Intelligent mobile tray type robot

Abstract

The intelligent movable tray type robot comprises a motor driving mechanism, a forklift mechanism and a chassis walking mechanism, and the forklift mechanism comprises a forklift installation frame, a lifting material supporting plate capable of lifting along the forklift installation frame and a movable material supporting plate driving the forklift installation frame to move front and back; a ground supporting wheel and a climbing wheel which are coaxially connected are arranged in front of the movable retainer plate; the diameter of the climbing wheel is smaller than that of the ground supporting wheel. The ground supporting wheels and the climbing wheels are coaxially installed, the forklift mechanism is supported by the ground supporting wheels when taking goods, the forklift mechanism retracts into the chassis through the climbing wheels when moving, abrasion of the ground supporting wheels of the forklift mechanism is reduced, the service life of the forklift mechanism is prolonged, and the moving flexibility of the forklift mechanism is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing logistics handling, in particular to an intelligent mobile tray-type robot. Background Art

[0002] The invention patent with patent number 202121409041.8 discloses a ground tray-type autonomous mobile robot AMRAMR, including a walking mechanism, a telescopic mechanism driving unit and a telescopic mechanism, the telescopic mechanism driving unit is fixedly connected to the walking mechanism, and the telescopic mechanism is slidably connected to the telescopic mechanism driving unit; the walking mechanism includes a first driving unit and a driving wheel, and the power output end of the first driving unit is transmission-connected to the driving wheel; the telescopic mechanism driving unit includes a second driving unit, a gear rack assembly and a sliding guide rail, the power output end of the second driving unit is transmission-connected to the gear rack assembly, and the gear rack assembly is slidably connected to the telescopic mechanism through the sliding guide rail; the telescopic mechanism includes a lifting mechanism, and the lifting mechanism is fixedly connected to the telescopic mechanism. There are certain defects in the disclosure of this patent. When the telescopic mechanism is retracted, the driven wheel of the telescopic mechanism contacts the ground, and the driven wheel will also move when the robot moves. The driven wheel is greatly worn, resulting in a reduced service life and a high failure rate. Summary of the invention

[0003] In view of the above-mentioned technical problems, the utility model provides an intelligent mobile pallet robot, which can retract the forklift mechanism onto the chassis. The intelligent mobile pallet robot moves on walking wheels, reducing the wear of the ground support wheels of the forklift mechanism and improving the service life and mobility of the forklift mechanism.

[0004] The technical solution adopted by the utility model to solve the above technical problems is: an intelligent mobile pallet-type robot, including a motor drive mechanism, a forklift mechanism, and a chassis walking mechanism. The forklift mechanism includes a forklift mounting frame, a lifting support plate that can be lifted and lowered along the forklift mounting frame, and a mobile support plate that drives the forklift mounting frame to move forward and backward; a coaxially connected ground support wheel and a climbing wheel are arranged in front of the mobile support plate; the diameter of the climbing wheel is smaller than the diameter of the ground support wheel.

[0005] In order to optimize the above technical solution, the utility model also includes the following improved technical solution.

[0006] The above-mentioned chassis walking mechanism includes a base plate and walking wheels installed on the base plate; the base plate is provided with a long groove for accommodating the telescopic movement of the movable supporting plate, the front end of the long groove is provided with a hollow groove, and one side of the hollow groove is provided with a climbing ramp and a parking ramp that cooperate with the climbing wheels.

[0007] The two ends of the parking ramp are connected to the bottom plate and the climbing slope respectively; the height of the parking ramp is the highest where it is connected to the climbing slope.

[0008] The above-mentioned motor drive mechanism includes a steering gearbox, a stepper motor, a synchronous belt, and a first synchronous wheel; the forklift mounting frame is fixedly equipped with a steering gearbox, the input shaft above the steering gearbox is connected to the stepper motor power output shaft, and the side output shaft of the steering gearbox is connected to the first synchronous wheel.

