Lifting transfer robot

Abstract

The utility model provides a lifting transfer robot which comprises a vehicle frame and a lifting assembly arranged on the vehicle frame, the lifting assembly comprises a lifting platform which is arranged on the vehicle frame and can ascend and descend in the thickness direction of the vehicle frame, and the lifting transfer robot is characterized in that the lifting platform is arranged on the vehicle frame and can ascend and descend in the thickness direction of the vehicle frame. The ratio of the size of the frame in the front-back direction to the lateral size of the frame is not smaller than 1.5, and the size of the lifting platform in the front-back direction of the frame is not smaller than 60% of the size of the frame in the front-back direction. The utility model has the advantages of good transportation compatibility, large length-width ratio, simple and compact structure, easy maintenance, high effective carrying load and the like, improves the logistics carrying efficiency of the whole factory, and greatly reduces the manpower carrying cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to mobile robot technical field, concretely relates to a lifting carrying robot. BACKGROUND

[0002] In current industrial production, lifting robots are usually used to carry materials. The lifting robot comprises a movable vehicle frame and a lifting assembly arranged on the vehicle frame. The lifting assembly can be raised and lowered on the vehicle frame to raise and lower the materials arranged on the lifting assembly.

[0003] With the increasing application scenarios of the lifting robot, the types of materials carried by the lifting robot are also increasing. However, due to the size limitation, the lifting robot cannot carry heavy materials.

[0004] Therefore, the conventional lifting robot cannot carry heavy materials on the market, and the heavy materials can only be carried by manpower or other equipment with large load bearing capacity, which not only has low efficiency but also is prone to safety accidents, causing great safety hazards. SUMMARY

[0005] The utility model aims at solving one of the technical problems in the related art to some extent. To this end, the utility model provides a lifting carrying robot with good transportation compatibility, large length-width ratio and large load transportation capability, which has the characteristics of simple structure, compactness, easy maintenance, effective load carrying and the like, improves the efficiency of plant logistics carrying, and greatly reduces the labor carrying cost.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme: a lifting carrying robot comprises a vehicle frame and a lifting assembly arranged on the vehicle frame. The lifting assembly comprises a lifting platform arranged on the vehicle frame and capable of being raised and lowered along the thickness direction of the vehicle frame. The ratio of the front-rear direction size of the vehicle frame to the lateral size of the vehicle frame is not less than 1.5. The size of the lifting platform along the front-rear direction of the vehicle frame is not less than 60% of the front-rear direction size of the vehicle frame.

[0007] In the technical scheme, the vehicle body as a whole has a large length-width ratio, the vehicle frame can have a larger length, and the length of the lifting platform on the vehicle frame also has a larger design space, so that the length of the lifting platform can be increased. Compared with a carrying robot with the same width, the length direction of the vehicle frame can provide more stable support effect for the materials, thereby improving the carrying capacity of the carrying robot and enabling the carrying robot to carry materials such as large-size and large-load shelves.

[0008] Further, the ratio of the front-rear direction size of the vehicle frame to the lateral size of the vehicle frame is between 2 and 4.

[0009] Further, the lifting platform has a dimension in the lateral direction of the vehicle frame that is not less than 80% of the lateral dimension of the vehicle frame, and the lifting platform has a dimension in the lateral direction of the vehicle frame that is not greater than the lateral dimension of the vehicle frame.

[0010] Further, in the lateral direction of the vehicle frame, both sides of the lifting platform are flush with both sides of the vehicle frame.

[0011] Further, the vehicle frame includes a support surface opposite the bottom surface of the lifting platform, and the bottom surface of the lifting platform is attached to the support surface when the lifting platform is in a non-lifting state.

[0012] Further, the vehicle frame includes a bottom plate, a front support plate, a rear support plate, and two side plates, the two side plates are respectively fixedly arranged at the edge positions on both sides of the bottom plate, the front support plate and the rear support plate are arranged on the bottom plate in a spaced manner along the length direction of the bottom plate, the front support plate, the rear support plate, and the two side plates are all located on the object-carrying side of the bottom plate, and the front support plate, the rear support plate, and the side plates form the support surface.

[0013] Further, the side plate includes a side plate body and a side protrusion, the side plate body is fixedly arranged on the bottom plate, the top surface of the side plate body forms the support surface, the side protrusion protrudes from the support surface of the side plate body, the side portion of the lifting platform is formed with a notch, and the bottom surface of the lifting platform is supported on the support surface of the side plate body when the lifting platform is in a non-lifting state, and the notch and the side protrusion are engaged with each other.

[0014] Further, the carrying robot further includes a walking component arranged at the bottom side of the vehicle frame, the walking component is used to support the carrying robot on the ground and drive the carrying robot to walk on the ground, and the walking component includes at least one driving wheel assembly, the driving wheel assembly includes a driving main wheel unit and a driving caster wheel unit arranged on the vehicle frame, the driving main wheel unit and the driving caster wheel unit are movably connected to the vehicle frame in the thickness direction of the vehicle frame, and at least one of the driving main wheel unit and the driving caster wheel unit is supported on the ground when the carrying robot walks.

