CN204846101U - Load formula commodity circulation conveying robot - Google Patents
Load formula commodity circulation conveying robot Download PDFInfo
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- CN204846101U CN204846101U CN201520545815.8U CN201520545815U CN204846101U CN 204846101 U CN204846101 U CN 204846101U CN 201520545815 U CN201520545815 U CN 201520545815U CN 204846101 U CN204846101 U CN 204846101U
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Abstract
The utility model provides a load formula commodity circulation conveying robot, it relates to a conveying robot to solving and currently being used for logistics storage's transport vechicle robot structure complicated, moreover can not the original place rotatory, the direction can not be adjusted to goods shelves and transport vechicle, and cargo handling still can not satisfy the actual need, the problem of adaptability difference. It includes actuating mechanism, elevating system and battery, actuating mechanism includes support body, two sets of differential actuating mechanism and four truckles, two sets of differential actuating mechanism arrange side by side on the support body that every set of differential actuating mechanism installs on the support body including walking wheel, first gear, second gear and driving motor, walking wheel rotation, and the installation of first gear is expert at to walk to take turns to, and driving motor's output shaft level arranges that the second gear is installed on driving motor's output shaft, first gear and the 2nd gear engagement, elevating system includes motor power, motor frame, pinion, well gear, gear wheel, lead screw, screw and crane. The utility model is used for the storage commodity circulation.
Description
Technical field
The utility model relates to a kind of transportation robot, belongs to logistics transportation technical field.
Background technology
Growing along with logistics, logistics work also fast development, people's modern requirements is more and more higher, but existing most of logistics enterprise or original a dead lift, inefficiency, developing logistics rapidly to city needs to fall behind.
In the logistics transportation treatment technology development of many decades in the past, a dead lift or main.Along with the development in epoch, warehouse logistics management enters new development phase, logistics guide transport lorry robot arises at the historic moment, logistics transportation speed and work efficiency improve greatly, but at present for the transportation robot complex structure of logistic storage, and can not rotate in original place, load shelf and transport trolley can not adjustment direction, can not meet actual position needs, portage is still inconvenient, bad adaptability.
Utility model content
The utility model is complicated for solving the existing transport trolley robot architecture for logistic storage, and can not rotate in original place, shelf and transport trolley can not adjustment direction, and portage still can not meet actual needs, the problem of bad adaptability, and then a kind of load type logistics transportation robot is provided.
The utility model is the technical scheme taked that solves the problem: a kind of load type logistics transportation robot of the present utility model comprises driver train, lifting mechanism and storage battery; Driver train comprises support body, two cover differential drive mechanism and four castors;
Two cover differential drive mechanism are arranged in parallel on support body, often overlap differential drive mechanism and comprise road wheel, the first gear, the second gear and drive motor, road wheel is rotatably installed on support body, first gear is arranged on road wheel, the output shaft horizontal arrangement of drive motor, second gear is arranged on the output shaft of drive motor, the first gear and the second gears meshing;
Lifting mechanism comprises power motor, motor rack, miniature gears, middle gear, big gear wheel, leading screw, screw and crane; Power motor is arranged on motor rack, motor rack is arranged on support body, the output shaft of power motor is vertically arranged, and miniature gears is arranged on the output shaft of power motor, and middle gear is arranged on motor rack, miniature gears engages with middle gear, be fixed with screw in the centre hole of big gear wheel, leading screw is vertically arranged on support body, and middle gear engages with big gear wheel, the facewidth of middle gear is less than the facewidth of big gear wheel, and the upper surface of screw is provided with crane; Four castors are arranged on the bottom of support body, and storage battery is powered to drive motor and power motor.
