CN205773106U - Vehicle mounted type can climb car transfer robot - Google Patents

Abstract

The utility model relates to a truck-mounted climbing loading and unloading robot, in particular to a truck-mounted handling robot suitable for loading and unloading truck cargo, urban distribution, cold chain logistics, and elevator handling, and belongs to the technical field of handling robots. It includes the front car mechanism, the door frame and the bent leg parts. The two sides of the middle part of the door frame are respectively connected to the upper end of a bent leg connecting rod through the pin shaft, and the lower end of each bent leg connecting rod is connected to the upper end of the bent leg part through the pin shaft. The two sides of the upper part of the mast are respectively connected to a bent-leg oil cylinder through pin shafts, and the front ends of the cylinder rods of the two bent-leg oil cylinders on both sides of the mast are respectively connected to the front ends of the two bent-leg connecting rods on both sides of the mast through pin shafts. The utility model has a small weight of the whole vehicle and is convenient to carry along with the vehicle; it can climb the vehicle with goods and has a strong walking ability; the posture of the vehicle is adjusted through the bent leg parts, the lifting height is greatly reduced, and the robot gets on and off the vehicle body more stably; the front vehicle mechanism can Adjust the center of gravity of the whole vehicle to make the whole climbing process stable and reliable while reducing the weight of the whole vehicle.

Description

Car-mounted climbing robot

technical field

The utility model relates to a vehicle-mounted transport robot, in particular to a vehicle-mounted transport robot suitable for truck cargo loading and unloading, urban distribution, cold chain logistics, and elevator transport, and belongs to the technical field of transport robots.

Background technique

At present, in cold chain logistics, elevator handling, truck delivery of goods and other transportation links, handling robots have been widely used instead of manual labor.

The existing collection truck loading and unloading, urban distribution, and cold chain logistics loading and unloading methods have the following shortcomings:

1. The forklift puts the goods at the rear of the carriage, and then manually transports the goods into the carriage (the unloading process is opposite), the loading and unloading efficiency is low, the labor cost is high, and it can only be used for bulk and light-weight cargo loading and unloading;

2. Box-type trucks have their own tail lifts, which still need to be manually loaded and unloaded after being lifted by the tail lifts;

3. Due to the large height difference between the inner plane of the existing container compartment and the ground, the use of pedal bridges or jump platforms requires high loading and unloading sites.

Contents of the invention

The purpose of the utility model is to overcome the above disadvantages, thereby providing a car-mounted crawler handling robot, which can climb the car with goods, has strong walking ability, adjusts the posture of the whole vehicle by bending the leg parts, and greatly reduces the lifting height , At the same time, the front car mechanism can adjust the center of gravity of the whole car, making the whole climbing process stable and reliable.

According to the technical solution provided by the utility model, the vehicle-mounted climbing robot includes a front vehicle mechanism, a door frame and a bent leg part, and is characterized in that: the two sides of the middle part of the door frame are respectively connected to a bent leg connecting rod through a pin shaft. The upper end, the lower end of each bent leg connecting rod is connected to the upper end of the bent leg part through the pin shaft, and the two sides of the upper part of the mast are respectively connected to a bent leg cylinder through the pin shaft, and the front ends of the cylinder rods of the two bent leg cylinders on both sides of the mast Connect the front ends of the two bent-leg connecting rods on both sides of the mast through pin shafts; there is a linear guide rail inside the mast, and the front car mechanism is slidably connected to the linear guide rail; there is a lifting mechanism inside the mast, and the lifting mechanism is connected to the front car mechanism.

Further, there are bent leg positioning plates on both sides of the middle part of the mast, and the bent leg positioning plates are located at the lower end of the bent leg connecting rod.

Further, the middle part of the lower end of the mast is connected with a drive wheel assembly through bolts.

