Transfer robot

Abstract

The utility model discloses a transfer robot. The transfer robot comprises a track; the frame comprises a lifting guide rail; the walking mechanism is connected to the frame and comprises a first driving mechanism and walking wheels, and the first driving mechanism drives the walking wheels to roll on the rails so that the frame can move in the first direction relative to the rails; the lifting mechanism comprises a lifting frame and a second driving mechanism, the lifting frame is rotationally connected with a plurality of rollers, the rollers roll on the lifting guide rails, and the second driving mechanism drives the lifting frame to move relative to the frame in the second direction; the telescopic pallet fork is connected to the lifting frame and comprises a third driving mechanism and a telescopic assembly, the third driving mechanism drives the telescopic assembly to stretch out and draw back in the third direction, the first direction and the third direction are both the horizontal direction, the second direction is the vertical direction, and the first direction is perpendicular to the third direction. And the movement range of the telescopic pallet fork is expanded.

Description

Technical Field

[0001] The utility model generally relates to the field of conveying equipment, and in particular to a transfer robot. Background Art

[0002] Transfer robots are mainly used in various links of logistics systems and production lines, such as inbound and outbound platforms, buffer stations, conveyors, elevators and line-side workstations. They transport materials according to plans and instructions, which can significantly reduce transportation costs.

[0003] Existing transfer robots are generally unable to move in three directions: X, Y, and Z. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a transfer robot.

[0005] In the first aspect, the transfer robot of the utility model comprises:

[0006] track;

[0007] a vehicle frame including a lifting rail;

[0008] A walking mechanism connected to the frame, the walking mechanism comprising a first driving mechanism and a walking wheel, the first driving mechanism driving the walking wheel to roll on the track so that the frame moves along a first direction relative to the track;

[0009] A lifting mechanism, comprising a lifting frame and a second driving mechanism, wherein the lifting frame is rotatably connected to a plurality of rollers, the plurality of rollers roll on the lifting guide rail, and the second driving mechanism drives the lifting frame to move along a second direction relative to the vehicle frame; and

[0010] A telescopic fork is connected to the lifting frame, and the telescopic fork includes a third driving mechanism and a telescopic assembly. The third driving mechanism drives the telescopic assembly to extend and retract along a third direction.

[0011] The first direction and the third direction are both horizontal directions, the second direction is a vertical direction, and the first direction is perpendicular to the third direction.

[0012] According to the technical solution provided in the embodiment of the present application, the telescopic assembly is driven to telescope along the third direction by the third driving mechanism, that is, the telescopic fork is moved along the X direction, the frame is driven to move in the first direction relative to the track by the first driving mechanism, that is, the telescopic fork is moved in the Y direction, and the lifting frame is driven to move in the second direction relative to the frame by the second driving mechanism, that is, the telescopic fork is moved in the Z direction, thereby expanding the movement range of the telescopic fork. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0014] Figure 1 A schematic diagram of the structure of a transfer robot according to an embodiment of the utility model;

[0015] Figure 2 A schematic diagram of the structure of a hidden protective cover of a transfer robot according to an embodiment of the utility model;

[0016] Figure 3 A schematic diagram of the structure of a hidden protective cover of a transfer robot according to an embodiment of the utility model;

[0017] Figure 4 A schematic diagram of the structure of a hidden protective cover of a transfer robot according to an embodiment of the utility model;

[0018] Figure 5 for Figure 1 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION

[0019] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Please refer to Figures 1 to 4The transfer robot of the utility model includes: a track 100; a frame 200, which includes a lifting guide rail 211; a walking mechanism 300, which is connected to the frame 200, and the walking mechanism 300 includes a first driving mechanism 310 and a walking wheel 321. The first driving mechanism 310 drives the walking wheel 321 to roll on the track 100 so that the frame 200 moves along the first direction relative to the track 100; a lifting mechanism 400, which includes a lifting frame 410 and a second driving mechanism 420. The lifting frame 410 is rotatably connected to the plurality of The invention further comprises a plurality of rollers 411, wherein the plurality of rollers 411 roll on the lifting guide rail 211, and the second driving mechanism 420 drives the lifting frame 410 to move along the second direction relative to the frame 200; and a telescopic fork 500, which is connected to the lifting frame 410, and the telescopic fork 500 comprises a third driving mechanism 510 and a telescopic assembly 520, and the third driving mechanism 510 drives the telescopic assembly 520 to telescope along the third direction, the first direction and the third direction are both horizontal directions, the second direction is a vertical direction, and the first direction and the third direction are perpendicular to each other.