The beneficial effects of the utility model are: the utility model lifting mechanism medium power motor rotation, miniature gears and middle gear is driven to rotate, big gear wheel rotarily drives screw and rotates rising, the facewidth of middle gear is less than the facewidth of big gear wheel, big gear wheel rotates rising synchronous and carries out, and the crane be connected with screw together rotates rising, and the shelf be placed on like this on crane have just risen naturally, shelf and dolly energy adjustment direction, can find the direction of oneself position applicable.Two cover differential drive mechanism ensure that support body 360 ° of optional positions rotate, and also achieve the overall energy 360 ° of optional positions of this transportation robot and rotate.The utility model structure is simple, and portage can meet actual needs, and comformability improves greatly.I can replace hand haulage by the logistics transportation robot of utility model.It is to one of logistics new revolution, improves logistics level of management greatly, brings endless benefit to whole logistic industry.The utility model efficiently solves the existing transportation robot complex structure for logistic storage, and can not rotate in original place, bin and dolly can not adjustment direction, can not meet actual position requirement, portage still can not meet actual needs, the problem of bad adaptability.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram after the utility model removes case, and Fig. 2 is the main cutaway view of Fig. 1, and Fig. 3 is the upward view of Fig. 2, Fig. 4 is driver train front view, Fig. 5 is the upward view of Fig. 4, and Fig. 6 is lifting mechanism and rack connecting structure front view, and Fig. 7 is the upward view of Fig. 6.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 7 illustrates, a kind of load type logistics transportation robot of present embodiment comprises driver train A, lifting mechanism B and storage battery F; Driver train A comprises support body A1, two covers differential drive mechanism A2 and four castor A3;
Two cover differential drive mechanism A2 are arranged in parallel on support body A1, often overlap differential drive mechanism A2 and comprise road wheel A2-1, the first gear A 2-2, the second gear A 2-3 and drive motor A2-4, road wheel A2-1 is rotatably installed on support body A1, first gear A 2-2 is arranged on road wheel A2-1, the output shaft horizontal arrangement of drive motor A2-4, second gear A 2-3 is arranged on the output shaft of drive motor A2-4, and the first gear A 2-2 and the second gear A 2-3 engages;
Lifting mechanism B comprises power motor B1, motor rack B2, miniature gears B3, middle gear B4, big gear wheel B5, leading screw B6-1, screw B6-2 and crane B7; Power motor B1 is arranged on motor rack B2, motor rack B2 is arranged on support body A1, the output shaft of power motor B1 is vertically arranged, miniature gears B3 is arranged on the output shaft of power motor B1, middle gear B4 is arranged on motor rack B2, miniature gears B3 engages with middle gear B4, screw B6-2 is fixed with in the centre hole of big gear wheel B5, leading screw B6-1 is vertically arranged on support body A1, middle gear B4 engages with big gear wheel B5, the facewidth of middle gear B4 is less than the facewidth of big gear wheel B5, and the upper surface of screw B6-2 is provided with crane B7; Four castor A3 are arranged on the bottom of support body A1, and storage battery F powers to drive motor A2-4 and power motor B1.
When present embodiment uses, in order to ensure screw smooth operation, lifting mechanism increases a screw outer sleeve B8, and screw B6-2 realizes relatively rotating with screw outer sleeve B8 by bearing.Storage battery adopts chargeable battery, ensures that drive motor A2-4 and power motor B1 can run continually and steadily.Crane is board-like crane.
Detailed description of the invention two: composition graphs 5 illustrates, the support body A1 of present embodiment is casing, and drive motor A2-4 is arranged in this casing.Setting like this, easy to process, easy to use.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 6 illustrates, transportation robot described in present embodiment also comprises limiting bracket C1 and two proximity switch C2, and limiting bracket C2 is arranged on the lower end of big gear wheel B5, and on motor rack B2, vertically interval is provided with two proximity switch C2.Setting like this, is convenient to the position that control crane moves up and down, meets the needs that actual position controls better.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 6 illustrates, transportation robot described in present embodiment also comprises angular transducer D1 and cannulated sleeve D2, leading screw B6-1 is the hollow lead screw of open at both ends, cannulated sleeve D2 is sleeved in the cavity of leading screw B6-1, the housing of angular transducer D1 is arranged on support body A1, the axis of rotation of angular transducer D1 is arranged in the cavity of leading screw B6-1 and the cavity of cannulated sleeve D2, and cannulated sleeve D2 is connected with crane B7.Setting like this, is convenient to detect the crane anglec of rotation, to realize shelf this transportation robot anglec of rotation relatively, meets actual needs.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 2 and Fig. 3 illustrate, transportation robot described in present embodiment also comprises case E, and case E is hollow square body, the coated driver train A of case E is with lifting mechanism B and be connected with support body A1.Setting like this, transportation robot compact conformation, driver train and lifting mechanism by external interference, do not avoid dust to affect the normal operation of driver train and lifting mechanism.Other with detailed description of the invention one, two or four identical.
Principle of work
Lifting mechanism medium power motor rotation during work, miniature gears and middle gear is driven to rotate, big gear wheel rotarily drives screw and rotates rising, the facewidth of middle gear is less than the facewidth of big gear wheel, big gear wheel rotates rising synchronous and carries out, and the crane be connected with screw together rotates rising, and the shelf be placed on like this on crane have just risen naturally, shelf and dolly energy adjustment direction, can find the direction of oneself position applicable.Two cover differential drive mechanism ensure that support body 360 ° of optional positions rotate, and also achieve the overall energy 360 ° of optional positions of this transportation robot and rotate.Configurable multiple Hall element K in using, multiple Hall element is arranged on the middle part of support body A1 bottom, multiple Hall element forms the circle of a closed loop, for detecting the magnetic field position of a word magnetic stripe or cross magnetic stripe during robot ambulation, 180 Hall elements are adopted to form the circle of a closed loop, detect the magnetic field position of a word magnetic stripe or cross magnetic stripe, make the transportation robot good stability in magnetic stripe walking process with Hall element, terrestrial reference detection and location precision for magnetic stripe mode is high, reach 1mm ~ 2mm precision, the mode accuracy of detection of existing sensor detection magnetic stripe improves more than 6 times on year-on-year basis.
