Trackless intelligent door type transfer robot and using method thereof

Abstract

The invention discloses a trackless intelligent door type transfer robot and a using method thereof, and belongs to the technical field of storage and transfer. The robot comprises a walking mechanism, a supporting frame, an electric control box, a lifting appliance assembly and a lifting motor, the walking mechanism comprises a bottom frame, the supporting frame is rotationally connected to the bottom frame, the bottom frame is provided with a first fixing mechanism used for fixing the supporting frame, and the lifting appliance assembly comprises a clamp. The clamp is slidably connected to the supporting frame through the connecting mechanism, the two electric control boxes are rotatably connected to the bottom frame through the second fixing mechanism, the supporting frame and the electric control boxes are rotatably connected with the bottom frame, folding can be achieved through self overturning, and therefore the height of the transfer robot is reduced, and the transfer robot is convenient to use. The trafficability is well enhanced, and the device can adapt to different environments.

Description

Technical Field

[0001] The invention relates to the technical field of warehousing and handling, and in particular to a trackless intelligent gantry handling robot and a use method thereof. Background Art

[0002] With the continuous development of military technology, large materials play a vital role in modern warfare. However, the transportation of large materials in the warehouse has always been a problem that needs to be solved urgently.

[0003] In the traditional material handling method in the warehouse, manual handling or simple mechanical handling tools such as forklifts are usually used; there are also rail cranes and trackless cranes, but these methods have many disadvantages. Manual handling is inefficient and there are safety risks, which can easily cause harm to the handling personnel. Although mechanical handling tools such as forklifts have improved the handling efficiency to a certain extent, their handling capacity is limited for large materials, and they may cause damage to the materials during operation. Rail cranes and trackless cranes are mainly used to load and unload a variety of military materials. Among them, rail cranes are divided into two types: various bridge cranes with tracks in the air, and gantry cranes or portal cranes with tracks on the ground. Among several types of them, under the same lifting weight, span and lifting height, gantry cranes have the highest cost-effectiveness, but their disadvantage is that they can only move in a straight line along the direction of the track on a fixed track, which has certain limitations. Trackless cranes can also be divided into two types: one is that the crane itself does not have a walking mechanism and cannot move, such as various sea cranes installed on ships; the other is movable lifting equipment such as truck cranes and crawler cranes. This type of movable crane is limited by the overturning moment, and its lifting capacity will decrease rapidly as the secondary distance increases. In addition, the truck crane must be equipped with a set of fixing devices when lifting, so it cannot move after lifting. Although the crawler crane can move after lifting the load, its structure is bulky, the moving speed is slow, and when it needs to turn, its turning radius is large, the economy is poor, and it is also greatly restricted in application.

[0004] In addition, large materials are usually heavy and large in size, which requires high stability and reliability of the handling equipment. Traditional handling methods are difficult to meet these requirements and are prone to accidents during the handling process, such as material dumping and collision, which pose a serious threat to personnel and equipment.

[0005] At the same time, as the demand for rapid response to materials in modern warfare continues to increase, traditional transportation methods are difficult to meet the requirements of rapid deployment of materials in wartime. This requires a more efficient, safe and reliable in-warehouse transportation system to meet military needs.

[0006] In China, lifting equipment is still in the development stage, and most of them are truck cranes. In the military, they are mainly used for equipment transfer and material transfer. With the rapid development of my country's science and technology level and the tense international situation, in order to facilitate rapid response mobility and realize rapid loading and unloading of materials, trackless intelligent retractable equipment, with its small size, small operating radius and strong adaptability, can provide strong support for logistics support and has broad market prospects.

[0007] The omnidirectional walking device developed can meet the multi-functional needs of indoor and outdoor use, greatly saving the transportation time and the required costs. Therefore, it is particularly important to develop a new trackless intelligent omnidirectional walking device. Summary of the invention

[0008] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and other drawings of the description.

[0009] The object of the present invention is to overcome the above-mentioned shortcomings and provide a trackless intelligent gantry transport robot and a method of using the same.

[0010] To achieve the above-mentioned purpose, the technical solution of the present invention is: a trackless intelligent gantry transport robot, including a walking mechanism, a support frame, an electric control box, a sling assembly and a lifting motor, the walking mechanism includes a base frame, the support frame is rotatably connected to the base frame, the base frame is provided with a fixing mechanism 1 for fixing the support frame, the sling assembly includes a clamp, the clamp is slidably connected to the support frame through a connecting mechanism, the two electric control boxes are rotatably connected to the base frame, and the electric control box is connected to the base frame through a fixing mechanism 2.

