Rack structure of trackless intelligent portal transfer robot

Abstract

The utility model discloses a rack structure of a trackless intelligent door type transfer robot, and belongs to the technical field of storage and transfer. The machine frame structure comprises a lifting appliance assembly, a door-shaped support, a bottom frame and a plurality of steering wheels, the door-shaped support comprises a bearing beam, two supporting columns and two connecting sleeves, the two supporting columns are fixedly connected to the two ends of the bearing beam respectively, the two supporting columns are slidably connected with the two connecting sleeves respectively, the connecting sleeves are rotatably connected with the bottom frame, and the lifting appliance assembly is fixedly connected with the bottom frame. The height of the bearing beam can be reduced through sliding connection between the supporting columns and the connecting sleeves, meanwhile, the height of the bearing beam can be further reduced through overturning of the connecting sleeves, and therefore the purpose of enhancing passing ability is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to warehousing and carrying technical field especially is a kind of rack structure of trackless intelligent portal carrying robot. BACKGROUND

[0002] In the traditional material carrying mode in warehouse, manpower carrying or simple mechanical carrying tool such as forklift is usually used;There are also track crane and trackless crane, but these modes have many disadvantages. Manpower carrying is inefficient and has safety risk, which can easily cause harm to the carrying personnel. Although mechanical carrying tool such as forklift improves carrying efficiency to some extent, its carrying capacity is limited for large materials, and the materials can be damaged in the operation process. Track crane and trackless crane are mainly used for loading and unloading various military materials. The track crane is divided into two types: the track crane is a variety of bridge cranes with tracks in the air, and the track crane is a portal crane or a portal crane with tracks on the ground. Among several types, the portal crane has the highest performance-price ratio under the same lifting capacity, span and lifting height, but its disadvantage is that it can only move linearly along the track on the fixed track, which has certain limitations. The trackless crane can also be divided into two types: one is a crane without a running mechanism and cannot move, such as various sea cranes installed on ships. The other is a movable lifting device such as a truck crane and a caterpillar crane. This type of movable crane is limited by the overturning moment, which will cause the lifting capacity to decrease rapidly as the vice distance increases. The truck crane must be equipped with a set of fixed device during lifting, so it cannot move after lifting. Although the caterpillar crane can move after lifting, its structure is heavy and slow, and its turning radius is large, so its economy is poor and its application is also limited.

[0003] The existing omnidirectional walking device can meet the needs of indoor and outdoor multifunction, greatly saving carrying time and required cost, but the support height of the portal carrying robot is too high, so the passability is poor, and it is difficult to meet the environment with small entrance. Therefore, a new type of rack structure is needed to solve this problem. UTILITY MODEL CONTENT

[0004] Other features and advantages of the utility model will be set forth in the subsequent specification, and some become apparent from the specification and from the practice of the utility model. The purpose and other advantages of the utility model can be realized and obtained by the structure specially pointed out in the specification and other specification drawings.

[0005] The utility model is aimed at overcoming the above-mentioned shortcomings, and provides a rack structure of trackless intelligent portal carrying robot.

[0006] In order to achieve the above object, the technical scheme of the utility model is: a rack structure of a trackless intelligent door type carrying robot, which comprises a lifting tool assembly, a door type support, a chassis and a plurality of steering rudders, the door type support comprises a load bearing beam, two struts and two connecting sleeves, the two struts are fixedly connected to the two ends of the load bearing beam respectively, the two struts are slidably connected with the two connecting sleeves respectively, the connecting sleeves are rotatably connected with the chassis, and a supporting mechanism is detachably connected to the two sides of each connecting sleeve.

[0007] By adopting the above technical scheme, the lifting tool assembly and the door type support can be folded when being transferred to a position, so that the height thereof is reduced, and the passing performance is better, and the height of the load bearing beam can be reduced by the sliding connection between the struts and the connecting sleeves, and the height of the load bearing beam can be further reduced by the overturning of the connecting sleeves, so that the passing performance is enhanced, when being unfolded, the connecting sleeves are rotated to the vertical state first, the chassis is provided with a baffle capable of blocking the overturning of the connecting sleeves to ensure that the connecting sleeves are rotated to the required position, then the two sides of the connecting sleeves are pressed against by the supporting mechanism, so that the overturning of the connecting sleeves is prevented and the supporting mechanism provides stable support, then the struts are slid out of the connecting sleeves, and the struts are fixed by inserting limiting pins and the like, so that the door type support is unfolded and has reliable strength.

