Carrying robot

Abstract

The utility model discloses a transfer robot, which relates to the technical field of transfer robots and particularly comprises a U-shaped frame, a bearing seat is mounted at one end of the U-shaped frame far away from an opening of the U-shaped frame, a hydraulic steering axle is arranged below the bearing seat, and two ends of the hydraulic steering axle extend out of the bearing seat and are respectively provided with steering wheels. Electric hubs are mounted on the outer sides of the two ends, close to the opening, of the U-shaped frame, and tires are arranged on the electric hubs; a hydraulic lifting frame is arranged at the top of the end, away from the opening, of the U-shaped frame, two strip-shaped seats are symmetrically arranged on the side, close to the opening, of the hydraulic lifting frame, and the bottoms of the strip-shaped seats are connected with horizontal strip-shaped supporting plates respectively. When the carrying robot is used, the robot is controlled to stop in front of the forklift tray, the robot moves to enable the forklift tray to be arranged in the U-shaped frame, then the hydraulic cylinder is controlled to extend to drive the strip-shaped supporting plate to be lifted, and the forklift tray can be supported, and the carrying robot is large in driving force and flexible in steering and has certain climbing capacity.

Description

Technical Field

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

[0002] AGV is an automatic handling robot that uses an automatic guidance system to complete the task of transporting goods or materials. Due to the automatic nature of AGV system technology, its safety is very high and it can effectively complete the handling task, so it is becoming more and more popular.

[0003] Existing AGV handling robots, when in use, move the robot to the bottom of the shelf and then lift the shelf up through the lifting mechanism on the top of the robot for handling. However, such handling robots are unable to handle forklift pallets. To this end, we propose a handling robot that can handle forklift pallets. Utility Model Content

[0004] In view of the deficiency that the existing AGV handling robot cannot carry forklift pallets, the utility model provides a handling robot with the advantage of allowing the forklift pallet to be placed inside the robot and then lifting the pallet through a bar-shaped support plate, thereby solving the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a handling robot, comprising a U-shaped frame, a bearing seat being mounted on one end of the U-shaped frame away from its opening, a hydraulic steering bridge being provided below the bearing seat, and both ends of the hydraulic steering bridge extending outside the bearing seat and respectively equipped with steering wheels;

[0006] Electric wheels are installed on the outer sides of both ends of the U-shaped frame near its opening, and tires are provided on the electric wheels;

[0007] A hydraulic lifting frame is provided on the top of the end of the U-shaped frame away from the opening. Two bar seats are symmetrically provided on the side of the hydraulic lifting frame close to the opening. The bottoms of the bar seats are respectively connected to horizontal bar support plates. The lifting frame drives the bar support plates to be placed in the middle position of the U-shaped frame.

[0008] It also includes a control component arranged on the top of the bearing seat, and the control component is connected to the electric wheel hub, the hydraulic lifting frame, and the hydraulic steering bridge respectively.

[0009] Preferably, the control component includes a control cabinet, in which a controller, a hydraulic station, and a battery pack are arranged. The controller is connected to the hydraulic station and the battery pack respectively, and the hydraulic station is connected to the hydraulic lifting frame and the hydraulic steering axle respectively through pipelines.

[0010] Preferably, the control cabinet has a multi-layer structure, and the controller, hydraulic station, and battery pack are respectively arranged in each layer.

[0011] Preferably, the hydraulic lifting frame comprises a U-shaped bracket with an opening facing downward, the bottom ends of the U-shaped bracket are arranged on the U-shaped frame, a support beam is horizontally installed below the U-shaped bracket, a hydraulic cylinder is installed in the middle of the support beam, and the hydraulic cylinder is connected to the hydraulic station through a pipeline;

[0012] Two support shafts are symmetrically installed on the top of the support beam, and the top of the support shaft is connected to the U-shaped bracket. A connecting beam is arranged parallel to the top of the support beam, and the connecting beam is connected to the top of the hydraulic cylinder. Two first guide seats are symmetrically arranged on the connecting beam, and the first guide seats are respectively slidably sleeved on the support shaft.

[0013] Preferably, the two strip seats are symmetrically installed on the side surfaces of the connecting beam, and a second guide seat is provided on the top of each strip seat, and the second guide seats are respectively slidably sleeved on the support shaft.

[0014] Preferably, both ends of the connecting beam are connected to the guide rails via sliders, and the guide rails are respectively mounted on the inner walls of the U-shaped bracket.

[0015] Preferably, an alarm connected to the controller is provided on the U-shaped bracket.