[0015] Further, the driving wheel assembly is arranged on the bottom plate of the vehicle frame, the driving wheel assembly includes a driving main wheel unit, a driving caster wheel unit, and a driving bracket, the driving bracket is distributed in the front-rear direction of the vehicle frame, and the middle part of the driving bracket is hinged on the bottom plate, and the driving main wheel unit and the driving caster wheel unit are respectively arranged at both ends of the driving bracket in the front-rear direction of the vehicle frame, so that the driving main wheel unit and the driving caster wheel unit can move relative to the vehicle frame in the thickness direction of the vehicle frame.

[0016] Further, the frame comprises a support seat fixedly arranged on the bottom plate, the support seat is arranged at the middle part of the frame, and the support seat is used for being hinged with the driving support.

[0017] Further, the support seat comprises a base connected with the bottom plate, two spaced-apart ear plates arranged on the base, and first support holes arranged on the ear plates, the driving support comprises a driving support body arranged between the two ear plates and a first shaft hole arranged at the middle part of the driving support body, the driving support is hinged with the support seat through a first pin shaft penetrating through the first shaft hole, two ends of the first pin shaft are respectively inserted into the first support holes on the corresponding sides, a first end of the driving support extends to the middle part of the frame and fixedly installs the driving main wheel unit, a second end of the driving support extends to the front of the frame and fixedly installs the driving caster wheel unit, and the bottom plate of the frame is provided with the driving wheel units on the two sides respectively, and the side wall of the side plate is formed with a avoiding slot for accommodating the driving main wheel unit on the corresponding side.

[0018] Further, the walking component further comprises a floating wheel assembly, the floating wheel assembly is arranged on the frame and has a spacing with the driving wheel assembly along the front-rear direction of the frame, the floating wheel assembly comprises a floating support and a floating caster wheel unit, two ends of the floating support respectively extend to the two sides of the frame, and the middle part of the floating support is hinged on the bottom plate, and the floating caster wheel unit is arranged on each end of the floating support, so that the floating caster wheel unit can move relative to the frame along the thickness direction of the frame.

[0019] The driving wheel assembly and the floating wheel assembly connected by the hinge can ensure that at least three wheels of the carrying robot keep in contact with the ground during driving, increase the wheel pressure of the driving wheel, overcome the adverse effects of the increased inertia caused by the increased length-width ratio of the vehicle body, improve the friction with the ground, transport the materials, and reasonably arrange the distribution positions of the driving wheel assembly and the floating wheel assembly, so as to fully utilize the overall space of the frame and improve the integrity of the vehicle body.

[0020] Further, the lifting assembly is arranged at the middle part of the frame, the lifting assembly comprises a driving mechanism and a lifting mechanism arranged on the output end of the driving mechanism, the frame is formed with a mounting cavity at the middle part of the frame, and the driving mechanism and the lifting mechanism are arranged in the mounting cavity. The structure of the lifting assembly is optimized and designed, so that the combination of the lifting platform and the vehicle body is better, and compared with the existing lifting robot, the lifting load is larger under the condition of the same size, the size is smaller under the condition of the same carrying capacity, and the whole vehicle is compatible with the installation of the hydraulic lifting assembly, the size is unchanged, and the load is higher.

[0021] Further, the carrying robot comprises a hydraulic assembly interface arranged on the frame, and the hydraulic assembly interface is used for connecting the hydraulic pipeline of the driving mechanism.

[0022] Further, the driving mechanism is driven by an electric motor or a hydraulic motor.

[0023] Further, at least one photoelectric detection assembly is arranged on the lifting platform, and the photoelectric detection assembly is used for detecting the material carried by the lifting platform.

[0024] Further, a mounting groove for mounting the photoelectric detection assembly is arranged on the top surface of the lifting platform, and the photoelectric detection assembly is arranged in the mounting groove.

[0025] The features and advantages of the present application will be described in detail in the following specific embodiments and drawings. The best mode of the present application or means will be described in detail in combination with the drawings, but it is not a limitation of the technical scheme of the present application. In addition, these features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for convenience of representation, but all represent the same or similar structure or function parts. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described in combination with the drawings:

[0027] Figure 1 is a whole vehicle structure diagram of one embodiment of the present application;

[0028] Figure 2 is a whole vehicle structure diagram of one embodiment of the present application;

[0029] Figure 3 is a schematic diagram of a carrying robot carrying a shelf in a lifting low position of one embodiment of the present application;

[0030] Figure 4 is a schematic diagram of a carrying robot carrying a shelf in a lifting high position of one embodiment of the present application;

[0031] Figure 5 is a top view of the frame of one embodiment of the present application;

[0032] Figure 6 is a whole vehicle structure diagram of one embodiment of the present application when the lifting assembly is driven by a hydraulic motor;

[0033] Figure 7 is a structure diagram of a floating wheel assembly of one embodiment of the present application;

[0034] Figure 8 Structure diagram of driving wheel assembly of one of the embodiments of the present application;

[0035] Figure 9 Structure diagram of electrically driven lifting assembly of one of the embodiments of the present application;

[0036] Figure 10 Whole vehicle structure diagram of electrically driven lifting assembly of one of the embodiments of the present application;

[0037] Figure 11 Frame structure diagram of one of the embodiments of the present application.