[0009] The above-mentioned forklift mounting frame is equipped with a first synchronous connecting plate and a second synchronous connecting plate, and the center part of the second synchronous connecting plate is fixedly connected to the first synchronous connecting plate through a connecting column; the second synchronous wheel and the third synchronous wheel are respectively installed between the lower part of the first synchronous connecting plate and the two sides of the lower part of the second synchronous connecting plate, the upper end of the first synchronous connecting plate is rotatably connected to the first synchronous wheel, and the synchronous belt is wound around the first synchronous wheel, the second synchronous wheel and the third synchronous wheel.

[0010] The base plate is provided with a first synchronous belt connection block and a second synchronous belt connection block at the front and rear ends respectively; the two ends of the synchronous belt are fixed on the first synchronous connection block and the second synchronous connection block respectively.

[0011] Compared with the prior art, the intelligent mobile pallet robot of the utility model installs the ground support wheels and the climbing wheels coaxially. The forklift mechanism relies on the ground support wheels for support when picking up goods. The climbing wheels are retracted into the chassis when the forklift mechanism moves, thereby reducing the wear of the ground support wheels of the forklift mechanism and improving the service life and mobility of the forklift mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall three-dimensional structure of this embodiment.

[0013] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the motor drive mechanism and forklift mechanism.

[0014] Figure 3 It is an exploded schematic diagram of the three-dimensional structure of the motor drive mechanism.

[0015] Figure 4 yes Figure 1 Schematic cross-section diagram of .

[0016] Figure 5 It is a cross-sectional schematic diagram of the climbing state of this embodiment.

[0017] Figure 6 It is a cross-sectional schematic diagram of another climbing state of this embodiment. DETAILED DESCRIPTION

[0018] The embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings.

[0019] Figures 1 to 6 Shown is a schematic structural diagram of the utility model.

[0020] The accompanying drawings are marked as follows: base plate 1, first synchronous wheel 2, connecting column 3, second synchronous wheel 4, pallet in-place sensor 5, steering gear box 6, steering gear mounting plate 7, forklift mounting frame 8, stepper motor 9, first forklift connecting plate 10, coupling 11, lifting and lowering supporting plate 12, moving supporting plate 13, synchronous belt 14, first synchronous connecting plate 15, second synchronous connecting plate 16, forklift driven wheel 17, second forklift connecting plate 18, chassis 19, third synchronous wheel 20, fourth synchronous wheel 21, second synchronous connecting block 22, induction block 23, pallet in-place sensor 24, first synchronous connecting block 25, ground support wheel 26, climbing wheel 27, parking ramp 28, climbing ramp 29, laser radar 30.

[0021] The intelligent mobile pallet robot of the utility model comprises a motor drive mechanism, a forklift mechanism, and a chassis travel mechanism. The stepper motor 9 in the motor drive mechanism drives the forklift mechanism to extend and retract on the chassis travel mechanism through the synchronous belt 14. When the forklift mechanism extends, the ground support wheel 26 passes through the parking ramp 28 and the climbing ramp 29 in the chassis travel mechanism and then lands, and the moving support plate 13 and the lifting support plate 12 extend into the bottom of the material pallet. After the lifting support plate 12 lifts the pallet, the moving support plate 13 returns to the chassis travel mechanism. When returning, the ground support wheel 26 retracts from the ground state into the chassis travel mechanism through the climbing ramp 29 and the parking ramp 28.

[0022] The forklift mechanism includes a forklift mounting frame 8, a lifting support plate 12 that can be lifted and lowered along the forklift mounting frame 8, and a mobile support plate 13 that drives the forklift mounting frame 8 to move forward and backward. The lower ends of both sides of the forklift mounting frame 8 are fixedly connected to a mobile support plate 13 respectively, and the front end of the mobile support plate 13 is installed with a coaxial ground support wheel 26 and a climbing wheel 27, and the rear end of the mobile support plate 13 is installed with a forklift driven wheel 17. The lifting support plate 12 is located above the mobile support plate 13, and the upper end of the lifting support plate 12 is slidably connected to the forklift mounting frame 8 through the second forklift connecting plate 18. The front end of the mobile support plate 13 is equipped with a laser radar 30 for sensing the position of the pallet, and the second forklift connecting plate 18 is equipped with a pallet in-place sensor 24 for sensing whether the pallet is loaded in place. A support plate in-place sensor 5 is installed at the rear of the mobile support plate 13, which cooperates with the sensing block 23 on the chassis 19 to sense whether the forklift mechanism is retracted to its original position.

