CN207107703U - A kind of multifunctional intellectual carrying platform - Google Patents

Abstract

The utility model relates to a multifunctional intelligent handling platform, which comprises a lifting platform, a mechanical arm platform and a chassis; the chassis is equipped with a wheel train to drive it to walk, and the upper part of the chassis is provided with a platform for transporting small and medium-sized containers. Lifting platform, the front end of the chassis is provided with a mechanical arm platform, and the rotatable connection on the mechanical arm platform is used to swing up and down to grab small objects and rotate 180° to put it on the lifting platform The mechanical arm; the wheel train includes a Macram wheel and a wheel frame, and there are four Macram wheels, and the four Macram wheels are respectively installed on the outer sides of the two ends of the chassis; There are traveling motors corresponding to the Macram wheels one by one; spring shock absorbers are arranged at both ends of the chassis. The beneficial effect of the utility model is that it can automatically realize the transportation of small and medium-sized containers and small objects, and the transportation platform has a small volume, can enter a narrow space for cargo transportation, and can obtain high transportation efficiency at the same time.

Description

A multifunctional intelligent handling platform

technical field

The utility model relates to the field of logistics, in particular to a multifunctional intelligent transport platform.

Background technique

With the increasing requirements of the modern society on the logistics industry, the logistics speed is one of the main indicators that the modern logistics industry needs to improve. In the process of logistics, the handling of goods is an indispensable link, and the handling of goods requires the use of special handling equipment. However, the existing handling equipment has the following defects, most of which have low handling efficiency and cannot handle different goods.

Utility model content

To sum up, in order to overcome the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a multifunctional intelligent transport platform.

The technical scheme of the utility model for solving the above-mentioned technical problems is as follows: a multifunctional intelligent transport platform, including a lifting platform, a mechanical arm platform and a chassis; There is a lifting platform for handling small and medium-sized containers. The front end of the chassis is equipped with a mechanical arm platform, and the rotatable connection on the mechanical arm platform is used to swing up and down to grab small objects and rotate them by 180°. Put the mechanical arm on the lifting table;

The wheel train includes a Macram wheel and a wheel frame, and there are four of the Macram wheels, and the four Macram wheels are respectively rotatably installed on the outer sides of the two ends of the chassis through the wheel frame; The chassis is provided with a walking motor corresponding to the Mecca wheels one by one through the motor seat, and the walking motor is connected through the wheel shaft and drives the corresponding Mecca wheels to rotate; between the top and the bottom of the two ends of the chassis There is a spring shock absorber for reducing its vibration.

The beneficial effect of the utility model is that it can automatically realize the transportation of small and medium-sized containers and small objects, and the transportation platform has a small volume, can enter a narrow space for cargo transportation, and can obtain high transportation efficiency at the same time.

On the basis of the above technical solutions, the utility model can also be improved as follows.

Further, the lifting platform includes a bottom bracket, a jacking bracket and a hydraulic cylinder; the bottom bracket is fixed at a middle position on the chassis, the jacking bracket is above the bottom bracket, and the jacking bracket and the jacking bracket are An active lifting bracket and a driven lifting bracket are intersected between the bottom brackets, and the bottom bracket is provided with connecting the active lifting bracket and driving the active lifting bracket and the driven lifting bracket to move relatively to lift the jacking bracket. Hydraulic cylinders for raising or lowering.

Further, one end of the active lifting bracket is hinged on the end of the bottom bracket, and the other end is slidably connected to the jacking bracket through rollers; one end of the driven lifting bracket is hinged on the end of the jacking bracket , the other end of which is slidably connected to the bottom bracket through another roller, and the intersection of the top bracket and the bottom bracket is provided with a rotating shaft passing through the two.

Further, rubber strips for increasing friction are evenly arranged on the upper surface of the jacking bracket.

