Plane transfer robot capable of adapting to various trays

Abstract

The embodiment of the utility model provides a plane transfer robot capable of adapting to various trays. The plane transfer robot comprises a frame, a walking assembly, a pallet fork assembly, a lifting assembly and a wheel lifting oil cylinder. The walking assembly is used for driving the frame to walk and steer; the pallet fork assembly is installed on the rear side of the frame in a liftable mode, and the lifting assembly is in transmission connection with the pallet fork assembly and used for driving the pallet fork assembly to ascend and descend. Auxiliary supporting wheels are arranged at the bottoms of the sides, close to the frame, of the pallet fork assemblies, supporting wheels are arranged at the bottoms of the sides, away from the frame, of the pallet fork assemblies, the supporting wheels are rotationally connected with the pallet fork assemblies, and the wheel lifting oil cylinders are in transmission connection with the supporting wheels through connecting rod mechanisms. When the pallet fork assembly descends, the wheel lifting oil cylinder can drive the supporting wheel to rotate upwards to the folding position, so that the supporting wheel is separated from the ground, and various types of pallets can be automatically forked. When the pallet fork assembly ascends, the wheel lifting oil cylinders can drive the supporting wheels to rotate downwards to the supporting positions, the pallet fork assembly is supported, and the carrying stability is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, specifically to a planar handling robot that can adapt to various types of pallets. Background Technology

[0002] With the rapid development of intelligent automation in factories, automated transportation in logistics is becoming increasingly common, and the technology for automated planar handling of palletized items is becoming more and more mature. However, in order to achieve a large load capacity and a compact and flexible design, traditional automated planar handling robots often have forks mounted above their outriggers for pallet handling. As a result, these robots can only handle crisscross-shaped pallets (i.e., unobstructed underneath along the fork-taking direction). When attempting to pick up lattice-shaped pallets (i.e., reinforced underneath along the fork-taking direction), the outriggers below the forks collide with the reinforced supports at the bottom of the lattice-shaped pallet, preventing the robot from automatically picking up the pallet.

[0003] Therefore, it is necessary to develop a planar handling robot that can adapt to various types of pallets in order to solve the above-mentioned technical problems. Utility Model Content

[0004] The present invention provides a planar handling robot that can adapt to various types of pallets, and can automatically pick up and place various types of pallets such as the zigzag and grid-shaped pallets.

[0005] This utility model provides a planar handling robot adaptable to multiple types of pallets, comprising:

[0006] Frame;

[0007] A walking assembly, mounted on the bottom of the frame, is used to drive the frame to move and steer;

[0008] A fork assembly is vertically mounted on the rear side of the frame. An auxiliary support wheel is provided on the bottom side of the fork assembly near the frame, and a support wheel is provided on the bottom side of the fork assembly away from the frame. The support wheel is rotatably connected to the fork assembly, so that the support wheel can rotate upward relative to the fork assembly to a retracted position to lift off the ground or rotate downward to a support position to support the fork assembly.

[0009] A lifting assembly is mounted on the vehicle frame and connected to the fork assembly for driving the fork assembly to lift.

[0010] A lifting wheel cylinder is mounted on the frame and connected to the support wheel via a linkage mechanism. The lifting wheel cylinder is configured to drive the support wheel to a retracted position when the fork assembly is lowered and to drive the support wheel to a supported position when the fork assembly is raised.

[0011] Optionally, the linkage mechanism includes an L-shaped transmission rod, a first connecting member, a connecting rod, and a second connecting member. The middle part of the L-shaped transmission rod is rotatably connected to the fork assembly. One end of the L-shaped transmission rod is rotatably connected to the telescopic rod of the lifting wheel cylinder. The other end of the L-shaped transmission rod is connected to one end of the connecting rod via the first connecting member. The other end of the connecting rod is rotatably connected to one end of the second connecting member. The other end of the second connecting member is rotatably connected to the fork assembly. The support wheel is fixedly connected to the second connecting member.

