Transferring and carrying robot

Abstract

The invention discloses a transferring and carrying robot, and relates to the technical field of robots, the transferring and carrying robot comprises a robot seat plate, the four corners of the bottom of the robot seat plate are each provided with a walking mechanism, the transferring and carrying robot further comprises a lifting mechanism and a two-way overturning unloading mechanism, and the lifting mechanism comprises a lifting control assembly and a lifting plate; a lifting plate is mounted at the top of the robot seat plate through a lifting control assembly; the two-way overturning unloading mechanism comprises an overturning control assembly and an overturning unloading supporting plate, four supporting plates are arranged at the four corners of the top of the lifting plate correspondingly, and a longitudinal limiting groove is formed in the center of the top of each supporting plate. The goods shelf can be lifted from the bottom to be transferred, frequent steering and turning around for corresponding unloading points during unloading are avoided, the unloading efficiency can be improved, goods on the ground can be shoveled up and picked up besides goods transferring, and the goods shelf can be lifted up from the bottom to be transferred.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a transfer and handling robot. Background Art

[0002] At present, with the popularization of e-commerce, the demand for warehousing and logistics has gradually increased. Many warehouses are equipped with handling robots to realize automated and unmanned handling of items in warehouses. The overall action process of the handling robots currently on the market is roughly the same. When unloading, the handling robots can only flip to one side to let the goods fall. Therefore, the handling robots need to turn around frequently, affecting the unloading efficiency. Moreover, the handling robots can only transport goods and cannot pick up goods on the ground. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a transfer and handling robot. The flip unloading pallet on the top can be flipped left and right to unload goods, avoiding frequent turning and U-turning to correspond to the unloading point during unloading, which is beneficial to improving the unloading efficiency. In addition to transferring goods, the goods on the ground can also be shoveled and picked up, and the shelves can also be lifted from the bottom to transfer the shelves. The functionality is diverse, which is conducive to meeting the diverse transfer and handling needs of goods, and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a transfer and handling robot, comprising a robot seat plate, wherein the bottom four corners of the robot seat plate are respectively equipped with walking mechanisms, and further comprising:

[0005] The lifting mechanism comprises a lifting control component and a lifting plate, and the top of the robot seat plate is equipped with a lifting plate through the lifting control component;

[0006] The two-way flip unloading mechanism comprises a support plate, a limiting groove, a limiting protrusion, a flip control assembly, a flip unloading pallet, a support rod, a longitudinal flip shaft and a flip gear, wherein four support plates are respectively arranged at the four corners of the top of the lifting plate, and a longitudinal limiting groove is respectively opened at the top center of each support plate, the bottom of the limiting groove is semicircular, and a limiting protrusion is respectively integrally formed and connected on the side of the top of each support plate away from the center of the lifting plate, the flip unloading pallet is located directly above the lifting plate, and two longitudinal longitudinal flip shafts are respectively arranged below the left and right ends of the flip unloading pallet, the two ends of each longitudinal flip shaft are respectively fixedly connected to the bottom of the flip unloading pallet through two support rods, the two ends of each longitudinal flip shaft are respectively placed in the corresponding two limiting grooves, and the two support rods on each longitudinal flip shaft are respectively located on the inner sides of the two support plates, the two ends of each longitudinal flip shaft respectively pass through the two limiting grooves and are fixedly connected to the two flip gears, and two flip control assemblies are respectively installed on the front and back sides of the upper surface of the lifting plate.

[0007] Furthermore, the flip control assembly includes a sliding sleeve bracket, a sliding sleeve, a transverse sliding rod, a transverse rack, a flip control electric telescopic rod and a connecting frame, the front and rear sides of the upper surface of the lifting plate are respectively fixedly connected to two sliding sleeve brackets, the top of each sliding sleeve bracket is respectively fixedly connected to a sliding sleeve, each sliding sleeve is respectively laterally slidably connected to the middle part of the transverse sliding rod, and the left and right ends of each transverse sliding rod are respectively fixedly connected to two transverse racks, the bottom of the transverse rack corresponds to the top of the flip gear, the left side of each sliding sleeve bracket is respectively fixedly connected to the fixed end of the horizontal flip control electric telescopic rod, the telescopic end of each flip control electric telescopic rod passes through the corresponding sliding sleeve bracket and is fixedly connected to the bottom end of the connecting frame, and the top of each connecting frame is respectively fixedly connected to the corresponding transverse sliding rod.

[0008] Furthermore, it also includes a lifting side baffle mechanism, which includes a lifting side baffle plate, a lifting power assembly and a lifting locking assembly. Two vertical baffle slide grooves are respectively provided on the front and rear sides of the flip unloading pallet, and a lifting side baffle plate is vertically slidably connected in each baffle slide groove. Two lifting power assemblies are respectively installed on the front and rear sides of the flip unloading pallet, and the two lifting power assemblies are respectively connected to the two lifting side baffle plates. Two lifting locking assemblies are respectively installed on the front and rear sides of the flip unloading pallet, and the two lifting locking assemblies are respectively connected to the two lifting side baffle plates.

[0009] Furthermore, it also includes a pallet telescopic extension mechanism, which includes a pallet side groove, an extension electric telescopic rod, an extension skateboard and a skateboard blind hole. Two pallet side grooves are respectively opened on the left and right sides of the flip unloading pallet, and each pallet side groove is respectively connected with an extension skateboard in a transverse sliding manner. Each extension skateboard is respectively provided with a skateboard blind hole at one end located on the inner side of the pallet side groove, and the inner end of each skateboard blind hole is respectively fixedly connected to one end of the transverse extension electric telescopic rod, and the other end of each extension electric telescopic rod is respectively fixedly connected to the corresponding inner end of the pallet side groove.

[0010] Furthermore, it also includes a flip side block mechanism, which includes an end groove, a side block rotating shaft, a flip side block, a flip motor and a flip locking assembly, each extension slide is provided with an end groove at one end outside the side groove of the support plate, each end groove is rotatably connected with a longitudinal side block rotating shaft, each side block rotating shaft is fixedly connected to one end of the flip side block, the front end of each side block rotating shaft is fixedly connected to the output shaft of the flip motor, each flip motor is fixed to the outside of the end of the extension slide, and the rear end of each side block rotating shaft is connected to a flip locking assembly.