[0008] Preferably, the supporting mechanism comprises a supporting rod and two connecting seats, the two connecting seats are fixedly connected to the chassis and the connecting sleeves respectively, and the two ends of the supporting rod are detachably connected with the two connecting seats through two groups of connecting mechanisms. The two ends of the supporting rod can be connected with the chassis and the connecting sleeves by the two connecting seats, and the connecting sleeves can be fixed and stably supported by the inclined supporting rods arranged on the two sides of the connecting sleeves.

[0009] Preferably, the connecting mechanism comprises a pin, a connecting hole one is formed in the connecting seat, a connecting hole two is formed in the supporting rod, the pin penetrates through the connecting hole one and the connecting hole two, and limiting pieces one and two for limiting the pin from exiting the connecting hole one and the connecting hole two are arranged at the two ends of the pin. The pin penetrates through the connecting seat and the supporting rod through the connecting hole one and the connecting hole two, and the pin is limited from exiting by the limiting pieces one and two, so that the connecting seat and the supporting rod are connected.

[0010] Preferably, one end of the bolt is provided with a radial insertion hole, the limiting member is a split pin, and the split pin is inserted into the insertion hole.

[0011] Preferably, the second limiting member is a pull ring, the pull ring is fixedly connected to one end of the bolt, and the width of the pull ring is greater than the diameter of the bolt.

[0012] Preferably, the chassis comprises two parts, the steering wheels are arranged at two ends of the two parts respectively, the middle part of the two parts is provided with a downward recessed recessed part, and the two connecting sleeves are rotatably connected to the recessed parts of the two parts respectively.

[0013] Preferably, the connecting sleeve is fixedly connected with a lifting cylinder for driving the support to slide in the connecting sleeve, and the output rod of the lifting cylinder is fixedly connected with the bearing beam.

[0014] Preferably, the chassis is provided with a turnover cylinder for pushing the connecting sleeve to overturn, one end of the turnover cylinder is rotatably connected with the chassis, and the output rod of the turnover cylinder is rotatably connected with the connecting sleeve.

[0015] Preferably, a reinforcing rod is arranged between the bearing beam and the support, the reinforcing rod is arranged obliquely, and two ends of the reinforcing rod are fixedly connected with the bearing beam and the support respectively.

[0016] In summary, the beneficial effects of the utility model are:

[0017] 1. The sliding connection between the support column and the connecting sleeve allows the height of the load bearing beam to be reduced, and the height of the load bearing beam can be further reduced by turning over the connecting sleeve, thereby achieving the purpose of enhancing the passability.

[0018] 2. By connecting the connecting sleeve to the downwardly recessed recess, the center of gravity of the goods can be made close to the ground during the carrying of the goods, so that the robot walks more stably.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure.

[0020] It is obvious that the above purposes and other purposes of the present application will become more apparent after the description of the preferred embodiments of the present application with various drawings and drawings.

[0021] In order to make the above and other purposes, features and advantages of the present application more apparent and easy to understand, one or more preferred embodiments will be described below, and the drawings will be described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification. The drawings are used to explain the embodiments of the present application together with the present application, and do not constitute a limitation on the present application.

[0023] In the drawings, the same parts are marked with the same reference numerals, and the drawings are schematic and not necessarily drawn according to the actual scale.

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure;

[0026] Figure 2 It is Figure 1 It is a schematic diagram of the local enlarged structure at A in the middle.

[0027] Main drawing mark explanation: 1, lifting assembly; 2, chassis; 3, steering rudder; 4, load bearing beam; 5, support column; 6, connecting sleeve; 7, support rod; 8, connecting seat; 9, bolt; 10, split pin; 11, pull ring; 12, recess; 13, lifting cylinder; 14, turning cylinder; 15, reinforcing rod. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail in combination with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model, but not used to limit the utility model.

