Intelligent carrying robot stable in parking

Abstract

The utility model relates to an intelligent transfer robot stable in parking, which comprises a vehicle body, a parking mechanism and a parking mechanism. A gantry; a fork assembly; a mounting rack; the shaping push plates are arranged at the front end of the mounting frame and located on the front side of the vertical portion of the pallet fork assembly, the mounting frame is provided with a plurality of shaping push plate driving pieces, and the shaping push plate driving pieces can drive the shaping push plates to move front and back. After the shaping push plate is pushed out, goods forked by the fork assembly can be shaped, so that the sides, corresponding to the shaping push plate, of the goods are flat; the sliding wedge assembly is arranged at the bottom end of the vehicle body, and when the shaping push plate is used for shaping and pushing the cargoes forked on the pallet fork assembly, the sliding wedge assembly downwards extends out and is plugged below one or more rotating wheels.

Description

Technical Field

[0001] The utility model relates to the field of transport robots, in particular to an intelligent transport robot with stable parking. Background Art

[0002] In the automated loading and unloading of materials, materials are loaded into containers from the supply site and unloaded from the containers to the destination. The basic functions of handling and loading are required to meet user requirements. In the logistics process, loading and unloading are very important links. With the rapid development of modern cargo loading and transportation technology, more and more users need to realize the rapid loading and transfer of materials.

[0003] During container loading, since the internal space of the container is fixed, if the gap between the goods exceeds the preset distance, or the goods (such as bagged sand, cement, rice, etc.) naturally deform and exceed the upper space corresponding to the bottom pallet, then when all the goods are placed inside the container, the total length of the goods will exceed the total length of the container, and the last row will protrude from the container door, causing the container door to be unable to close. In order to solve this problem, the existing technology needs to shape the goods. After each part of the goods is loaded, the goods that exceed the edge of the pallet are pushed forward and shaped so that the goods are placed closely. When the intelligent handling robot pushes the goods forward to shape them, if the forward propulsion force of the goods exceeds the friction or braking force of the intelligent robot against the ground, the reaction force of the goods on the intelligent handling robot will cause the intelligent robot to retreat, making it impossible to shape the goods. The prior art, such as the prior patent with application number CN202311448775.0 and titled A double-push intelligent handling robot and its control method, generates friction by extending the sliding shoe assembly downward and sticking to the ground when shaping the goods. However, when the goods are heavier, the sliding shoe assembly is still not enough to provide the corresponding friction.

[0004] The purpose of the present invention is to design an intelligent transport robot with stable parking in view of the above-mentioned problems in the prior art. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an intelligent transport robot with stable parking, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the utility model is:

[0007] An intelligent transport robot with stable parking.

[0008] A vehicle body, including a plurality of rotating wheels;

[0009] A gantry, one end of which is hingedly arranged at the front end of the vehicle body, and the gantry includes a longitudinal drive mechanism;

[0010] A fork assembly, arranged at the front end of the gantry and driven by the longitudinal drive mechanism to move up and down;

[0011] A mounting frame, which is arranged at the front end of the gantry and is driven by the longitudinal driving mechanism to move up and down together with the fork assembly;

[0012] A plurality of shaping push plates are arranged at the front end of the mounting frame, the shaping push plates are located at the front side of the vertical part of the fork assembly, the mounting frame is provided with a plurality of shaping push plate driving members, the shaping push plate driving members can drive the shaping push plates to move forward and backward, and the shaping push plates can shape the goods picked up by the fork assembly after being pushed out, so that the goods are flattened on the side corresponding to the shaping push plates;

[0013] The sliding wedge assembly is arranged at the bottom end of the vehicle body. When the shaping push plate shapes and pushes the goods picked up by the fork assembly, the sliding wedge assembly extends downward and is inserted under one or more of the rotating wheels.

[0014] Furthermore, the sliding wedge assembly includes a wedge head, which is swingably arranged at the bottom end of the vehicle body, and the wedge head is inserted under one or more of the rotating wheels after being swung downward.

[0015] Furthermore, the sliding wedge assembly includes a sliding shoe, which is swingably arranged at the bottom end of the vehicle body. After the sliding shoe is swung downward, it is closely attached to the ground to increase the friction of the vehicle body.

[0016] Furthermore, the sliding wedge assembly includes a mounting frame, the mounting frame is provided with a swing rod, the sliding shoe is fixedly connected to the bottom end of the swing rod, the wedge head is fixedly connected to the front end of the sliding shoe, and a driving cylinder is hinged between the mounting frame and the swing rod.

