CN216830906U

CN216830906U - Multi-terrain transfer robot

Info

Publication number: CN216830906U
Application number: CN202123076072.9U
Authority: CN
Inventors: 曹俣帅
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-06-28
Anticipated expiration: 2031-12-09

Abstract

The utility model discloses a multi-terrain transfer robot, which comprises a base, four corners of the base are all fixedly provided with shock absorption bases, the shock absorption base comprises a first electric shaft, one side of the first electric shaft is fixedly connected with the base, the other side of the first electric shaft is fixedly connected with a second electric shaft, the outer surface of the second electric shaft is fixedly connected with a first damping rod, one end of the first shock absorption rod, which is far away from the second electric shaft, is fixedly connected with a third electric shaft, and after the shock absorption base is designed to be foldable, when the terrain is complex and stones or sundry debris exist on the ground, the damping base is folded, the crawler base can be contacted with the ground to move after the folding is finished, the crawler base can conveniently move forward regardless of the obstacles in the moving process, and when the crawler base moves, the damping base can extend upwards and use the stabilizing block to prop against the stabilizing handle, so that the stability of the carrying box is greatly improved.

Description

Multi-terrain transfer robot

Technical Field

The utility model belongs to the conveying equipment field, specifically speaking relates to a many topography transfer robot.

Background

The transfer robot is an industrial robot capable of carrying out automatic transfer operation, different end effectors can be mounted on the transfer robot to complete work pieces in different shapes and states, heavy physical labor of human is greatly reduced, and the number of the transfer robots used in the world is over 10 thousands, so that the transfer robot is widely applied to automatic transfer of loading and unloading of machine tools, automatic production lines of punching machines, automatic assembly lines, stacking transfer, containers and the like.

Because transfer robot need carry under different environment of different occasions, can produce jolting or vibrations in handling unavoidably, if what carry is fragile article, the shake in handling just can make article damage, great increase the cost of enterprise, article that the while was jolting the in-process transport can drop and pound the risk of people in addition, so we need a shock attenuation good and stable many topography transfer robot.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in overcoming prior art's is not enough, provides a many topography transfer robot, for solving above-mentioned technical problem, the utility model discloses a technical scheme's basic design is:

a multi-terrain carrying robot comprises a base, wherein shock absorption bases are fixedly installed at four corners of the base and comprise first electric shafts, one side of each first electric shaft is fixedly connected with the base, the other side of each first electric shaft is fixedly connected with a second electric shaft, a first shock absorption rod is fixedly connected to the outer surface of each second electric shaft, one end, away from each second electric shaft, of each first shock absorption rod is fixedly connected with a third electric shaft, the outer surface of each third electric shaft is fixedly connected with a second shock absorption rod, one end, away from each third electric shaft, of each second shock absorption rod is movably connected with a movable base, the bottom of each movable base is fixedly connected with a fixed shock absorber, the bottom of each fixed shock absorber is movably connected with a fourth electric shaft, the bottom of each fourth electric shaft is fixedly connected with a shock absorption wheel, and crawler bases are fixedly connected to two sides of the bottom of the base, the crawler base comprises a crawler box, crawler wheels are fixedly connected to two sides of the crawler box, a crawler is sleeved on the outer surface of each crawler wheel in a movable mode, a carrying box is arranged at the top of the base, fixing strips are sleeved on the outer surface of the carrying box, a fixing rubber ring is arranged on the outer surface of the carrying box, the fixing rubber ring is located at the bottom of each fixing strip, a stabilizing reinforcing rib is fixedly arranged at the bottom of the fixing rubber ring, one end of the fixing rubber ring and the top of the base are far away from the stabilizing reinforcing rib, and hydraulic rods are fixedly arranged on two sides of the top of the base.

Preferably, the equal fixed mounting in four corners of fixed strip has stabilized handrail, first shock attenuation pole is the fretwork dress, it is rotatory to remove base accessible third electric shaft, the top fixed mounting who removes the base has the steady piece, can be rotatory to the below of stabilizing the handrail through the rotation with removing the base, the steady piece can with stabilize handrail looks joint, increase the stability of tote box.

Preferably, two the inside of track case all is equipped with the tire groove, two the fixed tire of all installing in the inside of tire groove, two the equal fixed mounting of the face of keeping away from mutually of track case has track case handle for dismantle more easily at maintenance process kind.

Preferably, vibration damping mount's bottom and crawler base's bottom are not in same horizontal plane, vibration damping mount will contact ground through electronic axle folding back crawler base, and vibration damping mount does not fold also removable.

