CN207931564U - A kind of handling device - Google Patents
A kind of handling device Download PDFInfo
- Publication number
- CN207931564U CN207931564U CN201721853672.2U CN201721853672U CN207931564U CN 207931564 U CN207931564 U CN 207931564U CN 201721853672 U CN201721853672 U CN 201721853672U CN 207931564 U CN207931564 U CN 207931564U
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- CN
- China
- Prior art keywords
- gear
- driving
- connecting plate
- handling device
- vehicle frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of handling devices, including vehicle frame, walking mechanism, loader mechanism and camera, the walking mechanism is four, four walking mechanisms are one group of both sides for being symmetricly set on the vehicle frame two-by-two respectively, the camera is arranged in the front end of the vehicle frame, and the loader mechanism is arranged on the vehicle frame.Handling device provided by the utility model, realizing handling device can not only move on level ground, moreover it is possible to cope with the occasion of numerous stair；And it is no longer influenced by set route；Bottled water is carried also more to stablize, is reliable.The utility model is easy to operate, simple in structure, and using effect is good, use easy to spread.
Description
Technical field
The utility model is related to handling machinery equipment technical fields, more specifically to a kind of handling device.
Background technology
Existing conveying robot vehicle is made of components such as vehicle frame, ground motion mechanism, storage tank, support plates, by infrared biography
Sensor, black and white track just constitute Intelligent carrier, are widely used in the needs such as the large-scale level land such as factory, warehouse largely artificial water
The flat occasion carried, still, all there is certain defect in some current conveying robots：
First, the motion of existing conveying robot vehicle defines that the conveying robot vehicle can only move on level ground,
The function of transporting goods and go upstairs is can not achieve, for upper and lower corridor, then needs manually to carry, not only arduously, but also efficiency is low
Under.
In addition, it is necessary to which ground on the scene is laid with black trace line, conveying robot vehicle could be increased along the route running of needs
The use input and movement locus of machine are single.
Secondly, current conveying robot is not yet dedicated for the mechanism of clamping bottled water, some existing carrying implements pair
The clamping energy force difference of bottled water leads to the energy force difference for carrying bottled water.
Utility model content
In order to overcome the deficiencies of the prior art, the utility model provides a kind of handling device, can not only be transported on level ground
It is dynamic, moreover it is possible to cope with the occasion of numerous stair, no longer be influenced by set route, carry bottled water and more stablize, is reliable.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of handling device, including vehicle frame, walking mechanism, loader mechanism and camera, the walking mechanism be four, four
A walking mechanism is one group of both sides for being symmetricly set on the vehicle frame two-by-two respectively, and the camera is arranged in the vehicle frame
Front end, the loader mechanism is arranged on the vehicle frame；
The walking mechanism includes wheel, the first driving mechanism of the driving wheel walking in a horizontal state and the driving wheel
Second driving mechanism of stair climbing, the wheel include three, and the equilateral triangle that is wired at the center of three wheels is set
It sets, first driving mechanism and the second driving mechanism are separately connected the wheel.
The loader mechanism includes load lever, manipulator, cylinder and the connecting plate of two L-types, two load levers pair
Claim setting, and be connected with connecting rod between two load levers, the manipulator is arranged in the connecting rod, the connecting plate
It is arranged at the middle part of the load lever, the cylinder connects the connecting plate.
Preferably, first driving mechanism includes first gear, second gear, third gear, the first driving shaft, first
Motor connects the first motor, the first gear with the 4th gear in the wheel side, the first gear is arranged
Engaged with the second gear, the second gear connects the side of first driving shaft, first driving shaft it is another
Side connects the third gear, and the third gear is engaged with the 4th gear.
Second driving mechanism include the second motor, the 5th gear, the 6th gear, the second driving shaft, connecting plate and from
Moving axis, the 5th gear connect second motor, and the 5th gear is engaged with the 6th gear, and described second actively
Axis is three, and one end of three second driving shafts connects the 6th gear, and the other end connects the one side of the connecting plate,
The driven shaft is three, and one end of three driven shafts connects the another side of the connecting plate, and the other end is separately connected institute
State wheel.
