CN108859908B

CN108859908B - Transport robot

Info

Publication number: CN108859908B
Application number: CN201810905516.9A
Authority: CN
Inventors: 华柳钧
Original assignee: Anhui Vmway Information Technology Co ltd
Current assignee: ANHUI VMWAY INFORMATION TECHNOLOGY Co.,Ltd.
Priority date: 2017-06-23
Filing date: 2017-06-23
Publication date: 2020-08-14
Anticipated expiration: 2037-06-23
Also published as: CN108995571A; CN108995571B; CN109017502B; CN107244275B; CN107244275A; PH12018050206A1; CN109017502A; CN108859908A

Abstract

The invention discloses a transport robot and relates to the field of transport robots. The robot divide into transportation portion and chassis two parts, transportation portion including: a push-pull transport mechanism, a lifting transport mechanism and a high-altitude transport mechanism; the push-pull mechanisms are arranged at the front end and the rear end of the chassis; the lifting and transporting mechanism is fixed in the center of the chassis and extends out of the front end of the robot; the high-altitude transportation mechanism is fixed in the center of the chassis and extends upwards; the invention can lift the body surface article and transport the article with a certain height besides the traditional push-pull transport of the ground article; the multifunctional transportation of the robot is realized.

Description

Transport robot

The invention is the application number: 2017104853007, filing date: 2017-06-23, invention name: a divisional application of a multifunctional transportation robot.

Technical Field

The invention relates to the field of transport robots, in particular to a transport robot.

Background

With the continuous development of human society, various robots for replacing human labor force come into existence, particularly, as the transportation robots appear in the lives of people more and more, but the current traditional transportation robots have single function and complex structure,

a transport robot as disclosed in chinese patent CN 104386494 a, the transport robot comprising a platform; the vehicle comprises a platform and is characterized in that a vehicle frame is arranged below the platform, wheels are arranged at the bottom of the vehicle frame, the wheels are connected with a first motor, and the first motor is fixed on the vehicle frame. The robot is used for conveying the semi-finished product machined by the machine tool to a special inspection platform, then a special inspection person inspects the semi-finished product, and the semi-finished product is conveyed back to the working procedure after the semi-finished product is inspected to be qualified; only a single article can be simply transported, and the application range is small;

also, as disclosed in chinese patent CN 105059411 a, a load type logistics transportation robot relates to a transportation robot, and solves the problems that the existing transportation vehicle robot for logistics storage is complex in structure, cannot rotate in place, cannot adjust the direction of the goods shelf and the transportation vehicle, cannot meet the actual needs in goods transportation, and is poor in adaptability. The device comprises a driving mechanism, a lifting mechanism and a storage battery; the driving mechanism comprises a frame body, two sets of differential driving mechanisms and four trundles; the two sets of differential driving mechanisms are arranged on the frame body in parallel, each set of differential driving mechanism comprises a travelling wheel, a first gear, a second gear and a driving motor, the travelling wheel is rotatably arranged on the frame body, the first gear is arranged on the travelling wheel, an output shaft of the driving motor is horizontally arranged, the second gear is arranged on the output shaft of the driving motor, and the first gear is meshed with the second gear; the lifting mechanism comprises a power motor, a motor frame, a pinion, a middle gear, a large gear, a lead screw, a nut and a lifting frame; however, the transportation robot has a complex structure and high production cost.

Disclosure of Invention

First, technical problem to be solved

The invention aims to solve the problems in the prior art, and particularly provides a transportation robot with a simple structure, so as to solve the problems of narrow use range, complex structure and high production cost of the transportation robot in the prior art.