[0016] Preferably, the electric wheel hub is mounted on a mounting shaft, the mounting shaft is mounted on a mounting seat body, and the mounting seat body is arranged below the U-shaped frame;

[0017] A brake disc is coaxially provided on one side of the electric wheel hub close to the mounting seat body, and a hydraulic brake caliper corresponding to the brake disc is provided on the side of the mounting seat body. The hydraulic brake caliper is connected to the hydraulic station through a pipeline.

[0018] Compared to existing technologies, the present invention allows the robot to be positioned in front of a forklift pallet. The robot's movement allows the pallet to be positioned within the U-shaped frame. The hydraulic cylinder then extends, raising the bar-shaped support plate to lift the pallet. The robot is powered by two electric wheels, providing strong driving force and flexible steering. The robot's base is elevated above the ground, giving it a certain degree of climbing capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the back structure of the utility model.

[0020] Figure 2 This is a schematic diagram of the front structure of the utility model Figure 1 .

[0021] Figure 3 This is a schematic diagram of the front structure of the utility model Figure 2 .

[0022] Figure 4 This is a structural diagram of a semicircular tray of the present invention.

[0023] Figure 5 It is a side view of the utility model.

[0024] Figure 6 It is a structural schematic diagram of the hydraulic steering axle of the utility model.

[0025] Figure 7 This is a schematic diagram of the installation of the hydraulic brake caliper of the utility model.

[0026] In the figure: 1. U-shaped frame; 2. U-shaped bracket; 3. Guide rail; 4. Alarm; 5. Support shaft; 6. Connecting beam; 7. Bar seat; 8. Steering wheel; 9. Bar support plate; 10. Tire; 11. First guide seat; 12. Support beam; 13. Hydraulic cylinder; 14. Bearing seat; 15. Hydraulic steering axle; 16. Control cabinet; 17. Connecting seat; 18. Second guide seat; 19. Mounting shaft; 20. Mounting seat body; 21. Electric wheel hub; 22. Partition; 23. Controller; 24. Battery pack; 25. Hydraulic station; 26. Hydraulic brake caliper; 27. Brake disc. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] See also Figures 1 to 7 The present invention provides a technical solution: a handling robot, comprising a U-shaped frame 1, a bearing seat 14 being mounted on one end of the U-shaped frame 1 away from the opening thereof, a hydraulic steering bridge 15 being disposed below the bearing seat 14, and both ends of the hydraulic steering bridge 15 extending out of the bearing seat 14 and respectively mounted with steering wheels 8. The hydraulic steering bridge 15 is a forklift steering bridge, having a large rotation angle and strong support strength, and the steering wheels 8 include hubs disposed on the hydraulic steering bridge 15, with tires disposed on the hubs, such as Figure 6 As shown, the shafts on both sides of the middle of the hydraulic steering bridge 15 are rotatably arranged in the connecting seat 17, and the connecting seat 17 is installed under the bearing seat 14 by bolts to fix the hydraulic steering bridge 15;

[0029] like Figure 1 As shown, electric hubs 21 are installed on the outer sides of both ends of the U-shaped frame 1 near its opening. Tires are provided on the electric hubs 21. The two electric hubs 21 here are driving wheels. When the electric hubs 21 rotate, they can drive the steering wheels 8 to move. The steering wheels 8 can achieve angle adjustment under the drive of the hydraulic steering bridge 15, thereby achieving steering. Figure 1 and Figure 7As shown, the electric hub 21 is specifically mounted on the mounting shaft 19, the mounting shaft 19 is mounted on the mounting seat body 20, and the mounting seat body 20 is arranged below the U-shaped frame 1;

[0030] Specifically, the handling robot of the present application is supported on the ground by the electric wheel hub 21 and the steering wheel 8, so that the height of the bottom of the robot (U-shaped frame 1) from the ground is increased. At the same time, tires are provided on the electric wheel hub 21 and the steering wheel 8, and the grip is also improved, and the climbing ability is also improved.

[0031] Further, such as Figure 1 and Figure 2 As shown, a hydraulic lifting frame is provided on the top of the end of the U-shaped frame 1 away from the opening thereof, and the hydraulic lifting frame includes a U-shaped bracket 2 with the opening facing downwards. The bottom ends of the U-shaped bracket 2 are arranged on the U-shaped frame 1, and a support beam 12 is horizontally installed below the U-shaped bracket 2. There is a certain distance between the support beam 12 and the U-shaped frame 1, and the distance is used to place a hydraulic cylinder 13. The hydraulic cylinder 13 is arranged in the middle of the support beam 12, and the telescopic axis of the hydraulic cylinder 13 is vertically upward, and the cylinder body of the hydraulic cylinder 13 is located within the distance.