Further, the drive wheel assembly includes a drive motor, a reducer, a drive wheel bracket, a drive wheel and a connecting bracket, the drive wheel bracket is fixed on the upper end of the reducer, the upper end of the reducer is connected to the drive motor, the lower end of the drive wheel bracket is connected to the drive wheel, the reducer is connected and The driving wheel is driven to rotate, the connecting bracket is welded on the driving wheel bracket, and the connecting bracket is connected to the door frame through bolts.

Further, the front end of the bent leg component is provided with a bent leg walking wheel.

Further, the bent-leg walking wheel includes a traveling wheel bracket and a traveling wheel, and the traveling wheel bracket is rotatably connected to the traveling wheel.

Further, the front car mechanism includes the front car main body, the front car chassis, the front car telescopic fork and the telescopic oil cylinder, the front car main body includes a carriage and a carriage stand, the front end of the carriage is connected to the carriage stand, There are carriage guide rails on the side, and two inclined guide rails are arranged on both sides of the carriage vertical plate. The inclined guide rails are located at the lower end of the carriage guide rails; Fork pulley, the telescopic fork of the front car is slidably connected to the carriage guide rail of the main body of the front car through the fork pulley; the cylinder body of the telescopic oil cylinder is hinged on the carriage of the main body of the front car, and the front end of the telescopic rod of the telescopic oil cylinder is hinged on the telescopic rod of the front car. The fork vertical plate of the fork; the upper end of the fork vertical plate of the telescopic fork of the front vehicle is provided with a battery box guide rail, which slides on the battery box to connect the battery box, and the fork vertical plate of the telescopic fork of the front vehicle is provided with a chain The wheel assembly and the sprocket assembly are connected to the battery box; the chassis of the front vehicle includes a chassis vertical plate, and guide bearings are provided on the left and right sides of the chassis vertical plate, and the chassis of the front vehicle is slidably connected to the inclined guide rails of the main body of the front vehicle through the guide bearings on both sides. The chassis of the front car and the telescopic cargo fork of the front car are connected as a whole.

Further, the front end of the fork vertical plate is connected to the fork plate, and the front end of the fork plate is connected to the cargo fork.

Further, chassis driven wheels and chassis driving wheels are respectively provided at the front and rear ends of the chassis vertical plate.

Compared with the prior art, the utility model has the following advantages:

The utility model has simple, compact and reasonable structure, small weight of the whole vehicle, and is convenient to carry along with the vehicle; it can realize climbing the vehicle with cargo, and has strong walking ability; the posture of the whole vehicle is adjusted through the bent leg parts, the lifting height is greatly reduced, and the robot can get on and off the vehicle body More stable; the front car mechanism can adjust the center of gravity of the whole car, making the whole climbing process stable and reliable.

Description of drawings

Fig. 1 is a front view of the utility model.

Fig. 2 is the front view of the front vehicle mechanism of the utility model lifted to the highest position.

Fig. 3 is a front view of the bent leg parts of the present invention being folded backward.

Fig. 4 is the front view of the utility model with the front vehicle mechanism removed.

Fig. 5 is a side view of the utility model with the front vehicle mechanism removed.

Figure 6 is a front view of the front car mechanism.

Figure 7 is a top view of the front car mechanism.

Fig. 8 is a front view of the main body of the front vehicle.

Figure 9 is a top view of the front vehicle body.

Figure 10 is a front view of the telescopic fork of the front vehicle.

Figure 11 is a top view of the telescopic fork of the front vehicle.

Figure 12 is a front view of the front chassis.

Figure 13 is a top view of the front chassis.

Explanation of reference numerals: 1-front vehicle mechanism, 2-gantry frame, 3-bending leg parts, 4-bending leg oil cylinder, 5-bending leg connecting rod, 6-driving wheel assembly, 6.1-driving motor, 6.2-deceleration Machine, 6.3-driving wheel bracket, 6.4-driving wheel, 6.5-connecting bracket, 7-curved leg walking wheel, 7.1-traveling wheel bracket, 7.2-traveling wheel, 8-curved leg positioning plate, 9-linear guide rail, 10- Lifting mechanism, 11-main body of the front car, 12-chassis of the front car, 13-telescopic fork of the front car, 14-telescopic oil cylinder, 15-slider guide rail, 16-inclined guide rail, 17-sledge, 18-slider vertical plate , 19-fork vertical plate, 20-tooth fork plate, 21-fork, 22-fork pulley, 23-chassis vertical plate, 24-chassis driven wheel, 25-chassis driving wheel, 26-guide bearing, 27- Battery box guide rail, 28-battery box, 29-sprocket assembly.

detailed description

Below the utility model will be further described in conjunction with the embodiment in the accompanying drawing:

The utility model mainly comprises a front vehicle mechanism 1, a door frame 2 and a bent leg part 3.