Second, technical scheme

In order to solve the technical problem, the invention provides a transport robot, which comprises a transport part and a chassis;

the conveying part comprises a push-pull conveying mechanism, a lifting conveying mechanism and a high-altitude conveying mechanism, wherein the push-pull conveying mechanism is respectively arranged at the front end and the rear end of the chassis and is mainly responsible for carrying out push-pull conveying on articles on the ground; the lifting and transporting mechanism is fixed in the center of the chassis, extends out of the front end of the robot and is mainly responsible for lifting ground articles to a certain height; the high-altitude transportation mechanism is fixed in the center of the chassis and is mainly used for transporting articles with a certain height near the transportation robot;

wherein, the chassis includes: the device comprises a bottom plate, a driving motor, wheels, a line patrol plate and a controller; the driving motor is fixed with the bottom plate through the motor frame; the wheels are fixed on a front output shaft of the driving motor; the line patrol board is respectively arranged at the front, middle and back parts of the bottom board, and the controller is arranged in the center of the bottom board and is electrically connected with the driving motor and the line patrol board.

Wherein, the wheel comprises a hub and a rubber tire skin wrapped on the outer diameter of the hub; the rubber tire skin is directly die-cast on the outer diameter of the hub and is die-cast into a whole.

Wherein, the hardness of the rubber tire skin is adjusted to 37 degrees for better generating the most proper friction force with the ground.

Wherein, push-and-pull transport mechanism includes: the device comprises a steering engine, a driving wheel, a driven wheel, a main shaft, a bearing seat, a coupling and a transportation frame; the driving wheel is sleeved on the steering engine rotating shaft; the driven wheel is meshed with the driving wheel; the main shaft penetrates through the driven wheel; bearings are sleeved on two sides of the main shaft, bearing seats are sleeved on the bearings, and the bearing seats are fixed with the chassis; the coupler is in interference fit with two ends of the main shaft and abuts against the bearing seat; the end part of the coupler is fixed with the transportation frame.

Wherein, lifting transport mechanism includes: the device comprises a worm and gear motor, a connecting shaft supporting seat, a transmission arm, a driven arm, a buffer fixing plate, a lifting plate and a driven arm motor; the connecting shaft is sleeved on output shafts on two sides of the worm gear motor; a bearing is sleeved on the connecting shaft, and a connecting shaft supporting seat is sleeved on the bearing; the transmission arm is arranged on the connecting shaft outside the connecting shaft supporting seat; the driven arm motor is arranged at the front end of the transmission arm; the driven arm is arranged on the front output shaft of the driven arm motor; the buffer fixing plate is arranged at the bottom of the driven arm; the buffer is arranged on the buffer fixing plate; the lifting plate is connected with the buffer, and the buffer can play a role in buffering the lifting plate.

Wherein, high altitude transport mechanism includes: the device comprises a support beam, a longitudinal rudder rack, a longitudinal axis, a longitudinal steering engine, a transverse rudder rack, a transverse axis, a transverse steering engine, a transverse bearing seat, an upright rod and a goods shelf; the support beam supports the longitudinal rudder frame; the longitudinal steering engine frame is used for fixing a longitudinal steering engine; the longitudinal axis penetrates through the longitudinal rudder machine frame to be fixed with the transverse steering machine frame, and the transverse rudder machine frame is driven by the longitudinal steering machine; the transverse steering engine is fixed on the transverse steering engine frame; the transverse bearing block is fixed on the transverse rudder rack; the transverse shaft penetrates through the transverse bearing seat and is connected with the transverse steering engine; the upright stanchion and the goods shelf are both fixed on the cross shaft.

The longitudinal rudder machine frame is provided with a U-shaped bearing seat, a bearing is installed in the U-shaped bearing seat, and the longitudinal shaft penetrates through the bearing inner ring and is fixed with the transverse bearing seat.

Wherein, the abscissa includes: the inner shaft, the first outer shaft, the second outer shaft and the vertical rod fixing shaft are arranged on the outer side of the inner shaft; the inner shaft penetrates through the transverse bearing seat; the first outer shaft and the second outer shaft are sleeved from two ends of the inner shaft and abut against two sides of the transverse bearing seat; the goods shelf is fixed with the end parts of the first outer shaft and the second outer shaft; the upright rod fixing shaft is sleeved in from one end of the inner shaft and presses the fixing part of the goods shelf and the second outer shaft, and the upright rod fixing shaft is connected with the second outer shaft through a long screw.