[0038] Among them,

[0039] 10, vehicle body; 11, frame; 111, bottom plate; 112, side plate; 1121, side protrusion; 1122, side support surface; 1123, side plate body; 1124, avoiding groove; 113, anti-collision strip; 12, driving wheel assembly; 121, driving main wheel unit; 122, driving caster unit; 123, driving support; 124, support seat; 13, floating caster assembly; 131, floating support; 132, floating caster unit; 14, ground code assembly; 15, battery assembly; 16, front support plate; 17, rear support plate; 18, hydraulic assembly interface;

[0040] 20, lifting assembly; 21, lifting platform; 211, notch; 212, mounting groove; 213, photoelectric detection assembly; 22, driving mechanism; 23, lifting mechanism;

[0041] 30, shelf. DETAILED DESCRIPTION

[0042] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0043] In this specification, "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearance of the phrase "in one embodiment" at various locations in the specification does not necessarily all refer to the same embodiment.

[0044] In order to adapt to different ground environments, the chassis of some lifting robots generally adopts a hinged structure (formed by two bottom plates connected by a hinge), contains four fixed casters and two fixed drive wheels, and the drive wheels cannot be provided with a larger wheel pressure by using this structure, resulting in insufficient driving force. Therefore, due to the structural limitation, the length-width ratio of the traditional lifting robot is small, that is, similar to a square. In addition, due to the hinged arrangement structure of the chassis, the lifting mechanism is arranged on the two bottom plates connected by a hinge, the rigidity of the chassis formed by the two bottom plates connected by a hinge is insufficient, and since the lifting platform of the lifting mechanism is generally arranged between the drive wheels, the size of the lifting platform is further reduced, thereby causing the carrying robot to be unable to carry a larger load.

[0045] Referring to the accompanying drawings Figure 1 、 2 、5、11, one of the embodiments of the utility model discloses a lifting carrying robot, including frame 11 and set up in the lifting assembly 20 of frame 11, lifting assembly 20 includes set up in the lifting platform 21 of frame 11 and can along the thickness direction of frame 11 elevating, the ratio of the size of frame 11 front and rear direction with the lateral size of frame 11 is not less than 1.5, the size of lifting platform along the frame front and rear direction is not less than 60% of the size of frame front and rear direction.

[0046] The length of the frame in the embodiment is greater than the width, compared with the robot with the body structure of the frame similar to the square in the prior art, the larger body length can make the robot carry larger size and larger load material under the condition of the same frame width, and the carrying capacity of the carrying robot is improved.

[0047] Specifically, the size of the lifting platform in the embodiment is limited in the front and rear direction, so that the size of the lifting platform along the frame front and rear direction is not less than 60% of the size of the frame front and rear direction. In the embodiment, the longer body length can correspondingly increase the design length of the lifting platform. The lifting platform directly supports the goods when carrying the goods, which is equivalent to increasing the support area of the goods, ensuring the stability of the goods during carrying and transporting. The lengthening of the frame in the embodiment is equivalent to increasing the area of the ground contact part, which cooperates with the increase of the support area of the goods by the lifting platform to improve the load capacity and stability of the robot.

[0048] In the specific design, as one of the embodiments of the utility model, the ratio of the size of the frame 11 front and rear direction with the lateral size of the frame 11 is between 2 and 4. Referring to the accompanying drawings Figure 5As shown, the length-width ratio of the carrying robot in the embodiment can be designed as 3:1 (the length-width ratio of the conventional carrying robot in the prior art is generally not more than 1.5:1), and the larger length-width ratio of the vehicle body structure can have larger load capacity and improve the stability of the goods in the loading and transportation process.

[0049] In addition, the embodiment optimizes the structural design of the lifting assembly 20, and the lifting platform 21 is provided with a lifting assembly 20. Figure 1 、 2 The width of the lifting platform 21 in the embodiment is not less than 80% of the lateral dimension of the vehicle frame 11, which can ensure a certain load capacity, and the width of the lifting platform 21 is not greater than the lateral dimension of the vehicle frame 11, which avoids the lifting platform 21 protruding from both sides of the vehicle frame 11, affecting the appearance of the carrying robot, and easily being blocked with external objects during transportation.

[0050] In actual arrangement, the lifting platform 21 and the driving wheel assembly 12 in the embodiment can be arranged in the thickness direction of the lifting robot vehicle body 10, that is, the lifting platform 21 is located directly above the driving wheel assembly 12 during normal use. Compared with the design that the lifting platform 21 in the prior art is located between the two driving wheel assemblies 12, the size space in the width direction is greatly saved, the design space of the lifting platform 21 can be increased, and the lifting platform 21 can reach the maximum width in the limited width range of the lifting robot vehicle body 10. Therefore, the width of the lifting platform 21 is increased as much as possible under the condition that the size of the carrying robot is determined, and the high strength and rigidity of the integrated vehicle frame 11 can greatly improve the load capacity of the carrying robot. The state diagram of the carrying robot of the utility model in the lifting state of the goods shelf 30 is shown in FIG. 2. Figure 3 、 4 As shown in FIG. 2, FIG. 2a is a schematic diagram in the lifting low position, and FIG. 2b is a schematic diagram in the lifting high position. Figure 3 As shown in FIG. 2, FIG. 2a is a schematic diagram in the lifting low position, and FIG. 2b is a schematic diagram in the lifting high position. Figure 4 As shown in FIG. 2, FIG. 2a is a schematic diagram in the lifting low position, and FIG. 2b is a schematic diagram in the lifting high position.

