CN219409144U - Transfer robot that stability is high - Google Patents
Transfer robot that stability is high Download PDFInfo
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- CN219409144U CN219409144U CN202320910617.1U CN202320910617U CN219409144U CN 219409144 U CN219409144 U CN 219409144U CN 202320910617 U CN202320910617 U CN 202320910617U CN 219409144 U CN219409144 U CN 219409144U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model discloses a transfer robot with high stability, which relates to the technical field of transfer robots, and specifically comprises a bearing plate, wherein two ends of one side of the bearing plate are connected with strip-shaped beams, a U-shaped frame is formed between the two strip-shaped beams and the bearing plate, a strip-shaped plate is overlapped above each strip-shaped beam, two symmetrically arranged lifting hydraulic cylinders are symmetrically arranged at the bottom of each strip-shaped beam, and the top free ends of the lifting hydraulic cylinders are connected with the strip-shaped plates; the bottoms of one ends of the two strip-shaped beams, which are far away from the bearing plate, are respectively provided with a driving wheel, a rotating shaft on one side of each driving wheel is connected to the first bearing seat through a bearing, and a rotating shaft on the other side of each driving wheel is arranged on the rectangular plate through a bearing. When the utility model is used, the camera is used for collecting the position information of the forklift tray, so that the transfer robot is conveniently aligned to the bottom of the tray, then the tray is automatically lifted by the strip-shaped plate to be supported, and the tray can be transported to a designated position, and the utility model has the advantages of simple operation, convenient use and no need of manual dragging.
Description
Technical Field
The utility model relates to the technical field of transfer robots, in particular to a transfer robot with high stability.
Background
The manual hydraulic forklift is also called as a manual lifting loading and unloading and short-distance transportation dual-purpose vehicle, when the manual hydraulic forklift is used, two ends of the forklift are inserted into the bottom of the tray, then the manual hydraulic forklift is identified to be pressed down to adjust the jack, the tray is jacked up, then materials can be carried through a manual dragging mode, but when the manual hydraulic forklift is used for conveniently carrying goods, an operator is required to operate, an operation mode of one person is realized, and the labor cost is indirectly increased in the opposite direction.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model provides the transfer robot with high stability.
In order to achieve the above purpose, the utility model is realized by the following technical scheme:
the transfer robot with high stability is designed and comprises a bearing plate, wherein two ends of one side of the bearing plate are connected with strip-shaped beams, a U-shaped frame is formed between the two strip-shaped beams and the bearing plate, a strip-shaped plate is overlapped above each strip-shaped beam, two symmetrically arranged lifting hydraulic cylinders are symmetrically arranged at the bottom of each strip-shaped beam, and the top free ends of the lifting hydraulic cylinders are connected with the strip-shaped plates;
the bottoms of one ends of the two strip-shaped beams, which are far away from the bearing plate, are respectively provided with a driving wheel, a rotating shaft on one side of the driving wheels is connected to a first bearing seat through a bearing, a rotating shaft on the other side of the driving wheels is arranged on a rectangular plate through a bearing, the rectangular plate and the first bearing seat are respectively arranged at the bottoms of the strip-shaped beams, and driving structures connected with the driving wheels are respectively arranged at the bottoms of the strip-shaped beams;
a speed reducer is arranged in the middle of one side of the bearing plate, which is close to the strip-shaped plate, two output shafts of the speed reducer are respectively connected with a driving structure, an input shaft of the speed reducer is connected with a driving motor, the driving motor is arranged on the bearing plate, a controller and a small hydraulic station are also arranged on the bearing plate, the controller and the small hydraulic station are connected through a connecting wire, and the small hydraulic station is connected with a lifting hydraulic cylinder through an oil pipe;
charging battery packs are symmetrically arranged on two sides of the bearing plate, the charging battery packs are connected with a controller through connecting wires, and the controller is connected with a driving motor through connecting wires;
and a steering wheel is arranged in the middle of one side of the bearing plate, which is far away from the strip-shaped beam.
Preferably, a protective cover is arranged on the bearing plate, a supporting rod and a transmitting antenna are arranged at the top of the protective cover, a camera is arranged at the top of the supporting rod, and the camera and the transmitting antenna are respectively connected with the controller through connecting wires;
at least one infrared human body sensor is arranged on the side surface of the protective cover and the outer side of the strip beam, obstacle avoidance sensors are arranged on the two sides and the front side of the protective cover, the obstacle avoidance sensors and the infrared human body sensors are respectively connected with the controller through connecting wires, a broadcasting device is further arranged on the protective cover, and the broadcasting device is connected with the controller through the connecting wires;
an image acquisition camera and a distance sensor are arranged on one side, far away from the steering wheel, of the protective cover, and the image acquisition camera and the distance sensor are respectively connected with the controller through connecting wires.
