CN215479486U - Transfer robot - Google Patents
Transfer robot Download PDFInfo
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- CN215479486U CN215479486U CN202121700371.2U CN202121700371U CN215479486U CN 215479486 U CN215479486 U CN 215479486U CN 202121700371 U CN202121700371 U CN 202121700371U CN 215479486 U CN215479486 U CN 215479486U
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- guide rail
- push rod
- groove
- chassis
- transfer robot
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Abstract
The utility model discloses a transfer robot, which comprises a chassis of a crawler walking robot, wherein the middle of the chassis of the crawler walking robot is vertically connected with a pair of guide rails, the inner side surfaces of the two guide rails, which are opposite to each other, are provided with sliding grooves, the upper ends of the sliding grooves are provided with notches, and bearing pieces are arranged in the sliding grooves; the gantry is rotatably connected to bearings on two sides through a shaft, two supporting seats are fixed at the front part of the gantry, and the supporting seats are connected with a plurality of L-shaped supporting arms extending forwards; the top of the portal frame is fixed with a vertical electric push rod or a hydraulic push rod. The utility model has stronger bearing capacity, can facilitate the loading and unloading of goods and materials, and is suitable for the complex working environment of emergency rescue.
Description
Technical Field
The utility model relates to the field of robots, in particular to a transfer robot.
Background
In the emergency rescue task, some dangerous environments such as inflammable, explosive, easy electric shock and easy geological disaster can be encountered, and at the moment, the common transport vehicle cannot be used, and the supply materials or equipment need to be manually carried and rescued. The manual carrying method needs to pay huge physical expenditure on one hand and faces huge threats possibly brought to the life of the user by secondary disasters on the other hand. In order to solve the problem, a carrying robot can be used for carrying rescue goods instead of manpower, and the robot is remotely controlled to walk to a target place so as to transport the rescue goods to the target place. Therefore, a carrying robot which has a large carrying capacity, can be conveniently assembled and disassembled, can automatically walk and is suitable for all-terrain work needs to be developed so as to reduce the use of personnel, reduce the emergency rescue risk and improve the emergency rescue efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a carrying robot to solve the problem of manual carrying of rescue goods and materials in emergency rescue tasks in the prior art.
In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:
a transfer robot comprises a chassis of a crawler walking robot, wherein a pair of guide rails is vertically connected in the middle of the chassis of the crawler walking robot, the two guide rails are bilaterally symmetrical, vertical sliding grooves are respectively formed in the opposite inner side surfaces of the two guide rails, the upper ends of the sliding grooves respectively extend to the tops of the guide rails to form notches, and a bearing piece is respectively installed in each sliding groove of each guide rail in a sliding manner;
the gantry comprises a left side beam, a right side beam and a top beam connected between the tops of the left side beam and the right side beam, wherein a shaft is fixedly connected to one side of each side beam, which faces the inner side face of each guide rail, and is respectively installed on a bearing part on the corresponding side; the rear ends of the support arms are respectively and slidably mounted on the two support seats, and the front ends of the support arms respectively extend forwards and horizontally.
Furthermore, the sliding groove of the inner side surface of each guide rail is a T-shaped groove or a dovetail groove, the bearing piece comprises an outer ring and an inner ring which is rotatably arranged in the outer ring, the shape of the outer ring of the bearing piece is matched with that of the sliding groove of the inner side surface of each guide rail, the bearing piece is slidably arranged in the sliding groove of the inner side surface of each guide rail through the outer ring of the bearing piece, and a shaft connected with the side beam at each side in the portal frame is fixed on the inner ring of the bearing piece.
Furthermore, a guide rail groove extending along the left-right horizontal direction is respectively arranged on the front side surface of each supporting seat, and the guide rail groove is a T-shaped groove or a dovetail groove;
every support arm is the L type structure that constitutes by horizontal arm board and vertical armlet connection respectively, the horizontal arm board rear end of every support arm shaping respectively for the shape that matches with the guide rail groove, and the horizontal arm board rear end of every support arm slidable mounting respectively in the supporting seat guide rail groove of below, the horizontal arm board front end of every support arm extends to the front level, the shaping of buckling backward back in the vertical armlet upper end of every support arm is the shape that matches with the guide rail groove, and slidable mounting is in the supporting seat guide rail groove of top after buckling backward in the vertical armlet upper end of every support arm.
Furthermore, the front end of each support arm is respectively formed with a bent hook.
