An intelligent pallet robot

Abstract

The utility model provides a kind of intelligent tray robot, including the vehicle body of U type, second U-shaped frame is equipped in the vehicle body of U type, the bottom of second U-shaped frame is equipped with multiple universal wheels, telescopic mechanism is rotatably installed in the end of second U-shaped frame top away from its opening, third U-shaped frame is parallelly equipped in the top of second U-shaped frame, and the bottom of third U-shaped frame is rotatably connected with multiple mutually parallel supporting arms.The utility model is used to let robot travel to the side of tray, second U-shaped frame and third U-shaped frame are driven under the driving of linear drive module and extend into the below of tray, then telescopic mechanism is elongated and drives third U-shaped frame to lift, since second U-shaped frame and third U-shaped frame are supported by multiple supporting arms, so the weight of tray on the top of third U-shaped frame is dispersed to each supporting arm, so the weight of third U-shaped frame lifting is large, and heavier goods can be carried.

Description

Technical Field

[0001] This utility model relates to the field of pallet handling technology, specifically to an intelligent pallet robot. Background Technology

[0002] Intelligent pallet robots are automated devices specifically designed for the handling, storage, and management of palletized goods, belonging to the sub-sector of autonomous mobile robots or automated guided vehicles. By integrating navigation, sensing, control, and execution technologies, they replace traditional forklifts or manual handling, achieving efficient, precise, and safe material handling, and are widely used in warehousing, logistics, manufacturing, and retail industries.

[0003] Intelligent pallet robots offer efficient material handling. Upon receiving instructions, they can quickly reach the storage location along a preset path, insert the bottom of the pallet to lift it, and deliver it to the designated location for storage according to the instructions. The entire process is automated and efficient. Moreover, intelligent pallet robots are more flexible and can adapt to narrow spaces. They are particularly suitable for intelligent material handling needs in high-density automated warehouses and narrow aisle areas, and can operate flexibly in confined spaces.

[0004] Existing intelligent pallet robots mostly use lead screw lifting mechanisms, which convert the rotational motion of a lead screw into linear motion. Their working principle involves a motor driving the lead screw to rotate, which in turn pushes a nut to slide up and down, thus completing the lifting and lowering action of the pallet. Lead screw lifting mechanisms have a complex structure, are inconvenient to maintain after prolonged use, and have relatively low load-bearing capacity. Therefore, we propose an intelligent pallet robot. Utility Model Content

[0005] This invention provides an intelligent pallet robot with advantages of large carrying capacity and high flexibility, solving the problems mentioned in the background art.

[0006] The technical solution of this utility model is implemented as follows: An intelligent pallet robot is designed, comprising a U-shaped body, a second U-shaped frame inside the U-shaped body, multiple omnidirectional wheels at the bottom of the second U-shaped frame, a telescopic mechanism rotatably mounted at the top of the second U-shaped frame away from its opening, a third U-shaped frame parallel to the top of the second U-shaped frame, and multiple parallel support arms rotatably connected to the bottom of the third U-shaped frame, all of which are inclined towards the telescopic mechanism. The free end of the telescopic mechanism is rotatably connected to the third U-shaped frame to drive the third U-shaped frame to rise and fall. In the initial state, the height of the third U-shaped frame is lower than the top height of the U-shaped body. A linear drive device connected to the second U-shaped frame is provided inside the U-shaped body to drive the second U-shaped frame to move outside the U-shaped body.

[0007] Preferably, the linear drive device includes support rails disposed on both sides of the U-shaped vehicle body and a linear drive module disposed on one side of the bottom of the U-shaped vehicle body. The support rails are located on both sides of the second U-shaped frame. The two sides of the second U-shaped frame near the telescopic mechanism are slidably connected to the support rails by sliders. The linear drive module is parallel to the support rails and is connected to the adjacent slider.

[0008] Preferably, each slider has a vertical connecting shaft on the side near the second U-shaped frame, and the connecting shaft is rotatably installed in an L-shaped seat, which is installed on both sides of the end of the second U-shaped frame.

