CN219297063U

CN219297063U - Novel lifting type transfer robot

Info

Publication number: CN219297063U
Application number: CN202320061220.XU
Authority: CN
Inventors: 朱勇; 李志军; 苏镇豪
Original assignee: Shenzhen Polytechnic
Current assignee: Shenzhen Polytechnic
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-07-04
Anticipated expiration: 2033-01-09

Abstract

The utility model discloses a novel hidden jacking type carrying robot which comprises a jacking mechanism, a driving assembly and a driven assembly. In the climbing mechanism, the cam climbing design scheme is adopted, compared with the traditional structural design modes such as screw rod climbing or connecting rod climbing, the structure is compact and reasonable, the occupied space is smaller, the degree of freedom is higher in space design, and the height of the climbing mechanism after shrinkage is lower, so that the whole height of the transfer robot is reduced. In the drive assembly, the parallel design scheme of the servo motor and the speed reducer is adopted, and compared with the coaxial arrangement of the servo motor and the speed reducer (namely, the two are directly connected), the space occupation of the transfer robot in the horizontal direction can be obviously reduced, so that the width of the transfer robot is obviously shortened. In the driven component, the swing arm type suspension scheme is adopted, compared with a traditional independent suspension structure and the like, the space occupation of the transfer robot in the vertical direction can be reduced, and therefore the overall height of the transfer robot is reduced.

Description

Novel lifting type transfer robot

Technical Field

The utility model relates to the technical field of logistics transfer robots, in particular to a novel hidden jacking transfer robot.

Background

The logistics carrying robot belongs to one of mobile robots, is mainly used for automatic carrying and automatic sorting work in the logistics industry, can also be used for automatic carrying of factory cargoes, can replace an original manual carrying mode, and has the characteristics of improving carrying efficiency, reducing production cost and the like. The hidden jacking type carrying robot is one of logistics carrying robots, and the working principle of the hidden jacking type carrying robot is that the goods or the goods shelves are jacked off the ground by the bottoms of the goods or the goods shelves, and then automatic carrying work is carried out.

In existing hidden jacking type carrying robots in the market at present, due to factors such as too complex self-hanging mechanisms, too high jacking mechanisms after shrinkage and the like, the self-height of the hidden jacking type carrying robots is high (more than 300 mm), and for scenes with lower space height of the bottom of a goods shelf (for example, lower than 300 mm), the robots cannot submerge the bottom of the goods shelf. For example, chinese patent application publication No. CN215287812U discloses a scissor lift device and an AGV trolley, which includes a base and a support portion, and the base and the support portion are connected with each other by a scissor mechanism, and further includes a linear driving mechanism and a lifting member, where a first end of the lifting member is hinged to the linear driving mechanism, and a second end of the lifting member is hinged to the scissor mechanism, so that the linear driving mechanism drives the scissor mechanism to act through the lifting member, and the scissor lift device has lifting and descending capabilities. For another example, chinese patent application publication No. CN212049253U discloses a lifting device and an automatic guiding transport vehicle, which includes a power assembly and a driving shaft connected to the power assembly, the driving shaft is connected to a first swing arm and a second swing arm, and the first swing arm and the second swing arm are arranged at intervals; the first swing arm is hinged with a first connecting rod mechanism, the second swing arm is hinged with a second connecting rod mechanism, the tops of the first connecting rod mechanism and the second connecting rod mechanism are provided with lifting platforms, and lifting is achieved through cooperation of the plurality of connecting rod mechanisms.

The lifting movement of the jacking piece is realized through the structures such as the screw rod, the nut, the connecting rod or the fork arm, and the like in the prior art, the structural design is complex, and the whole height is still higher even under the condition that the lifting device is completely contracted, so that the application range of products is small. In view of the automatic improvement, the original shelf is replaced by a shelf with a higher bottom space (for example, higher than 300 mm), which greatly increases the improvement cost and hinders the automatic improvement work in the related field.

Therefore, there is a need in the art to provide a hidden lifting type transfer robot with compact structure and wider application range.

Disclosure of Invention

In order to overcome at least one defect in the prior art, the utility model provides a novel hidden jacking type carrying robot, which has the characteristics of compact and reasonable structural design, great reduction of assembly space and wide application range.

The utility model adopts the technical proposal for solving the problems that:

in a first embodiment of the present utility model, a novel hidden jacking type carrying robot is provided, including a base and a housing disposed on the base, and further including a jacking mechanism, the jacking mechanism includes:

A jacking plate;

the shaft support is fixedly arranged at the bottom of the jacking plate, the connecting shaft is fixedly connected with the shaft support, and the roller is rotatably sleeved on the outer peripheral side of the connecting shaft;

the driving mechanism is fixedly arranged at the top of the base, the cam is fixedly connected with the output end of the driving mechanism, and the outer peripheral side of the cam is abutted with the outer peripheral side of the roller;

the guide columns are fixedly arranged at the bottom of the jacking plate, the guide cylinders are fixedly arranged at the top of the base, and the guide columns are inserted into the guide cylinders in a lifting manner;

the driving mechanism is used for driving the cam to rotate so as to drive the jacking plate to do lifting motion relative to the shell.

Further, the guide cylinder comprises a linear bearing, a bearing supporting plate and a bearing mounting plate, wherein the bearing supporting plate is fixedly mounted at the top of the base, the bearing mounting plate is fixedly mounted on the bearing supporting plate, the linear bearing is fixedly mounted on the bearing mounting plate, and the linear bearing is provided with a guide hole for the guide post to be inserted.

Further, the driving mechanism comprises a first servo motor and a first speed reducer, the output end of the first servo motor is fixedly connected with the input end of the first speed reducer, the output end of the first speed reducer is fixedly connected with the cam, and the first speed reducer is fixedly installed at the top of the base through a speed reducer bracket.