Preferably, the connecting plate is equilateral triangle shape, and the connecting plate is located at the third gear and the described 6th
Between gear, first driving shaft is each passed through the center of the 6th gear and the connecting plate.
Preferably, the connecting rod is equipped with the mounting base for installing the manipulator, is also set between two load levers
It is arc to have placement bar, the placement bar, and connecting rod is equipped between the connecting plate and the cylinder.
Preferably, further include differential mechanism, the differential mechanism is arranged between two walking mechanisms, by shaft by institute
Differential mechanism is stated with the walking mechanism to be connected.
Preferably, it is additionally provided with telescopic supporting leg on the vehicle frame.
Preferably, by connecting cylinder connection between the supporting leg and the vehicle frame.
The utility model has the beneficial effects that：The first driving mechanism and driving vehicle of wheel walking in a horizontal state are driven by setting
The second driving mechanism of stair climbing is taken turns, realizing handling device can not only move on level ground, moreover it is possible to cope with numerous stair
Occasion；By the way that camera is arranged, to the real time monitoring of field of front vision, realizing handling device is no longer influenced by set route；
By the way that loader mechanism is arranged, carries bottled water and more stablize, is reliable.The utility model is easy to operate, simple in structure, using effect
It is good, use easy to spread.
Description of the drawings
Fig. 1 is the axonometric drawing of the handling device of the utility model.
Fig. 2 is the structural schematic diagram of the handling device of the utility model.
Fig. 3 is the structural schematic diagram of the walking mechanism of the handling device of the utility model.
Fig. 4 is the explosive view of the walking mechanism of the handling device of the utility model.
Fig. 5 is the structural scheme of mechanism of the loader mechanism of the handling device of the utility model.
Wherein：1- walking mechanisms, 11- wheels, the first driving mechanisms of 12-, 121- first gears, 122- second gears,
123- third gears, the first driving shafts of 124-, 125- first motors, the 4th gears of 126-, the second driving mechanisms of 13-, 131-
Two motors, the 5th gears of 132-, the 6th gears of 133-, the second driving shafts of 134-, 135- connecting plates, 136- driven shafts, 2- are loaded
Mechanism, 21- load levers, 22- manipulators, 23- cylinders, 24- connecting plates, 25- connecting rods, 26- mounting bases, 27- place bar,
28- connecting rods, 3- vehicle frames, 4- cameras, 5- differential mechanisms, 6- shafts, 7- supporting legs, 8- connection cylinders.
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Please refer to attached Fig. 1 and 2, a kind of handling device of the present embodiment, including vehicle frame 3, walking mechanism 1,2 and of loader mechanism
Camera 4, the walking mechanism 1 are four, and four walking mechanisms 1 are one group two-by-two respectively and are symmetricly set on the vehicle frame
3 both sides, the camera 4 are arranged in the front end of the vehicle frame, and the loader mechanism 2 is arranged on the vehicle frame 3.Wherein,
The walking mechanism 1 includes wheel 11, the first driving mechanism 12 of driving 11 walking in a horizontal state of wheel and the driving wheel
Second driving mechanism 13 of 11 stair climbings, the wheel 11 include three, and being wired to for the center of three wheels 11 is equilateral
Triangle is arranged, and first driving mechanism, 12 and second driving mechanism 13 is separately connected the wheel 11.The loader mechanism
2 include load lever 21, manipulator 22, cylinder 23 and the connecting plate 24 of two L-types, and two load levers 21 are symmetrical arranged, and
Connecting rod 25 is connected between two load levers 21, the manipulator 22 is arranged in the connecting rod 25, the connecting plate
24 are arranged at the middle part of the load lever 21, and the cylinder 23 connects the connecting plate 24.