[0011] By adopting the above technical solution, the walking mechanism can be used to drive the support frame connected to the sling assembly to move, so that the lifting motor can be used to drive the sling assembly to lift the goods, and then the walking mechanism is used to drive the goods. The support frame and the electric control box are all rotatably connected to the base frame and can be folded by flipping themselves, thereby reducing the height of the handling robot, greatly enhancing its passing ability, and being able to adapt to different environments.

[0012] Preferably, the support frame includes a load-bearing beam, two sliding tubes and two connecting sleeves, the two sliding rods are fixedly connected to the two ends of the load-bearing beam, the two connecting sleeves are both rotatably connected to the base frame, and the two sliding tubes are slidably connected in the connecting sleeves. The present invention utilizes the sliding connection between the sliding tube and the connecting sleeve to further reduce the overall height of the support frame, thereby having a better folding effect and further enhancing the passability.

[0013] Preferably, a lifting cylinder is fixedly connected to one side of the connecting sleeve, and the output rod of the lifting cylinder is fixedly connected to one end of the load-bearing beam. The present invention utilizes the extension and retraction of the output rod of the lifting cylinder to provide the power required for the sliding of the slide tube. When the output rod of the lifting cylinder is fully extended, the load-bearing beam is at the highest point. The lifting cylinder shown in the figure is a hand-cranked lifting cylinder.

[0014] Preferably, the base frame is provided with a flip cylinder, one end of which is rotatably connected to the base frame, and the output rod of the flip cylinder is rotatably connected to the support frame. The present invention utilizes the extension and retraction of the output rod of the flip cylinder to provide the power required for the sliding of the slide tube. When the output rod of the flip cylinder is fully extended, the connecting sleeve rotates to the lowest point. When the output rod of the flip cylinder is fully retracted, the connecting sleeve is in a vertical state. The flip light shown in the figure is a hand-cranked flip cylinder.

[0015] Preferably, the fixing mechanism 1 is provided with two groups, and the two groups of the fixing mechanism 1 are respectively used to fix the two connecting sleeves, and each group of the fixing mechanism 1 includes two support rods, and the two support rods are obliquely arranged on both sides of the connecting sleeve, and the two ends of each support rod are detachably connected to the connecting sleeve and the base frame. The present invention can further support the connecting sleeve by obliquely supporting the two support rods on both sides of the connecting sleeve, and connecting the two ends of the two support rods to the connecting sleeve and the base frame respectively, so as to make it more stable, and at the same time, it can also limit its rotation to achieve fixation.

[0016] Preferably, the second fixing mechanism includes a plurality of connecting ears, one side of the electric control box is attached to the base frame, and the plurality of connecting ears are fixedly connected to the side of the electric control box that is attached to the base frame, and the electric control box is bolted to the base frame through the connecting ears. When the electric control box of the present invention is in a folded state, it is located between the left frame and the right frame, and in this state, it can provide space for the folding of the support frame. It can be turned over to an upright state by manpower and supported by the base frame, and then the electric control box can be bolted to the base frame through the connecting ears, so that it can be unfolded.

[0017] Preferably, the connection mechanism includes a plurality of sliding sleeves, and the plurality of sliding sleeves are nested in sequence, the outermost sliding sleeve is fixedly connected to the support frame, and the innermost sliding sleeve is fixedly connected to the clamp. The present invention utilizes the mutual nesting and mutual sliding of the sliding sleeves to provide guidance for the sliding of the clamp, so that the goods will not shake during the transportation process. A hanging ring is provided on the clamp, and the lifting motor is connected to the hanging ring on the clamp through a rope and a hook, so that the clamp can be pulled upward to achieve lifting. When the clamp moves downward, the sliding sleeves will be unfolded in sequence by sliding against each other, and when the clamp moves upward, the sliding sleeves will be nested and retracted in sequence.

[0018] Preferably, the walking mechanism further includes four steering wheels, the chassis includes a left frame and a right frame, and the four steering wheels are respectively arranged at both ends of the left frame and the right frame. The present invention uses four steering wheels to support the chassis, two of which drive the steering wheels, and use the power provided by them to drive the support frame to walk.

[0019] Preferably, both the connecting sleeve and the sliding tube are provided with an insertion hole, and a latch is provided through the insertion hole.