Preferably, a mounting seat is arranged in the middle of one side, far away from the strip-shaped beam, of the bearing plate, the steering wheel is positioned below the mounting seat, and the steering wheel is arranged in the U-shaped frame through a rotating shaft;
the top of mount pad is installed and is turned to the motor, turns to and links to each other through the connecting wire between motor and the controller, turns to the drive shaft of motor and runs through the mount pad and link to each other with U type frame top.
Preferably, the end of the strip-shaped plate remote from the bearing plate is provided with an inclined surface.
Preferably, the driving structure comprises a turbine arranged at the tail end of a rotating shaft in the middle of the driving wheel, the top of the turbine is meshed with a worm, two ends of the worm are arranged in a second bearing through bearings, and the second bearing is arranged on the side surface of a rectangular plate;
one end of each worm is connected with a first driving shaft, and the first driving shafts extend to the bearing plate;
the driving structure further comprises a second driving shaft which is arranged at the bottom of the bearing plate and positioned at two sides of the speed reducer, the second driving shaft is connected with an output shaft of the speed reducer, at least one third bearing seat is arranged on the second driving shaft and the first driving shaft through bearings, and the third bearing seats are connected below the strip-shaped beam and the bearing plate;
the second driving shaft and the first driving shaft are vertically arranged, bevel gears are arranged at the tail ends of the second driving shaft and the first driving shaft, and the two bevel gears are meshed with each other;
and a protective shell is covered between the two second bearings and on the second driving shaft and the first driving shaft, and the protective shell is respectively connected with the second bearings, the strip-shaped beams and the bearing plates.
Preferably, a locator is further installed at the top of the protective cover, and the locator is connected with the control through a connecting wire.
Compared with the prior art, when the utility model is used, the camera is used for collecting the position information of the forklift tray, so that the transfer robot is conveniently aligned to the bottom of the tray, then the tray is lifted by the automatic lifting of the strip-shaped plate, and the tray can be transported to a designated position, and the utility model has the advantages of simple operation, convenient use and no need of manual dragging.
Drawings
Fig. 1 is a schematic diagram of the front end structure of the present utility model.
Fig. 2 is a schematic view of the rear structure of the present utility model.
Fig. 3 is a schematic diagram of the bottom structure of the present utility model.
Fig. 4 is a schematic diagram of a bottom structure of the present utility model.
Fig. 5 is a top view of the present utility model.
Fig. 6 is a schematic view of the utility model mated with a forklift pallet.
In the figure: 1. a carrying plate; 2. a U-shaped frame; 3. a steering wheel; 4. a mounting base; 5. a steering motor; 6. a controller; 7. a rechargeable battery pack; 8. a strip-shaped plate; 9. a first bearing seat; 10. a driving wheel; 11. lifting the hydraulic cylinder; 12. a second bearing seat; 13. a worm; 14. a turbine; 15. a first drive shaft; 16. a strip beam; 17. an image acquisition camera; 18. a distance sensor; 19. a protective cover; 20. a support rod; 21. a camera; 22. a speed reducer; 23. a third bearing seat; 24. a rectangular plate; 25. a second drive shaft; 26. a protective housing; 27. a driving motor; 28. a transmitting antenna; 29. a broadcast device; 30. a bevel gear; 31. a positioner.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 6, the present utility model provides a technical solution: the carrying robot with high stability comprises a bearing plate 1, wherein two ends of one side of the bearing plate 1 are connected with strip beams 16, and a U-shaped frame is formed between the two strip beams 16 and the bearing plate 1; a strip 8 is stacked above each of the strip beams 16. Two symmetrically arranged lifting hydraulic cylinders 11 are symmetrically arranged at the bottom of the strip-shaped beam 16, the top free ends of the lifting hydraulic cylinders 11 are connected with the strip-shaped plate 8, as shown in fig. 6, the strip-shaped plate 8 is arranged in the bottom of the forklift pallet, and then the forklift pallet is lifted by the strip-shaped plate 8 under the driving of the lifting hydraulic cylinders 11.
