CN208963204U - Automatic transportation equipment - Google Patents
Automatic transportation equipment Download PDFInfo
- Publication number
- CN208963204U CN208963204U CN201821694237.4U CN201821694237U CN208963204U CN 208963204 U CN208963204 U CN 208963204U CN 201821694237 U CN201821694237 U CN 201821694237U CN 208963204 U CN208963204 U CN 208963204U
- Authority
- CN
- China
- Prior art keywords
- car body
- driving
- understructure
- transportation equipment
- automatic
- Prior art date
- 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.)
- Active
Links
Abstract
The utility model relates to a kind of automatic transportation equipments, including motor dolly, the automatic clamping and placing material mechanism on motor dolly；Motor dolly includes car body, multiple driving wheels set on car body two sides, and the Wheel drive structure on car body, for driving driving wheel；Automatic clamping and placing material mechanism includes the stretching structure on car body, the understructure connecting with stretching structure, the lifting structure on understructure, and the pick-and-place material arm body on lifting structure；Stretching structure is used to that understructure and pick-and-place to be driven to expect that arm body is stretched out in outside vehicle body side or shunk in vehicle body side, and lifting structure is used for driving pick-and-place and expects that arm body is increased to above car body top or drops to car body top lower section.The utility model provides a kind of automatic transportation equipment, and the automatic clamping and placing that material may be implemented is carried, and without manually being loaded and unloaded, not only saves manpower, additionally it is possible to improve working efficiency.
Description
Technical field
The utility model relates to haulage equipment technical fields, more particularly to a kind of automatic transportation equipment.
Background technique
It improves with the development of science and technology, the application of the automatic transportation equipments such as unmanned fork lift, electri forklift in the factory is also got over
Come it is more so that the degree of automation of factory is also higher and higher.But in the conventional technology, either unmanned fork lift is still electric
Electrical forklift cannot achieve automatic loading/unloading mostly.Especially for the material of pallet class, it is still desirable to by manually carrying out material
Pick-and-place.Although part shelf bears robot realizes certain automation, can be with Automatic-searching shelf, and bears shelf shifting
It is dynamic, however, there remains by manually take depositing to the material (or article) on shelf, to the material of pallet class then more beam
Hand is without plan, it is necessary to by manually being loaded and unloaded, cannot achieve automatic transporting, not only efficiency is relatively low, but also waste of manpower.
Utility model content
Based on this, the utility model provides a kind of automatic transportation equipment, and the automatic clamping and placing that material may be implemented is carried, and is not necessarily to
By manually being loaded and unloaded, manpower is not only saved, additionally it is possible to improve working efficiency.
To achieve the above object, the utility model proposes following technical solutions:
A kind of automatic transportation equipment, including motor dolly, the automatic clamping and placing material mechanism on the motor dolly；
The motor dolly includes car body, multiple driving wheels set on the car body two sides, and is set to the car body
The upper, Wheel drive structure for driving the driving wheel；
Automatic clamping and placing material mechanism includes the stretching structure on the car body, the bottom connecting with the stretching structure
Holder structure, the lifting structure on the understructure, and the pick-and-place material arm body on the lifting structure；It is described to stretch
Shrinking structure expects that arm body stretches out in outside the vehicle body side or contraction is in the car body side for driving the understructure and picking and placing
In face, the lifting structure is for driving the pick-and-place material arm body to be increased to above the car body top or drop to the vehicle
Lower section at the top of body.
Its further technical scheme is as follows:
The stretching structure includes the telescopic drive motor on the car body in one of the embodiments, with institute
The linear transmission structure of telescopic drive motor connection is stated, the linear transmission structure is connect with the understructure, the straight line
The vehicle body side is outer or contraction is in the vehicle body side for driving the understructure to stretch out in for drive mechanism.
In one of the embodiments, the linear transmission structure include be set to the car body on and with the flexible drive
The driving screw rod of the output axis connection of dynamic motor, and the transmission nut with the driving screw rod cooperation, the transmission nut and
The understructure is fixedly connected.
In one of the embodiments, the linear transmission structure include be set to the car body on and with the flexible drive
The driving gear of the output axis connection of dynamic motor, and the driving rack with the driving gear cooperation, the driving rack and
The understructure is fixedly connected.
The lifting structure includes that at least one folding on the understructure rises in one of the embodiments,
The height of a house, the pick-and-place material arm body are fixed on the folding and rise at the top of the height of a house.
