CN209007543U - A kind of Intelligent transfer robot - Google Patents
A kind of Intelligent transfer robot Download PDFInfo
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- CN209007543U CN209007543U CN201821400849.8U CN201821400849U CN209007543U CN 209007543 U CN209007543 U CN 209007543U CN 201821400849 U CN201821400849 U CN 201821400849U CN 209007543 U CN209007543 U CN 209007543U
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Abstract
The utility model discloses a kind of Intelligent transfer robot, solves that prior art construction is complicated, and volume is big, and manufacture is high with installation cost, and later period operation maintenance is difficult, operation leads to the problem of jolt cause cargo cannot steadily safe transport to destination.The utility model mainly includes support bracket, and lifting body jacks drive module, train driving mechanism, Electromechanical Control module, battery module, video camera and robot shells；Support bracket includes jacking frame body, jacks drive module frame body, battery module frame body, support frame body, erecting bed is jacked, fixed plate, the first and second mounting plate are jacked, video camera installation through-hole, installation through-hole, mounting plate of walking, universal wheel mounting base, universal wheel jacks drive module installing zone and battery module installing zone.The utility model structure is simple, small in size, manufacture with installation cost is lower, later period operation maintenance is convenient, at runtime by independent damping can guarantee robot and cargo can steadily safe transport to destination.
Description
Technical field
The utility model relates to a kind of Intelligent transfer robots.
Background technique
Transfer robot is also commonly referred to as AGV trolley, refers to and magnetically or optically waits homing guidances device equipped with electricity, can be along rule
Fixed guide path traveling, has the transport vehicle of safeguard protection and various transfer functions, is not required to driver's in industrial application
Carrier, with chargeable battery for its power resources.Its travelling route and behavior can be generally controlled by computer, or
Its travelling route, electromagnetic path are set up using electromagnetic path (electromagnetic path-following system)
It sticks on floor, automatic guided vehicle then relies on message brought by electromagnetic path to be moved and acted.Existing AGV is carried
Robot is particularly applied to the cargo transport automatic guided vehicle of intelligence manufacture and bulk storage plant, and structure is complicated, and structural member is more,
Volume is big, occupied space, and production and assembly cost are high, and later maintenance is many and diverse；Its running gear is usually to be rigidly connected in machine
On people, when robot encounters potted road surface in the process of walking, it can generate and jolt, cause robot and cargo to run uneven
Surely, serious person can generate and topple, and cause damages, and there are security risks.
Therefore, a Intelligent transfer robot is designed, each component of robot simply, fast, is compactly integrated in solely
On special bearing supporting frame, to reduce mounting structure, installation procedure and robot occupied space, robot volume, drop are reduced
The low manufacturing and maintenance cost, while damping being installed in walking mechanism, to guarantee that robot and cargo can steadily pacify
It is transported to destination entirely, becomes skilled artisan's technical problem urgently to be resolved.
Utility model content
Technical problem to be solved by the utility model is: providing a kind of Intelligent transfer robot, prior art construction is solved
Complexity, volume is big, and manufacture and installation cost are high, and later period operation maintenance is difficult, and when operation, which can generate, jolts, and then causes cargo cannot
The problem of steady safe transport to destination.