[0009] Preferably, the U-shaped vehicle body includes a first U-shaped frame, a control cabinet is provided at the top of the first U-shaped frame away from its opening, a controller is provided in the control cabinet, battery boxes are respectively provided in the middle of both sides of the first U-shaped frame, rechargeable battery packs are provided in the battery boxes, and drive devices are provided at both ends of both sides of the first U-shaped frame, with driving wheels respectively installed at the ends of the drive devices. The drive devices and rechargeable battery packs are electrically connected to the controller, and the controller is electrically connected to the linear drive module and the telescopic mechanism.

[0010] Preferably, the drive device includes a drive motor and a reducer disposed on the output end of the drive motor. The drive motor is electrically connected to the controller. Both the reducer and the drive motor are mounted on a support. The end of the support is connected to the first U-shaped frame. The output end of the reducer is coaxially connected to the drive shaft. The drive shaft is rotatably mounted in a bearing housing. The bearing housing is disposed on the support. The end of the drive shaft is connected to the traveling wheel.

[0011] Preferably, the top of the battery box is provided with a removable cover.

[0012] Preferably, mounting seats are provided at both ends of the first U-shaped frame, and connecting plates are detachably provided on the mounting seats, which are connected to the supports.

[0013] Preferably, a wheel disc is coaxially provided at the end of the drive shaft, and the wheel disc is detachably connected to the traveling wheel.

[0014] Preferably, a support seat is provided at the top of the third U-shaped frame near the telescopic mechanism, and the top of the telescopic mechanism is rotatably connected to the support seat.

[0015] Compared with the prior art, in use, the robot moves to one side of the pallet, and the second and third U-shaped frames extend under the pallet under the drive of the linear drive module. Then, the telescopic mechanism extends and lifts the third U-shaped frame. Since the second and third U-shaped frames are supported by multiple arms, the weight of the pallet at the top of the third U-shaped frame is distributed to each arm. Therefore, the third U-shaped frame can lift a large weight and has a high load-bearing capacity, and can handle heavier goods. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0017] Figure 1 This is a schematic diagram of the structure of the present utility model. Figure 1 .

[0018] Figure 2 This is a schematic diagram of the structure of the present utility model. Figure 2 .

[0019] Figure 3 This is a schematic diagram of the structure of the pallet after it has been moved according to this utility model.

[0020] Figure 4 This is a schematic diagram of the bottom structure of this utility model.

[0021] Figure 5 This is a side view of the second U-shaped frame of this utility model.

[0022] Figure 6 This is a schematic diagram of the drive device of this utility model.

[0023] Figure 7 This is a three-dimensional structural diagram of the second U-shaped frame of this utility model.

[0024] In the diagram: 1. First U-shaped frame; 2. Second U-shaped frame; 3. Casters; 4. Third U-shaped frame; 5. Drive motor; 6. Reducer; 7. Mounting base; 8. Connecting plate; 9. Support; 10. Traveling wheel; 11. Battery box; 12. Box cover; 13. Telescopic mechanism; 14. Support base; 15. Support rail; 16. Control cabinet; 17. Linear drive module; 18. Slider; 19. Support arm; 20. Bearing seat; 21. Wheel disc; 22. Drive shaft; 23. L-shaped seat; 24. Connecting shaft. Detailed Implementation

[0025] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] Reference Figures 1 to 7This utility model provides a technical solution: an intelligent pallet robot, including a first U-shaped frame 1, a control cabinet 16 at the top of the first U-shaped frame 1 away from its opening, battery boxes 11 are respectively provided in the middle of both sides of the first U-shaped frame 1, a rechargeable battery pack is provided in the battery box 11, and a box cover 12 is detachably provided on the top of the battery box 11. The top of the battery box 11 and the box cover 12 are specifically connected by a latch or bolt. After opening the box cover 12, the inside of the battery box 11 can be inspected, or the battery can be removed and replaced.

