CN216129282U

CN216129282U - Manual-automatic transfer equipment that can jacking

Info

Publication number: CN216129282U
Application number: CN202121445766.2U
Authority: CN
Inventors: 林阿斌; 吴涛; 张松涛
Original assignee: Zhejiang EP Equipment Co Ltd
Current assignee: Zhejiang EP Equipment Co Ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2022-03-25
Anticipated expiration: 2031-06-28

Abstract

The utility model relates to a manual-automatic integrated carrying device capable of jacking; comprises an operation grab handle component and a vehicle body component; the vehicle body assembly comprises a vehicle shell and a top cover movably arranged on the vehicle shell, a jacking device is arranged in the vehicle shell, and the top of the jacking device is connected to the top cover and can drive the top cover to lift relative to the vehicle shell; the operation grab handle assembly can switch a manual control mode or an automatic control mode of the carrying equipment back and forth; can go deep into the field of manufacturing production to promote the logistics efficiency of traditional manufacturing, reduce the logistics cost of enterprise.

Description

Manual-automatic transfer equipment that can jacking

Technical Field

The utility model relates to the field of carriers, in particular to a manual-automatic integrated carrying device capable of being jacked.

Background

With the rapid development of intelligent logistics, the intelligent logistics robot gradually enters the market, and the logistics mode of the traditional industry is changed profoundly. Among them, a transfer robot having a lift-up function (hereinafter referred to as "lift-up robot") is particularly used. The existing jacking robot mostly uses a large cluster system with multi-machine combination as a solution, and is particularly suitable for occasions with single man-machine interaction, such as e-commerce warehousing, and the like, and is convenient to realize unmanned situations. However, in an industrial field, particularly a production and manufacturing type enterprise, the workshop generally has complex human-computer interaction, and is inconvenient for realizing unmanned realization in a large range. This requires a high flexibility in the use of the robot, which inevitably leads to confusion in a limited space; therefore, the market urgently needs a carrying device which can be freely switched and operated by hands.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a jacking manual-automatic integrated carrying device, which is added with the functions of manually and automatically switching vehicle control and jacking on the basis of a traditional carrying robot, so that the robot can go deep into the production site of the manufacturing industry, the logistics efficiency of the traditional manufacturing industry is improved, and the logistics cost of enterprises is reduced.

In order to achieve the above object, the present invention provides a lifting integrated manual-automatic carrying device, which comprises a handle assembly and a body assembly; the vehicle body assembly comprises a vehicle shell and a top cover movably arranged on the vehicle shell, a jacking device is arranged in the vehicle shell, and the top of the jacking device is connected to the top cover and can drive the top cover to lift relative to the vehicle shell; the operation handle assembly can switch the manual control mode or the automatic control mode of the carrying equipment back and forth.

In some examples, the jacking device comprises a jacking assembly and a driving assembly, and the moving end of the jacking assembly is detachably connected with the top cover; the driving end of the driving assembly acts on the moving end and drives the moving end to move up and down.

In some examples, the jacking subassembly includes jacking bottom plate and jacking roof, the bottom that is fixed in the top cap is connected to the jacking roof, the bottom plate is connected and is fixed in the hull, the jacking roof is through scissors fork link assembly and jacking bottom plate swing joint that can move about, scissors fork link assembly links to each other with drive assembly's drive end.

In some examples, the scissor link assembly comprises two sets of scissor structures, each set of scissor structure comprises a first swing rod and a second swing rod, the first swing rod and the second swing rod are hinged at the middle part, one end of the first swing rod is hinged to the bottom of the jacking top plate, and the other end of the first swing rod is provided with a cam which is slidably arranged on the jacking bottom plate; one end of the second swing rod is hinged to the jacking bottom plate, and the other end of the second swing rod is provided with a cam which can be slidably arranged on the bottom of the jacking top plate; the first swing rods of each group of scissors fork structures are connected through a driving shaft, and the second swing rods of each group of scissors fork structures are connected through a synchronizing shaft; the drive end of the drive assembly is connected to a drive shaft.

