Jacking transfer robot

Abstract

The utility model relates to a jacking transfer robot which comprises a robot chassis, a jacking assembly and a jacking platform. The jacking assembly comprises a jacking platform, a jacking bottom plate, a jacking top plate, a driving mechanism and a connecting rod mechanism, wherein the jacking bottom plate is fixed to the robot chassis, the jacking top plate is arranged above the jacking bottom plate, and the driving mechanism and the connecting rod mechanism are arranged between the jacking bottom plate and the jacking top plate. The jacking platform is arranged on the jacking assembly. The jacking top plate is driven by the driving mechanism to ascend and descend. In the process, the linkage mechanism is linked to maintain the balance of the jacking top plate in the lifting process, and then stable lifting of the jacking platform is achieved. Compared with the prior art, the balance problem of the jacking assembly in the lifting process can be solved, constant-speed lifting is achieved, and the stability of the lifting process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lifting and transferring robot. Background Art

[0002] The lifting mobile robot is a transfer tool that can travel along a guided path and has safety protection functions. The lifting mobile robot has extremely wide applications in industrial automation scenarios, e-commerce sorting centers, 3C manufacturing, logistics and transportation scenarios in medical / food / automotive manufacturing / semiconductor industries, and is particularly suitable for materials that need to be transferred using material trucks and shelves.

[0003] The lifting mechanisms of existing lifting mobile robots mainly include hydraulic lifting and electric drive with fork arm lifting. However, in the process of the lifting mobile robot supporting materials, the lifting mechanism may be unbalanced due to the supporting position or the distribution of the center of gravity of the material, which poses certain safety hazards.

[0004] Therefore, in order to avoid this situation as much as possible, it is usually necessary to configure at least two sets of jacking drives, which will cause the jacking mechanism to be bloated and increase the equipment cost. In addition, two or more sets of jacking drives also have the problem of drive synchronization, otherwise it is difficult to solve the balance problem of the jacking mechanism. Utility Model Content

[0005] Aiming at the deficiencies of the prior art, the utility model discloses a lifting and transferring robot.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A lifting and transferring robot, comprising:

[0008] Robot chassis;

[0009] A lifting assembly, comprising a lifting bottom plate fixed to the robot chassis, a lifting top plate arranged on the lifting bottom plate, and a driving mechanism and a connecting rod mechanism arranged between the lifting bottom plate and the lifting top plate; the driving mechanism is used to drive the lifting top plate to rise and fall; the connecting rod mechanism is used to link and maintain the balance of the lifting top plate;

[0010] The jacking platform is arranged on the jacking assembly.

[0011] In one embodiment of the utility model, the driving mechanism includes a first support provided on the lifting base plate, a power unit installed on the first support, a second support provided on the lifting base plate and a lifting unit installed on the second support; the power unit is transmission-connected to the lifting unit; the lifting unit is connected to the lifting top plate; the lifting unit is configured to drive the lifting top plate to rise and fall under the drive of the power unit.

[0012] In one embodiment of the utility model, the lifting unit includes a coaxially arranged lifting screw, a threaded sleeve, a rotating sleeve and a driven wheel; the lifting screw is arranged along the lifting direction and is restricted to move along the lifting direction; the top of the lifting screw is connected to the lifting top plate; the threaded sleeve is sleeved on the lifting screw and cooperates with the lifting screw thread; the rotating sleeve is fixedly connected to the threaded sleeve and is restricted to be rotatably connected to the second support; the driven wheel is fixedly connected to the rotating sleeve; the driven wheel is transmission-connected to the power unit to obtain power to make the rotating sleeve rotate coaxially relative to the lifting screw.

[0013] In one embodiment of the utility model, an annular step coaxial with the lifting screw is provided in the second support, and rotating bearings capable of bearing axial loads are respectively provided on both axial sides of the annular step, and the inner ring of the rotating bearing is coaxially connected to the rotating sleeve; the outer ring of the rotating bearing is connected to the inner wall of the second support.