To achieve the above object, the technical solution adopted in the utility model is as follows:
A kind of Intelligent transfer robot, including support bracket are installed on the support bracket for carrying and going up and down object
The lifting body of material is installed on the jacking driving mould on the support bracket for driving the lifting body to carry out lifting action
Block is installed on the support bracket for driving the train driving mechanism of shipping robot ambulation, is installed on the load-bearing branch
For controlling the Electromechanical Control module of shipping robot operation on frame, it is installed on the support bracket for being shipping robot
Operation provides the battery module of electric energy, and lid loaded on the robot shells on the support bracket；The robot shells will
The Electromechanical Control module, battery module train driving mechanism, lifting body and jacking drive module are packaged in the load-bearing branch
Be formed by cavity between frame and the robot shells, the Electromechanical Control module respectively with the battery module, train
Driving mechanism is connected with jacking drive module；
The support bracket includes jacking frame body, jacking drive module frame body and battery module frame body, the jacking driving
Module frame body is fixed by bolts in one end of the jacking frame body, and the battery module frame body is fixed by bolts in the top
The other end of frame body is risen, the jacking drive module frame body, the jacking frame body and the battery module frame body collectively constitute and be in
The support frame body of horizontality；
The top surface of the jacking frame body is equipped with the jacking erecting bed for installing the lifting body, the jacking frame body
Top surface two sides are respectively provided with the perpendicular jacking for being reinforced to the lifting body in top surface of one piece with the jacking frame body
Fixed plate, the top surface two sides of the jacking drive module frame body are respectively equipped with the top surface of one piece with the jacking drive module frame body
The first perpendicular mounting plate, the top surface two sides of the battery module frame body are respectively equipped with one piece and the battery module frame body
The second perpendicular mounting plate of top surface；
The jacking erecting bed is located between two pieces of jacking fixed plates, and the center of the jacking frame body, which offers, to be used for
The video camera installation through-hole for installing video camera, in position corresponding with the video camera installation through-hole on the jacking erecting bed
Place offers installation through-hole, the video camera installation through-hole and the installation through-hole communicate, each piece of jacking fixed plate
Exterior bottom both ends are horizontal respectively to be equipped with one piece for installing the walking mounting plate of the train driving mechanism, and two pieces described first
A universal wheel mounting base, four universal wheel installations are separately installed on the outside of mounting plate and two pieces of second mounting plates
The universal wheel turned to for 360 ° is separately installed in seat；
It is for installing that the top surface of the jacking drive module frame body, which is located at the region between two pieces of first mounting plates,
The jacking drive module installing zone of drive module is jacked, the top surface of the battery module frame body is located at two pieces of second mounting plates
Between region be battery module installing zone for installing battery module；
The Electromechanical Control module has four parts, is respectively arranged in the top surface of four universal wheel mounting bases, and with phase
First mounting plate or second mounting plate is answered to fit closely, the battery module is installed on the battery module installation
Area, the train driving mechanism have two sets, are respectively arranged on the walking mounting plate of support frame as described above main body two sides, the jacking
Mechanism is installed on the jacking erecting bed, and the jacking drive module is installed in the jacking drive module installing zone, institute
State the video camera for being equipped in video camera installation through-hole and connecting with the Electromechanical Control module.
Further, the train driving mechanism includes hanging bracket, is installed on the outside of hanging bracket for driving intelligence
The robot ambulation wheel of shipping robot ambulation, the driving motor being installed on the inside of hanging bracket connect the robot ambulation
The transmission shaft of wheel and the driving motor, damping, and lid are loaded on the damping cover board on the outside of hanging bracket；The suspension branch
Transmission shaft perforation is offered on frame, the transmission shaft is arranged in the transmission shaft perforation, and its inner end and driving electricity
The driving axis connection of machine, outer end are connect with the robot ambulation wheel, and there are two the dampings, are subtracted respectively by described
Shake cover board is assemblied in the outside both ends of the hanging bracket, and the damping includes elastic axis and is arranged on the elastic axis
Damping spring, the elastic axis be equipped with the part of the damping spring be assemblied in entirely through the damping cover board it is described outstanding
The outside of hanging bracket, the elastic axis can be freely lifted in the vertical direction relative to the hanging bracket, the damping spring
It is in relaxed state in the damping cover board, the bottom end of the elastic axis is removably connected on the walking mounting plate, is owned
The driving motor is connect with the Electromechanical Control module respectively.
Further, the lifting body includes the jacking screw rod being installed on the jacking erecting bed, is set in described
The roller gear on screw rod is jacked, and is installed on the bearing tray for being used for support material on the roller gear.
Further, the jacking drive module includes the driving installation being installed in the jacking drive module installing zone
Bracket, the jacking driving motor being installed in the driving mounting bracket, is installed in the driving mounting bracket, and the top
Rise the drive that driving motor is meshed for driving the roller gear operation by retarder connection, simultaneously with the roller gear
Moving gear, the jacking driving motor are connect with the Electromechanical Control module.
Further, the both ends of the hanging bracket further respectively have a sway bar, the bottom end activity of the sway bar
It is plugged on the walking mounting plate.
Further, the circumferentially equidistant two or more that is equipped with of the inner wall of the video camera installation through-hole is for fixing the camera shooting
The video camera installation screw of machine.