In a second embodiment of the utility model, a technical solution is disclosed on the basis of the first embodiment with respect to a specific structural arrangement of the drive assembly.

In the technical scheme of this embodiment, this novel jacking formula transfer robot of hiding still includes drive assembly, drive assembly includes:

the output ends of the second servo motor and the main synchronous wheel are fixedly connected;

the auxiliary synchronous wheel is fixedly connected with the input end of the second speed reducer, and the driving wheel is fixedly connected with the output end of the second speed reducer;

a conveyor belt wound around the outer peripheral sides of the master synchronizing wheel and the slave synchronizing wheel;

wherein, the second servo motor and the second speed reducer are mutually parallel.

Further, the main synchronizing wheel and the auxiliary synchronizing wheel are belt pulleys, and the conveyor belt is a synchronous belt;

or the main synchronizing wheel and the auxiliary synchronizing wheel are chain wheels, and the conveying belt is a chain.

Further, the driving assembly further comprises a motor mounting seat, a speed reducer support, a tensioning seat and a tensioning screw, and the second servo motor is movably mounted on the base through the motor mounting seat; the second speed reducer is fixedly arranged on the base through the speed reducer support; the tensioning seat is fixedly arranged on the base, the tensioning screw is in threaded connection with the tensioning seat, one end of the tensioning screw is rotatably connected with the second servo motor, and the tensioning screw is used for driving the second servo motor to move towards a direction close to or far away from the second speed reducer through rotation.

In a third embodiment of the present utility model, a technical solution is provided with respect to a specific structural arrangement of the driven assembly on the basis of the first embodiment.

In the technical scheme of this embodiment, this novel jacking formula transfer robot of hiding still includes driven assembly, driven assembly includes:

The driven wheel is rotatably mounted on the swinging plate;

the swing support is fixedly connected with the swing plate, the swing bearing seat is fixedly arranged on the base, and the swing shaft penetrates through the swing support and the swing bearing seat and is rotatably connected with the swing support and the swing bearing seat;

the top of the spring is fixedly connected with the base through the upper spring seat, and the bottom of the spring is fixedly connected with the swinging plate through the lower spring seat;

the swinging plate can swing around the swinging shaft.

Further, the driven assembly further comprises a limit screw, the limit screw is arranged at the bottom of the swinging plate and is in threaded connection with the swinging plate, and the limit screw is used for adjusting the distance between the bottom end of the limit screw and the base through rotation.

In a fourth embodiment of the present utility model, a technical solution is provided with respect to specific structural arrangements of the driving wheel, the front driven wheel and the rear driven wheel on the basis of the first, second and third embodiments.

In the technical scheme of the embodiment, the novel latent jacking type carrying robot further comprises a driving wheel, a front driven wheel and a rear driven wheel which can rotate relative to the shell, wherein the front driven wheel and the rear driven wheel are respectively arranged on the front side and the rear side of the driving wheel, and the jacking plate is arranged between the driving wheel and the rear driven wheel;

The rear driven wheel and the front driven wheel are equal in wheel diameter, and the center height of the rear driven wheel is lower than that of the front driven wheel;

or the center heights of the rear driven wheel and the front driven wheel are equal, and the wheel diameter of the rear driven wheel is larger than that of the front driven wheel;

or the center height of the rear driven wheel is lower than that of the front driven wheel, and the wheel diameter of the rear driven wheel is larger than that of the front driven wheel.

In a fifth embodiment of the present utility model, a technical solution concerning specific structural arrangements of the respective components of the ultrasonic sensor, the lidar, the crash sensor, and the like is provided on the basis of the first, second, and third embodiments.

In the technical scheme of the embodiment, the novel hidden jacking type carrying robot further comprises an ultrasonic sensor, a laser radar and an anti-collision sensor, wherein the ultrasonic sensor is arranged at the rear end of the top of the base and/or at the left side and the right side of the top of the base; the laser radar is arranged at the front end of the top of the base; the anti-collision sensor is arranged at the front end of the top of the base.

In summary, compared with the prior art, the novel hidden jacking type transfer robot provided by the utility model has at least the following technical effects:

1) The novel hidden jacking type carrying robot comprises a jacking mechanism, wherein the jacking mechanism comprises a jacking plate, rollers, cams, a driving mechanism and the like, the bottoms of the rollers are in butt joint with the tops of the cams, the driving mechanism drives the cams to rotate so as to drive the rollers to move up and down, the jacking plate is driven to move up and down, the bottom of a goods or a goods shelf is submerged after descending, and the goods or the goods shelf is jacked off the ground during ascending, so that automatic carrying work is realized. Compared with the structural design modes such as screw rod jacking or connecting rod jacking in the prior art, the structural design of the cam jacking design scheme is more compact and reasonable, the space occupation is smaller, the degree of freedom is higher in space design, the height of the jacking mechanism after shrinkage is lower, the space occupation of the transfer robot in the vertical direction can be remarkably reduced, the overall height of the transfer robot is reduced, the cam jacking design scheme can be adapted to shelves or cargoes with various heights, and the application range of the cam jacking design scheme is improved.

