CN210557513U

CN210557513U - Carrying structure of mobile robot

Info

Publication number: CN210557513U
Application number: CN201921500448.4U
Authority: CN
Inventors: 张韬; 王国峰; 裴精精; 刘守家
Original assignee: Anhui Gending Intelligent Technology Co ltd
Current assignee: Anhui Gending Intelligent Technology Co ltd
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2020-05-19
Anticipated expiration: 2029-09-10

Abstract

The utility model relates to the technical field of mobile robots, in particular to a carrying structure of a mobile robot, which comprises a walking robot with a controller, a first guide rail matched with the walking robot, a walking frame, a second guide rail matched with the walking frame, a storage frame and an electric control system, wherein the walking robot comprises a placing table, a tray and a protection mechanism, the placing table is provided with an inserting sheet, and the number of the trays is 2; the left side and the right side of the first guide rail are both provided with a second guide rail; the walking frame comprises a walking main supporting frame, a supporting chassis moving up and down along the walking main supporting frame and a tray pushing arm, the tray pushing arm is provided with a walking mechanism walking along the supporting chassis, and the tray pushing arm ascends to insert into or descend to separate from the positioning groove; the utility model discloses carry 2 trays simultaneously, improve work efficiency, the walking is put up and is equipped with the speedometer and blocks the hole, operation safety.

Description

Carrying structure of mobile robot

Technical Field

The utility model relates to a mobile robot technical field, more specifically say so and relate to a mobile robot's transport structure.

Background

The transfer robot is an automatic product which replaces manual transfer by applying the motion trail of the robot. Along with the development of society and the progress of science and technology, current transfer robot has can not satisfy people's needs, and current transfer robot has certain drawback when using: 1) the carrying capacity is low, and only one piece of goods can be carried at a time; 2) the stability of placing the platform is not high, and transfer robot is at the in-process that removes, and the goods inclines easily or even drops, and then has reduced work efficiency, and the use of giving people has brought certain influence. Therefore, a transfer robot capable of improving the stability of the placing table and improving the work efficiency is required.

SUMMERY OF THE UTILITY MODEL

To the weak point of above-mentioned prior art, the utility model provides a mobile robot's transport structure for solve and how to provide a mobile robot's that improves work efficiency and operation safety transport structure.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a carrying structure of a mobile robot comprises a walking robot with a controller, a first guide rail matched with the walking robot, a walking frame, a second guide rail matched with the walking frame, a storage frame and an electric control system, wherein the walking robot comprises a placing table, trays and a protection mechanism, the placing table is provided with 2 inserting pieces, the trays are provided with positioning grooves and connecting grooves matched with the inserting pieces; the left side and the right side of the first guide rail are both provided with a second guide rail; the walking frame comprises a walking main support frame, a support chassis and a tray pushing arm, the support chassis moves up and down along the walking main support frame, the tray pushing arm is provided with a walking mechanism walking along the support chassis, the tray pushing arm ascends to insert into or descend to separate from the positioning groove, and the walking frame and the walking robot are in signal connection with the electric control system.

Preferably, the protection mechanism comprises an electric telescopic rod and a protective net, the top end of the electric telescopic rod is fixedly connected with the protective net, and the bottom end of the electric telescopic rod is connected with the placing table in a sliding mode.

Preferably, the electric control system comprises an electric control assembly, a laser navigation module and a laser anti-collision module, the electric control assembly comprises a master controller and a communication module connected with the master controller, and the master controller is electrically connected with the laser navigation module and the laser anti-collision module.

Preferably, the bottom end of the placing table is provided with a cooling fan and a control key, and the cooling fan is electrically connected with the control key.

Preferably, the walking main support frame is provided with a speed detector and a blocking hole, and the support chassis is provided with a blocking arm matched with the blocking hole.

Preferably, stop the arm and include position sleeve, limit end sleeve and No. two electric telescopic handle, limit end sleeve with position sleeve sliding connection, No. two electric telescopic handle's one end with position sleeve fixed connection, No. two electric telescopic handle's the other end with limit end sleeve fixed connection.