Further, the circumferentially equidistant two or more that is equipped with of the inner wall of the installation through-hole is for fixing the lifting body
Jack installation screw.
Further, one is respectively equipped on each piece of walking mounting plate for subtracting for the elastic axis to be fixedly mounted
Shake shaft mounting hole；An anti-dumping for installing the sway bar is further respectively had on each piece of walking mounting plate to be oriented to
Hole, the sway bar can freely move up and down in the anti-dumping pilot hole.
Further, the laser radar connecting with the Electromechanical Control module is additionally provided in support frame as described above main body.
Further, the outer end of the jacking drive module frame body and the outer end of the battery module frame body are respectively equipped with one
Block is used to install the anticollision strip mounting blocks of anticollision strip, is separately installed with one piece of anticollision strip, position on two pieces of anticollision strip mounting blocks
Anticollision strip mounting blocks in jacking drive module frame body outer end are an integral structure with the jacking drive module frame body, are located at battery
The anticollision strip mounting blocks that module rack is held in vitro are an integral structure with the battery module frame body.
Compared with prior art, the utility model has the following beneficial effects:
The utility model structure is simple, design is scientific and reasonable, easy to use, each main component of transfer robot is passed through skilful
Wonderful modularized design keeps each main component relatively independent and is snugly integrated on support frame body, greatly simplifies
Robot architecture, structure are simply easily assembled disassembly, facilitate manufacture and later period maintenance, and independent damping is set in train driving mechanism
Mechanism is easily installed maintenance, can effectively eliminate security risk, can cargo in robot ambulation effectively to robot and transport
It realizes bumper and absorbing shock, guarantees robot and the steady safe transport of cargo energy to destination.
The utility model train driving mechanism can effectively eliminate security risk, can be in robot ambulation effectively to robot
And the cargo transported realizes bumper and absorbing shock, guarantee robot and cargo can steady safe transport to destination, while at runtime
Due to the bumper and absorbing shock to robot, robot interior stable structure can effectively ensure that, will not shake excessive production because of when running
It is raw to loosen, maintenance cost is effectively reduced, moreover it is possible to effectively extend robot service life.
The utility model support bracket can it is each main component of robot is simple, quick, be compactly installed together, from
And mounting structure, installation procedure and robot occupied space can be reduced, and robot volume can also be reduced, reduce production system
It makes and maintenance cost, while installing and dismounting is easier, is conducive to later period maintenance；It jacks frame body and is driven respectively with jacking by bolt
Module frame body is fixedly connected with battery module frame body, can be very quickly by jacking frame body, jacking drive module frame body and battery
Module frame body is assembled into the support frame body for integrating robot main component, support frame body on set jacking erecting bed,
Jack fixed plate, the first mounting plate, the second mounting plate, video camera installation through-hole, installation through-hole, walking mounting plate, jacking driving
Module installing zone, battery module installing zone and anticollision strip mounting blocks can simply, fast, compactly drive lifting body, jacking
The components such as dynamic model block, video camera, running gear, battery module, anticollision strip are fully integrated on support frame body, integrate speed
Fastly, process is easy, can effectively reduce the volume of robot, while can also facilitate later period breakdown maintenance, the first mounting plate after integrating
With installation universal wheel mounting base on the second mounting plate, universal wheel mounting base is interior to install universal wheel, and universal wheel is in auxiliary walking device
360 ° of steerings are also able to achieve while operation, the first mounting plate, the second mounting plate and walking mounting plate can also effectively play blocking
The effect of dust makes dust be not easily accessible lifting body, the jacking components such as drive module and battery module, can be effectively to jack
Structure, the jacking components such as drive module and battery module play a protective role.
Detailed description of the invention
Fig. 1 is the utility model appearance diagram.
Fig. 2 is the utility model structure diagram.
Fig. 3 is that the utility model lifting body assembles bearing tray schematic diagram.
Fig. 4 is the utility model support bracket structure schematic diagram.
Fig. 5 is the utility model support bracket bottom view.
Fig. 6 is the utility model train driving mechanism structure schematic diagram.
Fig. 7 is another structural schematic diagram of the utility model train driving mechanism.
Fig. 8 is that the utility model train driving mechanism dismantles the view after damping cover board.