[0011] Furthermore, the flip locking assembly includes a conical friction block, a friction sleeve, a locking control rod, a locking electric telescopic rod and a longitudinal sliding column. The rear end of each side baffle shaft is fixedly connected with a conical friction block, the rear side of each conical friction block is provided with a friction sleeve, the front side of the friction sleeve is provided with a conical matching groove, the side of each friction sleeve is fixedly connected with a locking control rod, the front side of each locking control rod is fixedly connected to the rear side of the extended slide plate through the longitudinal locking electric telescopic rod, and the longitudinal sliding hole on each locking control rod is slidably connected with the longitudinal sliding column, and the front end of each longitudinal sliding column is fixedly connected to the rear side of the extended slide plate.

[0012] Furthermore, it also includes a cargo scooping mechanism, which includes a scooping plate groove, a linear motor guide rail, a scooping plate, a linear motor and a bevel blade. Each flip side baffle is provided with a scooping plate groove at one end away from the side baffle rotating shaft, and the front and rear sides of each scooping plate groove are respectively fixedly connected with the linear motor guide rail. A scooping plate is arranged in each scooping plate groove, and the front and rear sides of each scooping plate close to the side baffle rotating shaft are respectively fixedly connected with the linear motor. The linear motor is cooperatively connected with the corresponding linear motor guide rail, and the end of the scooping plate away from the side baffle rotating shaft is provided with a bevel blade.

[0013] Furthermore, it also includes a baffle and a baffle slot. The left and right ends of the lifting side baffle are respectively provided with two baffle slots, and the front and rear ends of the flip side baffle are respectively fixedly connected with baffles corresponding to the baffle slots.

[0014] Furthermore, the walking mechanism includes leg columns, wheel frames, hub motors and walking wheels. The four corners of the bottom of the robot seat plate are respectively connected to four leg columns, the bottom end of each leg column is fixedly connected to a wheel frame, each wheel frame is respectively installed with a hub motor, and the outer side of each hub motor is respectively installed with a walking wheel.

[0015] Furthermore, it also includes an in-situ direction adjustment mechanism, which is installed at the bottom of the robot seat plate, and the tops of the four leg columns are rotatably connected to the four corners of the bottom of the robot seat plate, and the in-situ direction adjustment mechanism is respectively connected to the four leg columns. The robot seat plate, the lifting plate and the flip unloading pallet constitute the body of the transfer and handling robot. The in-situ direction adjustment mechanism can drive the four leg columns to rotate synchronously in the same direction relative to the robot seat plate, so that when the wheel hub motor and the walking wheel are working, they can move obliquely while the body direction of the transfer and handling robot remains unchanged;

[0016] Compared with the prior art, the beneficial effects of this transfer and handling robot are:

[0017] 1. When it is necessary to unload from the right side of the flip unloading pallet, the flip control component works to drive the two flip gears on the right side to rotate clockwise, thereby driving the longitudinal flip axis on the right side of the flip unloading pallet to rotate clockwise in the corresponding two limit grooves. At this time, the longitudinal flip axis on the left side of the flip unloading pallet leaves the corresponding two limit grooves, so that the left end of the flip unloading pallet flips upward until the flip unloading pallet is in a vertical state and stops. At this time, the goods on the flip unloading pallet will fall to the right, completing the unloading to the right side. The same is true for unloading on the left side. The flip unloading pallet can be flipped left and right to unload, avoiding frequent turning and U-turning to the corresponding unloading point during unloading, which is beneficial to improving unloading efficiency.

[0018] 2. When the transfer and handling robot needs to scoop up and pick up the goods on the ground from the right side, the flip control component drives the left end of the flip unloading pallet to flip upward to a vertical state. At this time, the flip side baffle at the bottom of the flip unloading pallet is controlled to be in a horizontal state, and the extended electric telescopic rod at the bottom of the flip unloading pallet is extended, driving the extended slide plate at the bottom of the flip unloading pallet to move downward until the bottom of the flip side baffle is close to the ground, and then the two linear motors work and move along the two linear motor guide rails to drive the shovel plate to extend from the shovel plate slot, and the shovel plate can better scoop up the goods on the ground on the right side of the transfer and handling robot through the oblique blade, and then the extended electric telescopic rod is shortened, and the extended slide plate at the bottom of the flip unloading pallet is retracted into the pallet side slot, driving the shovel plate and the goods on the upper side to rise, and at the same time, the flip control component drives the flip unloading pallet to reset to a horizontal state, and the goods will fall to the upper side of the flip unloading pallet, and the scooping and picking up of the goods can be completed.

[0019] 3. When lifting the shelf, the lifting control component and the lifting plate are required to drive the flip unloading pallet to be lowered so that the top of the flip unloading pallet is lower than the bottom of the shelf. At the same time, the flip motor also drives the flip side baffle to flip to a downward state, and the walking mechanism drives the robot seat plate to move to the bottom of the shelf. At this time, the robot seat plate is located on the inner side of multiple legs at the bottom of the shelf. The lifting control component and the lifting plate drive the flip unloading pallet to rise, so that the flip unloading pallet lifts the shelf so that the bottom of the supporting legs of the shelf leave the ground. After the walking mechanism works to drive the shelf to the required position, the lifting control component and the lifting plate drive the flip unloading pallet to descend until the top of the flip unloading pallet is separated from the bottom of the shelf. At this time, the supporting legs of the shelf support the shelf, and the walking mechanism works to leave the bottom of the shelf. At this time, the transfer and transportation of the shelf is completed. The functionality is diverse, which is conducive to meeting the diverse transfer and transportation needs of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the transfer and handling robot of the present invention;

[0021] Figure 2Transfer and transport robot for the present invention Figure 1 A schematic diagram of the partially enlarged structure at center A;

[0022] Figure 3 This is a schematic diagram of the rear structure of the transfer and handling robot of the present invention;

[0023] Figure 4 Transfer and transport robot for the present invention Figure 3 A schematic diagram of the partially enlarged structure at B in the middle;

[0024] Figure 5 It is a structural schematic diagram of the flip locking assembly in the transfer and handling robot of the present invention;

