarged view of part F.

[0049] Figure 8 yes Figure 1 A rear view of the block handling robot is shown.

[0050] Fig. 9 yes Figure 1 A bottom view of the block handling robot is shown.

[0051] Fig.10 yes Fig. 9 A partial enlarged view of part G.

[0052] Fig.11 yes Fig. 9 A partial enlarged view of part H.

[0053] Fig.12 It is a structural schematic diagram of a longitudinal moving device.

[0054] Fig.13 yes Fig.12 A partial enlarged view of part J.

[0055] Fig.14 yes Fig.12 A partial enlarged view of part K.

[0056] Fig.15 yes Figure 1 A state diagram of a block handling robot is shown.

[0057] Fig.16It is a structural schematic diagram of a longitudinal moving device.

[0058] Fig.17 yes Fig.16 A partial enlarged view of the L part.

[0059] Fig.18 yes Fig.16 A partial enlarged view of part M.

[0060] Fig.19 It is a top view of the block handling system of the present invention.

[0061] Fig. 20 yes Fig.19 A partial enlarged view of the R part.

[0062] Fig.21 This is a motion state diagram of a block-carrying robot that can move vertically and horizontally.

[0063] Fig. 22 yes Fig.21 A partial enlarged view of part P.

[0064] Fig.23 yes Fig.21 A partial enlarged view of the Q part.

[0065] Fig.24 It is a state diagram of the block handling system of the present invention.

[0066] Fig.25 yes Fig.24 A local enlarged view of part N.

[0067] Fig.26 yes Fig.24 A partial enlarged view of part O.

[0068] Fig. 27 It is a state diagram of the block handling system of the present invention.

[0069] Among them: a block handling robot capable of longitudinal and transverse movement-1; a frame-10; a battery-11;

[0070] Hydraulic pump station-2; Hydraulic pump-21;

[0071] Longitudinal movement steering drive motor-3; driving gear-31;

[0072] Transverse roller-4; transverse roller driving motor-41; transverse roller mounting shaft-42; first transmission gear-43; transverse roller driving motor power output shaft-44; transverse roller driving motor power output wheel-45; transmission chain-46; roller groove-47;

[0073] Hydraulic lifting device - 5; Passive gear - 51;

[0074] Base frame-6; longitudinal roller-61; guide wheel-62; longitudinal roller mounting shaft-63; longitudinal roller rotating plate-64; first transverse hinge shaft-65; longitudinal connecting rod-66; guide wheel rotating plate-67; transverse plate-68; guide wheel shaft-69; longitudinal motion driving motor-610; linkage rod-611; fourth transverse hinge shaft-612; second transverse hinge shaft-613; rotating plate-614; fifth transverse hinge shaft-615; third transverse hinge shaft-616; bearing-617; fork-618;

[0075] Distance meter-71; Positioning device-72; Photoelectric sensor-73; Travel switch-74; Angle measuring instrument-75;

[0076] Block storage rack-81; block curing rack-82; transverse guide rail-83; transverse groove-84; block storage sub-rack-85; block storage sub-rack longitudinal rod-86; block curing sub-rack-87; block curing sub-rack longitudinal rod-88;

[0077] Block pallet-9; Block-91. DETAILED DESCRIPTION

[0078] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0079] Example 1. Figure 1-14 As shown, the block transport robot capable of longitudinal and transverse movement comprises a frame 100 and a battery 11 arranged on the frame 100, a transverse moving device, a longitudinal moving device, a control device, and a measuring device.

[0080] The transverse moving device includes four transverse rollers 4 respectively arranged at the four corners of the bottom end of the frame 100. Among the four transverse rollers 4, a transverse roller 4 located at the front end of the frame 10 and a transverse roller 4 located at the rear end of the frame 10 are respectively connected to the transverse roller drive motor 41, and the transverse roller drive motor 41 is connected to the battery 11.

[0081] The longitudinal moving device includes a hydraulic lifting device 5, a base frame 6 installed at the bottom end of the hydraulic lifting device 5, two longitudinal rollers 61 installed on the base frame 6, a guide wheel 62, a longitudinal movement drive motor 610, and a longitudinal movement steering drive motor 3; the guide wheel 62 is installed on the steering device, and the steering device is connected to the longitudinal movement steering drive motor 3; the guide wheel 62 or the two longitudinal rollers 61 are connected to the longitudinal movement drive motor 610; the longitudinal movement drive motor 610 and the longitudinal movement steering drive motor 3 are connected to the battery 11 through lines; a hydraulic pump 21 is provided on the frame 100, and the hydraulic lifting device 5 is connected to the hydraulic pump 21.

