CN206187895U

CN206187895U - Express delivery conveying robot

Info

Publication number: CN206187895U
Application number: CN201621234765.2U
Authority: CN
Inventors: 李晨晨
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2016-11-17
Filing date: 2016-11-17
Publication date: 2017-05-24
Anticipated expiration: 2026-11-17

Abstract

The utility model discloses an express delivery conveying robot, the robot is including seeking the mark chassis, install the lifting platform on seeking the mark chassis and installing the bearing roller group gravity type goods shelves on the lifting platform, seek the mark chassis by chassis mounting panel, action wheel, driving motor, angle aluminium, driving motor mount pad, shaft coupling, motor extended shaft, I rhombus rolling bearing unit, drive module, seek the mark module and constitute, through the structure, the through -hole threaded connection that the frame is passed through to set up on the upper plate is on the lifting platform, I bearing roller group and the slope of II bearing rollers group are installed in the frame. The utility model discloses a seeking the mark chassis and adopting and to seek mark module guide robot transportation goods, also ensured the transportation safety of goods simultaneously using manpower sparingly, improved conveying efficiency, promotion that the lifting platform adopted screw sliding table to realize the platform makes the compact and easily control of robot structure, has greatly saved the space.

Description

A kind of express transportation robot

Technical field

The utility model is related to a kind of express transportation robot, and in particular to a kind of express delivery fortune with Auto-searching track function Defeated robot, belongs to robotics.

Background technology

In recent years, as people are growing to the demand of Express Logistics industry, Express Logistics industry has welcome quick hair The duration of an exhibition.But during express delivery object is sorted and is put in storage, there is manpower and sort cumbersome, violence transport, the time-consuming expense of object storage The various problems such as power.

Only some are used for storage transportation robot and various quick despatch the sorting car of specific use in the prior art, should It is narrower with scope, and variety of problems when not can solve express transportation.

Application number 201520603568.2, utility model title " a kind of quick despatch sorting car ", there is provided one kind is applicable In the go-on-go car of the quick despatch such as small articles, fast food, express delivery, sorting and transport, it is not strong to solve go-on-go car delivered payload capability, is gathering around Crowded factory floor can not form entire items delivery with city, and loading goods rear stability is poor, and goods is on transport vehicle Stationary state, it is impossible to realize sorting, the deficiency of classification of goods.Application number 201520863468.3, utility model title is " a kind of Quick despatch sorts car ", there is provided a kind of base generally folding structure, three casings are integrally capable of achieving to separate with base, Three casings can realize the two dimensional motion of level, vertical direction, and three casings can realize the sorting car of stacking, solve transport vehicle Without barrier safeguard structure, article is easily scattered for surrounding, the top of storage space, easily to transport article damage, transport vehicle without Hierarchical block structure, can be extruded, the deficiency of damaged goods in various degree when article is stacked between each article.But above-mentioned two Kind of go-on-go car is present needs a dead lift when getting in stocks, it is impossible to be automatically obtained freight lifting, need to take during superposition goods compared with Large space is, it is necessary to human cost higher, and conevying efficiency is low.

The content of the invention

In order to solve the problems, such as that shipping mass present in current express transportation industry is poor, conevying efficiency is low, this practicality is new Type proposes a kind of express transportation robot, and the robot can not only improve shipping mass, while conevying efficiency can also be ensured, greatly Save manpower, reduce cost of transportation.

The technical scheme that the utility model is used is：

A kind of express transportation robot, the robot includes track chassis, the lifting platform on the chassis that tracks And the idler machining gravity type shelf on lifting platform；

It is described track chassis by chassis installing plate, driving wheel, motor, aluminum corner brace, motor mounting seat, shaft coupling, Motor extension shaft, I rhombus rolling bearing units, drive module, track module composition；The motor mounting seat is pacified installed in chassis Dress plate lower section, the motor is arranged on the motor of motor mounting seat lower section, described shaft coupling one end and motor Axle is connected, and the other end is connected with motor extension shaft one end, and the motor extension shaft passes through I rhombus rolling bearing units and aluminum corner brace, described Aluminum corner brace is fixedly mounted on chassis installing plate corner by I rhombus rolling bearing units Central Symmetry, and the motor lengthens shaft end and fixes Driving wheel is installed, the drive module is arranged on chassis installing plate top, and the module number that tracks is respectively mounted for 3 Through hole is symmetrically arranged with the front end of chassis 1 and the left and right sides of tracking, the chassis installing plate；