[0022] In an embodiment of the present invention, the track 100 is laid on the ground, the running wheel 321 rolls on the track 100, and the running wheel 321 is driven to rotate by the first driving mechanism 310, so that the frame 200 moves along the first direction relative to the track 100. The first driving mechanism 310 may include, but is not limited to, a motor and a reducer.

[0023] The lifting mechanism 400 includes a lifting frame 410 and a second driving mechanism 420. The lifting frame 410 is rollingly connected with a plurality of rollers 411. The plurality of rollers 411 roll on the lifting guide rail 211 to realize the movable connection between the lifting frame 410 and the frame 200. The second driving mechanism 420 can drive the lifting frame 410 to move in the second direction, that is, to lift in the vertical direction. The second driving mechanism 420 can be, but is not limited to, a servo electric cylinder. The servo electric cylinder includes a cylinder body and a piston rod. The cylinder body is connected to the lifting frame 410, and the piston rod is connected to the frame 200. The lifting frame 410 is driven to move up and down by the extension and contraction of the piston rod. When the first driving mechanism 310 drives the frame 200 to move in the first direction relative to the track 100, it will also drive the lifting mechanism 400 to move in the first direction.

[0024] The telescopic fork 500 includes a third driving mechanism 510 and a telescopic assembly 520, and the third driving mechanism 510 drives the telescopic assembly 520 to telescope along the third direction. The third driving mechanism 510 may be, but is not limited to, a motor, and the third driving mechanism 510 uses a transmission belt or a transmission chain to drive the telescopic assembly 520 to perform telescopic movement. The telescopic fork 500 is connected to the lifting frame 410. When the first driving mechanism 310 drives the frame 200 to move in the first direction relative to the track 100, the telescopic fork 500 is also driven to move in the first direction (Y direction). When the second driving mechanism 420 drives the lifting frame 410 to move in the second direction, the telescopic fork 500 is also driven to move in the second direction (Z direction). The third driving mechanism 510 drives the telescopic assembly 520 to telescope along the third direction (X direction). The telescopic fork 500 is enabled to move in three directions of X\Y\Z, and the range of motion of the telescopic fork 500 is expanded.

[0025] Furthermore, the traveling mechanism 300 includes a plurality of traveling wheel boxes 320 , one traveling wheel box 320 is rotatably connected to a plurality of traveling wheels 321 , and the first driving mechanism 310 drives the plurality of traveling wheel boxes 320 to move synchronously.

[0026] In the embodiment of the utility model, the walking wheel box 320 can improve the load-bearing capacity of the transfer robot, and the walking wheel box 320 has a compact structure and runs smoothly. By providing a plurality of walking wheel boxes 320, the walking mechanism 300 can move along the track 100, thereby ensuring the stability of the movement.

[0027] refer to Figure 1 and 5 The wheel box 320 is also rotatably connected to a plurality of lower rollers 322, and the lower rollers 322 are rollers on the side of the track 100. It can be, but not limited to, a wheel box 320 includes a wheel 321 and four lower rollers 322, the wheel 321 rolls on the top of the track 100, two lower rollers 322 roll on one side of the track 100, and two lower rollers 322 roll on the other side of the track 100. The track 100 is provided with a first protrusion 110, and the lower roller 322 is provided with a second protrusion 323, the second protrusion 323 is located below the first protrusion 110, and the projections of the first protrusion 110 and the second protrusion 323 on the same horizontal plane overlap, which can prevent the wheel box 320 from leaving the track 100, and ensure the stability of the transfer robot.

[0028] Furthermore, the frame 200 includes a first column 210, a second column 220 and a base plate 230, one end of the base plate 230 is bent and fixedly connected to a walking mechanism 300, the other end of the base plate 230 is bent and fixedly connected to another walking mechanism 300, the first column 210 is detachably fixedly connected to one walking mechanism 300, the second column 220 is detachably fixedly connected to another walking mechanism 300, the lifting frame 410 includes a first side plate 412, a second side plate 413 and a plurality of connecting members 414, the plurality of connecting members 414 are all located between the first side plate 412 and the second side plate 413, the first side plate 412 and the second side plate 413 are respectively detachably fixedly connected to the connecting members 414, the first side plate 412 and the second side plate 413 are respectively rotatably connected to a plurality of rollers 411, and the first column 210 and the second column 220 are respectively fixedly connected to the lifting guide rails 211.

