CN216638821U

CN216638821U - Vertical and horizontal moving device of building block carrying robot

Info

Publication number: CN216638821U
Application number: CN202123192227.5U
Authority: CN
Inventors: 孙化昌; 李佳雪; 李明
Original assignee: Shandong Chuanli Machinery Co ltd
Current assignee: Shandong Chuanli Machinery Co ltd
Priority date: 2021-12-19
Filing date: 2021-12-19
Publication date: 2022-05-31
Anticipated expiration: 2031-12-19

Abstract

The utility model discloses a vertical and horizontal moving device of a building block carrying robot, wherein the building block carrying robot comprises a rack, a storage battery is arranged on the rack, and the vertical and horizontal moving device comprises a horizontal moving device and a longitudinal moving device which are arranged on the rack; the transverse moving device comprises a plurality of transverse rollers and a transverse roller driving device; the longitudinal moving device comprises a plurality of lifting devices, an underframe connected with the bottom end of each lifting device, a plurality of longitudinal rollers and a plurality of steering wheels which are arranged on the underframe, a longitudinal moving driving device connected with the longitudinal rollers or the steering wheels, and a longitudinal moving steering fine-tuning device connected with the steering wheels. The utility model integrates the transverse roller, the longitudinal roller and the steering wheel on the block transfer robot, can realize longitudinal and transverse movement without a longitudinal guide rail, and can greatly save investment.

Description

Vertical and horizontal moving device of building block carrying robot

Technical Field

The utility model relates to the technical field of building block carrying equipment, in particular to a vertical and horizontal moving device of a building block carrying robot.

Background

The robot is used as an automatic device with the ability similar to human or biology, such as perception, action, planning and coordination, and with the continuous development of industry, a plurality of work posts requiring continuous and repeated work of people are required, so that safety accidents are easily caused by long-time repeated work, and the production efficiency is low; aiming at the social production requirement of simple operation and high repeatability, the robot is widely applied to industrial production.

The transfer robot is a robot capable of automated transfer. The robot can complete certain established tasks through programming, for example, objects are moved from one processing position to another processing position, the robot is used for carrying, heavy manual physical labor is greatly reduced in the brick making production process, the space utilization rate of a place is greatly improved, particularly, the green brick steaming effect is greatly improved due to the compression of a high space, the energy consumption is reduced, and the robot has a wide application prospect.

At present, in the brick production process, finished bricks which are well pressed need to be transported to an appointed stacking area by a mechanical arm or a forklift, and after green bricks in the appointed stacking area are steamed, the green bricks are transported to the appointed stacking area by the mechanical arm or the forklift, so that the loading and unloading conveyor belt is troublesome, the green bricks are easy to damage in the processes of clamping by the mechanical arm and transporting by the forklift, the required field is large, particularly, the occupied space of a channel is large, and the whole production line is not compact enough and the occupied area is large. And because fork truck height leads to the adobe to evaporate to nourish the upper portion space great, the brick evaporates in the lower part and nourishes the effect poor, causes very big steam waste.

The patent with publication number CN111674858A discloses a channel kiln building block output system, which sequentially comprises a building block output frame, a carrying frame, a plurality of building block curing frames arranged in a channel kiln, at least two liftable carriers and a control device from front to back; the building block output frame comprises a building block output frame body, a first longitudinal rail pair and a second longitudinal rail pair; the building block maintenance frame comprises a building block maintenance frame body, a fourth longitudinal rail pair and a fifth longitudinal rail pair; the carrying frame comprises a transverse rail pair, a transverse ferry vehicle is arranged on the transverse rail pair, and a third longitudinal rail pair consisting of two third longitudinal rails is arranged on the transverse ferry vehicle; the distance between the two third longitudinal rails is the same as that between the two second longitudinal rails, and the top surfaces of the two third longitudinal rails are flush with the top surfaces of the two second longitudinal rails. The outstanding drawbacks of this technique are: firstly, a track pair needs to be arranged below a frame body of the block output frame, a block maintenance frame needs the track pair, particularly the block maintenance frame is long in longitudinal length and large in number, the track pair needs to be arranged below the block output frame, the length is generally tens of meters, the number is large, and the investment is huge; because the maintenance temperature in the maintenance room is higher than the room temperature and is in the environment of maintenance, unloading, re-maintenance and re-unloading for a long time, the track pair in the maintenance room is generally tens of meters in length and is extremely easy to deform, so that the trolley is difficult to run on the track pair, the energy consumption is high, and the like.