[0032] Two support shafts 5 are symmetrically installed on the top of the support beam 12. The top of the support shaft 5 is connected to the U-shaped bracket 2. A connecting beam 6 is arranged parallel to the top of the support beam 12. Two first guide seats 11 are symmetrically arranged on the connecting beam 6. The first guide seats 11 are respectively slidably sleeved on the support shaft 5. Figure 2 As shown, the connecting beam 6 is connected to the top of the hydraulic cylinder 13, so when the hydraulic cylinder 13 is extended or retracted, it can drive the connecting beam 6 to move up and down along the support shaft 5;

[0033] Two strip seats 7 are symmetrically provided on one side of the hydraulic lifting frame near the opening. Figure 2 As shown, two strip seats 7 are symmetrically installed on the side of the connecting beam 6, and the bottom of the strip seats 7 are respectively connected to horizontal strip support plates 9. When the lifting frame descends, the connecting beam 6 is driven down, and the connecting beam 6 drives the strip seats 7 down, so that the strip support plates 9 are placed in the middle position of the U-shaped frame 1. There is a gap between the strip support plates 9 and the ground to prevent them from direct contact with the ground. The height of the strip support plates 9 can match the height of the forklift pallet.

[0034] Furthermore, the present application also includes a control assembly disposed on top of the bearing seat 14, the control assembly including a control cabinet 16, the control cabinet 16 is divided into a multi-layer structure by a partition 22, the control cabinet 16 is provided with a controller, a hydraulic station 25, and a battery pack 24, the controller being a host, a PCB control board, or a PLC logic controller, etc., and the controller, the hydraulic station 25, and the battery pack 24 are respectively disposed in each layer;

[0035] The specific control method is as follows: the battery pack 24 is connected to the controller, the controller 23 is connected to the electric wheel hub 21, and the hydraulic station 25 is connected to the hydraulic cylinder 13 and the hydraulic steering axle 15 through pipelines. The charging port of the battery pack 24 is set on the side of the control cabinet 16 to facilitate alignment for charging. The controller 23 is also connected to the display screen and operation buttons, which are set on the top of the control cabinet 16.

[0036] In actual use, the robot is also provided with a navigation locator, which is connected to the controller. Under the perception of the navigation locator, the controller can control the transport robot to move to a preset location, and under the control of the controller, the hydraulic cylinder 13 can be extended or shortened, so that the bar pallet 9 can transport and place the forklift pallet.

[0037] The specific operation process of the robot of the present application is: first, let the robot stop in front of the forklift pallet. It should be noted that the opening of the U-shaped frame 1 is larger than the size of the forklift pallet. Then the robot moves to place the forklift pallet in the U-shaped frame 1, and the strip support plate 9 is also inserted into the bottom of the forklift pallet at this time; then the hydraulic cylinder is controlled to extend to drive the strip support plate 9 to lift up and lift the forklift pallet; finally, when the robot moves to the preset location, the strip support plate 9 descends under the control of the hydraulic cylinder, so that the forklift pallet can be placed on the ground.

[0038] The advantages of this handling robot are as follows: 1. It is powered by two electric wheel hubs 21, which provide strong driving force; 2. The tires 10 and steering wheels 8 are supported on the ground, so that the bottom of the robot is higher from the ground and has a certain climbing ability; 3. The steering wheel 8 is adjusted in angle by the hydraulic steering bridge 15, which makes the robot have a large steering angle and is more flexible; 4. The lifting and lowering of the hydraulic cylinder 13 drives the lifting and lowering of the bar pallet 9, which has a large load capacity.

[0039] Furthermore, in order to improve the stability of the connecting beam 6, as Figure 1 and Figure 2 As shown, both ends of the connecting beam 6 are connected to the guide rails 3 through sliders, and the guide rails 3 are respectively installed on the inner walls of the U-shaped bracket 2, so that both ends of the connecting beam 6 can also be fixed;

[0040] At the same time, a second guide seat 18 is provided on the top of each strip seat 7. The second guide seat 18 is slidably sleeved on the support shaft 5. The second guide seat 18 and the first guide seat 11 allow each strip support plate 9 to have two support points, which can further improve the load-bearing capacity of the strip support plate 9.

[0041] Furthermore, an alarm 4 connected to the controller is provided on the U-shaped bracket 2, and multiple obstacle avoidance sensors are provided on the side of the robot. When the obstacle avoidance sensors detect an obstacle, an alarm can be sounded through the alarm 4. At the same time, the alarm 4 can also light up in different colors in different states such as power supply, movement, and stop.

