CN213738432U

CN213738432U - Transfer robot

Info

Publication number: CN213738432U
Application number: CN202022375541.6U
Authority: CN
Inventors: 文永翔; 邱方长; 吕遥; 刘义; 徐坚; 马晓庆; 张松涛
Original assignee: Zhejiang EP Equipment Co Ltd
Current assignee: Zhejiang EP Equipment Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2021-07-20
Anticipated expiration: 2030-10-22

Abstract

The utility model relates to a transfer robot, the scheme is that the sensing component and the restoring component which can detect the inclination angle of the operating handle are arranged on the basis of the rotatable operating handle, so that the switching from the automatic mode to the manual mode is completed by the middle control unit in the process of lowering the operating handle when the operating handle is used, when the operator releases the operating handle, the operating handle returns to the vertical state under the action of the restoring component, the middle control unit is switched from the manual mode to the automatic mode, the human-computer interaction experience is better, the problem that the operator forgets the switching mode easily is solved, the scheme changes the traditional non-replaceable battery pack into the lithium battery pack which is convenient for rapidly replacing the lithium battery main body, on one hand, the size of the battery is reduced, the size and the turning radius of a frame become smaller, and the transfer robot is more favorable for the rotation of the robot under the complex condition, on the other hand, because the lithium battery can be replaced for many times, the robot can realize 24-hour uninterrupted operation.

Description

Transfer robot

Technical Field

The utility model relates to a logistics robot field, concretely relates to transfer robot.

Background

With the rapid popularization of intelligent manufacturing, the manufacturing industry in China is gradually changing from manual labor intensive type to technical equipment intensive type, the traditional production mode is upgraded towards intellectualization, and the market demand of advanced intelligent equipment is rapidly expanded. In a plurality of intelligent industries, a logistics robot with functions of carrying, stacking and the like becomes an industrial hotspot. With the development of society, the requirement of enterprises on the space utilization rate is higher and higher, and the smaller the physical size and the turning radius of the logistics machine are, the better the logistics machine can meet the requirement of the same performance. Meanwhile, the requirement on the human-computer interaction performance of the logistics robot is higher and higher, and the operation is required to be simple and convenient.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a transfer robot capable of flexibly switching an interaction mode, so as to achieve more efficient and convenient robot-to-machine interaction.

In order to solve the problem, the utility model adopts the following technical scheme: a transfer robot comprises a frame, a fork and a corresponding lifting oil cylinder, a hydraulic station and a central control unit, wherein the fork and the corresponding lifting oil cylinder are arranged at the front end of the frame; the top of the frame is provided with a laser navigation unit for judging the position of the robot, and the central control unit can control the driving wheels to move through the vehicle controller according to position signals transmitted by the laser navigation unit in an automatic mode; the rear end of the frame is provided with a control handle which can be rotatably arranged, a potentiometer for detecting the horizontal rotation angle of the control handle, an induction component for detecting the inclination angle of the control handle and a return piece for returning the control handle to a vertical state when the control handle is not subjected to external force; the potentiometer can detect the horizontal rotation angle of the control handle in a manual mode and transmits corresponding steering data to a vehicle controller under the control of the central control unit; the sensing assembly can be connected with the central control unit, and the sensing assembly can be triggered when the operating handle inclines beyond a certain degree, so that the central control unit is switched from an automatic mode to a manual mode; and a lithium battery component convenient for rapidly replacing the lithium battery is arranged on the frame. The scheme is characterized in that the sensing assembly and the restoring piece which can detect the inclination angle of the operating handle are arranged on the basis of the rotatable operating handle, so that when an operator uses the operating handle, the control unit completes the switching from the automatic mode to the manual mode in the process of pressing down the operating handle, when the operator releases the operating handle, the operating handle returns to the vertical state under the action of the restoring piece, the central control unit completes the switching from the manual mode to the automatic mode, the human-computer interaction experience is better, the problem that the operator forgets the switching mode easily is solved, in the scheme, the traditional non-replaceable battery pack is replaced by the lithium battery pack which is convenient for rapidly replacing the lithium battery main body, on one hand, the size of the battery is reduced, the size and the turning radius of the frame are smaller, the rotation of a robot under complex conditions is more facilitated, on the other hand, the lithium battery can be replaced for multiple times, the operator can charge other batteries when one battery works, and the battery after charging is replaced with the battery of work, so that the robot can realize 24-hour uninterrupted work, and the time wasted in the original charging process can be saved for work compared with the traditional battery pack.