2) The novel hidden jacking type transfer robot comprises a driving assembly, wherein the driving assembly comprises a second servo motor, a main synchronous wheel, a second speed reducer, a secondary synchronous wheel, a conveyor belt and the like, the second servo motor and the second speed reducer are mutually arranged in parallel, the main synchronous wheel and the secondary synchronous wheel are connected through the conveyor belt, and the second servo motor can sequentially drive the main synchronous wheel to rotate and the secondary synchronous wheel to rotate by driving the main synchronous wheel to rotate, so that the rotary motion of the driving wheel is finally realized. Compared with the structural design mode that the servo motor and the speed reducer are coaxially arranged (namely, the servo motor and the speed reducer are directly connected), the space occupation of the transfer robot in the horizontal direction can be obviously reduced, so that the width of the transfer robot is obviously shortened, the structural design is compact and reasonable, the transfer robot can be adapted to various goods shelves or cargoes with different widths, and the application range of the transfer robot is further improved.

3) The novel hidden jacking type transfer robot comprises a driven component, wherein the driven component comprises a swing plate, a swing support, a swing bearing seat, a swing shaft and the like, the swing plate can swing around the swing shaft, two driven wheels on the swing plate can be arranged in a pasting mode, the phenomenon that the driven wheels slip when the transfer robot walks is avoided, and further the transfer robot is ensured to move in a preset direction. Compared with the traditional independent hanging structure, the swing arm type hanging design scheme has the advantages that the structural design is more compact and reasonable, the occupied space is smaller, and the occupied space of the transfer robot in the vertical direction can be reduced, so that the overall height of the transfer robot is reduced, the transfer robot can be adapted to various goods shelves or cargoes with different heights, and the application range of the transfer robot is further improved.

4) The novel latent jacking type transfer robot comprises a driving wheel, a rear driven wheel and a front driven wheel, wherein the front driven wheel and the rear driven wheel are respectively arranged on the front side and the rear side of the driving wheel, a jacking plate is arranged between the driving wheel and the rear driven wheel, the bottom ends of the rear driven wheel and the driving wheel are positioned at the same height in an initial state or a cargo carrying state, the bottom end of the front driven wheel is higher than the height, and the gravity center of the transfer robot is positioned between the driving wheel and the rear driven wheel. When the carrying robot moves forwards at a constant speed or in an accelerating way, the rear driven wheel and the driving wheel walk on the ground; during deceleration or emergency braking, the front driven wheel can be used as a support, and the front driven wheel and the driving wheel can walk on the ground, so that the transfer robot and a transferred goods shelf or goods cannot overturn forwards. Through this structural design mode, can show the overall structure intensity and the motion stability who improves transfer robot, structural design is simple reasonable.

Drawings

FIG. 1 is a schematic structural view of a novel hidden jacking type transfer robot and a goods shelf of the utility model;

FIG. 2 is an exploded view of the lift mechanism of the present utility model;

FIG. 3 is a schematic structural view of a jack-up mechanism according to the present utility model;

FIG. 4 is a schematic diagram of a driving assembly according to the present utility model;

FIG. 5 is an exploded view of the driven assembly of the present utility model;

fig. 6 is a schematic diagram of an internal structure of the novel hidden jacking type transfer robot of the present utility model;

fig. 7 is a schematic diagram of another internal structure of the novel hidden jacking type transfer robot according to the present utility model;

FIG. 8 is an exploded view of the internal structure of the novel hidden jacking type transfer robot of the present utility model;

FIG. 9 is an exploded view of another internal structure of the novel hidden jacking transfer robot of the present utility model;

wherein the reference numerals have the following meanings:

1. a housing; 2. a base; 3. a jacking plate; 4. a shaft support; 5. a connecting shaft; 6. a roller; 7. a driving mechanism; 8. a decelerator support; 9. a cam; 10. a guide post; 11. a bearing support plate; 12. a bearing mounting plate; 13. a linear bearing; 14. a first servo motor; 15. a first decelerator; 16. a second servo motor; 17. a motor mounting seat; 18. a master synchronizing wheel; 19. a conveyor belt; 20. pulley bearing seat; 21. a pulley shaft; 22. a slave synchronizing wheel; 23. a second decelerator; 24. a decelerator support; 25. a driving wheel; 26. a tensioning seat; 27. tensioning a screw; 28. a swinging plate; 29. driven wheel; 30. a swing support; 31. swinging the bearing seat; 32. a swing shaft; 33. a spring; 34. an upper spring seat; 35. a lower spring seat; 36. a limit screw; 37. a rear driven wheel; 38. a front driven wheel; 39. an ultrasonic sensor; 40. a laser radar; 41. an anti-collision sensor; 42. a power supply; 43. an operation panel; 44. an emergency stop button; 45. a start button; 46. stopping the indicator light; 47. a walking indicator light; 48. a heat radiation fan; 49. a control board; 50. a servo driver; 51. a step driver; 52. an electric control board; 53. an industrial personal computer; 54. a contactor; 55. a relay; 56. a fuse; 57. a key switch; 58. a charging port; 59. and a wire passing groove.

Detailed Description

For a better understanding and implementation, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model.

In the description of the present utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Example 1

Referring to fig. 1, according to a first embodiment of the present utility model, a novel hidden jacking type transfer robot includes a base 2 and a housing 1 provided on the base 2 with a receiving space therebetween for providing an installation space for various components such as a jacking mechanism.

Referring to fig. 2, the novel latent jacking type carrying robot further comprises a jacking mechanism, the jacking mechanism comprises a jacking plate 3, a shaft support 4, a connecting shaft 5 and rollers 6, the shaft support 4 is fixedly installed at the bottom of the jacking plate 3, the shaft support 4 is fixedly connected with the connecting shaft 5, and the rollers 6 are rotatably sleeved on the outer periphery side of the connecting shaft 5. The number of the shaft supports 4 is two, and two ends of the connecting shaft 5 are fixedly connected with the two shaft supports 4 respectively. After the connecting shaft 5 passes through the roller 6, the roller 6 is rotatably sleeved on the outer peripheral side of the connecting shaft 5, and the two shaft supports 4 on the front side and the rear side can provide an axial limiting effect for the roller 6, so that the roller 6 can only rotate on the connecting shaft 5 and cannot move back and forth.

