CN207726193U - transfer robot - Google Patents

Abstract

The utility model discloses a kind of transfer robots comprising car body is provided with control device in the car body, further includes the first obstacle sensor and communication device；The first obstacle sensor setting is electrically connected in the body rear end, and with the control device, when for detecting the car body reversing, distance of the car body away from cargo；The communication device is electrically connected with the control device, for transmitting synergistic signal with the shelf for filling the cargo, guides the cargo on the shelf to be transferred on institute's car body from the shelf with collaboration.The transfer robot of the utility model has the advantages that cargo handling is efficient and safe.

Description

Transfer robot

Technical field

The utility model is related to robotic technology field more particularly to a kind of transfer robots.

Background technology

Since robot is born, machine man-based development has spread machinery, electronics, metallurgy, traffic, aerospace, national defence etc. Field.The level of intelligence of robot is continuously improved in recent years, and rapidly changed people’s lives mode.People are continuous It inquires into, be transformed, during the knowledge of natural environment, the machine that manufacture can substitute people's labour is always the dream of the mankind.Especially in goods Object carries industry, and robot is widely used.

For example, the Chinese patent that number of patent application is 201510998000.X discloses a kind of robot comprising gantry Formula walks driving, elevator, rotating turret, rotating drive mechanism, oblique push mechanism, charging crane；The planer-type walks driving can be along two Closed slide is moved forward and backward；The elevator is walked mounted on planer-type in driving, is walked in the door opening of driving up and down in planer-type Movement；The rotating turret may be rotatably mounted on elevator；The rotating drive mechanism is mounted on elevator, drives rotating turret Around rotation center rotating；The oblique push mechanism is fixedly mounted on rotating turret, and oblique push mechanism acts on the upper surface of box-shaped object, For pushing box-shaped object to be attached on rotating turret and being rotated with rotating turret；The charging crane is mounted on rotating turret, charging crane Structure includes lifting arm mechanism, mechanical arm and telescoping mechanism, lifts arm mechanism driving mechanical arm and moves up and down along rotating turret, telescoping mechanism Box-shaped object is clamped on rotating turret by driving mechanical arm.However, although above-mentioned existing robot can load and unload goods, not It is easy to rapidly move to cargo handling region, dress rate of discharging is low.

Utility model content

The technical issues of the utility model solves is to provide a kind of transfer robot that the efficiency of loading and unloading can be improved.

In order to solve the above technical problems, the utility model provides a kind of transfer robot comprising car body, the car body It is inside provided with control device, further includes the first obstacle sensor and communication device；The first obstacle sensor setting It is electrically connected in the body rear end, and with the control device, when for detecting the car body reversing, the car body is away from cargo Distance；The communication device is electrically connected with the control device, for transmitting synergistic signal with the shelf for filling the cargo, with association It is transferred on institute's car body from the shelf with the cargo on the shelf is guided.

Preferably, the car body further includes moving goods device and first close to inductor；The shifting goods device is used for cargo It moves on on the car body；Described first is electrically connected close to inductor with the control device, for detecting whether the cargo moves Into on the shifting goods device.

Preferably, the car body further includes second close to inductor；Described first is close with described second close to inductor Inductor is located at the opposite both ends of the shifting goods setting position, and described second is electrically connected close to inductor and the control device It connects, for detecting whether the cargo moves on to first predeterminated position for moving goods device.

Preferably, the car body further includes third close to inductor；Described second connects close to inductor positioned at described first Near-induction device and the third are close between inductor；The third is electrically connected close to inductor with the control device, is used for Detect whether the cargo moves on the second predeterminated position of the shifting goods device, second predeterminated position is cargo movement Extreme position.

Preferably, the car body further includes the second obstacle sensor, and second obstacle sensor is arranged described The rear end of car body detects whether rear has barrier when for moving backward.