The motor dolly further includes the accommodation groove being opened on the car body in one of the embodiments, described
Automatic clamping and placing material mechanism is set in the accommodation groove；
The stretching structure for drive the understructure and pick and place material arm body stretch out in outside the accommodation groove side or
It shrinks in the accommodation groove side, the lifting structure is for driving the pick-and-place material arm body to be increased at the top of the accommodation groove
Top drops to lower section at the top of the accommodation groove.
The motor dolly includes two accommodatings being opened on the car body in one of the embodiments,
An automatic clamping and placing material mechanism is respectively set in two accommodation grooves in slot.
Automatic clamping and placing material mechanism further includes the pedestal being set on the understructure in one of the embodiments,
Sliding groove structure or base slide structure, and carriage slide rails structure or vehicle frame sliding slot knot on the accommodation groove inner wall
Structure, the carriage slide rails structure and the chute of base structure cooperate, the vehicle frame sliding groove structure and the base slide structure
Cooperation.
The accommodation groove is through the top and bottom of the car body in one of the embodiments, and described takes automatically
Discharge mechanism further includes the support wheel construction for being set to the understructure bottom.
It in one of the embodiments, further include the control being connect with the Wheel drive structure, lifting structure, stretching structure
Structure processed, the motor dolly further include the visual identity mechanism on the car body, the visual identity mechanism and institute
State control structure connection.
The utility model proposes technical solution in, when carry be loaded with the pallet of cargo when, can will be taken by stretching structure
Blowing arm body extend out to the bottom of the pallet equipped with cargo relative to car body, is promoted to pick and place by lifting structure and expects that arm body to hold in the palm
Height where the bottom surface of disk is higher than the height of car body, and the position which unloads needed for being moved to passes through lifting
Pallet is placed in target position by structure and the synergistic effect of stretching structure.Alternatively, may be used also by the automatic transportation equipment
Cargo on shelf is subjected to upper and lower level transfer, i.e., in the handling process, car body is without movement.Pass through lifting structure and stretches
Cargo can be loaded into automatically on car body and can be automatically performed unloading operation by the synergistic effect of structure, the automatic transportation equipment, from
Dynamicization degree height, good economy performance.Also, it in the handling process, picks and places material arm body support pallet and is located at the top of car body, so as to
It is operated in implementing to carry in narrow space, use is more flexible.Moreover, in above-mentioned handling process, stretching structure and lifting knot
Structure is respectively independent to the adjusting for the position for picking and placing material arm body, flexible operation.In addition, car body is equipped with accommodation groove, automatic clamping and placing material
Mechanism is set in the accommodation groove, and picking and placing material arm body can stretch out on the outside of the accommodation groove under the drive of stretching structure.And use shape
Under state, stretching structure can will pick and place material arm body as needed and stretch out outside car body；And under without using state, picking and placing material arm body can position
It is taken up space in it in the accommodation groove of car body, can be reduced.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the schematic perspective view of automatic transportation equipment described in the utility model embodiment；
Fig. 2 is the perspective structure perspective diagram of automatic transportation equipment described in the utility model embodiment；
Fig. 3 is the three-dimensional knot of the automatic clamping and placing material mechanism (when closure) of automatic transportation equipment described in the utility model embodiment
Structure schematic diagram；
Fig. 4 is the three-dimensional knot of the automatic clamping and placing material mechanism (when unlatching) of automatic transportation equipment described in the utility model embodiment
Structure schematic diagram；
Fig. 5 is the forward sight structural representation of automatic transportation equipment described in the utility model embodiment (before preparing loaded material)
Figure；
Fig. 6 is automatic transportation equipment described in the utility model embodiment (automatic clamping and placing material mechanism is stretched out when loaded material)
Forward sight structural schematic diagram；
Fig. 7 is automatic transportation equipment described in the utility model embodiment (automatic clamping and placing material mechanism is increased when loaded material)
Forward sight structural schematic diagram；
Fig. 8 is automatic transportation equipment described in the utility model embodiment (automatic clamping and placing material mechanism is shunk when loaded material)
Forward sight structural schematic diagram；
Fig. 9 is automatic transportation equipment described in the utility model embodiment (automatic clamping and placing material mechanism is reduced when loaded material)
Forward sight structural schematic diagram；
Figure 10 is the stereochemical structure of automatic transportation equipment (when material is loaded on car body) described in the utility model embodiment
Schematic diagram.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 100 | Motor dolly | 110 | Car body |
| 112 | Accommodation groove | 114 | Interval |
| 120 | Driving wheel | 130 | Wheel drive structure |
| 200 | Automatic clamping and placing material mechanism | 210 | Understructure |
| 212 | Connector | 214 | Support wheel construction |
| 216 | Brake member | 218 | Chute of base structure |
| 220 | Stretching structure | 222 | Telescopic drive motor |
| 224 | Drive screw rod | 226 | Transmission nut |
| 230 | Lifting structure | 232 | It folds and rises the height of a house |
| 240 | Pick and place material arm body | 300 | Material |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture)
Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection scope of the requires of the utility model.
