CN211920788U

CN211920788U - L-shaped transportation robot

Info

Publication number: CN211920788U
Application number: CN202020443620.3U
Authority: CN
Inventors: 周林榛
Original assignee: Chengdu Xingya Innovation Technology Co ltd
Current assignee: Chengdu Hangfa Robot Co ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-11-13
Anticipated expiration: 2030-03-31

Abstract

An L-shaped transportation robot comprises a frame, a stand column, a driving gear train, a driven gear train and a lifting system; the frame is provided with a lifting system; the lifting system comprises at least two lifting units, each lifting unit comprises a supporting device, a driving system, a lifting plate and at least two guiding devices, wherein the driving system is arranged in the middle of the supporting device, the guiding devices are symmetrically arranged on the supporting devices on two sides of the driving system, the upper ends of the guiding parts of the guiding devices and the driving ends of the driving system are respectively and fixedly connected to the lifting plates, and the driving axial direction of the driving system is the same as the guiding axial direction of the guiding devices; the driving gear train and the driven gear train are both arranged below the frame; the upright post is vertically arranged at the front end of the frame; the upright column is provided with a master control device for controlling the lifting of the lifting unit and the navigation and the advancing of the L-shaped transportation robot.

Description

L-shaped transportation robot

Technical Field

The utility model relates to a "L" type conveying robot belongs to the robot field for the transportation.

Background

With the progress of technology, various industrial robots gradually replace traditional specific manual operation, and play an increasingly important role in the aspect of improving the industrial production efficiency. In the field of warehouse logistics, the operations of sorting, picking and loading and the like are generally completed manually, namely, workers shuttle between shelves in a warehouse to pick and place goods on the shelves. It is conceivable that the above approach has a number of disadvantages: firstly, the operation efficiency is low, and for the circulation of a large amount of goods, the efficiency of manual operation becomes a bottleneck process; secondly, the labor intensity is high, and workers need to walk for a long distance in the process of taking and placing a large amount of goods; furthermore, in order to reserve a passage for workers, enough passage space needs to be reserved between the shelves, so that the shelves are arranged loosely and occupy a large space.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a transport robot, aim at realize the promotion of freight efficiency, the reduction of cost of labor, the promotion of goods space utilization puts most electrical equipment in the stand, further reduces the automobile body height, adapts to lower goods shelves and uses the scene.

In order to achieve the above purpose, the technical scheme of the utility model is that:

an L-shaped transportation robot comprises a frame, a stand column, a driving gear train, a driven gear train and a lifting system; a lifting system is arranged on the frame; the lifting system comprises at least two lifting units, each lifting unit comprises a supporting device, a driving system, a lifting plate and at least two guiding devices, wherein the driving system is arranged in the middle of the supporting device, the guiding devices are arranged on the supporting devices on two sides of the driving system, the upper ends of the guiding parts of the guiding devices and the driving ends of the driving system are respectively and fixedly connected to the lifting plates, and the driving axial direction of the driving system is the same as the guiding axial direction of the guiding devices; the driving gear train and the driven gear train are both arranged below the frame; the upright post is vertically arranged at the front end of the frame; the upright post is provided with a master control device for controlling the lifting of the lifting unit and the navigation of the L-shaped transportation robot, and the master control device can adopt conventional mechanical electric control devices, such as a PLC (programmable logic controller) electric control device and a single-chip microcomputer electric control device.

Realize the promotion of freight efficiency, the reduction of cost of labor, the promotion of goods space utilization puts most electrical equipment in the stand, further reduces the automobile body height, adapts to lower goods shelves application scene.

Furthermore, the lifting unit is vertically fixed on the bottom plate of the frame, so that the height of the vehicle body can be further reduced.

Furthermore, a lifting platform is arranged on the horizontal plane of the lifting unit, so that the requirement of specific goods transportation is met, the transported object is placed more stably, and if a rigid lifting platform is adopted, the carrying capacity can be increased, and the lifting unit has certain anti-unbalance loading capacity.

Further, the upright post is provided with an electric control panel, and when manual operation is needed, the transportation robot can be manually operated.

Furthermore, the top end of the upright post is provided with a navigation laser radar, so that the surrounding environment can be detected at a higher height, and the navigation accuracy is facilitated.

Furthermore, at least one anti-collision laser radar is respectively arranged at the front end and the rear end of the frame, and the obstacle is detected in the traveling direction with a lower height, so that the purposes of obstacle avoidance and navigation are achieved.

Further, the frame both ends are equipped with the anticollision and touch the limit, stop when the collision takes place, "L" type haulage robot bring to rest, avoid bigger loss.