Preferably, the car body further includes vehicle frame, sprocket wheel, supporting part and power plant；The shifting goods device includes chain, The sprocket wheel is flexibly connected with the vehicle frame；The chain is set on the sprocket wheel, if the chain include chain ontology and The dry roller being movably set on the chain ontology；The supporting part is fixed on the vehicle frame, and the supporting part is provided with The peripheral surface of support bar, the support bar and the roller is abutted against to be supported to the roller；The vehicle frame positioned at Cargo placement space is formed with above the chain, so that can be by described after cargo is positioned on the chain ontology Chain transports the cargo；The power plant is connect with the chain drive, for driving the chain movement.

Preferably, the car body further includes first pulley, and the first pulley is flexibly connected with the vehicle frame, the chain It is movably set in the first pulley, the first pulley is located at the outside of the first end of the supporting part.

Preferably, the first pulley includes that support carrying roller and support ring, the support ring are set in the carrying roller Peripheral surface on；The support ring and the peripheral surface of the roller abut against, and are used to support the roller.

Preferably, the car body further includes transition pulley, and the transition pulley is flexibly connected with the vehicle frame, the transition Pulley and the supporting part both sides that be located at the first pulley position opposite, the transition pulley are higher than the first pulley.

Preferably, the vehicle frame includes fixed frame and bearing frame, and the bearing frame is fixed on above the fixed frame, described It is provided with the first profile and the second profile above bearing frame, is formed between first profile and second profile and accommodates institute State the accommodation space of supporting part, the supporting part is plugged in the accommodation space, and with first profile and described second Profile snaps connection.

In conclusion the transfer robot of the utility model includes car body, it is provided with control device in the car body, It further includes the first obstacle sensor and communication device；First obstacle sensor is arranged in the body rear end, and It is electrically connected with the control device, when for detecting the car body reversing, distance of the car body away from cargo；The communication device Be electrically connected with the control device, for transmitting synergistic signal with the shelf, with collaboration guide the cargo on the shelf from The shelf are transferred on institute's car body.Thus, when needing to load the goods into the car body, sensed by first barrier The guiding of device quickly moves backward car body at shelf, and guides the cargo on the shelf from described by the communication device Shelf are transferred on institute's car body.Thus, the time is saved, the efficiency of loading and unloading is high, and the car body is not easy to bump against barrier, safety It is higher.

Description of the drawings

Fig. 1 is the structural schematic diagram of the car body of the preferred embodiment of transfer robot of the present invention.

Fig. 2 is that the car body of the preferred embodiment of transfer robot of the present invention removes the structural schematic diagram after shell.

Fig. 3 is the exploded view of the preferred embodiment part-structure of transfer robot of the present invention.

Fig. 4 is the exploded view of the preferred embodiment part-structure of transfer robot of the present invention.

Fig. 5 is the exploded view of the preferred embodiment part-structure of transfer robot of the present invention.

Fig. 6 is the enlarged drawing of a-quadrant shown in Fig. 5.

Fig. 7 is the exploded view of the preferred embodiment part-structure of transfer robot of the present invention.

Specific implementation mode

The utility model is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted, Each feature in the utility model embodiment and embodiment can be combined with each other, the scope of protection of the utility model it It is interior.

It please refers to Fig.1 to Fig. 7, the utility model provides a kind of transfer robot, including car body 10, and the car body 10 wraps It includes vehicle frame 20, sprocket wheel 30, tensioning wheel 40, move goods device 50, supporting part 60, control device 70, power plant 80 and wheel 90.Institute It states sprocket wheel 30 and the tensioning wheel 40 is flexibly connected with the vehicle frame 20.The vehicle frame 20 include shell 21, fixed frame 22, Bearing frame 23, the first fixed plate 24, the second fixed plate 25 and third fixed plate 26, the shell 21 are coated on the fixed frame 22 Side on.

The fixed frame 22 is provided with battery and accommodates storehouse 221 and accommodate the battery 222 in storehouse 221, institute positioned at the battery The side wall for stating battery receiving storehouse 221 is fixed with nylon anti collision item 223, and storehouse is accommodated to hinder the battery 222 to bump against the battery On 221 side wall.In the present embodiment, the shifting goods device 50 includes chain 51, for by cargo from the shelf towards car body 10 headstock direction moves on on the car body 10, or the cargo on car body 10 is removed.