[0012] Optionally, the second connector has a connecting portion protruding toward the side of the support wheel, the support wheel including a support frame and a wheel assembly mounted on the support frame, the support frame being fixedly connected to the connecting portion.

[0013] Optionally, a slide rail is vertically arranged below the lifting wheel cylinder, a slider is slidably mounted on the slide rail, a connecting plate is fixedly connected to the slider, the upper end of the connecting plate is connected to the telescopic rod of the lifting wheel cylinder, and the lower end of the connecting plate is rotatably connected to one end of the L-shaped transmission rod.

[0014] Optionally, the fork assembly includes a horizontally arranged fork arm and a vertically arranged fork arm mounting plate. The fork arm mounting plate is throttle-connected to the lifting assembly. The auxiliary support wheel is mounted on the bottom of the fork arm mounting plate. One end of the fork arm near the frame is fixedly connected to the lower end of the fork arm mounting plate. The support wheel is mounted on the bottom of the other end of the fork arm.

[0015] Optionally, the lifting assembly includes a lifting cylinder, a lifting frame, and a gantry guide frame. The lifting cylinder and the gantry guide frame are both vertically mounted on the vehicle frame. The lifting frame is slidably mounted between the two side plates of the gantry guide frame and connected to the telescopic rod of the lifting cylinder. The fork arm mounting plate is fixedly connected to the lifting frame.

[0016] Optionally, rollers are installed on both sides of the lifting frame facing the gantry guide frame, and corresponding grooves are provided on the two side plates of the gantry guide frame to slide and cooperate with the rollers.

[0017] Optionally, the vehicle frame is further provided with an oil tank for supplying oil to the wheel lifting cylinder and the lifting cylinder, an oil pump for pumping oil to the wheel lifting cylinder and the lifting cylinder respectively, and a valve block module for controlling the operation of the wheel lifting cylinder and the lifting cylinder.

[0018] Optionally, the vehicle frame cover is provided with a housing.

[0019] The present invention has the following advantages: a lifting wheel cylinder is installed on the frame, and the lifting wheel cylinder is connected to the support wheel at the bottom of the fork assembly via a linkage mechanism. When the fork assembly descends, the lifting wheel cylinder can drive the support wheel to rotate upward to the retracted position, so that the support wheel is lifted off the ground, so as to automatically pick up various types of pallets (such as crisscross, grid, etc.). When the fork assembly rises, the lifting wheel cylinder can drive the support wheel to rotate downward to the support position to support the fork assembly and ensure the stability of the transport. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the vehicle frame structure in an embodiment of this utility model;

[0023] Figure 3 This is a schematic diagram of the lifting assembly in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the lifting wheel cylinder and connecting rod mechanism in an embodiment of this utility model;

[0025] Figure 5 This is a schematic diagram illustrating the action of the support wheel retracting upwards in an embodiment of this utility model;

[0026] Figure 6 This is a schematic diagram of the downward support action of the support wheel in an embodiment of this utility model;

[0027] The numbers in the diagram represent:

[0028] 1. Frame; 2. Walking assembly; 3. Lifting cylinder; 4. Support wheel; 4.1. Support frame; 4.2. Wheel set; 5. Auxiliary support wheel; 6. Fork arm mounting plate; 7. Fork arm; 8. Lifting cylinder; 9. Lifting frame; 10. Gantry guide frame; 11. Roller; 12. L-shaped transmission rod; 13. First connecting piece; 14. Connecting rod; 15. Second connecting piece; 16. Slide rail; 17. Slider; 18. Connecting plate; 19. Oil tank; 20. Oil pump; 21. Valve block module; 22. Housing. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0031] Please see Figure 1 , Figure 2 As shown, an embodiment of this utility model provides a planar handling robot that can adapt to various types of pallets, which mainly includes a frame 1, a walking assembly 2, a fork assembly, a lifting assembly, a lifting wheel cylinder 3, and other structures.