[0020] A method for using a trackless intelligent gantry transport robot comprises the following steps:

[0021] The turning cylinder is driven to retract the output rod of the turning cylinder, thereby driving the support frame in the folded state to rotate to a state perpendicular to the base frame;

[0022] Fix the support frame, support the support rod obliquely on both sides of the support frame, and connect the two ends of the support rod to the connecting sleeve and the base frame respectively;

[0023] The lifting cylinder is driven to extend the output rod of the lifting cylinder, thereby driving the load-bearing beam in the folded state to rise to the highest position;

[0024] Fix the slide pipe and insert the pin through the connecting sleeve and the socket on the slide pipe;

[0025] Unfold the electric control box, and flip the electric control box folded between the left frame and the right frame, so that it leaves between the left frame and the right frame and becomes upright, and one side of the electric control box is attached to the bottom frame to form a support for the electric control box;

[0026] Fix the electric control box and use the connecting ears on the electric control box to fix the electric control box to the base frame with bolts.

[0027] In summary, the beneficial effects of the present invention are:

[0028] 1. By utilizing the cooperation between the walking mechanism and the door-type support frame, the low efficiency of traditional manual handling can be overcome, and the time and labor costs required for handling large materials can be reduced.

[0029] 2. The support frame, the electric control box and the base frame are all rotatably connected and can be folded by flipping themselves, thereby reducing the height of the handling robot, greatly enhancing its passing ability and being able to adapt to different environments.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0031] Undoubtedly, these and other objects of the present invention will become more apparent after the following detailed description of the preferred embodiment described with reference to various figures and drawings.

[0032] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, one or several preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation of the present invention.

[0034] In the drawings, the same reference numerals are used for the same components and the drawings are schematic and not necessarily drawn to scale.

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one or several embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on such drawings without paying creative work.

[0036] Figure 1 It is a schematic diagram of the overall structure.

[0037] Explanation of main reference numerals: 1. Support frame; 2. Electric control box; 3. Hoisting motor; 4. Base frame; 5. Clamp; 6. Support rod; 7. Load-bearing beam; 8. Sliding pipe; 9. Connecting sleeve; 10. Lifting cylinder; 11. Flipping cylinder; 12. Connecting ear; 13. Sliding sleeve; 14. Steering wheel; 15. Left frame; 16. Right frame; 17. Latch; 18. Hanging ring; 19. Hook. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but are not used to limit the present invention.

[0039] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through a transition structure, but are connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0042] like Figure 1 As shown, a trackless intelligent gantry transport robot includes a walking mechanism, a support frame 1, an electric control box 2, a sling assembly and a lifting motor 3. The walking mechanism includes a base frame 4. The support frame 1 is rotatably connected to the base frame 4. The base frame 4 is provided with a fixing mechanism 1 for fixing the support frame 1. The sling assembly includes a clamp 5. The clamp 5 is slidably connected to the support frame 1 through a connecting mechanism. Two electric control boxes 2 are rotatably connected to the base frame 4, and the electric control box 2 is connected to the base frame 4 through a fixing mechanism 2.

[0043] By adopting the above technical solution, the walking mechanism can be used to drive the support frame 1 connected to the sling assembly to walk, so that the lifting motor 3 can be used to drive the sling assembly to lift the goods, and then the walking mechanism is used to drive the goods. The support frame 1 and the electric control box 2 are all rotatably connected with the base frame 4, and can be folded by flipping themselves, thereby reducing the height of the transport robot, greatly enhancing its passing ability, and being able to adapt to different environments.

[0044] The support frame 1 includes a load-bearing beam 7, two sliding tubes 8 and two connecting sleeves 9. The two sliding rods are fixedly connected to the two ends of the load-bearing beam 7. The two connecting sleeves 9 are both rotatably connected to the base frame 4. The two sliding tubes 8 are slidably connected in the connecting sleeves 9. By utilizing the sliding connection between the sliding tubes 8 and the connecting sleeves 9, the overall height of the support frame 1 can be further reduced, thereby having a better folding effect and further enhancing the passability.

[0045] A lifting cylinder 10 is fixedly connected to one side of the connecting sleeve 9, and an output rod of the lifting cylinder 10 is fixedly connected to one end of the load-bearing beam 7. The extension and contraction of the output rod of the lifting cylinder 10 is used to provide the power required for the sliding of the slide tube 8. When the output rod of the lifting cylinder 10 is fully extended, the load-bearing beam 7 is at the highest point. The lifting cylinder 10 shown in the figure is a hand-cranked lifting cylinder 10.

