High-adaptability intelligent transfer robot

Abstract

The utility model provides a high-adaptability intelligent transfer robot, which comprises a vehicle body, a lifting mechanism, a lifting mechanism and a lifting mechanism, the walking structures are used for supporting and driving the vehicle body to walk, each walking structure comprises a swing part and two walking wheel sets which are rotationally connected with the swing part and are supported on the ground in a rolling mode, the swing part is rotationally connected with the vehicle body to form a rotating point located between the two walking wheel sets, and one or more walking wheel sets are driven by the driving device to rotate; when one walking wheel set of one walking structure is pressed to float or sink, the swinging piece is driven to swing so as to drive the other walking wheel set to sink or float. Therefore, when the vehicle body walks on the uneven ground in the container or steers, the height among the plurality of walking wheel sets can adaptively float and sink up and down, so that the plurality of walking wheel sets are always attached to the ground in the walking process and support the vehicle body; and the overall weight and load of the vehicle body can be always shared to all the walking wheel sets.

Description

Technical Field

[0001] The utility model relates to the field of intelligent transport robots, in particular to a highly adaptable intelligent transport robot. Background Art

[0002] Intelligent handling robots are mainly used to lift and transport materials on the ground into containers to realize automated loading functions. They mainly include a walking trolley and a fork frame for inserting and removing materials. When used, they can be coordinated with intelligent lifting platforms, ramp devices connecting the ground and the container, etc. to complete loading. In actual use, low-cost ramp devices are more widely used.

[0003] However, since the floor inside the container is uneven, and the heights of several running wheel assemblies of the existing walking trolleys are fixed, when the walking trolley is traveling on the uneven floor inside the container or turning, the front-to-rear height or left-to-right height between several running wheel assemblies cannot be adjusted adaptively, and some wheels slip in the air and lose their supporting function. The weight of the entire vehicle is concentrated on the remaining wheels, resulting in uneven load and crushing the container floor. In addition, the center of gravity of the entire vehicle is offset, resulting in very unstable material handling.

[0004] The purpose of this invention is to design a highly adaptable intelligent handling robot in response to the problems existing in the above-mentioned prior art. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a highly adaptable intelligent handling robot, which can effectively solve the problems existing in the above-mentioned prior art.

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

[0007] A highly adaptable intelligent handling robot, comprising:

[0008] The vehicle body has a pickup mechanism on one side for picking up goods;

[0009] Several walking structures are used to support and drive the vehicle body to move. Each of the walking structures includes a swinging member and two walking wheel groups rotatably connected to the swinging member and rollingly supported on the ground. The swinging member is rotatably connected to the vehicle body to form a rotation point located between the two walking wheel groups. One or more groups of the walking wheel groups are driven to rotate by a driving device; when one of the walking wheel groups of a walking structure is pressurized to float up or sink, it drives the swinging member to swing, thereby driving the other walking wheel group to sink or float up.

[0010] Furthermore, the number of the walking structures is set to three and they are two active structures arranged on the left and right sides of the front of the vehicle body and one driven structure arranged on the rear middle side of the bottom of the vehicle body. The swinging member of the active structure is a first swinging frame extending forward and backward, and the two walking wheel groups are two active wheel groups arranged in parallel with a front-to-back interval and connected to the first swinging frame for front and back rotation. The driving wheel groups are driven to rotate by the driving device. The swinging member of the driven structure is a second swinging frame extending left and right, and the two walking wheel groups are two driven wheel groups arranged in parallel with a left and right interval and connected to the second swinging frame for front and back rotation.

[0011] Furthermore, the left and right sides of the vehicle body are detachably provided with fixed seats corresponding to the two active structures, the middle part of the first swing frame is rotatably connected to the bottom of the corresponding fixed seat, and the far ends of the active wheel groups on the left and right sides are respectively linked to linkage wheels, and the driving device includes motors respectively provided on the two fixed seats, the motor rotation output ends respectively linked and sleeved on the same side, and linkage chains on the outside of the two linkage wheels.

