Goods shelf device suitable for automatic loading and unloading of backpack type transport robot

Abstract

The invention relates to the technical field of building construction machines and tools, and particularly discloses a goods shelf device suitable for automatic loading and unloading of a backpack type transportation robot, which comprises a goods frame for bearing goods, a supporting assembly mounted at the bottom of the goods frame and hinged to the goods frame, and a driving device mounted on the goods frame and used for controlling the supporting assembly to stretch out and draw back. When matched with transfer equipment for use, the gravity center of carried goods can be effectively lowered, and shaking or sliding caused by the too high gravity center of the goods in the transfer process is avoided; damage caused by goods falling due to shaking or sliding is effectively avoided; and the transfer safety and stability are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery and tools, and more particularly to a shelf device suitable for automatic loading and unloading of a backpack transport robot. Background Art

[0002] Most of the existing technologies rely on simple lifting structures to lift or place shelves, usually using combinations of pallets and forklifts, wheeled support legs and fixed loading platforms, fixed support legs and lifting platforms, etc. During the transportation process, the transported construction materials and equipment are prone to shaking or slipping, and the stability and safety of the transportation process cannot be guaranteed. It is also very easy for construction materials and equipment to be damaged due to falling, and the efficiency of transporting construction materials and equipment in complex terrain with ups and downs is affected. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a shelf device suitable for automatic loading and unloading of a backpack transport robot;

[0004] The solution adopted by the present invention to solve the technical problem is:

[0005] A shelf device suitable for automatic loading and unloading of a backpack transport robot comprises a cargo frame for carrying goods, a support assembly installed at the bottom of the cargo frame and hinged to the cargo frame, and a drive device installed on the cargo frame and used to control the extension and retraction of the support assembly.

[0006] In some possible implementations, the support assembly includes two groups of support members that are symmetrically arranged and hinged to the bottom of the cargo frame; the two groups of support members are respectively connected to the driving device in a transmission manner.

[0007] In some possible embodiments, the support member includes two groups of support legs hinged to the bottom of the cargo frame, and an articulated arm disposed between the two groups of support legs and hinged to the two groups of support legs at both ends; one group of the support legs is transmission-connected to the drive device.

[0008] In some possible implementations, the support leg includes an articulated seat installed at the bottom of the cargo frame and a support leg connected to the articulated seat; and the end of the articulated arm is hinged to the support leg.

[0009] In some possible embodiments, the driving device includes two groups of pull ropes, one end of which is respectively connected to one group of legs in the two groups of support members and is located at the bottom of the cargo frame, a winch rotatably installed at the bottom of the cargo frame and located between the two groups of support members, a driving motor transmission-connected to the winch and used to control the rotation of the winch, and elastic connectors respectively connected to the legs and the cargo frame, the other ends of the two groups of pull ropes are connected to the winch; and the two groups of legs connected to the pull ropes are arranged on the same side.

[0010] In some possible implementations, one end of the pull rope is connected to a leg far away from the winch; one end of the elastic connector is connected to a leg close to the winch and the other end is connected to the cargo frame.

[0011] In some possible implementations, the hinge seat is arranged on a side of the leg close to the winch.

[0012] In some possible implementations, the cargo frame includes a bottom plate connected to the support member, a plurality of brackets on the bottom plate, and a fence installed between two adjacent brackets and cooperating with the bottom plate to form a cargo warehouse.

[0013] In some possible embodiments, the winch is rotatably mounted on a base plate, and a guide tube for fitting a pull rope is provided on the base plate, one end of the pull rope passes through the guide tube to be connected to the winch, and the other end passes through the guide tube to be connected to a leg away from the winch.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] When the present invention is used in conjunction with the transfer equipment, it can effectively lower the center of gravity of the carried goods, thereby avoiding shaking or slipping of the goods due to the excessively high center of gravity during the transfer process; thereby effectively avoiding damage caused by the goods falling due to shaking or slipping; and greatly improving the safety and stability of the transfer;

[0016] The present invention effectively realizes the synchronous driving of the two groups of supporting members by connecting the driving motor, the winch, the two groups of pull ropes and one group of supporting legs in the two groups of supporting members, thereby improving the supporting stability of the goods and being simple and convenient to operate.

[0017] The invention has simple structure and strong practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the support assembly, the driving device and the bottom plate in the present invention;

[0020] Figure 3 It is a schematic diagram of the connection relationship between the outrigger, the articulated arm, the pull rope, the winch, the drive motor and the base in the present invention;

[0021] Figure 4 It is a schematic diagram of the connection relationship between the winch and two sets of pull ropes in the present invention;

[0022] Figure 5 is a side view of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the support member of the present invention when it is contracted;

[0024] Among them: 1. cargo frame; 11. bottom plate; 12. bracket; 13. fence; 131. latch; 132. pin; 2. support assembly; 21. support leg; 211. hinge seat; 212. support leg; 2121. hinge seat 2121; 22. articulated arm; 3. drive device; 31. pull rope; 32. winch; 33. drive motor; 34. elastic connector. DETAILED DESCRIPTION

[0025] 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, it can be the internal connection of two elements or the interaction relationship between two elements. The "first", "second" and similar words mentioned in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "one" and other similar words do not indicate a quantity restriction, but indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" refers to two or more. For example, multiple positioning columns refer to two or more positioning columns. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The present invention is described in detail below.