As shown in Figure 1, the utility model proposes a kind of automatic transportation equipment, including motor dolly 100, it is automatic to be set to this
Automatic clamping and placing material mechanism 200 on transport vehicle 100.It is taken using the automatic dress that material may be implemented in the automatic clamping and placing material mechanism 200
With discharge automatically, and automatic clamping and placing material mechanism 200 and the material that take of dress transport using motor dolly 100 defeated
It send.
Specifically, as shown in Figure 1 to Figure 2, above-mentioned motor dolly 100 includes car body 110, is set to 110 two sides of car body
Multiple (referring to two or more, similarly hereinafter) driving wheels 120, and on the car body 110, for driving driving wheel 120
Wheel drive structure 130.The driving wheel 120 can be driven to rotate using Wheel drive structure 130, to realize to car body
110 driving, and realize driving to the automatic clamping and placing material mechanism 200 connecting with car body 110, so as to being placed on vehicle
Material on body 110 is moved.Moreover, by being uniformly arranged multiple driving wheels 120 in 110 two sides of car body, it is ensured that removing
Integrally-built stability during fortune, the problem of preventing the material because of carrying from causing car body 110 to topple again very much.Simultaneously
Counterweight needed for overall structure can be reduced guarantees the energy effective utilization during whole service.
Moreover, in the present embodiment, above-mentioned driving wheel 120 can be set as universal wheel, convenient for turning to all directions, transport is improved
Flexibility, to be suitable for carrying cargo in narrow space.Moreover, the Wheel drive structure 130 may include being set to and vehicle
Wheel drive motors on body 110, the retarder being connect with wheel drive motors, and the shaft of driving wheel 120 and retarder
Export axis connection.In addition, can also set multiple driving wheels 120 and corresponding Wheel drive structure 130 to the drive of an entirety
Moving cell, and in the multiple such driving units of the two sides of car body 110 setting, conveniently total is driven.In addition,
In the present embodiment, above-mentioned car body 110 can be made of metal plate frame or steel structure frame, can be had simultaneously guaranteeing that car body is light-weighted
Enough strength and stiffness.
In addition, above-mentioned motor dolly 100 may include the visual identity mechanism being set on car body 110, and this is removed automatically
Transporting equipment further includes the control structure connecting with visual identity mechanism, and the control structure takes with motor dolly 100 and automatically
Discharge mechanism 200 connects.Can be to 110 surrounding of car body by visual identity mechanism the case where, carries out image recognition to obtain week
Collarette border, and control structure can be adjusted the moving direction of motor dolly 100 according to the ambient enviroment of acquisition, it can also be right
Material position to be handled and state are identified, and are controlled the movement of the pick-and-place material of automatic clamping and placing material mechanism 200, from
And can control the automatic transportation equipment and carry out picking and placing material and carry material, it is simple and convenient.In addition, above-mentioned visual identity mechanism
It may include that the front side for being set to car body 110 or/and rear side or/and the camera in left side or/and right side, this camera can be used for
Fill the body form structure around pick-up body 110, it may also be used for dress takes surrounding objects apart from the distance of car body 110, is also used to obtain
Take the various information of material to be handled.For example, cargo is more in warehouse, by the automatic transportation equipment to target material into
When row is carried, after which is moved to the position where material to be handled, it is corresponding that material is scanned by camera
It is two dimensional code, correct with the cargo for ensuring that it is carried, while operator this can also be removed automatically by the camera remote reviewing
Environment locating for equipment is transported, and long-range control is implemented to the automatic transportation equipment.In the present embodiment, which can be set to vehicle
The medium position of 110 front side of body, makes it in loading, unloading and handling process, can be directed at material (such as pallet to be carried
And it is placed in the cargo in pallet).Moreover, above-mentioned control structure may be configured as remote controllers, operator can be passed through
Remote handle control is carried out to entire automatic transportation equipment.In addition, above-mentioned control structure may be alternatively provided as artificial intelligence control
Device entirely autonomously can control entire automatic transportation equipment.
