CN203639073U - Handling robot with functions of self lifting and entering into container for operation of complete machine - Google Patents

Handling robot with functions of self lifting and entering into container for operation of complete machine Download PDF

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Publication number
CN203639073U
CN203639073U CN201320646776.1U CN201320646776U CN203639073U CN 203639073 U CN203639073 U CN 203639073U CN 201320646776 U CN201320646776 U CN 201320646776U CN 203639073 U CN203639073 U CN 203639073U
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China
Prior art keywords
straddle
bearing pin
aftercarriage
center
flexible
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Expired - Fee Related
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CN201320646776.1U
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Chinese (zh)
Inventor
朱红蔚
边道光
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朱红蔚
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Priority to CN201320646776.1U priority Critical patent/CN203639073U/en
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Publication of CN203639073U publication Critical patent/CN203639073U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a handling robot with functions of self lifting and entering into a container for operation of the complete machine. The handling robot comprises a rear vehicle body, a sorting bin, a fork mounting fame and a handling fork, wherein the rear vehicle body is connected with the rear side wall of the sorting bin in a sliding manner; the fork mounting frame is connected with the front side wall of the sorting bin in a sliding manner; the handling fork is fixed on the front side wall of the fork mounting frame; a sorting bin lifting mechanism is arranged on the rear vehicle body and the sorting bin; a fork lifting mechanism is arranged on the sorting bin and the fork mounting frame; a first drive steering road wheel and a driven road wheel are mounted on the bottom surface of the rear vehicle body; a second drive steering road wheel and a second driven road wheel are arranged on the bottom surface of the sorting bin. The handling robot can be operated on the ground, can also enter into a car cargo container or a container to operate and work along with a car, and is wide in use range, very flexible in operation, and very suitable for applicable to logistics systems.