Referring to fig. 2 and 3, the jacking mechanism further includes a driving mechanism 7 and a cam 9, the driving mechanism 7 is fixedly mounted on the top of the base 2, the cam 9 is fixedly connected with an output end of the driving mechanism 7, and an outer peripheral side of the cam 9 is abutted against an outer peripheral side of the roller 6. Specifically, the cam 9 is an eccentric wheel, the top end of the cam 9 is abutted against the bottom end of the roller 6, and the driving mechanism 7 is used for driving the cam 9 to rotate so as to drive the lifting plate 3 to lift relative to the shell 1.

Referring to fig. 2 and 3, the jacking mechanism further includes a plurality of guide posts 10 and a plurality of guide cylinders, the guide posts 10 are fixedly mounted at the bottom of the jacking plate 3, the guide cylinders are fixedly mounted at the top of the base 2, and the guide posts 10 are inserted into the guide cylinders in a liftable manner. Specifically, the number of the guide posts 10 and the guide cylinders may be preferably four, and the four guide posts 10 are disposed at four corner positions under the jacking plate 3, respectively, and the four guide cylinders are disposed at four corner positions on the base 2. The guide post 10 is inserted in the guide cylinder in a lifting manner, so that a guiding and positioning function can be provided for lifting movement of the lifting plate 3, the lifting plate 3 is ensured not to deviate in the horizontal direction in the lifting movement process, and the stability of the lifting plate 3 in the lifting movement process is improved.

In the technical scheme of the embodiment, the working principle of the novel hidden jacking type carrying robot is as follows: the lifting mechanism drives the cam 9 to rotate through the driving mechanism 7 so as to drive the roller 6 to move up and down, and then drives the lifting plate 3 to move up and down, the lowest height of the lifting plate 3 after descending is lower than or equal to the top height of the shell 1, and the highest height of the lifting plate 3 after ascending can be determined according to the height setting of the protruding part of the cam 9. The transfer robot is immersed in the bottom of the goods or the goods shelves after the lifting plate 3 descends, and the goods or the goods shelves are lifted off the ground when the lifting plate 3 ascends, so that automatic transfer work is finally realized. Compared with the structural design modes such as screw rod jacking or connecting rod jacking in the prior art, the structural design of the cam jacking design scheme is more compact and reasonable, occupies less space, can have higher degree of freedom in space design (for example, various electrical elements are arranged between the jacking plate 3 and the base 1), and the jacking plate 3 in the jacking mechanism is lower in height after shrinkage, so that the space occupation of the transfer robot in the vertical direction can be remarkably reduced, the overall height of the transfer robot is reduced, and the cam jacking design scheme can be adapted to shelves or cargoes with various heights, and further the application range of products is improved.

Referring to fig. 2, in a preferred embodiment of this embodiment, the guide cylinder includes a linear bearing 13, a bearing support plate 11 and a bearing mounting plate 12, the bearing support plate 11 is fixedly mounted on the top of the base 2, the bearing mounting plate 12 is fixedly mounted on the bearing support plate 11, the linear bearing 13 is fixedly mounted on the bearing mounting plate 12, and the linear bearing 13 is provided with a guide hole for insertion of the guide post 10. Specifically, the bearing support plate 11 is a plate structure that two plates are perpendicular to the base 1, the bearing mounting plate 12 and the bearing support plate 11 are perpendicular to each other, and two sides of the bearing support plate are fixedly connected with the two bearing support plates 11, that is, the two bearing support plates 11 and the bearing mounting plate 12 are combined to form a U-shaped structure for providing structural support for the linear bearing 13, so that the linear bearing 13 is fixedly mounted on the base 1. The linear bearing 13 is internally provided with a shaft hole, the guide post 10 is in clearance fit with the linear bearing 13 after being inserted into the shaft hole, and the linear bearing 13 can reduce friction acting force between the guide post and the linear bearing, so that stability and movement precision of lifting movement of the lifting plate 3 are improved.

Referring to fig. 2 and 3, in another preferred embodiment of this embodiment, the driving mechanism includes a first servo motor 14 and a first decelerator 15, an output end of the first servo motor 14 is fixedly connected with an input end of the first decelerator 15, an output end of the first decelerator 15 is fixedly connected with the cam 9, and the first decelerator 15 is fixedly mounted on the top of the base 2 through a decelerator bracket 8. Specifically, by providing the first decelerator 15 between the first servo motor 14 and the cam 9, the output torque of the first servo motor 14 can be increased and the rotational movement accuracy of the cam 9 can be improved while the first servo motor 14 is decelerated. More specifically, the first speed reducer 15 may preferably include a housing and a gear or worm provided inside the housing, and the functions of reducing the rotation speed and enhancing the output torque are achieved by gear transmission, worm transmission, or gear-worm transmission.