The bottom that the battery accommodates storehouse 221 is provided with several load bearing rollers 224, several described load bearing rollers 224 are set side by side It sets, and is flexibly connected with the fixed frame 22, the battery 222 is positioned on the load bearing roller 224.The load bearing roller 224 The direction of extending direction and loading and unloading battery 222 is mutually perpendicular to, thus convenient for picking and placeing the battery 222.The bearing frame 23 is fixed Above the fixed frame 22,23 top of the bearing frame is provided with the first profile 231 and the second profile 232, first button It is formed with accommodation space between item 231 and second profile 232.In the present embodiment, the sprocket wheel 30 and the fixed frame 22 flexible connections, the tensioning wheel 40 are flexibly connected with the third fixed plate 26.First fixed plate 24 is located at the bearing frame 23 one end, second fixed plate 25 are located at the other end of the bearing frame 23 and are connected with the bearing frame 23, and described Three fixed plates 26 are located at the middle part of the bearing frame 23 and are connected with the bearing frame 23.

The side of the bearing frame 23 is provided with the first snap groove 233, and first snap groove 233 is along the bearing frame 23 Longitudinal direction be extended, and the both ends of the surface opposite with 23 position of the bearing frame are connected；In first snap groove 233 It is inserted with the first nut 234 being connected with 233 snapping of the first snap groove, first nut 234 is connected with and described The first connected bolt 237 of one fixed plate 24.Longitudinal direction due to first snap groove 233 along the bearing frame 23 extends Setting, and the both ends of the surface opposite with 23 position of the bearing frame are connected, thus, when manufacture, can be from the end of the bearing frame 23 Several first nuts 234 are plugged in first snap groove 233 by face, and first nut 234 and described the One snap groove, 233 snapping, thus not only relatively convenient for manufacture, convenient for safeguarding, and connect more solid and reliable.

The second snap groove 235 is provided on the bottom surface of the bearing frame 23, second snap groove 235 is along the bearing frame 23 longitudinal direction is extended, and the both ends of the surface opposite with 23 position of the bearing frame are connected；Second snap groove 235 It is inside inserted with the link block 236 being connected with 235 snapping of the second snap groove, the link block 236 is connected with and the fixation The second connected bolt 238 of frame 22.Similarly, the longitudinal direction due to second snap groove 235 along the bearing frame 23 prolongs Setting is stretched, and the both ends of the surface opposite with 23 position of the bearing frame are connected, thus is not only convenient for that the link block 236 is installed, And it is conveniently adjusted the position of the link block 236, manufacture and maintenance are all more convenient.

The supporting part 60 is fixed on the vehicle frame 20, and the supporting part 60 is provided with support bar 61.In the present embodiment In, the supporting part 60 further includes bearing plate 62, and the quantity of the support bar 61 is two and may be contained within the bearing plate 62 Upper surface on, the support bar 61 is vertically connected with the bearing plate 62, and the support bar 61 is with the bearing plate 62 Integrated formed structure, the bearing plate 62 are plugged in the accommodation space, and are detained with first profile 231 and described second Item 232 snaps connection.

Preferably, the supporting part 60 is nylon material product, and elasticity and wearability are preferable, thus preferably reduces and make an uproar Sound.Further, since bearing plate 62 is snapped connection with first profile 231 and second profile 232, thus convenient for manufacturing, It replaces and repairs.In one embodiment, the cross section of the support bar 61 is trapezoidal, thus can preferably avoid deforming.It can With understanding, the material and shape of the support bar 61 are not specifically limited herein.

The chain 51 is set on the sprocket wheel 30 and the tensioning wheel 40, the chain 51 include chain ontology 52 and Several rollers 53 being movably set on the chain ontology 52, the support bar 61 and the peripheral surface of roller 53 abut against, institute It states vehicle frame 20 and is being formed with cargo placement space positioned at the top of the chain 51, so as to which cargo is positioned over the chain ontology The cargo can be transported after on 52 by the chain 51.The power plant 80 is sequentially connected with the chain 51, is used for The chain 51 and the wheel 90 is driven to move.

