CN211254386U - Fork shipment integration commodity circulation transfer robot - Google Patents

Abstract

The utility model discloses a fork loading and transporting integrated logistics transfer robot, which comprises a balance assisting unit, an executing mechanism, a fork loading and lifting mechanism and a power unit for driving the fork loading and lifting mechanism; the balance assisting unit comprises a support column, the support column is rotatably connected with a suspension column, the upper end of the suspension column is movably connected with a vertical swing arm, one end of the vertical swing arm, which is far away from the actuating mechanism, is movably connected with a power pneumatic cylinder, the lower end of the power pneumatic cylinder is connected with the suspension column, and a pneumatic balance spring is hinged between the suspension column and the vertical swing arm; the supporting column is fixed with the fork-mounted lifting mechanism; the utility model discloses can effectively improve the transportation efficiency of goods in narrow and small space.

Description

Fork shipment integration commodity circulation transfer robot

Technical Field

The utility model relates to a haulage equipment field, especially a fork shipment integration commodity circulation transfer robot.

Background

The logistics transportation actions such as cargo scheduling fork loading and transporting are realized in a narrow space range of indoor and outdoor logistics platforms such as factory warehouses or logistics transfer stations, and the like, and the space is often insufficient by adopting the traditional multiple machines for operation; the existing stage is mostly manual operation, the efficiency is low, and the labor intensity of workers is high; the danger of injury to workers due to the fact that the goods are carried too heavy; meanwhile, the physical consumption of workers is large, the phenomenon of violent transportation of goods exists, and inevitable damage risks are caused to the goods.

At present, manual hydraulic vehicles are adopted for operation, but loading, lifting and carrying also need manual operation, and labor intensity is high. Therefore, no corresponding equipment in the market in the field can solve the problem of logistics application such as fork loading and transportation in a narrow space.

Faithfully use novel patent CN 201620943080.9, disclose a semi-automatic helping hand manipulator, it belongs to engineering machine tool field. The manipulator mainly comprises a rack, wherein a rotating device is arranged above the rack, a control device and a mechanical arm are arranged on the rotating device, the control device is respectively connected with the rotating device and the mechanical arm, and a manipulator is arranged at the tail end of the mechanical arm; the rotating device comprises a primary rotating mechanism, a secondary rotating mechanism and a tertiary rotating mechanism; the mechanical arm comprises a cylinder, a primary mechanical arm, a secondary mechanical arm and a tertiary mechanical arm, the tail end of the tertiary mechanical arm is connected with the mechanical arm, but the structure has high air consumption and cannot be accurately positioned when encountering large-inertia goods;

the invention also discloses a technology of the existing hand-push hydraulic forklift, for example, the invention of patent CN 201910134730.3 relates to a hand-operated hydraulic carrier for logistics, which comprises a frame, a wheel frame and a hydraulic cylinder, wherein the frame comprises two parallel fork legs, one end of each fork leg is provided with a lifting device, a supporting wheel is installed on each lifting device, the wheel frame is positioned at one end of the frame far away from the supporting wheel, the wheel frame is rotatably connected with a steering wheel, the hydraulic cylinder is vertically arranged on the wheel frame, the upper end of the hydraulic cylinder is connected to the frame, one end of the frame far away from the supporting wheel is symmetrically provided with two supporting devices, each supporting device comprises a side deviation wheel, a lifting rod and a driving assembly, the lifting rods are obliquely arranged, the side deviation wheels are installed at the lower ends of the lifting rods, the side deviation wheels and the supporting wheels are at the same height, the frame is provided with two guide holes, one lifting rod is respectively, the driving assembly is arranged on the frame and connected with the lifting rod, but the structure is manual hydraulic and consumes manpower.

SUMMERY OF THE UTILITY MODEL

In order to solve the existing problems, the utility model discloses a fork loading and transporting integrated logistics transfer robot, which comprises a balance assisting unit, an actuating mechanism, a fork loading and lifting mechanism and a power unit for driving the fork loading and lifting mechanism;

the balance assisting unit comprises a support column, the support column is rotatably connected with a suspension column, the upper end of the suspension column is movably connected with a vertical swing arm, one end of the vertical swing arm, which is far away from the actuating mechanism, is movably connected with a power pneumatic cylinder, the lower end of the power pneumatic cylinder is connected with the suspension column, and a pneumatic balance spring is hinged between the suspension column and the vertical swing arm; the support column is fixed with the fork-mounted lifting mechanism.