[0025] Figure 6 This is a schematic diagram of the bottom structure of the transfer and handling robot of the present invention;

[0026] Figure 7 The local structure of the transfer and handling robot of the present invention is shown in FIG. Figure 1 ;

[0027] Figure 8 Transfer and transport robot for the present invention Figure 7 The schematic diagram of the structure is shown in the middle view;

[0028] Fig. 9 The local structure of the transfer and handling robot of the present invention is shown in FIG. Figure 2 ;

[0029] Fig.10 Transfer and transport robot for the present invention Fig. 9 Schematic diagram of the transverse section structure;

[0030] Fig.11 Transfer and transport robot for the present invention Fig.10 A schematic diagram of the partially enlarged structure at C in the middle;

[0031] Fig.12 Transfer and transport robot for the present invention Fig. 9 Schematic diagram of the longitudinal section structure;

[0032] In the figure: 1 robot seat plate, 2 in-situ adjustment mechanism, 21 fixed ring, 22 outer gear ring, 23 spoke rod, 24 adjustment motor, 25 adjustment gear, 3 walking mechanism, 31 leg column, 32 wheel frame, 33 hub motor, 34 walking wheel, 4 lifting and lifting mechanism, 41 column, 42 motor bracket, 43 lifting motor, 44 lead screw nut, 45 lead screw, 46 lifting plate, 5 two-way flip unloading mechanism, 51 support plate, 52 limit groove, 53 limit protrusion, 54 sliding sleeve bracket, 55 sliding sleeve, 56 horizontal sliding rod, 57 horizontal rack, 58 flip control electric telescopic rod, 59 connecting frame, 510 flip unloading pallet, 511 support rod, 512 longitudinal flip axis, 513 flip gear, 6 lifting side block mechanism, 61 lifting side block, 62 Longitudinal groove, 63 vertical rack, 64 gear groove, 65 control gear, 66 motor mounting groove, 67 control motor, 68 vertical guide bar, 69 locking blind hole, 610 locking mounting cylinder, 611 locking electric telescopic rod, 7 pallet telescopic extension mechanism, 71 pallet side groove, 72 extended electric telescopic rod, 73 horizontal guide bar, 74 extended slide plate, 75 slide plate blind hole, 8 flip side baffle mechanism, 81 end groove, 82 side baffle shaft, 83 flip side baffle, 84 flip motor, 85 cone-shaped friction block, 86 friction sleeve, 87 locking control rod, 88 locking electric telescopic rod, 89 longitudinal sliding column, 9 cargo shoveling mechanism, 91 shovel plate groove, 92 linear motor guide rail, 93 shovel plate, 94 linear motor, 95 oblique blade, 10 baffle, 11 baffle slot. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] For example, see Figures 1 to 12 The present embodiment provides a technical solution: a transfer and handling robot, comprising a robot seat plate 1, wherein walking mechanisms 3 are respectively installed at the four bottom corners of the robot seat plate 1, and the walking mechanism 3 includes leg columns 31, wheel frames 32, hub motors 33 and walking wheels 34. The four bottom corners of the robot seat plate 1 are respectively connected with four leg columns 31, and the bottom end of each leg column 31 is respectively fixedly connected with a wheel frame 32, and a hub motor 33 is respectively installed in each wheel frame 32, and a walking wheel 34 is respectively installed on the outside of each hub motor 33.

[0035] The wheel hub motor 33 and the running wheel 34 adopt the existing technology. The wheel hub motor 33 rotates relative to the wheel frame 32, thereby driving the running wheel 34 to rotate. The four running wheels 34 have the same direction. The four wheel hub motors 33 work synchronously to drive the robot seat plate 1 to shift in a certain direction. The four wheel hub motors 33 are controlled separately. The left and right steering of the robot seat plate 1 can be controlled by differentially controlling the rotation speed of the left and right wheel hub motors 33. The rotation speed control of the four wheel hub motors 33 adopts the existing technology.

[0036] It also includes a lifting mechanism 4 and a two-way turning and unloading mechanism 5;

[0037] The lifting mechanism 4 includes a lifting control component and a lifting plate 46, and the top of the robot seat plate 1 is installed with a lifting plate 46 through the lifting control component;

[0038] The lifting control assembly includes a column 41, a motor bracket 42, a lifting motor 43, a screw nut 44, and a screw 45. The top of the robot seat plate 1 is fixedly connected to two columns 41, and the two columns 41 are slidably connected to two sliding holes on the lifting plate 46, and the top center of the robot seat plate 1 is rotatably connected to the bottom end of the screw 45 through a bearing. The top end of the screw 45 is fixedly connected to the output shaft of the lifting motor 43. The lifting motor 43 is installed on the motor bracket 42. The two ends of the bottom of the motor bracket 42 pass through the lifting The two rectangular through holes on the lifting plate 46 are fixed to the top of the robot seat plate 1 by screws. A lead screw nut 44 is embedded in the middle of the lifting plate 46. The lead screw nut 44 is connected with the lead screw 45. The lifting motor 43 drives the lead screw 45 to rotate clockwise. The lead screw 45 and the lead screw nut 44 cooperate to allow the lifting plate 46 to move upward along the column 41. The lifting motor 43 drives the lead screw 45 to rotate counterclockwise, and the lifting plate 46 moves downward along the column 41, thereby realizing the lifting and lowering control of the lifting plate 46.

[0039] The two-way flip unloading mechanism 5 includes a support plate 51, a limiting groove 52, a limiting protrusion 53, a flip control component, a flip unloading pallet 510, a support rod 511, a longitudinal flip shaft 512 and a flip gear 513. Four support plates 51 are respectively arranged at the top four corners of the lifting plate 46. A longitudinal limiting groove 52 is respectively opened at the top center of each support plate 51. The bottom of the limiting groove 52 is semicircular, and a limiting protrusion 53 is respectively integrally formed and connected to the top of each support plate 51 away from the center of the lifting plate 46. The flip unloading pallet 510 is located directly above the lifting plate 46, and the flip unloading Two longitudinal flip shafts 512 are respectively provided under the left and right ends of the pallet 510, and the two ends of each longitudinal flip shaft 512 are fixedly connected to the bottom of the flip unloading pallet 510 through two support rods 511, and the two ends of each longitudinal flip shaft 512 are respectively placed in the corresponding two limiting grooves 52, and the two support rods 511 on each longitudinal flip shaft 512 are respectively located on the inner sides of the two support plates 51, and the two ends of each longitudinal flip shaft 512 pass through the two limiting grooves 52 and are fixedly connected to two flip gears 513, and two flip control components are respectively installed on the front and back sides of the upper surface of the lifting plate 46.