In addition, as shown in Figure 3 to Figure 4, above-mentioned automatic clamping and placing material mechanism 200 may include the flexible knot on car body 110
Structure 220, the understructure 210 being connect with the stretching structure 220, the lifting structure 230 on the understructure 210, and
Pick-and-place material arm body 240 on the lifting structure 230.Above-mentioned stretching structure 220 can be used for driving understructure 210 and pick and place
Material arm body 240 is stretched out in outside 110 side of car body or is shunk in 110 side of car body, and above-mentioned lifting structure 220 can be used for driving
Material arm body 240 is picked and placed to be increased to 110 over top of car body or drop to 110 top lower section of car body.
Further, as shown in Figures 1 to 4, above-mentioned stretching structure 220 may include the flexible driving on car body 110
Motor 222, the linear transmission structure connecting with the telescopic drive motor 224, the linear transmission structure can connect with understructure 210
It connects, which can be used for that understructure 210 is driven to stretch out in outside 110 side of car body or shrink in 110 side of car body
It is interior.Linear transmission structure can be driven to move by the telescopic drive motor 222 being set on car body 110, so that directly
Line drive mechanism, which drives understructure 210 and picks and places material arm body 240, carries out straight reciprocating, so as to make understructure
210 stretch out in outside 110 side of car body or shrink in 110 side of car body.In addition, passing through telescopic drive motor 222 and straight-line transmitting
Dynamic structure drives understructure 210, controls moving distance with can be convenient.In addition, for convenient for the stretching to material arm body 240 is picked and placed
Position is accurately controlled, and also telescopic drive motor 222 can be set as stepper motor.
Moreover, in some embodiments, above-mentioned linear transmission structure may include be set on above-mentioned car body 110 and with it is flexible
The driving screw rod 224 of the output axis connection of driving motor 222, and the transmission nut 226 cooperated with driving screw rod 224, the biography
Dynamic nut 226 is fixedly connected with understructure 210.It can set above-mentioned linear transmission structure to nut-screw rod transmission knot
Structure can drive the driving screw rod 224 to rotate by telescopic drive motor 222, to make the transmission cooperated with driving screw rod 224
Nut 226 moves linearly along driving screw rod 224, and the understructure 210 connecting with transmission nut 226 can be driven along driving
Screw rod 224 moves linearly, so that it may realize understructure 210 and pick and place the straight reciprocating of material arm body 240.Moreover, at this
In embodiment, which be may be disposed in car body 110, and understructure 210 can lead to fitting 212 and transmission nut 226
It is connected and fixed.Moreover, setting nut-screw rod drive mechanism for above-mentioned linear transmission structure, bottom can be accurately, reliable controlled
Holder structure 210 and the moving distance for picking and placing material arm body 240.
In addition, in further embodiments, above-mentioned linear transmission structure may include be set on car body 110 and with flexible drive
The driving gear of the output axis connection of dynamic motor, and the driving rack with driving gear cooperation, the driving rack and pedestal
Structure 210 is fixedly connected.Rack and pinion drive mechanism can be set by above-mentioned linear transmission structure, utilize telescopic drive motor
The sliding tooth wheel is driven to rotate, so that driving gear band moves driving rack linear movement, so that understructure and pick-and-place material
The straight reciprocating of arm body.
In addition, belt drive structure or chain drive structure can also be set by above-mentioned linear transmission structure, i.e., using stretching
Contracting driving motor drives belt drive structure or chain drive structure operating, and understructure is fixed on driving chain or is driven
It takes, realizes to understructure and pick and place the linear movement of material arm body with this.In addition, above-mentioned stretching structure directly can also be arranged
For hydraulically extensible oil structure or Pneumatic extension structure.