Further, the support column top rotates and is equipped with the carousel, and the bottom of davit is equipped with the fixed block, the side of fixed block is fixed with first locking cylinder, the side of carousel is located in the clamping jaw of first locking cylinder.

Furthermore, the power unit comprises a power box, a bottom plate is arranged in the power box, and a pneumatic power unit, a hydraulic jacking cylinder, a jacking motor for driving the hydraulic jacking cylinder and an electric control unit are arranged at the upper end of the bottom plate; the lower surface of the bottom plate is provided with a rotating shaft, two ends of the rotating shaft are rotatably connected with a left driving wheel and a right driving wheel, and the left driving wheel and the right driving wheel are respectively driven by a left driving motor and a right driving motor;

the support column is fixed on the power box.

Furthermore, the actuating mechanism comprises a horizontal swing arm and a grabbing mechanism fixed at one end of the horizontal swing arm, and one end, far away from the grabbing mechanism, of the horizontal swing arm is rotationally linked with the vertical swing arm.

Further, the grabbing mechanism is a clamping jaw.

Further, the grabbing mechanism comprises a cargo support, and the upper end of the cargo support is rotatably connected with the horizontal swinging arm; a plurality of suckers are uniformly distributed on the lower surface of the cargo support;

furthermore, a second locking cylinder is arranged at the position of the rotary connection between one end of the horizontal swing arm, which is far away from the grabbing mechanism, and the horizontal swing arm.

Further, the fork dress lifts the mechanism and includes two parallel arrangement's fork board, and the below of each fork board is equipped with two sets of bearing supporting wheels, and the pivot department of each bearing supporting wheel is connected with first keysets, and the center department of first keysets articulates there is the second keysets, and the one end that the second keysets is close to the headstock articulates there is the push rod, and the one end that the bearing supporting wheel was kept away from to the push rod has the front end keysets along the length direction swing joint of fork board, the front end keysets with the bottom plate articulates the setting, fixedly connected with lifting bar between the front end keysets on each push rod, the lifting bar with the output of hydraulic jacking jar, the fork board with the articulated setting of second keysets.

Further, the electric control unit comprises a power supply, and the power supply is in electric signal connection with the left driving motor, the right driving motor, the jacking motor and the pneumatic power unit.

Furthermore, a controller is further arranged in the electric control unit, and the controller is in electric signal connection with the power supply, the first locking cylinder, the second locking cylinder, the power pneumatic cylinder, the pneumatic balance spring, the pneumatic power unit, the left driving motor, the right driving motor and the jacking motor.

The utility model has the advantages that:

(1) the utility model discloses the pneumatic balance spring who sets up plays thrust effect and overcomes gravity and play the balanced action, has reduced the pneumatic cylinder of power and has played the pulling force size to reduce its air consumption, played energy saving's effect.

(2) The utility model discloses can improve the transport efficiency in factory's warehouse or commodity circulation transfer platform's narrow and small space occasion.

(3) The utility model discloses a robot is transported in fork shipment integration commodity circulation realizes accurately stopping to the restraint of flexibility ratio through setting up first locking cylinder and second locking cylinder in swivelling joint department, goods that some inertia are big.

(4) The fork loading and transporting integrated logistics transfer robot of the utility model does not need to drag an air source, and the power supply is suitable for flexible transfer occasions;

(5) the utility model discloses the hydraulic pressure transfer device who fork shipment integration commodity circulation transfer robot that demonstrates goes up and down to move is accomplished by electronic hydraulic drive, replaces manual work, reduces strong in labour, improves the transfer efficiency.

(6) The utility model discloses a set up left driving motor, right driving motor and drive left drive wheel, right drive wheel respectively, adopt the speed of independent control left driving motor, right driving motor to form the differential thus drive motion, the transportation replaces artifical the dragging, reduces intensity of labour, improves the transport efficiency;

(7) the utility model discloses a set up fork dress lifting mechanism starts jacking motor, jacking motor's the rotatory extrusion of hob for the output of hydraulic pressure jacking jar drives the lift bar upward movement, moves the push rod through front end hinged plate, and the push rod transmits power to the second keysets again, thereby with fork board jack-up, plays the effect of fork to the goods.

