Jacking type logistics robot

Abstract

The invention relates to the field of logistics robots, in particular to a jacking type logistics robot, and provides a jacking type logistics robot aiming at the problems that in the prior art, the adjusting range is limited, and inertia cannot be effectively buffered in the moving process, the jacking type logistics robot comprises a back plate and supporting assemblies connected to the two sides of the back plate in a sliding mode. Walking assemblies are installed on the front sides and the rear sides of the bottoms of the supporting assemblies correspondingly, and the two supporting assemblies can synchronously move towards the two sides to adjust the distance under driving of the walking assemblies. A damper is hinged between the jacking plate and the jacking frame, so that a buffer damping effect can be generated, and the pallet is prevented from shaking due to inertia; and the clamping assemblies capable of overturning upwards by 180 degrees are arranged on the inner side of the jacking frame, when the jacking assemblies jack the pallets upwards, the clamping assemblies on the two sides can be driven to synchronously overturn upwards to effectively clamp and fix the pallets on the upper side, and the stability and firmness of the pallets in the moving process are further improved.

Description

Technical Field

[0001] This invention relates to the field of logistics robots, and in particular to a lifting-type logistics robot. Background Technology

[0002] In modern logistics warehousing and manufacturing, logistics robots have become core equipment for improving cargo handling efficiency and reducing labor costs. Among them, lifting logistics robots are widely used in automated warehouses and flexible production lines because they can directly lift shelves, bins, and other goods for handling. However, when existing lifting logistics robots move pallets, the inertia generated during the movement can cause the lifting components of the logistics robot to sway when the goods on the pallet are stacked to a certain height. This can lead to the pallet moving or the goods swaying, resulting in the risk of the goods tilting or even tipping over. Patent application number 2021100786211 discloses a linkage-type lifting mechanism. By setting at least three sets of lifting rods and ensuring that the reference axes of at least two sets of lifting rods are not parallel to each other, the lifting rods with non-parallel reference axes can prevent the lifting seat from tilting, thus ensuring that each lifting rod set moves synchronously, making the lifting seat stable in lifting and lowering without the need for an external guiding or supporting mechanism, and the operation will not cause the shelf to shake. Another example is patent application number 2022115557099, which discloses a logistics handling robot. By lifting the shelf, a powerful suction cup can firmly fix the bottom of the shelf to the top of a circular pallet, thereby achieving the function of quickly fixing the shelf to prevent the shelf from shaking and tipping over. However, the spacing of the lifting components in existing technologies is mostly fixed or has a limited range of adjustment, making it difficult to adapt to shelves and bins of different sizes. When faced with large, heavy-duty goods or small, light goods, unstable support and uneven lifting force are likely to occur, limiting the applicable scenarios of the robot. Furthermore, it cannot effectively buffer the inertia generated during lifting and movement, resulting in poor stability. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the present invention provides a lifting logistics robot, which effectively solves the problems mentioned in the background art.

[0004] The technical solution adopted by the present invention to solve the above problems is as follows: A lifting logistics robot includes a back plate and support components slidably connected to both sides of the back plate. Walking components are respectively installed on the front and rear sides of the bottom of the support components to drive the support components to move. Under the drive of the walking components, the two support components can move synchronously to both sides to adjust the distance. The support assembly includes a lifting frame capable of synchronous lifting and lowering, and a lifting plate slidably connected to the upper end of the lifting frame along the length of the lifting frame. A damper is hinged between the lifting plate and the lifting frame. It also includes a clamping assembly installed inside the lifting frame that can rotate upwards by 180 degrees, forming a structure in which the clamping assembly rotates upwards when the lifting frame moves upwards.

[0005] Furthermore, the support assembly also includes a mounting plate located on the lower side of the lifting frame. The lifting frame is vertically slidably connected to the mounting frame. Connection holes are respectively opened on the upper and lower sides of both ends of the back plate. Connecting rods are respectively fixedly connected to the upper and lower sides of the inner end of the mounting plate, and the connecting rods are slidably connected to the connection holes.

[0006] Furthermore, two cross rods are respectively provided on the left and right sides of the rear end of the back plate and are hinged in the middle and intersecting. The upper ends of the cross rods are respectively hinged to the corresponding back plate and mounting plate. Mounting rods are fixedly connected to the left and right sides of the rear end of the back plate and the rear end of the mounting plate. Connecting sliders are slidably connected to the surface of the mounting rods along the axial direction. The lower ends of the cross rods are respectively hinged to the corresponding connecting sliders. Supporting springs are respectively sleeved on the surface of the mounting rods on the upper side of the connecting sliders to apply resistance to the upward movement of the connecting sliders.

[0007] Furthermore, an inner box is fixedly connected to the outer end of the mounting plate, and a linkage pushing assembly is installed inside the inner box. The moving end of the linkage pushing assembly is hinged to the lifting frame. The power input end of the connecting rod push assembly includes a rotatable transmission shaft. A first mating bevel gear and a second mating bevel gear are coaxially fixedly connected to both ends of the transmission shaft. The second mating bevel gear serves as the power input end, providing power to the connecting rod push assembly. A splined cylinder is rotatably connected to the surface of the back plate. Splined shafts are splinedly connected to both ends of the splined cylinder. The splined shafts are rotatably connected to the mounting plate. A mating bevel gear is coaxially fixedly connected to the outer end of each splined shaft, and the mating bevel gear meshes with the corresponding first mating bevel gear. A first reversing bevel gear is coaxially fixedly connected to the surface of the splined cylinder. A second reversing bevel gear meshes with the lower side of the first reversing bevel gear. A control motor is fixedly connected to the rear end of the back plate. The power output end of the control motor is coaxially fixedly connected to the second reversing bevel gear.