In addition, as shown in Figure 3 to Figure 4, above-mentioned lifting structure 230 may include at least one on understructure 210
It folds and rises the height of a house 232, above-mentioned pick-and-place material arm body 240 is fixed on the folding and rises 232 top of the height of a house.In the present embodiment, it can will rise
Drop structure 230, which is set as folding, rises the height of a house 232, i.e., rises the height of a house 232 by folding and opening the folding, so that it may realize to pick-and-place
Expect the lifting of arm body 240, it is stable and firm, it is simple and convenient.Moreover, when not in use, which rises the height of a house 232 after folding, it can
Make to pick and place material arm body 240 and understructure 210 close to the occupied space of reduction automatic clamping and placing material mechanism 200 can further decrease
The volume of the automatic transportation equipment, and then reduce its occupied space.Moreover, can also understructure 210 and pick and place material arm body it
Between be uniformly arranged multiple foldings and rise the height of a house, keep the stress of total more balanced, it is more reliable and more stable when loading and unloading material.And
And above-mentioned lifting structure 230 may also comprise at least one hydraulic lifting bar assembly (such as hydraulic thousand on understructure 210
Jin top), it is gone up and down using hydraulic structure to material arm body is picked and placed.Further, it is also possible to the lifting structure is set as having vertical
The structure of formula guide rail, picking and placing material arm body can move along the vertical rail.
Moreover, as shown in Figure 1 to Figure 2, above-mentioned motor dolly 100 may also include the accommodation groove being opened on car body 110
112, above-mentioned automatic clamping and placing material mechanism 200 can be set in the accommodation groove 112.It, can be by automatic clamping and placing material by the way that accommodation groove 112 is arranged
Mechanism 200 is accommodated, so that automatic clamping and placing material mechanism 200 is located in car body 110 without protruding from outside car body 110, is not only saved
About space, moreover it is possible to mitigate the weight of total, also make during carrying material automatic clamping and placing material mechanism 200 not with object
Material interferes.Moreover, the top opening of above-mentioned accommodation groove 112 is located at the top of car body 110, the side of the accommodation groove 112 is opened
Mouth is located at the side of car body 110, i.e., the top of above-mentioned accommodation groove 112 is in communication with the outside to be gone up and down convenient for lifting structure 230, should
The side of accommodation groove 112 is in communication with the outside, stretches convenient for stretching structure 220.In addition, above-mentioned accommodation groove 112 can be passed through only
It is through at the top of car body 110, it can also be simultaneously through 110 top and bottom of car body.Moreover, above-mentioned stretching structure 220 can drive
Understructure 210 and pick and place that material arm body 240 stretches out in the 112 side of accommodation groove outside or contraction is in 112 side of accommodation groove,
Above-mentioned lifting structure 230 can drive pick-and-place material arm body 240 to be increased to 112 over top of accommodation groove or drop to the accommodation groove
112 tops lower section.
Moreover, in the present embodiment, above-mentioned motor dolly 100 may include two accommodation grooves being opened on car body 110
112, an above-mentioned automatic clamping and placing material mechanism 200 is respectively set in two accommodation grooves 112.It can be taken by accommodation groove 112 and automatically
The quantity of discharge mechanism 200 is two, and two automatic clamping and placing material mechanisms 200 are kept apart by an interval 114, that is,
It says, during carrying material, material can be carried simultaneously by two automatic clamping and placing material mechanisms 200, be carried improving
While stability, the intensity requirement of single automatic clamping and placing material mechanism 200, good economy performance can also be reduced.Further, two can be made
A automatic clamping and placing material mechanism 200 shares the same stretching structure 220, i.e., using the same driving two simultaneously of stretching structure 220
A understructure 210 stretches.Specifically, the linear drives structure setting of the stretching structure 220 is nut-screw rod transmission knot
When structure, between telescopic drive motor 222, driving screw rod 224, transmission nut 226 can be arranged between two accommodation grooves 112
It is fixed on transmission nut 226 in 114, and by two understructures 210 by a connector 212, i.e., using one
Nut-screw rod drive mechanism drives two understructures 210 simultaneously and picks and places material arm body 240.In addition it is also possible to which more are arranged
Accommodation groove 112 on car body 110.