In some examples, the driving assembly includes a driving motor and a driving rod, one end of the driving rod is connected to the driving motor and can rotate circumferentially along a motor shaft of the driving motor, and the other end of the driving rod is sleeved on the driving shaft through a shaft sleeve and can push the driving shaft to move.

In some examples, the bottom of the jacking top plate and the jacking bottom plate are respectively provided with two cam grooves, and the cams are positioned in the cam grooves and can advance or retreat along the limiting direction of the cam grooves under the driving of the driving assembly.

In some examples, the operating handle assembly includes a handle and a mode switching assembly; the mode switching assembly comprises a grab handle joint, a joint fixing seat, an elastic twisting assembly and an induction assembly, wherein the bottom of the grab handle is fixedly connected with the grab handle joint, the grab handle joint is movably connected with the joint fixing seat through the elastic twisting assembly, and the grab handle joint relatively rotates around the connecting part of the joint fixing seat and resets through the elastic twisting assembly by rotating the grab handle; the sensing assembly comprises a sensing part and a triggering part, the triggering part is arranged on the joint fixing seat, and the sensing part is arranged on the handle joint.

In some examples, the operation handle assembly further comprises a steering control assembly, the bottom of the joint fixing seat is movably mounted on the steering control assembly, the steering control assembly comprises a trigger plate, a rocker and a duplex potentiometer, one end of the trigger plate is connected to the bottom of the joint fixing seat, the other end of the trigger plate is connected with one end of the rocker, and the other end of the rocker is connected to the trigger end of the duplex potentiometer.

In some examples, the subassembly is turned round to elasticity includes third round pin axle, retaining member and torsional spring, the third round pin axle has one section to be the location section at least, the one end of third round pin axle is equipped with the fluting, the torsional spring cover is established on third round pin axle and its one end run through in the fluting, its other end acts on the grab handle joint, third round pin axle location install in connecting portion and with the articulated coaxial setting of rotation of grab handle.

In some examples, the grab handle is in an inverted-L structure, an accelerator for controlling the speed of the handling equipment and realizing steering by matching with a steering control component is movably arranged at one side end of the grab handle, and the accelerator can rotate relatively to regulate the speed; the grab handle is also provided with a jacking button and a descending button; the operating grab handle assembly also comprises a mast for the line to pass through and a display arranged at the top of the mast; the steering control assembly is disposed on the mast sidewall.

The utility model adopts the technical scheme to realize the following effects: compared with the traditional automatic carrier, the lifting effect is added, so that the goods can be lifted to a certain height; secondly, the control vehicle is manually and automatically switched by rotating the grab handle so as to improve the flexibility of the carrying equipment; and the system can be more suitable for various working scenes to meet the requirements.

Drawings

Figure 1 is a schematic structural view of an embodiment of the present invention,

figure 2 is an exploded view of the structure of the embodiment of figure 1,

figures 3 and 4 are schematic structural views of the jacking device of the embodiment of figure 1,

figures 5 and 6 are schematic structural views of the operating handle assembly of the embodiment of figure 1,

in the figure: the device comprises a chassis 1, a jacking device 2, a driving motor 201, a jacking bottom plate 202, a first swing rod 203, a cam groove 204, a cam 205, a driving rod 206, a shaft sleeve 207, a jacking top plate 208, a hinged seat 209, a first pin shaft 210, a synchronizing shaft 211, a second pin shaft 212, a driving shaft 213, a second swing rod 214, a mast 3, an operating grab handle component 4, an accelerator 401, a grab handle 402, a jacking button 403, a descending button 404, a shell 5, a top cover 6, a display 7, a mode switching component 8, a sensing part 801, a triggering part 802, a grab handle joint 803, a third pin shaft 804, a joint fixing seat 805, a torsion spring 806, a steering control component 9, a triggering plate 901, a rocker 902 and a duplex potentiometer 903.

Detailed Description

The following description is presented to disclose the utility model so as to enable any person skilled in the art to practice the utility model. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the utility model, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the utility model.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.