[0008] Furthermore, the linkage push assembly includes four sets of hinges located inside the built-in box, with each pair of the four sets of hinges corresponding to each other. The hinge includes a first support rod and a second support rod with their inner ends hinged together. The lower end of the first support rod is hinged to the inner wall of the inner box, and the upper end of the second support rod is hinged to the lifting frame. A reversing gear is provided between the front and rear corresponding hinges. A central shaft is fixedly connected to the left and right corresponding reversing gears on the same axis. The central shaft is rotatably connected to the inner box. A transition piece is connected between the central shaft and the second mating bevel gear for transmission. Push racks are meshed on the upper and lower sides of the reversing gears. Push plates are fixedly connected to the outer ends of the push racks. The push plates are horizontally slidably connected to the inner wall of the inner box. Push rods are hinged to the surface of the second support rods. The other ends of the push rods are hinged to the corresponding push plates. When the reversing gears rotate forward and backward, they can drive the two push plates to move back and forth outward through meshing with the push racks. When the two push plates move back and forth, they can push the second support rod to swing back and forth in a vertical state through the push rods.

[0009] Furthermore, the transition piece includes a first pulley coaxially fixedly connected to the surface of the central shaft, an output bevel gear meshing with the front side of the second mating bevel gear, the output bevel gear being rotatably connected to the inner box, a second pulley coaxially fixedly connected to one end of the output bevel gear, and a synchronous belt sleeved on the surface of the first pulley and the second pulley.

[0010] Furthermore, connecting pipes are fixedly connected to the front and rear ends of the built-in box, and support plates are fixedly connected to the outer ends of the connecting pipes. The walking assembly includes protective plates that are hinged to the lower end of the inner box. A drive motor is fixedly connected to the lower end of each protective plate, and a Mecanum wheel is fixedly connected to the power output end of each drive motor. Multiple spring dampers are hinged to the upper end of each protective plate, and the other end of each spring damper is hinged to the lower end of a support plate.

[0011] Furthermore, the clamping assembly includes a tilting frame hinged to the inner side of the lifting frame. The outer end of the lifting frame corresponding to the tilting frame is provided with a rectangular notch. The tilting frame can tilt upward through the rectangular notch on the outer side of the lifting frame. The front and rear sides of the lower end of the tilting frame are slidably connected with movable rods that can move horizontally. The outer ends of the two front and rear corresponding movable rods are fixedly connected with a clamping plate. The inner ends of the two front and rear corresponding movable rods are fixedly connected with baffles. Clamping springs are respectively sleeved on the surfaces of the movable rods between the tilting frame and the clamping plate.

[0012] Furthermore, a flipping shaft is fixedly connected to the upper end of the flipping frame, the flipping shaft is rotatably connected to the inner wall of the lifting frame, and a matching gear is fixedly connected to both sides of the surface of the flipping frame, and a fixed rack is meshed on one side of the matching gear, and the fixed rack is fixedly connected to the inner box.

[0013] Furthermore, the outer ends of the clamping plates are respectively fixedly connected with clamping pads capable of deformation.

[0014] This invention features a novel structure, ingenious design, and simple and convenient operation, offering the following advantages compared to existing technologies: 1. When in use, this device can drive the support components on both sides to move outward synchronously through the walking component to adjust the spacing. It can be used for shelves of different sizes and shapes. In addition, the lifting plate is equipped with a damper so that when the device generates inertia during movement and the lifting plate slides along the length of the lifting frame, the damper can provide a buffering and damping effect to prevent the pallet from shaking due to inertia and causing the goods to tip over. 2. When this device lifts the pallet upwards using the lifting components, it can simultaneously rotate the clamping components on both sides upwards to effectively clamp and fix the pallet on the upper side, further improving the stability and firmness of the pallet during movement and preventing displacement and shifting of the pallet during movement, which would affect the stable transportation of goods. Attached Figure Description

[0015] Figure 1 This is a solid modeling diagram of a lifting logistics robot according to the present invention.

[0016] Figure 2 This is a schematic diagram of the overall structure of a lifting logistics robot according to the present invention.

[0017] Figure 3 This is a first schematic diagram of the installation structure of the lifting frame and lifting plate of a lifting logistics robot according to the present invention.

[0018] Figure 4 This is a second schematic diagram of the installation structure of the lifting frame and lifting plate of a lifting logistics robot according to the present invention.

[0019] Figure 5 This is a first schematic diagram of the installation structure of the back plate and mounting plate of a lifting logistics robot according to the present invention.

[0020] Figure 6 This is a second schematic diagram of the installation structure of the back plate and mounting plate of a lifting logistics robot according to the present invention.

[0021] Figure 7 This is a first schematic diagram of the crossbar mounting structure of a lifting logistics robot according to the present invention.

[0022] Figure 8 This is a second schematic diagram of the crossbar mounting structure of a lifting logistics robot according to the present invention.

[0023] Figure 9 This is a first schematic diagram of the walking component structure of a lifting logistics robot according to the present invention.

[0024] Figure 10 This is a second schematic diagram of the walking component structure of a lifting logistics robot according to the present invention.