Furthermore, the front end and the rear end of the frame are respectively provided with two traveling direction indicating lamps, so that the traveling direction can be prompted, and the traveling direction indicating lamps can be observed if manual operation is needed, so that collision between a person and the robot is avoided.

Furthermore, the rear end of the frame is provided with a charging interface, and the electric power storage equipment (such as a storage battery) can be arranged in the vehicle body and can be automatically guided to charge when the electric power storage equipment is low in electric quantity.

Furthermore, the driving wheel system is provided with a suspension system, so that the robot runs more stably.

The utility model has the advantages that:

1. realize the promotion of freight efficiency, the reduction of cost of labor, the promotion of goods space utilization puts most electrical equipment in the stand, further reduces the automobile body height, adapts to lower goods shelves application scene.

2. The lifting unit is arranged on the frame bottom plate, so that the height of the transport robot can be reduced, and the lifting device is suitable for shorter operation environments.

3. A platform structure is arranged on the lifting unit, and the requirement of specific goods transportation is met.

4. The stand sets up electrical control panel, this transport robot of manual operation when needing manual operation.

5. The top end of the upright post is provided with the navigation laser radar, so that the surrounding environment can be detected at a higher height, and the obstacle avoidance and navigation accuracy can be better facilitated.

6. The front end and the rear end of the frame are respectively provided with at least one anti-collision laser radar which is used for detecting obstacles in the traveling direction with lower height so as to achieve the purposes of obstacle avoidance and navigation.

7. The frame both ends set up the anticollision and touch the limit, stop when the collision takes place, "L" type haulage robot bring to rest, avoid bigger loss.

8. The front end and the rear end of the frame are provided with the traveling direction indicating lamps, the traveling direction indicating lamps can prompt the traveling direction, and if manual operation is needed, the traveling direction indicating lamps are observed, so that the collision between a person and the robot is avoided.

9. The rear end of the frame is provided with a charging interface, and automatic navigation is performed for charging in low power.

10. The driving wheel system is provided with a suspension system, so that the L-shaped transportation robot runs more stably.

Drawings

FIG. 1 is a reference diagram of the utility model in use;

fig. 2 is a front view of the present invention;

fig. 3 is a left side view of the present invention;

fig. 4 is a top view of the present invention;

fig. 5 is a structural view of the lifting unit.

In the figure: 1. a navigation laser radar; 2. an infrared collision avoidance sensor; 4. an equipment operating light; 5. an electrical control panel; 6. a scram switch; 7. an electric box; 8. an antenna; 9. a traveling direction indicator light; 10. collision avoidance laser radar; 11. collision prevention and edge contact; 12. a frame; 13. a driven gear train; 14. a wheel-side window panel; 15. a driving wheel train; 16. a lifting platform; 17. a lifting unit; 18. and a charging interface.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further explained with reference to the accompanying drawings.

In the present embodiment, as shown in fig. 1 to 5, an "L" type transport robot includes: the device comprises a frame 12, a stand column, a driving gear train 15, a driven gear train 13 and a lifting system, wherein the frame 12 adopts a square platform structure; the rear end of the frame is provided with a charging interface 18, two anti-collision laser radars 10 are arranged on a diagonal line of the frame 12, anti-collision contact edges 11 are arranged at two ends of the frame 12, and advancing direction indicator lamps 9 are arranged at four corners of the frame 12 respectively; frame 12 both sides middle part sets up a drive train 15 respectively, totally two drive trains 15, drive train 15 has suspension, frame 12 four corners respectively sets up a driven train 13, driven train 13 is the universal wheel, drive train 15 includes driving motor and action wheel, total accuse equipment control driving motor just reverses and the rotational speed, every driving motor single control, the outside frame 12 part of drive train 15 is equipped with the wheel limit board 14 of fretwork, the outside frame 12 part of universal wheel is equipped with the observation opening.

The driving system of the lifting unit 17 is a lifting cylinder, the lifting plate includes a movable plate 23 and a fixed plate 22, and the base includes a fixed bracket 28 and a lower support 27.