Preferably, both sides of tote box all fixedly connected with hydraulic handle, the hydraulic stem will withstand hydraulic handle and jack-up the tote box when needs shift out the tote box inside the base.

Compared with the prior art, the utility model following beneficial effect has:

the four shock absorption bases are arranged at the bottom of the base, and the shock absorption wheels are arranged at the bottom of the shock absorption bases, so that the shock absorption bases can move when not folded, the shock absorption wheels are small in size and good in shock absorption performance, and the shock absorption bases can move conveniently when the terrain is flat and obstacles are few.

After can folding through with the vibration damping mount design, when there is stone or debris on the complicated and ground of topography, fold vibration damping mount, folding the end will make track base contact ground remove, track base will be disregarded these obstacles and can conveniently move ahead at the in-process that removes, and when track base removed, vibration damping mount can upwards extend to and withhold the stability that has stabilized the great increase tote box of handle with the stabilizing block.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the shock absorbing base structure of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is a front view of the present invention;

fig. 5 is a schematic view of the top view structure of the present invention.

In the figure: 1-a base; 2-a damping base; 3-a first electric axis; 4-a second electric axis; 5-a first shock-absorbing rod; 6-third electric axis; 7-a second shock-absorbing rod; 8-moving the base; 9-fixing a shock absorber; 10-a fourth electrical axis; 11-shock absorbing wheels; 12-a track base; 13-a crawler box; 14-a track wheel; 15-a crawler; 16-a tote box; 17-a fixation bar; 18-fixing a rubber ring; 19-stabilizing the reinforcing ribs; 20-hydraulic rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention.

As shown in fig. 1 to 5, a multi-terrain transfer robot comprises a base 1, four corners of the base 1 are fixedly provided with shock absorbing bases 2, as shown in fig. 2, each shock absorbing base 2 comprises a first electric shaft 3, one side of each first electric shaft 3 is fixedly connected with the base 1, the other side of each first electric shaft 3 is fixedly connected with a second electric shaft 4, the outer surface of each second electric shaft 4 is fixedly connected with a first shock absorbing rod 5, one end, far away from the second electric shaft 4, of each first shock absorbing rod 5 is fixedly connected with a third electric shaft 6, the outer surface of each third electric shaft 6 is fixedly connected with a second shock absorbing rod 7, one end, far away from the third electric shaft 6, of each second shock absorbing rod 7 is movably connected with a movable base 8, the bottom of each movable base 8 is fixedly connected with a fixed shock absorber 9, the bottom of each fixed shock absorber 9 is movably connected with a fourth electric shaft 10, and the bottom of each fourth electric shaft 10 is fixedly connected with a shock absorbing wheel 11, equal fixedly connected with crawler base 12 in base 1's the bottom both sides, as shown in fig. 3, crawler base 12 includes crawler case 13, crawler case 13's the equal fixedly connected with athey wheel 14 in both sides, crawler 15 has been cup jointed in the surface activity of two athey wheels 14, base 1's top is equipped with tote box 16, tote box 16's external surface fixing has cup jointed fixed strip 17, tote box 16's surface is equipped with fixed rubber ring 18, fixed rubber ring 18 is located the bottom of fixed strip 17, the bottom fixed mounting of fixed rubber ring 18 has stable strengthening rib 19, stable strengthening rib 19 keeps away from the one end of fixed rubber ring 18 and base 1's top fixed connection, the equal fixed mounting in top both sides of base 1 has hydraulic stem 20.

It should be noted that, during the moving process, the damping base 2 needs to be folded if the terrain is complex, and after the damping base 2 is folded, the crawler base 12 can be directly used for moving so as to resist the more complex terrain, and the damping base 2 can also support the carrying box 16, so that the carrying box 16 is more stable.

Simultaneously, as shown in fig. 2, the equal fixed mounting in four corners of fixed strip 17 has stabilized handrail, and first shock attenuation pole 5 is the fretwork dress, and it is rotatory to remove 8 accessible third electronic axles 6 of base, and the top fixed mounting who removes 8 has stabilized piece, can be rotatory to the below of stabilizing the handrail with removing 8 base through the rotation, and stabilized piece can with stabilize handrail looks joint, increase tote box 16's stability.

It should be noted that the hollow size of the first shock absorbing rod 5 is exactly the same as the size of the second shock absorbing rod 7, so that the second shock absorbing rod 7 can pass through the first shock absorbing rod 5 through the rotation of the third electric shaft 6, and the movable base 8 can contact the fixing strip 17.