[0051] In one embodiment of the utility model, the two sides of the lifting platform 21 are flush with the two sides of the vehicle frame 11 in the lateral direction of the vehicle frame 11. The above embodiment limits the length direction of the vehicle frame 11, and the relative relationship between the vehicle frame 11 and the lifting platform 21 in the width direction is limited in the embodiment. In actual arrangement, the lifting platform 21 is arranged to be flush with the two sides of the vehicle frame 11, so that the width of the lifting platform 21 is maximized, the load area is increased, and the load capacity of the carrying robot is improved.

[0052] In order to improve the stability of the lifting platform, the frame comprises a supporting surface opposite to the bottom surface of the lifting platform, and the bottom surface of the lifting platform 21 is attached to the supporting surface when the lifting platform 21 is in a non-lifting state. In the process of walking of the robot carrying goods, especially when the goods carried are heavy, in order to reduce the gravity center of the carrying robot, the goods are generally carried and transported in a non-lifting state, and the embodiment can improve the stability in the process of walking of the carrying robot and improve the load capacity by providing the supporting surface on the frame for supporting the lifting platform in a non-lifting state.

[0053] Referring to the accompanying drawings Figure 6 , 11 , one embodiment of the utility model discloses the frame 11 includes bottom plate 111, front support plate 16, rear support plate 17 and two side plates 112, two side plates 112 are fixedly arranged on the edge position of the both sides of bottom plate 111 respectively, front support plate 16 and rear support plate 17 are spaced apart and arranged on bottom plate 111 along the length direction of bottom plate 111, front support plate 16, rear support plate 17 and two side plates 112 are all located on the load side of bottom plate 111, and the supporting surface is formed on front support plate 16, rear support plate 17 and side plate 112.

[0054] Referring to the accompanying drawings Figure 6 , in order to make lifting assembly 20 and car body 10 have better combination effect, the frame of the utility model includes front support plate 16 and rear support plate 17 arranged on the bottom side of lifting platform, and the lifting platform 21 in the embodiment is in a non-lifting state, the bottom surface of the lifting platform 21 is supported on the supporting surface, and the top surface of the car body 10 is closed, so that the carrying robot is more beautiful in appearance when not working, and the position of the supporting surface in the height direction of the car body 10 is lower than the top surface of the car body 10, which forms a recess, and the lifting platform 21 is placed in the recess, and in actual design, the thickness of the lifting platform 21 can be set to be consistent with the height difference between the supporting surface and the top surface of the car body 10, so that when the lifting platform 21 is supported by the supporting surface, the top surface of the lifting platform 21 can be flush with the top surface of the car body 10, further improving the overall appearance of the car body 10, and the side edge of the lifting platform 21 mentioned in the above embodiment can be flush with the side edge of the car body 10, so that the lifting platform 21 can be better combined with the car body 10, and the lifting platform 21 also has a larger table area in the limited space, improving the stability.

[0055] Referring to the accompanying drawings Figure 6 , 11The side plate 112 of one of the embodiments of the utility model includes a side plate body 1123 and a side protrusion 1121, the side plate body 1123 is fixedly arranged on the bottom plate 111, the top surface of the side plate body 1123 forms the support surface, the support surface is used as the side support surface 1122 for supporting the side of the lifting platform, the side protrusion 1121 protrudes from the support surface of the side plate body 1123, the side of the lifting platform 21 is formed with a notch 211, in the case that the lifting platform 21 is not lifted, the bottom surface of the lifting platform 21 is supported on the support surface of the side plate body 1123, and the notch 211 and the side protrusion 1121 are clamped with each other. The side protrusion 1121 on the side plate 112 can play a certain limiting role on the lifting platform 21 through the side wall at the notch 211 of the lifting platform 21 during use, avoiding the inclination phenomenon caused by the shaking of the lifting platform 21 during lifting or in the transportation process, and improving the stability of lifting.

[0056] As can be seen from the above, the bottom plate of the frame in the utility model is a rigid structure of integral type, compared with the frame structure formed by the two front and rear hinge-connected bottom plates in the prior art, has better strength, and can provide greater load capacity for the carrying robot.

[0057] As one of the embodiments of the utility model, the carrying robot further includes a walking component arranged on the bottom side of the frame, the walking component is used for supporting the carrying robot on the ground and driving the carrying robot to walk on the ground, the walking component includes at least one driving wheel assembly, the driving wheel assembly includes a driving main wheel unit 121 and a driving caster wheel unit 122 arranged on the frame, the driving main wheel unit 121 and the driving caster wheel unit 122 are movably connected to the frame along the thickness direction of the frame 11, and at least one of the driving main wheel unit 121 and the driving caster wheel unit 122 is supported on the ground when the carrying robot walks.