[0023] The chassis running mechanism includes a bottom plate 1, running wheels and a shock absorbing mechanism installed on the bottom plate 1. The bottom plate 1 has a long groove for accommodating the movable support plate 13. The bottom plate 1 is provided with a hollow groove at the front end of the long groove. The climbing ramp 29 is located at the front of both sides of the hollow groove. The parking ramp 28 is located at the rear of both sides of the hollow groove. The two ends of the parking ramp 28 are respectively connected to the bottom plate 1 and the climbing ramp 29. The parking ramp 28 is at its highest point where it is connected to the climbing ramp 29. The climbing ramp 29 is thinner as it goes outward, and the parking ramp 28 is thicker as it goes outward.

[0024] The center of the ground support wheel 26 is provided with a wheel axle, and climbing wheels 27 are provided on both sides of the ground support wheel 26 through the wheel axle, and the diameter of the climbing wheel 27 is smaller than the ground support wheel 26. When the forklift mechanism is retracted into the chassis, the climbing wheel 27 can be parked on the parking ramp 28, and the ground support wheel 26 is located in the hollow groove.

[0025] The motor drive mechanism includes a steering gearbox 6, a stepper motor 9, a synchronous belt 14, and a first synchronous wheel 2. A first forklift connecting plate 10 is mounted on the forklift mounting frame 8, and the first forklift connecting plate 10 is fixedly mounted with the steering gearbox 6 through the steering gearbox 6 mounting plate. The input shaft on the top of the steering gearbox 6 is connected to the power output shaft of the stepper motor 9, and the side output shaft of the steering gearbox 6 is fixedly connected to the driving shaft of the first synchronous wheel 2 through the coupling 11. The power output shaft of the stepper motor 9 drives the output shaft of the steering gearbox 6 to rotate, and the steering gearbox 6 drives the first synchronous wheel 2 to rotate through the coupling 11.

[0026] The forklift mounting frame 8 is provided with a second synchronous connecting plate 16, the center of the second synchronous connecting plate 16 is provided with a first synchronous connecting plate 15 through a connecting column 3, the lower part of the first synchronous connecting plate 15 and the lower part of the second synchronous connecting plate 16 are provided with a second synchronous wheel 4 and a third synchronous wheel 20 respectively, and the upper end of the first synchronous connecting plate 15 is rotatably connected with the first synchronous wheel 2. The first synchronous connecting plate 15 and the second synchronous connecting plate 16 make the operation of the first synchronous wheel 2, the second synchronous wheel 4 and the third synchronous wheel 20 more stable.

[0027] The base plate 1 is provided with a first synchronous belt 14 connection block and a second synchronous belt 14 connection block at both ends. The upper ends of the first synchronous belt 14 connection blocks on both sides of the long groove in the chassis 19 are provided with a fourth synchronous wheel 21. The two ends of the synchronous belt 14 are respectively fixed on the first synchronous connection block 25 and the second synchronous connection block 22. The synchronous belt 14 wraps the first synchronous wheel 2 and passes under the second synchronous wheel 4 and the third synchronous wheel 20. When the motor drive mechanism is working, it can move along the synchronous belt 14 and drive the forklift mechanism to move horizontally along the long groove.

[0028] When the forklift mechanism is retracted into the chassis, the forklift mechanism is parked on the chassis 19, and the climbing wheel 27 of the forklift mechanism is parked on the parking ramp 28. The slope of the parking ramp 28 can prevent the climbing wheel 27 from slipping forward, the ground support wheel 26 is located in the hollow groove and does not contact the ground, and the forklift driven wheel 17 is parked on the chassis 19. When the chassis 19 moves, the wear of the forklift driven wheel 17 and the ground support wheel 26 is reduced to increase their service life.