[0029] In the embodiment of the utility model, two walking mechanisms 300 are connected by a bottom plate 230, so that the stability of the transfer robot is ensured. The two ends of the bottom plate 230 are bent upwards respectively to prevent the bottom plate 230 from interfering with the movement of the lifting mechanism 400. By setting two walking mechanisms 300, a first column 210 and a second column 220, a first side plate 412 is rotatably connected to a plurality of rollers 411, a second side plate 413 is rotatably connected to a plurality of rollers 411, and lifting rails 211 are respectively provided on the first column 210 and the second column 220, the rollers 411 rotatably connected on the first side plate 412 roll on the lifting rails 211 on the first column 210, and the rollers 411 rotatably connected on the second side plate 413 roll on the lifting rails 211 on the second column 220, so as to ensure the stability of the lifting mechanism 400 and the load-bearing capacity of the transfer robot.

[0030] A plurality of connectors 414 are provided between the first side plate 412 and the second side plate 413 to ensure the stability of the lifting frame 410. The first side plate 412 and the second side plate 413 are respectively detachably fixedly connected to the connectors 414. When the transfer robot is packaged and transported, the first side plate 412, the second side plate 413 and the connectors 414 can be disassembled, which reduces the transportation volume, facilitates the replacement of parts, and reduces the difficulty of maintenance. Of course, in addition to the first side plate 412, the second side plate 413 and the connectors 414, there are other structures that can be disassembled and assembled when the transfer robot is packaged and transported.

[0031] Furthermore, the telescopic fork 500 is connected to a plurality of connecting members 414 .

[0032] In the embodiment of the present utility model, the connecting member 414 can support the telescopic fork 500. By providing a plurality of connecting members 414, the reliability of supporting the telescopic fork 500 and the load-bearing capacity of the transfer robot are ensured.

[0033] Furthermore, the telescopic assembly 520 includes a base 521 , a first telescopic fork 522 and a second telescopic fork 523 . The base 521 is fixedly connected to the lifting frame 410 , the first telescopic fork 522 is slidably connected to the base 521 , and the second telescopic fork 523 is slidably connected to the first telescopic fork 522 .

[0034] In the embodiment of the utility model, the first telescopic fork 522 is slidably connected to the base 521, so that the first telescopic fork 522 can be telescoped relative to the base 521. The second telescopic fork 523 is slidably connected to the first telescopic fork 522, so that the second telescopic fork 523 can be telescoped relative to the first telescopic fork 522. Thus, the telescopic assembly 520 can be telescoped in multiple stages, and the telescopic range of the telescopic assembly 520 is expanded.

[0035] Furthermore, a rubber anti-slip sticker 524 is provided on the upper surface of the second telescopic fork 523 .

[0036] In an embodiment of the utility model, a rubber anti-skid sticker 524 is provided on the upper surface of the second telescopic fork 523. When the transfer robot is working, the rubber anti-skid sticker 524 contacts the object to be transferred during the process of the second telescopic fork 523 lifting the object to be transferred, thereby increasing the friction between the object to be transferred and the second telescopic fork 523, thereby preventing the object to be transferred from detaching from the second telescopic fork 523 during the process of the transfer robot transferring the object to be transferred, thereby ensuring the reliability of the transfer robot in transferring the object to be transferred.

[0037] Furthermore, the telescopic assembly 520 is provided with a plurality of middle switches 525 and a plurality of limit switches 526 , and the middle switches 525 and the limit switches 526 are electrically connected to the third driving mechanism 510 , respectively.

[0038] In the embodiment of the utility model, the retraction status of the telescopic assembly 520 is accurately detected and controlled under the limiting action of multiple mid-position switches 525 and multiple limit switches 526, thereby improving the reliability and stability of the telescopic assembly 520 and indirectly improving the working efficiency of the transfer robot.

[0039] Furthermore, the telescopic fork 500 includes two telescopic assemblies 520 , and the two telescopic assemblies 520 are driven by a universal coupling 530 .