[0025] Figure 11 This is a first schematic diagram of the linkage push assembly structure of a lifting logistics robot according to the present invention.

[0026] Figure 12 This is a second schematic diagram of the linkage push assembly structure of a lifting logistics robot according to the present invention.

[0027] Figure 13 This is a third schematic diagram of the linkage push assembly structure of a lifting logistics robot according to the present invention.

[0028] Figure 14 This is a first schematic diagram of the clamping component structure of a lifting logistics robot according to the present invention.

[0029] Figure 15 This is a second schematic diagram of the clamping component structure of a lifting logistics robot according to the present invention.

[0030] Numbering in the diagram: 1-Back plate, 2-Protective box, 3-Mounting plate, 4-Inner box, 5-Connecting hole, 6-Connecting rod, 7-Mecanum wheel, 8-Support plate, 9-Guard plate, 10-Drive motor, 11-Spring damper, 12-Groove, 13-Cross rod, 14-Support spring, 15-Connecting slider, 17-Mounting rod, 18-Connecting tube, 19-Lifting platform, 20-Lifting plate, 21-Damper, 22-First support rod, 23-Second support rod, 24-Push rod, 25-Push plate, 26-Push rack, 27-Reversing gear, 28-First pulley, 29-Spline cylinder 30-Splined shaft, 31-First reversing bevel gear, 32-Second reversing bevel gear, 33-Control motor, 34-Matching bevel gear, 35-Drive shaft, 36-First mating bevel gear, 37-Output bevel gear, 38-Second pulley, 39-Rectangular notch, 40-Fixed rack, 41-Tilting frame, 42-Clamping plate, 43-Modible rod, 44-Clamping spring, 45-Baffle, 46-Matching gear, 47-Tilting shaft, 48-Mounting slider, 49-Mounting groove, 50-Clamping pad, 51-Rim, 52-Roller, 53-Second mating bevel gear, 54-Central shaft. Detailed Implementation

[0031] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0032] like Figure 1-15As shown, the present invention provides a lifting logistics robot, including a back plate 1 and a support assembly slidably connected to both sides of the back plate 1. Walking components are respectively installed on the front and rear sides of the bottom of the support assembly to drive the support assembly to move. Under the drive of the walking components, the two support components can move synchronously to both sides to adjust the distance. The spacing adjustment of the support components is achieved through the cross rod 13 mechanism at the rear end of the back plate 1. The cross rod 13 adopts a scissor-symmetric structure with a central hinge. Its upper end forms two independent rotational hinge points with the back plate 1 and the mounting plate 3 respectively. Its lower end forms a sliding-hinged composite connection with the mounting rod 17 through the connecting slider 15, forming a four-bar linkage mechanism with a fixed hinge at the upper end and a sliding hinge at the lower end. When it is necessary to expand or shrink the spacing, the cross rod 13 expands or contracts around the central hinge point, causing the mounting plates 3 on both sides to slide synchronously along the connecting holes 5 of the back plate 1. When the connecting slider 15 moves axially along the mounting rod 17, the support spring 14 is compressed or stretched. Its elastic restoring force acts on the lower end of the cross rod 13 through the connecting slider 15, forming a damping force opposite to the spacing adjustment direction. This not only counteracts the inertial force of the support components' movement, but also locks the position of the connecting slider 15 through the spring preload after the spacing is fixed, preventing the spacing from shifting on its own. The connecting slider 15 moves along the lower end of the crossbar 13 on the mounting rod 17. The support spring 14 applies upward resistance to the connecting slider 15 through elastic deformation, ensuring a smooth spacing adjustment process and preventing loosening after the spacing is fixed. The power for spacing adjustment is provided by the walking assembly. The front and rear drive motors 10 of the left support assembly synchronously drive the corresponding Mecanum wheels 7 to rotate to the left, and the front and rear drive motors 10 of the right support assembly synchronously drive the corresponding Mecanum wheels 7 to rotate to the right. The start / stop signals and speed parameters of the motors on both sides are completely consistent. The friction between the wheel system and the ground forms a reverse driving force, driving the mounting plates 3 on both sides to move away from or towards each other synchronously along the guide direction of the connecting rod 6, thereby achieving precise spacing adjustment. The drive motor 10 of the left support assembly drives the Mecanum wheels 7 to rotate to the left, and the drive motor 10 of the right support assembly drives the Mecanum wheels 7 to rotate to the right. The motors on both sides start synchronously and rotate at the same speed, thereby expanding the spacing. When the spacing is reduced, the drive motors 10 on both sides rotate in opposite directions, maintaining synchronous start / stop and speed matching to ensure precise adjustment. The support assembly includes a lifting frame 19 capable of synchronous lifting and lowering, and a lifting plate 20 slidably connected to the upper end of the lifting frame 19 along its length. A damper 21 is hinged between the lifting plate 20 and the lifting frame 19. Mounting grooves 48 are provided on both sides of the upper end of the lifting frame 19, and a mounting slider 48 adapted to the mounting grooves 49 at the bottom of the lifting plate 20 is provided. The mounting slider 48 and the mounting grooves 49 are fitted with a low-friction clearance to ensure that the lifting plate 20 can slide freely along its length. The damper 21 adopts a bidirectional damping structure. When inertia causes the lifting plate 20 to slide along the length of the lifting frame 19 during movement, the damper 21 can provide buffering damping to prevent the pallet from swaying due to inertia and causing the goods to tip over. It also includes a clamping assembly installed inside the lifting frame 19, capable of rotating upwards by 180 degrees. When the lifting frame 19 moves upwards, the clamping assembly rotates upwards. The rotation of the clamping assembly and the lifting of the lifting frame 19 are mechanically linked through the meshing of a gear 46 and a fixed rack 40, eliminating the need for additional drive components and simplifying the transmission system. The rotation stroke is precisely controlled by the lifting height of the lifting frame 19. When the lifting frame 19 rises to a preset height, the gear 46 rolls along the fixed rack 40 to its limit position, and the rotating frame 41 completes a 180-degree rotation, achieving a synchronous action logic of lifting to the correct position and clamping / locking. The rotation of the clamping assembly and the lifting of the lifting frame 19 are linked, requiring no additional power source. Synchronous action is achieved through the meshing transmission of the mechanical structure, simplifying the transmission logic and improving action coordination.