The beneficial effect of adopting the above-mentioned further scheme is: a rubber strip is attached to the upper surface of the jacking support, which increases the friction with the goods being transported, ensures that the goods will not slip, and uses hydraulic power to lift the goods, and adopts sliding connection of rollers to provide support. It ensures the stability of the goods moving up and down and reduces the vibration.

Further, the manipulator platform includes a steering gear bracket and a right-angle steering gear; the steering gear bracket is installed on the front end of the chassis, and the right-angle steering gear is installed on the steering gear bracket. The output end of the steering gear is connected with a bottom shaft for driving the rotation of the mechanical arm.

The beneficial effect of adopting the above further solution is: realizing the rotation of the driving mechanical arm.

Further, the mechanical arm includes a front claw, a connecting rod, a fixing member, a screw and a swing mechanism; there are two connecting rods, one end of the two connecting rods is hinged on the fixing member, and the other ends are installed There are the front claws, and the side of the fixing member away from the connecting rod is provided with a front claw motor through the motor seat; a horizontal connecting rod is slidably provided between the two connecting rods, and the horizontal connecting rod The middle position of the rod is provided with a tic-tac-toe connector; one end of the screw is connected to the tic-tac-toe connector, and the other end thereof passes through the fixing member and is connected to the output end of the front claw motor;

The rear end of the swing mechanism is connected to the bottom shaft, the front end of the swing mechanism is provided with a fixing plate, and the motor seat is fixed on the fixing plate.

The beneficial effect of adopting the above-mentioned further scheme is: adopting the form of independent holding claws of the front claws, which can be disassembled separately, transported, repaired and maintained; and the width of the crossbeam is designed to be wider, which can reduce the moment borne by the mechanical arm and improve the life of the mechanical arm. At the same time, the mechanical arm is controlled by the mechanical arm platform, which can realize free rotation. It can realize "1+1" handling, that is, place a small object on the lifting platform, and the mechanical arm can grab a small object and carry two small objects at the same time. Also increases the flexibility of the robotic arm.

Further, the swing mechanism includes a front beam, side beams and vertical beams; the fixed plate is fixed at the middle position of the front beam; there are two sets of side beams, and each set of side beams includes an upper side beam and a lower side beam. Beam, one end of the upper side beam and the lower side beam of the same group of side beams is connected up and down to the two ends of the front beam away from the fixed plate, and the other end is horizontal to the direction away from the fixed plate extend, and an upper connecting rod is provided between the ends of the upper side beams of different groups of side beams away from the fixed plate, and a motor is provided between the ends of the lower side beams of different groups of side beams away from the fixed plate Connecting rod;

The two ends of the upper connecting rod pass out of the upper side beams of different groups of side beams respectively, and the two ends of the motor connecting rod respectively pass out of the lower side beams of different groups of side beams, The ends of the upper connecting rod and the motor connecting rod that are close to each other are connected through a turning plate; the upper end of the vertical beam is connected with the lower end of the turning plate, and the lower end is connected with the bottom beam, and the bottom beam passes through the base connected to the bottom shaft;

A swing motor is installed on the vertical beam, a small pulley is arranged on the output shaft of the swing motor, and a large pulley connected with the small pulley through a belt is fixed on the motor connecting rod.

The beneficial effect of adopting the above-mentioned further solution is: to realize the lifting of the front paws to grab small goods.

Further, intermediate cross beams for reinforcement are provided at intermediate positions between the lower side beams of different groups of side beams.

The beneficial effect of adopting the above-mentioned further solution is that the strength of the side beam is strengthened, and the mechanical arm can stably grab small objects.

Description of drawings

Fig. 1 is the three-dimensional figure of the utility model;

Figure 2 is a three-dimensional diagram of the assembly of the chassis and the wheel train;

Fig. 3 is the front view of chassis and wheel train assembly;

Fig. 4 is the three-dimensional figure of lifting platform;

Figure 5 is a front view of the lifting platform;

Fig. 6 is a structural diagram of a robotic arm platform;

Fig. 7 is the three-dimensional diagram of mechanical arm;

Figure 8 is a side view of the robotic arm.