[0014] In one embodiment of the utility model, the power unit includes a driving motor, a reducer connected to the output end of the driving motor, and a driving wheel arranged at the output end of the reducer; the reducer is installed on the first support; and the driving wheel is drivingly connected to the driven wheel.

[0015] In one embodiment of the utility model, a lifting block having a lateral dimension greater than the diameter of the lifting screw is provided at the top of the lifting screw; the lifting screw is connected to the lifting top plate via the lifting block.

[0016] In one embodiment of the utility model, the lifting unit also includes a guide column fixed to the lifting top plate, a slider arranged on the side of the guide column and a slide rail slidably connected to the slider, and the slide rail is fixed to the second support along the lifting direction.

[0017] In one embodiment of the utility model, the lifting top plate is provided with an avoidance hole adapted to the position of the drive motor; the lifting top plate is provided with an annular support adapted to the position of the drive motor; and the lifting platform is provided on the annular support.

[0018] In one embodiment of the utility model, the connecting rod mechanism includes two linkage units arranged on the lifting base plate along the first direction and two first connecting rods arranged along the second direction; the linkage unit includes a first hinge seat arranged on the top surface of the lifting base plate along the second direction, a second hinge seat arranged on the bottom surface of the lifting top plate along the second direction, a rocker hinged to the first hinge seat at one end, and a second connecting rod and an articulated shaft extending along the second direction; the second articulated seat and the first articulated seat are arranged correspondingly up and down; the two ends of the second connecting rod extend along a direction perpendicular to the length of the second connecting rod to form a first articulated portion articulated with the other end of the rocker and a second articulated portion articulated with the second articulated seat; the rocker and the first articulated portion are articulated through the articulated shaft; the two ends of the first connecting rod are rotatably connected to the same side ends of the two articulated shafts of the two linkage units.

[0019] In one embodiment of the utility model, a supporting rubber pad is provided on the surface of the jacking platform.

[0020] The above technical solution of the utility model has the following advantages compared with the prior art:

[0021] The lifting and transferring robot described in the utility model realizes uniform lifting and lowering, thereby improving the stability of the lifting process.

[0022] The jacking and transferring robot of the utility model realizes accurate control of the lifting stroke.

[0023] The jacking and transferring robot of the utility model enables the jacking and lifting platform to maintain balance during the lifting process, thereby reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0025] Figure 1 It is a structural schematic diagram of the jacking and transferring robot.

[0026] Figure 2 It is a structural schematic diagram of the jacking assembly and the jacking platform.

[0027] Figure 3 It is a structural schematic diagram of the jacking assembly.

[0028] Figure 4 It is a schematic diagram of the structure of the jacking assembly (supporting members are not shown).

[0029] Figure 5 It is a structural diagram of the driving mechanism.

[0030] Figure 6It is a top view of the drive mechanism.

[0031] Figure 7 yes Figure 6 Cross-section view at AA in the middle.

[0032] Figure 8 It is a schematic diagram of the structure of the driving mechanism (the power unit and the second support are not shown).

[0033] Fig. 9 It is a structural diagram of the connecting rod mechanism.

[0034] Description of the accompanying drawings: 10, robot chassis; 20, lifting assembly; 201, lifting bottom plate; 202, lifting top plate; 203, support member; 30, lifting platform; 301, supporting rubber pad; 40, driving mechanism; 401, first support; 402, driving motor; 403, reducer; 404, driving wheel; 405, transmission belt; 406, second support; 407, slide rail; 408, slider; 409, 09, guide pillar; 410, rotating bearing; 411, rotating sleeve; 412, driven wheel; 413, threaded sleeve; 414, lifting screw; 415, lifting block; 50, connecting rod mechanism; 501, first hinge seat; 502, second hinge seat; 5021, first hinge part; 5022, second hinge part; 503, rocker; 504, second connecting rod; 505, first connecting rod; 506, hinge shaft. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0036] The existing lifting mechanisms of mobile lifting robots mainly include hydraulic lifting and electric drive with fork arm lifting. In the process of the mobile lifting robot supporting the material, the lifting mechanism may be unbalanced due to the support position or the distribution of the center of gravity of the material, which poses certain safety hazards. Therefore, in order to avoid this situation as much as possible, it is usually necessary to configure at least two sets of lifting drives, which will cause the lifting mechanism to be bloated and increase the equipment cost. In addition, two or more sets of lifting drives also have the problem of drive synchronization, otherwise it is difficult to solve the balance problem of the lifting mechanism.