As shown in Figures 1 to 5, both sides of the middle part of the door frame 2 are respectively connected to the upper end of a bent leg connecting rod 5 through a pin shaft, and the lower end of each bent leg connecting rod 5 is connected to the upper end of the bent leg part 3 through a pin shaft . Both sides of the upper part of the mast 2 are respectively connected to a bent-leg oil cylinder 4 through pin shafts, and the front ends of the cylinder rods of the two bent-leg oil cylinders 4 on both sides of the mast 2 are respectively connected to the two bent-leg connecting rods on both sides of the mast 2 through pin shafts 5 front end. When the bent leg oil cylinder 4 stretches out, it can push the bent leg part 3 to rotate counterclockwise until the front part of the bent leg part 3 is in a horizontal position, and when the bent leg oil cylinder 4 shrinks, it can pull the bent leg part 3 to rotate clockwise until The front part of the leg part 3 is completely received on the left side of the mast 2 .

Both sides of the middle part of the door frame 2 are provided with bent leg positioning plates 8, and the bent leg positioning plates 8 are located at the lower end of the bent leg connecting rod 5. The end faces of the leg positioning plate 8 contact, thereby preventing the bent leg connecting rod 5 from continuing to rotate to one side, and avoiding the deviation of the bent leg part 3 from the position.

The middle part of the lower end of the door frame 2 is connected with a drive wheel assembly 6 by bolts, and the drive wheel assembly 6 includes a drive motor 6.1, a reducer 6.2, a drive wheel bracket 6.3, a drive wheel 6.4 and a connecting bracket 6.5, and the drive wheel bracket 6.3 is fixed on the upper end of the reducer 6.2, the upper end of the reducer 6.2 is connected to the drive motor 6.1, the lower end of the drive wheel bracket 6.3 is connected to the drive wheel 6.4, and the reducer 6.2 is connected to drive the drive wheel 6.4 to rotate. Weld connection support 6.5 on the driving wheel support 6.3, and connection support 6.5 is connected door frame 2 by bolt.

The front end of the bent leg part 3 is provided with a bent leg walking wheel 7, and the bent leg walking wheel 7 comprises a walking wheel support 7.1 and a walking wheel 7.2, and the walking wheel support 7.1 is rotatably connected with the walking wheel 7.2. When the whole vehicle is walking, it is driven by the driving wheel assembly at the lower end of the mast, and at the same time, the walking wheel with bent legs accompanies the walking.

The inner side of the door frame 2 is provided with a linear guide rail 9, and the front vehicle mechanism 1 is slidably connected on the linear guide rail 9. The inside of the door frame 2 is provided with a lifting mechanism 10, and the lifting mechanism 10 is connected to the front vehicle mechanism 1. When working, the lifting mechanism 10 can drive the front vehicle mechanism 1 to move up and down along the linear guide rail 9.

As shown in FIGS. 6-7 , the front vehicle mechanism 1 includes a front vehicle main body 11 , a front vehicle chassis 12 , a front vehicle telescopic fork 13 and a telescopic oil cylinder 14 .

As shown in Figures 8 to 9, the front vehicle body 11 includes a carriage 17 and a carriage vertical plate 18, the front end of the carriage 17 is connected to the carriage vertical plate 18, and both sides of the carriage vertical plate 18 are provided with carriage guide rails 15, Two inclined guide rails 16 are arranged on both sides of the carriage vertical plate 18, and the inclined guide rails 16 are located at the lower end of the carriage guide rail 15.