Wherein, the side of the upright pole fixing shaft is drilled with a fixing hole, and the upright pole is inserted into the fixing hole and fixed by adhesive.

Wherein, the bottom of the support beam is drilled with a through hole; the connecting shaft passes through the through hole during installation.

Thirdly, the invention has the beneficial effects

Compared with the prior art, the transportation robot has the following advantages:

(1) setting working requirements through program programming to realize unmanned operation;

(2) the four-wheel drive is utilized, so that the robot is more flexible and convenient in the transportation process;

(3) through multiple transport mechanism, realize the transportation demand of different requirements, make the application scope of robot wider.

Drawings

FIG. 1 is a schematic view of the overall structure of the transfer robot of the present invention;

fig. 2 is a schematic view of a chassis structure of the transport robot of the present invention;

FIG. 3 is a schematic structural view of a push-pull transport mechanism of the transport robot of the present invention;

FIG. 4 is a schematic structural view of a lifting and transporting mechanism of the transporting robot of the present invention;

FIG. 5 is a schematic structural view of an overhead transport mechanism of the transport robot of the present invention;

FIG. 6 is a cross-axis structural schematic diagram of the transfer robot of the present invention;

FIG. 7 is a schematic exterior view of a longitudinal rudder mount of the transfer robot of the present invention;

in the figure: 1 is a chassis; 2 is a push-pull conveying mechanism; 3 is a lifting and conveying mechanism; 4 is a high-altitude conveying mechanism; 11 is a bottom plate; 12 is a driving motor; 13 is a wheel; 14 is a patrol board; 15 is a controller; 21 is a steering engine; 22 is a driving wheel; 23 is a driven wheel; 24 is a main shaft; 25 is a bearing seat; 26 is a coupling; 27 is a transport frame; 31 is a worm gear motor; 32 is a connecting shaft; 33 is a connecting shaft supporting seat; 34 is a transmission arm; 35 is a driven arm; 36 is a buffer; 37 is a buffer fixing plate; 38 is a lifting plate; 39 is a driven arm motor; 41 is a support beam; 42 is a longitudinal rudder frame; 43 is the longitudinal axis; 44 is a longitudinal steering engine; 45 is a transverse rudder frame; 46 is a horizontal axis; 47 is a transverse steering engine; 48 is a transverse bearing seat; 49 is a vertical rod; 50 is a shelf; 411 is a through hole; 461 is the inner shaft; 462 is a first outer shaft; 463 is a second outer shaft; 464 is a vertical rod fixing shaft.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The structure of a transport robot of the embodiment of the invention is shown in fig. 1 to 7, and comprises a transport part and a chassis 1;

wherein, transport portion includes: the lifting and transporting device comprises a push-pull transporting mechanism 2, a lifting transporting mechanism 3 and a high-altitude transporting mechanism 4, wherein the push-pull transporting mechanism 2 is respectively arranged at the front end and the rear end of a chassis 1 and has the main function of pushing and pulling ground objects; because the front end and the rear end of the transport robot are both provided with the push-pull transport mechanisms 2, the transport robot can simultaneously push and pull articles at the front end and the rear end of the transport robot or carry out original-place position exchange on the articles on the ground through original-place turning of the chassis 1; the lifting and transporting mechanism 3 is fixed in the center of the chassis 1 and extends out of the front end of the robot, and mainly has the function of lifting ground articles to a certain height or unloading articles at a certain height; the high-altitude transportation mechanism 4 is fixed in the center of the chassis and mainly transports objects with a certain height near the transportation robot;

wherein, the chassis is four wheel drive bottom plate including: the device comprises a bottom plate 11, four driving motors 12, four wheels 13, three line patrol plates 14 and a controller 15; the driving motor 12 is fixed around the bottom plate 11 through a motor frame; the wheel 13 is arranged on the front output shaft of the driving motor 12; the patrol boards 14 are respectively arranged at the front, middle and rear positions of the bottom plate 11 and connected with the controller 15, the controller 15 is positioned at the center of the bottom plate 11 and controls the driving motors 12, and the controller 15 controls the rotating speeds of the four driving motors 12 so as to realize the advancing and steering functions of the transport robot.