It is described lifting platform by I support, II support, III support, IV support, upper plate, lower-left base plate, bottom right base plate, 2 Cushion block, leading screw slide unit, vertical rolling bearing units, I optical axis, II optical axis, III optical axis, IV optical axis, V optical axis, II rhombus rolling bearing units, Rubber tire is constituted；2 cushion blocks are provided below the through hole being engaged with the through hole set on the installing plate of chassis, 2 pads Block is connected by through hole whorl be arranged on the installing plate of chassis respectively, and the lower-left base plate and bottom right base plate are separately mounted to 2 On individual cushion block, I optical axis is sequentially passed through I support, II support, III support, IV support and is divided by 4 II rhombus rolling bearing units It is not hinged with I optical axis, I support, II support, III support and IV support, I support is equal with IV support with II support, III support Set in " X " type, I support and III support one end are hinged on lower-left base plate by II optical axis by 2 II rhombus rolling bearing units With bottom right bottom panel side, III optical axis is hinged on the other end of I support and III support by 2 II rhombus rolling bearing units Match somebody with somebody 2 II rhombus bands of merga pass in the hole of one end of two sides of upper plate inner side, IV optical axis and II support and IV support Seat bearing is hinged with II support and IV support, and 2 rubber tires on the top are separately mounted to IV optical axis two ends and are connect with upper plate Touch, the leading screw slide unit bottom is connected through a screw thread and is fixedly mounted in the middle of 2 cushion blocks in chassis installing plate top, on leading screw slide unit Portion is arranged on V optical axis by vertical rolling bearing units, front and rear in the horizontal direction with the rotation of leading screw can be moved back and forth, institute The individual rubber tire for stating bottom is separately mounted to V optical axis two ends and is contacted respectively with lower-left base plate and bottom right base plate, and V optical axis leads to 2 II rhombus rolling bearing units are crossed to be hinged with II support and IV support one end respectively；Through hole is provided with the upper plate；

The idler machining gravity type shelf are made up of frame, I idler machining and II idler machining；The frame is by upper plate The through hole whorl of setting is connected on lifting platform, and I idler machining and II idler machining are inclined and mounted in frame.

The chassis installing plate, driving wheel, motor, aluminum corner brace, motor mounting seat, shaft coupling, motor extension shaft, I rhombus rolling bearing units quantity is 4, is symmetricly set on the chassis corner location that tracks.

The II rhombus rolling bearing units quantity is 12.

The horizontal plane of I idler machining and II idler machining and frame is into 15 ° ~ 30 ° angles.

The drive module is motor, the module that tracks and leading screw slide unit provide power.

The beneficial effects of the utility model：

（1）Using four-wheel drive chassis, uniform force has stability well, and electricity on the chassis that tracks of the present utility model The motor shaft buckling phenomenon occurred when load-carrying is overweight is avoided equipped with motor extension shaft and shaft coupling between machine and wheel so that machine People has service life more long.

（2）People is greatly being saved in the chassis that tracks of the present utility model using the module booting robotic conveyance's goods that tracks Power has also ensured the transportation safety of goods simultaneously.

（3）Lifting platform of the present utility model realizes the lifting of platform using leading screw slide unit, makes robot architecture compact And it is easily controllable, dramatically saves on space.

（4）Idler machining gravity type shelf of the present utility model, by by idler machining slant setting, when being got in stocks for robot Only goods need to be put into one end, the other end just can be automatically slided under gravity, improve conevying efficiency.

（5）A kind of express transportation robot of the present utility model can be used cooperatively with the Transport Machinery such as conveyer belt etc., fast Manpower can be greatly saved when passing handling goods, while the damage of the goods easily caused when manpower is transported is avoided, structure letter Single, with low cost, the function that tracks can be used for various transport situations, with very wide utilization and promotion prospect.

Brief description of the drawings

Fig. 1 is the utility model structural representation；

Fig. 2 tracks chassis structure schematic diagram for the utility model；

Fig. 3 is that the utility model lifts platform structure schematic diagram；

Fig. 4 is the utility model idler machining gravity type shelf schematic diagram；

Track chassis in figure（1）, lifting platform（2）, idler machining gravity type shelf（3）, chassis installing plate（4）, driving wheel （5）, motor（6）, aluminum corner brace（7）, motor mounting seat（8）, shaft coupling（9）, motor extension shaft（10）, rhombus ushers to seat axle Hold（11）, drive module（12）, track module（13）, I support (14), II support (15), III support (16), IV support (17), upper plate（18）, lower-left base plate（19）, bottom right base plate（20）, cushion block（21）, leading screw slide unit（22）, vertical rolling bearing units （23）, I optical axis（24）, II optical axis（25）, III optical axis（26）, IV optical axis（27）, V optical axis（28）, rhombus rolling bearing units（29）、 Rubber tire（30）, frame（31）, I idler machining（32）, II idler machining（33）.