[0029] In addition, in the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0030] In the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixed connection, or can be detachable connection, or can be integrated; can be directly connected, or can be indirectly connected through an intermediate medium, can be the communication or interaction relationship between two elements. But it is noted that direct connection means that the connection between the two main bodies does not pass through the transition structure to build a connection relationship, but only connects through the connecting structure to form a whole. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0031] In the utility model, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. In the description of the specification, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0032] As Figure 1As shown, a rack structure of a trackless intelligent door type carrying robot, comprising a lifting assembly 1, a door type support, a chassis 2 and a plurality of steering rudders 3, the door type support comprising a load bearing beam 4, two struts 5 and two connecting sleeves 6, the two struts 5 are respectively fixedly connected at both ends of the load bearing beam 4, the two struts 5 are respectively slidably connected with the two connecting sleeves 6, the connecting sleeves 6 are rotatably connected with the chassis 2, and a supporting mechanism is detachably connected at both sides of each connecting sleeve 6.

[0033] By adopting the above technical scheme, the lifting assembly 1 and the door type support can be folded when transferring to reduce the height and improve the passability, specifically, the sliding connection between the strut 5 and the connecting sleeve 6 can reduce the height of the load bearing beam 4, and the overturning of the connecting sleeve 6 can further reduce the height of the load bearing beam 4, thereby achieving the purpose of improving the passability, when unfolded, the connecting sleeve 6 is first rotated to the vertical state, the chassis 2 is provided with a baffle to block the overturning of the connecting sleeve 6 to ensure that the connecting sleeve 6 is rotated to the required position, then the two sides of the connecting sleeve 6 are clamped by the supporting mechanism to prevent the connecting sleeve 6 from overturning and to be stably supported, then the strut 5 slides out of the connecting sleeve 6, and the strut 5 is fixed by inserting a limiting pin and the like, thereby realizing the unfolding of the door type support and ensuring the reliable strength of the door type support.

[0034] The supporting mechanism comprises a supporting rod 7 and two connecting seats 8, the two connecting seats 8 are respectively fixedly connected on the chassis 2 and the connecting sleeve 6, and the two ends of the supporting rod 7 are detachably connected with the two connecting seats 8 through two groups of connecting mechanisms. The two ends of the supporting rod 7 can be connected with the chassis 2 and the connecting sleeve 6 by means of the two connecting seats 8, and the connecting sleeve 6 can be fixed and stably supported by simultaneously arranging the inclined supporting rods 7 at both sides of the connecting sleeve 6.

[0035] The connecting mechanism comprises a pin 9, the connecting seat 8 is provided with a connecting hole one, the supporting rod 7 is provided with a connecting hole two, the pin 9 penetrates the connecting hole one and the connecting hole two, and the two ends of the pin 9 are respectively provided with a limiting piece one and a limiting piece two for limiting the pin 9 from exiting the connecting hole one and the connecting hole two. The pin 9 penetrates the connecting seat 8 and the supporting rod 7 through the connecting hole one and the connecting hole two, and the pin 9 is limited from exiting by the limiting piece one and the limiting piece two, thereby realizing the connection between the supporting rod 7 and the connecting seat 8.

[0036] One end of the pin 9 is provided with a hole along the radial direction, the limiting piece one is an open pin 10, and the open pin 10 is inserted into the hole. The open pin 10 can be inserted into the hole to limit one end of the pin 9 from exiting, and the opening of the open pin 10 can be deformed to be fixed in the hole or deformed to exit the hole, so that the pin 9 can be pulled out to allow the supporting rod 7 to be detached.

[0037] The limiting member two is a pull ring 11, which is fixedly connected to one end of the bolt 9, and the width of the pull ring 11 is greater than the diameter of the bolt 9. The pull ring 11 can facilitate the insertion or withdrawal of the bolt 9, and can also block the bolt 9 from being continuously inserted, thereby playing a limiting role.

[0038] The chassis 2 comprises two parts, and the rudders 3 are arranged at two ends of the two parts, respectively. The middle part of the two parts is provided with a downward recessed recessed part 12, and the two connecting sleeves 6 are rotatably connected to the recessed part 12 at the two parts, respectively. By connecting the connecting sleeves 6 to the downward recessed recessed part 12, the center of gravity of the goods can be close to the ground during the carrying of the goods, so that the robot walks more stably.

[0039] The connecting sleeve 6 is fixedly connected with a lifting cylinder 13 for driving the support column 5 to slide in the connecting sleeve 6, and the output rod of the lifting cylinder 13 is fixedly connected with the carrying beam 4. The extension and retraction of the output rod of the lifting cylinder 13 provide the power required for the sliding of the support column 5. When the output rod of the lifting cylinder 13 is fully extended, the carrying beam 4 is at the highest position, and the lifting cylinder 13 shown in the figure is a hand-operated lifting cylinder 13.