[0032] The walking assembly 2 is installed at the bottom of the frame 1 and is used to drive the frame 1 to walk and steer. The walking assembly 2 typically includes a drive wheel installed at the bottom of the frame 1, a walking motor that is driven by the drive wheel to drive the drive wheel to walk, a steering motor that is driven by the drive wheel to drive the drive wheel to steer, and omnidirectional wheels to assist walking, etc. This is prior art and will not be described in detail in this embodiment of the utility model.

[0033] The fork assembly is height-mounted at the rear of the chassis 1 for transporting goods. For example... Figure 1 , Figure 3 As shown, a support wheel 4 is provided at the bottom of the rear side of the fork assembly (i.e., the side away from the frame 1). This support wheel 4 is rotatably connected to the fork assembly, allowing it to rotate up and down relative to the fork assembly, switching back and forth between the retracted and supported positions. When the support wheel 4 rotates upward to the retracted position, it can lift off the ground, facilitating the automatic picking up of various types of pallets by the fork assembly. When the support wheel 4 rotates downward to the supported position, it supports the fork assembly to ensure stability during handling. An auxiliary support wheel 5 is provided at the bottom of the front side of the fork assembly (i.e., the side closer to the frame 1). This auxiliary support wheel 5 provides additional support to the fork assembly when the support wheel 4 is off the ground, ensuring stability during picking up pallets.

[0034] Specifically, the fork assembly in this embodiment includes a vertically arranged fork mounting plate 6 and a horizontally arranged fork arm 7. The fork mounting plate 6 is connected to a lifting assembly and can reciprocate up and down relative to the frame 1 under the drive of the lifting assembly. The front end of the fork arm 7 is fixedly connected to the lower end of the fork mounting plate 6 and can rise and fall synchronously with the fork mounting plate 6. A support wheel 4 is installed at the bottom of the rear end of the fork arm 7, and an auxiliary support wheel 5 is installed at the bottom of the fork mounting plate 6.

[0035] The lifting assembly is mounted on the frame 1 and is connected to the fork assembly via a drive mechanism to drive the fork assembly to lift and lower. Specifically, as shown... Figure 3 As shown, the lifting assembly in this embodiment includes a lifting cylinder 8, a lifting frame 9, and a gantry guide frame 10. Both the lifting cylinder 8 and the gantry guide frame 10 are vertically mounted on the vehicle frame 1. The lifting frame 9 is slidably mounted between the two side plates of the gantry guide frame 10 and connected to the telescopic rod of the lifting cylinder 8. The fork arm mounting plate 6 is fixedly connected to the lifting frame 9. Driven by the lifting cylinder 8, the lifting frame 9 can move up and down along the gantry guide frame 10, thereby lifting and lowering the fork assembly to pick up and transport goods. Furthermore, to improve the stability of the lifting, rollers 11 are installed on both sides of the lifting frame 9 facing the gantry guide frame 10. Sliding grooves corresponding to the rollers 11 are provided on the two side plates of the gantry guide frame 10, facilitating the up and down movement of the lifting frame 9.

[0036] The lifting cylinder 3 is mounted on the frame 1 and is connected to the support wheel 4 via a linkage mechanism. The lifting cylinder 3 is configured to drive the support wheel 4 to rotate to the retracted position when the fork assembly is lowered and to drive the support wheel 4 to rotate to the support position when the fork assembly is raised.