[0082] Described longitudinal roller 61 is non-metal wheel, is made of rubber.Using non-metal wheel, running and damage to ground is less.

[0083] The transverse roller driving motor 41 is connected to a longitudinally arranged transverse roller driving motor power output shaft 44 , and transverse roller driving motor power output wheels 45 are respectively provided at the front and rear ends of the transverse roller driving motor power output shaft 44 .

[0084] A transverse roller mounting shaft 42 is provided at each of the four corners at the bottom end of the frame 100, and the transverse roller 4 is installed on the transverse roller mounting shaft 42 arranged longitudinally; a first transmission gear 43 is provided on each of the two transverse roller mounting shafts 42 located at the front end of the frame 100 and one of the two transverse roller mounting shafts 42 located at the rear end of the frame 100.

[0085] Each first transmission gear 43 is connected to the transverse roller driving motor power output wheel 45 closest thereto through a transmission chain 46 .

[0086] The longitudinal moving device includes two longitudinal rollers 61 arranged on the base frame 6 , whose central axes are in the same transverse straight line, and the guide wheel 62 is located at the front side of the two longitudinal rollers 61 .

[0087] Each longitudinal roller 61 is respectively installed on a transversely arranged longitudinal roller mounting shaft 63, and the left and right ends of the longitudinal roller mounting shaft 63 are respectively hinged with a longitudinal roller rotating plate 64 perpendicular to the central axis of the longitudinal roller mounting shaft 63; the end of each longitudinal roller rotating plate 64 away from the longitudinal roller mounting shaft 63 is hinged to the longitudinal connecting rod 66 through the first transverse hinge shaft 65; the end of each longitudinal connecting rod 66 away from the longitudinal roller rotating plate 64 is hinged to the guide wheel rotating plate 67 perpendicular to the central axis of the longitudinal roller mounting shaft 63.

[0088] The end of the guide wheel rotating plate 67 away from the longitudinal roller rotating plate 64 is hinged with a rotating plate 614, and the two rotating plates 614 are connected by a transverse plate 68, and the hydraulic lifting device 5 is vertically mounted on the transverse plate 68; the bottom end of the hydraulic lifting device 5 is connected to a guide wheel shaft 69; and a guide wheel 62 is arranged on the guide wheel shaft 69. When the hydraulic lifting device 5 is extended, the guide wheel rotating plate 67 rotates, and the longitudinal connecting rod 66 pushes the longitudinal roller rotating plate 64 to rotate counterclockwise, and the longitudinal roller 61 moves to the bottom of the longitudinal connecting rod 66, so that the longitudinal roller 61 and the guide wheel 62 extend out of the frame 10 and contact the ground, and the transverse roller 4 does not contact the ground.

[0089] The longitudinal motion driving motor 610 is arranged on the guide wheel shaft 69 .

[0090] The longitudinal motion driving motor 610 is connected to the battery 11 .

[0091] The two guide wheel rotating plates 67 are hinged to the bottom end of the frame 10 through the second transverse hinge shaft 613, and the second transverse hinge shaft 613 is located between the front and rear ends of the two guide wheel rotating plates 67; the two longitudinal roller rotating plates 64 connected to the longitudinal roller mounting shaft 63 are hinged to the bottom end of the frame 10 through the fourth transverse hinge shaft 612, and the fourth transverse hinge shaft 612 is located between the front and rear ends of the two longitudinal roller rotating plates 64.

[0092] The steering device includes a passive gear 51 arranged on the radial outer peripheral surface of the hydraulic lifting device 5 , and the longitudinal motion steering drive motor 3 is installed on the transverse plate 68 . The longitudinal motion steering drive motor 3 is provided with a driving gear 31 that can mesh with the passive gear 51 .

[0093] Each longitudinal link 66 is hinged to the guide wheel plate 67 via a third transverse hinge 616 , and the guide wheel plate 67 is hinged to the rotating plate 614 via a fifth transverse hinge shaft 615 .