Example 2

Referring to fig. 4, in the technical solution of this embodiment, the novel latent lifting type carrying robot further includes a driving assembly, where the driving assembly includes a second servo motor 16 and a primary synchronous wheel 18, and output ends of the primary synchronous wheel 18 and the second servo motor 16 are fixedly connected. Wherein the second servomotor 16 drives the primary synchronizing wheel 18 in a rotary motion via its output. The driving assembly further comprises a slave synchronizing wheel 22, a second speed reducer 23 and a driving wheel 25, wherein the slave synchronizing wheel 22 is fixedly connected with the input end of the second speed reducer 23, and the driving wheel 25 is fixedly connected with the output end of the second speed reducer 23. The drive assembly further includes a conveyor belt 19, the conveyor belt 19 being wound around the outer peripheral sides of the master synchronizing wheel 18 and the slave synchronizing wheel 22. Specifically, when the master synchronizing wheel 18 rotates, the slave synchronizing wheel 22 is driven to rotate by the conveyor belt 19. By providing the second speed reducer 23 between the second servo motor 16 and the driving wheel 25, it is possible to function to improve the output torque of the second servo motor 16 and to improve the accuracy of the rotational movement of the driving wheel 25. Similarly, the second reducer 23 in this embodiment may preferably include a housing and a gear or worm disposed inside the housing. More specifically, since the master synchronizing wheel 18 and the slave synchronizing wheel 22 are connected by the conveyor belt 19, the second servo motor 16 and the second decelerator 23 can be disposed in parallel with each other. Compared with the structural design mode that the second servo motor 16 and the second speed reducer 23 are coaxially arranged (namely, the second servo motor 16 and the second speed reducer 23 are directly connected), the utility model can obviously reduce the space occupation of the transfer robot in the horizontal direction, thereby obviously shortening the width of the transfer robot, and the structural design is compact and reasonable, so that the transfer robot can be suitable for various goods shelves or cargoes with different widths, and the application range of the transfer robot is further improved.

More specifically, the number of the second servo motor 16, the second decelerator 23, the master synchronizing wheel 18, the slave synchronizing wheel 22 and the driving wheel 25 is two, and the respective components are symmetrically arranged with each other.

In an alternative to this embodiment, the master synchronizing wheel 18 and the slave synchronizing wheel 22 may be selected as pulleys and the conveyor belt 19 may be selected as a synchronous belt, i.e. a belt or a synchronous belt drive is achieved between the master synchronizing wheel 18 and the slave synchronizing wheel 22 by means of the conveyor belt 19.

In another alternative of this embodiment, the master synchronizing wheel 18 and the slave synchronizing wheel 22 may be selected as sprockets and the conveyor belt 19 may be selected as a chain, i.e. a chain drive effect is achieved between the master synchronizing wheel 18 and the slave synchronizing wheel 22 via the conveyor belt 19.

Referring to fig. 4, in a preferred version of this embodiment, the drive assembly further includes a motor mount 17, a decelerator mount 24, a tension mount 26, and a tension screw 27, the second servo motor 16 being movably mounted to the base 2 by the motor mount 17, i.e., the motor mount 17 serves as a structural support for the mounting of the second servo motor 16; the second speed reducer 23 is fixedly arranged on the base 2 through a speed reducer support 24, namely the speed reducer support 24 plays a structural supporting role for the installation of the second speed reducer 23; the tensioning seat 26 is fixedly arranged on the base 2, the tensioning screw 27 is in threaded connection with the tensioning seat 26, one end of the tensioning screw 27 is rotatably connected with the second servo motor 16, and the tensioning screw 27 is used for driving the second servo motor 16 to move towards a direction approaching or away from the second speed reducer 23 through rotation. Specifically, the reducer support 24 is fixedly connected to the base 2 and the second reducer 23, respectively, so that the second reducer 23 is fixedly mounted on the base 2. The second servo motor 16 is fixedly connected with the motor mount 17, and the motor mount 17 is movably provided on the base 2, so that the second servo motor 16 is movably mounted on the base 2. More specifically, the present utility model also provides a technical solution for adjusting the tightness of the conveyor belt 19, and the second servo motor 16 can be driven to move horizontally on the base 2, and in particular, to move towards or away from the second decelerator 23 by rotating the tensioning screw 27, so as to adjust the distance between the master synchronizing wheel 18 and the slave synchronizing wheel 22, and thus the tightness of the conveyor belt 19.

In another preferred version of this embodiment, as shown in fig. 4, the drive assembly further comprises a pulley bearing block 20 and a pulley shaft 21, the pulley bearing block 20 being fixedly mounted on the base 2, the pulley shaft 21 being inserted into a shaft hole of the pulley bearing block 20 and rotatably connected thereto. The slave synchronizing wheel 22 is fixedly mounted on the pulley shaft 21, and the pulley shaft 21 is fixedly connected with the input end of the second speed reducer 23, namely, the slave synchronizing wheel 22 is fixedly connected with the input end of the second speed reducer 23 through the pulley shaft 21.

Example 3

Referring to fig. 5, in the technical solution of this embodiment, the novel hidden jacking type carrying robot further includes a driven assembly, which includes a swing plate 28 and a driven wheel 29, and the driven wheel 29 is rotatably mounted on the swing plate 28. The driven assembly further comprises a swing support 30, a swing bearing seat 31 and a swing shaft 32, wherein the swing support 30 is fixedly connected with the swing plate 28, the swing bearing seat 31 is fixedly installed on the base 2, and the swing shaft 32 penetrates through the swing support 30 and the swing bearing seat 31 and is rotatably connected with the swing support 30 and the swing bearing seat 31. Wherein the swinging plate 28 can swing around a swinging shaft 32. Specifically, the swinging bearing seat 31 is configured to provide a structural supporting function for the swinging shaft 32, and the swinging plate 28 and the swinging shaft 32 are rotatably connected, so that the swinging plate 28 (and the driven wheel 29 on the swinging plate 28) can swing around the swinging shaft 32. More specifically, the driven wheels 29 are provided at both side bottom positions of the swing plate 28, and the swing support 30 is provided at a middle bottom side position of the swing plate 28. Through the above structural design mode, it can be ensured that two driven wheels 29 on the swinging plate 28 and two driving wheels of the transfer robot can be arranged on the ground (especially when the ground is uneven), the phenomenon that the driven wheels 29 slip when the transfer robot walks is avoided, and further the transfer robot is ensured to move in a preset direction. Compared with the traditional independent hanging structure, the swing arm type hanging design scheme has the advantages that the structural design is more compact and reasonable, the occupied space is smaller, and the occupied space of the transfer robot in the vertical direction can be reduced, so that the overall height of the transfer robot is reduced, the transfer robot can be adapted to various goods shelves or cargoes with different heights, and the application range of the transfer robot is further improved.

