CN219409144U - A handling robot with high stability - Google Patents

Abstract

The utility model discloses a high-stability handling robot, which relates to the technical field of handling robots, and specifically comprises a load-bearing plate. Both ends of one side of the load-bearing plate are connected with bar-shaped beams, and a U-shaped frame is formed between the two bar-shaped beams and the load-bearing plate. A bar-shaped plate is stacked above each bar-shaped beam. Two symmetrically arranged lifting hydraulic cylinders are symmetrically installed at the bottom of the bar-shaped beam. The top free ends of the lifting hydraulic cylinders are connected with the bar-shaped plate; The rotating shaft on one side of the driving wheel is connected to the first bearing seat through a bearing, and the rotating shaft on the other side is installed on the rectangular plate through the bearing. When the utility model is in use, the camera is used to collect the position information of the forklift pallet, which is convenient for aligning the handling robot with the bottom of the pallet, and then the strip plate is automatically lifted to lift the pallet, which can be transported to the designated position. It is simple to operate and easy to use without manual dragging.

Description

A handling robot with high stability

technical field

The utility model relates to the technical field of handling robots, in particular to a handling robot with high stability.

Background technique

Manual hydraulic forklift is also known as a dual-purpose vehicle for manual lifting, loading and unloading and short-distance transportation. When in use, insert the two ends of the forklift into the bottom of the pallet, and then press down to adjust the jack to lift the pallet, and then the material can be transported by manual dragging. However, this manual hydraulic forklift is convenient for carrying goods. At the same time, it must be operated by an operator to realize the operation mode of one vehicle and one person. On the contrary, it also indirectly increases labor costs. For this reason, we propose a handling robot with high stability.

Utility model content

In order to solve the above deficiencies in the prior art, the utility model proposes a handling robot with high stability.

In order to achieve the above object, the utility model is realized through the following technical solutions:

A high-stability handling robot is designed, comprising a load plate, one side and two ends of the load plate are connected with strip beams, a U-shaped frame is formed between the two strip beams and the load plate, a strip plate is stacked above each of the strip beams, two symmetrically arranged lifting hydraulic cylinders are symmetrically installed at the bottom of the strip beams, and the top free ends of the lifting hydraulic cylinders are connected to the strip plate;

Both bottoms of the two strip beams are provided with drive wheels at the bottom of one end far away from the bearing plate, the rotating shaft on one side of the driving wheel is connected to the first bearing seat through a bearing, and the rotating shaft on the other side is mounted on a rectangular plate through a bearing, the rectangular plate and the first bearing seat are installed at the bottom of the bar beam, and a driving structure connected to the driving wheel is installed at the bottom of the bar beam;

A reducer is installed in the middle of the side of the bearing plate close to the strip plate, the two output shafts of the reducer are respectively connected to the drive structure, the input shaft of the reducer is connected to the drive motor, and the drive motor is installed on the bearing plate, a controller and a small hydraulic station are also installed on the bearing plate, the controller and the small hydraulic station are connected by a connecting line, and the small hydraulic station and the lifting hydraulic cylinder are connected by oil pipes;

A rechargeable battery pack is symmetrically installed on both sides of the bearing plate, the rechargeable battery pack and the controller are connected through a connection line, and the controller and the driving motor are connected through a connection line;

Steering wheels are installed in the middle of the side of the bearing plate away from the strip beam.

Preferably, a protective cover is installed on the bearing plate, a support rod and a transmitting antenna are installed on the top of the protective cover, a camera is installed on the top of the support rod, and the camera and the transmitting antenna are respectively connected to the controller through connecting wires;

At least one infrared human body sensor is installed on the side of the protective cover and the outside of the strip beam, and obstacle avoidance sensors are installed on both sides and the front side of the protective cover. The obstacle avoidance sensor and the infrared human body sensor are respectively connected to the controller by connecting wires. An announcer is also installed on the protective cover, and the announcer and the controller are connected by connecting wires;

An image acquisition camera and a distance sensor are installed on the side of the protective cover away from the steering wheel, and the image acquisition camera and the distance sensor are respectively connected to the controller by connecting wires.