[0037] like Figure 4 As shown, the linkage mechanism in this embodiment of the present invention includes an L-shaped transmission rod 12, a first connecting member 13, a connecting rod 14, and a second connecting member 15. The middle portion of the L-shaped transmission rod 12 is rotatably connected to the fork assembly. One end of the L-shaped transmission rod 12 is rotatably connected to the telescopic rod of the lifting wheel cylinder 3. The other end of the L-shaped transmission rod 12 is connected to one end of the connecting rod 14 via the first connecting member 13. The other end of the connecting rod 14 is rotatably connected to one end of the second connecting member 15. The other end of the second connecting member 15 is rotatably connected to the fork assembly. The support wheel 4 is fixedly connected to the second connecting member 15. Specifically, the second connecting member 15 has a connecting portion protruding towards the side near the support wheel 4. The support wheel 4 includes a support frame 4.1 and a wheel assembly 4.2 mounted on the support frame 4.1. The support frame 4.1 is fixedly connected to this connecting portion.

[0038] Furthermore, in this embodiment of the invention, a slide rail 16 is vertically arranged below the lifting wheel cylinder 3, and a slider 17 is slidably mounted on the slide rail 16. A connecting plate 18 is fixedly connected to the slider 17. The upper end of the connecting plate 18 is connected to the telescopic rod of the lifting wheel cylinder 3, and the lower end of the connecting plate 18 is rotatably connected to one end of the L-shaped transmission rod 12. By using the slide rail 16 and the slider 17 to guide and limit the movement of the connecting plate 18, stable transmission between the lifting wheel cylinder 3 and the linkage mechanism can be ensured.

[0039] like Figure 5 As shown, when picking up goods, the fork assembly descends under the drive of the lifting assembly. Simultaneously, the telescopic rod of the lifting wheel cylinder 3 retracts upward, causing one end of the L-shaped transmission rod 12 to rotate upward. This causes the other end of the L-shaped transmission rod 12 to rotate downward and push the connecting rod 14 towards the support wheel 4 via the first connecting member 13. The second connecting member 15 rotates upward under the push of the connecting rod 14, causing the support wheel 4 to gradually lift and retract. When the fork assembly descends to its lowest point, the support wheel 4 retracts upward until it is off the ground, facilitating the automatic picking up of various types of pallets. At this time, the auxiliary support wheel 5 touches the ground, supporting the fork assembly to ensure the stability of the picking process.

[0040] like Figure 6 As shown, when the forks have picked up the goods and are ready for transport, the fork assembly rises under the drive of the lifting assembly. Simultaneously, the telescopic rod of the lifting wheel cylinder 3 extends downwards, causing one end of the L-shaped transmission rod 12 to rotate downwards. This causes the other end of the L-shaped transmission rod 12 to rotate upwards, pulling the connecting rod 14 away from the support wheel 4 via the first connecting member 13. The second connecting member 15 rotates downwards under the pull of the connecting rod 14, causing the support wheel 4 to gradually extend downwards for support. When the fork assembly reaches its highest point, the support wheel 4 supports the rear end of the fork assembly (at this point, the auxiliary support wheel 5 has lifted off the ground) to ensure transport stability.

[0041] Furthermore, such as Figure 2 As shown, the frame 1 is also equipped with an oil tank 19, an oil pump 20, and a valve block module 21. The oil tank 19 is used to supply oil to the lifting wheel cylinder 3 and the lifting cylinder 8. The oil pump 20 can pump the oil in the oil tank 19 to the lifting wheel cylinder 3 and the lifting cylinder 8 respectively. The valve block module 21 can control the lifting wheel cylinder 3 and the lifting cylinder 8 according to the instructions of the handling robot control unit, thereby controlling the lifting and lowering of the fork assembly and the raising and lowering of the support wheels 4, so that the handling robot can automatically pick up and transport.

[0042] In addition, a housing 22 can be installed on the frame 1 to hide the lifting components, lifting wheel cylinder 3, oil tank 19, oil pump 20, valve block module 21 and other structures on the frame 1 inside the housing 22, so as to improve the safety and aesthetics of the handling robot.