More specifically, the driven assembly further comprises a spring 33, an upper spring seat 34 and a lower spring seat 35, wherein the top of the spring 33 is fixedly connected with the base 1 through the upper spring seat 34, and the bottom of the spring 33 is fixedly connected with the swing plate 28 through the lower spring seat 35, namely, the swing plate 28 is connected with the base 2 through the upper spring seat 34. The number of the springs 33 is two, and the springs 33 are respectively arranged at the left side and the right side of the swinging shaft 32. Specifically, the spring 33 is used for playing a role in elastic buffering when the swinging plate 28 swings around the swinging shaft 32, and can reduce the vibration of the swinging plate 28 in the swinging process, so that the stability of the transfer robot in the moving process is further improved.

Referring to fig. 5, in a preferred version of this embodiment, the driven assembly includes a limit screw 36, the limit screw 36 being disposed at the bottom of the swing plate 28, and the limit screw 36 being threadedly coupled to the swing plate 28, the limit screw 36 being configured to adjust the distance between the bottom end thereof and the base 2 by rotation. Specifically, in the process of swinging the swinging plate 28 around the swinging shaft 32, when the bottom end of the limit screw 36 contacts with the base 2, the swinging plate 28 cannot continue swinging, that is, the distance between the bottom end of the limit screw 36 and the base 2 is the swinging range of the swinging plate 28, so that the swinging range of the swinging plate 28 can be adjusted by rotating the limit screw 36. More specifically, the number of the limit screws 36 may be preferably two, and both are provided on the left and right sides of the swing shaft 32, respectively.

Example 4

In the fourth embodiment of the present utility model, a technical solution concerning the specific structural arrangement of the driving wheel 25, the front driven wheel 38 and the rear driven wheel 37 is provided on the basis of the first, second and third embodiments.

Referring to fig. 6, in the technical solution of this embodiment, the novel hidden jacking type carrying robot further includes a driving wheel 25 rotatable relative to the housing 1, a front driven wheel 38 and a rear driven wheel 37, the front driven wheel 38 and the rear driven wheel 37 are respectively disposed on front and rear sides of the driving wheel 25, and the jacking plate 3 is disposed between the driving wheel 25 and the rear driven wheel 37. Specifically, during the moving process of the carrying robot, the driving wheel 25 actively rotates under the driving force of the driving assembly to provide power for the moving of the carrying robot; the front driven wheel 38 and the rear driven wheel 37 are used for contacting the ground and play a supporting role. According to the transfer robot, the driving wheel 25 is arranged in the middle, the front driven wheel 38 and the rear driven wheel 37 are arranged at the front side and the rear side, and the transfer robot is compact and reasonable in structure, small in occupied space and further capable of improving the application range of products.

In an alternative to this embodiment, the wheel diameters of the rear driven wheel 37 and the front driven wheel 38 are equal in size, and the center height of the rear driven wheel 37 is lower than the center height of the front driven wheel 38. At this time, it is ensured that in the initial state or the loaded state, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are located at the same height, and the bottom ends of both are arranged in a stuck manner, while the bottom end of the front driven wheel is higher than the height, and the center of gravity of the transfer robot is located between the driving wheel 25 and the rear driven wheel 37. When the transfer robot advances at a constant speed or with acceleration, the rear driven wheel 37 and the driving wheel 25 travel on the ground. When the transfer robot is decelerating or sudden braking, the front driven wheel 38 may be used as a support, and the front driven wheel 38 and the driving wheel 25 walk against the ground, thereby ensuring that the transfer robot and the transferred pallet or load do not tip forward.

In another alternative of this embodiment, the center heights of the rear driven wheel 37 and the front driven wheel 38 are equal, and the wheel diameter of the rear driven wheel 37 is larger than the wheel diameter of the front driven wheel 38. Similarly, the structural design scheme can also ensure that the bottom ends of the rear driven wheel 37 and the driving wheel 25 are positioned at the same height in the initial state or the cargo carrying state, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are arranged in a sticking manner, the bottom end of the front driven wheel is higher than the height, and the center of gravity of the transfer robot is positioned between the driving wheel 25 and the rear driven wheel 37.

In another alternative of this embodiment, the center height of the rear driven wheel 37 is lower than the center height of the front driven wheel 38, and the wheel diameter of the rear driven wheel 37 is larger than the wheel diameter of the front driven wheel 38. Similarly, the structural design scheme can also ensure that the bottom ends of the rear driven wheel 37 and the driving wheel 25 are positioned at the same height in the initial state or the cargo carrying state, the bottom ends of the rear driven wheel 37 and the driving wheel 25 are arranged in a sticking manner, the bottom end of the front driven wheel is higher than the height, and the center of gravity of the transfer robot is positioned between the driving wheel 25 and the rear driven wheel 37.

Therefore, through the three optional structural design schemes, the overall structural strength and the motion stability of the transfer robot can be remarkably improved, the phenomenon that the transfer robot overturns in the process of transferring goods is avoided, and the structural design is simple and reasonable.

Example 5

In the fifth embodiment of the present utility model, a technical solution concerning the specific structural arrangement of the respective components of the ultrasonic sensor 39, the lidar 40, the crash sensor 41, and the like is provided on the basis of the first, second, and third embodiments.