It is to be understood that the terms "a" and "an" are to be interpreted as meaning that a number of one element may be one in one embodiment or multiple in another embodiment, and the terms "a" and "an" are not to be interpreted as limiting the number.

The first embodiment is as follows:

referring to fig. 1 to 6 of the drawings accompanying this specification, there is shown a lift-able automated manual handling apparatus according to a preferred embodiment of the present invention; comprises an operation grab handle component 4 and a vehicle body component; the vehicle body assembly comprises a vehicle shell and a top cover 6 movably arranged on the vehicle shell, a jacking device 2 is arranged in the vehicle shell, and the top of the jacking device 2 is connected to the top cover 6 and can drive the top cover 6 to lift relative to the vehicle shell; the operation handle component 4 can switch the manual control mode or the automatic control mode of the carrying equipment back and forth; the main innovation point of the technical scheme is that the carrying equipment can be switched between manual control and automatic control for use, in other words, the carrying equipment can realize the moving, steering and jacking effects in an automatic control mode, and the carrying equipment can also realize the moving, steering and jacking effects in a manual control mode; in addition, the jacking device 2 shown in the technical scheme has a relatively simple structure, is convenient to manufacture, and can ensure jacking load; the shell further comprises a chassis 1 and a shell 5, wherein the shell 5 is fixedly connected to the chassis 1 to form components, wheels and the like for loading and driving the normal operation of the carrying equipment.

Specifically, the jacking device 2 comprises a jacking assembly and a driving assembly, and the moving end of the jacking assembly is detachably connected with the top cover 6; in other embodiments, the jacking assembly may include a top plate, a bottom plate, and a cylinder, where the top plate is the moving end, the telescopic end of the cylinder is connected to the bottom of the top plate, and the fixed end of the cylinder is connected to the bottom plate, and the lifting effect is achieved through cylinder expansion, and of course, the jacking assembly includes a jacking bottom plate 202 and a jacking top plate 208, the jacking top plate 208 is connected and fixed to the bottom of the top cover 6, the bottom plate is connected and fixed in the vehicle shell, the jacking top plate 208 is movably connected to the jacking bottom plate 202 through a movable scissor link assembly, and the scissor link assembly is connected to the driving end of the driving assembly; the scissor link assembly comprises two scissor structures, each scissor structure comprises a first swing rod 203 and a second swing rod 214, the middle parts of the first swing rod 203 and the second swing rod 214 are hinged to each other, one end of the first swing rod 203 is hinged to the bottom of the jacking top plate 208, in this embodiment, the bottom of the jacking top plate 208 is provided with a hinge seat 209, and one end of the first swing rod 203 is hinged to the hinge seat 209 through a second pin shaft 212; the other end is provided with a cam 205 which can be arranged on the jacking bottom plate 202 in a sliding way; one end of the second swing link 214 is hinged to the jacking bottom plate 202, in this embodiment, the bottom of the jacking bottom plate is also provided with a hinge seat 209, and one end of the second swing link 214 is hinged to the hinge seat 209 through a second pin shaft 212; the other end is provided with a cam 205 which can be arranged on the bottom of the jacking top plate 208 in a sliding way; the first swing rods 203 of each group of scissors structures are connected through a driving shaft 213, and the second swing rods 214 of each group of scissors structures are connected through a synchronizing shaft 211; the driving end of the driving component is connected to the driving shaft 213, and the driving shaft 213 and the synchronizing shaft 211 are both arranged to achieve synchronous motion in the lifting process of each group of scissor structures so as to ensure that the top cover 6 moves up and down horizontally and indirectly ensure that goods placed on the top cover 6 can be stable; of course, in other embodiments, the scissors linkage assembly can be implemented in other manners, which can refer to the linkage manner in the existing scissors lifting platform, and in addition, in this embodiment, the driving assembly includes a driving motor 201 and a driving rod 206, the driving motor 201 can rotate clockwise or counterclockwise, one end of the driving rod 206 is connected to the driving motor 201 and can rotate along the motor shaft circumference of the driving motor 201, and the other end thereof is sleeved on the driving shaft 213 through a bushing 207 and can push the driving shaft 213 to move, and the advantage of using the driving motor 201 in combination with the driving rod 206 is that the driving rod 206 can be located at any desired position by controlling the driving motor 201, and the structure is simple and compact. When the jacking device rises to the required height, the jacking button 403 is released, so that the driving motor 201 can stop rotating, and at the moment, the jacking device can be at the current height.