[0040] In the embodiment of the utility model, two telescopic assemblies 520 are used to support the object to be transferred, thereby ensuring the stability of the object to be transferred. The two telescopic assemblies 520 are driven by a universal coupling 530, and only one third driving mechanism 510 is needed to drive the two telescopic assemblies 520 to move synchronously, thereby reducing the manufacturing cost of the transfer robot.

[0041] Furthermore, the universal coupling 530 is connected to a torque limiter 531 and an encoder 532 , and the torque limiter 531 and the encoder 532 are electrically connected to the third driving mechanism 510 , respectively.

[0042] In the embodiment of the utility model, the torque limiter 531 can monitor the torque of the universal coupling 530 to avoid excessive torque and damage to the universal coupling 530, thereby improving the reliability of the transfer robot. The encoder 532 can monitor the angular displacement of the universal coupling 530, control the start-up of the third driving mechanism 510, and accurately control the telescopic assembly 520.

[0043] Furthermore, the vehicle frame 200 is provided with a protective cover 240 , and the first driving mechanism 310 and the second driving mechanism 420 are located inside the protective cover 240 .

[0044] In the embodiment of the present utility model, the protective cover 240 can prevent the first driving mechanism 310 and the second driving mechanism 420 from being exposed, thereby ensuring the safety of the transfer robot.

[0045] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A transfer robot, characterized in that: include: track; a vehicle frame including a lifting rail; A walking mechanism connected to the frame, the walking mechanism comprising a first driving mechanism and a walking wheel, the first driving mechanism driving the walking wheel to roll on the track so that the frame moves along a first direction relative to the track; A lifting mechanism, comprising a lifting frame and a second driving mechanism, wherein the lifting frame is rotatably connected to a plurality of rollers, the plurality of rollers roll on the lifting guide rail, and the second driving mechanism drives the lifting frame to move along a second direction relative to the vehicle frame; and A telescopic fork is connected to the lifting frame, and the telescopic fork includes a third driving mechanism and a telescopic assembly. The third driving mechanism drives the telescopic assembly to extend and retract along a third direction. The first direction and the third direction are both horizontal directions, the second direction is a vertical direction, and the first direction is perpendicular to the third direction.

2. The transfer robot according to claim 1, characterized in that: The traveling mechanism comprises a plurality of traveling wheel boxes, one of the traveling wheel boxes is rotatably connected to a plurality of the traveling wheels, and the first driving mechanism drives the plurality of traveling wheel boxes to move synchronously.

3. The transfer robot according to claim 1, characterized in that: The frame includes a first column, a second column and a bottom plate, one end of the bottom plate is bent and fixedly connected to one of the walking mechanisms, the other end of the bottom plate is bent and fixedly connected to the other walking mechanism, the first column is detachably fixedly connected to one of the walking mechanisms, the second column is detachably fixedly connected to the other walking mechanism, the lifting frame includes a first side plate, a second side plate and a plurality of connecting members, the plurality of connecting members are all located between the first side plate and the second side plate, the first side plate and the second side plate are respectively detachably fixedly connected to the connecting members, the first side plate and the second side plate are respectively rotatably connected to a plurality of rollers, and the first column and the second column are respectively fixedly connected to the lifting guide rails.

4. The transfer robot according to claim 3, characterized in that: The telescopic fork is connected to a plurality of the connecting members.

5. The transfer robot according to claim 1, characterized in that: The telescopic assembly includes a base, a first telescopic fork and a second telescopic fork. The base is fixedly connected to the lifting frame, the first telescopic fork is slidably connected to the base, and the second telescopic fork is slidably connected to the first telescopic fork.

6. The transfer robot according to claim 5, characterized in that: A rubber anti-slip sticker is provided on the upper surface of the second telescopic fork.

7. The transfer robot according to claim 1, characterized in that: The telescopic assembly is provided with a plurality of middle position switches and a plurality of limit switches, and the middle position switches and the limit switches are electrically connected to the third driving mechanism respectively.

8. The transfer robot according to claim 1, characterized in that: The telescopic fork comprises two telescopic assemblies, and the two telescopic assemblies are driven by a universal coupling.

9. The transfer robot according to claim 8, characterized in that: The universal coupling is connected with a torque limiter and an encoder, and the torque limiter and the encoder are electrically connected to the third driving mechanism respectively.

10. The transfer robot according to claim 1, characterized in that: The frame is provided with a protective cover, and the first driving mechanism and the second driving mechanism are located inside the protective cover.

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