Walking device of loading and unloading carrying robot

Abstract

The utility model relates to the technical field of intelligent robots, in particular to a walking device of a feeding and discharging carrying robot. The technical problems that a walking device of a common transfer robot generally only comprises a driving structure and a walking structure, does not have a structure for providing lateral supporting when stopping movement, is prone to slipping and needs to be improved in stability when work needs to be fixed in the feeding and discharging process or the material taking process and the like, and does not have a height adjusting structure at the same time are solved. The working height is inconvenient to change according to needs, and the use flexibility needs to be improved. According to the technical scheme, the walking device of the feeding and discharging carrying robot comprises a chassis. According to the utility model, the first lateral support assembly and the second lateral support assembly can provide lateral support in a stop state, prevent accidental slippage and improve the stability during feeding, discharging or taking, and the lifting assembly is arranged, so that the height adjustment is realized, and the use flexibility is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to a walking device of a loading and unloading material handling robot. Background Art

[0002] The walking device of a loading and unloading robot refers to the device used by the robot to move and position itself within the working area. It usually adopts various advanced technologies and designs to ensure that the robot can walk safely and efficiently in a complex environment and complete the required loading and unloading tasks.

[0003] The walking device of a common handling robot usually only includes a driving structure and a walking structure. It lacks a structure to provide lateral support when stopping movement. When working in a fixed position such as loading and unloading or picking up materials, it is prone to slippage and its stability needs to be improved. At the same time, it lacks a height adjustment structure, which makes it inconvenient to change the working height according to needs, and its flexibility of use needs to be improved.

[0004] Therefore, the walking device of the above-mentioned transport robot lacks a structure to provide lateral support when it stops moving, and its stability needs to be improved. At the same time, it lacks a height adjustment structure, which makes it inconvenient to change the working height as needed, and its flexibility of use needs to be improved. These problems urgently need to be solved in order to improve the usage scenarios. Utility Model Content

[0005] In order to overcome the problem that the walking device of the common handling robot lacks a structure to provide lateral support when stopping movement, and also lacks a height adjustment structure.

[0006] The technical solution of the utility model is: a walking device of a loading and unloading material handling robot, including a chassis, front and rear sides of the lower end of the chassis are connected to walking wheels through bearings, a first drive assembly is installed on the top of the front end of the chassis, a second drive assembly is connected to the top of the rear end of the chassis, a first lateral support assembly is installed on the right side of the chassis, a second lateral support assembly is arranged on the left side of the chassis, a lifting assembly is connected to the top of the left and right ends of the chassis, and a mounting frame is installed on the upper end of the lifting assembly.

[0007] Preferably, the first lateral support assembly and the second lateral support assembly are provided to provide lateral support in the stopped state, and prevent accidental slippage, thereby improving stability during loading and unloading or picking up materials. The height adjustment is achieved through the provided lifting assembly, thereby improving flexibility of use, so as to solve the problem that the walking device of a common handling robot usually only includes a driving structure and a walking structure, and lacks a structure to provide lateral support when the robot stops moving. When the robot needs to work in a fixed position such as loading and unloading or picking up materials, it is prone to slippage, and the stability needs to be improved. At the same time, the lack of a height adjustment structure makes it inconvenient to change the working height as needed, and the flexibility of use needs to be improved.

[0008] Preferably, the first drive assembly includes a first drive motor, a first rotating wheel, and a first crawler track; the first drive motor is installed on the top of the front end of the chassis, the front end of the first drive motor is connected to the first rotating wheel, the outer side of the first rotating wheel is connected to the walking wheel at the front end of the chassis through the first crawler track, and the first drive motor is started, and the first rotating wheel drives the walking wheel at the front end of the chassis to rotate through the first crawler track.