Specific embodiment

To make the purpose and technical scheme of the utility model embodiment clearer, implement below in conjunction with the utility model The accompanying drawing of example, the technical scheme to the utility model embodiment is clearly and completely described.Obviously, described embodiment It is a part of embodiment of the present utility model, rather than whole embodiments.Based on described embodiment of the present utility model, The every other embodiment that those of ordinary skill in the art are obtained on the premise of without creative work, belongs to this practicality Novel protected scope.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art Language and scientific terminology）With with the utility model art in those of ordinary skill general understanding identical meaning.Also It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art in The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.

The implication of " inside and outside " described in the utility model is referred to relative to equipment itself, inside sensing equipment Direction be interior, otherwise for outer, rather than the specific restriction to equipment mechanism of the present utility model.

When the implication of " left and right " described in the utility model refers to reader just to accompanying drawing, the left side of reader is It is a left side, the right of reader is the right side, rather than the specific restriction to equipment mechanism of the present utility model.

The implication of " connection " described in the utility model can be between part be directly connected to be part between By being indirectly connected with for other parts.

A kind of express transportation robot, including the chassis 1 that tracks, installed in track it is the One On The Chassis lifting platform 2 and install Idler machining gravity type shelf 3 on lifting platform 2.

As shown in Figure 2, the chassis 1 that tracks is by chassis installing plate 4, driving wheel 5, motor 6, aluminum corner brace 7, driving electricity Machine mounting seat 8, shaft coupling 9, motor extension shaft 10, I rhombus rolling bearing units 11, drive module 12, the module that tracks 13 are constituted；It is described Motor mounting seat 8 is arranged on the lower section of chassis installing plate 4, and the motor 6 is arranged on the lower section of motor mounting seat 8, The one end of the shaft coupling 9 is connected with the motor shaft of motor 6, and the other end is connected with the one end of motor extension shaft 10, the motor Extension shaft 10 passes through I rhombus rolling bearing units 11 and aluminum corner brace 7, the aluminum corner brace 7 to fix peace by the Central Symmetry of I rhombus rolling bearing units 11 Mounted in 4 four jiaos of chassis installing plate, the end of motor extension shaft 10 is installed with driving wheel 5, and the drive module 12 is installed The top of installing plate 4 on chassis, the quantity of module 13 that tracks is separately mounted to the track front end of chassis 1 and the left and right sides for 3, Through hole is symmetrically arranged with the chassis installing plate 4；The chassis installing plate 4, driving wheel 5, motor 6, aluminum corner brace 7, driving Motor mount 8, shaft coupling 9, motor extension shaft 10, the quantity of I rhombus rolling bearing units 29 are 4, are symmetricly set on and track The corner location of chassis 1.

As shown in Figure 3, the lifting platform 2 is by I support 14, II support 15, III support 16, IV support 17, upper plate 18th, lower-left base plate 19,20,2 cushion blocks 21 of bottom right base plate, leading screw slide unit 22, vertical rolling bearing units 23, I optical axis 24, II optical axis 25th, III optical axis 26, IV optical axis 27, V optical axis, 28,12 II rhombus rolling bearing units, 29,4 rubber tires 30 are constituted；2 cushion blocks 21 are provided below the through hole being engaged with the through hole set on chassis installing plate 4, and 2 cushion blocks 21 pass through through hole spiral shell respectively Line connection is arranged on chassis installing plate 4, and the lower-left base plate 19 and bottom right base plate 20 are separately mounted on 2 cushion blocks 21, I optical axis 24 sequentially passes through I support 14, II support 15, III support 16, IV support 17 and passes through 4 II rhombus rolling bearing units 29 are hinged with I support 14, II support 15, III support 16 and IV support 17 respectively, the support 15 of I support 14 and II, III support 16 and IV support 17 in " X " type set, II optical axis 25 by 2 II rhombus rolling bearing units 29 I support 14 and III The one end of frame 16 is hinged on lower-left base plate 19 and the side of bottom right base plate 20, and III optical axis 26 passes through 2 II rhombus rolling bearing units 29 The other end of I support 14 and III support 16 is hinged on 18 two sides of upper plate inner side, the support of IV optical axis 27 and II 15 and IV the hole of one end of support 17 be hinged with II support 15 and IV support 17 with 2 II rhombus rolling bearing units 29 of merga pass, 2 rubber tires 30 on the top are separately mounted to the two ends of IV optical axis 27 and are contacted with upper plate 18, the bottom of leading screw slide unit 22 It is connected through a screw thread and is fixedly mounted in the middle of 2 cushion blocks 21 in the top of chassis installing plate 4, the top of leading screw slide unit 22 is usherd to seat by vertical Bearing 23 is arranged on V optical axis 28, front and rear in the horizontal direction with the rotation of leading screw can be moved back and forth, 2 of the bottom Rubber tire 30 is separately mounted to the two ends of V optical axis 28 and is contacted respectively with lower-left base plate 19 and bottom right base plate 20, and V optical axis 28 leads to 2 II rhombus rolling bearing units 29 are crossed to be hinged with II support 15 and the one end of IV support 17 respectively；It is provided with the upper plate 18 logical Hole.