Based on the handling device of above-mentioned technical characteristic, the first driving mechanism 12 of 11 walking in a horizontal state of wheel is driven by setting
With the second driving mechanism 13 of driving 11 stair climbing of wheel, realizing handling device can not only move on level ground, moreover it is possible to
Cope with the occasion of numerous stair；By the way that camera 4 is arranged, to the real time monitoring of field of front vision, realize handling device no longer by
Set route influences；By the way that loader mechanism 2 is arranged, carries bottled water and more stablize, is reliable.The utility model is easy to operate, knot
Structure is simple, and using effect is good, use easy to spread.
Please refer to attached drawing 3 and 4, in the present embodiment, first driving mechanism 12 includes first gear 121, second gear
122, third gear 123, the first driving shaft 124, first motor 125 and the 4th gear in 11 side of the wheel is set
126, the first gear 121 connects the first motor 125, and the first gear 121 is engaged with the second gear 122,
The second gear 122 connects the side of first driving shaft 124, described in the other side connection of first driving shaft 124
Third gear 123, the third gear 123 are engaged with the 4th tooth 126 wheel.When handling device needs horizontal movement, open
The dynamic first motor 125, the first motor 125 drive the first gear 121 to rotate, and the first gear 121 drives
The second gear 122 rotates, and the second gear 122 drives first driving shaft 124 to rotate, first driving shaft
124 drive the third gear 123 to rotate, and the third gear 123 drives the 4th gear 126 to rotate, the 4th tooth
Wheel 126 drives the wheel 11 to rotate, to realize the horizontal movement of handling device.
In the present embodiment, second driving mechanism 13 includes the second motor 131, the 5th gear 132, the 6th gear
133, the second driving shaft 134, connecting plate 135 and driven shaft 136, the 5th gear 132 connect second motor 131, institute
It states the 5th gear 132 to engage with the 6th gear 133, second driving shaft 134 is three, three second driving shafts
134 one end connects the 6th gear 133, and the other end connects the one side of the connecting plate 135, and the driven shaft 136 is three
Root, one end of three driven shafts 136 connect the another side of the connecting plate 135, and the other end is separately connected the wheel 11.
The connecting plate 135 is equilateral triangle shape, and the connecting plate 135 is located at the third gear 123 and the 6th gear 133
Between.When handling device needs stair climbing, start second motor 131, second motor 131 drives the described 5th
Gear 132 rotates, and the 5th gear 132 drives the 6th gear 133 to rotate, and the 6th gear 133 is described second
Drive the connecting plate 135, the connecting plate 135 that the driven shaft 136 is driven to move under the action of driving shaft 134, three institutes
It states driven shaft 136 to be fixedly connected with the wheel 11 respectively, to realize the flip-flop movement of the wheel 11, realizes and remove
The stair climbing of shipping unit moves.
In the present embodiment, first driving mechanism 12 is located at the same side with second driving mechanism 13.Described first
Driving shaft 124 is each passed through the center of the 6th gear 133 and the connecting plate 135.
Please refer to attached drawing 5, in the present embodiment, the connecting rod 25 is equipped with the mounting base 26 for installing the manipulator 22.
When loading bottled water, after bottled water is placed on load lever 21, bottled water is fixed on the top that the manipulator 22 clamps bottled water.
The manipulator 22 is mounted in the mounting base 26, replacement easy to disassemble.
It in the present embodiment, is additionally provided between two load levers 21 and places bar 27, the placement bar 27 is arc, preferably
Ground, the placement bar 27 are two.After bottled water is placed on the load lever 21 and the manipulator 22 clamps, institute
Stating cylinder 23 can drive bottled water in being horizontally arranged, and be conducive to the stabilization of bottled water.It will be put after bottled water is horizontal
It sets on the placement bar 27, sets the placement bar 27 to arc, the shape being just bonded outside bottled water makes barreled
Water is more stable.
In the present embodiment, connecting rod 28 is equipped between the connecting plate 24 and the cylinder 23.The connecting rod 28 is set, it can be with
The cylinder 23 is preferably set to drive barreled water sport.