[0058] Since the frame in the utility model is of an integral type, through the arrangement of the driving wheel assembly in the walking component of the embodiment, the robot can better adapt to different road conditions during walking, ensures that the carrying robot always has wheels contacting the ground, improves the adaptability to road conditions, and also helps to ensure the stability of the load side of the frame and improve the stability of the overall operation of the carrying robot.

[0059] Referring to the drawings Figure 8 , 10The driving wheel assembly 12 of one of the embodiments of the utility model comprises a driving support 123, the driving support 123 is distributed along the front-back direction of the frame 11 and the middle part of the driving support 123 is rotatably connected on the bottom plate 111, the driving main wheel unit 121 and the driving trolley wheel unit 122 are respectively arranged at both ends of the driving support 123 along the front-back direction of the frame 11, so that the driving main wheel unit 121 and the driving trolley wheel unit 122 can rotate around the hinge center of the driving support 123 and the bottom plate 111, and then the driving main wheel unit 121 and the driving trolley wheel unit 122 can be moved along the thickness direction of the frame 11 relative to the frame 11.

[0060] It should be noted that the front-back direction mentioned in the embodiment does not mean that the driving support 123 must be parallel to the frame, and in the specific design, the driving support 123 can be inclined relative to the frame, as long as the driving main wheel unit and the driving trolley wheel unit on the driving support 123 can be distributed along the front-back direction of the frame.

[0061] It should be noted that, since the driving main wheel unit and the driving trolley wheel unit in the embodiment are connected as a whole through the driving support 123, when using, if uneven road surface is encountered, when one end of the driving support 123 is lifted, the other end will inevitably be lowered, forming a lever effect. For example, when the driving trolley wheel unit is lifted, the driving main wheel unit will be subjected to pressure towards the ground, which can increase the pressure of the driving main wheel unit on the ground during operation, thereby improving the walking ability.

[0062] Further, the mounting structure of the driving wheel assembly 12 of the utility model comprises a support seat 124 arranged on the bottom plate 111 of the frame 11, the support seat 124 is arranged at the middle part of the frame along the front-back direction, and the support seat is used for being hinged with the driving support 123. The position of the support seat 124 is limited in the embodiment, and the driving wheel assembly 12 can be arranged at the middle part of the frame, and it should be noted that the middle part mentioned here does not only represent the central part of the frame, but can be a larger area including the central position of the frame in the front-back direction, and the support seat is arranged at the position, that is, the position of the driving wheel assembly is limited, so that the driving wheel assembly can be arranged at the middle part of the frame, thereby providing more stable support for the robot. The specific structure of the support seat is not limited in the embodiment, as long as it can be hinged with the driving wheel support of the driving wheel assembly.

[0063] As one of the embodiments of the utility model, the support seat 124 includes the base connected with the bottom plate, the two spaced apart ear plates arranged on the base and the first support hole arranged on the ear plate, the driving support 123 includes the driving support 123 body and the first shaft hole arranged on the middle part of the driving support 123 body, the driving support 123 is rotatably connected to the support seat 124 through the first pin shaft penetrating the first shaft hole, the two ends of the first pin shaft are respectively inserted into the first support hole of the corresponding side, the first end of the driving support 123 extends to the middle part of the frame 11 and the driving main wheel unit 121 is fixedly installed, the second end of the driving support 123 extends to the front of the frame 11 and the driving trolley wheel unit 122 is fixedly installed. By arranging the support seat 124, the ear plate and the first pin shaft, the stability of the installation of the driving support 123 can be improved, and the overall stability of the driving wheel assembly 12 can be improved.

[0064] In addition, the two sides of the frame 11 bottom plate 111 in the embodiment are respectively provided with the driving wheel unit, and the side wall of the side plate 112 is formed with an avoiding groove 1124 for accommodating the corresponding side driving main wheel unit 121. The embodiment is provided with the driving wheel unit on the two sides of the frame 11, and the driving wheel unit is oppositely arranged with the side plate 112, that is, the driving wheel unit is located at the outermost side of the two sides of the frame 11. In combination with the corresponding relationship between the lifting platform and the side plate 112 mentioned in the above embodiment, it can be seen that the two sides of the lifting platform are oppositely arranged with the corresponding side driving wheel unit. Compared with the structure that the lifting platform in the prior art is generally arranged between the two driving wheel units, the lateral width of the lifting platform can be improved, and the load capacity of the carrying robot can be improved.

[0065] Referring to the accompanying drawings Figure 7 、 10 One of the embodiments of the utility model further includes a floating wheel assembly, the floating wheel assembly is arranged on the frame 11 and has a spacing with the driving wheel assembly 12 along the front and back direction of the frame, the floating wheel assembly includes a floating support 131 and a floating trolley wheel unit 132, the two ends of the floating support 131 respectively extend to the two sides of the frame 11, and the middle part of the floating support 131 is hinged on the bottom plate 111, the floating trolley wheel unit 132 is arranged on the two ends of the floating support 131, so that the floating trolley wheel unit 132 can move relative to the frame 11 along the thickness direction of the frame 11.