In the present embodiment, the roller 53 includes the first roller 53a and the second roller 53b, two support bars 61 The first roller 53a and the second roller 53b settings are corresponded to respectively, are used to support the first roller 53a and described the Two roller 53b.The chain ontology 52 includes several connection units 54 being set up in parallel, and each connection unit 54 includes pin Axis 541, the first connecting plate 542, the second connecting plate 543, third connecting plate 544, the 4th connecting plate 545, the 5th connecting plate 546, 6th connecting plate 547 and the 7th connecting plate 548, first connecting plate 542, the second connecting plate 543, third connecting plate 544, Four connecting plates 545, the 5th connecting plate 546, the 6th connecting plate 547 and the 7th connecting plate 548 are set up in parallel and are set in successively On the axis pin 541.

The first roller 53a is set on the axis pin 541 and is located at second connecting plate 543 and third connecting plate Between 544, the second roller 53b is set on the axis pin 541 and is located at the 5th connecting plate 546 and the 6th connecting plate Between 547.Pass through first connecting plate 542, the 4th connecting plate 545 and the 7th between two adjacent connection units 54 Connecting plate 548 be connected, or by second connecting plate 543, the third connecting plate 544, the 5th connecting plate 546 and 6th connecting plate 547 is connected.51 overall structure of chain of the utility model is more solid and reliable, can avoid existing using two 51 arranged in parallel of chain carries out conveying articles together when, unanimously influenced since the rate uniformity between chain 51 is poor defeated The problem of sending.

Preferably, the transfer robot further includes first pulley 63 and second pulley 64, and the first pulley 63 is located at The outside of the first end of the supporting part 60, the second pulley 64 is located at the outside of the second end of the supporting part 60, described Supporting part 60 is between the first pulley 63 and the second pulley 64.The first pulley 63 and 20 activity of the vehicle frame Connection, the chain 51 are movably set in the first pulley 63 and the second pulley 64.The first pulley 63 includes Carrying roller 63a and support ring 63b, the support ring 63b are set on the peripheral surface of the carrying roller 63a.The support ring 63b It is abutted against with the peripheral surface of the roller 53, is used to support the roller 53.Since the second pulley 64 and described first are slided The structure of wheel 63 is identical, and therefore not to repeat here for structure.

51 turns of the chain is driven by the first pulley 63 and the second pulley 64 and the cooperation of the sprocket wheel 30 It is dynamic, and the roller 53 is supported by the support ring 63b, thus not only reliability is preferable, benefits from long lifespan, and convenient for system It makes and safeguards.Distance of the tensioning wheel 40 away from the first pulley 63 and the second pulley 64 is equal, therefore, the chain Stationarity is preferable when 51 movement.Specifically, in the present embodiment, the carrying roller 63a connects with first fixed plate, 24 activity It connects, the carrying roller 63a is made of metal material with the support ring 63b, and is an integral molding structure.In a kind of embodiment In, for the ease of manufacturing and reducing maintenance cost, the carrying roller 63a is metal material product, and the support ring 63b is Buddhist nun Imperial material, the support ring 63b are detachably connected with the carrying roller 63a.

Preferably, the car body 10 further includes transition pulley 65, and the transition pulley 65 is flexibly connected with the vehicle frame 20 And positioned at one end of the vehicle frame 20, it is opposite that the transition pulley 65 with the supporting part 60 is located at 63 position of the first pulley Both sides, the height of the transition pulley 65 is higher than the first pulley 63 and the height of the chain 51.In the present embodiment In, the transition pulley 65 is flexibly connected with first fixed plate 24.By the way that the transition pulley 65 is arranged, thus freight When object, cargo can be sent to the chain 51 by the transition pulley 65, relatively convenient for loading object.

Preferably, the car body 10 further includes rebound 66, and the rebound 66 is fixed on the vehicle frame 20, and position Between the first pulley 63 and the supporting part 60, the upper surface of the rebound 66 is upper not less than the bearing plate 62 The upper surface on surface, the rebound 66 is used to support the chain 51, thus can facilitate cargo from the first pulley 63 Region be moved to the top of the bearing plate 62.