[0033] Furthermore, the support assembly also includes a mounting plate 3 located below the lifting frame 19. The lifting frame 19 is vertically slidably connected to the mounting plate 3. Connection holes 5 are respectively opened inward on the upper and lower sides of both ends of the back plate 1. Connecting rods 6 are respectively fixedly connected to the upper and lower sides of the inner end of the mounting plate 3. The connecting rods 6 are slidably connected to the connection holes 5. The connecting rods 6 adopt a cylindrical structure with a wear-resistant surface treatment. The inner wall of the connection hole 5 is provided with a self-lubricating bushing. The connecting rods 6 on the upper and lower sides are symmetrically distributed, and the connection points with the mounting plate 3 are located on the same horizontal line, forming a two-point-one-line guide structure to ensure that the mounting plate 3 always remains horizontal when moving, providing a guiding reference for the smooth movement of the support assembly. The connecting rods 6 and the connection holes 5 adopt a clearance fit, which not only ensures the smooth sliding of the mounting plate 3, but also ensures the horizontality of the mounting plate 3 when moving through the symmetrically arranged connecting rods 6 on the upper and lower sides, avoiding unilateral offset that would cause the support assembly to be unbalanced, and providing a stable guiding foundation for the Mecanum wheel 7 to drive the support assembly to move.

[0034] Furthermore, two cross rods 13, hinged at the center and intersecting, are respectively provided on the left and right sides of the rear end of the back plate 1. The upper ends of the cross rods 13 are respectively hinged to the corresponding back plate 1 and mounting plate 3. Mounting rods 17 are fixedly connected to the left and right sides of the rear end of the back plate 1 and the rear end of the mounting plate 3. Connecting sliders 15 are slidably connected to the surfaces of the mounting rods 17 along the axial direction. The lower ends of the cross rods 13 are respectively hinged to the corresponding connecting sliders 15. Support springs 14 are respectively sleeved on the surface of the mounting rods 17 on the upper side of the connecting sliders 15 to apply resistance to the upward movement of the connecting sliders 15. The central hinge point of the cross rods 13 is connected by a high-strength pin shaft, and anti-disengagement retaining rings are provided at both ends of the pin shaft to ensure the stability of the hinge structure. The connecting slider 15 and the mounting rod 17 adopt a spline sliding fit, which restricts the circumferential rotation of the connecting slider 15 and ensures the smoothness of axial sliding. The pre-compression of the support spring 14 is set according to the robot's rated load. When the spacing of the support components is adjusted, the elastic force of the spring and the thrust of the cross rod 13 form a dynamic balance, making the spacing adjustment process uniform and stable. After the spacing is fixed, the connecting slider 15 is locked by the spring force to prevent the spacing change due to vibration. The cross rod 13 adopts a scissor structure with a central hinge. Its upper end forms a rotation connection point with the back plate 1 and the mounting plate 3 respectively, and its lower end slides with the mounting rod 17 through the connecting slider 15. When the Mecanum wheel 7 drives the support components to adjust the spacing, the opening angle of the cross rod 13 changes with the movement of the mounting plate 3, which drives the connecting slider 15 to move axially along the mounting rod 17. The support spring 14 is compressed or stretched, and its elastic restoring force provides stable damping support for the connecting slider 15, so that the support components can remain stable at any spacing position and avoid spacing deviation due to movement inertia.

[0035] Furthermore, an inner box 4 is fixedly connected to the outer end of the mounting plate 3, and a connecting rod pushing assembly is installed inside the inner box 4. The moving end of the connecting rod pushing assembly is hinged to the lifting frame 19. The power input end of the connecting rod push assembly includes a rotatable transmission shaft 35. A first mating bevel gear 36 and a second mating bevel gear 53 are coaxially fixedly connected to both ends of the transmission shaft 35. The second mating bevel gear 53 serves as the power input end, providing power to the connecting rod push assembly. A splined cylinder 29 is rotatably connected to the surface of the back plate 1. Splined shafts 30 are splinedly connected to both ends of the splined cylinder 29. The splined shafts 30 are rotatably connected to the mounting plate 3. A mating bevel gear 34 is coaxially fixedly connected to the outer end of each splined shaft 30. The mating bevel gears 34 mesh with corresponding first mating bevel gears 36. A first reversing bevel gear 31 is coaxially fixedly connected to the surface of the splined cylinder 29. A second reversing bevel gear 32 meshes with the lower side of the first reversing bevel gear 31. A control motor 33 is fixedly connected to the rear end of the back plate 1. The power output end of the control motor 33 is coaxially fixedly connected to the second reversing bevel gear 32.