[0046] The bottom frame 4 is provided with a tilting cylinder 11, one end of which is rotatably connected to the bottom frame 4, and the output rod of the tilting cylinder 11 is rotatably connected to the support frame 1. The extension and contraction of the output rod of the tilting cylinder 11 is used to provide the power required for the sliding of the slide tube 8. When the output rod of the tilting cylinder 11 is fully extended, the connecting sleeve 9 rotates to the lowest point. When the output rod of the tilting cylinder 11 is fully retracted, the connecting sleeve 9 is in a vertical state. The tilting light shown in the figure is a hand-cranked tilting cylinder 11.

[0047] There are two sets of fixing mechanisms 1, and the two sets of fixing mechanisms 1 are used to fix two connecting sleeves 9 respectively. Each set of fixing mechanisms 1 includes two support rods 6, and the two support rods 6 are obliquely arranged on both sides of the connecting sleeve 9. The two ends of each support rod 6 are detachably connected to the connecting sleeve 9 and the bottom frame 4. By obliquely supporting the two support rods 6 on both sides of the connecting sleeve 9 and connecting the two ends of the two support rods 6 to the connecting sleeve 9 and the bottom frame 4 respectively, further support can be formed for the connecting sleeve 9, making it more stable, and at the same time, its rotation can be restricted to achieve fixation.

[0048] The second fixing mechanism includes a plurality of connecting ears 12. One side of the electric control box 2 is attached to the bottom frame 4. The plurality of connecting ears 12 are fixedly connected to the side of the electric control box 2 that is attached to the bottom frame 4. The electric control box 2 is bolted to the bottom frame 4 through the connecting ears 12. When the electric control box 2 is in the folded state, it is located between the left frame 15 and the right frame 16. In this state, it can provide space for the folding of the support frame 1. It can be turned over to an upright state by manpower and supported by the bottom frame 4. Then, the electric control box 2 is bolted to the bottom frame 4 through the connecting ears 12, and it can be unfolded.

[0049] The connection mechanism includes a plurality of sliding sleeves 13, which are nested in sequence, the outermost sliding sleeves 13 are fixedly connected to the support frame 1, and the innermost sliding sleeves 13 are fixedly connected to the clamp 5. The sliding of the sliding sleeves 13 can provide guidance for the sliding of the clamp 5 by nesting and sliding with each other, so that the goods will not shake during the handling process. The clamp 5 is provided with a hanging ring 18, and the lifting motor 3 is connected to the hanging ring 18 on the clamp 5 through a rope and a hook 19, so that the clamp 5 can be pulled upward to achieve lifting. When the clamp 5 moves downward, the sliding sleeves 13 will be unfolded in sequence by sliding with each other, and when the clamp 5 moves upward, the sliding sleeves 13 will be nested and retracted in sequence.

[0050] The walking mechanism also includes four steering wheels 14. The base frame 4 includes a left frame 15 and a right frame 16. The four steering wheels 14 are respectively arranged at both ends of the left frame 15 and the right frame 16. The base frame 4 is supported by the four steering wheels 14, and two of the steering wheels 14 drive the steering wheels, and use the power provided by them to drive the support frame 1 to walk.

[0051] Both the connecting sleeve 9 and the sliding pipe 8 are provided with insertion holes, and a latch 17 is provided through the insertion holes. .

[0052] A method for using a trackless intelligent gantry transport robot comprises the following steps:

[0053] The turning cylinder 11 is driven to retract the output rod of the turning cylinder 11, thereby driving the support frame 1 in the folded state to rotate to a state perpendicular to the base frame 4;

[0054] Fix the support frame 1, support the support rod 6 obliquely on both sides of the support frame 1, and connect the two ends of the support rod 6 to the connecting sleeve 9 and the base frame 4 respectively;

[0055] The lifting cylinder 10 is driven so that the output rod of the lifting cylinder 10 extends, driving the load-bearing beam 7 in the folded state to rise to the highest position;

[0056] Fix the slide tube 8, and insert the latch 17 through the connecting sleeve 9 and the insertion hole on the slide tube 8;

[0057] Unfold the electric control box 2, and flip the electric control box 2 folded between the left frame 15 and the right frame 16, so that it leaves between the left frame 15 and the right frame 16 and becomes upright, and one side of the electric control box 2 is attached to the bottom frame 4 to form a support for the electric control box 2;

[0058] Fix the electric control box 2 by using the connecting ears 12 on the electric control box 2 to fix the electric control box 2 on the base frame 4 with bolts.