Drawings

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

FIG. 2 is a partial schematic view of the present invention;

FIG. 3 is a partial schematic view of the present invention;

fig. 4 is a first structural schematic diagram of the fork-mounted lifting mechanism of the present invention;

FIG. 5 is a second schematic structural view of the fork lift mechanism of the present invention;

FIG. 6 is a control schematic diagram of the present invention;

in the figure, 1-a sucker, 2-a cargo support, 3-a horizontal swing arm, 4-a second locking cylinder, 5-a balance cylinder upper hinge, 6-a vertical swing arm, 7-a hanging column, 8-a power cylinder upper hinge, 9-a power pneumatic cylinder, 10-a power cylinder lower hinge, 11-a support column, 12-a power box, 13-a fork plate, 14-a pneumatic power unit, 15-a hydraulic jacking cylinder, 16-a jacking motor, 17-an electronic control unit, 18-a right driving motor, 19-a right driving wheel, 20-a left driving wheel, 21-a left driving motor, 22-a bearing supporting wheel, 23-a second adapter plate, 24-a push rod, 25-a front end adapter plate, 26-a balance cylinder lower hinge, 27-a first adapter plate, 28-bottom plate, 29-lifting rod, 30-pneumatic balance spring, 31-first locking cylinder, 32-rotary disc and 33-fixed block.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

Example 1

As shown in fig. 1 to 5, a fork-loading and transporting integrated logistics transfer robot comprises a balance assisting unit, an executing mechanism, a fork-loading lifting mechanism and a power unit for driving the fork-loading lifting mechanism;

the balance power assisting unit comprises a supporting column 11, the supporting column 11 is rotatably connected with a hanging column 7, the upper end of the hanging column 7 is movably connected with a vertical swing arm 6, one end, far away from the actuating mechanism, of the vertical swing arm 6 is movably connected with a power pneumatic cylinder 9, the lower end of the power pneumatic cylinder 9 is connected with the hanging column 7, specifically, a through groove is formed in the upper end of the hanging column, one end of the vertical swing arm 6 penetrates through the through groove to be hinged with the output end of the power pneumatic cylinder 9, the hinged part is connected with an upper hinge 8 of the power cylinder, and the lower end of the power pneumatic cylinder 9 is connected with the hanging column 7 through a lower hinge; a pneumatic balance spring 30 is hinged between the suspension post 7 and the vertical swing arm 6, in specific implementation, one end of the pneumatic balance spring 30 is provided with a balance cylinder upper hinge 5 which is hinged with the vertical swing arm 6, and the other end is provided with a balance cylinder lower hinge 26 which is hinged with the suspension post 7; the supporting column 11 is fixed with the fork-mounted lifting mechanism; the pneumatic balance spring 30 plays a role of pushing force and overcomes gravity to play a role of balancing, and the pulling force of the power pneumatic cylinder 9 is reduced, so that the air consumption is reduced, and the energy is saved.

Example 2

The embodiment is further optimized on the basis of embodiment 1, specifically, a rotating disc 32 is rotatably arranged at the top of the supporting column 11, a fixed block 33 is arranged at the bottom of the hanging column 7, a first locking cylinder 31 is fixed at the side end of the fixed block 33, and the side edge of the rotating disc 32 is located in a clamping claw of the first locking cylinder 31.

In specific implementation, the power unit comprises a power box 12, a bottom plate 28 is arranged in the power box 12, and a pneumatic power unit 14, a hydraulic jacking cylinder 15, a jacking motor 16 for driving the hydraulic jacking cylinder 15 and an electric control unit 17 are arranged at the upper end of the bottom plate 28; a screw rod of the jacking motor 16 is connected with a hydraulic oil cavity of the hydraulic jacking cylinder 15, and the forward rotation and the reverse rotation of the jacking motor 16 drive the screw rod to move downwards or upwards so as to extrude or release the hydraulic oil cavity of the hydraulic jacking cylinder 15 and drive the lifting action of the output end of the hydraulic jacking cylinder 15; the lower surface of the bottom plate 28 is provided with a rotating shaft, two ends of the rotating shaft are rotatably connected with a left driving wheel 20 and a right driving wheel 19, the left driving wheel 20 and the right driving wheel 19 are respectively driven by a left driving motor 21 and a right driving motor 18, the speed of the left driving motor 21 and the speed of the right driving motor 18 are independently controlled to form differential speed so as to drive movement, manual dragging is replaced in transportation, the labor intensity is reduced, and the transportation efficiency is improved; the pneumatic power unit 14 adopted in the embodiment adopts an air compressor to provide an air source;

the supporting column 11 is fixed on the power box 12.