[0012] Furthermore, a tightening assembly is provided between each of the fixing bases and the motor, and the tightening assembly includes a first fixing block, a first upper block, a limit block, a mounting block, a second upper block, and a second fixing block distributed in sequence laterally, and the opposite sides of the first upper block and the second upper block are inclined to form a first upper top surface and a second upper top surface with a spacing gradually decreasing from top to bottom, and the two sides of the bottom surface of the mounting block are inclined to form a fitting surface adapted to abut against the first upper top surface and the second upper top surface, and the motor is mounted on the mounting block, and the limit block is limited and abutted against one end of the mounting block close to the first upper top block; a plurality of screw connectors are respectively screwed transversely through the first fixing block and the second fixing block to tighten the first upper block and the second upper block toward each other, so that the mounting block is moved upward to tension the linkage chain, and the mounting block, the first upper block, and the second upper block are screwed and fixed to the top of the fixing base.

[0013] Furthermore, the tightening components are distributed in sequence from front to back, and the mounting block, the first upper top block and the second upper top block are respectively penetrated by a number of long strip-shaped adjustment holes extending forward and backward, and the mounting block, the first upper top block, the second upper top block and the fixing seat are respectively screwed and fixed to the corresponding adjustment holes.

[0014] Furthermore, the top of the first swing frame is respectively fixed with a first hinged rib protruding upward and a plurality of first reinforcing ribs vertically fixed to the left and right sides of the first hinged rib, the bottom of the fixed seat extends downward to form a first hinged frame respectively hinged to the left and right sides of the first hinged rib, the top of the second swing frame is respectively fixed with a second hinged rib protruding upward and a plurality of second reinforcing ribs vertically fixed to the left and right sides of the second hinged rib, and the second hinged rib is hinged to the vehicle body through the second hinged frame.

[0015] Furthermore, the cargo picking mechanism includes a gantry and a fork assembly. The gantry is rotatably arranged at the front side of the vehicle body and is driven to rotate by a pitch cylinder. The gantry includes a longitudinal drive mechanism. The fork assembly is arranged at the front end of the gantry and is driven by the longitudinal drive mechanism to move up and down.

[0016] Therefore, the present invention provides the following effects and / or advantages:

[0017] 1. By adding a swinging member, when one wheel assembly of a walking structure is pressed up or down, it drives the swinging member to swing, thereby driving the other wheel assembly to sink or rise. As a result, when the vehicle body is traveling on uneven ground in a container or turning, the height between the several wheel assemblies can be adaptively raised and lowered. Specifically, the front-to-back height or left-to-right height between the several wheel assemblies can be adaptively raised and lowered. This ensures that the several wheel assemblies are always in contact with the ground and support the vehicle body during travel, so that the overall weight and load of the vehicle body can be always distributed among all the wheel assemblies, avoiding the situation where some wheel assemblies are suspended, causing the remaining wheel assemblies to be under greater pressure and damage the ground. This improves the overall center of gravity balance of the handling robot, thereby improving the stability of material handling and the convenience of vehicle body steering.

[0018] 2. The driving device drives the driving wheel groups of the two active structures to rotate to drive the driven wheel groups of the driven structure to rotate, thereby driving the entire vehicle body to move, thereby saving driving costs. On this basis, through the arrangement of the first swing frame extending front and rear and the second swing frame extending left and right, the front and rear height between the two driving wheel groups of the active structure can be adaptively adjusted up and down with the terrain, so that all the driving wheel groups are in contact with the ground and support the vehicle body when moving, and the left and right height between the two driven wheel groups of the driven structure can be adaptively adjusted up and down with the terrain and the turning of the vehicle body, so that all the driven wheel groups are in contact with the ground and support the vehicle body when moving or turning.

[0019] 3. By adding linkage wheels and linkage chains, the two driving wheel sets of an active structure can be driven synchronously by one motor, saving driving costs while not affecting the up and down floating function between the two driving wheel sets.