Wherein, the wheel 1 comprises a hub 131 and a rubber tire skin 132; the rubber tire skin 132 is directly die-cast on the outer diameter of the hub 131 and is die-cast into a whole; in order to further improve the wheel friction effect, the hardness of the rubber tread 132 is set to 37 degrees.

Wherein, push-and-pull transport mechanism includes: the device comprises a steering engine 21, a driving wheel 22, a driven wheel 23, a main shaft 24, a bearing seat 25, a coupling 26 and a transportation frame 27; the driving wheel is sleeved on the rotating shaft of the steering engine 21; the driven wheel 23 is meshed with the driving wheel 22 and transmits power to the driven wheel 23; the main shaft 24 penetrates through the driven wheel 23 and is fixed with the driven wheel 23; bearings are sleeved on two sides of the main shaft 24, bearing blocks 25 are sleeved on the bearings, and then the bearing blocks 25 are fixed on the chassis bottom plate 11; the shaft coupling 26 is sleeved in the bearing seat 25 from the two ends of the main shaft 24 and is in interference fit with the main shaft 24; the end part of the coupling 26 is fixed with a transport frame 27; when the steering engine 21 provides power for the driving wheel 22, the driving wheel 22 drives the driven wheel 23 to rotate, the main shaft 24 also rotates along with the driving wheel, and the transportation frame 27 is fixed with the main shaft 24 through the coupler 26, swings up and down along with the rotation direction of the steering engine 21 and collects articles to be transported, so that the articles are pushed or dragged.

Wherein, lifting transport mechanism includes: the device comprises a worm gear motor 31, a connecting shaft 32, a connecting shaft supporting seat 33, a transmission arm 34, a driven arm 35, a buffer 36, a buffer fixing plate 37, a lifting plate 38 and a driven arm motor 39; the connecting shaft 32 is sleeved on output shafts on two sides of the worm gear motor 31; a bearing is sleeved on the connecting shaft 32, and a connecting shaft supporting seat 33 is sleeved on the bearing and then fixed on the chassis bottom plate 11; the transmission arm 34 is installed from the outside of the connecting shaft supporting seat 33 and is mounted on the connecting shaft 32; the driven arm motor 39 is mounted at the front end of the transmission arm 34; the driven arm 35 is arranged on the front output shaft of the driven arm motor 39; the buffer fixing plate 37 is arranged at the bottom of the driven arm 35; the damper 36 is mounted on the damper fixing plate 37; the lifting plate 38 is connected with the buffer 36; through the cooperation of the worm gear motor 31 and the driven arm motor 39, the lifting plate 38 is always lifted or lowered in a balanced state, and vibration can be reduced when the lifting plate 38 contacts the ground under the action of the buffer 36.

Wherein, high altitude transport mechanism includes: the device comprises a support beam 41, a longitudinal rudder frame 42, a longitudinal shaft 43, a longitudinal steering engine 44, a transverse rudder frame 45, a transverse shaft 46, a transverse steering engine 47, a transverse bearing seat 48, an upright rod 49 and a shelf 50; the support beam 41 supports the longitudinal rudder mount 42; the longitudinal rudder machine frame 42 is used for fixing a longitudinal steering engine 44; the transverse rudder machine frame 45 is sleeved on a rotating shaft of the longitudinal rudder machine frame 44, the longitudinal shaft 43 penetrates through the longitudinal rudder machine frame 42 to be fixed with the transverse rudder machine frame 45, and the longitudinal rudder machine frame 44 drives the transverse rudder machine frame 45 to rotate left and right; the transverse steering engine 47 is fixed on the transverse steering engine frame 45, the transverse bearing seat 48 is fixed on the transverse steering engine frame 45, the transverse shaft 46 penetrates through the transverse bearing seat 48 to be connected with the transverse steering engine 47, the upright rod 49 and the goods shelf 50 are fixed on the transverse shaft 46, the transverse steering engine 47 drives the transverse shaft 46 to rotate up and down, and the upright rod 49 and the goods shelf 50 also rotate up and down under the drive of the transverse shaft 46.