[0009] Preferably, the second drive assembly includes a second drive motor, a second rotating wheel, and a second track; a second drive motor is arranged on the top of the rear end of the chassis, a second rotating wheel is connected to the rear end of the second drive motor, the outer side of the second rotating wheel is transmission-connected to the traveling wheel at the rear end of the chassis through the second track, and when the second drive motor is started, the second rotating wheel drives the traveling wheel at the rear end of the chassis to rotate through the second track to achieve movement, and turning is achieved through the speed difference or different rotation direction of the traveling wheels at the front and rear ends of the chassis.

[0010] Preferably, the first lateral support assembly includes a first fixed frame, a first movable rod, a first anti-slip support strip, a first connecting plate, a first fixed plate, and a first electric push rod; a first fixed frame is installed on the right side of the chassis, a first movable rod is slidably connected to the lower end of the first fixed frame, a first anti-slip support strip is installed at the bottom of the first movable rod, a first connecting plate is connected to the right side of the first movable rod near the upper end, a first fixed plate is arranged on the right side of the upper end of the first fixed frame, and a first electric push rod is installed between the first fixed plate and the first connecting plate. When loading or unloading or taking materials, the first connecting plate and the first movable rod are driven downward by the first electric push rod to make the first anti-slip support strip contact the ground.

[0011] Preferably, the second lateral support assembly includes a second fixed frame, a second movable rod, a second anti-slip support strip, a second connecting plate, a second fixed plate, and a second electric push rod; a second fixed frame is connected to the left side of the chassis, a second movable rod is slidably connected to the lower end of the second fixed frame, a second anti-slip support strip is arranged at the bottom of the second movable rod, a second connecting plate is installed on the left side of the second movable rod near the upper end, a second fixed plate is connected to the left side of the upper end of the second fixed frame, a second electric push rod is arranged between the second fixed plate and the second connecting plate, and the second connecting plate and the second movable rod are driven downward by the second electric push rod so that the second anti-slip support strip contacts the ground, and when the first anti-slip support strip and the second anti-slip support strip both contact the ground, lateral support can be provided, while preventing accidental slippage, thereby improving stability during loading and unloading or taking materials.

[0012] Preferably, the lifting assembly includes a hydraulic lifting rod and a mounting platform; the hydraulic lifting rods are connected to the top of the left and right ends of the chassis, the mounting platform is installed on the upper end of the hydraulic lifting rods, and the mounting frame is connected to the top of the mounting platform. Controlling the hydraulic lifting rods can drive the mounting platform to rise and fall, achieve height adjustment, and improve flexibility of use.

[0013] Preferably, the lifting assembly includes a connecting block and a lighting strip; a connecting block is installed on the right side of the mounting platform near the front and rear ends, and a lighting strip is arranged on the right end of the connecting block, which can provide auxiliary lighting.

[0014] Beneficial effects of the utility model:

[0015] 1. The first lateral support assembly and the second lateral support assembly can provide lateral support in the stopped state, prevent accidental slippage, improve stability during loading and unloading or picking up materials, and realize height adjustment through the provided lifting assembly to improve flexibility of use, so as to solve the problem that the walking device of the common handling robot usually only includes a driving structure and a walking structure, lacks a structure to provide lateral support when stopped, is prone to slippage when working in a fixed position such as loading and unloading or picking up materials, and the stability needs to be improved. At the same time, the lack of a height adjustment structure makes it inconvenient to change the working height according to needs, and the flexibility of use needs to be improved;

[0016] 2. When loading, unloading or retrieving materials, the first electric push rod drives the first connecting plate and the first movable rod to move downward, so that the first anti-slip support strip contacts the ground; the second electric push rod drives the second connecting plate and the second movable rod to move downward, so that the second anti-slip support strip contacts the ground; when the first anti-slip support strip and the second anti-slip support strip both contact the ground, lateral support can be provided while preventing accidental slippage, thereby improving stability during loading, unloading or retrieving materials; controlling the hydraulic lifting rod can drive the mounting table to rise and fall, realize height adjustment, and improve flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 What is shown is a three-dimensional structural schematic diagram of a walking device of a loading and unloading handling robot of the utility model;