[0027] Both ends of the first U-shaped frame 1 are equipped with driving devices, each including a drive motor 5 and a reducer 6 mounted on the output end of the drive motor 5. The reducer 6 is a planetary reducer. Both the reducer 6 and the drive motor 5 are mounted on a support 9, the end of which is connected to the first U-shaped frame 1. Figure 1 and Figure 2 As shown, mounting seats 7 are provided at both ends of the first U-shaped frame 1. These mounting seats 7 are specifically used to install the drive device. That is, each mounting seat 7 is detachably provided with a connecting plate 8. The connecting plate 8 is connected to the support 9. The connecting plate 8 is specifically installed on the mounting seat 7 by bolts, which facilitates disassembly and installation.

[0028] The output end of the reducer 6 is coaxially connected to the drive shaft 22, which is rotatably mounted in the bearing housing 20, which is set on the support 9. Each end of the drive unit is equipped with a traveling wheel 10, specifically, the end of the drive shaft 22 is connected to the traveling wheel 10, which is supported on the ground. The force exerted by the traveling wheel 10 on the reducer 6 is entirely transferred to the bearing housing 20. Therefore, the bearing housing 20 not only supports the drive shaft 22 but also protects the reducer 6.

[0029] A controller is housed within the control cabinet 16. The drive unit and rechargeable battery pack are electrically connected to the controller. Specifically, the drive motor 5 is electrically connected to the controller. The aforementioned first U-shaped frame 1, control cabinet 16, and wheels 10 form a U-shaped vehicle body. The U-shaped vehicle body can travel on the ground via the wheels 10. Under the control of the controller, the four wheels 10 can travel in a straight line or turn around on the spot by using speed differences. The wheels 10 are McLaren wheels. Moreover, compared to traditional tray robots, the first U-shaped frame 1 can store rechargeable battery packs on both sides, resulting in a larger number and volume of rechargeable battery packs, allowing the entire robot to have a longer battery life.

[0030] It should be further explained that, in order to better achieve automation and intelligence, sensors such as obstacle avoidance sensors, position detection sensors and vision sensors can be set around the first U-shaped frame 1. Positioning devices and wireless control devices can also be set in the control cabinet 16. These devices can be installed as needed. When in use, the sensors, positioning devices and wireless control devices can be electrically connected to the controller.

[0031] Furthermore, a second U-shaped frame 2 is provided inside the U-shaped vehicle body. Specifically, the second U-shaped frame 2 is located inside the first U-shaped frame 1. The bottom of the second U-shaped frame 2 is provided with multiple casters 3, which are specifically distributed at the four corners of the second U-shaped frame 2. The casters 3 are supported on the ground. The second U-shaped frame 2 and the first U-shaped frame 1 are arranged in the same direction. A telescopic mechanism 13 is rotatably installed at the top of the second U-shaped frame 2 away from its opening. The telescopic mechanism 13 is an electric cylinder or a hydraulic cylinder.

[0032] A third U-shaped frame 4 is parallel to the top of the second U-shaped frame 2. Multiple parallel support arms 19 are rotatably connected to the bottom of the third U-shaped frame 4. All support arms 19 must be tilted towards the telescopic mechanism 13. The free end of the telescopic mechanism 13 is rotatably connected to the third U-shaped frame 4. The telescopic mechanism 13 is used to drive the third U-shaped frame 4 to rise and fall. In the initial state, the height of the third U-shaped frame 4 is lower than the height of the top of the U-shaped vehicle body. For example... Figure 5 and Figure 7 As shown, a support seat 14 is provided at the top of the third U-shaped frame 4 near the telescopic mechanism 13. The top of the telescopic mechanism 13 is rotatably connected to the support seat 14, which can increase the telescopic stroke of the telescopic mechanism 13 and allow the telescopic mechanism 13 to lift the third U-shaped frame 4 higher.

[0033] Furthermore, a linear drive device connected to the second U-shaped frame 2 is installed within the U-shaped vehicle body; specifically, the linear drive device is installed within the first U-shaped frame 1. For example... Figure 2 and Figure 4 As shown, the linear drive device includes support rails 15 set on both sides of the U-shaped vehicle body and a linear drive module 17 set on one side of the bottom of the U-shaped vehicle body. The linear drive module 17 is a screw linear drive module or a belt linear drive module.