[0066] The driving wheel assembly 12 and the floating wheel assembly are hingedly connected between the vehicle frame 11 through a driving support 123 and a supporting seat 124, the middle part of the driving support 123 is hingedly connected to the supporting seat 124 fixed on the vehicle frame 11 (the fixing between the supporting seat 124 and the vehicle frame 11 can be achieved by welding or screw connection), the driving support 123 is equivalent to a lever, when the ground is flat, the driving main wheel unit 121 and the driving trolley wheel unit 122 of each driving wheel assembly 12 are all in contact with the ground, the floating trolley wheel unit 132 in each floating wheel assembly is in contact with the ground, that is, at this time, the six wheels are all in contact with the ground. When the road surface is uneven, at this time, the hinged form can ensure that one of the driving main wheel unit 121 and the driving trolley wheel unit 122 in each driving wheel assembly 12 is in contact with the ground, and one of the floating trolley wheels in the floating wheel assembly is in contact with the bottom surface, that is, at least three wheels are in contact with the ground, which can well replace the floating effect of the floating type vehicle frame 11 and improve the stability of the whole vehicle operation.

[0067] The structure of the floating wheel assembly in the embodiment is similar to that of the driving wheel assembly 12, but the floating wheel assembly does not have the ability of autonomous driving, and the structure of the driving wheel assembly 12 is shown in FIG. 2. Figure 10 One of the embodiments of the utility model is provided with two opposite driving wheel assemblies 12 and a floating wheel assembly, wherein the floating wheel assembly is arranged at the rear part of the vehicle frame 11, and the driving wheel assembly 12 is arranged at the middle front part of the vehicle frame 11, so that the stability of supporting the carrying robot can be improved.

[0068] In the embodiment, the structure of the hinged connection of the vehicle frame 11 in the prior art is abandoned, the vehicle frame 11 is arranged as an integral rigid structure, the rigidity and strength of the vehicle body 10 can be increased, and in order to adapt to various different ground environments, the driving wheel assembly 12 and the floating wheel assembly are arranged as the structure of the hinged connection with the vehicle frame 11, the driving wheel assembly 12 and the floating wheel assembly connected through the hinged connection can ensure that at least three wheels are in contact with the ground during the driving process of the carrying robot, and the structure of the driving wheel assembly 12 and the floating wheel assembly can also increase the wheel pressure of the driving wheel, overcome the adverse effects of the inertia increase caused by the increase of the length-width ratio of the vehicle body 10, improve the friction with the ground, and transport the materials.

[0069] In addition, since the length-width ratio of the vehicle body 10 in the utility model is large, in the specific use, the design with the large length-width ratio can greatly increase the rotational inertia of the carrying robot, cause the insufficient driving force, and the carrying robot can continuously turn the head in the starting and movement stages, the utility model can overcome this problem by optimizing the trolley wheel design and optimizing the starting movement control mode, specifically: 1) small rotation and trolley wheel with smaller friction with the ground are adopted to reduce the amplitude of the starting swing of the carrying robot, 2) in the starting stage of the robot, a multi-section acceleration mode is adopted, so that the acceleration change is more smooth, and thus the starting swing phenomenon of the carrying robot is eliminated.

[0070] The present invention further includes a ground code assembly 14 disposed in the middle of the bottom plate 111 , and the battery assembly 15 disposed in the front of the bottom plate 111 .

[0071] The battery assembly 15 in this embodiment provides power for the entire vehicle. When in use, the ground code assembly 14 can be positioned using the ground positioning QR code and then charged using the charging brush block. The lifting robot itself has navigation and QR code positioning functions. After scanning the environment to create a map, a QR code is affixed to the forward route of the handling robot. When handling shelves 30 or goods on shelves 30, since the shelves 30 are placed in a fixed position, an auxiliary positioning QR code is affixed directly below the bottom surface of the shelves 30. When the lifting and handling robot moves along the planned route, the ground code camera in the ground code assembly 14 will detect the QR code on the ground, so that it can accurately stop directly below the shelf 30 to be handled and lift and handle the materials on the shelf 30 or the shelf 30.

[0072] The lifting assembly of one embodiment of the present invention is arranged in the middle of the frame 11. The lifting assembly includes a driving mechanism and a lifting mechanism arranged at the output end of the driving mechanism. An installation cavity located in the middle of the frame 11 is formed on the frame 11. The driving mechanism and the lifting mechanism are arranged in the installation cavity. A hydraulic assembly interface 18 is opened on the frame 11 for connecting to the hydraulic drive pipeline when the driving mechanism is hydraulically driven.

[0073] By arranging the lifting assembly in the middle of the frame 11, when the lifting assembly is loaded, the load force also acts on the middle of the frame 11, avoiding the tilting and instability of the frame 11 caused by the load concentrated at the end, and making the lifting platform more compatible with the vehicle body 10. Compared with the currently available lifting robots, the lifting load is larger at the same size; the size is smaller at the same load-bearing capacity, and by setting the hydraulic assembly interface 18, the entire vehicle can be compatible with the installation of the hydraulic lifting assembly, so that the load capacity of the lifting assembly is higher while ensuring that the size structure remains unchanged.