[0040] The flip control assembly includes a sliding sleeve bracket 54, a sliding sleeve 55, a transverse sliding rod 56, a transverse rack 57, a flip control electric telescopic rod 58 and a connecting frame 59. Two sliding sleeve brackets 54 are fixedly connected to the front and rear sides of the upper surface of the lifting plate 46, and the top of each sliding sleeve bracket 54 is fixedly connected to a sliding sleeve 55. Each sliding sleeve 55 is laterally slidably connected to the middle part of the transverse sliding rod 56, and the left and right ends of each transverse sliding rod 56 are fixedly connected to two transverse racks 57. The bottom of the transverse rack 57 corresponds to the top of the flip gear 513. The left side of each sliding sleeve bracket 54 is fixedly connected to the fixed end of the horizontal flip control electric telescopic rod 58. The telescopic end of each flip control electric telescopic rod 58 passes through the corresponding sliding sleeve bracket 54 and is fixedly connected to the bottom end of the connecting frame 59. The top of each connecting frame 59 is fixedly connected to the corresponding transverse sliding rod 56.

[0041] When it is necessary to unload from the right side of the flip unloading pallet 510, the two flip control electric telescopic rods 58 are extended synchronously, and the cross-sliding rod 56 is pushed to move rightward relative to the sliding sleeve 55 through the connecting frame 59. At this time, the bottom of the cross rack 57 at the right end of each cross-sliding rod 56 is meshed and connected with the top of the corresponding flip gear 513 on its right side, so that the two flip gears 513 on the right side rotate clockwise;

[0042] When it is necessary to unload from the left side of the flip unloading pallet 510, the two flip control electric telescopic rods 58 are shortened synchronously, and the cross-sliding rod 56 is pulled to the left relative to the sliding sleeve 55 through the connecting frame 59. At this time, the bottom of the horizontal rack 57 at the left end of each cross-sliding rod 56 is meshed and connected with the top of the corresponding flip gear 513 on its left side, so that the two flip gears 513 on the left side rotate counterclockwise;

[0043] Since the transverse rack 57 is located at the top of the flipping gear 513 and the support plate 51 has a limiting protrusion 53, the longitudinal flipping axis 512 rotating around its own axis will be stably limited in the corresponding limiting groove 52, and the longitudinal flipping axis 512 will not slip out of the limiting groove 52 on the support plate 51, so the flip unloading pallet 510 will remain stable when flipping.

[0044] When in use, the walking mechanism 3 is used to drive the robot seat plate 1 to move, and the lifting control component can drive the lifting plate 46 to move up and down, thereby changing the height of the two-way flip unloading mechanism 5, and the flip unloading pallet 510 is used to support the goods;

[0045] When it is necessary to unload the goods from the right side of the flip unloading pallet 510, the flip control assembly works to drive the two flip gears 513 on the right side to rotate clockwise, thereby driving the longitudinal flip shaft 512 on the right side of the flip unloading pallet 510 to rotate clockwise in the corresponding two limiting grooves 52. At this time, the longitudinal flip shaft 512 on the left side of the flip unloading pallet 510 leaves the corresponding two limiting grooves 52, so that the left end of the flip unloading pallet 510 flips upward until the flip unloading pallet 510 stops in a vertical state. At this time, the goods on the flip unloading pallet 510 will fall to the right side, completing the unloading to the right side.

[0046] When it is necessary to unload the goods from the left side of the flip unloading pallet 510, the flip control component works to drive the two flip gears 513 on the left side to rotate counterclockwise, thereby driving the longitudinal flip axis 512 on the left side of the flip unloading pallet 510 to rotate counterclockwise in the corresponding two limiting grooves 52. At this time, the longitudinal flip axis 512 on the right side of the flip unloading pallet 510 leaves the corresponding two limiting grooves 52, thereby causing the right end of the flip unloading pallet 510 to flip upward until the flip unloading pallet 510 is in a vertical state and stops. At this time, the goods on the flip unloading pallet 510 will fall to the left, completing the unloading to the left.

[0047] Therefore, with the help of the two-way flip unloading mechanism 5, the transfer and handling robot can unload from both sides as needed, avoiding the transfer and handling robot from frequently turning around to correspond to the unloading point during unloading, which is beneficial to improving the unloading efficiency.

[0048] For example 2, please refer to Figures 1 to 12This embodiment provides a technical solution: a transfer and handling robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0049] It also includes a lifting side baffle mechanism 6, which includes a lifting side baffle plate 61, a lifting power assembly and a lifting locking assembly. Two vertical baffle slide grooves are respectively provided on the front and rear sides of the flip unloading pallet 510, and a lifting side baffle plate 61 is vertically slidably connected in each baffle slide groove. Two lifting power assemblies are respectively installed on the front and rear sides of the flip unloading pallet 510, and the two lifting power assemblies are respectively connected to the two lifting side baffle plates 61. Two lifting locking assemblies are respectively installed on the front and rear sides of the flip unloading pallet 510, and the two lifting locking assemblies are respectively connected to the two lifting side baffle plates 61.

[0050] The lifting side baffle mechanism 6 also includes a vertical guide bar 68. The lifting side baffle plate 61 is fixedly connected to two vertical guide bars 68 on one side away from the middle of the flip unloading pallet 510. Two guide grooves vertically slidingly connected to the vertical guide bars 68 are arranged in the baffle slide groove. The vertical guide bars 68 and the guide grooves cooperate to allow the lifting side baffle plate 61 to slide up and down stably.