In order to further make the scissors structure smoother during the moving process and prevent the cam 205 from deviating and slipping during the rolling process, in this embodiment, two cam grooves 204 are respectively provided on the bottom of the top-lifting plate 208 and the top-lifting plate 202, and a total of four cam grooves 204 are provided, the cam 205 is located in the cam groove 204 and can advance or retreat along the limiting direction of the cam groove 204 under the driving of the driving assembly, and the cam groove 204 is provided to be advantageous in that the sliding of the cam 205 can be effectively guided and the cam 205 can be limited to slide in the cam groove 204, so as to prevent the deviation of the moving track.

The operating handle assembly 4 includes a handle 402 and a mode switching assembly 8; the mode switching assembly 8 comprises a handle joint 803, a joint fixing seat 805, an elastic twisting assembly and an induction assembly, wherein the bottom of the handle 402 is connected and fixed to the handle joint 803, the handle joint 803 is movably connected with the joint fixing seat 805 through the elastic twisting assembly, and the handle joint 803 relatively rotates around the connecting part of the joint fixing seat 805 and is reset through the elastic twisting assembly by rotating the handle 402; the sensing component comprises a sensing part 801 and a triggering part 802, the triggering part 802 is arranged on a joint fixing seat 805, and the sensing part 801 is arranged on a handle joint 803; the elastic twisting component comprises a third pin shaft 804, a locking member and a torsion spring 806, at least one section of the third pin shaft 804 is a positioning section, one end of the third pin shaft 804 is provided with a groove, the torsion spring 806 is sleeved on the third pin shaft 804, one end of the torsion spring 806 penetrates through the groove, the other end of the torsion spring acts on the handle joint 803, and the third pin shaft 804 is positioned and installed in the connecting part and coaxially arranged with the rotation of the handle joint 803; the specific structure of the mode switching assembly 8 can refer to a patent document with an authorization publication number of CN211283608U, which is not described herein, and is mainly that the sensing portion 801 and the triggering portion 802 are in sensing contact, so that the carrying device can be switched from the automatic control mode to the manual control mode.

The grab handle 402 is of an inverted-L structure, one side end of the grab handle 402 is movably provided with an accelerator 401 which is used for controlling the speed of the handling equipment and is matched with the steering control component 9 to realize steering, and the accelerator 401 can rotate relatively to regulate the speed; the grab handle 402 is also provided with a jacking button 403 and a descending button 404; operating grip assembly 4 further comprises a mast 3 for the passage of the line and a display 7 arranged at the top of mast 3; the steering control assembly 9 is arranged on the side wall of the mast 3.

In addition, the operation handle assembly 4 further comprises a steering control assembly 9, the bottom of the joint fixing seat 805 is movably mounted on the steering control assembly 9, the steering control assembly 9 comprises a trigger plate 901, a rocker 902 and a duplex potentiometer 903, one end of the trigger plate 901 is connected to the bottom of the joint fixing seat 805, the other end of the trigger plate 901 is connected with one end of the rocker 902, and the other end of the rocker 902 is connected to the trigger end of the duplex potentiometer 903; the accelerator 401 can control the running direction of the robot according to different rotating directions, and can control the running speed according to the rotating angle value; grab handle 402 is used for the operator to grab, four fingers grab handle 402, thumb operation accelerator 401, and jacking button 403 and decline button 404 are used for controlling the jacking and the decline of robot respectively to two buttons are only effective after having triggered manual mode, and mode switch is used for judging current robot's operating mode, and the handle default position is automatic mode, but grab handle 402 rotates the back of pushing down, can drive the response piece rotation, thereby triggers mode switch, and the robot gets into manual mode. When the handle 402 is released, the handle 402 is restored under the action of the torsion spring 806, and the mode switch is automatically switched back to the automatic mode; when the trigger plate 901 grab handle 402 is used for handle steering, the robot can rotate the duplex potentiometer 903 through a remote lever, so that the robot can perform corresponding rotation according to the rotation direction of the handle. Since the robot uses a differential drive system, the steering function simultaneously rotates the accelerator 401, thereby performing vehicle body steering.