[0020] 4. After one end of the mounting block is fixed against the limit block, the second upper block is screwed horizontally through the screw connection to tighten the first upper block so that the first upper top surface is pressed against the corresponding fitting surface, and the mounting block, the second upper block, and the fixing seat are screwed and fixed in sequence, and then the second upper block is screwed horizontally through the screw connection to tighten the second upper block so that the second upper top surface is pressed against the corresponding fitting surface, and finally the mounting block, the first upper block, and the fixing seat are screwed and fixed in sequence, thereby completing the installation of the motor and the tensioning of the linkage chain, and ensuring the horizontal setting of the motor through the cooperation between the first upper top surface, the second upper top surface and the fitting surface, thereby improving the stability and service life of the motor drive.

[0021] 5. By setting the adjustment holes, the upper height of the first upper block and the second upper block to the mounting block can be adaptively adjusted according to actual conditions, and it is only necessary to adjust the front and rear positions of the screws and the adjustment holes.

[0022] 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

[0023] Figure 1 This is a structural diagram of a highly adaptable intelligent handling robot.

[0024] Figure 2 for Figure 1 Schematic diagram of the side structure.

[0025] Figure 3 It is a structural diagram of the active structure, drive device, and tightening assembly.

[0026] Figure 4 for Figure 3 Schematic diagram of the side structure.

[0027] Figure 5 It is a structural diagram of the driven structure.

[0028] Figure 6 for Figure 5 Schematic diagram of the side structure. DETAILED DESCRIPTION

[0029] 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 following embodiments and accompanying drawings:

[0030] refer to Figure 1-6 , a highly adaptable intelligent handling robot, comprising:

[0031] The vehicle body 1 is provided with a pickup mechanism 6 on one side for picking up goods;

[0032] Several walking structures are used to support and drive the vehicle body 1 to move. Each of the walking structures includes a swinging member and two walking wheel groups that are rotatably connected to the swinging member and rollingly supported on the ground. The swinging member is rotatably connected to the vehicle body 1 to form a rotation point located between the two walking wheel groups. One or more groups of the walking wheel groups are driven to rotate by the driving device 4; when one of the walking wheel groups of a walking structure is pressurized to float up or sink, it drives the swinging member to swing, thereby driving the other walking wheel group to sink or float up.

[0033] By adding a swinging member, when one of the wheel assemblies of the walking structure is pressed up or down, the swinging member is driven to swing, thereby driving the other wheel assemblies to sink or rise. As a result, when the vehicle body 1 is traveling on uneven ground in a container or turning, the heights of the several wheel assemblies can be adaptively raised and lowered. Specifically, the front-to-back height or left-to-right height of the several wheel assemblies can be adaptively raised and lowered, ensuring that the several wheel assemblies are always in contact with the ground and support the vehicle body 1 during travel. The overall weight and load of the vehicle body 1 can be always distributed among all the wheel assemblies, avoiding the situation where some wheel assemblies are suspended in the air, causing the remaining wheel assemblies to be under greater pressure and damage the ground. This improves the overall center of gravity balance of the handling robot, thereby improving the stability of material handling and the convenience of steering the vehicle body 1.

[0034] In order to save costs, the number of the walking structures is set to three, which are two active structures 2 arranged on the left and right sides of the front of the vehicle body 1 and a driven structure 3 arranged on the rear middle side of the bottom of the vehicle body 1. The swinging part of the active structure 2 is a first swinging frame 21 extending forward and backward, and the two walking wheel groups are two driving wheel groups 22 arranged in parallel with a front-to-back interval and connected to the first swinging frame 21 for front and back rotation. The driving wheel groups 22 are driven to rotate by the driving device 4. The swinging part of the driven structure 3 is a second swinging frame 31 extending left and right, and the two walking wheel groups are two driven wheel groups 32 arranged in parallel with a left and right interval and connected to the second swinging frame 31 for front and back rotation. By driving the driving wheel groups 22 of the two active structures 2 to rotate through the driving device 4 to drive the driven wheel groups 32 of the driven structure 3 to rotate, the vehicle body 1 can be driven to move as a whole, thereby saving driving costs. On this basis, through the arrangement of the first swing frame 21 extending front and rear and the second swing frame 31 extending left and right, the front and rear heights between the two driving wheel groups 22 of the active structure 2 can be adaptively adjusted up and down with the terrain, so that all the driving wheel groups 22 are in contact with the ground and support the vehicle body 1 when walking, and the left and right heights between the two driven wheel groups 32 of the driven structure 3 can be adaptively adjusted up and down with the terrain and the turning of the vehicle body 1, so that all the driven wheel groups 32 are in contact with the ground and support the vehicle body 1 when walking or turning.