Furthermore, the lower end of the electric push rod or the hydraulic push rod is fixedly connected with a supporting plate, and the supporting plate is fixed on the chassis of the crawler walking robot or moves along with the lower end of the electric push rod or the hydraulic push rod.
Furthermore, a controller is integrated on the chassis of the crawler walking robot and is in control connection with an electric push rod or a hydraulic push rod.
According to the utility model, when goods and materials are loaded and transported, the controller controls the electric push rod or the hydraulic push rod to work, so that the portal frame integrally rises, each supporting arm rises to conveniently receive the goods and materials, then the electric push rod or the hydraulic push rod is reset, the goods and materials are stably placed on the supporting arms by using the supporting arms and the hooks thereof, and then the chassis of the crawler walking robot is remotely controlled to walk to a target site.
When the target location is reached, the electric push rod or the hydraulic push rod works again, so that the portal frame and the supporting arms are lifted to take down the materials at the target location, and the portal frame can be integrally turned and rotated if necessary, thereby further facilitating the material unloading.
According to the crawler walking robot, the assembly structure of the guide rail, the portal frame and the supporting arm is arranged on the chassis of the crawler walking robot, so that the crawler walking robot has strong bearing capacity, the supporting arm for bearing goods and materials can lift and turn over along with the portal frame, the goods and materials can be conveniently loaded and unloaded, and the crawler walking robot is suitable for complex working environments for emergency rescue.
Drawings
Fig. 1 is a perspective view of the structure of the present invention.
Fig. 2 is a top view of the structure of the present invention.
Fig. 3 is an assembly drawing of the guide rail and portal frame structure of the utility model.
Fig. 4 is a schematic view of a connection structure of a side beam and a guide rail of a portal frame.
Detailed Description
The utility model is further illustrated with reference to the following figures and examples.
As shown in fig. 1-4, the transfer robot of the present invention comprises a tracked walking robot chassis 1, the tracked walking robot chassis 1 is composed of a pair of wheel frames 1.1 and a connecting frame 1.2 connecting the two wheel frames 1.1, each wheel frame 1.1 is respectively provided with a crawler wheel and a crawler belt, each wheel frame 1.1 is further fixed with a motor 1.3 (or a driving motor) and a gear box 1.4, an output shaft of the motor 1.3 is connected with an input shaft of the gear box 1.4, an output shaft of the gear box is coaxially connected with a driving wheel in the crawler wheel, the connecting frame 1.2 can be provided with a controller which is electrically connected with the motor 1.3 in a control way, meanwhile, the controller is connected with a wireless communication module in an integrated way, the controller is connected with a remote controller in a communication way through the wireless communication module, the rescue workers can transmit control instructions to the controller through the remote controller, and the controller controls the motor 1.3 to drive the crawler walking robot chassis 1 to walk based on the control instructions.
The two vertical guide rails 2 are bilaterally symmetrical, and the lower ends of the two guide rails 2 can be directly and fixedly connected with the connecting frame 1.2 of the chassis 1 of the crawler walking robot. Or, the front side of the connecting frame 1.2 is fixedly connected with a pair of bilaterally symmetrical bottom plates, and the lower ends of the two guide rails 2 are correspondingly fixed on the bottom plates one by one.
The inner side surfaces of the two guide rails 2, which are opposite to each other, are respectively provided with a vertical sliding groove 2.1, the sliding grooves 2.1 are all T-shaped grooves or dovetail grooves, the upper ends of the sliding grooves 2.1 respectively extend to the tops of the guide rails 2 to form notches, and the sliding grooves of each guide rail 2 are respectively provided with a bearing piece 2.2 in a sliding manner. Specifically, the bearing element 2.2 is composed of an outer ring and an inner ring rotatably mounted in the outer ring, and the outer ring of the bearing element 2.2 is shaped to match the inner side surface sliding groove 2.1 of the guide rail 2, so that the bearing element 2.2 is slidably mounted in the inner side surface sliding groove 2.1 of the guide rail 2 through the outer ring thereof.
According to the utility model, the portal frame 3 is arranged between the two guide rails 2, and when the lower ends of the two guide rails 2 are fixedly connected to the connecting frame 1.2 of the chassis 1 of the crawler walking robot, the portal frame 3 is suspended above the connecting frame 1.2; when the lower ends of the two guide rails 2 are fixed on the bottom plate of the front side surface of the connecting frame 1.2, the whole portal frame 3 is suspended above the ground in front of the connecting frame 1.2.