Furthermore, the lower end of the operating handle is provided with a handle turntable which horizontally rotates together with the operating handle, the lower end of the handle turntable is provided with a trigger piece, and the potentiometer is fixed on the outer edge of the handle turntable through a bracket; the handle turntable is hinged with the operating handle, the operating handle can rotate downwards along the hinged shaft, and the sensing assembly comprises a proximity switch and a sensing body; the proximity switch is arranged on the handle turntable, and the inductor is arranged on the control handle; when the operating handle is inclined to a certain degree, the inductor can enter the induction area of the proximity switch. Through the mode of proximity switch and inductor, when realizing that the operating handle inclines to certain degree, enable the inductor and get into in the proximity switch response area, proximity switch triggers, gives well accuse unit a signal, well accuse unit is switched into manual mode by automatic mode. The proximity switch is an inductive proximity sensor, and the induction head is an inductance coil with a ferrite magnetic core and can detect a metal body; when the metal object approaches the induction head, the inner part of the proximity switch acts, thereby achieving the control of 'on' and 'off'.

Furthermore, the upper end of the handle turntable is provided with a joint seat, the lower end of the operating handle is provided with a handle joint, the handle joint is hinged with the joint seat and rotates around a hinged shaft relatively, and a pin shaft is positioned and installed in the handle joint and is coaxially arranged with the handle joint in a rotating way; the restoring piece is a torsion spring arranged on the pin shaft; but the torsional spring cover is established on the round pin axle body and the circumference is adjusted torsion, and the one end of torsional spring is acted on the operating handle, and the other end is connected in the round pin axle, and the retaining member acts on the round pin axle and makes round pin axle fixed position. In this scheme, the restoring piece is for locating the epaxial torsional spring of round pin, and the one end of torsional spring acts on the control handle, and the other end is connected in the round pin axle, and external force disappears the back, and the torsional spring can turn back control handle and handle carousel to initial position.

Furthermore, at least one section of the pin shaft is a positioning section, one end of the pin shaft is provided with a groove, one end of the torsion spring penetrates through the groove, and two ends of the pin shaft are respectively arranged at two sides in the handle joint; the locking piece is a limiting block, the limiting block is provided with a limiting part, and the positioning section of the pin shaft is positioned in the limiting part; the limiting part is abutted against the side surface of the prism body, so that the whole pin shaft is fixed.

Furthermore, a groove is arranged in the handle joint, and one end of the torsion spring is arranged in the groove.

Further, the handle joint includes protecgulum and hou gai, and the front and back portion of joint seat all is equipped with the blotter, and when not rotating, the lower extreme of protecgulum can touch the anterior blotter of joint seat, and when rotating the back, the lower extreme of back lid can touch the blotter at joint seat rear portion. In order to prevent the excessive collision and abrasion between the lower ends of the front cover and the rear cover of the handle joint and the front part and the rear part of the joint seat in the rotating process, the front part and the rear part of the joint seat are respectively provided with a buffer pad, when the front cover and the rear cover do not rotate, the lower end of the front cover can touch the buffer pad at the front part of the joint seat, and when the front cover and the rear cover rotate, the lower end of the rear cover can touch the buffer pad at the rear part of the joint seat.

Furthermore, the lithium battery component comprises a replaceable battery body, a lithium battery base matched with the battery body, and a plug-in female connector for electrically connecting the battery body and the lithium battery base; the female plug comprises a connecting part and a plug part, the lower end of the battery body is provided with an installation part, the connecting part is connected in the installation part through a rubber ring, the elastic direction generated by the rubber ring is in front-back contact, the lithium battery base is fixedly provided with a male plug, and the plug part of the female plug is vertically inserted into the male plug. The buffer rubber ring is allowed to deform to a certain extent, so that when the battery is impacted, certain vibration can be absorbed, a buffer effect is achieved, the connector is stably connected, and the vibration can be reduced under the condition that the size of the battery box is not increased; when the connector inserts the connection, hard connection has been avoided, because of the existence of production error, the local phenomenon that stress concentration appears in the connector must appear at the in-process of direct plug, through the deformation of rubber circle in the limited range, thereby make stress concentration's phenomenon slow down, through the deformation of rubber circle, eliminate most error clearance, the interaction force of the non-plug direction between the connecting piece reduces by a wide margin, thereby increase of service time, increase the plug number of times, extension lithium cell life.