Moreover, as shown in Figure 3 to Figure 4, above-mentioned automatic clamping and placing material mechanism 200, which may also include, to be set on understructure 210
Chute of base structure 218 or base slide structure, and carriage slide rails structure on above-mentioned 112 inner wall of accommodation groove or
Vehicle frame sliding groove structure, the carriage slide rails structure can cooperate with chute of base structure, which can be with base slide knot
Structure cooperation.Guide rail structure can be set between understructure 210 and accommodation groove 112, understructure 210 is guided, protect
The telescopic moving demonstrate,proved understructure 210 and pick and place material arm body 240 is stable precisely reliable.Moreover, the guide rail structure may be disposed at bottom
Between 112 side of 210 side of holder structure and accommodation groove, it may also set up between 112 bottom of 210 bottom of understructure and accommodation groove
When car body top (accommodation groove only through).
In addition, above-mentioned control structure can also be connect with above-mentioned Wheel drive structure, lifting structure, stretching structure
Above-mentioned Wheel drive structure, lifting structure, stretching structure are remotely controlled or automatically controlled by control structure.
In addition, the automatic transportation equipment is charged, is carried and the process of discharging is as follows: as shown in Figure 5 to Figure 6, above-mentioned
In charging, stretching structure 220, which drives to pick and place, expects that arm body 240 stretches out in car body relative to car body 110 for automatic clamping and placing material mechanism 200
Lower section outside 110 sides, until being moved to material 300 (pallet as stored cargo)；Then, as shown in fig. 7, lifting structure
230 drives pick and place material arm body 240 and are increased to 110 over top of car body, until mobile until storing the height of the pallet of cargo simultaneously
Pallet is held up；As shown in figure 8, car body 110 is moved to the lower section of the pallet of storage cargo relative to pick-and-place material arm body 240, i.e.,
It can make the reverse movement of stretching structure 220 that it be made to be retracted into 110 inside of car body, or stretching structure 220 is made to remain stationary and make vehicle
Body 110 is moved to below pallet in the drive of driving wheel 120, so that it may so that pallet is located at 110 top of car body；Then, such as Fig. 9
The material reverse movement of arm body 240 is picked and placed to shown in Figure 10, lifting structure 230 is driven, that is, drops to 110 top lower section of car body, makes to hold in the palm
Disk is located at the top of car body 110, that is, effect shipment process.During transportation, it picks and places material arm body 240 not stressing, stores cargo
Pallet undertaken by car body, can reduce to pick and place material arm body 240 requirement, improve the life and reliability of lifting structure.
In addition, picking and placing material arm body 240 can remain stationary, and make car body 110 relative to pick-and-place after pick-and-place material arm body 240 lifts pallet
Material arm body 240 is moved to below pallet, is moved under the drive of stretching structure 220 to car body 110 relative to material arm body 240 is picked and placed
For dynamic scheme, the pick-and-place material arm body 240 that can avoid support pallet shakes on the move, and protection pallet, which is in, stablizes shape
State.
Moreover, picking and placing material arm body 240 in above-mentioned loading process and remaining stationary, car body 110 expects arm body relative to pick-and-place
When 240 movement, which can achieve the goal to remain stationary by the effect of external force.For example, such as Fig. 3 to figure
Shown in 4, it can be equipped with brake member 216 in the front end of understructure 210, it is fixed for resisting understructure 210, with
Understructure 210 is avoided to move forward with car body 110.Wherein, which can be supporting leg, cushion block etc., not do herein
Limitation.Moreover, above-mentioned automatic clamping and placing material mechanism 200 may also include the support wheel construction 214 set on 210 bottom of understructure, carry
Having the pallet of cargo that will compress support wheel construction makes it have certain frictional force between ground (or other body surfaces), makes
Obtaining car body, the pick-and-place material arm body 240 can remain stationary when moving.
In addition, above-mentioned automatic clamping and placing material mechanism 200 is in discharging, car body 110 is first moved to the position for discharging material 300
Place, lifting structure 230, which drives to pick and place, expects that arm body 240 is increased to 110 over top of car body, the pallet until being moved to storage cargo
Height, the pallet that will store cargo holds up, and is detached from pallet and car body 110；Then, stretching structure 220, which drives, picks and places material arm
Body 240 stretches out in outside 110 side of car body relative to car body 110, or stretching structure 220 is made to remain stationary and car body 110 is made to exist
It is moved under the drive of driving wheel 120, is discharged at position until being moved to material 300；Then, the drive of lifting structure 230 takes
Blowing arm body 240 move backward, that is, drop to and discharge at the position of material, make pallet be held on the material frame for discharging material or its
On his object, makes to pick and place and expect that arm body 240 is separated with pallet；Then, lifting structure 230 drops to initial position, stretching structure
220 can also move backward and make it be retracted into the inside of car body 110 (can actively to retract by stretching structure, can also pass through car body 110
The mobile opposite retraction for realizing stretching structure 220), that is, effect shipment process.