The manual-automatic integrated carrying equipment in the embodiment specifically operates as follows:

the robot is operated to run in a manual control mode:

the handle 402 is rotated and pressed down, so that when the trigger part 802 is in contact with the induction part 801, the robot is switched to a manual mode; after the right hand grasps the grip 402, the accelerator 401 is flicked with the thumb and flicked in the forward direction, and the robot starts to move forward. Gradually increasing the rotation angle of the accelerator 401, and observing that the running speed of the robot is gradually increased; when the thumb is released, the robot stops traveling, the accelerator 401 is shifted in the backward direction, and the robot starts traveling backward. Gradually increasing the rotation angle of the accelerator 401, and observing that the running speed of the robot is gradually increased; during the running of the robot, the handle 402 is rotated, for example, to the left, and if the robot runs forward, the handle is rotated to the left. The steering degree of the robot can be observed to be gradually increased by changing the rotating angle. Likewise, when rotating to the right, a corresponding rotation result can be obtained.

The manual control mode is used for operating the robot to lift up or descend:

when the grip 402 is rotated and pressed down so that the trigger 802 is in contact with the sensor 801, the robot is switched to the manual mode. At this time, the jacking button 403 is pressed, and the system receives a jacking instruction and sends a rotation command to the jacking motor; the jacking motor rotates clockwise to drive the driving rod 206, so as to push the driving shaft 213; since the driving shaft 213 is fixedly connected to the two jacking swing rods 203, the two jacking swing rods 203 swing around the first pin 210, and at the same time, the cam 205 mounted on the jacking swing rods 203 is driven to roll in the cam groove 204. The jacking top plate 208 ascends along with the jacking top plate, so that the whole top cover 6 is ascended; pressing down button 404, the system will receive the down command and send down the rotation command to the jacking motor; the jacking motor rotates in the counterclockwise direction to drive the driving rod 206, thereby pulling the driving shaft 213; since the driving shaft 213 is fixedly connected to the two jacking swing rods 203, the two jacking swing rods 203 swing around the first pin 210, and at the same time, the cam 205 mounted on the jacking swing rods 203 is driven to roll in the cam groove 204. The top lift plate 208 is lowered accordingly, thereby achieving the lowering of the entire top cover 6.

Automatic mode operation robot:

when the grip 402 is in the initial position or reset from the manual mode, the robot automatically switches to the automatic mode. The operator can control the robot to automatically run through related instructions on the touch screen.

It will be appreciated by persons skilled in the art that the embodiments of the utility model described above and shown in the drawings are given by way of example only and are not limiting of the utility model.

The objects of the utility model have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. The manual-automatic integrated carrying equipment capable of jacking is characterized by comprising an operation grab handle assembly (4) and a vehicle body assembly; the vehicle body assembly comprises a vehicle shell and a top cover (6) movably arranged on the vehicle shell, a jacking device (2) is arranged in the vehicle shell, and the top of the jacking device (2) is connected to the top cover (6) and can drive the top cover (6) to lift relative to the vehicle shell; the operation handle assembly (4) can be used for switching a manual control mode or an automatic control mode of the carrying equipment back and forth.

2. The automated manual handling equipment according to claim 1, wherein the jacking device (2) comprises a jacking assembly and a driving assembly, and the moving end of the jacking assembly is detachably connected with the top cover (6); the driving end of the driving assembly acts on the moving end and drives the moving end to move up and down.

3. The automated manual handling equipment of claim 2, wherein the jacking assembly comprises a jacking bottom plate (202) and a jacking top plate (208), the jacking top plate (208) is fixedly connected to the bottom of the top cover (6), the bottom plate is fixedly connected to the inside of the vehicle shell, the jacking top plate (208) is movably connected with the jacking bottom plate (202) through a movable scissor link assembly, and the scissor link assembly is connected with the driving end of the driving assembly.