[0037] In order to solve the above problems, this embodiment provides a lifting and transferring robot.

[0038] Combination Figure 1 and Figure 2 This embodiment discloses a lifting and transferring robot, including a robot chassis 10, a lifting component 20 and a lifting platform 30.

[0039] In this embodiment, the robot chassis 10 is used to realize the autonomous movement of the lifting and transferring robot between different positions. Generally, the robot chassis 10 can adopt a chassis structure of the type such as IGV (Intelligent Guided Vehicle), AGV (Automated Guided Vehicles) or AMR (Autonomous Mobile Robot).

[0040] like Figure 3 As shown, the lifting assembly 20 includes a lifting base plate 201 fixed to the robot chassis 10, a driving mechanism 40, a connecting rod mechanism 50, and a lifting top plate 202 arranged above the lifting base plate 201. The driving mechanism 40 and the connecting rod mechanism 50 are arranged between the lifting base plate 201 and the lifting top plate 202. The driving mechanism 40 is used to drive the lifting top plate 202 to rise and fall. The connecting rod mechanism 50 is used to link and maintain the balance of the lifting top plate 202 during the lifting process.

[0041] Combination Figures 4 to 7 The driving mechanism 40 includes a first support 401 disposed on the lifting bottom plate 201, a power unit installed on the first support 401, a second support 406 disposed on the lifting bottom plate 201, and a lifting unit installed on the second support 406. The power unit is connected to the lifting unit in a transmission manner. The lifting unit is connected to the lifting top plate 202. The lifting unit is configured to drive the lifting top plate 202 to rise and fall under the drive of the power unit. In practical applications, the first support 401 and the second support 406 can also be configured as one body. Then the portion for installing the power unit is defined as the first support 401; and the portion for installing the lifting unit is defined as the second support 406.

[0042] Specific, combined Figures 5 to 7 The power unit includes a driving motor 402, a reducer 403 connected to the output end of the driving motor 402, and a driving wheel 404 arranged at the output end of the reducer 403. The reducer 403 is installed on the first support 401. The driving motor 402 is fixed on the reducer 403.

[0043] Combination Figure 8The lifting unit includes a coaxially arranged lifting screw 414, a threaded sleeve 413, a rotating sleeve 411 and a driven wheel 412. The lifting screw 414 is arranged along the lifting direction and is restricted to move along the lifting direction. For this embodiment, it can be understood that the lifting screw 414 is arranged vertically and can only move in the vertical direction. The top of the lifting screw 414 is connected to the lifting top plate 202. The threaded sleeve 413 is sleeved on the lifting screw 414 and is threadedly matched with the lifting screw 414. The rotating sleeve 411 is fixedly connected to the threaded sleeve 413 and is restricted to be rotatably connected to the second support 406. The driven wheel 412 is fixedly connected to the rotating sleeve 411.