Preferably, the transfer robot further includes the locating part for hindering the cargo movement on the chain 51 67, the locating part 67 is fixed on the vehicle frame 20, and the locating part 67 and the transition pulley 65 are located at supporting part The opposite both ends in 60 positions, thus the cargo of loading can be made to be located at predetermined position.

The car body 10 further includes the first obstacle sensor 71 and communication device 72；First obstacle sensor 71 Setting is electrically connected in 10 rear end of the car body, and with the control device 70, when moving backward for detecting the car body 10, the vehicle Body 10 can avoid bumping against barrier away from a distance from the cargo that the car body 10 docks.In practice, reversing when institute It states the first obstacle sensor 71 and the car body 10 is sent to the control device 70 at a distance from cargo in real time.The communication Device 72 is electrically connected with the control device 70, for transmitting synergistic signal with the shelf, with the goods on collaboration guiding shelf Object is transferred to from the shelf on institute's car body 10.In one embodiment, when the transfer robot is moved to away from the shelf After predeterminated position, the communication device 72 sends out synergistic signal to the shelf, and the shelf pass the cargo on the shelf Enter in the cargo placement space.In order to improve communication efficiency, the communication device 72 is preferably optical communication apparatus.

Preferably, the car body 10 further include first close to inductor 73, second close to inductor 74 and third close to sense Answer device 75；Described first is electrically connected close to inductor 73 with the control device 70, for detecting whether the cargo is moved into institute It states and moves on goods device 50, when the cargo starts to be moved on the shifting goods device 50, send trigger signal and filled to the control 70 are set, the control device 70 controls the power plant 80 and the shifting goods device 50 is driven to move.In the present embodiment, institute State first close to inductor 73, second close to inductor 74 and third close to inductor 75 be photoelectric sensor.

Described first is located at 50 position of shifting goods device close to inductor 73 and described second close to inductor 74 Opposite both ends, described second is electrically connected close to inductor 74 with the control device 70, for detecting whether the cargo moves Onto the first predeterminated position of the shifting goods device 50, i.e., it whether is transmitted to the predetermined position of cargo placement space, if transmission To the predetermined position of cargo placement space, then the triggering that the control device 70 is sent according to described second close to inductor 74 Signal, controlling the power plant 80 will stop that the shifting goods device 50 is driven to move.

Described second close to inductor 74 be located at described first close to inductor 73 and the third close to inductor 75 it Between.The third is electrically connected close to inductor 75 with the control device 70, for detect the cargo whether move to it is described It moves on the second predeterminated position of goods device 50, second predeterminated position is the extreme position of cargo movement, when the detection goods When object is moved on the second predeterminated position of the shifting goods device 50, close to inductor 75 trigger signal occurs for the third to institute Control device 80 is stated, then the control device 80 controls the power plant 80 and stops that the shifting goods device 50 is driven to transport immediately It is dynamic, thus safety can be improved.

Preferably, the car body 10 further includes the second obstacle sensor 76, and second obstacle sensor 76 is arranged Detect whether rear has barrier in the rear end of the car body 10, when for moving backward.In the present embodiment, first barrier Sensor 71 is ultrasonic sensor, and second obstacle sensor 76 is infrared sensor.Pass through first barrier The cooperation of sensor 71 and second obstacle sensor 76, thus the flexibility of the utility model is improved, before quickly Into, retreat and parking.

In conclusion the transfer robot of the utility model includes car body, control device is provided in the car body 70, further include that the first barrier senses 71 devices and communication device 72；First obstacle sensor 71 is arranged in the vehicle Body rear end, and be electrically connected with the control device 70, when for detecting the car body reversing, distance of the car body away from cargo； The communication device 72 is electrically connected with the control device 70, for transmitting synergistic signal with the shelf, to cooperate with guiding institute The cargo stated on shelf is transferred to from the shelf on institute's car body.Thus, when needing to load the goods into the car body, pass through institute Car body is quickly moved backward at shelf, and guides institute by the communication device 72 by the guiding for stating the first obstacle sensor 71 The cargo stated on shelf is transferred to from the shelf on institute's car body.Thus, the time is saved, the efficiency of loading and unloading is high, and the car body is not It is easy to bump against barrier, safety is higher.