Description

There is the handling robot of complete machine from lifting and inlet operating function
Technical field
The utility model relates to a kind of handling goods device, and especially a kind of have the handling robot of complete machine from lifting and inlet operating function.
Background technology
In logistics system, at present, the equipment that various lots of handling goods adopts remains traditional loading-unload machine such as fork truck or truck-mounted crane.The semi-mechanization pallet carrying system that relies on manpower to realize.The disadvantage of this system is that the loading-unload machines such as fork truck cannot enter automobile container or internal container work, therefore, a large amount of containers and internal container piling and handling labor obtain and rely on manpower to complete completely, thus the efficiency of having a strong impact on, and easily accidents caused.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provide a kind of can be in terrestrial operation, also can enter that automobile container or freight container operation also can trip runner do there is the handling robot of complete machine from lifting and inlet operating function.
The technical scheme providing according to the utility model, described have the handling robot of complete machine from lifting and inlet operating function, comprise aftercarriage, selection storehouse, pallet fork erecting frame and handling goods pallet fork, described aftercarriage is slidably connected at the rear wall in selection storehouse, pallet fork erecting frame is slidably connected at the front side wall in selection storehouse, be fixed with handling goods pallet fork at the front side wall of pallet fork erecting frame, on aftercarriage and selection storehouse, be provided with selection storehouse lifting mechanism, on selection storehouse and pallet fork erecting frame, be provided with fork lifting mechanism, the first active steering road wheel and the first passive walking wheel are installed in the bottom surface of aftercarriage, be provided with the second active steering road wheel and the second passive walking wheel in the bottom surface in selection storehouse.
Be fixed with rectilinear orbit groove at the bottom face of aftercarriage, in rectilinear orbit groove, sliding plug has flexible straddle, at the leading section of flexible straddle, the first described passive walking wheel is installed, rearward end at flexible straddle is hinged with connecting rod by the first bearing pin, leading section at connecting rod is hinged with connecting plate by the second bearing pin, connecting plate is hinged on aftercarriage by the 3rd bearing pin, on aftercarriage, be hinged with straddle oil cylinder, the piston rod end of straddle oil cylinder is hinged together by the 4th bearing pin and connecting plate, and the center of the second bearing pin, the center of the center of the 3rd bearing pin and the 4th bearing pin is same leg-of-mutton three summits.
Three summits that the center of the center of described the second bearing pin, the center of the 3rd bearing pin and the 4th bearing pin is same obtuse-angled triangle; And the distance between the center of the center of described the 4th bearing pin and the 3rd bearing pin is less than the distance between the center of the 4th bearing pin and the center of the second bearing pin, the distance between the center of the 4th bearing pin and the center of the second bearing pin is less than the distance between the center of the second bearing pin and the center of the 3rd bearing pin; Described connecting plate is the plate body of obtuse-angled triangle.
Be fixed with rectilinear orbit groove at the bottom face of aftercarriage, in rectilinear orbit groove, slidably connect flexible straddle, at the leading section of flexible straddle, the first described passive walking wheel is installed, on aftercarriage, be fixed with straight-line guidance groove, it is crossing that the length direction of straight-line guidance groove and the length direction of rectilinear orbit groove are acute angle, on the aftercarriage above straight-line guidance groove, be hinged with straddle oil cylinder, on the piston rod of straddle oil cylinder, be hinged with connecting rod, the other end of connecting rod and the rearward end of flexible straddle are hinged.
The length direction of described straight-line guidance groove is 60 ° with the crossing angulation number of length direction of rectilinear orbit groove.
On aftercarriage, be fixed with arc orbit groove, in arc orbit groove, sliding plug has flexible straddle, flexible straddle is one section of circular arc, flexible straddle coordinates with arc orbit groove, and the length of flexible straddle is greater than the length of arc orbit groove, the first described passive walking wheel is installed in the bottom of flexible straddle, is hinged with straddle oil cylinder on aftercarriage, the piston rod end of straddle oil cylinder and the upper end of flexible straddle are hinged.
The central angle number of degrees that described arc orbit groove is corresponding are 44.2 ~ 47.36 °; The central angle number of degrees that described flexible straddle is corresponding are 92 °.
Described selection storehouse lifting mechanism is included in the selection storehouse hoist cylinder of installing on the front side of aftercarriage, and the other end of selection storehouse hoist cylinder is connected to the top ends in selection storehouse.