[0094] The measuring device includes a plurality of rangefinders 71, a plurality of positioning devices 72 using photoelectric induction or electromagnetic induction, a photoelectric sensor 73 for sensing whether there is a block support plate 9 on the top plate of the block transport robot 1, a plurality of travel switches 74 for controlling the height of the top surface of the frame 10, and an angle measuring instrument 75 for measuring the rotation angle of the guide wheel 62.

[0095] The two longitudinal rollers 61 are symmetrically distributed along the centroid of the guide wheel 62 .

[0096] A bearing 617 is provided on the transverse plate 68, and the hydraulic lifting device 5 is installed on the bearing 617. The guide wheel 62 is installed on the bottom end of the hydraulic lifting device 5 through a wheel fork 618.

[0097] The rangefinder 71 is arranged on the side of the frame 10; the positioning device 72 is arranged at the bottom of the frame 10; the photoelectric sensor 73 and the travel switch 74 are arranged inside the frame 10; the angle measuring instrument 75 is arranged near the guide wheel 62 on the frame 10; and the control device is a PLC.

[0098] Example 2. Figure 16-18 As shown, the difference between this embodiment and embodiment 1 is that two longitudinal roller mounting shafts 63 are connected by a linkage rod 611 , and a longitudinal motion driving motor 610 is installed on one or two longitudinal roller mounting shafts 63 .

[0099] Example 3. Figure 19-26As shown, a transport system includes a longitudinally arranged block storage rack 81, a plurality of longitudinally arranged block curing racks 82 arranged in a curing room, and a block transport robot 1 that can move vertically and horizontally as described in an embodiment; two parallel transverse guide rails 83 are provided between the block storage rack 81 and the block curing rack 82, the top surface of the transverse guide rail 83 is flush with the ground, and transverse grooves 84 are provided on the left and right sides of the transverse guide rail 83, and the distance between the left side surface of the transverse groove 84 on the left side of the transverse guide rail 83 and the right side surface of the transverse groove 84 on the right side of the transverse guide rail 83 is greater than the width of the transverse roller 4; a roller groove 47 is provided on the radial outer peripheral surface of the transverse roller 4, and the width of the roller groove 47 is adapted to the width of the transverse guide rail 83.

[0100] Each block storage rack 81 includes two block storage sub-racks 85, each block storage sub-rack 85 is provided with a block storage sub-rack longitudinal rod 86 at the top, and a block support plate 9 is placed horizontally on the two block storage sub-rack longitudinal rods 86, and blocks 91 are placed on the block support plates 9; each block curing rack 82 includes two block curing sub-racks 87, each of which is provided with a block curing sub-rack longitudinal rod 88 at the top. In the figure, each block curing sub-rack 87 has a very long longitudinal length, and only a part of the block curing sub-rack 87 is drawn.

[0101] During operation, when the block handling robot 1 enters the block storage rack 81, the rangefinder is used to sense the positions of the two block storage sub-racks 85, and when the block handling robot 1 enters the block curing rack 82, the rangefinder 71 is used to sense the positions of the two block curing sub-racks 87. The positioning device 72 is used to sense the positions of the two transverse guide rails 83.

[0102] The transport method of the transport system comprises the following steps:

[0103] Step 1: Place the block handling robot 1 that can move vertically and horizontally between two block storage racks 85, extend the hydraulic lifting device 5, lift the block support plate 9 on the top surface of the block handling robot 1 that can move vertically and horizontally, the longitudinal roller 61 contacts the ground and the transverse roller 4 does not contact the ground, the longitudinal motion driving motor drives the longitudinal roller 61 to move, and the longitudinal motion steering driving motor 3 ensures the longitudinal motion of the block handling robot 1 that can move vertically and horizontally, and the block handling robot 1 that can move vertically and horizontally drives out of the block storage rack 81;

[0104] Step 2: When the two transverse rollers 4 at the front and the two transverse rollers 4 at the rear of the block transport robot 1 that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device 5 is shortened, the longitudinal roller 61 does not contact the ground and the transverse roller 4 contacts the ground, and the transverse roller 4 driving device drives the transverse motion roller to rotate, thereby realizing the transverse movement of the block transport robot 1 that can move vertically and horizontally;