Further include differential mechanism 5 in the present embodiment, the differential mechanism 5 is arranged between two walking mechanisms 1, passes through
The differential mechanism 5 is connected by shaft 6 with the walking mechanism 1.When the handling device needs turning, the differential
The speed that device 5 can control the walking mechanism 1 of left and right two is different, to realize that the handling device turns in minimum zone
It is curved.
In the present embodiment, it is additionally provided with telescopic supporting leg 7 on the vehicle frame 3, leads between the supporting leg 7 and the vehicle frame 3
The connection of connection cylinder 8 is crossed, the connection cylinder 8 connects the connecting plate 24.When needing to load bottled water, the supporting leg
7 reach underground, play a supportive role, and the supporting leg 7 is shunk after bottled water installs, and the handling device starts to walk.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (7)
1. a kind of handling device, it is characterised in that：Including vehicle frame, walking mechanism, loader mechanism and camera, the walking mechanism
It it is four, four walking mechanisms are one group of both sides for being symmetricly set on the vehicle frame, the camera setting two-by-two respectively
In the front end of the vehicle frame, the loader mechanism is arranged on the vehicle frame；
The walking mechanism includes that wheel, the first driving mechanism of the driving wheel walking in a horizontal state and the driving wheel climb building
Second driving mechanism of ladder, the wheel include three, and the center of three wheels is wired to equilateral triangle setting, institute
It states the first driving mechanism and the second driving mechanism is separately connected the wheel,
The loader mechanism includes load lever, manipulator, cylinder and the connecting plate of two L-types, and two load levers are symmetrically set
It sets, and is connected with connecting rod between two load levers, the manipulator is arranged in the connecting rod, the connecting plate setting
At the middle part of the load lever, the cylinder connects the connecting plate.
2. handling device as described in claim 1, it is characterised in that：First driving mechanism includes first gear, and second
Gear, third gear, the first driving shaft, first motor and is arranged the 4th gear in the wheel side, the first gear
The first motor is connected, the first gear is engaged with the second gear, and the second gear connection described first is actively
The other side of the side of axis, first driving shaft connects the third gear, and the third gear is nibbled with the 4th gear
It closes,
Second driving mechanism includes the second motor, the 5th gear, the 6th gear, the second driving shaft, connecting plate and driven shaft,
5th gear connects second motor, and the 5th gear is engaged with the 6th gear, and second driving shaft is
Three, one end of three second driving shafts connects the 6th gear, and the other end connects the one side of the connecting plate, described
Driven shaft is three, and one end of three driven shafts connects the another side of the connecting plate, and the other end is separately connected the vehicle
Wheel.
3. handling device as claimed in claim 2, it is characterised in that：The connecting plate is equilateral triangle shape, the connection
Plate between the third gear and the 6th gear, first driving shaft be each passed through the 6th gear with it is described
The center of connecting plate.
4. handling device as described in claim 1, it is characterised in that：The connecting rod is equipped with the peace for installing the manipulator
Seat is filled, placement bar is additionally provided between two load levers, the placement bar is arc, between the connecting plate and the cylinder
Equipped with connecting rod.
5. handling device as described in claim 1, it is characterised in that：Further include differential mechanism, the differential mechanism is arranged at two
Between the walking mechanism, the differential mechanism is connected with the walking mechanism by shaft.
6. handling device as described in claim 1, it is characterised in that：Telescopic supporting leg is additionally provided on the vehicle frame.
7. handling device as claimed in claim 6, it is characterised in that：By connecting cylinder between the supporting leg and the vehicle frame
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721853672.2U CN207931564U (en) | 2017-12-25 | 2017-12-25 | A kind of handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721853672.2U CN207931564U (en) | 2017-12-25 | 2017-12-25 | A kind of handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207931564U true CN207931564U (en) | 2018-10-02 |
Family
ID=63646900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721853672.2U Expired - Fee Related CN207931564U (en) | 2017-12-25 | 2017-12-25 | A kind of handling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207931564U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
-
2017
- 2017-12-25 CN CN201721853672.2U patent/CN207931564U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181002 Termination date: 20201225 |