Among them, in order to reduce the weight and improve the strength, the preferable material of the vertical rod 49 is a carbon fiber round tube.

The longitudinal rudder frame 42 is provided with a U-shaped bearing seat, a bearing is installed in the U-shaped bearing seat, and a longitudinal shaft 43 penetrates through and is fixed from an inner ring of the bearing.

Wherein the transverse axis 46 includes: an inner shaft 461, a first outer shaft 462, a second outer shaft 463 and a vertical rod fixing shaft 464; the inner shaft 461 extends through the transverse bearing mount 48; the first outer shaft 462 and the second outer shaft 463 are sleeved from both ends of the inner shaft 461 and abut against both sides of the transverse bearing seat 48; two fixed portions of shelf 50 are fixed with the ends of first outer shaft 462 and second outer shaft 463; the pole fixing shaft 464 is inserted from one end of the inner shaft 461 and presses the fixing portion of the shelf 50 against the second outer shaft 463, and the second outer shaft 463, the shelf 50 and the pole fixing shaft 464 are fixed in series by a long screw.

Wherein, the side edge of the upright rod fixing shaft 464 is drilled with a fixing hole, and the upright rod 49 is inserted into the fixing hole and fixed by adhesive.

In order to save the installation space of the chassis, the worm and gear motor 31 and the supporting beam 41 are arranged side by side, and a through hole 411 larger than the connecting shaft 32 is drilled in the supporting beam for the connecting shaft 32 to pass through from the through hole 411.

The working process of the transport robot is as follows:

1. when the articles on the ground need to be horizontally displaced, the push-pull transport mechanism starts to work, the steering engine 21 is started, the transport frame 27 is put down, the articles to be transported are selected by the transport frame 27, and the articles are pushed and pulled to the destination to be transported;

2. when the ground object needs to be lifted to a certain height; the lifting and transporting mechanism starts to work, the worm gear motor 31 and the driven arm motor 39 are started, the lifting plate 38 is placed on the ground gently, then the robot moves forward, the lifting plate 38 is pushed to the position below the article to be transported, and finally the worm gear motor 31 and the driven arm motor 39 are started again to enable the lifting plate 38 to vertically ascend to the height to be transported or place the article to the transporting destination;

3. when high-altitude articles are transported, the high-altitude transport mechanism is started, the transverse steering engine 47 is started to enable the upright rod 49 to rotate downwards to be horizontal, and then the longitudinal steering engine 44 is started to enable the upright rod 49 to rotate left and right and push the articles to be transported to a destination;

the above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A transport robot comprises a transport part and a chassis (1), wherein the transport part comprises a push-pull transport mechanism (2), a lifting transport mechanism (3) and a high-altitude transport mechanism (4), the push-pull transport mechanism (2) is respectively arranged at the front end and the rear end of the chassis (1), and articles at the front end and the rear end of the transport robot can be simultaneously pushed and pulled; the lifting and transporting mechanism (3) is fixed in the center of the chassis (1), extends out of the front end of the robot and can transport articles in the vertical direction; the high-altitude transportation mechanism (4) is fixed in the center of the chassis (1) and can transport articles at a certain height near the transportation robot;