[0018] Figure 2 Shown is a schematic diagram of the structure of the first drive assembly and the second drive assembly of a walking device of a loading and unloading handling robot of the utility model;

[0019] Figure 3 Shown is a schematic diagram of the structure of the first lateral support assembly of a walking device of a loading and unloading handling robot of the utility model;

[0020] Figure 4 Shown is a schematic diagram of the structure of the second lateral support assembly of the walking device of a loading and unloading handling robot of the utility model;

[0021] Figure 5 Shown is a schematic diagram of the structure of the lifting assembly of the walking device of a loading and unloading handling robot of the utility model.

[0022] In the figure: 1, chassis; 2, walking wheel; 3, first drive assembly; 4, second drive assembly; 5, first lateral support assembly; 6, second lateral support assembly; 7, lifting assembly; 8, mounting frame; 301, first drive motor; 302, first rotating wheel; 303, first crawler; 401, second drive motor; 402, second rotating wheel; 403, second crawler; 501, first fixed frame; 502, first movable rod; 503, first anti-skid support strip; 504, first connecting plate; 505, first fixed plate; 506, first electric push rod; 601, second fixed frame; 602, second movable rod; 603, second anti-skid support strip; 604, second connecting plate; 605, second fixed plate; 606, second electric push rod; 701, hydraulic lifting rod; 702, mounting table; 703, connecting block; 704, lighting strip. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0024] See also Figure 1 The utility model provides an embodiment: a walking device of a loading and unloading material handling robot, including a chassis 1, front and rear sides of the lower end of the chassis 1 are connected with walking wheels 2 through bearings, a first driving assembly 3 is installed on the top of the front end of the chassis 1, a second driving assembly 4 is connected to the top of the rear end of the chassis 1, a first lateral support assembly 5 is installed on the right side of the chassis 1, a second lateral support assembly 6 is arranged on the left side of the chassis 1, a lifting assembly 7 is connected to the top of the left and right ends of the chassis 1, and a mounting frame 8 is installed on the upper end of the lifting assembly 7.

[0025] See also Figure 2 In this embodiment, the first driving assembly 3 includes a first driving motor 301, a first rotating wheel 302, and a first crawler 303; the first driving motor 301 is installed on the top of the front end of the chassis 1, the front end of the first driving motor 301 is connected to the first rotating wheel 302, the outer side of the first rotating wheel 302 is connected to the walking wheel 2 at the front end of the chassis 1 through the first crawler 303, the first driving motor 301 is started, the first rotating wheel 302 drives the walking wheel 2 at the front end of the chassis 1 to rotate through the first crawler 303, and the second driving assembly 4 includes a second driving A second driving motor 401, a second rotating wheel 402, and a second crawler track 403; a second driving motor 401 is arranged on the top of the rear end of the chassis 1, and a second rotating wheel 402 is connected to the rear end of the second driving motor 401. The outer side of the second rotating wheel 402 is transmission-connected to the traveling wheel 2 at the rear end of the chassis 1 through the second crawler track 403. When the second driving motor 401 is started, the second rotating wheel 402 drives the traveling wheel 2 at the rear end of the chassis 1 to rotate through the second crawler track 403 to realize movement, and steering is realized by the speed difference or different rotation direction of the traveling wheels 2 at the front and rear ends of the chassis 1.

[0026] See also Figure 3 In this embodiment, the first lateral support assembly 5 includes a first fixed frame 501, a first movable rod 502, a first anti-slip support strip 503, a first connecting plate 504, a first fixed plate 505, and a first electric push rod 506; the first fixed frame 501 is installed on the right side of the chassis 1, and the first movable rod 502 is slidably connected to the lower end of the first fixed frame 501, and the first anti-slip support strip 503 is installed at the bottom of the first movable rod 502. The first connecting plate 504 is connected to the right side of the first movable rod 502 near the upper end, and the first fixed plate 505 is arranged on the right side of the upper end of the first fixed frame 501. The first electric push rod 506 is installed between the first fixed plate 505 and the first connecting plate 504. When loading or unloading or taking materials, the first connecting plate 504 and the first movable rod 502 are driven to move downward by the first electric push rod 506, so that the first anti-slip support strip 503 contacts the ground.