Referring to fig. 7 to fig. 9, in the technical solution of this embodiment, the novel hidden jacking type carrying robot further includes an ultrasonic sensor 39, a laser radar 40 and an anti-collision sensor 41, the ultrasonic sensor 39 is disposed at the rear end and/or the left and right sides of the top of the base 2, the laser radar 40 is disposed at the front end of the top of the base 2, and the anti-collision sensor 41 is disposed at the front end of the top of the base 2. Specifically, the laser radar 40 is disposed at the front end of the top of the base 2 (i.e. the front end of the transfer robot), and a radar driving board is mounted near the front end of the laser radar 40, so that the laser radar 40 can scan the obstacle on the front side, which is the basis for the navigation and obstacle avoidance of the transfer robot. The front end of the top of the base 2 is also provided with an anti-collision sensor 41 (also called an obstacle avoidance sensor) which can be used for detecting mechanical collision. Furthermore, since the laser radar 40 is only disposed at the front end of the transfer robot, the left and right sides and the rear side area of the transfer robot are all scanning blind areas of the laser radar 40, and the ultrasonic sensor 39 is mounted at the rear end of the top of the base 2 and/or at the left and right sides of the top of the base, so as to detect the obstacle of the blind areas, thereby performing the function of scanning obstacle avoidance.

Referring to fig. 6-9, in an alternative embodiment of the present utility model, the novel hidden lifting type carrying robot further includes a power source 42, where the power source 42 is disposed on the base 2 and is disposed at the bottom of the lifting plate 3, and the power source 42 may be preferably a lithium battery. The novel hidden jacking type transfer robot further comprises an operation panel 43, wherein the operation panel 43 is arranged on the shell 1 and is arranged in parallel with the shell 1, and an emergency stop button 44 and a start button 45 are arranged on the operation panel 43 and are respectively used for controlling the stop and the start of the transfer robot; the operation panel 43 is further provided with a stop indicator lamp 46 and a travel indicator lamp 47 for indicating a stop motion state and a moving state of the transfer robot, respectively. The novel hidden jacking type transfer robot further comprises a cooling fan 48, wherein the cooling fan 48 is installed on the base 2 through a fan bracket and used for ventilating and radiating high-power easily-heating components inside the transfer robot. The novel hidden jacking type transfer robot further comprises a control board 49, a servo driver 50, a stepping driver 51, an electric control board 52 and an industrial personal computer 53, wherein the industrial personal computer 53 is fixed on the base 2 through an industrial personal computer bracket, the servo driver 50 and the stepping driver 51 are directly installed on the base 2, the electric control board 52 is arranged right above the servo driver 50 and is connected with the base 2, and the servo driver 50 and the control board 49 are installed on the electric control board 52. The novel jacking formula transfer robot of hiding still includes contactor 54, relay 55, fuse 56, key switch 57 and charges mouthful 58, and contactor 54 passes through contactor support fixed mounting on base 2, and relay 55, fuse 56, key switch and charges mouthful 58 direct mount on base 2, and key switch and charges mouthful 58 and pass casing 1 and set up towards the outside. The novel jacking formula transfer robot of hiding still includes wire casing 59, and this wire casing 59 sets up on drive assembly, and this wire casing 59 is used for playing the effect of collecting and fixed wire pencil to avoid many wires to arrange the disorder in transfer robot's inside.

In summary, compared with the structural design modes such as screw rod jacking or connecting rod jacking in the prior art, the structural design of the cam jacking design scheme is more compact and reasonable, occupies smaller space, can have higher degree of freedom in space design, has lower height after the jacking mechanism is contracted, and can remarkably reduce the space occupation of the transfer robot in the vertical direction, thereby being beneficial to reducing the overall height of the transfer robot, so that the cam jacking design scheme can be suitable for shelves or cargoes with various heights, and the application range of the cam jacking design scheme is improved. Compared with the structural design mode that the servo motor and the speed reducer are coaxially arranged (namely, the servo motor and the speed reducer are directly connected), the conveying belt mechanism can remarkably reduce the space occupation of the conveying robot in the horizontal direction, so that the width of the conveying robot is remarkably shortened, the structural design is compact and reasonable, the conveying belt mechanism can be suitable for various goods shelves or cargoes with different widths, and the application range of the conveying belt mechanism is further improved. Compared with the traditional independent hanging structure, the swing arm type hanging design scheme has the advantages that the structural design is more compact and reasonable, the occupied space is smaller, and the occupied space of the transfer robot in the vertical direction can be reduced, so that the overall height of the transfer robot is reduced, the transfer robot can be adapted to various goods shelves or cargoes with different heights, and the application range of the transfer robot is further improved.

It should be noted that the "input end" and "output end" of each component described in the present utility model are preferably a rotating shaft structure. The front-back direction in the utility model is the movement direction of the transfer robot, and the left-right direction is mutually perpendicular to the movement direction of the transfer robot.

The technical means disclosed by the scheme of the utility model is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.

Claims

1. The utility model provides a novel jacking formula transfer robot of hiding, is in including base (2) and setting casing (1) on base (2), its characterized in that still includes climbing mechanism, climbing mechanism includes:

a jacking plate (3);

the lifting device comprises a shaft support (4), a connecting shaft (5) and a roller (6), wherein the shaft support (4) is fixedly arranged at the bottom of the lifting plate (3), the connecting shaft (5) is fixedly connected with the shaft support (4), and the roller (6) is rotatably sleeved on the outer periphery side of the connecting shaft (5);

The driving mechanism (7) and the cam (9), wherein the driving mechanism (7) is fixedly arranged at the top of the base (2), the cam (9) is fixedly connected with the output end of the driving mechanism (7), and the outer circumferential side of the cam (9) is abutted with the outer circumferential side of the roller (6);

the guide posts (10) are fixedly arranged at the bottom of the jacking plate (3), the guide cylinders are fixedly arranged at the top of the base (2), and the guide posts (10) are inserted into the guide cylinders in a lifting manner;

the driving mechanism is used for driving the cam (9) to rotate so as to drive the jacking plate (3) to do lifting motion relative to the shell (1).