the chassis includes: the device comprises a bottom plate (11), a driving motor (12), wheels (13), a line patrol plate (14) and a controller (15); the driving motor (12) is fixed with the bottom plate (11) through a motor frame; the wheels (13) are fixed on a front output shaft of the driving motor (12); the line patrol boards (14) are respectively arranged at the front, middle and rear positions of the bottom plate (11), and the controller (15) is arranged at the center of the bottom plate (11) and is electrically connected with the driving motor (12) and the line patrol boards (14);

the wheel (13) comprises a hub (131) and a rubber tire skin (132) wrapped on the outer diameter of the hub (131); the rubber tire skin (132) is directly die-cast on the outer diameter of the hub (131) and is die-cast into a whole;

it is characterized in that the push-pull transportation mechanism comprises: the device comprises a steering engine (21), a driving wheel (22), a driven wheel (23), a main shaft (24), a bearing seat (25), a coupling (26) and a transportation frame (27); the driving wheel is sleeved on the rotating shaft of the steering engine (21); the driven wheel (23) is meshed with the driving wheel (22); the main shaft (24) penetrates through the driven wheel (23); bearings are sleeved on two sides of the main shaft (24), and the bearing seats (25) are sleeved on the bearings; the coupler (26) is in interference fit with two ends of the main shaft (24); the end part of the coupler (26) is fixed with a transport frame (27);

the lift transport mechanism includes: the device comprises a worm gear motor (31), a connecting shaft (32), a connecting shaft supporting seat (33), a transmission arm (34), a driven arm (35), a buffer (36), a buffer fixing plate (37), a lifting plate (38) and a driven arm motor (39); the connecting shaft (32) is sleeved on output shafts on two sides of the worm gear motor (31); the connecting shaft is sleeved with a bearing, and the connecting shaft supporting seat (33) is sleeved on the bearing; the transmission arm (34) is arranged on the connecting shaft (32) outside the connecting shaft supporting seat (33); the driven arm motor (39) is arranged at the front end of the transmission arm (34); the driven arm (35) is mounted on a front output shaft of the driven arm motor (39); the buffer fixing plate (37) is arranged at the bottom of the driven arm (35); the buffer (36) is arranged on the buffer fixing plate (37); the lifting plate (38) is connected with the buffer;

the high altitude conveying mechanism includes: the device comprises a support beam (41), a longitudinal rudder machine frame (42), a longitudinal axis (43), a longitudinal steering machine (44), a transverse rudder machine frame (45), a transverse axis (46), a transverse steering machine (47), a transverse bearing seat (48), an upright rod (49) and a goods shelf (50); the support beam (41) supports the longitudinal rudder mount (42); the longitudinal steering engine frame (42) is used for fixing the longitudinal steering engine (44); the longitudinal axis (43) is fixed with the rudder cross frame (45) through the rudder longitudinal frame (42); the transverse steering engine (47) is fixed on the transverse steering engine frame (45); the transverse bearing block (48) is fixed on the transverse rudder rack (45); the transverse shaft (46) penetrates through a transverse bearing block (48) and is connected with the transverse steering engine (47); the upright rods (49) and the goods shelf (50) are fixed on the transverse shaft (46);

the longitudinal rudder frame (42) is provided with a U-shaped bearing seat, a bearing is installed in the U-shaped bearing seat, and the longitudinal shaft (43) penetrates through the inner ring of the bearing and is fixed;

the transverse axis (46) comprises: an inner shaft (461), a first outer shaft (462), a second outer shaft (463) and a vertical rod fixing shaft (464); the inner shaft (461) extends through the transverse bearing block (48); the first outer shaft (462) and the second outer shaft (463) are sleeved from two ends of the inner shaft (461) and abut against two sides of the transverse bearing seat (48); the shelf (50) is fixed end to the first outer shaft (462) and the second outer shaft (463); the upright rod fixing shaft (464) is sleeved in one end of the inner shaft (461) and presses the goods shelf (50), and the upright rod fixing shaft (464) is fixed with the second outer shaft (463).