Described fork lifting mechanism comprises jack cylinder and hoisting chain, described jack cylinder is arranged on the front side wall bottom in selection storehouse, piston rod end at jack cylinder is fixed with crossbeam, on crossbeam, be rotatablely equipped with roller, one end of hoisting chain is fixed on the top ends of pallet fork erecting frame, and the other end of hoisting chain is fixed on selection storehouse after walking around roller.
The utility model can be in terrestrial operation, also can enter that automobile container carries out or freight container operates, and also can do by trip runner, and range of use extensively, operation is very flexible, is highly suitable for logistics system application.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is birds-eye view of the present utility model.
Fig. 3 is left view of the present utility model.
Fig. 4 is block diagram of the present utility model.
Fig. 5 is the block diagram of the first straddle stretching structure in the utility model.
Fig. 6 is the block diagram of the second straddle stretching structure in the utility model.
Fig. 7 is the block diagram of the third straddle stretching structure in the utility model.
The specific embodiment
Below in conjunction with specific embodiment, the utility model is described in further detail.
This has the handling robot of complete machine from lifting and inlet operating function, comprise aftercarriage 1, selection storehouse 2, pallet fork erecting frame 3 and handling goods pallet fork 4, described aftercarriage 1 is slidably connected at the rear wall in selection storehouse 2, pallet fork erecting frame 3 is slidably connected at the front side wall in selection storehouse 2, be fixed with handling goods pallet fork 4 at the front side wall of pallet fork erecting frame 3, on aftercarriage 1 and selection storehouse 2, be provided with selection storehouse lifting mechanism, on selection storehouse 2 and pallet fork erecting frame 3, be provided with fork lifting mechanism, the first active steering road wheel 1.1 and the first passive walking wheel 1.2 are installed in the bottom surface of aftercarriage 1, be provided with the second active steering road wheel 2.1 and the second passive walking wheel 2.2 in the bottom surface in selection storehouse 2.
Described selection storehouse lifting mechanism is included in the selection storehouse hoist cylinder 5 of installing on the front side of aftercarriage 1, and the other end of selection storehouse hoist cylinder 5 is connected to the top ends in selection storehouse 2.
Described fork lifting mechanism comprises jack cylinder 6 and hoisting chain 7, described jack cylinder 6 is arranged on the front side wall bottom in selection storehouse 2, piston rod end at jack cylinder 6 is fixed with crossbeam, on crossbeam, be rotatablely equipped with roller 8, one end of hoisting chain 7 is fixed on the top ends of pallet fork erecting frame 3, and the other end of hoisting chain 7 is fixed on selection storehouse 2 after walking around roller 8.
The operating process that the utility model enters container from lifting is as follows:
When specific works, handling goods pallet fork 4 is with load, take turns 1.2 along ground running and make complete machine near automobile container by the first active steering road wheel 1.1 and the first passive walking, start selection storehouse hoist cylinder 5, make to choose storehouse 2 and load and unload the position that goods pallet fork 4 rises to more than cargo floor, start the first active steering road wheel 1.1, make to choose storehouse 2 and load and unload goods pallet fork 4 and enter container, start selection storehouse hoist cylinder 5, make the second active steering road wheel 1.1 of choosing 2 bottom surfaces, storehouse contact cargo floor with the second passive walking wheel 1.2, flexible straddle 1.4 indentation backward, start selection storehouse hoist cylinder 5, make aftercarriage 1 rise to position more than cargo floor, flexible straddle 1.4 stretches out forward, the second active steering road wheel 2.1 and 2.2 walkings of the second passive walking wheel drive complete machine to enter container operation.
The operating process that the utility model drops to ground with load from container is as follows:
Take turns 1.2 along ground running and make complete machine near automobile container by the first active steering road wheel 1.1 and the first passive walking, start selection storehouse hoist cylinder 5, make to choose storehouse 2 and load and unload the position that goods pallet fork 4 rises to more than cargo floor, start the first active steering road wheel 1.1, make to choose storehouse 2 and load and unload goods pallet fork 4 and enter container, start selection storehouse hoist cylinder 5, make the second active steering road wheel 2.1 of choosing 2 bottom surfaces, storehouse contact cargo floor with the second passive walking wheel 2.2, flexible straddle 1.4 indentation backward, start selection storehouse hoist cylinder 5, make aftercarriage 1 rise to position more than cargo floor, flexible straddle 1.4 stretches out forward, the second active steering road wheel 2.1 and 2.2 walkings of the second passive walking wheel drive complete machine to enter container operation,
