Intelligent transfer robot

Abstract

According to the intelligent carrying robot, a panel and peripheral vertical plates are spliced to form a vehicle body, a walking power system and a jacking power system are arranged in the internal space of the vehicle body, the walking power system bidirectionally extends out of shafts, and two walking gear boxes on the sub-road side and two connecting shafts connected with main road wheels are driven in a chain wheel and chain mode; a sub-channel driving wheel and a main channel driving wheel are respectively driven, so that the robot can move in four directions; an output shaft of the jacking gear box is connected with the vehicle bodies on the two sides through a cam mechanism, so that the operation of the jacking tables on the cam mechanism is more stable, the main road wheels are fixed on the jacking tables on the two sides, the heights of the wheels are uniform, and the jacking power system drives the jacking tables to be lifted or put down through the jacking gear box to achieve the goods taking and placing function; and the reversing function of the primary channel and the secondary channel is achieved. The robot has the advantages of being stable in operation, low in failure rate and simple and clear in structure, greatly saving internal space and being driven by only two sets of power systems.

Description

Technical Field

[0001] The present invention relates to the field of intelligent handling, and particularly to an intelligent handling robot. Background Art

[0002] Warehousing is one of the important links in the commodity circulation and also an important pillar of logistics activities. In recent years, with the continuous development of online shopping and online payment, the number of mobile e-merchants has increased sharply, and the warehousing industry in China has developed very rapidly.

[0003] In a large-scale warehousing environment, special transportation tools are usually set up to pick up and place goods. A common transportation tool is a mother-daughter vehicle. The mother vehicle can carry the daughter vehicle and drive on the main lane. When it reaches the entrance of the branch lane, the daughter vehicle leaves the mother vehicle, drives along the branch lane, and picks up and places goods. After the picking up and placing are completed, the daughter vehicle drives back to the mother vehicle along the branch lane, and the mother vehicle carries the daughter vehicle and continues to drive along the main lane to transport the goods to the designated position or drive the empty vehicle back to the original position. However, the mother-daughter vehicle has a short lifespan and has not been perfected in application, so it has been phased out by intelligent handling robots.

[0004] Due to the high cost of obtaining and using land, it is necessary to make reasonable use of the limited warehousing space in order to reduce warehousing costs. The existing transportation tools not only have a large volume and occupy too much warehousing space, but also are not flexible enough during transportation. When the mother vehicle occupies the main lane, other transport vehicles cannot carry out transportation work on the same main lane, seriously affecting the transportation efficiency. At present, all four-way vehicles adopt three sets of power systems, with a complex mechanical structure, large space occupation, high energy consumption, and difficult movement, consuming a large amount of human and material resources. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an intelligent handling robot with stable operation, low failure rate, simple and clear structure, greatly saving internal space, and only adopting two sets of power systems.

[0006] An intelligent handling robot provided by the present invention has the following technical solutions:

[0007] An intelligent handling robot, wherein the robot is assembled from a panel (1) and surrounding vertical panels to form a vehicle body, wherein mother track wheels (2) and child track wheels (3) are distributed and arranged on the side of the vehicle body, and a walking power system (4) and a lifting power system (5) are arranged in the interior space of the vehicle body, wherein the walking power system (4) has a two-way output shaft, which drives two walking gear boxes (6) on the child track side and two connecting shafts (7) connected to the mother track wheels (2) by means of a sprocket chain (11), and is used to drive the child track driving wheel (30) and the mother track driving wheel (20) respectively, so as to realize the robot's ability to move on all four sides. The driven wheels (31) of the sub-lane and the driven wheels (21) of the mother lane are not connected to the power source; the output shaft of the lifting gear box (8) is connected to the vehicle bodies on both sides by a cam mechanism (9), so that the operation of the lifting platform (13) on the cam mechanism (9) is more stable, and the mother lane wheels (2) are fixed on the lifting platforms (13) on both sides, so that the height of the wheels is uniform; the lifting power system (5) drives the cam mechanism (9) through the lifting gear box (8) to drive the lifting platform (13) to lift or lower to realize the function of picking up and releasing goods, as well as the reversing function exercised on the mother lane and the sub-lane.

[0008] Furthermore, eight mother track wheels (2) and eight child track wheels (3) are provided, four of which are in the child track direction and are connected to the child track travel gearbox (6) for transmission, and are child track driving wheels (30), and the remaining four are child track driven wheels (31); four of which are in the mother track direction and are connected to the two connecting shafts (7) of the mother track, and are mother track driving wheels (20), and the remaining four are mother track driven wheels (21).

[0009] Furthermore, the surfaces of the master wheel (2) and the slave wheel (3) are processed with anti-skid patterns.

[0010] Furthermore, the master wheel (2) and the slave wheel (3) are made of polyurethane material.

[0011] Furthermore, the sides of the mother track wheel (2) and the child track wheel (3) are provided with guide bosses to prevent the wheels from deviating from the track or derailing.

[0012] Furthermore, a lifting guide block mechanism is arranged around the lifting platform (13).