Example 3

The embodiment is further optimized on the basis of the embodiment 2, specifically, the executing mechanism comprises a horizontal swing arm 3 and a grabbing mechanism fixed at one end of the horizontal swing arm 3, and one end of the horizontal swing arm 3, which is far away from the grabbing mechanism, is rotatably linked with the vertical swing arm 6.

In some embodiments, the gripping mechanism is a gripper, and may be other gripping tools, but is not limited thereto.

Specifically, the grabbing mechanism comprises a cargo support 2, and the upper end of the cargo support 2 is rotatably connected with the horizontal swinging arm 3; a plurality of suckers 1 are uniformly distributed on the lower surface of the goods support 2, and 3 suckers are arranged in the embodiment, but the number of suckers is not limited to 3;

in other embodiments, a second locking cylinder 4 is arranged at the rotary connection position of one end of the horizontal swing arm 3 far away from the grabbing mechanism and the horizontal swing arm 3.

Set up second locking cylinder 4, realize the restraint to the flexibility ratio, can realize accurate the stopping to some goods that inertia is big.

Example 4

The embodiment is a further optimization based on embodiment 3, and specifically, the forklift-mounted lifting mechanism includes two fork plates 13 arranged in parallel, two sets of bearing support wheels 22 are arranged below each fork plate 13, a first adapter plate 27 is connected to a rotating shaft of each bearing support wheel 22, a second adapter plate 23 is hinged to a center of the first adapter plate 27, a push rod 24 is hinged to one end of the second adapter plate 23 close to the power box 12, a front adapter plate 25 is movably connected to one end of the push rod 24 away from the bearing support wheels 22 along a length direction of the fork plates 13, the front adapter plate 25 is hinged to the base plate 28, a lifting rod 29 is fixedly connected between the front adapter plates 25 on each push rod 24, the lifting rod 29 is connected to an output end of the hydraulic jacking cylinder 15, the fork plates 13 are hinged to the second adapter plate 23, a jacking motor is started, a screw rod of the jacking motor is started to rotate and extrude, the output end of the hydraulic jacking cylinder drives the lifting rod to move upwards, the push rod is driven by the front end hinged plate, and then the force is transmitted to the second adapter plate by the push rod, so that the fork plate is jacked up to play a role in forking goods

Specifically, as shown in fig. 6, the electronic control unit 17 includes a power supply, and the power supply is electrically connected to the left driving motor 21, the right driving motor 18, the jacking motor 16, and the pneumatic power unit 14.

Specifically, the electronic control unit 17 is further provided with a controller electrically connected with the power supply, the first locking cylinder 31, the second locking cylinder 4, the power pneumatic cylinder 9, the pneumatic balance spring 30, the pneumatic power unit 14, the left driving motor 21, the right driving motor 18 and the jacking motor 16, wherein the controller mentioned herein is an FX2N-48MR model from mitsubishi corporation of japan, or a controller in the prior art is selected according to specific use, but is not limited thereto.

When the lifting device is used specifically, the pneumatic power unit 14 is started to provide an air source, the lifting motor 16 is started, the screw rod of the lifting motor 16 rotates and extrudes, hydraulic transmission is performed according to the Pascal law, the output end of the hydraulic transmission drives the lifting rod 29 to move upwards, the push rod 24 is driven by the hinged plate 25 at the front end, and the push rod 24 transmits force to the second adapter plate 23, so that the fork plate 13 is jacked up to play a role in forking goods; then start left drive wheel motor 21 and right driving motor 18, drive left drive wheel 20 and right drive wheel 19 and begin to remove, move to the appointed region, start power pneumatic cylinder 9, the output of power pneumatic cylinder 9 drives vertical swing arm 6 and goes up and down in vertical direction, sucking disc 1 adsorbs the goods, operating personnel rotates horizontal swing arm 3, place the goods suitable position can, if need, when removing and stopping, adopt first locking cylinder and second locking cylinder to lock revolute joint department, the location is more accurate, and at vertical swing arm 6 at the lift in-process, pneumatic balance spring has the cushioning effect, effectively practice thrift the air supply.

The above embodiments only describe the best mode of use of the existing equipment, and similar common mechanical means are used to replace the elements in the present embodiments, which fall into the protection scope.