The utility model proposes technical solution in, when carry be loaded with the pallet of cargo when, can will be taken by stretching structure
Blowing arm body extend out to the bottom of the pallet equipped with cargo relative to car body, is promoted to pick and place by lifting structure and expects that arm body to hold in the palm
Height where the bottom surface of disk is higher than the height of car body, and the position which unloads needed for being moved to passes through lifting
Pallet is placed in target position by structure and the synergistic effect of stretching structure.Alternatively, may be used also by the automatic transportation equipment
Cargo on shelf is subjected to upper and lower level transfer, i.e., in the handling process, car body is without movement.Pass through lifting structure and stretches
Cargo can be loaded into automatically on car body and can be automatically performed unloading operation by the synergistic effect of structure, the automatic transportation equipment, from
Dynamicization degree height, good economy performance.Also, it in the handling process, picks and places material arm body support pallet and is located at the top of car body, so as to
It is operated in implementing to carry in narrow space, use is more flexible.Moreover, in above-mentioned handling process, stretching structure and lifting knot
Structure is respectively independent to the adjusting for the position for picking and placing material arm body, flexible operation.In addition, car body is equipped with accommodation groove, automatic clamping and placing material
Mechanism is set in the accommodation groove, and picking and placing material arm body can stretch out on the outside of the accommodation groove under the drive of stretching structure.And use shape
Under state, stretching structure can will pick and place material arm body as needed and stretch out outside car body；And under without using state, picking and placing material arm body can position
It is taken up space in it in the accommodation groove of car body, can be reduced.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
Under all utility models in the utility model are conceived, equivalent structure made based on the specification and figures of the utility model
Transformation, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of automatic transportation equipment, which is characterized in that including motor dolly, taking on the motor dolly automatically
Discharge mechanism；
The motor dolly includes car body, multiple driving wheels set on the car body two sides, and is set on the car body, uses
In the Wheel drive structure for driving the driving wheel；
Automatic clamping and placing material mechanism includes the stretching structure on the car body, the pedestal knot connecting with the stretching structure
Structure, the lifting structure on the understructure, and the pick-and-place material arm body on the lifting structure；The flexible knot
Structure expects that arm body stretches out in outside the vehicle body side or contraction is in the vehicle body side for driving the understructure and picking and placing
Interior, the lifting structure is for driving the pick-and-place material arm body to be increased to above the car body top or drop to the car body
Below top.
2. automatic transportation equipment according to claim 1, which is characterized in that the stretching structure includes being set to the car body
On telescopic drive motor, the linear transmission structure being connect with the telescopic drive motor, the linear transmission structure with it is described
Understructure connection, the linear transmission structure is for driving the understructure to stretch out in outside the vehicle body side or shrink
In in the vehicle body side.
3. automatic transportation equipment according to claim 2, which is characterized in that the linear transmission structure includes set on described
The driving screw rod of output axis connection on car body and with the telescopic drive motor, and the biography with the driving screw rod cooperation
Dynamic nut, the transmission nut are fixedly connected with the understructure.
4. automatic transportation equipment according to claim 2, which is characterized in that the linear transmission structure includes set on described
The driving gear of output axis connection on car body and with the telescopic drive motor, and the biography with the driving gear cooperation
Carry-over bar, the driving rack are fixedly connected with the understructure.
5. automatic transportation equipment according to claim 1, which is characterized in that the lifting structure includes being set to the pedestal
At least one in structure folds the liter height of a house, and the pick-and-place material arm body is fixed on the folding and rises at the top of the height of a house.
6. automatic transportation equipment described in -5 any one according to claim 1, which is characterized in that the motor dolly also wraps
The accommodation groove being opened on the car body is included, automatic clamping and placing material mechanism is set in the accommodation groove；
The stretching structure is stretched out in outside the accommodation groove side or is shunk for driving the understructure and picking and placing material arm body
In in the accommodation groove side, the lifting structure is for driving the pick-and-place material arm body to be increased at the top of the accommodation groove
Side drops to lower section at the top of the accommodation groove.