Meanwhile, as shown in fig. 3, the inside of two crawler belt cases 13 is provided with tire grooves, the inside of the two tire grooves is fixedly provided with tires, the surfaces of the two crawler belt cases 13, which are far away from each other, are fixedly provided with crawler belt case handles for easier disassembly in the maintenance process, the bottom of the damping base 2 and the bottom of the crawler belt base 12 are not in the same horizontal plane, the crawler belt base 12 will contact the ground after the damping base 2 is folded through the electric shaft, and the damping base 2 can move without being folded.

It should be noted that, meet special environment and fold shock attenuation base 2 when needing better removal, crawler base 12 can better removal, and because lose shock attenuation base 2 and specially increased the ascending holding power of shock attenuation base 2 to the shock attenuation on ground for even when crawler base 12 moves in abominable environment, shock attenuation base 2 also can carry out furthest's support shock attenuation to tote box 16.

Meanwhile, as shown in fig. 4, hydraulic handles are fixedly connected to both sides of the carrying box 16, and when the carrying box 16 needs to be moved out of the base 1, the hydraulic rods 20 will prop up the carrying box by propping up the hydraulic handles.

It should be noted that, under the support of the hydraulic rod 20, the carrying box 16 is also in a semi-suspended state during the moving process, so that the vibration amplitude of the carrying box 16 is greatly reduced, and when the carrying box 16 needs to be taken out, the hydraulic rod 20 can also be supported upwards, so that the carrying box 16 can be easily removed.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," "connecting," and "connecting" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be directly connected, and "upper," "lower," "left," and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The multi-terrain carrying robot comprises a base (1) and is characterized in that shock absorption bases (2) are fixedly mounted at four corners of the base (1), each shock absorption base (2) comprises a first electric shaft (3), one side of each first electric shaft (3) is fixedly connected with the base (1), the other side of each first electric shaft (3) is fixedly connected with a second electric shaft (4), a first shock absorption rod (5) is fixedly connected to the outer surface of each second electric shaft (4), one end, far away from the second electric shaft (4), of each first shock absorption rod (5) is fixedly connected with a third electric shaft (6), a second shock absorption rod (7) is fixedly connected to the outer surface of each third electric shaft (6), one end, far away from the third electric shaft (6), of each second shock absorption rod (7) is movably connected with a moving base (8), and a fixed shock absorber (9) is fixedly connected to the bottom of each moving base (8), the bottom of the fixed shock absorber (9) is movably connected with a fourth electric shaft (10), the bottom of the fourth electric shaft (10) is fixedly connected with shock-absorbing wheels (11), both sides of the bottom of the base (1) are fixedly connected with crawler bases (12), each crawler base (12) comprises a crawler box (13), both sides of each crawler box (13) are fixedly connected with crawler wheels (14), the outer surfaces of the two crawler wheels (14) are movably sleeved with a crawler (15), the top of the base (1) is provided with a carrying box (16), the outer surface of the carrying box (16) is fixedly sleeved with a fixing strip (17), the outer surface of the carrying box (16) is provided with a fixed rubber ring (18), the fixed rubber ring (18) is positioned at the bottom of the fixing strip (17), and the bottom of the fixed rubber ring (18) is fixedly provided with a stabilizing reinforcing rib (19), the one end of stabilizing the strengthening rib (19) and keeping away from fixed rubber ring (18) is fixedly connected with the top of base (1), and hydraulic stem (20) are fixedly mounted on both sides of the top of base (1).

2. The multi-terrain transfer robot as claimed in claim 1, wherein stabilizing handrails are fixedly mounted at four corners of the fixed strip (17), the first shock absorption rods (5) are hollow, the movable base (8) can rotate through the third electric shaft (6), a stabilizing block is fixedly mounted at the top of the movable base (8), the movable base (8) can rotate to a position below the stabilizing handrails through rotation, and the stabilizing block can be clamped with the stabilizing handrails to increase stability of the transfer box (16).

3. A multi-terrain transfer robot as claimed in claim 2, characterized in that the two crawler boxes (13) are provided with tyre grooves on the inside, tyres are fixedly mounted on the insides of the two tyre grooves, and crawler box handles are fixedly mounted on the far sides of the two crawler boxes (13) for easier disassembly during maintenance.

4. A multi-terrain transfer robot as claimed in claim 2, characterized in that the bottom of the shock mount (2) is not in the same horizontal plane as the bottom of the track base (12), the shock mount (2) will contact the ground after the electric axle is folded, and the shock mount (2) can move without being folded.

5. A multi-terrain carrier robot as claimed in claim 1, characterised in that hydraulic handles are fixedly attached to either side of the carrier box (16), and the hydraulic rams (20) will bear against the hydraulic handles to jack the carrier box (16) up when it is desired to move it out of the interior of the base (1).