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Lifting platform, 2. Robot arm platform, 3. Chassis, 4. Robot arm, 5. Macram wheel, 6. Wheel frame, 7. Traveling motor, 8. Wheel axle, 9. Spring shock absorber, 10. Bottom support, 11. Jacking support, 12. Hydraulic cylinder, 13. Active starting support, 14. Driven starting support, 15. Roller, 16. Rotating shaft, 17. Rubber strip, 18. Steering gear support, 19. Right angle Steering steering gear, 20, bottom shaft, 21, front claw, 22, connecting rod, 23, fixing piece, 24, screw rod, 25, front claw motor, 26, horizontal connecting rod, 27, well-tac-toe connector, 28, fixing Plate, 29, front beam, 30, upper side beam, 31, vertical beam, 32, upper connecting rod, 33, motor connecting rod, 34, steering plate, 35, bottom beam, 36, swing motor, 37, small pulley, 38, large belt pulley, 39, middle beam, 40, lower side beam, 41, base.

Detailed ways

The principles and features of the present utility model are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the utility model, and are not used to limit the scope of the utility model.

As shown in Figure 1, a kind of multifunctional intelligent handling platform comprises lifting platform 1, mechanical arm platform 2 and chassis 3; The wheel train that drives its walking is installed on described chassis 3, and the top of described chassis 3 There is a lifting platform 1 for handling small and medium-sized containers. The front end of the chassis 3 is provided with a mechanical arm platform 2. The rotatable connection on the mechanical arm platform 2 is used to swing up and down to grab small objects and rotate 180 degrees. ° Place it on the robotic arm 4 on the lifting table 1.

As shown in Figures 2 and 3, the wheel train includes a Macram wheel 5 and a wheel frame 6, and there are four Macram wheels 5, and the four Macram wheels 5 are rotatable through the wheel frame 6 respectively. Installed on the outer sides of the two ends of the chassis 3; the chassis 3 is provided with a walking motor 7 corresponding to the Macram wheel 5 through a motor seat, and the walking motor 7 is connected to and drives the corresponding wheel shaft 8 Said Macram wheel 5 rotates. A spring shock absorber 9 for reducing its vibration is arranged between the top and the bottom of the two ends of the chassis 3 . The wheel train of the platform chassis 3 adopts multiple rotating pairs, which fully guarantees the shock absorption performance of the chassis 3 and greatly increases the stability of the movement, and the driving wheel is replaced by the traditional rubber wheel with the Macram wheel 5 , can realize horizontal translation, so as to realize access to 90° right-angle area, greatly reduce the space required for cargo discharge, and improve warehouse utilization.

As shown in Figures 4 and 5, the lifting platform 1 includes a bottom bracket 10, a jacking bracket 11 and a hydraulic cylinder 12; the bottom bracket 10 is fixed on the middle position on the chassis 3, and the jacking bracket 11 is in Above the bottom bracket 10, rubber strips 17 for increasing friction are evenly arranged on the upper surface of the jack bracket 11. A rubber strip 17 is attached to the upper surface of the jacking 11 to increase the frictional force with the goods, so as to ensure that the container or other goods will not slip while being transported. Intersecting between the jacking 11 and the bottom bracket 10 is provided with an active bracket 13 and a driven bracket 14, and the bottom bracket 10 is provided with a bracket that connects the active bracket 13 and drives the active bracket 13 and A hydraulic cylinder 12 that moves relative to the lifting bracket 14 to raise or lower the jacking 11 .

One end of the active lifting bracket 13 is hinged at the end of the bottom bracket 10, and its other end is slidably connected with the jacking bracket 11 through a roller 15; one end of the driven bracket 14 is hinged at the bottom bracket 11 11, the other end thereof is slidably connected to the bottom bracket 10 through another roller 15, and the intersection of the top bracket 11 and the bottom bracket 10 is provided with a rotating shaft 16 passing through both. The hoisting mechanism of the lifting platform 1 adopts the hydraulic power of the hydraulic cylinder 12 and the sliding connection of the rollers 15 to provide support force, ensure the stability of the goods being transported up and down, and reduce vibration.