Wherein, the corresponding title of appended drawing reference are as follows:
1- support frame body, 2- jacking erecting bed, 3- jacking fixed plate, the first mounting plate of 4-, 5- video camera installation through-hole,
6- installation through-hole, 7- walking mounting plate, 8- universal wheel mounting base, 9- universal wheel, 10- jack drive module installing zone, 11- battery
Module installing zone, 12- video camera installation screw, 13- jacking installation screw, 14- damping shaft mounting hole, 15- anti-dumping pilot hole,
16- anticollision strip mounting blocks, 17- Electromechanical Control module, 18- battery module, 19- train driving mechanism, 20- lifting body, the top 21-
Rise drive module, 22- robot shells, 23- jacking screw rod, 24- roller gear, 25- bearing tray, 26- driving installation branch
Frame, 27- jacking driving motor, 28- driving gear, 29- anticollision strip, 30- jacking frame body, 31- jack drive module frame body, 32-
Battery module frame body, the second mounting plate of 33-, 71- hanging bracket, 72- robot ambulation wheel, 73- driving motor, 74- transmission shaft,
75- damping cover board, 76- elastic axis, 77- damping spring, 78- sway bar.
Specific embodiment
The utility model is described in further detail with embodiment for explanation with reference to the accompanying drawing, and the mode of the utility model includes
But it is not limited only to following embodiment.
As shown in figures 1-8, a kind of Intelligent transfer robot provided by the utility model, structure is simple, design is scientific and reasonable,
It is easy to use, by each main component of transfer robot by cleverly modularized design, keep each main component relatively independent and
It is snugly integrated on support frame body, greatly simplifies robot architecture, structure is simply easily assembled disassembly, facilitates manufacture
With later period maintenance, independent damping is set in train driving mechanism, is easily installed maintenance, can effectively eliminate security risk, it can
Bumper and absorbing shock effectively is realized to the cargo of robot and transport in robot ambulation, guarantees that robot and cargo can be steadily safe
It is transported to destination.A kind of Intelligent transfer robot of the utility model, it is characterised in that: including support bracket, be installed on described
For carrying and going up and down the lifting body 20 of material on support bracket, it is installed on the support bracket for driving the jacking
Mechanism 20 carries out the jacking drive module 21 of lifting action, is installed on the support bracket for driving shipping robot ambulation
Train driving mechanism 19, be installed on the support bracket for control shipping robot operation Electromechanical Control module 17,
It is installed on the support bracket and provides the battery module 18 of electric energy for running for shipping robot, and lid is held loaded on described
Robot shells 22 on weight bracket；The robot shells 22 drive the Electromechanical Control module 17,18 train of battery module
Motivation structure 19, lifting body 20 and jacking drive module 21 are packaged between the support bracket and the robot shells 22
It is formed by cavity, the Electromechanical Control module 17 is driven with the battery module 18, train driving mechanism 19 and jacking respectively
Dynamic model block 21 connects.
Support bracket described in the utility model includes jacking frame body 30, jacking drive module frame body 31 and battery module frame body
32, the jacking drive module frame body 31 is fixed by bolts in one end of the jacking frame body 30, the battery module frame body
32 are fixed by bolts in the other end of the jacking frame body 30, the jacking drive module frame body 31, the jacking frame body 30
The support frame body 1 being in a horizontal state is collectively constituted with the battery module frame body 32.
The top surface of jacking frame body 30 described in the utility model is equipped with the jacking erecting bed for installing the lifting body 20
2, it is described jacking frame body 30 top surface two sides be respectively provided with one piece with it is described jacking frame body 30 top surface it is perpendicular be used for the top
Rise the jacking fixed plate 3 reinforced of mechanism 20, the top surface two sides of the jacking drive module frame body 31 be respectively equipped with one piece with
The first perpendicular mounting plate 4 of the top surface of the jacking drive module frame body 31, the top surface two sides of the battery module frame body 32
It is respectively equipped with one piece of second mounting plate 33 perpendicular with the top surface of the battery module frame body 32.