[0051] The lifting power assembly includes a longitudinal groove 62, a vertical rack 63, a gear groove 64, a control gear 65, a motor mounting groove 66, and a control motor 67. A longitudinal groove 62 is provided on the side of the lifting side baffle 61 away from the middle of the flip unloading pallet 510, and a vertical rack 63 is fixedly connected in the longitudinal groove 62. Gear grooves 64 are respectively provided at positions corresponding to the vertical rack 63 on the front and rear sides of the flip unloading pallet 510. A motor mounting groove 66 is provided on the side of the flip unloading pallet 510 near the gear groove 64. A control motor 67 is fixedly connected to the motor mounting groove 66 by screws. The output shaft of the control motor 67 extends into the gear groove 64 and is fixedly connected with the control gear 65. The control gear 65 is meshed with the corresponding vertical rack 63. When the control motor 67 works to drive the control gear 65 to rotate forward and backward, the lifting side baffle 61 can be driven up and down in the baffle slide groove through the transmission of the vertical rack 63.

[0052] The lifting and locking assembly includes a locking blind hole 69, a locking mounting cylinder 610, and a locking electric telescopic rod 611. The upper and lower ends of the lifting side baffle 61 away from the middle of the flip unloading pallet 510 are respectively provided with two upper and lower corresponding locking blind holes 69. The front and rear sides of the flip unloading pallet 510 are respectively fixedly connected with the locking mounting cylinder 610 by bolts. The fixed end of the locking electric telescopic rod 611 is respectively fixedly connected in each locking mounting cylinder 610. The telescopic end of the locking electric telescopic rod 611 extends into the baffle slide groove and is engaged with the corresponding locking blind hole 69. When the lifting side baffle 61 is lowered to the lowest position in the baffle slide groove, the locking electric telescopic rod 611 corresponds to the locking blind hole 69 at the upper end of the lifting side baffle 61. At this time, the locking electric telescopic rod 611 is extended and the lock is released. The telescopic end of the electric telescopic rod 611 is engaged with the locking blind hole 69 at the upper end of the lifting side baffle 61, so that the lifting side baffle 61 is locked and fixed, so that the lifting side baffle 61 remains in a stable state. When the lifting side baffle 61 rises to the highest position in the baffle slide groove, the locking electric telescopic rod 611 corresponds to the locking blind hole 69 at the lower end of the lifting side baffle 61, and the locking electric telescopic rod 611 is extended, so that the telescopic end of the locking electric telescopic rod 611 is engaged with the locking blind hole 69 at the lower end of the lifting side baffle 61, thereby locking and fixing the lifting side baffle 61. When the lifting side baffle 61 moves up and down in the baffle slide groove, the locking electric telescopic rod 611 needs to be shortened to prevent the telescopic end of the locking electric telescopic rod 611 from interfering with the up and down movement of the lifting side baffle 61.

[0053] When the cargo supported on the flip unloading pallet 510 is prone to movement and falling, the lifting power assembly drives the lifting side baffles 61 to move upward in the baffle chute. After the lifting side baffles 61 rise to the highest position, the lifting locking assembly locks the lifting side baffles 61. At this time, the lifting side baffles 61 block the front and rear sides of the flip unloading pallet 510 to prevent the cargo from falling from the front and rear sides of the flip unloading pallet 510 during transfer. When it is necessary to flip the unloading pallet 510 to lift the shelf from the bottom for transfer, the lifting power assembly drives the lifting side baffles 61 to move downward in the baffle chute. When the top of the lifting side baffles 61 is flush with the top of the flip unloading pallet 510, the lifting locking assembly locks the lifting side baffles 61. At this time, the front and rear sides of the top of the flip unloading pallet 510 are flat, which is convenient for the flip unloading pallet 510 to stably lift the shelf upward from the bottom of the shelf.

[0054] The bottom of the shelf has supporting legs. When lifting the shelf, the lifting control component and the lifting plate 46 are required to drive the flip unloading pallet 510 to lower so that the top of the flip unloading pallet 510 is lower than the bottom of the shelf. The walking mechanism 3 drives the robot seat plate 1 to move to the bottom of the shelf. At this time, the robot seat plate 1 is located on the inner side of multiple supporting legs at the bottom of the shelf. The lifting control component and the lifting plate 46 drive the flip unloading pallet 510 to rise, allowing the flip unloading pallet 510 to lift the shelf so that the bottom of the supporting legs of the shelf leaves the ground. After the walking mechanism 3 works to drive the shelf to the required position, the lifting control component and the lifting plate 46 drive the flip unloading pallet 510 to descend until the top of the flip unloading pallet 510 is separated from the bottom of the shelf. At this time, the supporting legs of the shelf support the shelf, and the walking mechanism 3 works to leave the bottom of the shelf. At this time, the transfer and transportation of the shelf is completed.

[0055] It also includes a pallet telescopic extension mechanism 7, which includes a pallet side groove 71, an extended electric telescopic rod 72, an extended slide 74 and a slide blind hole 75. Two pallet side grooves 71 are respectively provided on the left and right sides of the flip unloading pallet 510, and each pallet side groove 71 is respectively connected with an extended slide 74 for transverse sliding movement. Each extended slide 74 is respectively provided with a slide blind hole 75 at one end located on the inner side of the pallet side groove 71, and the inner end of each slide blind hole 75 is respectively fixedly connected to one end of the transverse extended electric telescopic rod 72, and the other end of each extended electric telescopic rod 72 is respectively fixedly connected to the corresponding inner end of the pallet side groove 71.

[0056] The pallet telescopic extension mechanism 7 also includes a transverse guide bar 73. Two transverse guide bars 73 are fixedly connected to the bottom of each pallet side groove 71. A transverse guide groove slidably connected to the transverse guide bar 73 is provided at the bottom of the extension slide 74. The transverse guide bar 73 cooperates with the transverse guide groove to allow the extension slide 74 to slide stably horizontally in the pallet side groove 71.

[0057] When the extended electric telescopic rod 72 is shortened to its shortest state, the extended slide 74 is completely retracted into the side groove 71 of the pallet, and the extended electric telescopic rod 72 is also completely located in the blind hole 75 of the slide. When the extended electric telescopic rod 72 is extended, the extended slide 74 is pushed to extend from the side groove 71 of the pallet. The extended slide 74 cooperates with the flipping unloading pallet 510 to expand the supporting area for the goods, which is conducive to the handling and transfer of more goods at one time. When transferring the shelf, the contact area with the bottom of the shelf is increased, and the bottom of the shelf can be supported more stably.