As shown in Figure 6, the said manipulator platform 2 comprises a steering gear bracket 18 and a right-angle steering steering gear 19; the steering gear bracket 18 is installed on the front end of the chassis 3, The right-angle steering steering gear 19 is connected to the output end of the right-angle steering steering gear 19 with a bottom shaft 20 for driving the mechanical arm 4 to rotate.

As shown in Figures 7 and 8, the mechanical arm 4 includes a front claw 21, a connecting rod 22, a fixture 23, a screw rod 24 and a swing mechanism; the connecting rod 22 has two, and one end of the two connecting rods 22 It is hinged on the fixing part 23 , the other end of which is equipped with the front claw 21 , and the side of the fixing part 23 away from the connecting rod 22 is provided with a front claw motor 25 through a motor seat. Slidably between the two connecting rods 22 is provided with a cross-link 26, and the middle position of the cross-link 26 is provided with a well-tac-toe connector 27; 27, the other end of which passes through the fixing member 23 and is connected to the output end of the front claw 21. The rear end of described swing mechanism is connected with described bottom shaft 20, and the front end of described swing mechanism is provided with fixed plate 28, and described motor base is fixed on described fixed plate 28.

Described swinging mechanism comprises front beam 29, side beam and vertical beam 31; Described fixed plate 28 is fixed on the middle position of described front beam 29; Described side beam has two groups, each group of side beams comprises upper side beam 30 and the lower side beam 40, one end of the upper side beam 30 and the lower side beam 40 of the same group of side beams is connected up and down to the two ends of the front cross beam 29 away from the side of the fixed plate 28, and the other end faces The direction away from the fixed plate 28 extends horizontally, and an upper connecting rod 32 is arranged between the ends of the upper side beams 30 of different groups of side beams away from the fixed plate 28, and the lower side beams of different groups of side beams 40 is provided with a motor connecting rod 33 between the ends away from the fixing plate 28; and a middle beam 39 for reinforcement is provided at the middle position between the lower side beams 40 of different groups of side beams. The two ends of the upper connecting rod 32 pass through the upper side beams 30 of different groups of side beams respectively, and the two ends of the motor connecting rod 33 respectively pass through the lower side beams of different groups of side beams 40, the ends of the upper connecting rod 32 and the motor connecting rod 33 that are close to each other are connected through the turning plate 34; the upper end of the vertical beam 31 is connected with the lower end of the turning plate 34, and its lower end is The crossbeam 35 is connected, and the bottom crossbeam 35 is connected with the bottom shaft 20 through a base 41 . A swing motor 36 is installed on the vertical beam 31 , a small pulley 37 is arranged on the output shaft of the swing motor 36 , and a large pulley 38 connected with the small pulley 37 by a belt is fixed on the motor connecting rod 33 .

The following describes a complete working process of the platform:

When the front claw 21 needs to work, the swing motor 36 drives the small pulley 37 to rotate in the forward direction, and then drives the large pulley 38 to rotate through the belt. The rotation of the large pulley 38 will drive the side beam to swing through the motor connecting rod 33, so that the whole is downward. The front paws 21 will also move downward accordingly, so that the height of the front paws 21 will drop. After the front claw 21 reaches the designated position, the front claw motor 25 starts to work, the front claw motor 25 runs to drive the screw rod 24 to rotate, and the screw rod 24 rotates to drive the horizontal link 26 to slide towards the front claw 21 through the well-shaped connector 27, thereby driving The two front paws 21 clamp the small goods together.