[0036] The power transmission path adopts a combination structure of bevel gear reversing and spline telescopic transmission: the horizontal rotation output by the control motor 33 is converted into the vertical rotation of the spline cylinder 29 through the meshing of the second reversing bevel gear 32 and the first reversing bevel gear 31; the spline connection between the spline cylinder 29 and the spline shaft 30 adopts a rectangular spline structure, which has the characteristics of strong load-bearing capacity and high transmission efficiency, ensuring synchronous power transmission and allowing the spline shaft 30 to axially extend and retract with the adjustment of the spacing of the support components, ensuring that the power transmission is not interrupted when the spacing changes; the bevel gear 34 and the first mating bevel gear 36 adopt an orthogonal meshing design, converting the horizontal rotation of the spline shaft 30 into the vertical rotation of the transmission shaft 35, realizing a secondary conversion of the power direction, and finally providing the linkage push assembly with a power direction that meets the action requirements; After the control motor 33 starts, it drives the second reversing bevel gear 32 to rotate. Through gear meshing, it drives the first reversing bevel gear 31 and the spline cylinder 29 to rotate synchronously. The spline connection structure between the spline cylinder 29 and the spline shaft 30 ensures that the power can be transmitted synchronously to the spline shafts 30 on both sides. At the same time, it allows the spline shaft 30 to extend and retract axially as the spacing of the mounting plate 3 is adjusted. The mating bevel gear 34 at the end of the spline shaft 30 meshes with the first mating bevel gear 36 to transmit the power to the transmission shaft 35. Finally, the second mating bevel gear 53 provides power to the connecting rod push assembly, realizing stable power transmission and direction conversion. Moreover, the start and stop of the control motor 33 takes priority over the drive motor 10 of the walking assembly. After the spacing of the support assembly is adjusted to the correct position and the drive motor 10 stops running, the control motor 33 starts again to drive the lifting frame 19 to rise and fall, avoiding interference between actions.

[0037] Furthermore, the linkage push assembly includes four sets of hinges located inside the built-in box 4. Each pair of the four sets of hinges is arranged in a corresponding manner, and the four sets of hinges are symmetrically distributed to ensure that the lifting frame 19 is subjected to uniform force. The hinge includes a first support rod 22 and a second support rod 23 with their inner ends hinged together. The lower end of the first support rod 22 is hinged to the inner wall of the inner box 4, and the upper end of the second support rod 23 is hinged to the lifting frame 19. A reversing gear 27 is provided between the front and rear corresponding hinges. A central shaft 54 ​​is fixedly connected to the left and right corresponding reversing gears 27 on the same axis. The central shaft 54 ​​is rotatably connected to the inner box 4. A transition piece is connected between the central shaft 54 ​​and the second mating bevel gear 53 for transmission. Push racks 26 are meshed on the upper and lower sides of the reversing gears 27 respectively. Push plates 25 are fixedly connected to the outer ends of the push racks 26 respectively. The push plates 25 are horizontally slidably connected to the inner wall of the inner box 4. Push rods 24 are hinged to the surface of the second support rods 23 respectively. The other end of the push rods 24 is hinged to the corresponding push plates 25 respectively. When the reversing gear 27 rotates in both directions, it can drive the two push plates 25 to move reciprocally outward through meshing with the push rack 26. When the two push plates 25 move reciprocally, they can push the second support rod 23 to swing reciprocally in a vertical position through the push rod 24. The four sets of hinges correspond to the four corner positions of the lifting frame 19, forming a four-point synchronous support structure to ensure that the lifting frame 19 is subjected to uniform force when it is raised and lowered, and to avoid tilting. The hinge point between the first support rod 22 and the second support rod 23 is the power output node, and its movement trajectory is arc-shaped. When the second support rod 23 swings in a vertical position, the vertical displacement of the hinge point gradually increases, so as to achieve a smooth rise of the lifting frame 19. The reversing gear 27 simultaneously meshes with both upper and lower sets of push racks 26, ensuring that the two push plates 25 move in opposite directions and have the same displacement. This drives the second support rods 23 on both sides to swing synchronously via the push rod 24. The sliding connection between the push plate 25 and the inner wall of the built-in box 4 uses a guide rail and slider structure. The guide rail is arranged horizontally to ensure the precise movement trajectory of the push plate 25, thereby ensuring the consistency of the swing angle of the second support rods 23. When the transition piece drives the central shaft 54 ​​to rotate, the reversing gear 27 rotates synchronously, interacting with the upper and lower... The meshing action of the racks 26 on both sides drives the two sets of push plates 25 to move horizontally in opposite or the same direction along the inner wall of the inner box 4. The push plates 25 drive the second support rod 23 to swing around the hinge point with the first support rod 22 through the push rod 24. When the second support rod 23 swings to the vertical position, its upper end pushes the lifting frame 19 to move upward to achieve the lifting action. When it swings in the opposite direction, it drives the lifting frame 19 to descend. The meshing transmission of the gears and racks ensures the synchronicity of the movement of the push plates 25, thereby achieving the smooth lifting and lowering of the lifting frame 19.