The bottom of one end of the two strip beams 16 far away from the bearing plate 1 is provided with a driving wheel 10, one side rotating shaft of the driving wheel 10 is connected to the first bearing seat 9 through a bearing, the other side rotating shaft is installed on the rectangular plate 24 through a bearing, the rectangular plate 24 and the first bearing seat 9 are both installed at the bottom of the strip beam 16, and the bottom of the strip beam 16 is provided with a driving structure connected with the driving wheel 10.
A speed reducer 22 is arranged in the middle of one side of the bearing plate 1, which is close to the strip-shaped plate 8, two output shafts of the speed reducer 22 are respectively connected with a driving structure, an input shaft of the speed reducer 22 is connected with a driving motor 27, the driving motor 27 is arranged on the bearing plate 1, a controller 6 and a small hydraulic station (as indicated by an arrow A in fig. 5) are also arranged on the bearing plate 1, the controller 6 is connected with the small hydraulic station through a connecting line, the small hydraulic station is connected with a lifting hydraulic cylinder 11 through an oil pipe, and the oil pipe is fixed at the bottom of the strip-shaped beam 16; the rechargeable battery packs 7 are symmetrically arranged on two sides of the bearing plate 1, the rechargeable battery packs 7 are connected with the controller 6 through connecting wires, and the controller 6 is connected with the driving motor 27 through connecting wires.
The middle part of one side of the bearing plate 1 far away from the strip-shaped beam 16 is provided with a steering wheel 3, as shown in fig. 1, the middle part of one side of the bearing plate 1 far away from the strip-shaped beam 16 is provided with a mounting seat 4, the steering wheel 3 is positioned below the mounting seat 4, and the steering wheel 3 is arranged in the U-shaped frame 2 through a rotating shaft.
The top of the mounting seat 4 is provided with a steering motor 5, the steering motor 5 is connected with the controller through a connecting wire, and a driving shaft of the steering motor 5 penetrates through the mounting seat 4 and is connected with the top of the U-shaped frame 2. Specifically, when the utility model is used, the steering wheel 3 and the two driving wheels 10 are simultaneously supported on the ground, the driving wheels 10 drive the whole robot to walk, and the steering wheel 3 is driven by the steering motor 5 to realize 360-degree steering.
As shown in fig. 2, the carrier plate 1 is provided with a protective cover 19, the protective cover 19 covers the rechargeable battery pack 7 therein, the top of the protective cover 19 is provided with a supporting rod 20 and a transmitting antenna 28, the top of the supporting rod 20 is provided with a camera 21, the camera 21 and the transmitting antenna 28 are respectively connected with the controller 6 through connecting wires, the camera 21 can be used for collecting video screen information in the travelling process, the transmitting antenna 28 can outwards transmit data information of the robot, can also receive external control instructions, and the transmitting antenna 28 supports wireless signals such as local area network, 4G or 5G.
At least one infrared human body sensor is arranged on the side face of the protective cover 19 and the outer side of the strip beam 16, obstacle avoidance sensors are arranged on the two sides and the front side of the protective cover 19, the obstacle avoidance sensors and the infrared human body sensors are respectively connected with the controller 6 through connecting wires, a broadcasting device 29 is further arranged on the protective cover 19, the broadcasting device 29 is connected with the controller 6 through connecting wires, the infrared human body sensors are used for detecting whether a person exists or not, alarm prompt can be further carried out through an alarm, and the set obstacle avoidance sensors prevent the whole equipment and other objects from touching.
The image acquisition camera 17 and the distance sensor 18 are arranged on one side, far away from the steering wheel 3, of the protective cover 19, the image acquisition camera 17 and the distance sensor 18 are respectively connected with the controller 6 through connecting wires, as shown in fig. 6, the image acquisition camera 17 is used for irradiating position information of a forklift tray, a transfer robot is conveniently aligned to the bottom of the tray, the distance sensor 18 can sense the distance between the tray and a vehicle, and when the distance reaches a preset value, the strip-shaped plate 8 is automatically lifted.
As shown in fig. 1, the end of the strip-shaped plate 8 far away from the bearing plate 1 is provided with an inclined surface to play a guiding role.