2. The novel hidden jacking type transfer robot according to claim 1, wherein the guide cylinder comprises a linear bearing (13), a bearing support plate (11) and a bearing mounting plate (12), the bearing support plate (11) is fixedly mounted at the top of the base (2), the bearing mounting plate (12) is fixedly mounted on the bearing support plate (11), the linear bearing (13) is fixedly mounted on the bearing mounting plate (12), and the linear bearing (13) is provided with a guide hole for inserting the guide post (10).

3. The novel hidden jacking type transfer robot according to claim 2, wherein the driving mechanism comprises a first servo motor (14) and a first speed reducer (15), the output end of the first servo motor (14) is fixedly connected with the input end of the first speed reducer (15), the output end of the first speed reducer (15) is fixedly connected with the cam (9), and the first speed reducer (15) is fixedly installed at the top of the base (2) through a speed reducer bracket (8).

4. The novel submersible jacking transfer robot of claim 1, further comprising a drive assembly comprising:

the device comprises a second servo motor (16) and a main synchronous wheel (18), wherein the main synchronous wheel (18) is fixedly connected with the output end of the second servo motor (16);

the auxiliary synchronous wheel (22), the second speed reducer (23) and the driving wheel (25), wherein the auxiliary synchronous wheel (22) is fixedly connected with the input end of the second speed reducer (23), and the driving wheel (25) is fixedly connected with the output end of the second speed reducer (23);

a conveyor belt (19), the conveyor belt (19) being wound around the outer peripheral sides of the master synchronizing wheel (18) and the slave synchronizing wheel (22);

Wherein the second servo motor (16) and the second speed reducer (23) are arranged in parallel.

5. The novel hidden jacking transfer robot as claimed in claim 4, wherein the master synchronizing wheel (18) and the slave synchronizing wheel (22) are pulleys, and the conveyor belt (19) is a synchronous belt;

alternatively, the master synchronizing wheel (18) and the slave synchronizing wheel (22) are sprockets, and the conveyor belt (19) is a chain.

6. The novel hidden jacking transfer robot of claim 4, wherein the drive assembly further comprises a motor mount (17), a decelerator mount (24), a tensioning mount (26) and a tensioning screw (27), the second servo motor (16) being movably mounted on the base (2) by the motor mount (17); the second speed reducer (23) is fixedly arranged on the base (2) through the speed reducer support (24); the tensioning seat (26) is fixedly arranged on the base (2), the tensioning screw (27) is in threaded connection with the tensioning seat (26), one end of the tensioning screw (27) is rotatably connected with the second servo motor (16), and the tensioning screw (27) is used for driving the second servo motor (16) to move towards a direction close to or far away from the second speed reducer (23) through rotation.

7. The novel submersible jacking transfer robot of claim 1, further comprising a driven assembly comprising:

a swing plate (28) and a driven wheel (29), the driven wheel (29) being rotatably mounted on the swing plate (28);

the swinging support (30), the swinging bearing seat (31) and the swinging shaft (32), wherein the swinging support (30) is fixedly connected with the swinging plate (28), the swinging bearing seat (31) is fixedly arranged on the base (2), and the swinging shaft (32) penetrates through the swinging support (30) and the swinging bearing seat (31) to be rotatably connected with the swinging support and the swinging bearing seat;

the device comprises a spring (33), an upper spring seat (34) and a lower spring seat (35), wherein the top of the spring (33) is fixedly connected with the base (2) through the upper spring seat (34), and the bottom of the spring (33) is fixedly connected with the swing plate (28) through the lower spring seat (35);

wherein the swinging plate (28) can swing around the swinging shaft (32).

8. The novel hidden jacking type transfer robot as claimed in claim 7, wherein the driven assembly further comprises a limit screw (36), the limit screw (36) is arranged at the bottom of the swing plate (28) and is in threaded connection with the swing plate, and the limit screw (36) is used for adjusting the distance between the bottom end of the limit screw and the base (2) through rotation.

9. A novel hidden jacking transfer robot according to any one of claims 1-8, characterized in that the novel hidden jacking transfer robot further comprises a driving wheel (25) rotatable relative to the housing (1), a front driven wheel (38) and a rear driven wheel (37), the front driven wheel (38) and the rear driven wheel (37) being arranged on the front and rear sides of the driving wheel (25), respectively, the jacking plates (3) being arranged between the driving wheel (25) and the rear driven wheel (37);

wherein the wheel diameters of the rear driven wheel (37) and the front driven wheel (38) are equal, and the center height of the rear driven wheel (37) is lower than the center height of the front driven wheel (38);

or the center heights of the rear driven wheel (37) and the front driven wheel (38) are equal, and the wheel diameter of the rear driven wheel (37) is larger than that of the front driven wheel (38);

alternatively, the center height of the rear driven wheel (37) is lower than the center height of the front driven wheel (38), and the wheel diameter of the rear driven wheel (37) is larger than the wheel diameter of the front driven wheel (38).

10. The novel hidden jacking type transfer robot according to any one of claims 1 to 8, further comprising an ultrasonic sensor (39), a laser radar (40) and an anti-collision sensor (41), wherein the ultrasonic sensor (39) is arranged at the rear end and/or the left and right sides of the top of the base (2); the laser radar (40) is arranged at the front end of the top of the base (2); the anti-collision sensor (41) is arranged at the front end of the top of the base (2).