The lifting unit 17 comprises a lifting oil cylinder 26, a movable plate 23, a fixed plate 22, a lower supporting seat 27, a fixed bracket 28 and two guide devices; the guide rail device comprises a slide block 24 and a guide rail 25, and the slide block 24 is sleeved on the guide rail 25; the driving axial direction of the lifting oil cylinder 26 is the same as the axial direction of the guide rail 25 and is vertical; the movable plate 23 is provided with a hole position with the same size as the driving end of the lifting oil cylinder 26 and a hole position with the same size as the guide rail 25, the driving end and the guide rail penetrate through the corresponding hole positions and are fixedly connected with the movable plate 23, and the movable plate 23 is fixedly connected with the fixed plate 22; the guide rail 25 is perpendicular to the plane of the movable plate 23; the fixed end of the lifting oil cylinder 26 is fixed in the middle of the fixed support 28, the slide block 24 is fixed on the fixed support 28, the guiding devices are symmetrically distributed on two sides of the lifting oil cylinder 26, and the fixed support 28 is vertically fixed on the lower support seat 27; the guide rail 25 is perpendicular to the plane of the lower support seat 27, the linear displacement sensor 21 is arranged on the fixed support 28, the linear displacement sensor 21 is perpendicular to the plane of the movable plate 23, and a sensor connecting plate 29 is arranged on the lower surface of the movable plate 23 corresponding to the position of the linear displacement sensor 21.

The lifting units 17 are of strip structures, the two lifting units 17 are vertically placed and evenly fixed on a bottom plate of the frame 12, and a lifting platform 16 is installed on the horizontal planes of the two lifting units.

The upright post is vertically arranged at the front end of the frame 12; the height of the upright post is higher than that of the carried goods; the top end of the upright post is provided with a navigation laser radar 1, the upright post is also provided with an infrared anti-collision sensor 2 and an equipment operation lamp 4, the upright post is provided with an electric control panel 5, an emergency stop switch 6, an antenna 8, the equipment operation lamp 4 and an electric box 7, a master control device is arranged in the electric box 7, and an electric power storage device can be arranged in a vehicle body; the master control equipment controls the lifting of the lifting unit 17 and the navigation of the L-shaped transportation robot to advance, the electric control panel 5 is used for manually controlling the L-shaped transportation robot, and the antenna 8 is used for remotely scheduling or remotely controlling the L-shaped transportation robot.

The method of use of the above embodiment is as follows:

firstly, controlling an L-shaped transport robot to navigate and walk to enable a frame to move below goods to be moved;

then, the master control equipment controls the lifting action of the lifting oil cylinders, signals are transmitted through the linear displacement sensors, the master control equipment controls the displacement of each lifting oil cylinder to carry out comparison control, the displacement of the driving ends of the lifting oil cylinders is automatically adjusted, under the action of the rigid lifting platform, the synchronous lifting of the two lifting units is realized, and the goods are lifted to be left;

and then, controlling the navigation of the L-shaped transport robot to enable the frame to move below the appointed goods placing position, and synchronously lifting the two lifting units in the same step 2 so as to place the goods at the appointed position.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An "L" type haulage robot which characterized in that: comprises a frame (12), a column, a driving gear train (15), a driven gear train (13) and a lifting system;

a lifting system is arranged on the frame (12);

the lifting system comprises at least two lifting units (17), the lifting units (17) comprise supporting devices, a driving system, a lifting plate and at least two guiding devices, wherein the driving system is arranged on the supporting devices, the guiding devices are symmetrically arranged on the supporting devices on two sides of the driving system, the upper ends of the guiding parts of the guiding devices and the driving ends of the driving system are respectively and fixedly connected to the lifting plate, and the driving axial direction of the driving system is the same as the guiding axial direction of the guiding devices;

the driving gear train and the driven gear train are both arranged below the frame; the upright post is vertically arranged at the front end of the frame; the upright post is provided with a master control device for controlling the lifting of the lifting unit (17) and the navigation and the advancing of the L-shaped transportation robot.

2. The "L" -shaped transport robot of claim 1, wherein: the lifting unit (17) is vertically fixed on a bottom plate of the frame (12).

3. The "L" -shaped transport robot of claim 2, wherein: a lifting platform (16) is arranged on the horizontal plane of the lifting unit (17).

4. The "L" -shaped transport robot of claim 3, wherein: the upright post is provided with an electric control panel (5).

5. The "L" -shaped transport robot of claim 4, wherein: and a navigation laser radar (1) is arranged at the top end of the upright post.

6. The "L" -shaped transport robot of claim 5, wherein: the front end and the rear end of the frame (12) are respectively provided with at least one anti-collision laser radar (10).

7. The "L" -shaped transport robot of claim 6, wherein: and anti-collision contact edges (11) are arranged at two ends of the frame (12).

8. The "L" -shaped transport robot of claim 7, wherein: the front end and the rear end of the frame (12) are respectively provided with two traveling direction indicating lamps (9).

9. The "L" -shaped transport robot of claim 8, wherein: the rear end of the frame (12) is provided with a charging interface (18).

10. The "L" -shaped transport robot of claim 9, wherein: the drive train (15) is provided with a suspension system.