Jacking erecting bed 2 described in the utility model is located between two pieces of jacking fixed plates 3, the jacking frame body 30
Center offers the video camera installation through-hole 5 for installing video camera, pacifies on the jacking erecting bed 2 with the video camera
Dress offers installation through-hole 6 at the corresponding position of through-hole 5, and the video camera installation through-hole 5 and the installation through-hole 6 communicate,
The exterior bottom both ends of each piece of jacking fixed plate 3 are horizontal respectively to be equipped with one piece for installing the train driving mechanism 19
Walking mounting plate 7, the outside of two pieces of first mounting plates 4 and two pieces of second mounting plates 33 is separately installed with one ten thousand
To wheel mounting base 8, the universal wheel 9 turned to for 360 ° is separately installed in four universal wheel mounting bases 8.
The top surface of jacking drive module frame body 31 described in the utility model is located at the area between two pieces of first mounting plates 4
Domain is the jacking drive module installing zone 10 for installing jacking drive module 21, and the top surface of the battery module frame body 32 is located at
Region between two pieces of second mounting plates 33 is the battery module installing zone 11 for installing battery module 18.
Electromechanical Control module 17 described in the utility model has four parts, is respectively arranged in four universal wheel mounting bases 8
Top surface, and fitted closely with corresponding first mounting plate 4 or second mounting plate 33, the battery module 18 is installed on
The battery module installing zone 11, the train driving mechanism 19 have two sets, are respectively arranged in 1 two sides of support frame as described above main body
It walks on mounting plate 7, the lifting body 20 is installed on the jacking erecting bed 2, and the jacking drive module 21 is installed on
In the jacking drive module installing zone 10, it is equipped in the video camera installation through-hole 5 and connects with the Electromechanical Control module 17
The video camera connect.
The circumferentially equidistant two or more that is equipped with of the inner wall of video camera installation through-hole 5 described in the utility model described in fixation for taking the photograph
The video camera installation screw 12 of camera, the circumferentially equidistant two or more that is equipped with of the inner wall of the installation through-hole 6 is for fixing the top
Rise the jacking installation screw 13 of mechanism 20.
The outer end of jacking drive module frame body 31 described in the utility model and the outer end difference of the battery module frame body 32
Equipped with one piece for installing the anticollision strip mounting blocks 16 of anticollision strip, one is separately installed on two pieces of anticollision strip mounting blocks 16
Block anticollision strip 29, anticollision strip mounting blocks 16 and the jacking drive module frame body 31 positioned at jacking 31 outer end of drive module frame body
It is an integral structure, is integral type positioned at the anticollision strip mounting blocks 16 of 32 outer end of battery module frame body and the battery module frame body 32
Structure.
The utility model support bracket can it is each main component of robot is simple, quick, be compactly installed together, from
And mounting structure, installation procedure and robot occupied space can be reduced, and robot volume can also be reduced, reduce production system
It makes and maintenance cost, while installing and dismounting is easier, is conducive to later period maintenance；It jacks frame body and is driven respectively with jacking by bolt
Module frame body is fixedly connected with battery module frame body, can be very quickly by jacking frame body, jacking drive module frame body and battery
Module frame body is assembled into the support frame body for integrating robot main component, support frame body on set jacking erecting bed,
Jack fixed plate, the first mounting plate, the second mounting plate, video camera installation through-hole, installation through-hole, walking mounting plate, jacking driving
Module installing zone, battery module installing zone and anticollision strip mounting blocks can simply, fast, compactly drive lifting body, jacking
The components such as dynamic model block, video camera, running gear, battery module, anticollision strip are fully integrated on support frame body, integrate speed
Fastly, process is easy, can effectively reduce the volume of robot, while can also facilitate later period breakdown maintenance, the first mounting plate after integrating
With installation universal wheel mounting base on the second mounting plate, universal wheel mounting base is interior to install universal wheel, and universal wheel is in auxiliary walking device
360 ° of steerings are also able to achieve while operation, the first mounting plate, the second mounting plate and walking mounting plate can also effectively play blocking
The effect of dust makes dust be not easily accessible lifting body, the jacking components such as drive module and battery module, can be effectively to jack
Structure, the jacking components such as drive module and battery module play a protective role.