[0059] It should be noted that many specific details are set forth in the above description to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

Claims

1. A trackless intelligent gantry transport robot, comprising a walking mechanism, a support frame (1), an electric control box (2), a lifting device assembly and a lifting motor (3), characterized in that: The walking mechanism comprises a base frame (4), the support frame (1) is rotatably connected to the base frame (4), the base frame (4) is provided with a fixing mechanism 1 for fixing the support frame (1), the sling assembly comprises a clamp (5), the clamp (5) is slidably connected to the support frame (1) through a connecting mechanism, the two electric control boxes (2) are rotatably connected to the base frame (4), and the electric control boxes (2) are connected to the base frame (4) through a fixing mechanism 2.

2. The trackless intelligent gantry transport robot according to claim 1, characterized in that: The support frame (1) comprises a load-bearing beam (7), two sliding tubes (8) and two connecting sleeves (9), the two sliding rods are fixedly connected to the two ends of the load-bearing beam (7), the two connecting sleeves (9) are both rotatably connected to the base frame (4), and the two sliding tubes (8) are slidably connected in the connecting sleeves (9).

3. The trackless intelligent gantry transport robot according to claim 2, characterized in that: A lifting cylinder (10) is fixedly connected to one side of the connecting sleeve (9), and an output rod of the lifting cylinder (10) is fixedly connected to one end of the load-bearing beam (7).

4. The trackless intelligent gantry transport robot according to claim 2, characterized in that: The base frame (4) is provided with a tilting cylinder (11), one end of the tilting cylinder (11) is rotatably connected to the base frame (4), and an output rod of the tilting cylinder (11) is rotatably connected to the support frame (1).

5. The trackless intelligent gantry transport robot according to claim 1, characterized in that: The fixing mechanism (1) is provided with two groups, and the two groups of the fixing mechanism (1) are respectively used to fix the two connecting sleeves (9), and each group of the fixing mechanism (1) comprises two support rods (6), and the two support rods (6) are obliquely arranged on both sides of the connecting sleeve (9), and the two ends of each support rod (6) are respectively detachably connected to the connecting sleeve (9) and the base frame (4).

6. The trackless intelligent gantry transport robot according to claim 1, characterized in that: The second fixing mechanism comprises a plurality of connecting ears (12), one side of the electric control box (2) is attached to the base frame (4), and the plurality of connecting ears (12) are fixedly connected to the side of the electric control box (2) that is attached to the base frame (4), and the electric control box (2) is bolted to the base frame (4) via the connecting ears (12).

7. The trackless intelligent gantry transport robot according to claim 6, characterized in that: The connection mechanism comprises a plurality of sliding sleeves (13), wherein the plurality of sliding sleeves (13) are nested in sequence, the sliding sleeves (13) located on the outermost side are fixedly connected to the support frame (1), and the sliding sleeves (13) located on the innermost side are fixedly connected to the clamp (5).

8. The trackless intelligent gantry transport robot according to claim 7, characterized in that: The walking mechanism also includes four steering wheels (14), the base frame (4) includes a left frame (15) and a right frame (16), and the four steering wheels (14) are respectively arranged at the two ends of the left frame (15) and the right frame (16).

9. The trackless intelligent gantry transport robot according to claim 8, characterized in that: The connecting sleeve (9) and the sliding tube (8) are both provided with insertion holes, and a latch (17) is provided through the insertion holes.

10. A method for using the trackless intelligent gantry transport robot according to any one of claims 1 to 9, characterized in that: The steps include: The turning cylinder (11) is driven to retract the output rod of the turning cylinder (11), thereby driving the support frame (1) in the folded state to rotate to a state perpendicular to the base frame (4); The support frame (1) is fixed, the support rod (6) is tiltedly supported on both sides of the support frame (1), and the two ends of the support rod (6) are respectively connected to the connecting sleeve (9) and the bottom frame (4); Driving the lifting cylinder (10) so that the output rod of the lifting cylinder (10) extends, driving the load-bearing beam (7) in the folded state to rise to the highest position; Fix the slide tube (8), and insert the latch (17) through the connecting sleeve (9) and the insertion hole on the slide tube (8); The electric control box (2) is unfolded, and the electric control box (2) folded between the left frame (15) and the right frame (16) is turned over so that the electric control box (2) leaves between the left frame (15) and the right frame (16) and becomes an upright state, and one side of the electric control box (2) is attached to the bottom frame (4) to form a support for the electric control box (2); The electric control box (2) is fixed, and the connecting ears (12) on the electric control box (2) are used to fix the electric control box (2) on the base frame (4) by bolts.

Images