[0058] The flip side block mechanism 8 also includes a flip side block mechanism 8, which includes an end slot 81, a side block rotating shaft 82, a flip side block 83, a flip motor 84 and a flip locking assembly. Each extension slide 74 is provided with an end slot 81 at one end outside the support plate side slot 71. A longitudinal side block rotating shaft 82 is rotatably connected in each end slot 81. Each side block rotating shaft 82 is fixedly connected to one end of the flip side block 83. The front end of each side block rotating shaft 82 is fixedly connected to the output shaft of the flip motor 84. Each flip motor 84 is fixed to the outside of the end of the extension slide 74. The rear end of each side block rotating shaft 82 is connected to a flip locking assembly.

[0059] The flipping motor 84 can drive the side baffle shaft 82 to rotate in the end groove 81, thereby driving the flip side baffle 83 to flip. When the flip side baffle 83 is needed to close the upper end of the extended slide 74, the flip side baffle 83 is set upward. At this time, the flip side baffle 83 acts as a baffle to close the end of the extended slide 74. When the unloading pallet 510 needs to be flipped to support the shelf, the flip side baffle 83 is set downward. The flip side baffle 83 allows the left and right sides of the top of the flip unloading pallet 510 to remain flat, making it convenient for the flip unloading pallet 510 to stably lift the shelf upward from the bottom of the shelf.

[0060] The flip locking assembly includes a conical friction block 85, a friction sleeve 86, a locking control rod 87, a locking electric telescopic rod 88 and a longitudinal sliding column 89. The rear end of each side baffle shaft 82 is fixedly connected with a conical friction block 85, and the rear side of each conical friction block 85 is provided with a friction sleeve 86. The front side of the friction sleeve 86 is provided with a conical matching groove. The side of each friction sleeve 86 is fixedly connected with a locking control rod 87, and the front side of each locking control rod 87 is fixedly connected to the rear side of the extended slide 74 through the longitudinal locking electric telescopic rod 88, and the longitudinal sliding hole on each locking control rod 87 is slidably connected with a longitudinal sliding column 89, and the front end of each longitudinal sliding column 89 is fixedly connected to the rear side of the extended slide 74. After the flip unloading pallet 510 is flipped to the required angle, the locking electric telescopic rod 88 is shortened, driving the locking control rod 87 to move forward along the longitudinal sliding column 89, and the inner wall of the matching groove of the friction sleeve 86 gradually approaches the conical friction block 85. The outer side of the conical friction block 85 is provided with friction patterns. The friction force between the conical friction block 85 and the friction sleeve 86 completes the locking of the side baffle shaft 82, thereby fixing the angle of the flip unloading pallet 510.

[0061] For example 3, please refer to Figures 1 to 12 This embodiment provides a technical solution: a transfer and handling robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0062] It also includes a cargo scooping mechanism 9, which includes a shoveling plate groove 91, a linear motor guide rail 92, a shoveling plate 93, a linear motor 94 and an inclined blade 95. Each flip side baffle 83 is provided with a shoveling plate groove 91 at one end away from the side baffle rotating shaft 82, and each shovel plate groove 91 is fixedly connected with a linear motor guide rail 92 on the front and rear sides, and each shovel plate groove 91 is provided with a shovel plate 93. Each shovel plate groove 91 is provided with a linear motor 94 on the front and rear sides of one end of each shovel plate 93 close to the side baffle rotating shaft 82, and the linear motor 94 is cooperatively connected to the corresponding linear motor guide rail 92, and the shovel plate 93 is provided with an inclined blade 95 on one end away from the side baffle rotating shaft 82.

[0063] When the transfer and handling robot needs to scoop up and pick up the goods on the ground from the right side, the flip control component drives the left end of the flip unloading pallet 510 to flip upward to a vertical state. At this time, the flip side baffle 83 at the bottom of the flip unloading pallet 510 is controlled to be in a horizontal state, and the extended electric telescopic rod 72 at the bottom of the flip unloading pallet 510 extends, driving the extended slide plate 74 at the bottom of the flip unloading pallet 510 to move downward until the bottom of the flip side baffle 83 is close to the ground, and then the two linear motors 94 work and move along the two linear motor guide rails 92, driving the shovel plate 93 to extend from the shovel plate slot 91, and the shovel plate 93 can better scoop up the goods on the ground on the right side of the transfer and handling robot through the inclined blade 95, and then expand The electric telescopic rod 72 is shortened, and the extended slide plate 74 at the bottom of the flip unloading pallet 510 is retracted into the pallet side groove 71, driving the shovel plate 93 and the goods on the upper side to rise. At the same time, the flip control component drives the flip unloading pallet 510 to reset to a horizontal state, and the goods will fall to the upper side of the flip unloading pallet 510, completing the scooping and picking up of the goods. When it is necessary to transfer the handling robot to scoop and pick up the goods on the ground from the right side, the same workflow is used, except that the flipping direction of the flip unloading pallet 510 is different. During the process of shoveling the goods, if the shovel plate 93 is not easy to shovel the goods from the bottom of the goods, the angle of the flip side baffle 83 can be controlled to make the shovel plate 93 with the bevel blade 95 end tilted downward at a certain angle, thereby making it easier to scoop up the goods.

[0064] Example 4, please refer to Figures 1 to 12 This embodiment provides a technical solution: a transfer and handling robot. The structure of this embodiment is roughly the same as that of the third embodiment, except that:

[0065] The lifting side baffle 61 further includes a baffle 10 and a baffle slot 11 . The left and right ends of the lifting side baffle 61 are respectively provided with two baffle slots 11 . The front and rear ends of the flip side baffle 83 are respectively fixedly connected with baffles 10 corresponding to the baffle slots 11 .