[0034] Support rails 15 are located on both sides of the second U-shaped frame 2. The two ends of the second U-shaped frame 2 closest to the telescopic mechanism 13 are slidably connected to the support rails 15 via sliders 18. A linear drive module 17 is parallel to the support rails 15 and connected to the adjacent slider 18. The slider 18 and the linear drive module 17 are connected via a "Z"-shaped or "L"-shaped seat. The linear drive module 17 is located at the bottom of the first U-shaped frame 1 or elsewhere, while the support rails 15 are located on both sides of the inner wall of the first U-shaped frame 1. Thus, the linear drive module 17 can drive the second U-shaped frame 2 along the support rails 15. Because multiple casters 3 are provided at the bottom of the second U-shaped frame 2, the second U-shaped frame 2 can move like... Figure 1 It remains inside the first U-shaped frame 1, or like Figure 2 The linear drive unit moves to the outside of the first U-shaped frame 1, which is used to drive the second U-shaped frame 2 to move to the outside of the U-shaped vehicle body. The linear drive module 17 and the telescopic mechanism 13 are electrically connected to the controller, allowing the controller to control the linear drive module 17 and the telescopic mechanism 13 to travel along a set path.

[0035] Based on the above embodiments, the intelligent pallet robot proposed in this application works as follows: First, the first U-shaped frame 1 travels to one side of the pallet via the walking wheels 10. The second U-shaped frame 2 and the third U-shaped frame 4 extend under the pallet under the drive of the linear drive module 17. Then, the telescopic mechanism 13 extends and drives the third U-shaped frame 4 to lift up, thereby allowing the third U-shaped frame 4 to lift the pallet. The height of the lifted pallet must exceed the height of the top surface of the first U-shaped frame 1.

[0036] Then, the linear drive module 17 pulls the tray into the first U-shaped frame 1, or the first U-shaped frame 1 moves under the tray driven by the traveling wheels 10. When the first U-shaped frame 1 is under the tray, the telescopic mechanism 13 shortens and places the tray on top of the third U-shaped frame 4 on top of the first U-shaped frame 1 (e.g., Figure 3 As shown in the image, the U-shaped vehicle can then move the pallet to the preset location.

[0037] Finally, once the U-shaped vehicle reaches the designated location, the third U-shaped frame 4 lifts the pallet and then extends it again outside the first U-shaped frame 1 to lower the pallet. It is important to emphasize that the second U-shaped frame 2 and the third U-shaped frame 4 are supported by multiple support arms 19, distributed on both sides of the second U-shaped frame 2 and the third U-shaped frame 4, with at least two support arms 19 on each side. This distributes the weight of the pallet at the top of the third U-shaped frame 4 across all the support arms 19, allowing the third U-shaped frame 4 to lift a greater weight and handle heavier goods. Furthermore, the third U-shaped frame 4, the second U-shaped frame 2, and the telescopic mechanism 13 are all exposed, facilitating maintenance and repair.

[0038] Based on the above embodiments, further optimizations can be made, such as... Figure 7 As shown, each slider 18 has a vertical connecting shaft 24 on the side near the second U-shaped frame 2. The connecting shaft 24 is rotatably mounted in the L-shaped seat 23. The L-shaped seat 23 is respectively mounted on both sides of the end of the second U-shaped frame 2. This design is very necessary because the second U-shaped frame 2 and the third U-shaped frame 4 are long, and the contact area between the second U-shaped frame 2 and the slider 18 is small. Therefore, in order to avoid stress concentration, the slider 18 is rotatably connected to the second U-shaped frame 2. This allows the second U-shaped frame 2 to rotate with the connecting shaft 24, thereby automatically solving the problem of stress concentration.