The utility model has the advantages that:

the tray is fixed on the placing table, goods are placed on the tray, after the position of a target storage rack is input in an electric control system, the walking robot bears the goods and moves along a first guide rail, the walking robot reaches the outer side of the target storage rack, the walking rack corresponding to the target storage rack moves towards the direction of the first guide rail, a tray pushing arm of a left walking rack moves towards a left tray along a supporting chassis and is inserted into a positioning groove, the tray pushing arm rises and returns towards the supporting chassis, the left tray is transferred onto the supporting chassis, a walking main support frame walks to the position of the target storage rack unit cell along a second guide rail, the supporting chassis moves upwards to the target storage rack unit cell, the tray pushing arm rises and moves towards the target storage rack unit cell, the tray bearing the goods is positioned right above the target storage rack unit cell, the tray pushing arm descends, and the tray bearing the goods falls on the target storage rack unit cell, the tray pushing arm continues to descend, is separated from the tray and exits from the positioning groove, the walking robot continues to move along the first guide rail, the tray on the right side is conveyed to the target storage rack, and if the trays on the left side and the right side are conveyed to the storage racks on the left side and the right side of the same horizontal line, the walking racks on the two sides work simultaneously, so that the working efficiency is further improved; when the speed detector detects that the ascending or descending speed of the supporting chassis is abnormal, the blocking arm is clamped into the nearest blocking hole, so that the supporting chassis stops running, and the operation is safe.

To sum up, the utility model provides a mobile robot's transport structure improves work efficiency, operation safety.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments protected by the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the barrier arm;

in the drawings, the reference numerals denote the following components:

1-walking robot, 2-guide rail, 3-walking frame, 4-guide rail, 11-placing table, 12-tray, 13-electric telescopic rod, 14-protective net, 31-walking main support frame, 32-supporting chassis, 33-tray pushing arm, 111-inserting piece, 112-cooling fan, 113-control button, 121-positioning groove, 122-connecting groove, 311-speed detector, 312-blocking hole, 321-positioning sleeve, 322-side end sleeve and 323-electric telescopic rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1-2, a carrying structure of a mobile robot includes a walking robot 1 having a controller, a first guide rail 2 cooperating with the walking robot 1, a walking frame 3, a second guide rail 4 cooperating with the walking frame 3, a storage frame and an electric control system, the walking robot 1 includes a placing table 11, trays 12 and a protection mechanism, the placing table 11 is provided with tabs 111, the number of the trays 12 is 2, the trays 12 are each provided with a positioning groove 121, a connecting groove 122 cooperating with the tabs 111; the left side and the right side of the first guide rail 2 are both provided with a second guide rail 4; the walking frame 3 comprises a walking main support frame 31, a support chassis 32 moving up and down along the walking main support frame 31 and a tray pushing arm 33, the tray pushing arm 33 is provided with a walking mechanism walking along the support chassis 32, the tray pushing arm 33 ascends to insert into or descend to separate from the positioning groove 121, and the walking frame 3 and the walking robot 1 are in signal connection with an electric control system. The pallet 12 is inserted into the connecting groove 122 through the inserting piece 111 and fixed on the placing table 11, the goods are placed on the pallet 12, after the target storage rack position is input into the electric control system, the walking robot 1 receives signals and bears the goods to move along the first guide rail 2, and the protection mechanism prevents the goods on the pallet 12 from inclining; the walking robot 1 reaches the outer side of the target storage rack, the walking rack 3 corresponding to the target storage rack moves to the end of the second guide rail 4 towards the first guide rail 2, the tray pushing arm 33 of the left walking rack 3 moves along the supporting chassis 32 towards the left tray 12 and is inserted into the positioning groove 121, the tray pushing arm 33 rises and retreats to the supporting chassis 32 in the opposite direction, thereby transferring the left tray 12 carrying the goods onto the supporting chassis 32, the walking main supporting frame 31 walks to the position of the target storage rack unit cell along the second guide rail 4, the supporting chassis 32 moves upwards to the target storage rack unit cell, the tray pushing arm 33 rises and moves towards the target storage rack unit cell, the tray 12 carrying the goods is positioned right above the target storage rack unit cell, the tray pushing arm 33 descends, the tray 12 carrying the goods falls on the target storage rack unit cell, and the tray pushing arm 33 continues to descend, is separated from the tray 12 and exits from the positioning groove 121; the walking robot 1 continues to travel along the first guide rail 2, and the pallet 12 to the right is conveyed to the target storage rack.