[0066] When shoveling up the goods, the baffle 10 can prevent the goods from falling from the front and rear ends of the flip side baffles 83. After the extended slide 74 is retracted into the side groove 71 of the pallet, the baffle 10 is inserted into the baffle slot 11. At this time, the two flip side baffles 83 and the two lifting side baffles 61 form a stable rectangular fence, which encloses the top edge of the flip unloading pallet 510 to prevent scattered goods from falling from the top edge of the flip unloading pallet 510.

[0067] For example 5, please refer to Figures 1 to 12 This embodiment provides a technical solution: a transfer and handling robot. The structure of this embodiment is roughly the same as that of the fourth embodiment, except that:

[0068] It also includes an in-situ direction adjustment mechanism 2, which is installed at the bottom of the robot seat plate 1. The tops of the four leg columns 31 are rotatably connected to the four corners of the bottom of the robot seat plate 1, and the in-situ direction adjustment mechanism 2 is connected to the four leg columns 31 respectively.

[0069] The in-situ adjustment mechanism 2 includes a fixed ring 21, an outer gear ring 22, a spoke 23, an adjustment motor 24, and an adjustment gear 25. The column section of each leg column 31 located at the lower side of the robot seat plate 1 is fixedly sleeved with an adjustment gear 25. The adjustment motor 24 is fixedly installed in the middle of the lower side of the robot seat plate 1. The output shaft of the adjustment motor 24 is fixedly connected to the outer gear ring 22 through a plurality of spokes 23. The top inner side of the outer gear ring 22 is rotatably connected to the fixed ring 21. The fixed ring 21 is fixedly connected to the lower side of the robot seat plate 1. The setting of the fixed ring 21 makes the outer gear ring 22 more stable when rotating. The outer side of the outer gear ring 22 is respectively meshed with four adjustment gears 25. The adjustment motor 24 drives the outer gear ring 22 to rotate through the spoke 23. The outer gear ring 22 drives the four leg columns 31 to rotate synchronously and in the same direction relative to the robot seat plate 1 through the transmission of the adjustment gear 25.

[0070] The robot seat plate 1, the lifting plate 46 and the flip unloading pallet 510 constitute the body of the transfer and handling robot. The in-situ direction adjustment mechanism 2 can drive the four leg columns 31 to rotate synchronously in the same direction relative to the robot seat plate 1, so that the hub motor 33 and the walking wheel 34 can move obliquely while the body direction of the transfer and handling robot remains unchanged when working;

[0071] When the in-situ direction adjustment mechanism 2 adjusts the hub motor 33 and the running wheel 34 to the left and right directions, the hub motor 33 rotates forward and backward to allow the transfer and handling robot to move left and right. When the in-situ direction adjustment mechanism 2 adjusts the hub motor 33 and the running wheel 34 to the front and back directions, the hub motor 33 rotates forward and backward to allow the transfer and handling robot to move forward and backward.

[0072] When the in-situ direction adjustment mechanism 2 adjusts the hub motor 33 and the running wheel 34 toward the left front, the transfer and handling robot moves to the left front or right rear when the hub motor 33 rotates forward and backward, and the body orientation of the transfer and handling robot remains unchanged during this process. When the in-situ direction adjustment mechanism 2 adjusts the hub motor 33 and the running wheel 34 toward the right front, the transfer and handling robot moves to the right front or left rear when the hub motor 33 rotates forward and backward, and the body orientation of the transfer and handling robot remains unchanged during this process, so the orientation of the goods on the transfer and handling robot remains unchanged. The transfer and handling robot has a high degree of freedom of movement, which is conducive to better planning the moving path of the transfer and handling robot, and can also control the orientation of the goods, and can meet specific requirements for the orientation when transferring goods.

[0073] It is worth noting that in order to enable the transfer and handling robot to operate independently, a battery and a PLC controller are also provided on the robot seat plate 1, and the adjustment motor 24, the hub motor 33, the lifting motor 43, the flip control electric telescopic rod 58, the control motor 67, the locking electric telescopic rod 611, the extension electric telescopic rod 72, the flip motor 84, the locking electric telescopic rod 88, and the linear motor 94 are all controlled by the PLC controller. The control method adopts the existing technology, and the adjustment motor 24, the lifting motor 43, the control motor 67 and the flip motor 84 all use servo motors, and the battery supplies power to the above-mentioned electrical components through the PLC controller.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transfer and handling robot, comprising a robot base plate (1), wherein the four corners of the bottom of the robot base plate (1) are respectively provided with walking mechanisms (3), characterized in that: Also includes: A lifting mechanism (4) comprises a lifting control component and a lifting plate (46), wherein the top of the robot seat plate (1) is provided with a lifting plate (46) via the lifting control component; The bidirectional flip unloading mechanism (5) comprises a flip unloading pallet (510), four support plates (51) are respectively arranged at the top four corners of the lifting plate (46), a longitudinal limiting groove (52) is respectively opened at the top center of each support plate (51), the bottom of the limiting groove (52) is semicircular, and a limiting protrusion (53) is respectively integrally formed and connected on one side of the top of each support plate (51) away from the center of the lifting plate (46), the flip unloading pallet (510) is located directly above the lifting plate (46), and two longitudinal longitudinal protrusions (53) are respectively arranged below the left and right ends of the flip unloading pallet (510). The turning shaft (512) is fixedly connected to the bottom of the turning unloading pallet (510) at both ends of each longitudinal turning shaft (512) through two supporting rods (511), and the two ends of each longitudinal turning shaft (512) are respectively placed in the corresponding two limiting grooves (52), and the two supporting rods (511) on each longitudinal turning shaft (512) are respectively located on the inner sides of the two supporting plates (51), and the two ends of each longitudinal turning shaft (512) pass through the two limiting grooves (52) and are fixedly connected to two turning gears (513), and two turning control components are respectively installed on the front and rear sides of the upper surface of the lifting plate (46).