[0074] The driving mechanism 22 of the lifting assembly 20 in the present invention can be driven by a motor or a hydraulic drive. Figure 9 、 10 This is a motor-driven structure. Currently, the load that can be lifted by electric lifting can reach 1200kg. Figure 6For the structure diagram of adopting hydraulic drive, when adopting hydraulic drive, the hydraulic pipeline of hydraulic drive can be directly connected with the reserved hydraulic assembly interface 18 on the frame 11, facilitating the modification of the carrying robot, and the carrying robot can have higher load capacity under the condition of unchanged size. It can be seen that the whole vehicle of the utility model adopts compatibility design and can adapt to different lifting assemblies 20.

[0075] The lifting platform 21 of one of the embodiments of the utility model is equipped with at least one photoelectric detection assembly 213, the top surface of the lifting platform 21 is provided with a mounting groove 212 for mounting the photoelectric detection assembly 213, and the photoelectric detection assembly 213 is arranged in the mounting groove 212.

[0076] The lifting platform 21 of the utility model is equipped with at least one photoelectric detection assembly 213, and the top surface of the lifting platform 21 is provided with a mounting groove 212 for mounting the photoelectric detection assembly 213. In actual design, the photoelectric detection assembly 213 is arranged in two groups, in the carrying process, the carrying robot first moves to the place where the goods rack 30 needs to be carried, after the ground auxiliary positioning two-dimensional code is detected, the lifting assembly 20 lifts the goods until the preset height, and in the lifting process, when the two photoelectric detection assemblies 213 simultaneously detect the goods rack 30 and always maintain the detection state, it is determined that the carrying robot lifting is normal, at this time, the carrying robot carries out the transportation operation. If in the transportation process, due to the functions such as original rotation, the goods rack 30 carried by the carrying robot deviates from the lifting platform 21, when one or two photoelectric detection assemblies 213 cannot detect the material, the carrying robot speed is reduced, and the carrying robot enters the safety area, greatly improving the safety of the carrying robot in the transportation process.

[0077] In summary, it can be seen that the utility model provides a lifting robot with good transportation compatibility, large length-width ratio and large load transportation capability, which can transport narrow goods racks. The lifting robot has the characteristics of simple structure, compactness, easy maintenance, effective carrying load and the like, improves the efficiency of the whole plant logistics carrying, and greatly reduces the labor carrying cost.

[0078] Referring to the drawings Figure 5 、 11 The frame 11 of the integral structure of one of the embodiments of the utility model comprises an anti-collision strip 113, the front end and the rear end of the bottom plate 111 are respectively provided with the anti-collision strip 113, the anti-collision strip 113 comprises a first connecting end, a second connecting end and an anti-collision strip 113 body, the first connecting end is connected to one side of the bottom plate 111, the second connecting end is fixed to the other side of the bottom plate 111, and one side of the anti-collision strip 113 body protrudes from the end of the bottom plate 111.

[0079] The bottom plate 111 in the embodiment is a plate structure covering the bottom of the vehicle body 10, and the side plate 112 is arranged at the side edge position of the upper end surface of the bottom plate 111, wherein the front end and the rear end of the bottom plate 111 are respectively fixedly connected with the anti-collision strips 113, which are used for protecting the lifting robot and avoiding the damage of the lifting robot caused by the possible collision between the lifting robot and external objects during the running, wherein the side plate 112 and the anti-collision strips 113 can be fixed on the bottom plate 111 by welding or a fixed connection mode using connecting pieces.

[0080] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiment. Any modification without deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A lifting and transporting robot, comprising a frame (11) and a lifting assembly (20) arranged on the frame (11), wherein the lifting assembly (20) comprises a lifting platform (21) arranged on the frame (11) and capable of being raised and lowered along the thickness direction of the frame (11), characterized in that: The ratio of the front-to-back dimension of the frame (11) to the lateral dimension of the frame (11) is not less than 1.5, and the dimension of the lifting platform along the front-to-back direction of the frame is not less than 60% of the front-to-back dimension of the frame.

2. The lifting and handling robot according to claim 1, wherein: The ratio of the front-to-back dimension of the frame (11) to the lateral dimension of the frame (11) is between 2 and 4.

3. The lifting and handling robot according to claim 1, wherein: The dimension of the lifting platform (21) along the lateral direction of the vehicle frame (11) is not less than 80% of the lateral dimension of the vehicle frame (11), and the dimension of the lifting platform (21) along the lateral direction of the vehicle frame (11) is not greater than the lateral dimension of the vehicle frame (11).

4. The lifting and handling robot according to claim 3, characterized in that: Along the lateral direction of the vehicle frame (11), both sides of the lifting platform (21) are respectively flush with both sides of the vehicle frame (11).

5. The lifting and handling robot according to claim 1, wherein: The vehicle frame comprises a supporting surface opposite to the bottom surface of the lifting platform, and when the lifting platform (21) is in a non-lifting state, the bottom surface of the lifting platform (21) is in contact with the supporting surface.