[0035] To further save costs, the vehicle body 1 is detachably provided with fixing bases 11 corresponding to the two active structures 2 on both sides. The middle portion of the first swing frame 21 is rotatably connected to the bottom of the corresponding fixing base 11. The distal ends of the left and right driving wheel sets 22 are respectively linked to linkage wheels 23. The driving device 4 includes a motor 41 respectively provided on the two fixing bases 11, and a linkage chain 42 respectively provided on the same side and linked to the rotation output end of the motor 41 and the outer sides of the two linkage wheels 23. Thus, by adding linkage wheels 23 and linkage chains 42, the two driving wheel sets 22 of a driving structure 2 can be synchronously driven by a single motor 41, saving drive costs while maintaining the up and down floating function of the two driving wheel sets 22.

[0036] In order to ensure that the linkage chain 42 is tensioned while the motor 41 is installed horizontally, so as to avoid uneven force on the front and rear rotation output ends of the motor 41 and prevent them from being easily damaged, a tightening assembly 5 is provided between each of the fixing seats 11 and the motor 41. The tightening assembly 5 includes a first fixed block 51, a first upper block 52, a limit block 53, a mounting block 54, a second upper block 55, and a second fixed block 56, which are distributed in sequence laterally. The opposite sides of the first upper block 52 and the second upper block 55 are tilted to form a first upper top surface 521 and a second upper top surface 551 with a spacing gradually decreasing from top to bottom. The bottom surfaces of the mounting block 54 are tilted on both sides. A mating surface 541 is formed to be adapted to abut against the first upper top surface 521 and the second upper top surface 551, the motor 41 is mounted on the mounting block 54, and the limit block 53 is limitedly abutted against one end of the mounting block 54 close to the first upper top block 52; a plurality of screw connectors are respectively transversely screwed through the first fixing block 51 and the second fixing block 56 to press the first upper top block 52 and the second upper top block 55 toward each other, so that the mounting block 54 is pushed upward to tension the linkage chain 42, and the mounting block 54, the first upper top block 52, and the second upper top block 55 are screwed and fixed to the top of the fixing seat 11. Specifically, after the limit block 53 abuts against one end of the fixed mounting block 54, the second fixing block 56 is screwed horizontally through the screw connection to tighten the first upper block 52 so that the first upper top surface 521 is pressed against the corresponding fitting surface 541, and the mounting block 54, the second upper block 55, and the fixing seat 11 are screwed and fixed in sequence, and then the second upper block 55 is screwed horizontally through the screw connection to tighten the second upper block 55 so that the second upper top surface 551 is pressed against the corresponding fitting surface 541, and finally the mounting block 54, the first upper block 52, and the fixing seat 11 are screwed and fixed in sequence, thereby completing the installation of the motor 41 and the tensioning of the linkage chain 42, and ensuring the horizontal setting of the motor 41 through the cooperation between the first upper top surface 521, the second upper top surface 551 and the fitting surface 541, thereby improving the stability and service life of the drive of the motor 41.