2. The transfer and handling robot according to claim 1, characterized in that: The flip control assembly comprises a sliding sleeve bracket (54), a sliding sleeve (55), a transverse sliding rod (56), a transverse rack (57), a flip control electric telescopic rod (58) and a connecting frame (59). The front and rear sides of the upper surface of the lifting plate (46) are respectively fixedly connected to two sliding sleeve brackets (54). The top of each sliding sleeve bracket (54) is respectively fixedly connected to a sliding sleeve (55). The middle part of the transverse sliding rod (56) is respectively slidably connected in each sliding sleeve (55). The left and right ends of each transverse sliding rod (56) are respectively fixedly connected to two transverse racks (57). The bottom of the transverse rack (57) corresponds to the top of the flip gear (513). The left side of each sliding sleeve bracket (54) is respectively fixedly connected to the fixed end of the horizontal flip control electric telescopic rod (58). The telescopic end of each flip control electric telescopic rod (58) passes through the corresponding sliding sleeve bracket (54) and is fixedly connected to the bottom end of the connecting frame (59). The top of each connecting frame (59) is respectively fixedly connected to the corresponding transverse sliding rod (56).

3. The transfer and handling robot according to claim 1, characterized in that: The invention also comprises a lifting side baffle mechanism (6), wherein the lifting side baffle mechanism (6) comprises a lifting side baffle plate (61), a lifting power assembly and a lifting locking assembly, and the front and rear sides of the flip unloading pallet (510) are respectively provided with two vertical baffle slide grooves, and each baffle slide groove is respectively provided with a lifting side baffle plate (61) which is vertically slidably connected, and the front and rear sides of the flip unloading pallet (510) are respectively provided with two lifting power assemblies, and the two lifting power assemblies are respectively connected to the two lifting side baffle plates (61), and the front and rear sides of the flip unloading pallet (510) are respectively provided with two lifting locking assemblies, and the two lifting locking assemblies are respectively connected to the two lifting side baffle plates (61).

4. The transfer and handling robot according to claim 3, characterized in that: The invention also comprises a pallet telescopic extension mechanism (7), wherein the pallet telescopic extension mechanism (7) comprises a pallet side groove (71), an extension electric telescopic rod (72), an extension slide plate (74) and a slide plate blind hole (75). The left and right sides of the flip unloading pallet (510) are respectively provided with two pallet side grooves (71), each pallet side groove (71) is respectively provided with an extension slide plate (74) which is slidably connected transversely, and each extension slide plate (74) is respectively provided with a slide plate blind hole (75) at one end located inside the pallet side groove (71), and the inner end of each slide plate blind hole (75) is respectively fixedly connected to one end of the transverse extension electric telescopic rod (72), and the other end of each extension electric telescopic rod (72) is respectively fixedly connected to the inner end of the corresponding pallet side groove (71).

5. The transfer and handling robot according to claim 4, characterized in that: The invention also comprises a flip side baffle mechanism (8), wherein the flip side baffle mechanism (8) comprises an end slot (81), a side baffle rotating shaft (82), a flip side baffle (83), a flip motor (84) and a flip locking assembly. Each extension slide plate (74) is provided with an end slot (81) at one end outside the support plate side slot (71). A longitudinal side baffle rotating shaft (82) is rotatably connected in each end slot (81). Each side baffle rotating shaft (82) is fixedly connected to one end of the flip side baffle (83). The front end of each side baffle rotating shaft (82) is fixedly connected to the output shaft of the flip motor (84). Each flip motor (84) is fixedly connected to the outside of the end of the extension slide plate (74). The rear end of each side baffle rotating shaft (82) is connected to the flip locking assembly.

6. The transfer and handling robot according to claim 5, characterized in that: The flip locking assembly comprises a cone-shaped friction block (85), a friction sleeve (86), a locking control rod (87), a locking electric telescopic rod (88) and a longitudinal sliding column (89). The rear end of each side baffle rotating shaft (82) is respectively fixedly connected with a cone-shaped friction block (85). The rear side of each cone-shaped friction block (85) is respectively provided with a friction sleeve (86). The front side of the friction sleeve (86) is provided with a conical matching groove. The side of each friction sleeve (86) is respectively fixedly connected with a locking control rod (87). The front side of each locking control rod (87) is respectively fixedly connected to the rear side of the extended slide plate (74) through the longitudinal locking electric telescopic rod (88). The longitudinal sliding hole on each locking control rod (87) is respectively slidably connected with a longitudinal sliding column (89). The front end of each longitudinal sliding column (89) is respectively fixedly connected to the rear side of the extended slide plate (74).

7. The transfer and handling robot according to claim 5, characterized in that: The cargo scooping mechanism (9) is also included. The cargo scooping mechanism (9) includes a shoveling plate groove (91), a linear motor guide rail (92), a shoveling plate (93), a linear motor (94) and an oblique blade (95). Each flip-type side baffle (83) is provided with a shoveling plate groove (91) at one end away from the side baffle rotating shaft (82). The front and rear sides of each shoveling plate groove (91) are respectively fixedly connected with the linear motor guide rail (92). Each shoveling plate groove (91) is provided with a shoveling plate (93). The front and rear sides of one end of each shoveling plate (93) close to the side baffle rotating shaft (82) are respectively fixedly connected with the linear motor (94). The linear motor (94) is cooperatively connected with the corresponding linear motor guide rail (92). The end of the shoveling plate (93) away from the side baffle rotating shaft (82) is provided with an oblique blade (95).

8. The transfer and handling robot according to claim 5, characterized in that: It also includes a baffle (10) and a baffle slot (11), wherein the left and right ends of the lifting side baffle (61) are respectively provided with two baffle slots (11), and the front and rear ends of the flip side baffle (83) are respectively fixedly connected with baffles (10) corresponding to the baffle slots (11).

9. The transfer and handling robot according to claim 1, characterized in that: The walking mechanism (3) comprises a leg column (31), a wheel frame (32), a wheel hub motor (33) and a walking wheel (34); the four corners of the bottom of the robot seat plate (1) are respectively connected to four leg columns (31); the bottom end of each leg column (31) is respectively fixedly connected to a wheel frame (32); a wheel hub motor (33) is respectively installed in each wheel frame (32); and a walking wheel (34) is respectively installed on the outside of each wheel hub motor (33).

10. The transfer and handling robot according to claim 9, characterized in that: It also includes an in-situ direction adjustment mechanism (2), which is installed at the bottom of the robot seat plate (1), the tops of the four leg columns (31) are respectively rotatably connected to the four corners of the bottom of the robot seat plate (1), and the in-situ direction adjustment mechanism (2) is respectively connected to the four leg columns (31).

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