Claims (5)
1. a load type logistics transportation robot, is characterized in that: it comprises driver train (A), lifting mechanism (B) and storage battery (F); Driver train (A) comprises support body (A1), two cover differential drive mechanism (A2) and four castors (A3);
Two covers differential drive mechanism (A2) are arranged in parallel on support body (A1), often overlap differential drive mechanism (A2) and comprise road wheel (A2-1), first gear (A2-2), second gear (A2-3) and drive motor (A2-4), road wheel (A2-1) is rotatably installed on support body (A1), first gear (A2-2) is arranged on road wheel (A2-1), the output shaft horizontal arrangement of drive motor (A2-4), second gear (A2-3) is arranged on the output shaft of drive motor (A2-4), first gear (A2-2) and the second gear (A2-3) engagement,
Lifting mechanism (B) comprises power motor (B1), motor rack (B2), miniature gears (B3), middle gear (B4), big gear wheel (B5), leading screw (B6-1), screw (B6-2) and crane (B7), power motor (B1) is arranged on motor rack (B2), motor rack (B2) is arranged on support body (A1), the output shaft of power motor (B1) is vertically arranged, miniature gears (B3) is arranged on the output shaft of power motor (B1), middle gear (B4) is arranged on motor rack (B2), miniature gears (B3) engages with middle gear (B4), screw (B6-2) is fixed with in the centre hole of big gear wheel (B5), leading screw (B6-1) is vertically arranged on support body (A1), middle gear (B4) engages with big gear wheel (B5), the facewidth of middle gear (B4) is less than the facewidth of big gear wheel (B5), the upper surface of screw (B6-2) is provided with crane (B7), four castors (A3) are arranged on the bottom of support body (A1), and storage battery (F) is to drive motor (A2-4) and power motor (B1) power supply.
2. a kind of load type logistics transportation robot according to claim 1, it is characterized in that: support body (A1) is casing, drive motor (A2-4) is arranged in this casing.
3. a kind of load type logistics transportation robot according to claim 1 and 2, it is characterized in that: described transportation robot also comprises limiting bracket (C1) and two proximity switches (C2), limiting bracket (C2) is arranged on the lower end of big gear wheel (B5), and on motor rack (B2), vertically interval is provided with two proximity switches (C2).
4. a kind of load type logistics transportation robot according to claim 3, it is characterized in that: described transportation robot also comprises angular transducer (D1) and cannulated sleeve (D2), the hollow lead screw that leading screw (B6-1) is open at both ends, cannulated sleeve (D2) is sleeved in the cavity of leading screw (B6-1), the housing of angular transducer (D1) is arranged on support body (A1), the axis of rotation of angular transducer (D1) is arranged in the cavity of leading screw (B6-1) and the cavity of cannulated sleeve (D2), cannulated sleeve (D2) is connected with crane (B7).
5. a kind of load type logistics transportation robot according to claim 1,2 or 4, it is characterized in that: described transportation robot also comprises case (E), case (E) is hollow square body, and case (E) coated driver train (A) is with lifting mechanism (B) and be connected with support body (A1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520545815.8U CN204846101U (en) | 2015-07-24 | 2015-07-24 | Load formula commodity circulation conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520545815.8U CN204846101U (en) | 2015-07-24 | 2015-07-24 | Load formula commodity circulation conveying robot |
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| Publication Number | Publication Date |
|---|---|
| CN204846101U true CN204846101U (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520545815.8U Active CN204846101U (en) | 2015-07-24 | 2015-07-24 | Load formula commodity circulation conveying robot |
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| Country | Link |
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| CN (1) | CN204846101U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN106394728A (en) * | 2016-10-31 | 2017-02-15 | 郑运长 | Intelligent express package dispatching robot |
| CN108482507A (en) * | 2018-03-31 | 2018-09-04 | 毛利英 | A kind of service robot device |
| CN109292334A (en) * | 2018-10-12 | 2019-02-01 | 桐城市立行电子科技有限公司 | A kind of robot for express delivery storage transhipment |
-
2015
- 2015-07-24 CN CN201520545815.8U patent/CN204846101U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN106394728A (en) * | 2016-10-31 | 2017-02-15 | 郑运长 | Intelligent express package dispatching robot |
| CN106394728B (en) * | 2016-10-31 | 2018-11-13 | 扬州清雨环保设备工程有限公司 | It is a kind of intelligence express delivery send robot with charge free |
| CN108482507A (en) * | 2018-03-31 | 2018-09-04 | 毛利英 | A kind of service robot device |
| CN109292334A (en) * | 2018-10-12 | 2019-02-01 | 桐城市立行电子科技有限公司 | A kind of robot for express delivery storage transhipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191018 Address after: 150000 Wang Gang Zhen 02-21-17-1055, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin Linghan Intelligent Technology Co., Ltd Address before: 150000 Heilongjiang Province, Harbin city Nangang District Fuhua two street Fuhua community building A1 room 905 Patentee before: Xu Jiwen |
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| TR01 | Transfer of patent right |