Through the technical scheme, the sensing assembly and the return piece which can detect the inclination angle of the operating handle are arranged on the basis of the rotatable operating handle, so that when an operator uses the operating handle, the control unit completes the switching from the automatic mode to the manual mode in the process of lowering the operating handle, when the operator releases the operating handle, the operating handle returns to the vertical state under the action of the return piece, the control unit completes the switching from the manual mode to the automatic mode, the man-machine interaction experience is better, the problem that the operator forgets the switching mode easily is solved, in the scheme, the traditional non-replaceable battery pack is replaced by the lithium battery assembly which is convenient for quickly replacing the lithium battery main body, on one hand, the size of the battery is reduced, the size and the turning radius of the frame become smaller, and the rotation of the robot under the complex condition is more facilitated, on the other hand, because the lithium cell can be changed many times, the operator can charge other batteries when a battery works, change with the battery of work again after finishing charging, make the robot realize 24 hours uninterrupted duty, simultaneously for traditional group battery, can save the time of the waste in the original charging process and get down and be used for work.

Drawings

Fig. 1 is an overall explanatory view of the transfer robot of the present invention.

Fig. 2 is an exploded explanatory view of the transfer robot of the present invention.

Fig. 3 is an explanatory view of the operation of the joystick.

Fig. 4 is an explanatory view of the operating handle of the present invention.

Fig. 5 is an explanatory view of the operating handle of the present invention.

Fig. 6 is an explanatory view of the lithium battery pack of the present invention.

Fig. 7 is an explanatory view of the connector of the present invention.

In the figure: the automatic control device comprises a frame body 1, a control handle 11, a lithium battery pack 12, an installation position 110, a lifting oil cylinder 14, a pallet fork 13, a laser navigation 15, a driving wheel 19, a hydraulic station 18, a central control unit 17, a vehicle controller 16, a battery body 121, a battery base 122, a female plug-in connector 123, a male plug-in connector 124, a connecting part 142, a plug-in part 144, a connecting part 143, a rubber ring 141, a handle joint 111, a pin shaft 112, a limiting block 117, a torsion spring 118, a handle turntable 113, a joint seat 1132, a proximity switch 114, an inductor 115, a rear cover 119, a cushion pad 116, a trigger piece 1135, a potentiometer 1136 and a support 1137.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be a mechanical connection, but also an electrical connection; can be directly connected or indirectly connected through intervening media, and can communicate between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Example 1: as shown in fig. 1 to 7, a transfer robot includes a frame, a fork 13 and a corresponding lift cylinder 14 disposed at a front end of the frame, a hydraulic station 18 and a central control unit 17 disposed inside the frame, and a driving wheel 19 disposed at a lower portion of the frame, wherein the central control unit 17 can control hydraulic oil in the hydraulic station 18 to flow into the lift cylinder 14, so that the lift cylinder 14 jacks the fork 13; the top of the frame is provided with a laser navigation unit for judging the position of the robot, and the central control unit 17 can control the driving wheel 19 to move through the vehicle controller 16 according to a position signal transmitted by the laser navigation unit in an automatic mode; the rear end of the frame is provided with a control handle 11 which can be rotatably arranged, a potentiometer 1136 for detecting the horizontal rotation angle of the control handle 11, an induction component for detecting the inclination angle of the control handle 11 and a return piece for returning the control handle 11 to a vertical state when no external force is applied to the control handle; the potentiometer 1136 can detect the horizontal rotation angle of the operating handle 11 in the manual mode, and transmit the corresponding steering data to the vehicle controller 16 under the control of the central control unit 17; the sensing assembly can be connected with the central control unit 17, and the sensing assembly can be triggered when the operating handle 11 inclines beyond a certain degree, so that the central control unit 17 is switched from an automatic mode to a manual mode; the frame is provided with a lithium battery component 12 which is convenient for rapidly replacing the lithium battery. According to the scheme, the sensing assembly and the restoring piece capable of detecting the inclination angle of the operating handle 11 are arranged on the basis of the rotatable operating handle 11, so that when an operator uses the operating handle 11, the control unit 17 completes the switching from the automatic mode to the manual mode in the process of pressing down the operating handle 11, when the operator releases the operating handle 11, the operating handle 11 returns to the vertical state under the action of the restoring piece, the central control unit 17 completes the switching from the manual mode to the automatic mode, the man-machine interaction experience is good, the problem that the operator forgets to switch the mode easily is solved, in the scheme, the traditional non-replaceable battery pack is replaced by the lithium battery assembly convenient for quickly replacing the lithium battery main body, on one hand, the size of the battery is reduced, the size and the turning radius of the vehicle frame are smaller, and the rotation of the robot under complex conditions is more facilitated, on the other hand, because the lithium cell can be changed many times, the operator can charge other batteries when a battery works, change with the battery of work again after finishing charging, make the robot realize 24 hours uninterrupted duty, simultaneously for traditional group battery, can save the time of the waste in the original charging process and get down and be used for work.