[0027] like Figure 1-Figure 6 As shown:

[0028] A shelf device suitable for automatic loading and unloading of a backpack transport robot comprises a cargo frame 1 for carrying goods, a support assembly 2 mounted at the bottom of the cargo frame 1 and hinged to the cargo frame 1, and a drive device 3 mounted on the cargo frame 1 and used to control the extension and retraction of the support assembly 2.

[0029] When in use, the support assembly 2 supports the cargo frame 1 and loads the cargo into the cargo frame 1;

[0030] A transfer device is used to support the bottom of the cargo frame 1 to raise the entire shelf; the transfer device can be a forklift or a handling robot in the prior art;

[0031] The support assembly 2 is retracted by the driving device 3;

[0032] The transfer equipment controls the shelves to descend, reducing the distance between the shelves and the floor;

[0033] When it descends to the specified height, the rotating equipment will transport and transfer the shelf;

[0034] After being transferred to the designated location, the transfer equipment lifts the shelf; the driving device 3 controls the support assembly 2 to extend;

[0035] The transfer equipment controls the shelf to descend again, and the bottom of the support assembly 2 acts on the floor to support the shelf;

[0036] Complete the transfer and proceed with unloading.

[0037] In the present invention, the extension and retraction of the support assembly 2 is controlled by the driving device 3 to reduce the distance between the center of gravity of the shelf and the goods and the floor during the transportation process, thereby reducing the problem of shaking or sliding of the goods during the transportation process, and avoiding damage to the goods due to shaking or sliding of the goods during the transportation process.

[0038] In some possible implementations, in order to effectively support the cargo frame 1, the support assembly 2 includes two groups of support members symmetrically arranged along the X-axis direction and hinged to the bottom of the cargo frame 1; the two groups of support members are respectively connected to the driving device 3 in a transmission manner;

[0039] The support member includes two groups of support legs 21 hinged to the bottom of the cargo frame 1 and symmetrically arranged along the Y axis, and an articulated arm 22 arranged between the two groups of support legs 21 and articulated to the two groups of support legs 21 at both ends; one group of the support legs 21 is transmission connected to the driving device 3; a hinge seat 2121 is installed on the support leg 21, and the articulated arm 22 is hingedly matched with the hinge seat 2121.

[0040] The four sets of supporting legs 21 will effectively support the cargo frame 1;

[0041] Specifically, when the driving device 3 drives the support legs 21 in the support member to retract, since both ends of the articulated arms 22 are respectively hinged to the support legs 21, when one set of support legs 21 retracts, the articulated arms 22 will be driven, thereby driving the other set of support legs 21 to retract as well; the two sets of support legs 21 retract synchronously so that the retracted heights are consistent; otherwise, they can be extended;

[0042] A set of driving devices 3 drives the synchronous extension and retraction of the two sets of supporting members, thereby making the support for the shelf more stable and the operation simpler and more convenient;

[0043] In some possible embodiments, in order to effectively realize the articulation of the support leg 21 and the cargo frame 1 , the support leg 21 includes an articulated seat 211 installed at the bottom of the cargo frame 1 , and a support leg 212 connected to the articulated seat 211 ; the end of the articulated arm 22 is articulated to the support leg 212 .

[0044] When supporting the cargo frame 1, the legs 212 are arranged along the Z-axis direction, that is, the angle A formed with the plane where the bottom of the cargo frame 1 is located is 90°; during the transportation process, the angle A formed with the legs 212 and the plane where the bottom of the cargo frame 1 is located is an acute angle.

[0045] In some possible embodiments, the driving device 3 includes two groups of pull ropes 31, one end of which is respectively connected to one group of legs 212 in the two groups of support members and is located at the bottom of the cargo frame 1, a winch 32 rotatably installed at the bottom of the cargo frame 1 and located between the two groups of support members, a driving motor 33 that is transmission-connected to the winch 32 and is used to control the rotation of the winch 32, and an elastic connecting member 34 that is respectively connected to the legs 212 and the cargo frame 1, and the other ends of the two groups of pull ropes 31 are connected to the winch 32.

[0046] The axis of the winch 32 is arranged along the X-axis direction, and the distances between the two sets of support members and the axis of the winch 32 are equal; the winch 32 is driven to rotate around the X-axis direction by the driving motor 33, thereby driving the two sets of pull ropes 31 to retract or release the ropes from the winch 32;

[0047] Specifically, the two groups of pull ropes 31 are wound around the winch 32 in the same direction, one end of one group of pull ropes 31 passes through the bottom of the winch 32 and is connected to a group of legs 212 on one group of support members, and one end of the other group of pull ropes 31 passes through the top of the winch 32 and is connected to a group of legs 212 on another group of support members; the two groups of legs 212 connected to the pull ropes 31 are arranged on the same side.