Wherein, protection machanism includes electric telescopic handle 13 and protection network 14, and electric telescopic handle 13's top and protection network 14 fixed connection, electric telescopic handle 13's bottom and place platform 11 sliding connection. The first electric telescopic rod 13 extends upwards, the protective net 14 prevents goods on the pallet 12 from inclining, the walking robot 1 reaches the outer side of the target storage rack, the first electric telescopic rod 13 contracts downwards, and the protective net 14 does not hinder the pallet pushing arm 33 from working.

The electric control system comprises an electric control assembly, a laser navigation module and a laser anti-collision module, the electric control assembly comprises a master controller and a communication module connected with the master controller, and the master controller is electrically connected with the laser navigation module and the laser anti-collision module.

The bottom end of the placing table 11 is provided with a heat dissipating fan 112 and a control button 113, and the heat dissipating fan 112 is electrically connected with the control button 113. The heat between the walking robot 1 and the first guide rail 2 is reduced by the heat radiation fan 112.

The walking main support frame 31 is provided with a speed detector 311 and a blocking hole 312, the bottom end of the support chassis 32 is provided with a blocking arm matched with the blocking hole 312, and the blocking arm is positioned between the left and right groups of opposite blocking holes 312. When the speed detector 311 detects an abnormal speed of the support chassis 32 rising or falling, the stopper arm is engaged in the nearest stopper hole 312, and the support chassis 32 stops operating.

The blocking arm comprises a positioning sleeve 321, a side end sleeve 322 and a second electric telescopic rod 323, the side end sleeve 322 is in sliding connection with the positioning sleeve 321, one end of the second electric telescopic rod 323 is fixedly connected with the positioning sleeve 321, and the other end of the second electric telescopic rod 323 is fixedly connected with the side end sleeve 322. When the speed detector 311 detects that the speed of the support chassis 32 ascending or descending is abnormal, the second electric telescopic rod 323 extends, and the side end sleeve 322 is clamped into the nearest blocking hole 312 in a sliding mode.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a handling structure of mobile robot, including walking robot (1) that has the controller, with No. one walking robot (1) matched with guide rail (2), walking frame (3), with No. two guide rail (4) of walking frame (3) matched with, storage frame and electrical control system, its characterized in that: the walking robot (1) comprises a placing table (11), trays (12) and a protection mechanism, wherein the placing table (11) is provided with inserting pieces (111), the number of the trays (12) is 2, and the trays (12) are provided with positioning grooves (121) and connecting grooves (122) matched with the inserting pieces (111); the left side and the right side of the first guide rail (2) are both provided with a second guide rail (4); walking frame (3) are including walking main tributary strut (31), edge support chassis (32) and tray that walking main tributary strut (31) reciprocated push away arm (33), tray push away arm (33) are equipped with the edge support chassis (32) walking running gear, tray push away arm (33) rise to insert or descend and break away from constant head tank (121), walking frame (3) and walking robot (1) all with electrical system signal connection.

2. The transfer structure of a mobile robot according to claim 1, wherein: the protection mechanism comprises an electric telescopic rod (13) and a protective net (14), the top end of the electric telescopic rod (13) is fixedly connected with the protective net (14), and the bottom end of the electric telescopic rod (13) is slidably connected with the placing table (11).

3. The transfer structure of a mobile robot according to claim 1, wherein: the electric control system comprises an electric control assembly, a laser navigation module and a laser anti-collision module, the electric control assembly comprises a master controller and a communication module connected with the master controller, and the master controller is electrically connected with the laser navigation module and the laser anti-collision module.

4. The transfer structure of a mobile robot according to claim 1, wherein: the bottom end of the placing table (11) is provided with a cooling fan (112) and a control key (113), and the cooling fan (112) is electrically connected with the control key (113).

5. The transfer structure of a mobile robot according to claim 1, wherein: the walking main support frame (31) is provided with a speed detector (311) and a blocking hole (312), and the support chassis (32) is provided with a blocking arm matched with the blocking hole (312).

6. The transfer structure of a mobile robot according to claim 5, wherein: stop the arm and include abutment sleeve (321), limit end sleeve (322) and No. two electric telescopic handle (323), limit end sleeve (322) with abutment sleeve (321) sliding connection, the one end of No. two electric telescopic handle (323) with abutment sleeve (321) fixed connection, the other end of No. two electric telescopic handle (323) with limit end sleeve (322) fixed connection.