SUMMERY OF THE UTILITY MODEL

The present invention has been made in view of the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide a vertical and horizontal movement device for a block transfer robot, which does not require a pair of guide rails when the block transfer robot moves under a block output rack or a block maintenance rack, and can switch to a horizontal movement mode when the block transfer robot is between the block output rack and the block maintenance rack. Because the block output frame and the track pair arranged below the block maintenance frame are not needed, the method has the characteristics of investment saving, stable operation and safe use.

The technical scheme adopted by the utility model is as follows.

The utility model provides a building block transfer robot's vertical and horizontal mobile device which characterized in that: the building block carrying robot comprises a rack, wherein a storage battery is arranged on the rack, and the longitudinal and transverse moving device comprises a transverse moving device and a longitudinal moving device which are arranged on the rack;

the transverse moving device comprises a plurality of transverse rollers and a transverse roller driving device;

the longitudinal moving device comprises a plurality of lifting devices, an underframe connected with the bottom end of each lifting device, a plurality of longitudinal rollers and a plurality of steering wheels which are arranged on the underframe, a longitudinal moving driving device connected with the longitudinal rollers or the steering wheels, and a longitudinal moving steering fine-tuning device connected with the steering wheels.

As a preferred technical scheme, the transverse moving device comprises four transverse rollers which are respectively arranged at four corners of the bottom end of the frame, wherein one transverse roller of the two transverse rollers positioned at the front end of the frame, one transverse roller of the two transverse rollers positioned at the rear end of the frame and the transverse roller driving device are respectively arranged in the four transverse rollers.

As a preferred technical solution, the lateral roller driving device is a lateral movement driving motor.

As a preferred technical scheme, four corners at the bottom end of the frame are respectively provided with a transverse roller shaft, and transverse rollers are arranged on the transverse roller shafts; the transverse roller shaft of the two transverse roller shafts positioned at the front end of the most frame and one transverse roller shaft of the two transverse roller shafts positioned at the rear end of the most frame are provided with first transmission gears, the transverse roller driving device is connected with a power output shaft of a transverse roller driving device which is longitudinally arranged, the front end and the rear end of the power output shaft of the transverse roller driving device are provided with power output wheels, and each first transmission gear is connected with the power output wheel of the transverse roller driving device which is closest to the first transmission gear.

As a preferred technical scheme, the longitudinal moving device comprises a lifting device which is a lifting hydraulic oil cylinder vertically arranged in the middle of an underframe, the underframe is connected with a frame through a synchronizing device, a hydraulic pump station is arranged on the frame, a hydraulic pump is arranged on the hydraulic pump station, the hydraulic pump is connected with a storage battery through a line, the hydraulic pump is connected with the lifting device through a pipeline,

or,

the longitudinal moving device comprises three or more than three lifting devices which are not in the same plane any more, each lifting device is a lifting hydraulic oil cylinder vertically arranged on the underframe, a hydraulic pump station is arranged on the frame and is provided with a hydraulic pump, the hydraulic pump station is provided with a hydraulic pump, the hydraulic pump is connected with the storage battery through a circuit, the hydraulic pump is connected with each lifting device through a pipeline,

or,

the longitudinal moving device comprises a lifting device which is an electric lifter vertically arranged on an underframe, the underframe is connected with the frame through a synchronizing device, the lifting device is connected with the storage battery,

or,

the longitudinal moving device comprises three or more than three lifting devices which are not in the same plane any more, the lifting devices are electric lifters vertically arranged on the underframe, and each lifting device is connected with the storage battery.

As a preferred technical scheme, a plurality of guide holes are vertically arranged on the frame, the synchronizing device comprises guide rods which are arranged on the underframe and are positioned in the guide holes, or,

the synchronous device comprises a plurality of cross rod groups connected with the chassis and the rack, each cross rod group comprises two cross rods with hinged middle parts, and the hinged joints of the cross rods are on the same horizontal plane.

As the preferred technical scheme, the underframe is provided with two longitudinal rollers with central axes on the same horizontal straight line; a steering wheel is arranged behind or in front of the two longitudinal rollers on the underframe through a rotatable wheel fork, and the steering wheel is connected with a longitudinal moving steering fine-tuning device; the longitudinal rollers with the central axes on the same horizontal straight line are connected through a linkage rod, one longitudinal roller or the linkage rod is connected with a longitudinal movement driving device, a wheel fork base rod of the wheel fork is vertical to the ground and can rotate along the central axis,

or,

two longitudinal rollers with central axes on the same horizontal straight line are arranged on the underframe; a steering wheel is arranged behind or in front of the two longitudinal rollers on the underframe through a rotatable wheel fork, and the steering wheel is connected with a longitudinal moving steering fine-tuning device; the steering wheel is connected with the longitudinal movement driving device, and a wheel fork base rod of the wheel fork is vertical to the ground and can rotate along the central axis of the wheel fork;

the wheel fork base rod is sleeved with a driven gear, the longitudinal moving steering fine-tuning device is provided with a driving gear which can be meshed with the driven gear on the wheel fork base rod, and the longitudinal moving steering fine-tuning device is a steering driving motor.