[0027] See also Figure 4 In this embodiment, the second lateral support assembly 6 includes a second fixed frame 601, a second movable rod 602, a second anti-slip support strip 603, a second connecting plate 604, a second fixed plate 605, and a second electric push rod 606; the second fixed frame 601 is connected to the left side of the chassis 1, the second movable rod 602 is slidably connected to the lower end of the second fixed frame 601, the second anti-slip support strip 603 is arranged at the bottom of the second movable rod 602, and the second connecting plate 604 is installed near the upper end of the left side of the second movable rod 602. A second fixed plate 605 is connected to the left side of the upper end of the second fixed frame 601, and a second electric push rod 606 is arranged between the second fixed plate 605 and the second connecting plate 604. The second electric push rod 606 drives the second connecting plate 604 and the second movable rod 602 to move downward, so that the second anti-slip support bar 603 contacts the ground. When the first anti-slip support bar 503 and the second anti-slip support bar 603 both contact the ground, lateral support can be provided, while preventing accidental slippage, thereby improving stability during loading and unloading or taking materials.

[0028] See also Figure 5 In this embodiment, the lifting component 7 includes a hydraulic lifting rod 701 and a mounting platform 702; hydraulic lifting rods 701 are connected to the top of the left and right ends of the chassis 1, and the mounting platform 702 is installed on the upper end of the hydraulic lifting rod 701. The top of the mounting platform 702 is connected to the mounting frame 8. Controlling the hydraulic lifting rod 701 can drive the mounting platform 702 to rise and fall, realize height adjustment, and improve the flexibility of use. The lifting component 7 includes a connecting block 703 and a lighting strip 704; a connecting block 703 is installed on the right side of the mounting platform 702 near the front and rear ends, and a lighting strip 704 is arranged on the right end of the connecting block 703. The lighting strip 704 can provide auxiliary lighting.

[0029] When working, the first driving motor 301 is started, and the first rotating wheel 302 drives the walking wheel 2 at the front end of the chassis 1 to rotate through the first crawler 303, and the second driving motor 401 is started, and the second rotating wheel 402 drives the walking wheel 2 at the rear end of the chassis 1 to rotate through the second crawler 403 to achieve movement, and the steering is achieved by the speed difference or different rotation directions of the walking wheels 2 at the front and rear ends of the chassis 1. When loading or unloading or taking materials, the first connecting plate 504 and the first movable rod 502 are driven downward by the first electric push rod 506, so that the first anti-slip support bar 503 contacts The second electric push rod 606 drives the second connecting plate 604 and the second movable rod 602 to move downward, so that the second anti-skid support strip 603 contacts the ground. When the first anti-skid support strip 503 and the second anti-skid support strip 603 both contact the ground, lateral support can be provided, while preventing accidental slippage, thereby improving the stability during loading and unloading or taking materials. The hydraulic lifting rod 701 can be controlled to drive the mounting platform 702 to move up and down, realize height adjustment, and improve the flexibility of use. A lighting strip 704 is arranged at the right end of the connecting block 703, and the lighting strip 704 can provide auxiliary lighting.

[0030] Through the above steps, the first lateral support component 5 and the second lateral support component 6 can provide lateral support in the stopped state, and prevent accidental slippage, thereby improving the stability during loading and unloading or picking up materials. The height adjustment is achieved through the set lifting component 7, and the flexibility of use is improved to solve the problem that the walking device of a common handling robot usually only includes a driving structure and a walking structure, and lacks a structure to provide lateral support when the movement is stopped. When working in a fixed position such as loading and unloading or picking up materials, it is easy to slip, and the stability needs to be improved. At the same time, there is a lack of a height adjustment structure, which makes it inconvenient to change the working height as needed, and the flexibility of use needs to be improved.