[0038] Furthermore, the transition piece includes a first pulley 28 coaxially fixedly connected to the surface of the central shaft 54, an output bevel gear 37 meshing with the front side of the second mating bevel gear 53, the output bevel gear 37 being rotatably connected to the built-in box 4, a second pulley 38 coaxially fixedly connected to one end of the output bevel gear 37, and a synchronous belt sleeved on the surface of the first pulley 28 and the second pulley 38. The transition component adopts a synchronous belt pulley drive; the synchronous belt is made of polyurethane with a built-in steel wire rope core, featuring high strength and low elongation, which can prevent slippage during transmission and ensure precise matching between the rotation angle of the reversing gear 27 and the output speed of the control motor 33; the meshing clearance between the output bevel gear 37 and the second mating bevel gear 53 is precisely adjusted to reduce transmission impact and ensure smooth power transmission, providing a guarantee for the uniform lifting and lowering of the lifting frame 19; during transmission, the second mating bevel gear 53 drives the output bevel gear 37 to rotate, which in turn drives the second pulley 38 to rotate, transmitting power to the first pulley 28 and the central shaft 54 ​​through the synchronous belt. The synchronous belt drive features smooth transmission, low noise, and accurate transmission ratio, ensuring no slippage during power transmission and guaranteeing the consistency between the rotation angle of the reversing gear 27 and the output speed of the control motor 33, thereby improving the lifting accuracy of the lifting frame 19.

[0039] Furthermore, the front and rear ends of the built-in box 4 are respectively fixedly connected to connecting pipes 18, and the outer ends of the connecting pipes 18 are respectively fixedly connected to support plates 8; The walking assembly includes a protective plate 9 that is hinged to the lower end of the inner box 4. A drive motor 10 is fixedly connected to the lower end of the protective plate 9. A Mecanum wheel 7 is fixedly connected to the power output end of the drive motor 10. The Mecanum wheel 7 is composed of a rim 51 and a roller 52. A plurality of spring dampers 11 are hinged to the upper end of the protective plate 9. The other end of the spring damper 11 is hinged to the lower end of the support plate 8.

[0040] The Mecanum wheel 7 adopts an omnidirectional wheel structure. The rollers 52 on its rim 51 are arranged at a 45-degree angle to the axle. Through different steering combinations of the four Mecanum wheels 7, the robot can move in all directions: when moving forward or backward, all four wheels rotate in the same direction; when moving laterally, the diagonal wheels rotate in the same direction, and the other two diagonal wheels rotate in opposite directions; when rotating, the two opposite wheels rotate in the same direction, and the other two opposite wheels rotate in opposite directions, meeting the needs of flexible movement in logistics scenarios. The hinge between the guard plate 9 and the built-in box 4 adopts a universal hinge structure, which allows the guard plate 9 to swing at a small angle in three-dimensional space. Combined with multiple spring dampers 11 evenly distributed along the circumference, a multi-directional shock absorption effect is formed. When the robot travels on uneven roads, the spring dampers 11 absorb vibration energy through compression or stretching. The guard plate 9 adaptively adjusts its angle according to the undulation of the road surface to ensure that the Mecanum wheel 7 is always in contact with the ground and to ensure driving stability. The Mecanum wheels 7 are driven independently by drive motors 10. The start-stop sequence of the drive motors 10 follows the principle of synchronous start-stop and reverse linkage: when adjusting the spacing of the support components, the front and rear drive motors 10 of the support components on both sides start synchronously, the front and rear drive motors 10 on the same side rotate at the same speed, and the output direction of the drive motor 10 on the left side is opposite to that on the right side, so as to expand or shrink the spacing; when moving the robot, all drive motors 10 start synchronously, and adjust the direction and speed of each Mecanum wheel 7 according to the direction of movement to achieve omnidirectional forward, backward, lateral, and rotational movement, meeting the needs of flexible turning and positioning in logistics scenarios; the guard plate 9 is hinged to the built-in box 4, and with the elastic support of multiple spring dampers 11, when the robot is traveling on uneven roads, the spring dampers 11 absorb vibration through compression or stretching, and the guard plate 9 swings adaptively with the undulations of the road surface to ensure that the Mecanum wheels 7 are always in contact with the ground, ensuring driving stability, while reducing the impact of vibration on the upper structure and the shelf.

[0041] Furthermore, the clamping assembly includes a flipping frame 41 hinged to the inner side of the lifting frame 19. The outer end of the lifting frame 19 corresponding to the flipping frame 41 is provided with a rectangular notch 39. The flipping frame 41 can flip upward through the rectangular notch 39 on the outer side of the lifting frame 19. The front and rear sides of the lower end of the flipping frame 41 are respectively slidably connected with horizontally movable rods 43. The outer ends of the two front and rear corresponding movable rods 43 are fixedly connected with a clamping plate 42. The inner ends of the two front and rear corresponding movable rods 43 are respectively fixedly connected with baffles 45. Clamping springs 44 are respectively sleeved on the surface of the movable rods 43 between the flipping frame 41 and the clamping plate 42.