Train driving mechanism 19 described in the utility model includes hanging bracket 71, is installed on the outside of hanging bracket 71 for driving
The robot ambulation wheel 72 of dynamic intelligence shipping robot ambulation, is installed on the driving motor 73 of 71 inside of hanging bracket, connects institute
The transmission shaft 74 of robot ambulation wheel 72 and the driving motor 73, damping, and lid are stated loaded on 71 outside of hanging bracket
Damping cover board 75；Transmission shaft perforation is offered in the hanging bracket 71, the transmission shaft 74 is arranged in the transmission shaft and wears
Kong Zhong, and the driving axis connection of its inner end and the driving motor 73, outer end are connect with the robot ambulation wheel 72, institute
It states there are two dampings, is assemblied in the outside both ends of the hanging bracket 71 by the damping cover board 75 respectively, it is described to subtract
The damping spring 77 that mechanism includes elastic axis 76 and is arranged on the elastic axis 76 is shaken, the elastic axis 76 is equipped with described
The part of damping spring 77 is assemblied in the outside of the hanging bracket 71, the elastic axis entirely through the damping cover board 75
76 can be freely lifted in the vertical direction relative to the hanging bracket 71, and the damping spring 77 is in the damping cover board 75
In relaxed state, the bottom end of the elastic axis 76 is removably connected on the walking mounting plate 7, all driving motors 73
It is connect respectively with the Electromechanical Control module 17, the both ends of the hanging bracket 71 further respectively have a sway bar 78, described
The bottom end of sway bar 78 is actively plugged on the walking mounting plate 7, is respectively equipped with one on each piece of walking mounting plate 7
For the damping shaft mounting hole 14 of the elastic axis 76 to be fixedly mounted；One is further respectively had on each piece of walking mounting plate 7
A anti-dumping pilot hole 15 for being used to install the sway bar 78, the sway bar 78 can be in the anti-dumping pilot hole 15 in freedom
Lower movement.
The utility model train driving mechanism can effectively eliminate security risk, can be in robot ambulation effectively to robot
And the cargo transported realizes bumper and absorbing shock, guarantee robot and cargo can steady safe transport to destination, while at runtime
Due to the bumper and absorbing shock to robot, robot interior stable structure can effectively ensure that, will not shake excessive production because of when running
It is raw to loosen, maintenance cost is effectively reduced, moreover it is possible to effectively extend robot service life.
Lifting body 20 described in the utility model includes the jacking screw rod 23 being installed on the jacking erecting bed 2, suit
Roller gear 24 on the jacking screw rod 23, and it is installed on the load-bearing support that support material is used on the roller gear 24
Disk 25.The jacking drive module 21 includes the driving mounting bracket 26 being installed in the jacking drive module installing zone 10,
Be installed on it is described driving mounting bracket 26 on jacking driving motor 27, be installed in the driving mounting bracket 26, with it is described
Jacking driving motor 27 is meshed by retarder connection, simultaneously with the roller gear 24 for driving the roller gear 24
The driving gear 28 of operation, the jacking driving motor 27 are connect with the Electromechanical Control module 17.Support frame as described above main body 1
On be additionally provided with the laser radar connecting with the Electromechanical Control module 17.
The utility model Electromechanical Control module be it is existing it is mature control equipment, structure, circuit theory, peripheral circuit diagram,
And control principle etc. is existing mature technology, and the contents of the section is not related to the inventive point of the utility model yet, therefore
This will not be repeated here for the contents of the section, and interesting technical staff can voluntarily check textbook or related teaching material, document.Similarly, electric
The power supply the principle of pond module is also the same, therefore is not also repeated.
Above-described embodiment is only one of preferred embodiments of the present invention, should not be taken to limit the utility model
Protection scope, as long as the utility model body design thought and mentally make have no the change of essential meaning or profit
Color, it is solved the technical issues of it is still consistent with the utility model, the protection scope of the utility model should all be included in
Within.