[0105] Step 3: When the block handling robot 1 capable of longitudinal and transverse movement moves to between two block storage sub-racks 85 of a preset block curing rack 82, the hydraulic lifting device 5 is extended, the longitudinal roller 61 contacts the ground and the transverse roller 4 does not contact the ground, the longitudinal motion driving motor drives the longitudinal roller 61 to move and the longitudinal motion steering driving motor 3 ensures the longitudinal movement of the block handling robot 1 capable of longitudinal and transverse movement, and the block handling robot 1 capable of longitudinal and transverse movement drives into the preset position of the block curing rack 82; the hydraulic lifting device 5 is retracted, and the block support plate 9 on the top surface of the block handling robot 1 capable of longitudinal and transverse movement is placed on the block curing rack 82;

[0106] Step 4: The longitudinal motion driving motor drives the longitudinal roller 61 to move and the longitudinal motion steering driving motor 3 ensures the longitudinal movement of the block transporting robot 1 that can move longitudinally and transversely, and the block transporting robot 1 that can move longitudinally and transversely moves out of the block curing rack 82;

[0107] When the two transverse rollers 4 at the front and the two transverse rollers 4 at the rear of the block transport robot 1 that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device 5 is shortened, the longitudinal roller 61 does not contact the ground and the transverse roller 4 contacts the ground, and the transverse roller 4 driving device drives the transverse movement roller to rotate, thereby realizing the transverse movement of the block transport robot 1 that can move vertically and horizontally;

[0108] Step 5: When the block handling robot 1 capable of longitudinal and transverse movement moves between the two block storage sub-racks 85, the hydraulic lifting device 5 is extended, the longitudinal roller 61 contacts the ground and the transverse roller 4 does not contact the ground, the longitudinal motion driving motor drives the longitudinal roller 61 to move and the longitudinal motion steering driving motor 3 ensures the longitudinal movement of the block handling robot 1 capable of longitudinal and transverse movement, and the block handling robot 1 capable of longitudinal and transverse movement drives into between the two block storage sub-racks 85, so that the block handling robot 1 capable of longitudinal and transverse movement returns to its original position;

[0109] This is repeated to move the block support plate 9 with blocks placed on the block storage rack 81 to the block curing rack 82.

[0110] Example 4. Fig. 27 As shown, the difference between this embodiment and embodiment 3 is that there are two building block transport robots 1, and each building block transport robot 1 works according to a set area.

[0111] The above-mentioned embodiments are only for understanding the present invention, and are not intended to limit the technical solutions described in the present invention. A person skilled in the art may make various changes or modifications, and all equivalent changes or modifications shall be included in the protection scope of the present invention. Anything not described in detail in the present invention is a known technology to a person skilled in the art.

Claims

1. A block handling robot capable of vertical and horizontal movement, characterized in that: The block transport robot (1) capable of longitudinal and transverse movement comprises a frame (10), a storage battery (11) arranged on the frame (10), a transverse movement device, a longitudinal movement device, a control device, and a measuring device; The transverse moving device comprises four transverse rollers (4) respectively arranged at four corners of the bottom end of the frame (10); among the four transverse rollers (4), a transverse roller (4) located at the front end of the frame (10) and a transverse roller (4) located at the rear end of the frame (10) are respectively connected to a transverse roller drive motor (41); and the transverse roller drive motor (41) is connected to a storage battery (11); The longitudinal moving device comprises a hydraulic lifting device (5), a base frame (6) mounted at the bottom end of the hydraulic lifting device (5), two longitudinal rollers (61) mounted on the base frame (6), a guide wheel (62), a longitudinal motion drive motor (610), and a longitudinal motion steering drive motor (3); the guide wheel (62) is mounted on the steering device, and the steering device is connected to the longitudinal motion steering drive motor (3); the guide wheel (62) or the two longitudinal rollers (61) is connected to the longitudinal motion drive motor (610); the longitudinal motion drive motor (610) and the longitudinal motion steering drive motor (3) are connected to a storage battery (11) via a line; a hydraulic pump (21) is provided on the frame (10), and the hydraulic lifting device (5) is connected to the hydraulic pump (21); The longitudinal roller (61) is a non-metallic wheel; The longitudinal moving device comprises two longitudinal rollers (61) arranged on the base frame (6) and having two central axes on the same transverse straight line, and the guide wheel (62) is located at the front side or the rear side of the two longitudinal rollers (61); Each longitudinal roller (61) is respectively mounted on a transversely arranged longitudinal roller mounting shaft (63); a longitudinal roller rotating plate (64) perpendicular to the central axis of the longitudinal roller mounting shaft (63) is hingedly connected to the left and right ends of the longitudinal roller mounting shaft (63); an end of each longitudinal roller rotating plate (64) away from the longitudinal roller mounting shaft (63) is hingedly connected to a longitudinal connecting rod (66) via a first transverse hinge shaft (65); an end of each longitudinal connecting rod (66) away from the longitudinal roller rotating plate (64) is hingedly connected to a guide wheel rotating plate (67) perpendicular to the central axis of the longitudinal roller mounting shaft (63); The end of the guide wheel rotating plate (67) away from the longitudinal roller rotating plate (64) is hingedly connected to a rotating plate (614), and the two rotating plates (614) are connected via a transverse plate (68). A hydraulic lifting device (5) is vertically mounted on the transverse plate (68); the bottom end of the hydraulic lifting device (5) is connected to a guide wheel shaft (69); and a guide wheel (62) is provided on the guide wheel shaft (69); The longitudinal motion drive motor (610) is arranged on the guide wheel shaft (69), or, The two longitudinal roller mounting shafts (63) are connected via a linkage rod (611), and the longitudinal motion driving motor (610) is mounted on one or two longitudinal roller mounting shafts (63); The longitudinal motion drive motor (610) is connected to the battery (11); The two guide wheel rotating plates (67) are hinged to the bottom end of the frame (10) via a second transverse hinge shaft (613), and the second transverse hinge shaft (613) is located between the front and rear ends of the two guide wheel rotating plates (67); the two longitudinal roller rotating plates (64) connected to the longitudinal roller mounting shaft (63) are hinged to the bottom end of the frame (10) via a fourth transverse hinge shaft (612), and the fourth transverse hinge shaft (612) is located between the front and rear ends of the two longitudinal roller rotating plates (64); The steering device comprises a passive gear (51) arranged on the radial outer peripheral surface of the hydraulic lifting device (5), a longitudinal motion steering drive motor (3) mounted on the transverse plate (68), and a driving gear (31) which can mesh with the passive gear (51) is provided on the longitudinal motion steering drive motor (3).