After the small objects are picked up, the swing motor 36 reversely drives the small pulley 37 to rotate, and then drives the large pulley 38 to rotate in the reverse direction. The reverse rotation of the large pulley 38 will drive the side beam to swing through the motor connecting rod 33, making it As a whole, the front paws 21 will also move upwards accordingly, so that the height of the front paws 21 will rise. After the small objects and goods rise to the designated position with the front paws 21, the right-angle steering gear 19 drives the bottom shaft 20, and the whole of the mechanical arm 4 is fixedly connected with the bottom shaft plate, thereby driving the entire mechanical arm 4 to rotate 180°. After the front claw 21 reaches the designated position, that is, the top corresponding to the lifting platform 1, the swing motor 36 will lower the height of the front claw 21 together with the small goods according to the above action, and when the designated position is reached, that is, the small goods are on the lifting platform 1, The front claw motor 25 runs again to drive the screw rod 24 to rotate, and the screw rod 24 rotates through the well-shaped connector 27 to drive the cross-link 26 to slide towards the direction away from the front claw 21, thereby driving the two front claws 21 to open, and the small goods are put down on the On the lifting platform 1. After the above actions are completed, the mechanical arm 4 and the mechanical arm pan/tilt 2 are reset, and a working cycle is completed so far.

The platform is equipped with a rotatable robotic arm 4. Compared with the existing one-axis or shaftless handling mechanism, this mechanism is more flexible, and the use of the robotic arm pan-tilt axis is for the robotic arm 4 to be able to grab the goods and place them on the ground. Store on the lifting platform 1, and then the mechanical arm 4 can also grab another cargo and carry it, realizing "1+1" multi-efficiency handling, which greatly reduces the process of manual loading. Compared with the existing transport mechanism that can only transport small items or small containers, it can also use its own lifting platform 1 to realize the function of transporting small and medium-sized containers while using the mechanical arm 4 to transport small items. In terms of basic handling functions, the handling platform adopts Mecanum wheels 5 to achieve lateral translation, so that it can enter and exit 90-degree right-angle areas, greatly reducing the space required for cargo discharge, and improving warehouse utilization. Compared with traditional handling methods, the handling platform has significant advantages in terms of volume. It is small in size and can enter and exit a variety of narrow spaces to carry goods. The platform adopts independent suspension, spring shock absorption, shock absorption effect construction, while carrying valuables and heavy items, it can also carry some confidential instruments. In terms of operation mode, the platform adopts tracking detection head to complete intelligent handling, so as to realize unmanned operation.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (8)