[0013] Furthermore, the output shafts of the traveling gear box (6) and the lifting gear box (8) are rigidly connected to the connecting shaft (7) by means of a coupling (10).

[0014] Furthermore, a drag chain mechanism (12) is provided in the middle of the sprocket chain (11) during its movement to prevent the chain from scratching the panel (1).

[0015] Furthermore, the gears of the traveling gear box (6) and the lifting gear box (8) adopt spur gear transmission.

[0016] Furthermore, the housings of the walking gearbox (6) and the lifting gearbox (8) are machined from LY12 hard aluminum alloy; low-temperature resistant lubricating oil is used inside the housings.

[0017] The implementation of the present invention includes the following technical effects:

[0018] The intelligent handling robot of the present invention runs more smoothly, with a reduced failure rate, runs more stably in complex environments, and improves the transmission efficiency of the equipment. The internal layout is more reasonable, creating more effective space for the equipment. Only two sets of power systems, one vertical linkage mechanism, and one main-secondary lane linkage mechanism are adopted. If any one of them has a problem, the operation will stop immediately to ensure the safety of the equipment. The use of a straight-tooth gear housing structure makes the internal structure of the trolley simple and clear, greatly saving internal space, occupying a small proportion of space, and saving energy consumption; the use of gear transmission solves problems such as large positioning errors of four-way vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structure schematic diagram of an intelligent handling robot according to an embodiment of the present invention.

[0020] Figure 2 It is an internal structure schematic diagram of an intelligent handling robot according to an embodiment of the present invention.

[0021] Figure 3 It is an internal structure schematic diagram of an intelligent handling robot according to an embodiment of the present invention.

[0022] In the figure: 1, panel; 2, main lane wheel; 20, main lane driving wheel; 21, main lane driven wheel; 3, sub-lane wheel; 30, sub-lane driving wheel; 31, sub-lane driven wheel; 4, walking power system; 5, lifting power system; 6, walking gearbox; 7, connecting shaft; 8, lifting gearbox; 9, cam mechanism; 10, coupling; 11, sprocket chain; 12, drag chain mechanism; 13, lifting platform. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be described in detail below in conjunction with the embodiments and the drawings. It should be noted that the described embodiments are only for facilitating the understanding of the present invention and do not limit it in any way.

[0024] See Figure 1 Only Figure 3As shown, an intelligent handling robot of this embodiment, the robot is assembled into a body by a panel 1 and surrounding vertical panels, the mother road wheel 2 and the child road wheel 3 are distributed on the side of the body, and a walking power system 4 and a jacking power system 5 are arranged in the interior space of the body. The walking power system 4 has a two-way output shaft, which drives the two walking gear boxes 6 on the child road side and two connecting shafts 7 connected to the mother road wheel 2 through a sprocket chain 11, which are respectively used to drive the child road driving wheel 30 and the mother road driving wheel 20, so that the robot can move in four directions, and the child road driven wheel 31 and the mother road driven wheel 21 are not connected to the power source; the output shaft of the jacking gear box 8 is connected to the body on both sides by a cam mechanism 9, so that the operation of the jacking platform 13 on the cam mechanism 9 is more stable, and the mother road wheels 2 are fixed on the jacking platforms 13 on both sides, so that the height of the wheels is unified, and the jacking power system 5 drives the cam mechanism 9 through the jacking gear box 8 to drive the jacking platform 13 to lift or lower to realize the function of picking up and releasing goods, as well as the reversing function exercised on the mother road and the child road. Specifically, eight mother track wheels 2 and eight sub-track wheels 3 are provided, four of which are in the sub-track direction and are connected to the sub-track walking gearbox 6 for transmission, and are sub-track driving wheels 30, and the remaining four are sub-track driven wheels 31; four of which are in the mother track direction and are connected to the two connecting shafts 7 of the mother track, and are mother track driving wheels 20, and the remaining four are mother track driven wheels 21. Increasing the number of driving wheels can enhance the stability and controllability of the equipment itself, making the robot more stable during track travel.

[0025] Furthermore, anti-slip patterns are processed on the surfaces of the mother track wheel 2 and the child track wheel 3 to prevent the wheels from slipping on the track. The mother track wheel 2 and the child track wheel 3 are processed with polyurethane materials, which have the characteristics of low temperature resistance, wear resistance, and long service life. Guide bosses are provided on the sides of the mother track wheel 2 and the child track wheel 3 to prevent the wheels from running off track or derailing. This kind of guiding method is not easy to wear the wheels. Lifting guide blocks are arranged around the lifting platform 13 to prevent the lifting platform 13 from displacing during operation. The output shafts of the traveling gearbox 6 and the lifting gearbox 8 and the connecting shaft 7 are rigidly connected by a coupling 10, which has high stability. A drag chain mechanism 12 is arranged in the middle of the sprocket chain 11 during walking to prevent the chain from rubbing against the panel 1. The gears of the traveling gearbox 6 and the lifting gearbox 8 adopt straight-tooth transmission. The power loss of straight-tooth transmission is small; the straight-tooth gear can provide a stable transmission ratio during transmission to ensure the accuracy of power transmission; and it has strong impact resistance. The boxes of the traveling gearbox 6 and the lifting gearbox 8 are processed with LY12 hard aluminum alloy materials. The boxes have the advantages of high strength, good mechanical properties, and high corrosion resistance; low-temperature-resistant lubricating oil is used inside the boxes, and its own transmission efficiency can still be guaranteed in a low-temperature environment. By adjusting the gear reduction ratio of the child track traveling gearbox 6 and the diameter of the child track wheel 3, the child track speed of the robot can be increased. The transmission efficiency of the gearbox structure can reach more than 95%, reducing the energy loss during power transmission; the meshing between the gears of the gearbox is more accurate and stable, reducing noise and vibration, and improving the stability of the equipment; the gearbox can withstand a large load and rotational speed; the gearbox structure is compact, convenient for installation and maintenance, and has a small volume, saving space, etc.