[0037] In order to improve the adaptability of the tightening assembly 5, the tightening assembly 5 is arranged in sequence from front to back, and the mounting block 54, the first upper push block 52, and the second upper push block 55 are respectively penetrated with a plurality of long strip-shaped adjustment holes 57 extending forward and backward. The mounting block 54, the first upper push block 52, the second upper push block 55, and the fixing seat 11 are respectively screwed and fixed with the corresponding adjustment holes 57. Therefore, through the provision of the adjustment holes 57, the height of the first upper push block 52 and the second upper push block 55 supporting the mounting block 54 can be adaptively adjusted according to actual conditions by simply adjusting the front and rear positions of the screws and the adjustment holes 57.

[0038] To strengthen the structural strength of the first swing frame 21 and the second swing frame 31, the top of the first swing frame 21 is respectively fixed with an upwardly protruding first hinge rib 211 and a plurality of first reinforcing ribs 212 vertically fixed to the left and right sides of the first hinge rib 211. The bottom of the fixed seat 11 extends downward to form a first hinge frame 111 respectively hinged to the left and right sides of the first hinge rib 211. The top of the second swing frame 31 is respectively fixed with an upwardly protruding second hinge rib 311 and a plurality of second reinforcing ribs 312 vertically fixed to the left and right sides of the second hinge rib 311. The second hinge rib 311 is hinged to the vehicle body 1 via the second hinge frame 12. The addition of the plurality of first and second reinforcing ribs 212, 312 greatly improves the structural strength of the first and second swing frames 21, 31, and reduces the risk of fracture when the front and rear driving wheel sets 22 and the left and right driven wheel sets 32 float up and down.

[0039] Specifically, the picking-up mechanism 6 includes a gantry 61 and a fork assembly 62. The gantry 61 is rotatably arranged at the front side of the vehicle body 1 and is driven to rotate by the pitch cylinder 63. The gantry 61 includes a longitudinal drive mechanism 611. The fork assembly 62 is arranged at the front end of the gantry 61 and is driven by the longitudinal drive mechanism 611 to move up and down. The specific structure of the picking-up mechanism 6 is not the main invention point of this application. For details, please refer to the prior application entitled "Control method for a double-push intelligent transport robot" with application number CN202311734379.4, which specifically includes a vehicle body 1; a gantry 61, one end of which is hingedly arranged at the front end of the vehicle body 1, and the gantry 61 includes a longitudinal drive mechanism 611; a fork assembly 62, which is arranged at the front end of the gantry 61 and is driven by the longitudinal drive mechanism 611 to move up and down; and a mounting frame, which is arranged at The front end of the gantry 61 is driven by the longitudinal drive mechanism 611 and can move up and down together with the fork assembly 62; a number of shaping push plates are arranged at the front end of the mounting frame, and the shaping push plates are located in front of the vertical part of the fork assembly 62. The mounting frame is provided with a number of shaping push plate driving cylinders, and the shaping push plate driving cylinders can drive the shaping push plates to move forward and backward. After the shaping push plates are pushed out, the goods picked up by the fork assembly 62 can be shaped so that the side of the goods corresponding to the shaping push plates is flat.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A highly adaptable intelligent handling robot, characterized in that: include: The vehicle body (1) is provided with a pickup mechanism (6) on one side for picking up goods; A plurality of walking structures are used to support and drive the vehicle body (1) to walk, each of the walking structures includes a swinging member, and two walking wheel groups that are rotatably connected to the swinging member and supported on the ground in a rolling manner. The swinging member is rotatably connected to the vehicle body (1) to form a rotation point located between the two walking wheel groups. One or more groups of the walking wheel groups are driven to rotate by a driving device (4); when one of the walking wheel groups of a walking structure is pressed to float up or sink, the swinging member is driven to swing, thereby driving the other walking wheel group to sink or float up.