Transfer robot provided by the utility model is described in detail above, specific case used herein The principles of the present invention and embodiment are expounded, the explanation of above example is only intended to help to understand this practicality Novel method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the utility model, There will be changes in specific implementation mode and application range, in conclusion the content of the present specification is only the utility model Embodiment, it does not limit the scope of the patent of the present invention, every to utilize the utility model specification and accompanying drawing content Made by equivalent structure or equivalent flow shift, be applied directly or indirectly in other relevant technical fields, and include similarly In the scope of patent protection of the utility model.It should not be construed as a limitation of the present invention.

Claims (10)

1. a kind of transfer robot, including car body, control device is provided in the car body, it is characterised in that：Further include first Obstacle sensor and communication device；First obstacle sensor is arranged in the body rear end, and is filled with the control Electrical connection is set, when for detecting the car body reversing, distance of the car body away from cargo；The communication device is filled with the control Electrical connection is set, for transmitting synergistic signal with the shelf for filling the cargo, guides the cargo on the shelf from described with collaboration Shelf are transferred on institute's car body.

2. transfer robot according to claim 1, it is characterised in that：The car body further includes that shifting goods device and first connect Near-induction device；The shifting goods device is used to cargo moving on to the car body；Described first fills close to inductor and the control Electrical connection is set, for detecting whether the cargo is moved into the shifting goods device.

3. transfer robot according to claim 2, it is characterised in that：The car body further includes second close to inductor； Described first is located at the opposite both ends of the shifting goods setting position with described second close to inductor close to inductor, described Second is electrically connected close to inductor with the control device, whether move on to the shifting goods device for detecting the cargo first On predeterminated position.

4. transfer robot according to claim 3, it is characterised in that：The car body further includes third close to inductor； Described second is located at described first close to inductor and the third close between inductor close to inductor；The third is close Inductor is electrically connected with the control device, for detecting whether the cargo moves to the second default position for moving goods device It sets, second predeterminated position is the extreme position of cargo movement.

5. transfer robot according to any one of claims 1 to 4, it is characterised in that：The car body further includes the second barrier Hindering object sensor, second obstacle sensor to be arranged in the rear end of the car body, detecting whether rear has when for moving backward Barrier.

6. according to claim 2 to 4 any one of them transfer robot, it is characterised in that：The car body further includes vehicle frame, chain Wheel, supporting part and power plant；The shifting goods device includes chain, and the sprocket wheel is flexibly connected with the vehicle frame；The chain It is set on the sprocket wheel, the chain includes chain ontology and several rollers being movably set on the chain ontology；Institute It states supporting part to be fixed on the vehicle frame, the supporting part is provided with support bar, the peripheral surface of the support bar and the roller It abuts against to be supported to the roller；The vehicle frame is being formed with cargo placement space above the chain, with Make that the cargo can be transported by the chain after cargo is positioned on the chain ontology；The power plant with it is described Chain drive connects, for driving the chain movement.

7. transfer robot according to claim 6, it is characterised in that：The car body further includes first pulley, and described One pulley is flexibly connected with the vehicle frame, and the chain is movably set in the first pulley, and the first pulley is located at institute State the outside of the first end of supporting part.

8. transfer robot according to claim 7, it is characterised in that：The first pulley includes support carrying roller and branch Pushing out ring, the support ring are set on the peripheral surface of the carrying roller；The support ring and the peripheral surface of the roller abut against, It is used to support the roller.

9. transfer robot according to claim 7, it is characterised in that：The car body further includes transition pulley, the mistake It crosses pulley to be flexibly connected with the vehicle frame, to be located at the first pulley position opposite two for the transition pulley and the supporting part Side, the transition pulley are higher than the first pulley.

10. transfer robot according to claim 6, it is characterised in that：The vehicle frame includes fixed frame and bearing frame, institute It states bearing frame to be fixed on above the fixed frame, is provided with the first profile and the second profile above the bearing frame, described first The accommodation space for accommodating the supporting part is formed between profile and second profile, the supporting part is plugged in the receiving In space, and snapped connection with first profile and second profile.