As the preferred technical scheme, the underframe is provided with two longitudinal rollers with central axes on the same horizontal straight line; a steering wheel is arranged behind or in front of the two longitudinal rollers on the bottom frame through a rotatable wheel fork; the longitudinal rollers with two central axes on the same horizontal straight line are connected through a linkage rod, one longitudinal roller or the linkage rod is connected with a longitudinal movement driving device, a wheel fork base rod of the wheel fork is vertical to the ground and can rotate along the central axis, a steering driving rod is arranged on the wheel fork, a longitudinal movement steering fine adjustment device is an electric linear driver horizontally hinged on the frame, the longitudinal movement steering fine adjustment device is hinged with the steering driving rod,

or,

two longitudinal rollers with central axes on the same horizontal straight line are arranged on the underframe; a steering wheel is arranged behind or in front of the two longitudinal rollers on the bottom frame through a rotatable wheel fork; the steering wheel is connected with a longitudinal movement driving device, a wheel fork base rod of the wheel fork is vertical to the ground and can rotate along the central axis of the wheel fork, a steering driving rod is arranged on the wheel fork, the longitudinal movement steering fine adjustment device is an electric linear driver horizontally hinged on the frame, the longitudinal movement steering fine adjustment device is hinged with the steering driving rod,

or,

the chassis is provided with two longitudinal rollers with central axes on the same transverse straight line and two steering wheels with central axes on the same transverse straight line, the two longitudinal rollers with central axes on the same transverse straight line are connected through a linkage rod, one longitudinal roller or the linkage rod is connected with a longitudinal movement driving device, the steering wheels are arranged on the chassis through rotatable wheel forks, a wheel fork base rod of each wheel fork is vertical to the ground and can rotate along the central axis thereof, each wheel fork is provided with a steering driving rod, the two steering driving rods are respectively hinged with two ends of a connecting rod, the longitudinal movement steering fine adjustment device is an electric linear driver horizontally hinged on the frame, the longitudinal movement steering fine adjustment device is hinged with the connecting rod,

or,

the chassis is provided with two longitudinal rollers with central axes on the same transverse straight line and two steering wheels with central axes on the same transverse straight line, the two steering wheels are connected with a longitudinal movement driving device, the steering wheels are installed on the chassis through rotatable wheel forks, wheel fork base rods of the wheel forks are perpendicular to the ground and can rotate along the central axes of the wheel fork base rods, each wheel fork is provided with a steering driving rod, the two steering driving rods are respectively hinged with two ends of a connecting rod, the longitudinal movement steering fine adjustment device is an electric linear driver horizontally hinged on the rack, and the longitudinal movement steering fine adjustment device is hinged with the connecting rod.

As a preferred technical scheme, the radial outer peripheral surface of the transverse roller is provided with a roller groove.

As a preferred technical scheme, the longitudinal movement driving device is a hydraulic motor, a hydraulic pump station is arranged on the frame, a hydraulic pump of the hydraulic pump station is connected with a storage battery through a line, the hydraulic motor of the longitudinal movement driving device is connected with the hydraulic pump through a pipeline,

or,

the longitudinal movement driving device is a longitudinal movement driving motor and is connected with the storage battery.

The utility model has the beneficial effects that: the transverse roller driving device drives the transverse roller to realize transverse movement of the building block carrying robot. The height of the top surface of the building block carrying robot from the ground is adjusted through the lifting device, so that the longitudinal roller is in contact with the ground, and the transverse roller is not in contact with the ground, or the longitudinal roller is not in contact with the ground, and the transverse roller is in contact with the ground, so that power separation of longitudinal and transverse motion is realized; the longitudinal movement of the building block carrying robot is realized by driving the longitudinal rollers through the longitudinal movement driving device. The longitudinal movement of the building block carrying robot is adjusted by driving the steering wheel through the longitudinal movement steering fine adjustment device. According to the utility model, the transverse rollers, the longitudinal rollers and the steering wheels are integrated on the block carrying robot, and when the longitudinal frame pieces 71 move, no longitudinal guide rail needs to be laid between the longitudinal frame pieces 71, so that the investment is greatly saved.

Drawings

Fig. 1 is a left side view of a preferred embodiment of the cross-bar moving apparatus of the block transfer robot of the present invention.

Fig. 2 is a plan view of the vertical and horizontal movement device of the block transfer robot shown in fig. 1.

Fig. 3 is a rear view of the cross-bar moving device of the block transfer robot of fig. 1.