The drive module 12 is that motor 6 provides power, while for the module 13 that tracks provides electric power, the module that tracks 13 Recognizable color, makes robot track walking, and wherein the divertical motion of robot is by controlling the difference of left and right driving motor rotating speed It is different to realize.

The drive module 12 is powered for leading screw slide unit 22, drives the vertical front and rear reciprocal shifting in the horizontal direction of rolling bearing units 23 Move so as to drive rubber tire 30 to move, by the rotation of I mutually hinged support 14, II support 15, III support 16 and IV support 17, To change the height of upper plate 18, so as to realize the function of hoisting depth.

As shown in Figure 4, the idler machining gravity type shelf 3 are made up of frame 31, I idler machining 32 and II idler machining 33； The frame 31 is connected on lifting platform 2 by the through hole whorl set on upper plate 18, the carrying roller of I idler machining 32 and II Group 33 is inclined and mounted in frame 31, and the horizontal plane of I idler machining 32 and II idler machining 33 and frame 31 is into 15 ° ~ 30 ° angles.Institute State the vertical distance of higher-end after I idler machining 32, the inclination of II idler machining 33 are installed identical with lifting platform energy hoisting depth, from And double-deck loading can be realized, Lifting Convey efficiency.The Main Function of the idler machining gravity type shelf 3 is storage goods, when When robot similar to Transport Machinery such as conveyer belts with being engaged, only need to be higher to idler machining gravity type shelf 3 by cargo transport End just can be slided automatically under gravity, so as to store substantial amounts of goods.

Robot of the present utility model when when Transport Machinery such as ribbon conveyer etc. is combined and uses, first by transport Machinery slides into the higher-end of I idler machining 32 of cargo transport to idler machining gravity type shelf 3, goods successively under gravity The lower end of I idler machining 32, after the goods on I idler machining 32 is loaded and finished, leading screw starts to rotate, and lifts platform 2 by idler machining The elevated height of gravity type shelf 3, it is vertical with the higher-end of I idler machining 32 that institute's hoisting depth is exactly the higher-end of II idler machining 33 Difference in height, Transport Machinery continues cargo transport to the higher-end of II idler machining 33, and goods slides into II successively under gravity The lower end of idler machining 33, after the goods on II idler machining 33 is loaded and finished, leading screw reversion drops back to elemental height height, Mark chassis 1 is patrolled according to fixed route by cargo transport to specified location.

It is to be understood that above-mentioned utility model content and specific embodiment are intended to explanation the utility model patent being carried The practical application of the technical scheme of confession, should not be construed as the restriction of the utility model scope of patent protection, those skilled in the art In the spirit and principle of the utility model patent, when can various modifications may be made, equivalent or improvement, such as support on robot upper strata Roller group gravity type shelf, can according to practical application when the need for increase and decrease idler machining quantity, do not departing from the utility model design On the premise of, various modifications and improvements can be made, these belong to protection domain of the present utility model.