[0042] Finally, the present application is also provided in the braking system, such as Figure 7 As shown, a brake disc 27 is coaxially provided on one side of the electric hub 21 close to the mounting base 20, and a hydraulic brake caliper 26 corresponding to the brake disc 27 is provided on the side of the mounting base 20. The hydraulic brake caliper 26 is connected to the hydraulic station 25 through a pipeline.

[0043] The robot is also provided with a speed sensor, which is connected to the controller. When the speed reaches a preset value, the brake is applied to control the speed. At the same time, when the robot is turned off or stopped, the hydraulic brake caliper 26 will brake.

[0044] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention. The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, unless otherwise expressly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrally connected; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium, or they can be internal communication between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Furthermore, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0045] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transport robot comprising a U-shaped frame (1), wherein a bearing seat (14) is mounted on one end of the U-shaped frame (1) away from the opening thereof, wherein: A hydraulic steering bridge (15) is provided below the bearing seat (14), and both ends of the hydraulic steering bridge (15) extend outside the bearing seat (14) and are respectively provided with steering wheels (8); Electric wheel hubs (21) are installed on the outer sides of both ends of the U-shaped frame (1) near its opening, and tires (10) are provided on the electric wheel hubs (21); A hydraulic lifting frame is provided on the top of the end of the U-shaped frame (1) away from the opening thereof, and two strip seats (7) are symmetrically provided on the side of the hydraulic lifting frame close to the opening, and the bottoms of the strip seats (7) are respectively connected to horizontal strip supporting plates (9), and the lifting frame drives the strip supporting plates (9) to be placed in the middle position inside the U-shaped frame (1); It also includes a control component arranged on the top of the bearing seat (14), and the control component is respectively connected to the electric wheel hub (21), the hydraulic lifting frame, and the hydraulic steering bridge (15).

2. The transport robot according to claim 1, characterized in that: The control assembly includes a control cabinet (16), wherein the control cabinet (16) is provided with a controller, a hydraulic station (25), and a battery pack (24). The controller is connected to the hydraulic station (25) and the battery pack (24), respectively. The hydraulic station (25) is connected to the hydraulic lifting frame and the hydraulic steering axle (15) through pipelines.

3. The transport robot according to claim 2, characterized in that: The control cabinet (16) has a multi-layer structure, and the controller (23), the hydraulic station (25), and the battery pack (24) are respectively arranged in each layer.

4. The transport robot according to claim 2, characterized in that: The hydraulic lifting frame comprises a U-shaped bracket (2) with an opening facing downward, the bottom ends of the U-shaped bracket (2) are arranged on the U-shaped vehicle frame (1), a support beam (12) is horizontally installed below the U-shaped bracket (2), a hydraulic cylinder (13) is installed in the middle of the support beam (12), and the hydraulic cylinder (13) is connected to the hydraulic station (25) through a pipeline; Two support shafts (5) are symmetrically mounted on the top of the support beam (12), the top of the support shaft (5) is connected to the U-shaped bracket (2), a connecting beam (6) is arranged parallel to the top of the support beam (12), the connecting beam (6) is connected to the top of the hydraulic cylinder (13), and two first guide seats (11) are symmetrically arranged on the connecting beam (6), and the first guide seats (11) are respectively slidably sleeved on the support shaft (5).

5. The transport robot according to claim 4, characterized in that: The two strip seats (7) are symmetrically mounted on the side of the connecting beam (6), and a second guide seat (18) is provided on the top of each strip seat (7). The second guide seats (18) are respectively slidably sleeved on the support shaft (5).

6. The transport robot according to claim 5, characterized in that: Both ends of the connecting beam (6) are connected to the guide rails (3) via sliders, and the guide rails (3) are respectively mounted on the inner walls of the U-shaped bracket (2).

7. The transport robot according to claim 4, characterized in that: An alarm (4) connected to the controller is provided on the U-shaped bracket (2).

8. The handling robot according to any one of claims 2 to 7, characterized in that: The electric wheel hub (21) is mounted on the mounting shaft (19), the mounting shaft (19) is mounted on the mounting seat body (20), and the mounting seat body (20) is arranged below the U-shaped frame (1); A brake disc (27) is coaxially provided on one side of the electric wheel hub (21) close to the mounting seat body (20), and a hydraulic brake caliper (26) corresponding to the brake disc (27) is provided on the side of the mounting seat body (20). The hydraulic brake caliper (26) is connected to the hydraulic station (25) through a pipeline.

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