1. A multifunctional intelligent transport platform is characterized in that it comprises a lifting platform (1), a mechanical arm platform (2) and a chassis (3); the chassis (3) is equipped with a wheel train that drives its walking , the upper part of the chassis (3) is provided with a lifting platform (1) for carrying small and medium-sized containers, and the front end of the chassis (3) is provided with a mechanical arm platform (2), and the mechanical arm platform (2 ) is rotatably connected with a mechanical arm (4) that is used to swing up and down to grab small objects and rotate 180° to put it on the lifting platform (1); Described wheel train comprises Macram wheel (5) and wheel carrier (6), and described Macram wheel (5) has four, and four described Macram wheels (5) pass through described wheel carrier ( 6) It is rotatably installed on the outer sides of both ends of the chassis (3); the chassis (3) is provided with a walking motor (7) corresponding to the Macram wheel (5) one by one through the motor seat, so that The walking motor (7) is connected through the wheel shaft (8) and drives the corresponding Macram wheel (5) to rotate; the top and bottom of the two ends of the chassis (3) are provided with a spring shock absorber for reducing its vibration device (9). 2. The multifunctional intelligent handling platform according to claim 1, characterized in that, the lifting stand (1) comprises a bottom bracket (10), a jack (11) and a hydraulic cylinder (12); the bottom bracket (10) fixed on the middle position on the chassis (3), the jacking bracket (11) is above the bottom bracket (10), and the jacking bracket (11) and the bottom bracket (10) Intersecting between is provided with active support (13) and driven support (14), and described base (10) is provided with and connects described active support (13) and drives active support (13) and driven support (14). Actuate the hydraulic cylinder (12) that the support (14) moves relatively to raise or lower the jack (11). 3. The multifunctional intelligent handling platform according to claim 2, characterized in that, one end of the active lifting bracket (13) is hinged on the end of the bottom bracket (10), and the other end is passed by a roller (15) It is slidably connected with the jacking bracket (11); one end of the driven bracket (14) is hinged on the end of the jacking bracket (11), and the other end is connected to the bottom via another roller (15). The support (10) is slidably connected, and the intersection of the top support (11) and the bottom support (10) is provided with a rotating shaft (16) passing through them. 4. The multifunctional intelligent transport platform according to claim 2, characterized in that rubber strips (17) for increasing friction are evenly arranged on the upper surface of the jacking bracket (11). 5. multifunctional intelligent handling platform according to claim 1, is characterized in that, described manipulator platform (2) comprises steering gear bracket (18) and right-angle turning steering gear (19); Described steering gear bracket ( 18) Installed on the front end of the chassis (3), the right-angle steering steering gear (19) is installed on the steering gear bracket (18), and the output end of the right-angle steering steering gear (19) is connected to the A bottom shaft (20) that drives the rotation of the mechanical arm (4). 6. The multifunctional intelligent handling platform according to claim 5, characterized in that, the mechanical arm (4) comprises a front claw (21), a connecting rod (22), a fixture (23), a screw (24) and Swing mechanism; there are two connecting rods (22), one end of the two connecting rods (22) is hinged on the fixing member (23), and the other end is equipped with the front claw (21), The side of the fixing member (23) away from the connecting rod (22) is provided with a front claw motor (25) through the motor base; Rod (26), the middle position of described horizontal connecting rod (26) is provided with well-shaped connector (27); One end of described screw rod (24) is connected on the described well-shaped connector (27), and its other end After passing through the fixing member (23), it is connected with the output end of the front claw (21); The rear end of the swing mechanism is connected to the bottom shaft (20), the front end of the swing mechanism is provided with a fixed plate (28), and the motor seat is fixed on the fixed plate (28). 7. The multifunctional intelligent handling platform according to claim 6, characterized in that, the swing mechanism comprises a front beam (29), side beams and vertical beams (31); the fixed plate (28) is fixed on the The middle position of the front beam (29); the side beams have two groups, each group of side beams includes an upper side beam (30) and a lower side beam (40), and the upper side beams (30) of the same group of side beams One end of the lower side beam (40) is connected up and down to the two ends of the front beam (29) away from the fixed plate (28), and the other end is horizontal towards the direction away from the fixed plate (28). Extend, and between the ends of the upper side beams (30) of different groups of side beams away from the fixed plate (28), an upper connecting rod (32) is provided, and the lower side beams (40) of different groups of side beams A motor connecting rod (33) is arranged between the ends away from the fixed plate (28); The two ends of the upper connecting rod (32) pass through the upper side beams (30) of different groups of side beams respectively, and the two ends of the motor connecting rod (33) respectively pass through different groups of side beams In addition to the lower side beam (40), the ends of the upper connecting rod (32) and the motor connecting rod (33) that are close to each other are connected by a turning plate (34); the vertical beam (31) The upper end of the upper end is connected with the lower end of the turning plate (34), and its lower end is connected with the bottom beam (35), and the bottom beam (35) is connected with the bottom shaft (20) through the base (41); A swing motor (36) is installed on the vertical beam (31), the output shaft of the swing motor (36) is provided with a small pulley (37), and the motor connecting rod (33) is fixed with a belt and the belt pulley. The large belt pulley (38) that above-mentioned small belt pulley (37) is connected. 8. The multifunctional intelligent transport platform according to claim 7, characterized in that, an intermediate crossbeam (39) for reinforcement is provided at an intermediate position between the lower side beams (40) of different groups of side beams.