Claims

1. a kind of express transportation robot, it is characterized in that, the robot includes the chassis that tracks（1）, installed in the chassis that tracks（1） On lifting platform（2）And installed in lifting platform（2）On idler machining gravity type shelf（3）；

The chassis that tracks is by chassis installing plate（4）, driving wheel（5）, motor（6）, aluminum corner brace（7）, motor mounting seat （8）, shaft coupling（9）, motor extension shaft（10）, I rhombus rolling bearing units（11）, drive module（12）, track module（13）Constitute； The motor mounting seat（8）Installed in chassis installing plate（4）Lower section, the motor（6）Installed in motor peace Dress seat（8）Lower section, the shaft coupling（9）One end and motor（6）Motor shaft connection, the other end and motor extension shaft（10） One end connects, the motor extension shaft（10）Through I rhombus rolling bearing units（11）And aluminum corner brace（7）, the aluminum corner brace（7）By I water chestnut Shape rolling bearing units（11）Central Symmetry is fixedly mounted on chassis installing plate（4）Corner, the motor extension shaft（10）End is fixed Driving wheel is installed（5）, the drive module（12）Installed in chassis installing plate（4）Top, the module that tracks（13）Quantity It is 3, is separately mounted to the chassis that tracks（1）Front end and the left and right sides, the chassis installing plate（4）On be symmetrically arranged with through hole；

The lifting platform（2）By I support (14), II support (15), III support (16), IV support (17), upper plate（18）, it is left Lower shoe（19）, bottom right base plate（20）, 2 cushion blocks（21）, leading screw slide unit（22）, vertical rolling bearing units（23）, I optical axis（24）、 II optical axis（25）, III optical axis（26）, IV optical axis（27）, V optical axis（28）, II rhombus rolling bearing units（29）, rubber tire（30）Constitute； 2 cushion blocks（21）It is provided below and chassis installing plate（4）The through hole that the through hole of upper setting is engaged, 2 cushion blocks （21）Connected by through hole whorl respectively and be arranged on chassis installing plate（4）On, the lower-left base plate（19）And bottom right base plate （20）It is separately mounted to 2 cushion blocks（21）On, I optical axis（24）Sequentially pass through I support (14), II support (15), III support (16), IV support (17) and by 4 II rhombus rolling bearing units（29）Respectively with I support (14), II support (15), III support (16) it is hinged with IV support (17), I support (14) is in " X " with IV support (17) with II support (15), III support (16) Type is set, II optical axis（25）By 2 II rhombus rolling bearing units（29）I support (14) and III support (16) one end are hinged In lower-left base plate（19）With bottom right base plate（20）Side, III optical axis（26）By 2 II rhombus rolling bearing units（29）I The other end of frame (14) and III support (16) is hinged on upper plate（18）Two sides inner side, IV optical axis（27）With II Frame（15）With IV support（17）One end hole match somebody with somebody 2 II rhombus rolling bearing units of merga pass（29）With II support（15）With IV Frame（17）It is hinged, 2 rubber tires on the top（30）It is separately mounted to IV optical axis（27）Two ends and and upper plate（18）Contact, institute State leading screw slide unit（22）Bottom is connected through a screw thread and is fixedly mounted on chassis installing plate（4）The cushion block of top 2（21）Centre, leading screw Slide unit（22）Top passes through vertical rolling bearing units（23）Installed in V optical axis（28）On, can be with the rotation of leading screw in level side Move back and forth forwards, backwards, 2 rubber tires of the bottom（30）It is separately mounted to V optical axis（28）Two ends and with lower-left base plate（19） With bottom right base plate（20）Contact respectively, V optical axis（28）By 2 II rhombus rolling bearing units（29）Respectively with II support （15）With IV support（17）One end is hinged；The upper plate（18）On be provided with through hole；

The idler machining gravity type shelf（3）By frame（31）, I idler machining（32）With II idler machining（33）Constitute；The frame （31）By upper plate（18）The through hole whorl of upper setting is connected to lifting platform（2）On, I idler machining（32）With II carrying roller Group（33）It is inclined and mounted on frame（31）On.

2. a kind of express transportation robot according to claim 1, it is characterized in that, the chassis installing plate（4）, actively Wheel（5）, motor（6）, aluminum corner brace（7）, motor mounting seat（8）, shaft coupling（9）, motor extension shaft（10）, I rhombus band Seat bearing（29）Quantity is 4, is symmetricly set on the chassis that tracks（1）Corner location.

3. a kind of express transportation robot according to claim 1, it is characterized in that, the II rhombus rolling bearing units（29） Quantity is 12.

4. a kind of express transportation robot according to claim 1, it is characterized in that, I idler machining（32）With II support Roller group（33）With frame（31）Horizontal plane into 15 ° ~ 30 ° angles.

5. a kind of express transportation robot according to claim 1, it is characterized in that, the drive module（12）To drive Motor（6）, track module（13）With leading screw slide unit（22）Power is provided.