[0026] The intelligent handling robot of the present invention runs more smoothly, the failure rate is reduced, it runs more stably in a complex environment, and the transmission efficiency of the equipment is improved. The internal layout is more reasonable, creating more effective space for the equipment. Only two sets of power systems, one set of vertical linkage mechanisms, and one set of mother-child track linkage mechanisms are adopted. If any one of them has a problem, it will stop running immediately to ensure the safety of the equipment. The straight-tooth gearbox structure is adopted, making the internal structure of the trolley simple and clear, greatly saving internal space, occupying a small proportion of space, and saving energy; using gear transmission solves problems such as large positioning errors of four-way vehicles. The lifting function uses a gearbox structure, which can accurately position different vehicle body heights, making the turning and goods picking of the mother-child track more flexible. The mother track and child track power systems adopt a new power system, with a smaller motor power, which is beneficial for energy conservation, reducing power consumption and charging times. The conversion between the child track and the mother track adopts a gearbox structure, which has a simple structure, strong front-back synchronous following performance. The structure of the lifting mother track wheel is changed to a cam structure, and the up and down movement of the mother track power wheel set is driven by rotating the cam to realize the switching of the four-way vehicle on the mother-child track, improving the operation efficiency.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. An intelligent handling robot, the robot is assembled by a panel (1) and surrounding vertical plates to form a vehicle body, and the mother track wheels (2) and the child track wheels (3) are distributed on the side of the vehicle body, and it is characterized in that: A walking power system (4) and a lifting power system (5) are arranged in the interior space of the vehicle body. The walking power system (4) has a two-way output shaft, which drives two walking gear boxes (6) on the sub-track side and two connecting shafts (7) connected to the mother track wheels (2) through a sprocket chain (11), and is used to drive the sub-track driving wheel (30) and the mother track driving wheel (20) respectively, so that the robot can move in four directions. The sub-track driven wheel (31) and the mother track driven wheel (21) are not connected to the power source; the output shaft of the lifting gear box (8) is connected to the vehicle body on both sides by a cam mechanism (9), so that the operation of the lifting platform (13) on the cam mechanism (9) is more stable. The mother track wheels (2) are fixed on the lifting platforms (13) on both sides, so that the height of the wheels is uniform. The lifting power system (5) drives the cam mechanism (9) through the lifting gear box (8) to drive the lifting platform (13) to lift or lower to realize the function of picking up and releasing goods, as well as the reversing function exercised on the mother track and the sub-track.

2. The intelligent handling robot according to claim 1, wherein: Eight mother track wheels (2) and eight child track wheels (3) are provided, four of which are in the child track direction and are connected to the child track travel gear box (6) for transmission, and are the child track driving wheels (30), and the remaining four are the child track driven wheels (31); four of which are in the mother track direction and are connected to the two connecting shafts (7) of the mother track, and are the mother track driving wheels (20), and the remaining four are the mother track driven wheels (21).

3. An intelligent handling robot according to claim 1, characterized in that: The surfaces of the master wheel (2) and the slave wheel (3) are processed with anti-skid patterns.

4. An intelligent handling robot according to claim 1, characterized in that: The master wheel (2) and the slave wheel (3) are made of polyurethane material.

5. An intelligent handling robot according to claim 1, characterized in that: The sides of the mother track wheel (2) and the sub track wheel (3) are provided with guide bosses to prevent the wheels from running off the track or derailing.

6. The intelligent handling robot according to claim 1, wherein: A lifting and guiding block mechanism is arranged around the lifting platform (13).

7. An intelligent handling robot according to claim 1, characterized in that: The output shafts of the traveling gear box (6) and the lifting gear box (8) are hard-connected to the connecting shaft (7) by using a coupling (10).

8. An intelligent handling robot according to claim 1, characterized in that: A drag chain mechanism (12) is provided in the middle of the sprocket chain (11) during its movement to prevent the chain from scratching the panel (1).

9. The intelligent handling robot according to claim 1, wherein: The gears of the traveling gear box (6) and the lifting gear box (8) adopt spur gear transmission.

10. The intelligent handling robot according to claim 1, wherein: The casings of the traveling gear box (6) and the lifting gear box (8) are made of LY12 hard aluminum alloy; the interior of the casings is lubricated with low-temperature resistant lubricating oil.

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