7. automatic transportation equipment according to claim 6, which is characterized in that the motor dolly is described including being opened in
An automatic clamping and placing material mechanism is respectively set in two accommodation grooves in two accommodation grooves on car body.
8. automatic transportation equipment according to claim 6, which is characterized in that automatic clamping and placing material mechanism further includes setting
In chute of base structure or base slide structure on the understructure, and the vehicle frame on the accommodation groove inner wall
Rail structure or vehicle frame sliding groove structure, the carriage slide rails structure and the chute of base structure cooperate, the vehicle frame sliding slot knot
Structure and the base slide structure cooperate.
9. automatic transportation equipment according to claim 6, which is characterized in that the accommodation groove is through the top of the car body
Portion and bottom, and automatic clamping and placing material mechanism further includes the support wheel construction for being set to the understructure bottom.
10. automatic transportation equipment described in -5 any one according to claim 1, which is characterized in that further include and the wheel
The control structure that driving structure, lifting structure, stretching structure connect, the motor dolly further include being set on the car body
Visual identity mechanism, the visual identity mechanism are connect with the control structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694237.4U CN208963204U (en) | 2018-10-18 | 2018-10-18 | Automatic transportation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694237.4U CN208963204U (en) | 2018-10-18 | 2018-10-18 | Automatic transportation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208963204U true CN208963204U (en) | 2019-06-11 |
Family
ID=66759691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821694237.4U Active CN208963204U (en) | 2018-10-18 | 2018-10-18 | Automatic transportation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208963204U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021047198A1 (en) * | 2019-09-11 | 2021-03-18 | 杭州易博特科技有限公司 | Telescopic fork mechanism and automatic handling equipment |
| CN112830418A (en) * | 2020-12-31 | 2021-05-25 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN112850552A (en) * | 2020-12-31 | 2021-05-28 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
-
2018
- 2018-10-18 CN CN201821694237.4U patent/CN208963204U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021047198A1 (en) * | 2019-09-11 | 2021-03-18 | 杭州易博特科技有限公司 | Telescopic fork mechanism and automatic handling equipment |
| CN112830418A (en) * | 2020-12-31 | 2021-05-25 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN112850552A (en) * | 2020-12-31 | 2021-05-28 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN112830418B (en) * | 2020-12-31 | 2022-09-30 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN112850552B (en) * | 2020-12-31 | 2023-09-19 | 杭州海康机器人股份有限公司 | Conveying device and cargo conveying method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208963204U (en) | Automatic transportation equipment | |
| US10926950B2 (en) | Telescopic drive, stacker crane comprising same and operating method and use therefor | |
| EP0574779B1 (en) | A work transport system including pallet transport apparatus | |
| CN108328348B (en) | Movable robot loading and unloading stacker crane and loading and unloading method thereof | |
| CN110270974B (en) | Tray object taking device | |
| US11884314B2 (en) | Laterally operating payload handling device | |
| CN112919148A (en) | Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment | |
| CN115806193A (en) | Automatic sign indicating number box bunching device of magnetic path | |
| CN215045861U (en) | Packing box transfer robot | |
| CN209160604U (en) | A kind of mechanism of achievable automatic clamping and placing pallet | |
| CN215158981U (en) | Cargo handling device | |
| CN112110120B (en) | Special rail mounted of multiplexer utensil storehouse stores up and gets system | |
| CN214326156U (en) | Mobile robot | |
| CN114920039A (en) | Intelligent unloading and transferring robot | |
| CN115215024A (en) | Robot device | |
| CN113335816A (en) | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot | |
| CN211003005U (en) | Unmanned storage picking assembly for material box | |
| CN114763212A (en) | Mobile robot | |
| CN112407720A (en) | Allocation robot and use method thereof | |
| CN217707849U (en) | Two-way goods device of getting of robot | |
| CN111392309A (en) | Automatic goods shelf convenient for fetching | |
| CN217599881U (en) | Automatic loading and unloading equipment for container | |
| CN218145711U (en) | Gantry type transfer robot | |
| CN217497373U (en) | Combined equipment with robot work | |
| CN219383684U (en) | Workshop workpiece warehouse connected with AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20200710 Granted publication date: 20190611 |
|
| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20220710 Granted publication date: 20190611 |
|
| PD01 | Discharge of preservation of patent | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20220712 Granted publication date: 20190611 |
|
| PP01 | Preservation of patent right |