2. The block transport robot capable of longitudinal and transverse movement according to claim 1, characterized in that: The transverse roller drive motor (41) is connected to a longitudinally arranged transverse roller drive motor power output shaft (44), and transverse roller drive motor power output wheels (45) are respectively provided at the front and rear ends of the transverse roller drive motor power output shaft (44); A transverse roller mounting shaft (42) is provided at each of the four corners at the bottom end of the frame (10), and the transverse roller (4) is mounted on the transverse roller mounting shaft (42) arranged longitudinally; a first transmission gear (43) is provided on each of the two transverse roller mounting shafts (42) located at the front end of the frame (10) and one of the two transverse roller mounting shafts (42) located at the rear end of the frame (10); Each first transmission gear (43) is connected to the transverse roller drive motor power output wheel (45) closest thereto via a transmission chain (46).

3. The block transport robot capable of longitudinal and transverse movement according to claim 1, characterized in that: Each longitudinal link (66) is hinged to the guide wheel rotating plate (67) via a third transverse hinge (616), and the guide wheel rotating plate (67) is hinged to the rotating plate (614) via a fifth transverse hinge shaft (615).

4. The block transport robot capable of longitudinal and transverse movement according to claim 1, characterized in that: The measuring device comprises a plurality of distance meters (71), a plurality of positioning devices (72) using photoelectric induction or electromagnetic induction, a photoelectric sensor (73) for sensing whether a block support plate (9) is present on the top plate of the block transport robot (1), a plurality of travel switches (74) for controlling the height of the top surface of the frame (10), and an angle measuring instrument (75) for measuring the rotation angle of the guide wheel (62).

5. The block transport robot capable of longitudinal and transverse movement as claimed in claim 4, characterized in that: The distance meter (71) is arranged on the side of the frame (10); the positioning device (72) is arranged at the bottom of the frame (10); the photoelectric sensor (73) and the travel switch (74) are arranged inside the frame (10); the angle measuring instrument (75) is arranged near the guide wheel (62) on the frame (10); and the control device is a PLC.