[0039] Based on the above embodiments, further optimization is possible. A wheel disc 21 is coaxially provided at the end of the drive shaft 22. The wheel disc 21 is detachably connected to the walking wheel 10. The two are specifically fastened by bolts, which facilitates the disassembly and installation of the walking wheel 10.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent pallet robot, comprising a U-shaped chassis, characterized in that, The U-shaped vehicle body is equipped with a second U-shaped frame (2), and the bottom of the second U-shaped frame (2) is equipped with multiple universal wheels (3); The top of the second U-shaped frame (2) is rotatably equipped with a telescopic mechanism (13) at the end away from its opening. The second U-shaped frame (2) has a third U-shaped frame (4) parallel to its top. The bottom of the third U-shaped frame (4) is rotatably connected to multiple parallel support arms (19). All support arms (19) are inclined toward the telescopic mechanism (13). The free end of the telescopic mechanism (13) is rotatably connected to the third U-shaped frame (4) to drive the third U-shaped frame (4) to rise and fall. In the initial state, the height of the third U-shaped frame (4) is lower than the height of the top of the U-shaped vehicle body; and, A linear drive device connected to the second U-shaped frame (2) is provided inside the U-shaped vehicle body to drive the second U-shaped frame (2) to move outside the U-shaped vehicle body.

2. The intelligent pallet robot as described in claim 1, characterized in that, The linear drive device includes support rails (15) on both sides of the U-shaped body and a linear drive module (17) on one side of the bottom of the U-shaped body. The support rails (15) are located on both sides of the second U-shaped frame (2). The second U-shaped frame (2) is slidably connected to the support rail (15) on both sides of the end near the telescopic mechanism (13) by the slider (18). The linear drive module (17) is parallel to the support rail (15) and is connected to the adjacent slider (18).

3. The intelligent pallet robot as described in claim 2, characterized in that, Each slider (18) has a vertical connecting shaft (24) on the side near the second U-shaped frame (2). The connecting shaft (24) is rotatably installed in the L-shaped seat (23), and the L-shaped seat (23) is installed on both sides of the end of the second U-shaped frame (2).

4. The intelligent pallet robot as described in claim 2, characterized in that, The U-shaped body includes a first U-shaped frame (1), and a control cabinet (16) is provided at the top of the first U-shaped frame (1) away from its opening. The control cabinet (16) contains a controller. The first U-shaped frame (1) has battery boxes (11) in the middle of both sides, and the battery boxes (11) contain rechargeable battery packs. The first U-shaped frame (1) has a drive device at both ends on both sides. The drive device is equipped with a walking wheel (10) at the end. The drive device and the rechargeable battery pack are electrically connected to the controller. The controller is electrically connected to the linear drive module (17) and the telescopic mechanism (13).

5. The intelligent pallet robot as described in claim 4, characterized in that, The drive unit includes a drive motor (5) and a reducer (6) installed on the output end of the drive motor (5). The drive motor (5) is electrically connected to the controller. The reducer (6) and the drive motor (5) are both installed on the support (9). The end of the support (9) is connected to the first U-shaped frame (1). The output end of the reducer (6) is coaxially connected to the drive shaft (22). The drive shaft (22) is rotatably mounted in the bearing housing (20). The bearing housing (20) is set on the support (9). The end of the drive shaft (22) is connected to the traveling wheel (10).

6. The intelligent pallet robot as described in claim 5, characterized in that, The battery box (11) has a removable cover (12) on top.

7. The intelligent pallet robot as described in claim 5, characterized in that, The first U-shaped frame (1) has mounting seats (7) at both ends on both sides. Each mounting seat (7) has a detachable connecting plate (8) which is connected to the support (9).

8. The intelligent pallet robot as described in claim 7, characterized in that, The end of the drive shaft (22) is coaxially provided with a wheel disc (21), which is detachably connected to the walking wheel (10).

9. The intelligent pallet robot as described in claim 1, characterized in that, The top of the third U-shaped frame (4) is provided with a support seat (14) near the telescopic mechanism (13), and the top of the telescopic mechanism (13) is rotatably connected to the support seat (14).

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