Fig. 4 is a bottom view of the vertical and horizontal movement device of the block transfer robot shown in fig. 1.

Fig. 5 is a partially enlarged view of a portion a of fig. 4.

Fig. 6 is a partially enlarged view of a portion B of fig. 4.

Fig. 7 is a schematic view of the connection of the chassis with the longitudinal movement steering vernier device and the longitudinal movement driving device.

Fig. 8 is a partially enlarged view of a portion C of fig. 7.

Fig. 9 is a state diagram of the vertical and horizontal movement device of the block transfer robot shown in fig. 1.

Fig. 10 is a schematic structural view of a preferred embodiment of the cross-bar moving apparatus of the block transfer robot of the present invention.

Fig. 11 is a schematic view showing the connection of an underframe of the vertical and horizontal movement device of the block transfer robot of the present invention with a vertical movement turning fine adjustment device and a vertical movement driving device.

Fig. 12 is a schematic view showing the connection of an underframe of the vertical and horizontal movement device of the block transfer robot of the present invention to a vertical movement turning fine adjustment device and a vertical movement driving device.

Fig. 13 is a schematic view showing the connection of an underframe of the vertical and horizontal movement device of the block transfer robot of the present invention with a vertical movement turning fine adjustment device and a vertical movement driving device.

Fig. 14 is a schematic structural view of a cross-bar moving apparatus of a block transfer robot according to a preferred embodiment of the present invention.

Fig. 15 is a partially enlarged view of a portion D of fig. 14.

Fig. 16 is a schematic structural view of a cross-bar moving apparatus of a block transfer robot according to a preferred embodiment of the present invention.

Fig. 17 is a partially enlarged view of a portion E of fig. 16.

Fig. 18 is a schematic view showing a longitudinal movement driving device connected to a longitudinal movement steering fine adjustment device and a longitudinal movement chassis of the vertical and horizontal movement device of the block transfer robot according to the present invention.

Fig. 19 is a partially enlarged view of a portion F of fig. 18.

Fig. 20 is a schematic view showing the connection of one of the underframes of the traverse device, the vertical movement turning fine adjustment device, and the vertical movement driving device of the block transfer robot according to the present invention.

Fig. 21 is a schematic view showing the connection of an underframe of the vertical and horizontal moving device of the block transfer robot of the present invention with a vertical movement turning fine adjustment device and a vertical movement driving device.

Fig. 22 is a schematic structural view of a crossbar transfer device according to a preferred embodiment of the block transfer robot of the present invention.

Fig. 23 is a schematic structural view of a cross-bar moving apparatus of a block transfer robot according to a preferred embodiment of the present invention.

FIG. 24 is a view of a use scenario for the block transfer robot of the present invention.

Fig. 25 is a partially enlarged view of a portion G of fig. 24.

Wherein: a frame-1; a storage battery-11; a hydraulic pump station-12; a hydraulic pump-13;

a transverse roller-2; a transverse roller drive-21; a transverse roller shaft-22; a first transmission gear-23; a power output shaft-24 of the transverse roller driving device; a power take-off wheel-25; a roller groove-26; a chain-27;

longitudinally moving a steering fine-adjustment device-3; a drive gear-31;

a longitudinal movement driving device-4;

a lifting device-5;

a chassis-6; a longitudinal roller-61; a steering wheel-62; a guide bar-63; -64 set of crossing bars; hinge point-65; a crossbar-66; a fork-67; a fork base-68; a driven gear-69; a linkage rod-610; a steering drive rod-611; link-612;

a transverse guide rail 7; a longitudinal frame piece 71; 72-a tray; 73-building block.

Detailed Description

The utility model is further described below with reference to the following figures and examples.

Example 1. As shown in fig. 1 to 9, a vertical and horizontal movement device of a block transfer robot is characterized in that: the building block carrying robot comprises a rack 1, wherein a storage battery 11 is arranged on the rack 1, and the longitudinal and transverse moving device comprises a transverse moving device and a longitudinal moving device which are arranged on the rack 1.

The transverse moving device comprises a plurality of transverse rollers 2 and a transverse roller driving device 21.

The longitudinal moving device comprises a plurality of lifting devices 5, an underframe 6 connected with the bottom end of each lifting device 5, a plurality of longitudinal rollers 61 and a plurality of steering wheels 62 which are arranged on the underframe 6, a longitudinal moving driving device 4 connected with the longitudinal rollers 61 or the steering wheels 62, and a longitudinal moving steering fine-adjustment device 3 connected with the steering wheels 62.