[0048] In some possible implementations, one end of the pull rope 31 is connected to the leg 212 away from the winch 32; this arrangement enables the retracted position of the leg 212, the drive motor 33, and the winch 32 to be on the same side, thereby ensuring that the volume of the space occupied by the leg 212 does not increase after retracting.

[0049] One end of the elastic connector 34 is connected to the leg 212 close to the winch 32 and the other end is connected to the cargo frame 1 .

[0050] When the legs 212 are upright to support the cargo frame 1, the elastic connector 34 is tilted and the angle formed with the Z-axis direction is an acute angle. The elastic connector 34 is in the initial state at this time.

[0051] When the legs 212 are retracted, the elastic connector 34 will be in a stretched state; so that when the legs 212 are restored from the contracted state to the upright state, the elastic connector 34 will exert an elastic force on the legs 212 to restore them to the upright state, thereby effectively supporting the cargo frame 1;

[0052] Further, the elastic connecting member 34 is a spring;

[0053] In some possible implementations, in order to effectively achieve the retraction of each group of legs 212 toward the side close to the winch 32 , the hinge seat 211 is disposed on the side of each group of legs 212 close to the winch 32 .

[0054] In some possible embodiments, the cargo frame 1 includes a bottom plate 11 connected to a support member, a plurality of brackets 12 arranged on the bottom plate 11 along the Z-axis direction, and a fence 13 installed between two adjacent brackets 12 and cooperating with the bottom plate 11 to form a cargo warehouse.

[0055] Each set of fences 13 is detachably connected to two adjacent sets of brackets 12;

[0056] Furthermore, a latch 131 is provided on the top of the fence 13, and a socket for use with the latch 131 is provided on the bracket 12; a pin shaft 132 is provided on the side of the fence 13 close to the bracket 12, and a pin hole for use with the pin shaft 132 is provided on the bracket 12; when the fence 13 is in four groups, four groups of pin holes are provided, and the four groups of pin holes will be arranged at equal intervals in the Z-axis direction, and the distance between two adjacent groups of pin holes will be greater than the thickness of the fence 13; in this way, the four groups of fences 13 can be stacked on the bracket 12.

[0057] In some possible implementations, the winch 32 is rotatably mounted on the bottom plate 11, and a guide tube for fitting the pull rope 31 is provided on the bottom plate 11, one end of the pull rope 31 passes through the guide tube and is connected to the winch 32, and the other end passes through the guide tube and is connected to the leg 212 away from the winch 32; one end of the elastic connector 34 is connected to the bottom plate 11;

[0058] The provision of the guide tube will prevent the pull rope 31 from rubbing against the bottom plate 11, thereby preventing the pull rope 31 from being damaged due to long-term wear.

[0059] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A shelf device suitable for automatic loading and unloading of a backpack transport robot, characterized in that: The utility model comprises a cargo frame for carrying cargo, a supporting assembly installed at the bottom of the cargo frame and hinged to the cargo frame, and a driving device installed on the cargo frame and used for controlling the extension and retraction of the supporting assembly.

2. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 1, characterized in that: The support assembly comprises two groups of support members which are symmetrically arranged and hinged to the bottom of the cargo frame; the two groups of support members are respectively connected to the driving device in a transmission manner.

3. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 2, characterized in that: The support member comprises two groups of support legs hinged to the bottom of the cargo frame, and an articulated arm arranged between the two groups of support legs and with both ends respectively hinged to the two groups of support legs; one group of the support legs is in transmission connection with the driving device.

4. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 3, characterized in that: The support leg comprises an articulated seat installed at the bottom of the cargo frame and a support leg connected to the articulated seat; the end of the articulated arm is articulated to the support leg.

5. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 4, characterized in that: The driving device includes two groups of pull ropes, one end of which is respectively connected to one group of legs in the two groups of support members and is located at the bottom of the cargo frame, a winch rotatably installed at the bottom of the cargo frame and located between the two groups of support members, a driving motor transmission-connected to the winch and used to control the rotation of the winch, and elastic connectors respectively connected to the legs and the cargo frame, the other ends of the two groups of pull ropes are connected to the winch; the two groups of legs connected to the pull ropes are arranged on the same side.

6. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 5, characterized in that: One end of the pull rope is connected to the leg far away from the winch; one end of the elastic connector is connected to the leg close to the winch and the other end is connected to the cargo frame.

7. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 6, characterized in that: The hinged seat is arranged on a side of the supporting leg close to the winch.

8. The shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 5, characterized in that: The cargo frame comprises a bottom plate connected to the supporting member, a plurality of brackets on the bottom plate, and a fence installed between two adjacent brackets and cooperating with the bottom plate to form a cargo warehouse.

9. A shelf device suitable for automatic loading and unloading of a backpack transport robot according to claim 8, characterized in that: The winch is rotatably mounted on a base plate, on which a guide tube for fitting a pull rope is arranged, one end of the pull rope passes through the guide tube and is connected to the winch, while the other end passes through the guide tube and is connected to a leg away from the winch.

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