[0040] The chassis 2 is provided with a turnover cylinder 14 for pushing the connecting sleeve 6 to turn over, one end of the turnover cylinder 14 is rotatably connected with the chassis 2, and the output rod of the turnover cylinder 14 is rotatably connected with the connecting sleeve 6. The extension and retraction of the output rod of the turnover cylinder 14 provide the power required for the sliding of the connecting sleeve 6. When the output rod of the turnover cylinder 14 is fully extended, the connecting sleeve 6 is turned to the lowest point, and when the output rod of the turnover cylinder 14 is fully retracted, the connecting sleeve 6 is in a vertical state, and the turnover cylinder 14 shown in the figure is a hand-operated turnover cylinder 14.

[0041] A reinforcing rod 15 is arranged between the carrying beam 4 and the support column 5, and the reinforcing rod 15 is arranged obliquely, and the two ends of the reinforcing rod 15 are fixedly connected with the carrying beam 4 and the support column 5, respectively. The reinforcing rod 15 can further strengthen the strength of the carrying beam 4, so that it can bear more weight.

[0042] It should be noted that in the above description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

Claims

1. A frame structure of a trackless intelligent door type carrying robot, comprising a lifting tool assembly (1), a door type support, a chassis (2) and a plurality of steering rudders (3), characterized in that: The door type support frame comprises a bearing beam (4), two support columns (5) and two connecting sleeves (6), the two support columns (5) are fixedly connected at two ends of the bearing beam (4) respectively, the two support columns (5) are slidably connected with the two connecting sleeves (6) respectively, the connecting sleeves (6) are rotatably connected with the chassis (2), and the two sides of each connecting sleeve (6) are detachably connected with a supporting mechanism.

2. The trackless intelligent door carrying robot's frame structure according to claim 1, characterized in that: The supporting mechanism comprises a supporting rod (7) and two connecting seats (8), the two connecting seats (8) are fixedly connected on the chassis (2) and the connecting sleeve (6) respectively, and the two ends of the supporting rod (7) are detachably connected with the two connecting seats (8) through two groups of connecting mechanisms.

3. The trackless intelligent door carrying robot's frame structure according to claim 2, characterized in that: The connecting mechanism comprises a bolt (9), a connecting hole one is formed in the connecting seat (8), a connecting hole two is formed in the supporting rod (7), the bolt (9) penetrates through the connecting hole one and the connecting hole two, and the two ends of the bolt (9) are respectively provided with a limiting piece one and a limiting piece two for limiting the bolt (9) from exiting the connecting hole one and the connecting hole two.

4. The trackless intelligent door carrying robot's frame structure according to claim 3, characterized in that: One end of the bolt (9) is provided with a bolt hole in the radial direction, the limiting piece one is a split pin (10), and the split pin (10) is inserted into the bolt hole.

5. The trackless intelligent door carrying robot of claim 3, wherein: The limiting piece two is a pull ring (11), the pull ring (11) is fixedly connected at one end of the bolt (9), and the width of the pull ring (11) is greater than the diameter of the bolt (9).

6. The trackless intelligent door carrying robot of claim 1, wherein: The chassis (2) comprises two parts, the steering wheels (3) are arranged at two ends of the two parts respectively, the middle part of the part is provided with a recessed part (12) which is recessed downward, and the two connecting sleeves (6) are rotatably connected with the two parts on the recessed part (12) respectively.

7. The trackless intelligent door carrying robot of claim 1, wherein: The connecting sleeve (6) is fixedly connected with a lifting cylinder (13) for driving the support column (5) to slide in the connecting sleeve (6), and the output rod of the lifting cylinder (13) is fixedly connected with the bearing beam (4).

8. The trackless intelligent door carrying robot of claim 1, wherein: The chassis (2) is provided with a turnover cylinder (14) for pushing the connecting sleeve (6) to overturn, one end of the turnover cylinder (14) is rotatably connected with the chassis (2), and the output rod of the turnover cylinder (14) is rotatably connected with the connecting sleeve (6).

9. The trackless intelligent door carrying robot of claim 1, wherein: A reinforcing rod (15) is arranged between the bearing beam (4) and the support column (5), the reinforcing rod (15) is arranged obliquely, and the two ends of the reinforcing rod (15) are fixedly connected with the bearing beam (4) and the support column (5) respectively.

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