The transverse moving device comprises four transverse rollers 2 which are respectively arranged at four corners of the bottom end of the frame 1, wherein in the four transverse rollers 2, the transverse roller 2 at the right end of the two transverse rollers 2 at the front end of the frame 1, and the transverse roller 2 at the right end of the two transverse rollers 2 at the rear end of the frame 1 are respectively connected with a transverse roller driving device 21.

The transverse roller driving device 21 is a transverse movement driving motor.

Four corners at the bottom end of the frame 1 are respectively provided with a transverse roller shaft 22, and the transverse rollers 2 are arranged on the transverse roller shafts 22; the first transmission gear 23 is arranged on one transverse roller shaft 22 at the right end of the two transverse roller shafts 22 at the front end of the most frame 1 and one transverse roller shaft 22 at the right end of the two transverse roller shafts 22 at the rear end of the most frame 1. The transverse roller driving device 21 is connected with a power output shaft 24 of the transverse roller driving device which is longitudinally arranged, power output wheels 25 are arranged at the front end and the rear end of the power output shaft 24 of the transverse roller driving device, and each first transmission gear 23 is connected with the power output wheel 25 of the transverse roller driving device which is closest to the first transmission gear through a chain 27. The longitudinal movement steering vernier device 3 is connected with the storage battery 11.

The longitudinal moving device comprises three lifting devices 5 which are not in the same plane, the lifting devices 5 are electric lifters vertically arranged on the underframe 6, and each lifting device 5 is connected with a storage battery 11.

The underframe 6 is provided with two longitudinal rollers 61 with central axes on the same horizontal straight line; a steering wheel 62 is arranged at the rear or the front of the two longitudinal rollers 61 on the underframe 6 through a rotatable wheel fork 67, and the steering wheel 62 is connected with the longitudinal movement steering fine-tuning device 3; the steering wheel 62 is connected to the longitudinal movement drive means 4, the fork base 68 of the fork 67 being perpendicular to the ground and rotatable about its central axis.

The wheel fork base rod 68 is sleeved with a driven gear 69, the longitudinal moving steering fine adjustment device 3 is provided with a driving gear 31 which can be meshed with the driven gear 69 on the wheel fork base rod 68, and the longitudinal moving steering fine adjustment device 3 is a steering driving motor.

The radial outer peripheral surface of the lateral roller 2 is provided with a roller groove 26.

The longitudinal movement driving device 4 is a longitudinal movement driving motor, and the longitudinal movement driving device 4 is connected with the storage battery 11.

The transverse roller driving device drives the transverse roller to realize the transverse movement of the building block carrying robot. The height of the top surface of the building block carrying robot from the ground is adjusted through the lifting device, so that the longitudinal roller is in contact with the ground, and the transverse roller is not in contact with the ground, or the longitudinal roller is not in contact with the ground, and the transverse roller is in contact with the ground, so that power separation of longitudinal and transverse motion is realized; the longitudinal movement of the building block carrying robot is realized by driving the longitudinal rollers through the longitudinal movement driving device. The longitudinal movement of the building block carrying robot is adjusted by driving the steering wheel through the longitudinal movement steering fine adjustment device. As shown in fig. 24-25, by integrating the transverse rollers, the longitudinal rollers and the steering wheels on the block transfer robot, no longitudinal guide rail needs to be laid between the longitudinal frame pieces 71 when the longitudinal frame pieces 71 move, thereby greatly saving investment. The field is transversely provided with a transverse guide rail 7, and the radial outer peripheral surface of the transverse roller 2 is provided with a roller groove 26 which can run on the transverse guide rail 7.

Example 2. As shown in fig. 10, the present embodiment is different from embodiment 1 in that: the longitudinal moving device comprises more than three lifting devices 5 which are not in the same plane any more, each lifting device 5 is a lifting hydraulic oil cylinder vertically arranged on the underframe 6, a hydraulic pump station 12 is arranged on the rack, a hydraulic pump 13 is arranged on the hydraulic pump station 12, the hydraulic pump 13 is connected with the storage battery 11 through a circuit, and the hydraulic pump 13 is connected with each lifting device 5 through a pipeline.

Example 3. As shown in fig. 11, the present embodiment is different from embodiment 1 in that: the longitudinal moving device comprises a lifting device 5, the lifting device 5 is an electric lifter vertically arranged on an underframe 6, the underframe 6 is connected with the machine frame 1 through a synchronizing device, and the lifting device 5 is connected with a storage battery 11. Four guide holes are vertically formed in the rack, and the synchronizing device comprises guide rods 63 which are arranged on the underframe 6 and are positioned in the guide holes.

Example 4. As shown in fig. 12, the present embodiment is different from embodiment 2 in that: the longitudinal moving device comprises three lifting devices 5 which are not in the same plane any more, and each lifting device 5 is a lifting hydraulic oil cylinder vertically arranged on the underframe 6.