Claims (10)
1. a kind of Intelligent transfer robot, it is characterised in that: including support bracket, be installed on the support bracket for carrying
And the lifting body (20) of lifting material, it is installed on the support bracket for driving the lifting body (20) to be gone up and down
The jacking drive module (21) of movement is installed on the support bracket for driving the train driving machine of shipping robot ambulation
Structure (19) is installed on the support bracket for controlling the Electromechanical Control module (17) of shipping robot operation, is installed on institute
It states on support bracket for providing the battery module (18) of electric energy, and lid loaded on the support bracket for the operation of shipping robot
On robot shells (22)；The robot shells (22) are by the Electromechanical Control module (17), battery module (18) train
Driving mechanism (19), lifting body (20) and jacking drive module (21) are packaged in the support bracket and the robot shells
(22) be formed by cavity between, the Electromechanical Control module (17) respectively with the battery module (18), train driving machine
Structure (19) and jacking drive module (21) connection；
The support bracket includes jacking frame body (30), jacks drive module frame body (31) and battery module frame body (32), described
Jacking drive module frame body (31) is fixed by bolts in one end of jacking frame body (30), the battery module frame body (32)
It is fixed by bolts in the other end of jacking frame body (30), the jacking drive module frame body (31), the jacking frame body
(30) and the battery module frame body (32) collectively constitutes the support frame body (1) being in a horizontal state；
The top surface of jacking frame body (30) is equipped with the jacking erecting bed (2) for installing the lifting body (20), the top
Rise frame body (30) top surface two sides be respectively provided with one piece with it is described jacking frame body (30) top surface it is perpendicular be used for the jack
The top surface two sides of the jacking fixed plate (3) that structure (20) is reinforced, jacking drive module frame body (31) are respectively equipped with one piece
Perpendicular the first mounting plate (4) with the top surface of jacking drive module frame body (31), the battery module frame body (32)
Top surface two sides are respectively equipped with one piece of second mounting plate (33) perpendicular with the top surface of the battery module frame body (32)；
The jacking erecting bed (2) is located between two pieces of jacking fixed plates (3), and the center of jacking frame body (30) opens up
Have a video camera installation through-hole (5) for installing video camera, on the jacking erecting bed (2) with the video camera installation through-hole
(5) it is offered at corresponding position installation through-hole (6), the video camera installation through-hole (5) and the installation through-hole (6) phase
Logical, the exterior bottom both ends of each piece of jacking fixed plate (3) are horizontal respectively to be equipped with one piece for installing the train driving
The outside of the walking mounting plate (7) of mechanism (19), two pieces of first mounting plates (4) and two pieces of second mounting plates (33) point
One universal wheel mounting base (8) is not installed, one is separately installed in four universal wheel mounting bases (8) and is turned for 360 °
To universal wheel (9)；
It is for pacifying that the top surface of jacking drive module frame body (31), which is located at the region between two pieces of first mounting plates (4),
The top surface of the jacking drive module installing zone (10) of dress jacking drive module (21), the battery module frame body (32) is located at two pieces
Region between second mounting plate (33) is the battery module installing zone (11) for installing battery module (18)；
The Electromechanical Control module (17) has four parts, is respectively arranged in the top surface of four universal wheel mounting bases (8), and with
Corresponding first mounting plate (4) or second mounting plate (33) fit closely, and the battery module (18) is installed on described
Battery module installing zone (11), the train driving mechanism (19) have two sets, are respectively arranged in support frame as described above main body (1) two sides
Walking mounting plate (7) on, the lifting body (20) is installed on the jacking erecting bed (2), the jacking drive module
(21) it is installed in the jacking drive module installing zone (10), is equipped with and the machine in the video camera installation through-hole (5)
The video camera of electric control module (17) connection.
2. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: train driving mechanism (19) packet
Hanging bracket (71) are included, are installed on the outside of hanging bracket (71) for driving the robot ambulation wheel of intelligent shipping robot ambulation
(72), the driving motor (73) being installed on the inside of hanging bracket (71), connects the robot ambulation wheel (72) and the driving
The transmission shaft (74) of motor (73), damping, and lid are loaded on the damping cover board (75) on the outside of hanging bracket (71)；It is described outstanding
Transmission shaft perforation is offered on hanging bracket (71), the transmission shaft (74) is arranged in the transmission shaft perforation, and its inner end
With the driving axis connection of the driving motor (73), outer end is connect with the robot ambulation wheel (72), the damping
There are two, the outside both ends of the hanging bracket (71), the damping are assemblied in by the damping cover board (75) respectively
Including elastic axis (76) and the damping spring (77) being arranged on the elastic axis (76), the elastic axis (76) is equipped with described
The part of damping spring (77) is assemblied in the outside of the hanging bracket (71) entirely through the damping cover board (75), described to subtract
Shake axis (76) can be freely lifted in the vertical direction relative to the hanging bracket (71), and the damping spring (77) is described
It is in relaxed state in damping cover board (75), the bottom end of the elastic axis (76) is removably connected on the walking mounting plate (7),
All driving motors (73) connect with the Electromechanical Control module (17) respectively.
3. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: the lifting body (20) includes peace
Loaded on the jacking screw rod (23) on jacking erecting bed (2), the roller gear (24) being set on jacking screw rod (23),
And it is installed on the bearing tray (25) that support material is used on the roller gear (24).
4. a kind of Intelligent transfer robot according to claim 3, it is characterised in that: jacking drive module (21) packet
The driving mounting bracket (26) being installed in jacking drive module installing zone (10) is included, the driving mounting bracket is installed on
(26) the jacking driving motor (27) on, be installed on the driving mounting bracket (26), with the jacking driving motor (27)
By retarder connection, simultaneously the driving being meshed with the roller gear (24) for driving the roller gear (24) to run
Gear (28), the jacking driving motor (27) connect with the Electromechanical Control module (17).
5. a kind of Intelligent transfer robot according to claim 2, it is characterised in that: the both ends of the hanging bracket (71)
A sway bar (78) is further respectively had, the bottom end of the sway bar (78) is actively plugged on the walking mounting plate (7).
6. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: the video camera installation through-hole (5)
Inner wall it is circumferentially equidistant be equipped with it is more than two for fixing the video camera installation screws (12) of the video camera.
7. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: the inner wall of the installation through-hole (6)
It is circumferentially equidistant to be equipped with more than two jacking installation screws (13) for being used to fix the lifting body (20).
8. a kind of Intelligent transfer robot according to claim 5, it is characterised in that: each piece of walking mounting plate
(7) one is respectively equipped on for the damping shaft mounting hole (14) of the elastic axis (76) to be fixedly mounted；The each piece of walking
One is further respectively had on mounting plate (7) for installing the anti-dumping pilot hole (15) of the sway bar (78), the sway bar
(78) it can freely be moved up and down in the anti-dumping pilot hole (15).
9. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: in support frame as described above main body (1) also
Equipped with the laser radar being connect with the Electromechanical Control module (17).
10. a kind of Intelligent transfer robot according to claim 1, it is characterised in that: the jacking drive module frame body
(31) outer end of outer end and the battery module frame body (32) is respectively equipped with one piece of anticollision strip for installing anticollision strip and installs
Block (16) is separately installed with one piece of anticollision strip (29) on two pieces of anticollision strip mounting blocks (16), is located at jacking drive module frame
The anticollision strip mounting blocks (16) of body (31) outer end are an integral structure with the jacking drive module frame body (31), are located at battery module
The anticollision strip mounting blocks (16) of frame body (32) outer end are an integral structure with the battery module frame body (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821400849.8U CN209007543U (en) | 2018-08-29 | 2018-08-29 | A kind of Intelligent transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821400849.8U CN209007543U (en) | 2018-08-29 | 2018-08-29 | A kind of Intelligent transfer robot |
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| CN209007543U true CN209007543U (en) | 2019-06-21 |
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ID=66831927
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086048A (en) * | 2019-12-23 | 2021-07-09 | 沈阳新松机器人自动化股份有限公司 | Shock attenuation driving wheel train of mobile robot |
| CN114699686A (en) * | 2022-03-28 | 2022-07-05 | 电子科技大学成都学院 | Fire-fighting robot |
-
2018
- 2018-08-29 CN CN201821400849.8U patent/CN209007543U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086048A (en) * | 2019-12-23 | 2021-07-09 | 沈阳新松机器人自动化股份有限公司 | Shock attenuation driving wheel train of mobile robot |
| CN114699686A (en) * | 2022-03-28 | 2022-07-05 | 电子科技大学成都学院 | Fire-fighting robot |
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Address after: 610000 Chengdu, Chengdu, Sichuan, China (Sichuan) free trade test zone, Chengdu high tech Zone, Tianfu five street, No. 200 Building No. 5 Patentee after: Chengdu Turing times Technology Co., Ltd Address before: 610000 Chengdu, Chengdu, Sichuan, China (Sichuan) free trade test zone, Chengdu high tech Zone, Tianfu five street, No. 200 Building No. 5 Patentee before: CHENGDU TULING INTELLIGENT CONTROL TECHNOLOGY Co.,Ltd. |
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