4. The automated manual handling equipment according to claim 3, wherein the scissor linkage assembly comprises two sets of scissor structures, each set of scissor structure comprises a first swing link (203) and a second swing link (214) hinged at the middle, one end of the first swing link (203) is hinged to the bottom of the jacking top plate (208), and the other end of the first swing link is provided with a cam (205) which is slidably arranged on the jacking bottom plate (202); one end of the second swing rod (214) is hinged to the jacking bottom plate (202), and the other end of the second swing rod is provided with a cam (205) which can be slidably arranged at the bottom of the jacking top plate (208); the first swing rods (203) of each group of scissors structures are connected through a driving shaft (213), and the second swing rods (214) of each group of scissors structures are connected through a synchronizing shaft (211); the drive end of the drive assembly is connected to a drive shaft (213).

5. The automated manual handling equipment according to claim 3, wherein the driving assembly comprises a driving motor (201) and a driving rod (206), one end of the driving rod (206) is connected to the driving motor (201) and can rotate along the circumferential direction of the motor shaft of the driving motor (201), and the other end thereof is sleeved on the driving shaft (213) through a shaft sleeve (207) and can push the driving shaft (213) to move.

6. The automated manual carrying equipment according to claim 4, wherein two cam grooves (204) are respectively formed in the bottom of the top lifting plate (208) and the bottom lifting plate (202), and the cam (205) is located in the cam groove (204) and can advance or retreat along the limit direction of the cam groove (204) under the driving of the driving assembly.

7. The automated manual handling apparatus according to claim 1, wherein the operating handle assembly (4) comprises a handle (402) and a mode switching assembly (8); the mode switching assembly (8) comprises a grab handle joint (803), a joint fixing seat (805), an elastic twisting assembly and an induction assembly, the bottom of the grab handle (402) is connected and fixed to the grab handle joint (803), the grab handle joint (803) is movably connected with the joint fixing seat (805) through the elastic twisting assembly, and the grab handle joint (803) rotates around the connecting part of the joint fixing seat (805) relatively and resets through the elastic twisting assembly by rotating the grab handle (402); the sensing assembly comprises a sensing part (801) and a triggering part (802), the triggering part (802) is arranged on a joint fixing seat (805), and the sensing part (801) is arranged on a handle joint (803).

8. The automated manual carrying device according to claim 7, wherein the operating handle assembly (4) further comprises a steering control assembly (9), the bottom of the joint fixing seat (805) is movably mounted on the steering control assembly (9), the steering control assembly (9) comprises a trigger plate (901), a rocker (902) and a duplex potentiometer (903), one end of the trigger plate (901) is connected to the bottom of the joint fixing seat (805), the other end of the trigger plate is connected to one end of the rocker (902), and the other end of the rocker (902) is connected to the trigger end of the duplex potentiometer (903).

9. The automated manual handling device of claim 7, wherein the elastic twisting component comprises a third pin (804), a locking member and a torsion spring (806), at least one section of the third pin (804) is a positioning section, one end of the third pin (804) is provided with a slot, the torsion spring (806) is sleeved on the third pin (804) and one end of the torsion spring penetrates through the slot, the other end of the torsion spring acts on the handle joint (803), and the third pin (804) is positioned and installed in the connecting portion and is coaxial with the rotation of the handle joint (803).

10. The automated manual handling equipment according to claim 8, wherein the handle (402) is of an inverted-L structure, an accelerator (401) for controlling the speed of the handling equipment and matching with the steering control component (9) to realize steering is movably arranged at one side end of the handle (402), and the accelerator (401) can rotate relatively to regulate the speed; the grab handle (402) is also provided with a jacking button (403) and a descending button (404); the operation grab handle component (4) also comprises a mast (3) for the line to pass through and a display (7) arranged at the top of the mast (3); the steering control assembly (9) is arranged on the side wall of the mast (3).