[0031] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the purpose of the present invention.

Claims

1. A walking device of a loading and unloading material handling robot, comprising a chassis (1), characterized in that: The front and rear sides of the lower end of the chassis (1) are connected to walking wheels (2) via bearings; a first driving assembly (3) is installed on the top of the front end of the chassis (1); a second driving assembly (4) is connected to the top of the rear end of the chassis (1); a first lateral support assembly (5) is installed on the right side of the chassis (1); a second lateral support assembly (6) is provided on the left side of the chassis (1); a lifting assembly (7) is connected to the top of the left and right ends of the chassis (1); and a mounting frame (8) is installed on the upper end of the lifting assembly (7).

2. The walking device of the loading and unloading handling robot according to claim 1, characterized in that: The first drive assembly (3) comprises a first drive motor (301), a first rotating wheel (302), and a first crawler belt (303); the first drive motor (301) is mounted on the top of the front end of the chassis (1); the front end of the first drive motor (301) is connected to the first rotating wheel (302); the outer side of the first rotating wheel (302) is transmission-connected to the walking wheel (2) at the front end of the chassis (1) via the first crawler belt (303).

3. The walking device of the loading and unloading handling robot according to claim 1, characterized in that: The second drive assembly (4) comprises a second drive motor (401), a second rotating wheel (402), and a second crawler belt (403); the second drive motor (401) is arranged at the top of the rear end of the chassis (1); the rear end of the second drive motor (401) is connected to the second rotating wheel (402); the outer side of the second rotating wheel (402) is transmission-connected to the walking wheel (2) at the rear end of the chassis (1) via the second crawler belt (403).

4. The walking device of the loading and unloading handling robot according to claim 1, characterized in that: The first lateral support assembly (5) comprises a first fixed frame (501), a first movable rod (502), a first anti-slip support strip (503), a first connecting plate (504), a first fixed plate (505), and a first electric push rod (506); the first fixed frame (501) is installed on the right side of the chassis (1); the first movable rod (502) is slidably connected to the lower end of the first fixed frame (501); the first anti-slip support strip (503) is installed at the bottom of the first movable rod (502); the first connecting plate (504) is connected to the right side of the first movable rod (502) near the upper end; the first fixed plate (505) is arranged on the right side of the upper end of the first fixed frame (501); and the first electric push rod (506) is installed between the first fixed plate (505) and the first connecting plate (504).

5. The walking device of the loading and unloading handling robot according to claim 1, characterized in that: The second lateral support assembly (6) comprises a second fixed frame (601), a second movable rod (602), a second anti-slip support strip (603), a second connecting plate (604), a second fixed plate (605), and a second electric push rod (606); the second fixed frame (601) is connected to the left side of the chassis (1); the second movable rod (602) is slidably connected to the lower end of the second fixed frame (601); the second anti-slip support strip (603) is arranged at the bottom of the second movable rod (602); the second connecting plate (604) is installed on the left side of the second movable rod (602) near the upper end; the second fixed plate (605) is connected to the left side of the upper end of the second fixed frame (601); and the second electric push rod (606) is arranged between the second fixed plate (605) and the second connecting plate (604).

6. The walking device of the loading and unloading handling robot according to claim 1, characterized in that: The lifting assembly (7) comprises a hydraulic lifting rod (701) and a mounting platform (702); the hydraulic lifting rods (701) are connected to the tops of the left and right ends of the chassis (1); the mounting platform (702) is mounted on the upper ends of the hydraulic lifting rods (701); and the top of the mounting platform (702) is connected to a mounting frame (8).

7. The walking device of the loading and unloading handling robot according to claim 6, characterized in that: The lifting assembly (7) comprises a connecting block (703) and a lighting strip (704); the connecting block (703) is installed on the right side of the mounting platform (702) near the front and rear ends, and the lighting strip (704) is arranged at the right end of the connecting block (703).

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