6. A handling system, characterized in that: The transport system comprises a longitudinally arranged block storage rack (81), a plurality of longitudinally arranged block curing racks (82) arranged in a curing room, and at least one block transport robot (1) capable of longitudinal and transverse movement according to any one of claims 1 to 5; two parallel transverse guide rails (83) are arranged between the block storage rack (81) and the block curing rack (82); the top surface of the transverse guide rail (83) is flush with the ground; transverse grooves (84) are arranged on the left and right sides of the transverse guide rail (83); the distance between the left side surface of the transverse groove (84) on the left side of the transverse guide rail (83) and the right side surface of the transverse groove (84) on the right side of the transverse guide rail (83) is greater than the width of the transverse roller (4); a roller groove (47) is provided on the radial outer peripheral surface of the transverse roller (4); the width of the roller groove (47) is adapted to the width of the transverse guide rail (83); Each block storage rack (81) comprises two block storage sub-racks (85), each block storage sub-rack having a block storage sub-rack longitudinal rod (86) disposed longitudinally at the top of each block storage sub-rack (85), a block support plate (9) being placed transversely on the two block storage sub-rack longitudinal rods (86), and blocks (91) being placed on the block support plates (9); each block curing rack (82) comprises two block curing sub-racks (87), each block curing sub-rack having a block curing sub-rack longitudinal rod (88) disposed longitudinally at the top of each two block curing sub-racks (87).

7. The method for transporting a transport system according to claim 6, characterized in that: The steps include: Step 1: placing a block transport robot (1) capable of longitudinal and transverse movement between two block storage racks (85), extending the hydraulic lifting device (5), lifting the block support plate (9) on the top surface of the block transport robot (1) capable of longitudinal and transverse movement, making the longitudinal roller (61) contact the ground and the transverse roller (4) not contact the ground, driving the longitudinal roller (61) with a longitudinal motion driving motor, ensuring the longitudinal movement of the block transport robot (1) with longitudinal and transverse movement through the longitudinal motion steering driving motor (3), and driving the block transport robot (1) capable of longitudinal and transverse movement out of the block storage rack (81); Step 2: When the two transverse rollers (4) at the front and the two transverse rollers (4) at the rear of the block transport robot (1) that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device (5) is shortened, the longitudinal rollers (61) are not in contact with the ground and the transverse rollers (4) are in contact with the ground, and the transverse roller (4) driving device drives the transverse rollers to rotate, thereby realizing the transverse movement of the block transport robot (1) that can move vertically and horizontally; Step 3: When the block transport robot (1) capable of longitudinal and transverse movement moves to between two block storage sub-racks (85) of a preset block curing rack (82), the hydraulic lifting device (5) is extended, the longitudinal roller (61) contacts the ground and the transverse roller (4) does not contact the ground, the longitudinal movement driving motor drives the longitudinal roller (61) to move and the longitudinal movement steering driving motor (3) ensures the longitudinal movement of the block transport robot (1) capable of longitudinal and transverse movement, and the block transport robot (1) capable of longitudinal and transverse movement drives into the preset position of the block curing rack (82); the hydraulic lifting device (5) is retracted, and the block support plate (9) on the top surface of the block transport robot (1) capable of longitudinal and transverse movement is placed on the block curing rack (82); Step 4: The longitudinal motion driving motor drives the longitudinal roller (61) to move and the longitudinal motion steering driving motor (3) ensures that the longitudinally movable block transporting robot (1) moves longitudinally, and the longitudinally movable block transporting robot (1) moves out of the block curing rack (82); When the two transverse rollers (4) at the front and the two transverse rollers (4) at the rear of the block transport robot (1) that can move vertically and horizontally enter the two transverse grooves respectively, the hydraulic lifting device (5) is shortened, the longitudinal rollers (61) are no longer in contact with the ground and the transverse rollers (4) are in contact with the ground, and the transverse roller (4) driving device drives the transverse movement rollers to rotate, thereby realizing the transverse movement of the block transport robot (1) that can move vertically and horizontally; Step 5: When the block transport robot (1) capable of longitudinal and transverse movement moves to between the two block storage sub-racks (85), the hydraulic lifting device (5) is extended, the longitudinal roller (61) contacts the ground and the transverse roller (4) does not contact the ground, the longitudinal movement driving motor drives the longitudinal roller (61) to move and the longitudinal movement steering driving motor (3) ensures the longitudinal movement of the block transport robot (1) capable of longitudinal and transverse movement, the block transport robot (1) capable of longitudinal and transverse movement drives into between the two block storage sub-racks (85), and the block transport robot (1) capable of longitudinal and transverse movement is returned to its original position; This process is repeated to move the block support plate (9) on which the blocks are placed on the block storage rack (81) to the block curing rack (82).

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