Claims (10)

1. The utility model provides a fork shipment integration commodity circulation transfer robot which characterized in that: the forklift comprises a balance assisting unit, an executing mechanism, a forklift-mounted lifting mechanism and a power unit for driving the forklift-mounted lifting mechanism;

the balance power assisting unit comprises a supporting column (11), the supporting column (11) is rotatably connected with a hanging column (7), the upper end of the hanging column (7) is movably connected with a vertical swing arm (6), one end, far away from the executing mechanism, of the vertical swing arm (6) is movably connected with a power pneumatic cylinder (9), the lower end of the power pneumatic cylinder (9) is connected with the hanging column (7), and a pneumatic balance spring (30) is hinged between the hanging column (7) and the vertical swing arm (6); the supporting column (11) is fixed with the fork-mounted lifting mechanism.

2. The forklift and shipping integrated logistics transfer robot of claim 1, wherein:

support column (11) top is rotated and is equipped with carousel (32), and the bottom of davit (7) is equipped with fixed block (33), the side of fixed block (33) is fixed with first locking cylinder (31), the side of carousel (32) is located in the clamping jaw of first locking cylinder (31).

3. The forklift and shipping integrated logistics transfer robot of claim 1 or 2, wherein:

the power unit comprises a power box (12), a bottom plate (28) is arranged in the power box (12), a pneumatic power unit (14), a hydraulic jacking cylinder (15), a jacking motor (16) for driving the hydraulic jacking cylinder (15) and an electric control unit (17) are arranged at the upper end of the bottom plate (28); the lower surface of the bottom plate (28) is provided with a rotating shaft, two ends of the rotating shaft are rotatably connected with a left driving wheel (20) and a right driving wheel (19), and the left driving wheel (20) and the right driving wheel (19) are respectively driven by a left driving motor (21) and a right driving motor (18);

the supporting column (11) is fixed on the power box (12).

4. The forklift and shipping integrated logistics transfer robot of claim 3, wherein: the executing mechanism comprises a horizontal swing arm (3) and a grabbing mechanism fixed at one end of the horizontal swing arm (3), and one end, far away from the grabbing mechanism, of the horizontal swing arm (3) is rotationally linked with the vertical swing arm (6).

5. The forklift and shipping integrated logistics transfer robot of claim 4, wherein: the grabbing mechanism is a clamping jaw.

6. The forklift and shipping integrated logistics transfer robot of claim 4, wherein: the grabbing mechanism comprises a cargo support (2), and the upper end of the cargo support (2) is rotatably connected with the horizontal swinging arm (3); the lower surface of the goods support (2) is uniformly distributed with a plurality of suckers (1).

7. The forklift and shipping integrated logistics transfer robot of claim 4, wherein: and a second locking cylinder (4) is arranged at the rotary connection position of one end of the horizontal swing arm (3) far away from the grabbing mechanism and the horizontal swing arm (3).

8. The forklift and shipping integrated logistics transfer robot of claim 3, wherein: the fork-mounted lifting mechanism comprises two fork plates (13) arranged in parallel, two groups of bearing supporting wheels (22) are arranged below each fork plate (13), a first adapter plate (27) is connected to a rotating shaft of each bearing supporting wheel (22), a second adapter plate (23) is hinged to the center of the first adapter plate (27), a push rod (24) is hinged to one end, close to the power box (12), of the second adapter plate (23), a front end adapter plate (25) is movably connected to one end, far away from the bearing supporting wheels (22), of the push rod (24) along the length direction of the fork plates (13), the front end adapter plate (25) is hinged to the bottom plate (28), a lifting rod (29) is fixedly connected between the front end adapter plates (25) on each push rod (24), the lifting rod (29) is connected with the output end of the hydraulic jacking cylinder (15), and the fork plate (13) is hinged with the second adapter plate (23).

9. The forklift and shipping integrated logistics transfer robot of claim 3, wherein: the electric control unit (17) comprises a power supply, and the power supply is in electric signal connection with the left driving motor (21), the right driving motor (18), the jacking motor (16) and the pneumatic power unit (14).

10. The forklift and shipping integrated logistics transfer robot of claim 9, wherein: and a controller is also arranged in the electric control unit (17), and the controller is in electric signal connection with the power supply, the first locking cylinder (31), the second locking cylinder (4), the power pneumatic cylinder (9), the pneumatic balance spring (30), the pneumatic power unit (14), the left driving motor (21), the right driving motor (18) and the jacking motor (16).

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