As shown in fig. 3, the driving structure comprises a turbine 14 installed at the end of the middle rotating shaft of the driving wheel 10, the top of the turbine 14 is meshed with a worm 13, two ends of the worm 13 are installed in a second bearing seat 12 through bearings, and the second bearing seat 12 is installed on the side surface of a rectangular plate 24; one end of each worm 13 is connected with a first driving shaft 15, and the first driving shafts 15 extend to the bearing plate 1.
The driving structure further comprises a second driving shaft 25 arranged at the bottom of the bearing plate 1 and positioned at two sides of the speed reducer 22, the second driving shaft 25 is connected with an output shaft of the speed reducer 22, at least one third bearing seat 23 is arranged on the second driving shaft 25 and the first driving shaft 15 through bearings, the third bearing seat 23 is connected below the strip-shaped beam 16 and the bearing plate 1, and the third bearing seat 23 is mainly used for supporting each driving shaft to keep each driving shaft stable.
As shown in fig. 3, the second driving shaft 25 and the first driving shaft 15 are vertically disposed, and bevel gears 30 are installed at the tail ends of the second driving shaft 25 and the first driving shaft 15, and the two bevel gears 30 are meshed with each other, so that the driving motor 27 drives the speed reducer 22 to rotate, the speed reducer 22 is a worm gear speed reducer or a gear speed reducer, the speed reducer 22 drives the second driving shaft 25 and the first driving shaft 15 to rotate, and the first driving shaft 15 drives the driving wheel 10 to rotate.
As shown in fig. 4, a protective casing 26 is covered between the two second bearings 12, and the second drive shaft 25 and the first drive shaft 15, and the protective casing 26 is connected with the second bearings 12, the strip beam 16, and the carrier plate 1, respectively.
As shown in fig. 2, a positioner 31 is further installed on the top of the protective cover 19, the positioner 31 is connected with the control through a connecting wire, and the positioner 31 supports local area network positioning or Beidou positioning.
Specifically, when the robot is used, the robot can be controlled manually or the vehicle can run according to a set route by itself, wherein the cameras are used for collecting surrounding images, the locator can be used for positioning in real time, when the robot walks to the tray position, the image collecting camera 17 collects tray information, then the robot automatically adjusts the position, after the position is adjusted, the robot automatically backs up, the strip-shaped plate 8 is inserted into the bottom of the tray, and then the lifting hydraulic cylinder is controlled to stretch, so that the tray can be lifted and carried;
in the utility model, the two driving wheels are used as the power wheels to drive simultaneously, the grabbing force is large, the supporting performance is good, the steering wheels can perform real-time steering operation, goods can be stably carried, and when the goods reach the preset position, the strip-shaped plate 8 is driven by lifting hydraulic pressure to descend, so that the next carrying work is performed.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present utility model; the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally coupled, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a transfer robot that stability is high, includes loading board (1), and one side both ends of loading board (1) all are connected with bar roof beam (16), constitute U type frame, its characterized in that between two bar roof beams (16) and loading board (1): a strip-shaped plate (8) is overlapped above each strip-shaped beam (16), two symmetrically arranged lifting hydraulic cylinders (11) are symmetrically arranged at the bottom of each strip-shaped beam (16), and the top free ends of the lifting hydraulic cylinders (11) are connected with the strip-shaped plate (8);
the bottoms of one ends, far away from the bearing plate (1), of the two strip-shaped beams (16) are respectively provided with a driving wheel (10), one side rotating shaft of the driving wheels (10) is connected to a first bearing seat (9) through a bearing, the other side rotating shaft is arranged on a rectangular plate (24) through a bearing, the rectangular plate (24) and the first bearing seat (9) are respectively arranged at the bottoms of the strip-shaped beams (16), and driving structures connected with the driving wheels (10) are respectively arranged at the bottoms of the strip-shaped beams (16);
a speed reducer (22) is arranged in the middle of one side, close to the strip-shaped plate (8), of the bearing plate (1), two output shafts of the speed reducer (22) are respectively connected with a driving structure, an input shaft of the speed reducer (22) is connected with a driving motor (27), the driving motor (27) is arranged on the bearing plate (1), a controller (6) and a small hydraulic station are further arranged on the bearing plate (1), the controller (6) is connected with the small hydraulic station through a connecting wire, and the small hydraulic station is connected with a lifting hydraulic cylinder through an oil pipe;
the charging battery packs (7) are symmetrically arranged on two sides of the bearing plate (1), the charging battery packs (7) are connected with the controller (6) through connecting wires, and the controller (6) is connected with the driving motor (27) through connecting wires;
the middle part of one side of the bearing plate (1) far away from the strip-shaped beam (16) is provided with a steering wheel (3).