[0017] Furthermore, the bottom surfaces of the wedge head and the sliding shoe are both provided with rubber plates.

[0018] Furthermore, the wedge head has a structure with a low front end and a high rear end.

[0019] Furthermore, the wedge head is a triangular or arc-shaped structure.

[0020] Therefore, the utility model provides the following effects and / or advantages:

[0021] The sliding wedge assembly of the present application is arranged at the bottom end of the vehicle body. When the shaped push plate shapes and pushes the goods picked up by the fork assembly, the sliding wedge assembly extends downward, so that the wedge head is close to the ground, and at the same time, the front end of the wedge head is inserted into the bottom of the rotating wheel, thereby increasing the braking force of the rotating wheel, keeping the intelligent robot motionless, and improving the friction with the ground.

[0022] The present application adopts a structure in which the front end of the wedge head is low and the rear end is high, especially a triangular or arc-shaped structure, so that it can extend under the rotating wheel and be inserted under the rotating wheel under the action of the driving cylinder, thereby hindering the rotation of the rotating wheel through the wedge head.

[0023] The intelligent robot provided in the present application has stable parking, and when carrying heavy goods and shaping the goods, it can prevent the robot from being subjected to excessive reaction force and then sliding away.

[0024] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by practicing the invention. The purpose and other advantages of the invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0025] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of a viewing angle structure of an embodiment of the present utility model.

[0027] Figure 2 Another perspective structural schematic diagram of an embodiment of the utility model.

[0028] Figure 3 It is a structural schematic diagram of a sliding wedge assembly according to an embodiment of the utility model.

[0029] Figure 4 for Figure 1 A partial enlarged view of part A. DETAILED DESCRIPTION

[0030] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the accompanying drawings:

[0031] Embodiment 1

[0032] refer to Figure 1 , an intelligent handling robot with stable parking,

[0033] The vehicle body 1 includes a plurality of rotating wheels 101;

[0034] a gantry (not shown), one end of which is hingedly disposed at the front end of the vehicle body 1, and the gantry 2 includes a longitudinal drive mechanism;

[0035] A fork assembly 2, which is arranged at the front end of the gantry 2 and is driven by the longitudinal drive mechanism to move up and down;

[0036] A mounting frame 3, which is arranged at the front end of the gantry and is driven by the longitudinal driving mechanism to move up and down together with the fork assembly 2;

[0037] A plurality of shaping push plates 4 are arranged at the front end of the mounting frame 3. The shaping push plates 4 are located at the front side of the vertical part of the fork assembly 2. The mounting frame 3 is provided with a plurality of shaping push plate driving members 5. The shaping push plate driving members 5 can drive the shaping push plates 4 to move forward and backward. After the shaping push plates 4 are pushed out, the goods picked up by the fork assembly 2 can be shaped so that the side of the goods corresponding to the shaping push plates 2 is flat;

[0038] In this embodiment, the vehicle body 1, the fork assembly 2, the mounting frame 3, the shaping push plate 4, and the shaping push plate driving member 5 are all directly adopted from the prior art and will not be elaborated here. For details, please refer to the application number: CN202311448775.0, which is an existing application entitled A double-push intelligent handling robot and its control method.

[0039] The sliding wedge assembly 6 is arranged at the bottom end of the vehicle body 1. When the shaping push plate 4 shapes and pushes the goods picked up by the fork assembly 2, the sliding wedge assembly 6 extends downward and is inserted under one or more of the rotating wheels 101.

[0040] In this embodiment, a sliding wedge assembly 6 is added to the bottom end of the vehicle body 1. After extending downward and inserting into the rotating wheel 101, it can not only increase the friction of the vehicle body 1 against the ground, but also hinder the rotation of the rotating wheel 101 and thus prevent the vehicle body 1 from sliding backward, thereby achieving a technical effect of stable parking.

[0041] Furthermore, the sliding wedge assembly 6 includes a wedge head 601 , which is swingably disposed at the bottom end of the vehicle body 1 , and the wedge head 601 is inserted under one or more of the rotating wheels 101 after being swung downward.

[0042] In this embodiment, after the wedge head 601 swings downward, on the one hand, it can move forward and be inserted under one or more of the rotating wheels 101, and on the other hand, it can press down against the ground, thereby converting the driving force for the downward swing of the wedge head 601 into the friction force of the wedge head 601 on the ground, preventing the vehicle body 1 from sliding backward.