Handling goods pallet fork 4 is with load, the second active steering road wheel 2.1 and the second passive walking wheel 2.2 retreat and arrive container afterbody with complete machine, flexible straddle 1.4 indentation backward, start selection storehouse hoist cylinder 5, make aftercarriage 1 drop to ground, flexible straddle 1.4 stretches out forward, start selection storehouse hoist cylinder 5, make to choose storehouse 2 and rise to position more than cargo floor, operate the first active steering road wheel 1.1 and the first passive walking wheel 1.2, complete machine is retreated, make to choose storehouse 2, container is left in handling goods pallet fork 4 and load, start selection storehouse hoist cylinder 5, make to choose storehouse 2 and drop to ground.
In the time that the piston rod of jack cylinder 6 stretches out, pallet fork erecting frame 3 and handling goods pallet fork 4 will be along with the piston rod of jack cylinder 6 stretches out and double-speed rising.
Straddle stretching structure can adopt following three kinds of forms:
The first structure that straddle is flexible: be fixed with rectilinear orbit groove 1.3 at the bottom face of aftercarriage 1, there is flexible straddle 1.4 in the interior sliding plug of rectilinear orbit groove 1.3, at the leading section of flexible straddle 1.4, the first described passive walking wheel 1.2 is installed, rearward end at flexible straddle 1.4 is hinged with connecting rod 1.5 by the first bearing pin, leading section at connecting rod 1.5 is hinged with connecting plate 1.6 by the second bearing pin, connecting plate 1.6 is hinged on aftercarriage 1 by the 3rd bearing pin, on aftercarriage 1, be hinged with straddle oil cylinder 1.7, the piston rod end of straddle oil cylinder 1.7 is hinged together by the 4th bearing pin and connecting plate 1.6, and the center of the second bearing pin, the center of the center of the 3rd bearing pin and the 4th bearing pin is same leg-of-mutton three summits.
Three summits that the center of the center of described the second bearing pin, the center of the 3rd bearing pin and the 4th bearing pin is same obtuse-angled triangle; And the distance between the center of the center of described the 4th bearing pin and the 3rd bearing pin is less than the distance between the center of the 4th bearing pin and the center of the second bearing pin, the distance between the center of the 4th bearing pin and the center of the second bearing pin is less than the distance between the center of the second bearing pin and the center of the 3rd bearing pin; The plate body that described connecting plate 1.6 is obtuse-angled triangle.
When the flexible work of this straddle, the piston rod of straddle oil cylinder 1.7 stretches out, and makes flexible straddle 1.4 along rectilinear orbit groove 1.3 indentation backward by connecting plate 1.6, connecting rod 1.5; The piston rod indentation of straddle oil cylinder 1.7, makes flexible straddle 1.4 stretch out forward along rectilinear orbit groove 1.3 by connecting plate 1.6, connecting rod 1.5.
The second structure that straddle is flexible: be fixed with rectilinear orbit groove 1.3 at the bottom face of aftercarriage 1, in rectilinear orbit groove 1.3, slidably connect flexible straddle 1.4, at the leading section of flexible straddle 1.4, the first described passive walking wheel 1.2 is installed, on aftercarriage 1, be fixed with straight-line guidance groove 1.8, it is crossing that the length direction of straight-line guidance groove 1.8 and the length direction of rectilinear orbit groove 1.3 are acute angle, on the aftercarriage 1 above straight-line guidance groove 1.8, be hinged with straddle oil cylinder 1.7, on the piston rod of straddle oil cylinder 1.7, be hinged with connecting rod 1.9, the rearward end of the other end of connecting rod 1.9 and flexible straddle 1.4 is hinged.
The length direction of described straight-line guidance groove 1.8 is 60 ° with the crossing angulation number of length direction of rectilinear orbit groove 1.3.
When the flexible work of this straddle, the piston rod head of straddle oil cylinder 1.7 is tilted to lower release along straight-line guidance groove 1.8, makes flexible straddle 1.4 indentation backward by connecting rod 1.9; The piston rod head of straddle oil cylinder 1.7 is tilted to upper retraction along straight-line guidance groove 1.8, by connecting rod 1.9, flexible straddle 1.4 is stretched out forward.
The third structure that straddle is flexible: be fixed with arc orbit groove 1.10 on aftercarriage 1, there is flexible straddle 1.4 in the interior sliding plug of arc orbit groove 1.10, flexible straddle 1.4 is one section of circular arc, flexible straddle 1.4 coordinates with arc orbit groove 1.10, and the length of flexible straddle 1.4 is greater than the length of arc orbit groove 1.10, the first described passive walking wheel 1.2 is installed in the bottom of flexible straddle 1.4, on aftercarriage 1, be hinged with straddle oil cylinder 1.7, the upper end of the piston rod end of straddle oil cylinder 1.7 and flexible straddle 1.4 is hinged.
The central angle number of degrees of described arc orbit groove 1.10 correspondences are 44.2 ~ 47.36 °; The central angle number of degrees of described flexible straddle 1.4 correspondences are 92 °.
When the flexible work of this straddle, the piston rod indentation of straddle oil cylinder 1.7, makes the bottom of flexible straddle 1.4 stretch out from the bottom of arc orbit groove 1.10; The piston rod of straddle oil cylinder 1.7 stretches out, and makes the bottom of flexible straddle 1.4 from the bottom indentation of arc orbit groove 1.10.