6. The lifting and handling robot according to claim 5, characterized in that: The frame (11) comprises a bottom plate (111), a front support plate (16), a rear support plate (17) and two side plates (112); the two side plates (112) are respectively fixedly arranged at the edge positions on both sides of the bottom plate (111); the front support plate (16) and the rear support plate (17) are arranged on the bottom plate (111) at intervals along the length direction of the bottom plate (111); the front support plate (16), the rear support plate (17) and the two side plates (112) are all located on the cargo side of the bottom plate (111); and the support surfaces are formed on the front support plate (16), the rear support plate (17) and the side plates (112).

7. The lifting and handling robot according to claim 6, characterized in that: The side panel (112) includes a side panel body (1123) and a side protrusion (1121); the side panel body (1123) is fixedly arranged on the bottom panel (111); the top surface of the side panel body (1123) forms the supporting surface; the side protrusion (1121) protrudes from the supporting surface of the side panel body; a notch (211) is formed on the side of the lifting platform (21); when the lifting platform (21) is not lifted, the bottom surface of the lifting platform (21) is supported on the supporting surface of the side panel body (1123), and the notch (211) and the side protrusion (1121) are engaged with each other.

8. The lifting and handling robot according to claim 1, wherein: The transport robot further comprises a walking component arranged on the bottom side of the frame, the walking component being used to support the transport robot on the ground and drive the transport robot to walk on the ground, the walking component comprising at least one driving wheel assembly, the driving wheel assembly comprising a driving main wheel unit (121) and a driving caster unit (122) arranged on the frame, the driving main wheel unit (121) and the driving caster unit (122) being movably connected relative to the frame along the thickness direction of the frame (11), and when the transport robot walks, at least one of the driving main wheel unit (121) and the driving caster unit (122) is supported on the ground.

9. The lifting and handling robot according to claim 8, characterized in that: The driving wheel assembly (12) includes a driving bracket (123), the driving bracket (123) is distributed along the front-back direction of the vehicle frame, and the middle part of the driving bracket (123) is hinged on the bottom plate (111) of the vehicle frame (11), and the driving main wheel unit (121) and the driving caster unit (122) are respectively arranged at the two ends of the driving bracket (123) along the front-back direction of the vehicle frame (11), so that the driving main wheel unit (121) and the driving caster unit (122) can move relative to the vehicle frame along the thickness direction of the vehicle frame.

10. The lifting and handling robot according to claim 9, characterized in that: The vehicle frame (11) comprises a support seat (124) fixedly arranged on the bottom plate (111), the support seat (124) being arranged in the middle of the vehicle frame (11) in the front-rear direction, and the support seat (124) being used for being hinged to the driving bracket (123).

11. The lifting and handling robot according to claim 10, wherein: The support seat (124) includes a base connected to the bottom plate (111), two spaced ear plates arranged on the base, and a first support hole arranged on the ear plates. The driving bracket (123) includes a driving bracket body arranged between the two ear plates and a first shaft hole arranged in the middle of the driving bracket body. The driving bracket (123) is hinged to the support seat (124) through a first pin shaft passing through the first shaft hole. Both ends of the first pin shaft are respectively inserted into the first support holes on the corresponding sides. The first end of the driving bracket (123) extends to the middle of the frame (11) and is fixedly mounted on the driving main wheel unit (121); the second end of the driving bracket (123) extends toward the front of the frame (11) and is fixedly mounted on the driving caster unit (122); the driving wheel assembly (12) is provided on both sides of the bottom plate (111) of the frame (11), and the side plate (112) of the frame (11) is formed with an avoidance groove (1124) for accommodating the driving main wheel unit (121) on the corresponding side.

12. The lifting and transporting robot according to any one of claims 8 to 11, characterized in that: The walking part also includes a floating wheel assembly, which is arranged on the frame (11) and has a spacing with the driving wheel assembly (12) along the front-rear direction of the frame. The floating wheel assembly includes a floating bracket (131) and a floating caster unit (132). The two ends of the floating bracket (131) extend to the two sides of the frame (11) respectively, and the middle part of the floating bracket (131) is hinged to the bottom plate (111) of the frame (11). The floating caster units (132) are respectively arranged at the two ends of the floating bracket (131) so that the floating caster unit (132) can move relative to the frame along the thickness direction of the frame (11).

13. The lifting and handling robot according to claim 1, wherein: The lifting assembly is arranged in the middle of the frame (11), the lifting assembly (20) includes a driving mechanism (22) and a lifting mechanism (23) arranged at the output end of the driving mechanism (22), an installation cavity located in the middle of the frame (11) is formed on the frame (11), and the driving mechanism (22) and the lifting mechanism (23) are arranged in the installation cavity.

14. The lifting and handling robot according to claim 13, wherein: The transport robot comprises a hydraulic component interface (18) arranged on the vehicle frame (11), and the hydraulic component interface (18) is used for docking with the hydraulic pipeline of the drive mechanism.

15. The lifting and handling robot according to any one of claims 1 to 10, characterized in that: At least one photoelectric detection component (213) is provided on the top of the lifting platform (21), and the photoelectric detection component (213) is used to detect the material carried by the lifting platform (21).

16. The lifting and transporting robot according to claim 15, wherein: The top surface of the lifting platform (21) is provided with an installation groove (212) for installing the photoelectric detection component (213), and the photoelectric detection component (213) is arranged in the installation groove (212).

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