This portal frame 3 includes vertical left and right side roof beam 3.1 and connects the back timber 3.2 between left and right side roof beam 3.1 top, and horizontal axle about the one side fixedly connected with axial respectively that every side roof beam 3.1 just is 2 medial surfaces of guide rail, and axle fixed mounting is in the inner circle of bearing spare 2.2 in corresponding side guide rail 2 spout 2.1 respectively. From this, whole portal frame 3 can be followed guide rail 2 oscilaltion to can use axle and bearing spare 2.2 to realize whole upset and rotate as the fulcrum of rotation.
The top beam 3.2 below of portal frame 3 is provided with vertical electric putter or hydraulic rod 3.3, and electric putter or hydraulic rod 3.3 upper end are fixed in top beam 3.2 bottom surfaces, and electric putter 3.3 lower extreme fixedly connected with layer board 3.4, layer board 3.4 are fixed in track walking robot chassis 1 or along with electric putter or the motion of hydraulic rod 3.3 lower extreme.
Under one condition, the upper end of the electric push rod or the hydraulic push rod 3.3 is a cylinder body end and is fixed on the bottom surface of the top beam 3.2, the lower end of the electric push rod or the hydraulic push rod 3.3 is a push rod end, and the supporting plate 3.4 is fixed on the push rod end. When the lower ends of the two guide rails 2 are fixedly connected to the connecting frame 1.2 of the chassis 1 of the crawler walking robot, the supporting plate 3.4 can be fixed on the connecting frame 1.2, and the whole lifting of the portal frame 3 is realized through the vertical extension of the end of the electric push rod or the hydraulic push rod 3.3. When the lower ends of the two guide rails 2 are fixed on the bottom plate of the front side surface of the connecting frame 1.2, the whole portal frame 3 is suspended above the ground in front of the connecting frame 1.2, the supporting plate 3.4 can be fixed on the front side surface of the connecting frame 1.2, and the whole lifting of the portal frame 3 is realized through the vertical extension of the push rod end of the electric push rod or the hydraulic push rod 3.3; the supporting plate 3.4 can also be not fixedly connected with the connecting frame 1.2 and only moves along with the push rod end of the electric push rod or the hydraulic push rod 3.3, when the push rod end of the electric push rod or the hydraulic push rod 3.3 moves downwards until the supporting plate 3.4 is contacted with the ground, if the push rod end of the electric push rod or the hydraulic push rod 3.3 continues to move, the portal frame 3 can also integrally ascend.
Similarly, the upper end of the electric push rod or the hydraulic push rod 3.3 can also be a push rod end, and the lower end can also be a cylinder end, so that the lifting of the portal frame 3 can still be realized according to the process.
In the utility model, the controller on the crawler walking robot is in control connection with the electric push rod or the hydraulic push rod 3.3, and the controller receives a control instruction of the remote controller, so that the electric push rod or the hydraulic push rod 3.3 can be controlled to act, and the lifting of the portal frame 3 is realized. Specifically, when the controller is an electric push rod, the signal output end of the controller is directly electrically connected with the control end of the electric push rod, and when the controller is a hydraulic push rod, the signal output end of the controller can be electrically connected with the control end of the hydraulic push rod control electromagnetic valve.
In the utility model, an upper supporting seat and a lower supporting seat 3.5 are fixed between the front parts of the plate edges of the left side beam 3.1 and the right side beam 3.1 of the portal frame 3, which are opposite to the front side surface of the guide rail, the front side surface of each supporting seat 3.5 is respectively provided with a guide rail groove 3.6 extending along the left-right horizontal direction, and each guide rail groove 3.6 is a T-shaped groove or a dovetail groove.
In the utility model, two supporting arms 3.7 are taken as an example, each supporting arm 3.7 is an L-shaped structure formed by connecting a horizontal arm plate 3.71 and a vertical arm base 3.72, the rear end of the horizontal arm plate 3.71 of each supporting arm 3.7 is respectively formed into a shape matched with a guide rail groove 3.6, the rear end of the horizontal arm plate 3.71 of each supporting arm 3.7 is respectively and slidably installed in a supporting base guide rail groove 3.6 below, the front end of the horizontal arm plate 3.71 of each supporting arm 3.7 horizontally extends forwards, the upper end of the vertical arm base 3.72 of each supporting arm 3.7 is bent backwards and then formed into a shape matched with the guide rail groove 3.6, and the upper end of the vertical arm base 3.72 of each supporting arm 3.7 is bent backwards and then slidably installed in a supporting base groove above. The supporting arm 3.7 moves integrally with the portal frame 3, when the portal frame 3 goes up and down, the supporting arm 3.7 goes up and down, and when the portal frame 3 turns over and rotates, the supporting arm 3.7 rotates along with the supporting arm.