Claims (9)

1. one kind has the handling robot of complete machine from lifting and inlet operating function, comprise aftercarriage (1), selection storehouse (2), pallet fork erecting frame (3) and handling goods pallet forks (4), it is characterized in that: described aftercarriage (1) is slidably connected at the rear wall in selection storehouse (2), pallet fork erecting frame (3) is slidably connected at the front side wall in selection storehouse (2), be fixed with handling goods pallet forks (4) at the front side wall of pallet fork erecting frame (3), on aftercarriage (1) and selection storehouse (2), be provided with selection storehouse lifting mechanism, on selection storehouse (2) and pallet fork erecting frame (3), be provided with fork lifting mechanism, the first active steering road wheel (1.1) and the first passive walking wheel (1.2) are installed in the bottom surface of aftercarriage (1), be provided with the second active steering road wheel (2.1) and the second passive walking wheel (2.2) in the bottom surface in selection storehouse (2).
2. as claimed in claim 1 have the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: be fixed with rectilinear orbit groove (1.3) at the bottom face of aftercarriage (1), in rectilinear orbit groove (1.3), sliding plug has flexible straddle (1.4), at the leading section of flexible straddle (1.4), the first described passive walking wheel (1.2) is installed, rearward end at flexible straddle (1.4) is hinged with connecting rod (1.5) by the first bearing pin, leading section at connecting rod (1.5) is hinged with connecting plate (1.6) by the second bearing pin, connecting plate (1.6) is hinged on aftercarriage (1) by the 3rd bearing pin, on aftercarriage (1), be hinged with straddle oil cylinder (1.7), the piston rod end of straddle oil cylinder (1.7) is hinged together by the 4th bearing pin and connecting plate (1.6), and the center of the second bearing pin, the center of the center of the 3rd bearing pin and the 4th bearing pin is same leg-of-mutton three summits.
3. as claimed in claim 2 have the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: three summits that the center of the center of described the second bearing pin, the center of the 3rd bearing pin and the 4th bearing pin is same obtuse-angled triangle; And the distance between the center of the center of described the 4th bearing pin and the 3rd bearing pin is less than the distance between the center of the 4th bearing pin and the center of the second bearing pin, the distance between the center of the 4th bearing pin and the center of the second bearing pin is less than the distance between the center of the second bearing pin and the center of the 3rd bearing pin; The plate body that described connecting plate (1.6) is obtuse-angled triangle.
4. as claimed in claim 1 have the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: be fixed with rectilinear orbit groove (1.3) at the bottom face of aftercarriage (1), in rectilinear orbit groove (1.3), slidably connect flexible straddle (1.4), at the leading section of flexible straddle (1.4), the first described passive walking wheel (1.2) is installed, on aftercarriage (1), be fixed with straight-line guidance groove (1.8), it is crossing that the length direction of straight-line guidance groove (1.8) and the length direction of rectilinear orbit groove (1.3) are acute angle, on the aftercarriage (1) of straight-line guidance groove (1.8) top, be hinged with straddle oil cylinder (1.7), on the piston rod of straddle oil cylinder (1.7), be hinged with connecting rod (1.9), the rearward end of the other end of connecting rod (1.9) and flexible straddle (1.4) is hinged.
5. as claimed in claim 4 have the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: the length direction of described straight-line guidance groove (1.8) is 60 ° with the crossing angulation number of length direction of rectilinear orbit groove (1.3).
6. as claimed in claim 1 have the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: on aftercarriage (1), be fixed with arc orbit groove (1.10), in arc orbit groove (1.10), sliding plug has flexible straddle (1.4), flexible straddle (1.4) is one section of circular arc, flexible straddle (1.4) coordinates with arc orbit groove (1.10), and the length of flexible straddle (1.4) is greater than the length of arc orbit groove (1.10), the first described passive walking wheel (1.2) is installed in the bottom of flexible straddle (1.4), on aftercarriage (1), be hinged with straddle oil cylinder (1.7), the upper end of the piston rod end of straddle oil cylinder (1.7) and flexible straddle (1.4) is hinged.
7. described in as claimed in claim 6, there is the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: the central angle number of degrees that described arc orbit groove (1.10) is corresponding are 44.2 ~ 47.36 °; The central angle number of degrees that described flexible straddle (1.4) is corresponding are 92 °.
8. described in as claimed in claim 1, there is the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: described selection storehouse lifting mechanism is included in the selection storehouse hoist cylinder (5) of installing on the front side of aftercarriage (1), the other end of selection storehouse hoist cylinder (5) is connected to the top ends in selection storehouse (2).
9. described in as claimed in claim 1, there is the handling robot of complete machine from lifting and inlet operating function, it is characterized in that: described fork lifting mechanism comprises jack cylinder (6) and hoisting chain (7), described jack cylinder (6) is arranged on the front side wall bottom in selection storehouse (2), piston rod end at jack cylinder (6) is fixed with crossbeam, on crossbeam, be rotatablely equipped with roller (8), one end of hoisting chain (7) is fixed on the top ends of pallet fork erecting frame (3), the other end of hoisting chain (7) is fixed on selection storehouse (2) after walking around roller (8).
CN201320646776.1U 2013-10-18 2013-10-18 Handling robot with functions of self lifting and entering into container for operation of complete machine Expired - Fee Related CN203639073U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320646776.1U CN203639073U (en) 2013-10-18 2013-10-18 Handling robot with functions of self lifting and entering into container for operation of complete machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320646776.1U CN203639073U (en) 2013-10-18 2013-10-18 Handling robot with functions of self lifting and entering into container for operation of complete machine

Publications (1)

Publication Number Publication Date
CN203639073U true CN203639073U (en) 2014-06-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320646776.1U Expired - Fee Related CN203639073U (en) 2013-10-18 2013-10-18 Handling robot with functions of self lifting and entering into container for operation of complete machine

Country Status (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103523710A (en) * 2013-10-18 2014-01-22 朱红蔚 Loading and unloading robot with complete-machine automatic lifting and container-entering operation functions
CN113277448A (en) * 2021-05-27 2021-08-20 宁波如意股份有限公司 Vehicle-mounted stacking vehicle

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103523710A (en) * 2013-10-18 2014-01-22 朱红蔚 Loading and unloading robot with complete-machine automatic lifting and container-entering operation functions
CN103523710B (en) * 2013-10-18 2016-04-27 朱红蔚 There is the handling robot of complete machine from lifting and inlet operating function
CN113277448A (en) * 2021-05-27 2021-08-20 宁波如意股份有限公司 Vehicle-mounted stacking vehicle
CN113277448B (en) * 2021-05-27 2022-07-29 宁波如意股份有限公司 Vehicle-mounted stacking vehicle

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140611

Termination date: 20161018

CF01 Termination of patent right due to non-payment of annual fee