[0043] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this utility model. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A planar transport robot adaptable to multiple types of pallets, characterized by, The utility model relates to a truck, including: Frame; Walking assembly, be installed at the bottom of frame, be used for driving frame walk and turn to a side; Fork assembly, liftablely installed at the rear side of frame, the auxiliary support wheel is provided with to the bottom of the fork assembly near the side of frame, the support wheel is provided with to the bottom of the fork assembly far from the side of frame, the support wheel is rotatably connected with the fork assembly, so that the support wheel can rotate upward to the folding position to get off the ground or rotate downward to the support position to support the fork assembly; Lifting assembly, be installed on frame and with fork assembly transmission connection, be used for driving fork assembly lift; Lifting wheel oil cylinder, be installed on frame and through connecting rod mechanism with support wheel transmission connection, lifting wheel oil cylinder is configured to be able to drive support wheel rotate to folding position when fork assembly drops, drive support wheel rotate to support position when fork assembly rises.

2. A planar handling robot adaptable to multiple classes of pallets according to claim 1, characterized in that: The connecting rod mechanism includes an L-shaped transmission rod, a first connecting piece, a connecting rod, and a second connecting piece. The middle part of the L-shaped transmission rod is rotatably connected with the fork assembly. One end of the L-shaped transmission rod is rotatably connected with the telescopic rod of the lifting wheel oil cylinder. The other end of the L-shaped transmission rod is transmissionally connected with one end of the connecting rod through the first connecting piece. The other end of the connecting rod is rotatably connected with one end of the second connecting piece. The other end of the second connecting piece is rotatably connected with the fork assembly. The support wheel is fixedly connected with the second connecting piece.

3. A planar handling robot adaptable to multiple classes of pallets according to claim 2, characterized in that: The second connecting piece is formed with a connection part protruding towards the side close to the support wheel. The support wheel includes a support frame and a wheel set installed on the support frame. The support frame is fixedly connected with the connection part.

4. A planar handling robot adaptable to multiple classes of pallets according to claim 2, characterized in that: A slide rail is vertically arranged below the lifting wheel oil cylinder. A sliding block is slidingly installed on the slide rail. A connecting plate is fixedly connected with the sliding block. The upper end of the connecting plate is connected with the telescopic rod of the lifting wheel oil cylinder. The lower end of the connecting plate is rotatably connected with one end of the L-shaped transmission rod.

5. A planar handling robot adaptable to multiple classes of pallets according to claim 1, characterized in that: The fork assembly includes horizontally arranged fork arms and vertically arranged fork arm mounting plates. The fork arm mounting plates are transmissionally connected with the lifting assembly. The auxiliary support wheel is installed at the bottom of the fork arm mounting plate. One end of the fork arm close to the frame is fixedly connected with the lower end of the fork arm mounting plate. The support wheel is installed at the bottom of the other end of the fork arm.

6. A planar handling robot adaptable to multiple classes of pallets according to claim 5, characterized in that: The lifting assembly includes a lifting oil cylinder, a lifting frame, and a door-shaped guide frame. The lifting oil cylinder and the door-shaped guide frame are both vertically arranged on the frame. The lifting frame is slidingly installed between the two side plates of the door-shaped guide frame and is connected with the telescopic rod of the lifting oil cylinder. The fork arm mounting plate is fixedly connected with the lifting frame.

7. A planar handling robot adaptable to multiple classes of pallets according to claim 6, characterized in that: Rollers are installed on both sides of the lifting frame towards the door-shaped guide frame. Slide grooves corresponding to the rollers are provided on the two side plates of the door-shaped guide frame.

8. A planar handling robot adaptable to multiple classes of pallets according to claim 6, characterized in that: The frame is also provided with an oil tank for providing oil for the lifting wheel oil cylinder and the lifting oil cylinder, an oil pump for pumping oil to the lifting wheel oil cylinder and the lifting oil cylinder respectively, and a valve block module for controlling the actions of the lifting wheel oil cylinder and the lifting oil cylinder.

9. A planar transport robot adaptable to multiple types of pallets according to claim 1, characterized in that: The vehicle frame cover is provided with a shell.

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