[0042] The initial state of the tilting frame 41 is horizontally attached to the inner side of the lifting frame 19. The size of the rectangular notch 39 is slightly larger than the outline size of the tilting frame 41 to ensure no interference during the tilting process. The sliding connection between the movable rod 43 and the tilting frame 41 adopts a linear bearing structure to reduce sliding friction and enable the clamping plate 42 to respond quickly to the contact pressure of the shelf. The clamping spring 44 adopts a cylindrical helical compression spring. In its natural length state, the clamping plate 42 is in the maximum extension position. When the clamping plate 42 contacts the shelf, the reaction force of the shelf pushes the movable rod 43 to slide into the tilting frame 41. The spring is compressed and generates an elastic clamping force. This clamping force increases with the increase of the compression amount, realizing the effect of elastic adaptive clamping and avoiding damage to the shelf due to excessive clamping force. The rectangular notch 39 provides flipping space for the tilting frame 41, avoiding interference with the lifting frame 19 during the flipping process; the sliding engagement between the movable rod 43 and the tilting frame 41 ensures that the clamping plate 42 can move horizontally. When the clamping spring 44 is in its natural state, it pushes the clamping plate 42 outward. When the clamping plate 42 contacts the shelf, the shelf exerts a reverse pressure on the clamping plate 42, causing the clamping spring 44 to compress and generate an elastic restoring force. The clamping force is transmitted to the shelf surface through the movable rod 43, realizing the elastic clamping of the shelf. The baffle 45 can prevent the movable rod 43 from slipping off the tilting frame 41, ensuring the integrity of the clamping structure.

[0043] Furthermore, a flipping shaft 47 is fixedly connected to the upper end of the flipping frame 41. The flipping shaft 47 is rotatably connected to the inner wall of the lifting frame 19. A mating gear 46 is fixedly connected to both sides of the surface of the flipping frame 41. A fixed rack 40 is meshed on one side of the mating gear 46. The fixed rack 40 is fixedly connected to the built-in box 4. The rotational connection between the tilting shaft 47 and the inner wall of the lifting frame 19 uses a deep groove ball bearing to reduce tilting resistance and ensure smooth rotation of the tilting frame 41. The meshing of the cooperating gear 46 and the fixed rack 40 adopts an involute tooth profile design, resulting in smooth transmission and low noise. The fixed rack 40 is fixedly arranged in the vertical direction. When the lifting frame 19 moves upward, the cooperating gear 46 rises synchronously with the lifting frame 19. Since the fixed rack 40 is in a fixed position, the relative movement between the gear and the rack drives the cooperating gear 46 to rotate, which in turn drives the tilting frame 41 to tilt upward through the tilting shaft 47. The tilting angle is proportional to the rising height of the lifting frame 19. When the lifting frame 19 rises to its maximum height, the cooperating gear 46 rotates exactly 180 degrees, driving the tilting frame 41 to complete a 180-degree tilt, achieving precise linkage between the lifting stroke and the tilting angle. The tilting shaft 47 provides a rotation fulcrum for the tilting frame 41, ensuring smooth tilting action. When the lifting frame 19 moves upward, the tilting frame 41 rises synchronously with the lifting frame 19. The gear 46 and the fixed rack 40 undergo relative displacement and meshing, and the meshing of the gears converts the vertical upward movement of the lifting frame 19 into the rotational movement of the tilting frame 41. Since the fixed rack 40 is fixed, the rotation of the gear 46 drives the tilting frame 41 to tilt upward around the tilting shaft 47 until the tilting angle reaches 180 degrees, realizing the automatic switching of the clamping assembly from the initial state to the clamping state without the need for additional drive components. Moreover, this tilting action is synchronized with the lifting action of the lifting frame 19 and is completed synchronously during the process of the control motor 33 driving the lifting frame 19 to rise.

[0044] Furthermore, the outer ends of the clamping plates 42 are respectively fixedly connected with clamping pads 50 capable of deformation. The clamping pads 50 are made of polyurethane elastomer material, which has good elastic deformation ability and wear resistance. Its surface is provided with anti-slip texture, which can increase the friction coefficient with the rack chassis and improve clamping stability. When the clamping plates 42 clamp the rack, the clamping pads 50 undergo elastic deformation under the action of clamping force, conforming to the surface contour of the rack chassis, increasing the contact area, and making the clamping force evenly distributed, thereby improving the clamping effect.

[0045] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains can make various modifications or additions to the described specific embodiments or use similar methods to replace them.

Claims

1. A lifting-type logistics robot, characterized in that, It includes a back plate (1) and a support assembly slidably connected to both sides of the back plate (1). The front and rear sides of the bottom of the support assembly are respectively equipped with walking components to drive the support assembly to move. Under the drive of the walking components, the two support assemblies can move synchronously to both sides to adjust the distance. The support assembly includes a lifting frame (19) that can be raised and lowered synchronously and a lifting plate (20) that is slidably connected to the upper end of the lifting frame (19) along the length direction of the lifting frame (19). A damper (21) is hinged between the lifting plate (20) and the lifting frame (19). It also includes a clamping assembly installed inside the lifting frame (19) that can rotate upward 180 degrees, forming a structure in which the clamping assembly rotates upward when the lifting frame (19) moves upward.

2. The lifting logistics robot according to claim 1, characterized in that, The support assembly also includes a mounting plate (3) located on the lower side of the lifting frame (19). The lifting frame (19) and the mounting plate (3) are vertically slidably connected. The upper and lower sides of both ends of the back plate (1) are respectively provided with connecting holes (5) opening inward. The upper and lower sides of the inner end of the mounting plate (3) are respectively fixedly connected with connecting rods (6), and the connecting rods (6) are slidably connected with the connecting holes (5).

3. A lifting logistics robot according to claim 2, characterized in that, Two cross rods (13) are respectively provided on the left and right sides of the rear end of the back plate (1) and are hinged in the middle and intersecting. The upper ends of the cross rods (13) are respectively hinged to the corresponding back plate (1) and mounting plate (3). Mounting rods (17) are fixedly connected to the left and right sides of the rear end of the back plate (1) and the rear end of the mounting plate (3). Connecting sliders (15) are slidably connected to the surface of the mounting rods (17) along the axial direction. The lower ends of the cross rods (13) are respectively hinged to the corresponding connecting sliders (15). Supporting springs (14) are respectively sleeved on the surface of the mounting rods (17) on the upper side of the connecting sliders (15) to apply resistance to the upward movement of the connecting sliders (15).