2. A highly adaptable intelligent handling robot according to claim 1, characterized in that: The number of the walking structures is set to three and they are respectively two active structures (2) arranged on the left and right sides of the front of the vehicle body (1) and a driven structure (3) arranged on the rear middle side of the bottom of the vehicle body (1); the swinging member of the active structure (2) is a first swinging frame (21) extending forward and backward; the two walking wheel groups are two active wheel groups (22) arranged in parallel with each other at intervals and connected to the first swinging frame (21) in a forward and backward rotation; the active wheel groups (22) are driven to rotate by the driving device (4); the swinging member of the driven structure (3) is a second swinging frame (31) extending forward and backward; the two walking wheel groups are two driven wheel groups (32) arranged in parallel with each other at intervals and connected to the second swinging frame (31) in a forward and backward rotation.

3. A highly adaptable intelligent handling robot as claimed in claim 2, characterized in that: The vehicle body (1) is detachably provided with fixed seats (11) corresponding to the two active structures (2) on the left and right sides. The middle portion of the first swing frame (21) is rotatably connected to the bottom of the corresponding fixed seat (11). The far ends of the active wheel groups (22) on the left and right sides are respectively linked to linkage wheels (23). The driving device (4) comprises motors (41) respectively provided on the two fixed seats (11), rotation output ends of the motors (41) respectively linked and sleeved on the same side, and linkage chains (42) on the outsides of the two linkage wheels (23).

4. A highly adaptable intelligent handling robot as claimed in claim 3, characterized in that: A tightening assembly (5) is provided between each of the fixing seats (11) and the motor (41), and the tightening assembly (5) comprises a first fixing block (51), a first upper top block (52), a limit block (53), a mounting block (54), a second upper top block (55), and a second fixing block (56) which are sequentially distributed laterally. The opposite sides of the first upper top block (52) and the second upper top block (55) are tilted to form a first upper top surface (521) and a second upper top surface (551) whose spacing gradually decreases from top to bottom. The bottom surfaces of the mounting block (54) are tilted to form a first upper top surface (521) and a second upper top surface (551) adapted to abut against the first upper top surface (521) and the second upper top surface (551). 551), the motor (41) is mounted on the mounting block (54), and the limit block (53) is positioned against one end of the mounting block (54) close to the first upper block (52); a plurality of screw connectors are respectively screwed transversely through the first fixed block (51) and the second fixed block (56) to press the first upper block (52) and the second upper block (55) toward each other, so that the mounting block (54) is moved upward to tighten the linkage chain (42), and the mounting block (54), the first upper block (52) and the second upper block (55) are screwed and fixed to the top of the fixing seat (11).

5. A highly adaptable intelligent handling robot as claimed in claim 4, characterized in that: The tightening components (5) are distributed sequentially from front to back, and the mounting block (54), the first upper top block (52) and the second upper top block (55) are respectively penetrated by a plurality of long strip-shaped adjustment holes (57) extending forward and backward, and the mounting block (54), the first upper top block (52), the second upper top block (55) and the fixing seat (11) are respectively screwed and fixed to the corresponding adjustment holes (57).

6. A highly adaptable intelligent handling robot as claimed in claim 3, characterized in that: The top of the first swing frame (21) is respectively fixed with a first hinge rib (211) protruding upward and a plurality of first reinforcing ribs (212) vertically fixed to the left and right sides of the first hinge rib (211); the bottom of the fixed seat (11) extends downward to form a first hinge frame (111) respectively hinged to the left and right sides of the first hinge rib (211); the top of the second swing frame (31) is respectively fixed with a second hinge rib (311) protruding upward and a plurality of second reinforcing ribs (312) vertically fixed to the left and right sides of the second hinge rib (311); the second hinge rib (311) is hinged to the vehicle body (1) through the second hinge frame (12).

7. The highly adaptable intelligent handling robot according to claim 1, characterized in that: The picking mechanism (6) comprises a gantry (61) and a fork assembly (62); the gantry (61) is rotatably arranged at the front side of the vehicle body (1) and is driven to rotate by a pitch cylinder (63); the gantry (61) comprises a longitudinal drive mechanism (611); the fork assembly (62) is arranged at the front end of the gantry (61) and is driven by the longitudinal drive mechanism (611) to move up and down.

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