As shown in FIGS. 10-11 , the front telescopic fork 13 includes a fork stand 19 , the front end of the fork stand 19 is connected to the fork plate 20 , and the front end of the fork plate 20 is connected to the fork 21 .

Fork pulleys 22 are provided on the inner sides of the two ends of the fork vertical plate 19, and the telescopic fork 13 of the front car is slidably connected to the carriage guide rail 15 of the main body 11 of the front car through the fork pulley 22.

The cylinder block of telescopic oil cylinder 14 is hinged on the carriage 17 of front vehicle main body 11, and the telescopic link front end of telescopic oil cylinder 14 is hinged on the fork vertical plate 19 of telescopic fork 13 of front vehicle. When the telescopic oil cylinder 14 works, it can promote the telescopic fork 13 of the front car to move back and forth along the carriage guide rail 15 of the main body 11 of the front car.

The upper end of the fork stand 19 of the telescopic fork 13 of the front vehicle is provided with a battery box guide rail 27 on which the battery box 28 is slidably connected, and the fork stand 19 of the telescopic fork 13 of the front vehicle is provided with a sprocket assembly 29. The sprocket assembly 29 is connected to the battery box 28, and the front telescopic fork 13 drives the battery box 28 to move back and forth along the battery box guide rail 27 through the sprocket assembly 29, thereby adjusting the center position of the vehicle.

As shown in Figures 12 to 13, the front chassis 12 includes a chassis vertical plate 23, the front and rear ends of the chassis vertical plate 23 are respectively provided with a chassis driven wheel 24 and a chassis driving wheel 25, and the left and right sides of the chassis vertical plate 23 are provided with Guide bearing 26.

Front car chassis 12 is slidably connected on the inclined guide rail 16 of front car main body 11 by the guide bearing 26 of both sides, and front car chassis 12 and front car telescopic fork 13 are connected as a whole.

The working principle of the utility model is: when climbing the car with goods, the front car mechanism forks up the goods, and then the lifting mechanism on the door frame drives the front car mechanism to be lifted into the compartment. The front telescopic fork of the front car mechanism drives the fork and the battery box to move forward, thereby moving the center of gravity of the whole vehicle forward. Next, the bent-leg cylinder drives the bent-leg parts to move backward to the rear of the mast, and the lifting mechanism reversely drives the mast and the bent-leg parts to move upward. The bent leg member moves forward. When the bent leg parts are in place, the front telescopic fork of the front car mechanism drives the fork and the battery box to move backward, thereby moving the center of gravity of the whole vehicle backward, and then completes the stacking of goods in the car. After completing the stacking work, the whole vehicle comes to the door of the compartment, and the above steps are performed in reverse, and the whole vehicle can be moved from the compartment to the outside.

The utility model has simple, compact and reasonable structure, small weight of the whole vehicle, and is convenient to carry along with the vehicle; it can realize climbing the vehicle with cargo, and has strong walking ability; the posture of the whole vehicle is adjusted through the bent leg parts, the lifting height is greatly reduced, and the robot can get on and off the vehicle body more stable.

Claims (9)