[0044] The driving wheel 404 is connected to the driven wheel 412 by transmission. The transmission connection is as follows: the driving wheel 404 is connected to the output end of the speed reducer 403, the transmission belt 405 is tightened on the driving wheel 404 and the driven wheel 412, and the driven wheel 412 is connected to the lifting unit. Among them, the driving wheel 404 and the driven wheel 412 can adopt synchronous wheels, and the transmission belt 405 adopts a synchronous belt to achieve precise control of the lifting stroke. Alternatively, the transmission connection method can also adopt a driving gear and a driven gear of meshing transmission, the driving gear is connected to the output end of the speed reducer 403, and the driven gear is connected to the lifting unit. Another alternative method can also be a sprocket transmission structure, which is not described here. Thus, the driven wheel 412 is connected to the power unit by transmission to obtain power to make the rotating sleeve 411 rotate coaxially relative to the lifting screw 414. The threaded sleeve 413 rotates with the rotating sleeve 411. Since the lifting screw 414 is restricted to lifting and lowering motion, the lifting screw 414 causes the lifting top plate 202 to rise or fall.

[0045] In a further embodiment, in order to provide sufficient support for the rotating sleeve 411, an annular step (not marked in the figure) coaxial with the lifting screw 414 is provided in the second support 406, and a rotating bearing 410 capable of bearing an axial load is provided on both axial sides of the annular step. The rotating bearing 410 may be a thrust roller bearing. The inner ring of the rotating bearing 410 is coaxially connected to the rotating sleeve 411, and the two are preferably interference fit. The outer ring of the rotating bearing 410 is connected to the inner wall of the second support 406. Similarly, the two are preferably interference fit. In addition, the rotating bearing 410 abuts against the above-mentioned annular step. Through this arrangement, the rotating bearing 410 can provide axial support to the rotating sleeve 411, and can also axially restrict it so that it can only rotate.

[0046] The transmission connection is described using a driving wheel 404, a transmission belt 405 and a driven wheel 412. The driven wheel 412 is coaxially fixedly connected with a rotating sleeve 411. The driven wheel 412 drives the threaded sleeve 413 to rotate through the rotating sleeve 411, thereby lifting and lowering the jacking screw 414. Among them, a jacking block 415 with a lateral dimension larger than the diameter of the jacking screw 414 is provided at the top of the jacking screw 414; the jacking screw 414 is connected to the jacking top plate 202 through the jacking block 415. Compared with the end of the jacking screw 414 directly lifting and contacting the jacking top plate 202, the jacking block 415 increases the contact area between the lifting unit and the jacking top plate 202, reduces the concentrated force of the lifting unit on the jacking top plate 202, and avoids causing partial deformation of the jacking top plate 202.

[0047] In a further embodiment, in combination Figure 5 and Figure 6 , the lifting unit also includes sliding units arranged on both sides of the second support 406, and the sliding units are configured to achieve smooth lifting of the lifting unit. Specifically, the sliding unit includes a guide pillar 409 fixed to the lifting top plate 202, a slider 408 arranged on the side of the guide pillar 409, and a slide rail 407 slidably connected to the slider 408, and the slide rail 407 is fixed to the second support 406 along the lifting direction. The slider 408 plays a role of transmission and support. The slider 408 contacts the slide surface on the slide rail 407 to achieve smooth lifting of the lifting unit along the setting direction of the slide rail 407. This setting is also used to achieve rotation restriction of the lifting screw 414, so that the lifting screw 414 can only move up and down.

[0048] like Fig. 9As shown, the link mechanism 50 includes two linkage units arranged side by side on the lifting base plate 201 along the first direction and two first links 505 arranged side by side along the second direction; the linkage unit includes a first hinge seat 501 arranged on the top surface of the lifting base plate 201 along the second direction, a second hinge seat 502 arranged on the bottom surface of the lifting top plate 202 along the second direction, a rocker 503 hinged to the first hinge seat 501 at one end, and a second link 504 and a hinge shaft 506 extending along the second direction. In this embodiment, the first direction refers to the direction of the length of the lifting base plate 201, and the second direction refers to the direction of the width of the lifting base plate 201. In actual applications, the first direction and the second direction can be adjusted, that is, they are not correspondingly limited to the length and width directions of the lifting base plate 201. The second hinge seat 502 is arranged correspondingly to the first hinge seat 501 up and down. The two ends of the second connecting rod 504 extend along a direction perpendicular to the length of the second connecting rod 504 to form a first hinged portion 5021 hingedly matched with the other end of the rocker 503 (i.e., the end of the rocker 503 away from the first hinge seat 501) and a second hinged portion 5022 hingedly matched with the second hinge seat 502. The rocker 503 and the first hinged portion 5021 are hingedly matched through the hinge shaft 506. The length direction of the first connecting rod 505 extends substantially along the first direction. The two ends of the first connecting rod 505 are respectively rotatably connected to the same side ends of the two hinge shafts 506 of the two linkage units.