4. A lifting logistics robot according to claim 2, characterized in that, The outer ends of the mounting plate (3) are respectively fixedly connected to the inner box (4), and the inner box (4) is equipped with a linkage push assembly. The moving end of the linkage push assembly is hinged to the lifting frame (19). The power input end of the linkage push assembly includes a rotatable transmission shaft (35). The two ends of the transmission shaft (35) are respectively fixedly connected to the first mating bevel gear (36) and the second mating bevel gear (53) on the same axis. The second mating bevel gear (53) serves as the power input end to input power to the linkage push assembly. The surface of the back plate (1) is rotatably connected to a splined cylinder (29). The two ends of the splined cylinder (29) are respectively splined to a splined cylinder. The key shaft (30) is rotatably connected to the mounting plate (3). The outer ends of the spline shaft (30) are coaxially fixedly connected to the mating bevel gears (34). The mating bevel gears (34) mesh with the corresponding first mating bevel gears (36). The surface of the spline cylinder (29) is coaxially fixedly connected to the first reversing bevel gear (31). The lower side of the first reversing bevel gear (31) meshes with the second reversing bevel gear (32). The rear end of the back plate (1) is fixedly connected to the control motor (33). The power output end of the control motor (33) is coaxially fixedly connected to the second reversing bevel gear (32).

5. A lifting logistics robot according to claim 4, characterized in that, The linkage push assembly includes four sets of hinges located inside the built-in box (4), with each pair of the four sets of hinges corresponding to each other; each hinge includes a first support rod (22) and a second support rod (23) with their inner ends hinged to each other, the lower end of the first support rod (22) is hinged to the inner wall of the built-in box (4), and the upper end of the second support rod (23) is hinged to the lifting frame (19); a reversing gear (27) is provided between the front and rear corresponding hinges, and a central shaft (54) is fixedly connected to the left and right corresponding reversing gears (27) on the same axis, the central shaft (54) is rotatably connected to the built-in box (4), and a transition piece is connected between the central shaft (54) and the second mating bevel gear (53). The reversing gear (27) is meshed with a push rack (26) on its upper and lower sides respectively. The outer ends of the push rack (26) are fixedly connected to push plates (25). The push plates (25) are horizontally slidably connected to the inner wall of the inner box (4). The surface of the second support rod (23) is hinged with push rods (24). The other end of the push rods (24) is hinged to the corresponding push plates (25). When the reversing gear (27) rotates forward and backward, it can drive the two push plates (25) to move back and forth outward through meshing with the push rack (26). When the two push plates (25) move back and forth, they can push the second support rod (23) to swing back and forth in a vertical state through the push rods (24).

6. A lifting logistics robot according to claim 5, characterized in that, The transition piece includes a first pulley (28) coaxially fixedly connected to the surface of the central shaft (54), an output bevel gear (37) meshing with the front side of the second mating bevel gear (53), the output bevel gear (37) being rotatably connected to the inner box (4), and a second pulley (38) coaxially fixedly connected to one end of the output bevel gear (37). A synchronous belt is fitted on the surface of the first pulley (28) and the second pulley (38).

7. A lifting logistics robot according to claim 2, characterized in that, The front and rear ends of the built-in box (4) are respectively fixedly connected to connecting pipes (18), and the outer ends of the connecting pipes (18) are respectively fixedly connected to support plates (8); the walking assembly includes guard plates (9) respectively hinged to the lower end of the built-in box (4), the lower ends of the guard plates (9) are respectively fixedly connected to drive motors (10), and the power output ends of the drive motors (10) are respectively fixedly connected to Mecanum wheels (7); the upper end of the guard plate (9) is respectively hinged to multiple spring dampers (11), and the other end of the spring dampers (11) is respectively hinged to the lower end of the support plate (8).

8. A lifting logistics robot according to claim 1, characterized in that, The clamping assembly includes a flipping frame (41) hinged to the inside of the lifting frame (19). The outer end of the lifting frame (19) corresponding to the flipping frame (41) is provided with a rectangular notch (39). The flipping frame (41) can flip upward through the rectangular notch (39) on the outside of the lifting frame (19). The front and rear sides of the lower end of the flipping frame (41) are respectively slidably connected with movable rods (43) that can move horizontally. The outer ends of the two front and rear corresponding movable rods (43) are fixedly connected with a clamping plate (42). The inner ends of the two front and rear corresponding movable rods (43) are respectively fixedly connected with baffles (45). The surfaces of the movable rods (43) between the flipping frame (41) and the clamping plate (42) are respectively fitted with clamping springs (44).

9. A lifting logistics robot according to claim 8, characterized in that, The upper end of the flipping frame (41) is fixedly connected to a flipping shaft (47), which is rotatably connected to the inner wall of the lifting frame (19). On both sides of the surface of the flipping frame (41), there are mating gears (46), and on one side of the mating gears (46), there are fixed racks (40). The fixed racks (40) are fixedly connected to the inner box (4).

10. A lifting logistics robot according to claim 8, characterized in that, The outer ends of the clamping plate (42) are respectively fixedly connected with clamping pads (50) capable of generating deformation.

Images