[0029] After the laser radar 30 senses the pallet, the motor drive mechanism drives the forklift mechanism to move along the long slot. When the forklift mechanism is extended, the climbing wheel 27 first crosses the parking ramp 28, and then moves forward along the climbing slope 29. The ground support wheel 26 gradually descends in the hollow slot until it contacts the ground. The moving support plate 13 and the lifting support plate 12 extend into the bottom of the pallet. After the moving support plate 13 is loaded in place, the pallet in place sensor 24 sends a signal. After the lifting support plate 12 is lifted, the stepper motor 9 reverses and the forklift mechanism retracts.

[0030] When the forklift mechanism retracts the chassis 19, the climbing wheel 27 first moves backward along the climbing slope 29, and the ground support wheel 26 gradually leaves the ground. The climbing wheel 27 passes the connection between the parking ramp 28 and the climbing slope 29 and then stops on the parking ramp 28. The material support plate in-place sensor 5 detects the induction block 23, stops the motor drive mechanism, and retracts the lifting material support plate 12.

[0031] The best embodiment of the present invention has been explained, and various changes or modifications made by ordinary technicians in this field will not depart from the scope of the present invention.

Claims

1. An intelligent mobile pallet robot, comprising a motor drive mechanism, a forklift mechanism, and a chassis walking mechanism, characterized in that: The forklift mechanism comprises a forklift mounting frame (8), a lifting support plate (12) capable of being lifted and lowered along the forklift mounting frame (8), and a movable support plate (13) driving the forklift mounting frame (8) to move forward and backward; a coaxially connected ground support wheel (26) and a climbing wheel (27) are arranged in front of the movable support plate (13); the diameter of the climbing wheel (27) is smaller than the diameter of the ground support wheel (26).

2. The intelligent mobile pallet robot according to claim 1 is characterized in that: The chassis running mechanism comprises a bottom plate (1) and running wheels mounted on the bottom plate (1); the bottom plate (1) is provided with a long groove for accommodating the telescopic movement of a movable supporting plate (13); a hollow groove is formed at the front end of the long groove; a climbing slope (29) and a parking ramp (28) cooperating with a climbing wheel (27) are formed on one side of the hollow groove.

3. The intelligent mobile pallet robot according to claim 2 is characterized in that: The two ends of the parking ramp (28) are respectively connected to the bottom plate (1) and the climbing slope (29); the height of the point where the parking ramp (28) and the climbing slope (29) are connected is the highest.

4. The intelligent mobile pallet robot according to claim 3 is characterized in that: The motor drive mechanism comprises a steering gear box (6), a stepper motor (9), a synchronous belt (14), and a first synchronous wheel (2); the forklift mounting frame (8) is fixedly mounted with the steering gear box (6), the input shaft above the steering gear box (6) is connected to the power output shaft of the stepper motor (9), and the side output shaft of the steering gear box (6) is connected to the first synchronous wheel (2).

5. The intelligent mobile pallet robot according to claim 4 is characterized in that: The forklift mounting frame (8) is provided with a first synchronous connecting plate (15) and a second synchronous connecting plate (16), the center of the second synchronous connecting plate (16) is fixedly connected to the first synchronous connecting plate (15) through a connecting column (3); a second synchronous wheel (4) and a third synchronous wheel (20) are respectively provided between the lower part of the first synchronous connecting plate (15) and the lower part of the second synchronous connecting plate (16), the upper end of the first synchronous connecting plate (15) is rotationally connected to the first synchronous wheel (2), and the synchronous belt (14) is wound around the first synchronous wheel (2), the second synchronous wheel (4) and the third synchronous wheel (20).

6. The intelligent mobile pallet robot according to claim 5, characterized in that: The base plate (1) is provided with a first synchronous belt (14) connecting block and a second synchronous belt (14) connecting block at the front and rear ends respectively; the two ends of the synchronous belt (14) are fixed on the first synchronous connecting block (25) and the second synchronous connecting block (22) respectively.

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