[0049] When the lifting top plate 202 is lifted by the driving mechanism 40, the lifting top plate 202 drives the second hinged seat 502 to be lifted, and at the same time, the second connecting rod 504 transmits power to the rocker 503 through the first connecting rod 505 and the hinge shaft 506, driving the rocker 503 to rotate counterclockwise, ensuring that all parts of the lifting top plate 202 are lifted at the same time during the lifting process. Similarly, when the lifting top plate 202 is lowered, the lifting top plate 202 drives the second hinged seat 502 to be lowered, and at the same time, the second connecting rod 504 transmits power to the rocker 503 through the first connecting rod 505 and the hinge shaft 506, driving the rocker 503 to rotate clockwise, ensuring that all parts of the lifting top plate 202 are lowered at the same time during the lowering process, so that the lifting platform 30 can maintain balance during the lifting process and reduce safety hazards.

[0050] In a further embodiment, Figure 3 As shown, the lifting and transporting robot further includes an annular support member 203 disposed on a lifting top plate 202. The lifting platform 30 is disposed on the annular support member 203. The lifting top plate 202 is provided with an avoidance hole adapted to the position of the driving motor 402, thereby reducing the size of the power unit in the vertical direction while ensuring the lifting stroke, thereby reducing the height of the robot chassis 10.

[0051] In a further embodiment, Figure 2As shown, a support rubber pad 301 is provided on the surface of the jacking platform 30. When there is material on the jacking platform 30, the support rubber pad 301 can evenly disperse the load borne by the jacking platform 30, thereby reducing the local stress concentration of the material on the jacking platform 30, improving the load-bearing capacity and stability of the jacking platform 30, and reducing the wear of the jacking platform 30. At the same time, the support rubber pad 301 can increase the friction between the jacking platform 30 and the material, preventing the material from slipping during the driving process of the jacking transfer robot.

[0052] The driving mechanism 40 in the lifting and transferring robot provided in this embodiment drives the lifting top plate 202 to rise and fall, thereby making the lifting platform 30 move up and down, and can maintain a uniform lifting speed, thereby improving the stability of the lifting process. At the same time, combined with speed control, it is relatively convenient to achieve accurate control of the lifting stroke. At the same time, during the lifting process of the lifting top plate 202, the linkage mechanism 50 cooperates in a coordinated manner, which can ensure the consistency of various parts of the lifting top plate 202 during the lifting process, avoid the lifting platform 30 from tilting due to uneven load, keep the lifting platform 30 balanced, and reduce safety hazards.

[0053] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A lifting and transferring robot, characterized in that: include: Robot chassis (10); A lifting assembly (20) comprises a lifting base plate (201) fixed to the robot chassis (10), a lifting top plate (202) arranged on the lifting base plate (201), and a driving mechanism (40) and a connecting rod mechanism (50) arranged between the lifting base plate (201) and the lifting top plate (202); the driving mechanism (40) is used to drive the lifting top plate (202) to rise and fall; the connecting rod mechanism (50) is used to maintain the balance of the lifting top plate (202) in a linked manner; A lifting platform (30) is arranged on the lifting assembly (20).

2. The lifting and transferring robot according to claim 1, characterized in that: The driving mechanism (40) comprises a first support (401) arranged on the lifting base plate (201), a power unit installed on the first support (401), a second support (406) arranged on the lifting base plate (201), and a lifting unit installed on the second support (406); the power unit is transmission-connected to the lifting unit; the lifting unit is connected to the lifting top plate (202); the lifting unit is configured to drive the lifting top plate (202) to rise and fall under the drive of the power unit.