As shown in fig. 5, the lower end of the operating handle 11 is provided with a handle rotating disc 113 which horizontally rotates together with the operating handle, the lower end of the handle rotating disc 113 is provided with a trigger plate 1135, and a potentiometer 1136 is fixed on the outer edge of the handle rotating disc 113 through a bracket; the handle rotating disc 113 is hinged with the operating handle 11, the operating handle 11 can rotate downwards along a hinged shaft, and the sensing assembly comprises a proximity switch and a sensing body; the proximity switch is arranged on the handle turntable 113, and the inductor is arranged on the operating handle 11; when the operating handle 11 is inclined to a certain degree, the inductor can enter the induction area of the proximity switch. Through the mode of proximity switch and inductor, when realizing that operating handle 11 slopes to certain extent, enable the inductor and get into in the proximity switch induction zone, proximity switch triggers, gives well accuse unit 17 a signal, well accuse unit 17 is switched into manual mode by automatic mode. The proximity switch is an inductive proximity sensor, and the induction head is an inductance coil with a ferrite magnetic core and can detect a metal body; when the metal object approaches the induction head, the inner part of the proximity switch acts, thereby achieving the control of 'on' and 'off'.

As shown in fig. 4 to 5, a joint seat 1132 is disposed at the upper end of the handle turntable 113, a handle joint 111 is disposed at the lower end of the operating handle, the handle joint 111 is hinged to the joint seat 1132 and rotates around a hinge shaft, and a pin 112 is positioned and installed in the handle joint 111 and coaxially rotates with the handle joint 111; the restoring piece is a torsion spring 118 arranged on the pin shaft 112; the torsion spring 118 is sleeved on the shaft body of the pin shaft 112 and can circumferentially adjust torsion, one end of the torsion spring 118 acts on the operating handle 11, the other end of the torsion spring is connected to the pin shaft 112, and the locking member acts on the pin shaft 112 and enables the pin shaft 112 to be fixed and positioned. In this scheme, the restoring member is a torsion spring 118 disposed on the pin 112, one end of the torsion spring 118 acts on the operating handle 11, the other end is connected to the pin 112, and after the external force disappears, the torsion spring 118 can turn back the operating handle 11 and the handle turntable 113 to the initial position.

As shown in fig. 4, at least one section of the pin 112 is a positioning section, one end of the pin 112 is provided with a slot, one end of the torsion spring 118 penetrates through the slot, and two ends of the pin 112 are respectively disposed at two sides in the handle joint 111; the locking piece is a limiting block 117, the limiting block 117 is provided with a limiting part, and the positioning section of the pin shaft 112 is positioned in the limiting part; the limiting portion abuts against the side surface of the prism body, so that the whole pin shaft 112 is fixed. A slot is provided in the handle joint 111, and one end of the torsion spring 118 is placed in the slot.

As shown in fig. 4, the handle joint 111 includes a front cover and a rear cover 119, the front and rear portions of the joint seat 1132 are provided with cushion pads 116, when the handle joint does not rotate, the lower end of the front cover can touch the cushion pad 116 at the front portion of the joint seat 1132, and when the handle joint rotates, the lower end of the rear cover can touch the cushion pad 116 at the rear portion of the joint seat 1132. In order to prevent the excessive collision and abrasion between the lower ends of the front and rear covers of the handle joint 111 and the front and rear parts of the joint seat 1132 in the rotation process, the front and rear parts of the joint seat 1132 are provided with buffering pads 116, when the front and rear parts are not rotated, the lower end of the front cover can touch the buffering pad 116 at the front part of the joint seat 1132, and when the rear cover is rotated, the lower end of the rear cover can touch the buffering pad 116 at the rear part of the joint seat 1132.

As shown in fig. 6, the lithium battery pack 12 includes a replaceable battery body 121, a lithium battery base 122 used in cooperation with the battery body 121, and a plug 123 for electrically connecting the battery body 121 and the lithium battery base 122; the female plug 123 includes a connection portion 142 and a plug portion 114, a mounting portion is disposed at the lower end of the battery body 121, the connection portion 142 is connected to the mounting portion through a rubber ring, the elastic direction generated by the rubber ring is forward and backward abutted, the lithium battery base 122 is fixedly provided with a male plug 124, and the plug portion 114 of the female plug 123 is vertically inserted into the male plug 124. The buffer rubber ring is allowed to deform to a certain extent, so that when the battery is impacted, certain vibration can be absorbed, a buffer effect is achieved, the connector is stably connected, and the vibration can be reduced under the condition that the size of the battery box is not increased; when the connector inserts the connection, hard connection has been avoided, because of the existence of production error, the local phenomenon that stress concentration appears in the connector must appear at the in-process of direct plug, through the deformation of rubber circle in the limited range, thereby make stress concentration's phenomenon slow down, through the deformation of rubber circle, eliminate most error clearance, the interaction force of the non-plug direction between the connecting piece reduces by a wide margin, thereby increase of service time, increase the plug number of times, extension lithium cell life.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments without departing from the spirit and scope of the present invention.