2. The high-stability transfer robot of claim 1, wherein: the bearing plate (1) is provided with a protective cover (19), the top of the protective cover (19) is provided with a supporting rod (20) and a transmitting antenna (28), the top of the supporting rod (20) is provided with a camera (21), and the camera (21) and the transmitting antenna (28) are respectively connected with the controller (6) through connecting wires;
at least one infrared human body sensor is arranged on the side surface of the protective cover (19) and the outer side of the strip beam (16), obstacle avoidance sensors are arranged on the two sides and the front side of the protective cover (19), the obstacle avoidance sensors and the infrared human body sensors are respectively connected with the controller (6) through connecting wires, a broadcasting device (29) is further arranged on the protective cover (19), and the broadcasting device (29) is connected with the controller (6) through connecting wires;
an image acquisition camera (17) and a distance sensor (18) are arranged on one side, far away from the steering wheel (3), of the protective cover (19), and the image acquisition camera (17) and the distance sensor (18) are respectively connected with the controller (6) through connecting wires.
3. The high-stability transfer robot of claim 1, wherein: the middle part of one side, far away from the strip-shaped beam (16), of the bearing plate (1) is provided with a mounting seat (4), the steering wheel (3) is positioned below the mounting seat (4), and the steering wheel (3) is arranged in the U-shaped frame (2) through a rotating shaft;
the top of mount pad (4) is installed and is turned to motor (5), links to each other through the connecting wire between steering motor (5) and the controller, and the drive shaft of steering motor (5) runs through mount pad (4) and links to each other with U type frame (2) top.
4. The high-stability transfer robot of claim 1, wherein: one end of the strip-shaped plate (8) far away from the bearing plate (1) is provided with an inclined plane.
5. The high-stability transfer robot of claim 1, wherein: the driving structure comprises a turbine (14) arranged at the tail end of a rotating shaft in the middle of the driving wheel (10), the top of the turbine (14) is meshed with a worm (13), two ends of the worm (13) are arranged in a second bearing seat (12) through bearings, and the second bearing seats (12) are arranged on the side face of a rectangular plate (24);
one end of each worm (13) is connected with a first driving shaft (15), and the first driving shafts (15) extend to the bearing plate (1);
the driving structure further comprises a second driving shaft (25) which is arranged at the bottom of the bearing plate (1) and is positioned at two sides of the speed reducer (22), the second driving shaft (25) is connected with an output shaft of the speed reducer (22), at least one third bearing seat (23) is arranged on each of the second driving shaft (25) and the first driving shaft (15) through a bearing, and the third bearing seats (23) are connected below the strip-shaped beam (16) and the bearing plate (1);
the second driving shaft (25) and the first driving shaft (15) are vertically arranged, bevel gears (30) are arranged at the tail ends of the second driving shaft (25) and the first driving shaft (15), and the two bevel gears (30) are meshed with each other;
and a protective shell (26) is covered between the two second bearings (12) and on the second driving shaft (25) and the first driving shaft (15), and the protective shell (26) is respectively connected with the second bearings (12), the strip-shaped beam (16) and the bearing plate (1).
6. The high-stability transfer robot of claim 2, wherein: the top of the protective cover (19) is also provided with a locator (31), and the locator (31) is connected with the control through a connecting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320910617.1U CN219409144U (en) | 2023-04-21 | 2023-04-21 | Transfer robot that stability is high |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320910617.1U CN219409144U (en) | 2023-04-21 | 2023-04-21 | Transfer robot that stability is high |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219409144U true CN219409144U (en) | 2023-07-25 |
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ID=87231117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320910617.1U Active CN219409144U (en) | 2023-04-21 | 2023-04-21 | Transfer robot that stability is high |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219409144U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117338538A (en) * | 2023-12-04 | 2024-01-05 | 河北普康医疗设备有限公司 | Auxiliary medical frame for electric medical bed |
-
2023
- 2023-04-21 CN CN202320910617.1U patent/CN219409144U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117338538A (en) * | 2023-12-04 | 2024-01-05 | 河北普康医疗设备有限公司 | Auxiliary medical frame for electric medical bed |
| CN117338538B (en) * | 2023-12-04 | 2024-03-19 | 河北普康医疗设备有限公司 | Auxiliary medical frame for electric medical bed |
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