3. The lifting and transferring robot according to claim 2, characterized in that: The lifting unit comprises a coaxially arranged lifting screw (414), a threaded sleeve (413), a rotating sleeve (411) and a driven wheel (412); the lifting screw (414) is arranged along the lifting direction and is restricted to move along the lifting direction; the top of the lifting screw (414) is connected to the lifting top plate (202); the threaded sleeve (413) is sleeved on the lifting screw (414) and threadedly matched with the lifting screw (414); the rotating sleeve (411) is fixedly connected to the threaded sleeve (413) and is restricted to be rotatably connected to the second support (406); the driven wheel (412) is fixedly connected to the rotating sleeve (411); the driven wheel (412) is transmission-connected to the power unit to obtain power to make the rotating sleeve (411) rotate coaxially relative to the lifting screw (414).

4. The lifting and transferring robot according to claim 3, characterized in that: An annular step coaxial with the lifting screw (414) is provided inside the second support (406), and rotating bearings (410) capable of bearing axial loads are respectively provided on both axial sides of the annular step, and the inner ring of the rotating bearing (410) is coaxially connected to the rotating sleeve (411); the outer ring of the rotating bearing (410) is connected to the inner wall of the second support (406).

5. The lifting and transferring robot according to claim 3, characterized in that: The power unit comprises a driving motor (402), a reducer (403) connected to the output end of the driving motor (402), and a driving wheel (404) arranged at the output end of the reducer (403); the reducer (403) is installed on the first support (401); and the driving wheel (404) is drivingly connected to the driven wheel (412).

6. The lifting and transferring robot according to claim 3, characterized in that: A lifting block (415) having a lateral dimension greater than the diameter of the lifting screw (414) is provided at the top of the lifting screw (414); the lifting screw (414) is connected to the lifting top plate (202) via the lifting block (415).

7. The lifting and transferring robot according to claim 3, characterized in that: The lifting unit also includes a guide pillar (409) fixed to the lifting top plate (202), a slider (408) arranged on the side of the guide pillar (409), and a slide rail (407) slidably connected to the slider (408), and the slide rail (407) is fixed to the second support (406) along the lifting direction.

8. The lifting and transferring robot according to claim 5, characterized in that: The lifting top plate (202) is provided with an avoidance hole adapted to the position of the driving motor (402); the lifting top plate (202) is provided with an annular support member (203) adapted to the position of the driving motor (402); and the lifting platform (30) is provided on the annular support member (203).

9. The lifting and transferring robot according to claim 1, characterized in that: The connecting rod mechanism (50) comprises two linkage units arranged on the lifting base plate (201) along the first direction and two first connecting rods (505) arranged along the second direction; the linkage unit comprises a first hinge seat (501) arranged on the top surface of the lifting base plate (201) along the second direction, a second hinge seat (502) arranged on the bottom surface of the lifting top plate (202) along the second direction, a rocker (503) hinged to the first hinge seat (501) at one end, and a second connecting rod (504) and an articulated shaft (506) extending along the second direction; the second hinge seat (502) and the first hinge seat (502) are connected to each other. An articulated seat (501) is correspondingly arranged above and below; the two ends of the second connecting rod (504) are respectively extended in a direction perpendicular to the length of the second connecting rod (504) to form a first articulated portion (5021) articulated with the other end of the rocker (503) and a second articulated portion (5022) articulated with the second articulated seat (502); the rocker (503) and the first articulated portion (5021) are articulated through the articulated shaft (506); the two ends of the first connecting rod (505) are respectively rotatably connected to the same side ends of the two articulated shafts (506) of the two linkage units.

10. The lifting and transferring robot according to claim 1, characterized in that: A supporting rubber pad (301) is provided on the surface of the lifting platform (30).

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