[0043] Furthermore, the sliding wedge assembly 6 includes a sliding shoe 602 , and the sliding shoe 602 is swingably disposed at the bottom end of the vehicle body 1 . After the sliding shoe 602 swings downward, it is closely attached to the ground, thereby increasing the friction of the vehicle body 1 .

[0044] After the sliding shoe 602 swings downward, it can be close to the ground, so that the driving force on the downward swing of the sliding shoe 602 is converted into the friction force of the sliding shoe 602 on the ground, preventing the vehicle body 1 from sliding backward.

[0045] Furthermore, the sliding wedge assembly 6 includes a mounting frame 603, the mounting frame is provided with a swing rod 604, the sliding shoe 602 is fixedly connected to the bottom end of the swing rod 604, the wedge head 601 is fixedly connected to the front end of the sliding shoe 602, and a driving cylinder 605 is hinged between the mounting frame 603 and the swing rod 604.

[0046] Furthermore, the bottom surfaces of the wedge head 601 and the sliding shoe 602 are both provided with rubber plates 606 .

[0047] Furthermore, the wedge head 601 has a structure with a low front end and a high rear end.

[0048] Furthermore, the wedge head 601 is a triangular or arc-shaped structure.

[0049] The wedge head 601 has a low front end and a high rear end, especially a triangular or arc-shaped structure, so that it can extend under the rotating wheel 101 and be inserted under the rotating wheel 101 under the action of the driving cylinder 605, so that the wedge head 601 plays a role in hindering the rotation of the rotating wheel 101. At the same time, the wedge head 601 cooperates with the rotating wheel 101, so that part of the pressure of the rotating wheel 101 on the ground is applied to the wedge head 601, thereby increasing the friction of the rubber plate under the wedge head 601.

[0050] If the wedge head 601 is an arc-shaped structure, the arc-shaped surface is an arc that matches the rotating wheel 101 .

[0051] It should be noted that in the claims, any reference signs placed between brackets shall not be constructed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The utility model can be implemented with the aid of hardware comprising several different components and with the aid of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0052] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms should not be understood as necessarily being directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. An intelligent transport robot with stable parking, characterized in that: A vehicle body, including a plurality of rotating wheels; A gantry, one end of which is hingedly arranged at the front end of the vehicle body, and the gantry includes a longitudinal drive mechanism; A fork assembly, arranged at the front end of the gantry and driven by the longitudinal drive mechanism to move up and down; A mounting frame, which is arranged at the front end of the gantry and is driven by the longitudinal driving mechanism to move up and down together with the fork assembly; A plurality of shaping push plates are arranged at the front end of the mounting frame, the shaping push plates are located at the front side of the vertical part of the fork assembly, the mounting frame is provided with a plurality of shaping push plate driving members, the shaping push plate driving members can drive the shaping push plates to move forward and backward, and the shaping push plates can shape the goods picked up by the fork assembly after being pushed out, so that the goods are flattened on the side corresponding to the shaping push plates; The sliding wedge assembly is arranged at the bottom end of the vehicle body. When the shaping push plate shapes and pushes the goods picked up by the fork assembly, the sliding wedge assembly extends downward and is inserted under one or more of the rotating wheels.

2. The intelligent transport robot with stable parking according to claim 1, characterized in that: The sliding wedge assembly comprises a wedge head, which is swingably arranged at the bottom end of the vehicle body. After the wedge head swings downward, it is inserted under one or more of the rotating wheels.

3. The intelligent transport robot with stable parking according to claim 2, characterized in that: The sliding wedge assembly includes a sliding shoe, which is swingably arranged at the bottom end of the vehicle body. After the sliding shoe swings downward, it is closely attached to the ground, thereby improving the friction of the vehicle body.

4. The intelligent transport robot with stable parking according to claim 3, characterized in that: The sliding wedge assembly includes a mounting frame, the mounting frame is provided with a swing rod, the sliding shoe is fixedly connected to the bottom end of the swing rod, the wedge head is fixedly connected to the front end of the sliding shoe, and a driving cylinder is hinged between the mounting frame and the swing rod.

5. The intelligent transport robot with stable parking according to claim 3, characterized in that: The bottom surfaces of the wedge head and the sliding shoe are both provided with rubber plates.

6. The intelligent transport robot with stable parking according to claim 2, characterized in that: The wedge head has a structure with a low front end and a high rear end.

7. The intelligent transport robot with stable parking according to claim 6, characterized in that: The wedge head is a triangular or arc-shaped structure.

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