Example 5. As shown in fig. 13, the present embodiment is different from embodiment 3 in that: the longitudinal moving device comprises four lifting devices 5 which are not in the same plane any more, and each lifting device 5 is a lifting hydraulic oil cylinder vertically arranged on the underframe 6.

Example 6. As shown in fig. 14 to 15, the present embodiment is different from embodiment 1 in that: the longitudinal moving device comprises a lifting device 5, the lifting device 5 is an electric lifter vertically arranged on an underframe 6, the underframe 6 is connected with the machine frame 1 through a synchronizing device, and the lifting device 5 is connected with a storage battery 11. The synchronizing device comprises a group of cross rod groups 64 connected with the bottom frame 6, the machine frame 1 and the bottom frame 6, each cross rod group 64 comprises two cross rods 66 hinged at the middle part, and the cross hinge points 65 of the cross rod groups 64 are on the same horizontal plane. The two cross bar sets 64 are symmetrical left and right along the centroid of the machine frame 1.

Example 7. As shown in fig. 16 to 17, the present embodiment is different from embodiment 1 in that: the chassis 6 is provided with two longitudinal rollers 61 with central axes on the same transverse straight line, two steering wheels 62 with central axes on the same transverse straight line, the two steering wheels 62 are connected with the longitudinal movement driving device 4, the steering wheels are arranged on the chassis 6 through rotatable wheel forks, wheel fork base rods of the wheel forks are perpendicular to the ground and can rotate along the central axes thereof, each wheel fork is provided with a steering driving rod 611, the two steering driving rods 611 are respectively hinged with two ends of a connecting rod 612, the longitudinal movement steering fine-adjustment device 3 is an electric linear driver horizontally hinged on a rack, and the longitudinal movement steering fine-adjustment device 3 is hinged with the connecting rod 612.

Example 8. As shown in fig. 18 to 19, the present embodiment is different from embodiment 2 in that: the underframe 6 is provided with two longitudinal rollers 61 with central axes on the same horizontal straight line; a steering wheel 62 is arranged at the rear or the front of the two longitudinal rollers 61 on the bottom frame 6 through a rotatable wheel fork 67; the steering wheel 62 is connected with the longitudinal movement driving device 4, the wheel fork base rod 68 of the wheel fork 67 is perpendicular to the ground and can rotate along the central axis thereof, the wheel fork 67 is provided with a steering driving rod 611, the longitudinal movement steering fine adjustment device 3 is an electric linear driver horizontally hinged on the machine frame, and the longitudinal movement steering fine adjustment device 3 is hinged with the steering driving rod 611.

Example 9. As shown in fig. 20, the present embodiment is different from embodiment 8 in that: the longitudinal rollers 61 with the two central axes on the same horizontal straight line are connected through the linkage rod 610, and the longitudinal roller 61 positioned on the right side of the rack is connected with the longitudinal movement driving device 4. The longitudinal movement driving means 4 is a hydraulic motor.

Example 10. As shown in fig. 21, the present embodiment is different from embodiment 11 in that: the linkage rod 610 is connected with a longitudinal movement driving device 4 device arranged on the machine frame. The longitudinal movement driving means 4 is a longitudinal movement driving motor. The longitudinal movement driving device 4 is provided on the base frame 6.

Example 11. As shown in fig. 22, the present embodiment is different from embodiment 7 in that: the underframe 6 is provided with two longitudinal rollers 61 with central axes on the same horizontal straight line and two steering wheels 62 with central axes on the same horizontal straight line, the longitudinal rollers 61 with central axes on the same horizontal straight line are connected through a linkage rod 610, and the linkage rod 610 is connected with the longitudinal movement driving device 4. The longitudinal movement driving device 4 is provided on the base frame 6.

Example 12. As shown in fig. 23, the present embodiment is different from embodiment 11 in that: the two longitudinal rollers 61 with the central axes on the same horizontal straight line are connected through a linkage rod 610, and one longitudinal roller 61 is connected with the longitudinal movement driving device 4.

The above-mentioned embodiments are only for understanding the present invention, and are not intended to limit the technical solutions of the present invention, and those skilled in the relevant art can make various changes or modifications, and all equivalent changes or modifications are intended to be included within the scope of the present invention. The present invention is not described in detail, but is known to those skilled in the art.