Claims

1. The utility model provides a transfer robot, includes the frame, sets up fork and corresponding jack-up cylinder at the frame front end, sets up at the inside hydraulic pressure station of frame and well accuse unit, sets up the drive wheel in the frame lower part, its characterized in that: the central control unit can control hydraulic oil in the hydraulic station to flow into the lifting oil cylinder, so that the lifting oil cylinder jacks up the pallet fork; the top of the frame is provided with a laser navigation unit for judging the position of the robot, and the central control unit can control the driving wheels to move through the vehicle controller according to position signals transmitted by the laser navigation unit in an automatic mode; the rear end of the frame is provided with a control handle which can be rotatably arranged, a potentiometer for detecting the horizontal rotation angle of the control handle, an induction component for detecting the inclination angle of the control handle and a return piece for returning the control handle to a vertical state when the control handle is not subjected to external force; the potentiometer can detect the horizontal rotation angle of the control handle in a manual mode and transmits corresponding steering data to a vehicle controller under the control of the central control unit; the sensing assembly can be connected with the central control unit, and the sensing assembly can be triggered when the operating handle inclines beyond a certain degree, so that the central control unit is switched from an automatic mode to a manual mode; and a lithium battery component convenient for rapidly replacing the lithium battery is arranged on the frame.

2. A transfer robot as recited in claim 1, wherein: the lower end of the operating handle is provided with a handle turntable which horizontally rotates together with the operating handle, the lower end of the handle turntable is provided with a trigger piece, and the potentiometer is fixed on the outer edge of the handle turntable through a bracket; the handle turntable is hinged with the operating handle, the operating handle can rotate downwards along the hinged shaft, and the sensing assembly comprises a proximity switch and a sensing body; the proximity switch is arranged on the handle turntable, and the inductor is arranged on the control handle; when the operating handle is inclined to a certain degree, the inductor can enter the induction area of the proximity switch.

3. A transfer robot as recited in claim 2, wherein: the upper end of the handle turntable is provided with a joint seat, the lower end of the operating handle is provided with a handle joint, the handle joint is hinged with the joint seat and rotates around a hinged shaft relatively, and a pin shaft is positioned and installed in the handle joint and coaxially arranged with the handle joint; the restoring piece is a torsion spring arranged on the pin shaft; but the torsional spring cover is established on the round pin axle body and the circumference is adjusted torsion, and the one end of torsional spring is acted on the operating handle, and the other end is connected in the round pin axle, and the retaining member acts on the round pin axle and makes round pin axle fixed position.

4. A transfer robot as recited in claim 3, wherein: at least one section of the pin shaft is a positioning section, one end of the pin shaft is provided with a groove, one end of the torsion spring penetrates through the groove, and two ends of the pin shaft are respectively arranged at two sides in the handle joint; the locking piece is a limiting block, the limiting block is provided with a limiting part, and the positioning section of the pin shaft is positioned in the limiting part; the limiting part is abutted against the side surface of the prism body, so that the whole pin shaft is fixed.

5. A transfer robot as recited in claim 3, wherein: a groove is arranged in the handle joint, and one end of the torsion spring is arranged in the groove.

6. A transfer robot as recited in claim 3, wherein: the handle joint comprises a front cover and a rear cover, the front cover and the rear cover form a cavity, a joint seat of the handle turntable is arranged in the cavity, and an arc-shaped distance formed between the lower end of the front cover and the lower end of the rear cover is a rotatable distance; all be equipped with the blotter in the front and back portion of joint seat, when not rotating, the lower extreme of protecgulum can touch the anterior blotter of joint seat, and when rotating the back, the lower extreme of back lid can touch the blotter at joint seat rear portion.

7. A transfer robot as recited in claim 1, wherein: the lithium battery component comprises a replaceable battery body, a lithium battery base matched with the battery body, and a plug and socket connector for electrically connecting the battery body and the lithium battery base; the female plug comprises a connecting part and a plug part, the lower end of the battery body is provided with an installation part, the connecting part is connected in the installation part through a rubber ring, the elastic direction generated by the rubber ring is in front-back abutting, the lithium battery base is fixedly provided with a male plug, and the plug part of the female plug is vertically inserted into the male plug.