In the utility model, the horizontal arm plate 3.71 of the supporting arm 3.7 is used for bearing materials, and the materials can be directly placed on the horizontal arm plates 3.71 of the two supporting arms 3.7. The front end of the horizontal arm plate 3.71 of each supporting arm 3.7 is respectively provided with an upward bent hook, the left side and the right side of a material can be fixed with a hanging lug, the material is placed between the two supporting arms 3.7 and hung on the hook of the horizontal arm plate 3.71 of the supporting arm 3.7 through the hanging lug, and the hanging of the material is realized.
The embodiments of the present invention are described only for the preferred embodiments of the present invention, and not for the limitation of the concept and scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall into the protection scope of the present invention, and the technical content of the present invention which is claimed is fully set forth in the claims.
Claims (6)
1. The utility model provides a transfer robot, includes track walking robot chassis, its characterized in that: the middle of the chassis of the crawler walking robot is vertically connected with a pair of guide rails, the two guide rails are bilaterally symmetrical, the inner side surfaces of the two guide rails, which are opposite to each other, are respectively provided with a vertical chute, the upper end of each chute extends to the top of the corresponding guide rail to form a notch, and a bearing piece is respectively arranged in each chute of each guide rail in a sliding manner;
the gantry comprises a left side beam, a right side beam and a top beam connected between the tops of the left side beam and the right side beam, wherein a shaft is fixedly connected to one side of each side beam, which faces the inner side face of each guide rail, and is respectively installed on a bearing part on the corresponding side; the rear ends of the support arms are respectively and slidably mounted on the two support seats, and the front ends of the support arms respectively extend forwards and horizontally.
2. A transfer robot as recited in claim 1, wherein: the sliding groove of the inner side surface of each guide rail is a T-shaped groove or a dovetail groove, each bearing piece comprises an outer ring and an inner ring which is rotatably arranged in the outer ring, the shape of the outer ring of each bearing piece is matched with that of the sliding groove of the inner side surface of each guide rail, the bearing piece is slidably arranged in the sliding groove of the inner side surface of each guide rail through the outer ring, and a shaft connected with the side beam at each side in the portal frame is respectively fixed on the inner ring of the corresponding bearing piece.
3. A transfer robot as recited in claim 1, wherein: the front side surface of each supporting seat is respectively provided with a guide rail groove extending along the left-right horizontal direction, and the guide rail groove is a T-shaped groove or a dovetail groove;
every support arm is the L type structure that constitutes by horizontal arm board and vertical armlet connection respectively, the horizontal arm board rear end of every support arm shaping respectively for the shape that matches with the guide rail groove, and the horizontal arm board rear end of every support arm slidable mounting respectively in the supporting seat guide rail groove of below, the horizontal arm board front end of every support arm extends to the front level, the shaping of buckling backward back in the vertical armlet upper end of every support arm is the shape that matches with the guide rail groove, and slidable mounting is in the supporting seat guide rail groove of top after buckling backward in the vertical armlet upper end of every support arm.
4. A transfer robot as recited in claim 1, wherein: the front end of each supporting arm is respectively formed with a bent hook.
5. A transfer robot as recited in claim 1, wherein: the lower end of the electric push rod or the hydraulic push rod is fixedly connected with a supporting plate, and the supporting plate is fixed on a chassis of the crawler walking robot or moves along with the lower end of the electric push rod or the hydraulic push rod.
6. A transfer robot as recited in claim 1, wherein: the chassis of the crawler walking robot is integrated with a controller, and the controller is in control connection with an electric push rod or a hydraulic push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121700371.2U CN215479486U (en) | 2021-07-26 | 2021-07-26 | Transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121700371.2U CN215479486U (en) | 2021-07-26 | 2021-07-26 | Transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN215479486U true CN215479486U (en) | 2022-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121700371.2U Active CN215479486U (en) | 2021-07-26 | 2021-07-26 | Transfer robot |
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| CN (1) | CN215479486U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023236779A1 (en) * | 2022-06-06 | 2023-12-14 | 安徽阿莫斯流体技术有限公司 | Multifunctional transfer robot |
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2021
- 2021-07-26 CN CN202121700371.2U patent/CN215479486U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023236779A1 (en) * | 2022-06-06 | 2023-12-14 | 安徽阿莫斯流体技术有限公司 | Multifunctional transfer robot |
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