Claims

1. The utility model provides a building block transfer robot's vertical and horizontal mobile device which characterized in that: the building block carrying robot comprises a rack (1), wherein a storage battery (11) is arranged on the rack (1), and the longitudinal and transverse moving device comprises a transverse moving device and a longitudinal moving device which are arranged on the rack (1);

the transverse moving device comprises a plurality of transverse rollers (2) and a transverse roller driving device (21);

the longitudinal moving device comprises a plurality of lifting devices (5), an underframe (6) connected with the bottom end of each lifting device (5), a plurality of longitudinal rollers (61) and a plurality of steering wheels (62) which are arranged on the underframe (6), a longitudinal moving driving device (4) connected with the longitudinal rollers (61) or the steering wheels (62), and a longitudinal moving steering fine-tuning device (3) connected with the steering wheels (62).

2. The crossbar for a block transfer robot according to claim 1, wherein: the transverse moving device comprises four transverse rollers (2) which are respectively arranged at four corners of the bottom end of the rack (1), wherein in the four transverse rollers (2), one transverse roller (2) in the two transverse rollers (2) at the front end of the rack (1) and one transverse roller (2) in the two transverse rollers (2) at the rear end of the rack (1) are respectively connected with a transverse roller driving device (21).

3. The crossbar for a block handling robot as claimed in claim 2, wherein: the transverse roller driving device (21) is a transverse movement driving motor.

4. The crossbar for a block transfer robot according to claim 2, wherein: four corners at the bottom end of the frame (1) are respectively provided with a transverse roller shaft (22), and the transverse rollers (2) are arranged on the transverse roller shafts (22); a transverse roller shaft (22) in two transverse roller shafts (22) positioned at the front end of the most frame (1) and one transverse roller shaft (22) in the two transverse roller shafts (22) positioned at the rear end of the most frame (1) are provided with first transmission gears (23), a transverse roller driving device (21) is connected with a power output shaft (24) of a transverse roller driving device which is longitudinally arranged, power output wheels (25) are arranged at the front end and the rear end of the power output shaft (24) of the transverse roller driving device, and each first transmission gear (23) is connected with the power output wheel (25) of the transverse roller driving device which is closest to the transverse roller driving device.

5. The crossbar for a block transfer robot according to claim 1, wherein: the longitudinal moving device comprises a lifting device (5), the lifting device (5) is a lifting hydraulic oil cylinder vertically arranged in the middle of the bottom frame (6), the bottom frame (6) is connected with the frame through a synchronizer, a hydraulic pump station (12) is arranged on the frame (1), a hydraulic pump (13) is arranged on the hydraulic pump station (12), the hydraulic pump (13) is connected with the storage battery (11) through a line, the hydraulic pump (13) is connected with the lifting device (5) through a pipeline,

or,

the longitudinal moving device comprises three or more than three lifting devices (5) which are not in the same plane any more, each lifting device (5) is a lifting hydraulic oil cylinder vertically arranged on the bottom frame (6), a hydraulic pump station (12) is arranged on the frame, a hydraulic pump (13) is arranged on the hydraulic pump station (12), the hydraulic pump (13) is connected with the storage battery (11) through a circuit, the hydraulic pump (13) is connected with each lifting device (5) through a pipeline,

or,

the longitudinal moving device comprises a lifting device (5), the lifting device (5) is an electric lifter vertically arranged on an underframe (6), the underframe (6) is connected with the machine frame (1) through a synchronizing device, the lifting device (5) is connected with a storage battery (11),

or,

the longitudinal moving device comprises three or more than three lifting devices (5) which are not in the same plane any more, the lifting devices (5) are electric lifters vertically arranged on the underframe (6), and each lifting device (5) is connected with a storage battery (11).

6. The crossbar for a block transfer robot according to claim 5, wherein: the frame is provided with a plurality of guide holes in the vertical direction, the synchronizing device comprises guide rods (63) which are arranged on the bottom frame (6) and are positioned in the guide holes, or,

the synchronizing device comprises a plurality of cross rod groups (64) connected with the chassis (6) and the rack (1), each cross rod group (64) comprises two cross rods (66) with hinged middle parts, and cross hinge points (65) of the cross rod groups (64) are on the same horizontal plane.

7. The crossbar for a block transfer robot according to claim 1, wherein: two longitudinal rollers (61) with central axes on the same horizontal straight line are arranged on the underframe (6); a steering wheel (62) is arranged behind or in front of the two longitudinal rollers (61) on the bottom frame (6) through a rotatable wheel fork (67), and the steering wheel (62) is connected with the longitudinal movement steering fine-adjustment device (3); the longitudinal rollers (61) with the two central axes on the same horizontal straight line are connected through a linkage rod (610), one longitudinal roller (61) or the linkage rod (610) is connected with a longitudinal movement driving device (4), a wheel fork base rod (68) of a wheel fork (67) is vertical to the ground and can rotate along the central axis thereof,