1. A car-mounted crawling robot, including a front car mechanism (1), a door frame (2) and a bent leg part (3), characterized in that: the two sides of the middle part of the door frame (2) pass through pin shafts Connect the upper end of a bent leg connecting rod (5) respectively, the lower end of each bent leg connecting rod (5) is connected to the upper end of the bent leg part (3) through a pin shaft, and the two sides of the upper part of the door frame (2) are respectively connected through a pin shaft Connect a bent-leg oil cylinder (4), and the front ends of the oil cylinder rods of the two bent-leg oil cylinders (4) on both sides of the mast (2) are respectively connected to the two bent-leg connecting rods (5) on both sides of the mast (2) through pin shafts. ) front end; the inner side of the mast (2) is provided with a linear guide rail (9), the front vehicle mechanism (1) is slidably connected to the linear guide rail (9), and the inner side of the mast (2) is provided with a lifting mechanism (10), the lifting mechanism (10) Connect the front car mechanism (1). 2. The vehicle-mounted climbing robot according to claim 1, characterized in that: the two sides of the middle part of the door frame (2) are provided with bent-leg positioning plates (8), and the bent-leg positioning plates (8) are located Bending leg connecting rod (5) lower end. 3. The vehicle-mounted crawlable vehicle handling robot according to claim 1, characterized in that: the middle part of the lower end of the door frame (2) is connected to a driving wheel assembly (6) by bolts. 4. The vehicle-mounted crawlable vehicle handling robot according to claim 3, characterized in that: the drive wheel assembly (6) includes a drive motor (6.1), a reducer (6.2), a drive wheel bracket (6.3), The driving wheel (6.4) and the connecting bracket (6.5), the upper end of the driving wheel bracket (6.3) is fixed to the reducer (6.2), the upper end of the reducer (6.2) is connected to the driving motor (6.1), and the lower end of the driving wheel bracket (6.3) is connected to the driving wheel ( 6.4), the reducer (6.2) is connected and drives the driving wheel (6.4) to rotate, the connecting bracket (6.5) is welded on the driving wheel bracket (6.3), and the connecting bracket (6.5) is connected to the mast (2) by bolts. 5. The vehicle-mounted crawlable vehicle handling robot according to claim 1, characterized in that: the front end of the bent-leg component (3) is provided with bent-leg walking wheels (7). 6. The vehicle-mounted climbing vehicle handling robot according to claim 5, characterized in that: the bent-leg walking wheel (7) includes a walking wheel bracket (7.1) and a walking wheel (7.2), and the walking wheel bracket (7.1 ) to turn the connecting travel wheels (7.2). 7. The vehicle-mounted climbing vehicle handling robot according to claim 1, characterized in that: the front vehicle mechanism (1) includes the front vehicle body (11), the front vehicle chassis (12), the front vehicle telescopic fork (13) and telescopic oil cylinder (14), front vehicle main body (11) comprises slide frame (17) and slide frame vertical plate (18), and slide frame (17) front end connects slide frame vertical plate (18), and slide frame vertical plate (18) Both sides are provided with carriage guide rails (15), and two sides of carriage vertical plate (18) are provided with two inclined guide rails (16), and inclined guide rails (16) are positioned at the lower end of carriage guide rails (15); The fork (13) includes a fork stand (19), and fork pulleys (22) are arranged on the inner sides of both ends of the fork stand (19), and the telescopic fork (13) of the front vehicle slides through the fork pulley (22) Connected on the carriage guide rail (15) of the front vehicle main body (11); the cylinder body of the telescopic oil cylinder (14) is hinged on the carriage (17) of the front vehicle main body (11), and the front end of the telescopic rod of the telescopic oil cylinder (14) Hinged on the fork stand (19) of the telescopic fork (13) of the front vehicle; the upper end of the fork stand (19) of the telescopic fork (13) of the front vehicle is provided with a battery box guide rail (27), and the battery box guide rail (27) is slidingly connected to the battery box (28), and the fork vertical plate (19) of the front telescopic fork (13) is provided with a sprocket assembly (29), and the sprocket assembly (29) is connected to the battery box (28) The front chassis (12) includes a chassis vertical plate (23), the left and right sides of the chassis vertical plate (23) are provided with guide bearings (26), and the front chassis (12) is slidingly connected by the guide bearings (26) on both sides On the inclined guide rail (16) of the front car main body (11), the front car chassis (12) and the front car telescopic fork (13) are connected as one. 8. The truck-mounted climbing robot according to claim 7, characterized in that: the front end of the fork stand (19) is connected to the fork plate (20), and the front end of the fork plate (20) is connected to the fork (twenty one). 9. The vehicle-mounted climbing vehicle handling robot according to claim 7, characterized in that: chassis driven wheels (24) and chassis driving wheels (25) are respectively provided at the front and rear ends of the chassis vertical plate (23).