or,

two longitudinal rollers (61) with central axes on the same horizontal straight line are arranged on the underframe (6); a steering wheel (62) is arranged behind or in front of the two longitudinal rollers (61) on the bottom frame (6) through a rotatable wheel fork (67), and the steering wheel (62) is connected with the longitudinal movement steering fine-adjustment device (3); the steering wheel (62) is connected with the longitudinal movement driving device (4), and a wheel fork base rod (68) of a wheel fork (67) is vertical to the ground and can rotate along the central axis thereof;

the wheel fork base rod (68) is sleeved with a driven gear (69), the longitudinal moving steering fine adjustment device (3) is provided with a driving gear (31) which can be meshed with the driven gear (69) on the wheel fork base rod (68), and the longitudinal moving steering fine adjustment device (3) is a steering driving motor.

8. The crossbar for a block transfer robot according to claim 1, wherein: two longitudinal rollers (61) with central axes on the same horizontal straight line are arranged on the underframe (6); a steering wheel (62) is arranged at the rear or the front of the two longitudinal rollers (61) on the bottom frame (6) through a rotatable wheel fork (67); the longitudinal rollers (61) with the two central axes on the same horizontal straight line are connected through a linkage rod (610), one longitudinal roller (61) or the linkage rod (610) is connected with a longitudinal movement driving device (4), a wheel fork base rod (68) of a wheel fork (67) is perpendicular to the ground and can rotate along the central axis of the wheel fork, a steering driving rod (611) is arranged on the wheel fork (67), the longitudinal movement steering fine-tuning device (3) is an electric linear driver horizontally hinged on a rack, the longitudinal movement steering fine-tuning device (3) is hinged with the steering driving rod (611),

or,

two longitudinal rollers (61) with central axes on the same horizontal straight line are arranged on the underframe (6); a steering wheel (62) is arranged at the rear or the front of the two longitudinal rollers (61) on the bottom frame (6) through a rotatable wheel fork (67); the steering wheel (62) is connected with the longitudinal movement driving device (4), a wheel fork base rod (68) of a wheel fork (67) is vertical to the ground and can rotate along the central axis of the wheel fork, a steering driving rod (611) is arranged on the wheel fork (67), the longitudinal movement steering fine-adjustment device (3) is an electric linear driver horizontally hinged on the rack, the longitudinal movement steering fine-adjustment device (3) is hinged with the steering driving rod (611),

or,

the chassis (6) is provided with two longitudinal rollers (61) with central axes on the same transverse straight line and two steering wheels (62) with central axes on the same transverse straight line, the longitudinal rollers (61) with two central axes on the same transverse straight line are connected through a linkage rod (610) and one of the longitudinal rollers (61) or the linkage rod (610) is connected with a longitudinal movement driving device (4), the steering wheels (62) are arranged on the chassis (6) through rotatable wheel forks (67), a wheel fork base rod (68) of each wheel fork (67) is vertical to the ground and can rotate along the central axis thereof, each wheel fork (67) is provided with a steering driving rod (611), the two steering driving rods (611) are respectively hinged with two ends of a connecting rod (612), the longitudinal movement steering fine adjustment device (3) is an electric linear driver horizontally hinged on the frame, the longitudinal movement steering fine adjustment device (3) is hinged with the connecting rod (612),

or,

the chassis (6) is provided with two longitudinal rollers (61) with central axes on the same transverse straight line, and two steering wheels (62) with central axes on the same transverse straight line, the two steering wheels (62) are connected with a longitudinal movement driving device (4) device, the steering wheels (62) are arranged on the chassis (6) through rotatable wheel forks (67), a wheel fork base rod (68) of each wheel fork (67) is perpendicular to the ground and can rotate along the central axis thereof, each wheel fork (67) is provided with a steering driving rod (611), the two steering driving rods (611) are respectively hinged with two ends of a connecting rod (612), the longitudinal movement steering fine adjustment device (3) is an electric linear driver horizontally hinged on the rack, and the longitudinal movement steering fine adjustment device (3) is hinged with the connecting rod (612).

9. The crossbar device of a block transfer robot according to claim 7 or 8, wherein: the radial outer peripheral surface of the transverse roller (2) is provided with a roller groove (26).

10. The crossbar device of a block transfer robot according to claim 7 or 8, wherein: the longitudinal movement driving device (4) is a hydraulic motor, a hydraulic pump station (12) is arranged on the frame, a hydraulic pump (13) of the hydraulic pump station (12) is connected with the storage battery (11) through a circuit, the hydraulic motor of the longitudinal movement driving device (4) is connected with the hydraulic pump (13) through a pipeline,

or,

the longitudinal movement driving device (4) is a longitudinal movement driving motor, and the longitudinal movement driving device (4) is connected with the storage battery (11).