Preferably, a mounting seat is installed in the middle of the bearing plate away from the side of the strip beam, the steering wheel is located below the mounting seat, and the steering wheel is installed in the U-shaped frame through a rotating shaft;

A steering motor is installed on the top of the mounting base, and the steering motor and the controller are connected through a connecting wire. The drive shaft of the steering motor runs through the mounting base and is connected to the top of the U-shaped frame.

Preferably, an inclined surface is provided at the end of the strip plate away from the carrying plate.

Preferably, the driving structure includes a worm gear installed at the end of the rotating shaft in the middle of the driving wheel, the top of the worm gear meshes with the worm, and the two ends of the worm are installed in the second bearing housing through bearings, and the second bearing housing is installed on the side of the rectangular plate;

One end of each worm is connected to a first drive shaft, and the first drive shaft extends to the bearing plate;

The drive structure also includes a second drive shaft arranged at the bottom of the bearing plate and located on both sides of the reducer, the second drive shaft is connected to the output shaft of the reducer, at least one third bearing seat is installed on the second drive shaft and the first drive shaft through bearings, and the third bearing seat is connected under the strip beam and the bearing plate;

The second drive shaft and the first drive shaft are vertically arranged, and bevel gears are installed at the ends of the second drive shaft and the first drive shaft, and the two bevel gears mesh with each other;

A protective casing is provided between the two second bearing seats, and on the second drive shaft and the first drive shaft, and the protective casing is respectively connected with the second bearing seat, the strip beam, and the bearing plate.

Preferably, a locator is installed on the top of the protective cover, and the locator and the control are connected through a connection line.

Compared with the prior art, when the utility model is in use, the camera is used to collect the location information of the forklift pallet, so that the handling robot can be aligned with the bottom of the pallet, and then the strip plate is automatically lifted to lift the pallet, which can be transported to the designated position. It is simple to operate and easy to use without manual dragging.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the front end of the utility model.

Fig. 2 is a schematic diagram of the rear structure of the utility model.

Fig. 3 is a schematic diagram of the bottom structure of the utility model.

Fig. 4 is the second schematic diagram of the bottom structure of the utility model.

Fig. 5 is a top view of the utility model.

Fig. 6 is a schematic diagram of the cooperation between the utility model and the forklift pallet.

In the figure: 1, bearing plate; 2, U-shaped frame; 3, steering wheel; 4, mounting seat; 5, steering motor; 6, controller; 7, rechargeable battery pack; 8, strip plate; 9, first bearing seat; 10, driving wheel; 11, lifting hydraulic cylinder; 12, second bearing seat; 13, worm; 14, turbine; 21, camera; 22, reducer; 23, the third bearing seat; 24, rectangular plate; 25, the second drive shaft; 26, protective shell; 27, drive motor; 28, transmitting antenna; 29, broadcaster; 30, bevel gear; 31, locator.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to Fig. 1 to Fig. 6, the utility model provides a kind of technical proposal: a kind of high stability handling robot, comprises carrying plate 1, and both ends of one side of carrying plate 1 are connected with strip beam 16, and U-shaped frame is formed between two strip beams 16 and carrying plate 1; Above each strip beam 16, a strip plate 8 is stacked. Two symmetrical lifting hydraulic cylinders 11 are installed symmetrically at the bottom of the strip beam 16, and the top free ends of the lifting hydraulic cylinders 11 are connected to the strip plate 8. As shown in FIG.

Two said strip beams 16 bottoms are all provided with driving wheel 10 at the bottom of one end away from bearing plate 1, and the rotating shaft of driving wheel 10 one side is connected on the first bearing seat 9 by bearing, and the other side rotating shaft is installed on the rectangular plate 24 by bearing, and described rectangular plate 24 and first bearing seat 9 are all installed on bar beam 16 bottoms, and the drive structure that links to each other with driving wheel 10 is all installed in described bar beam 16 bottoms.

A reducer 22 is installed in the middle part of the side near the strip plate 8 of the bearing plate 1. The two output shafts of the reducer 22 are respectively connected to the driving structure. The input shaft of the reducer 22 is connected to the drive motor 27. The drive motor 27 is installed on the bearing plate 1. On the bearing plate 1, a controller 6 and a small hydraulic station (as indicated by arrow A in Figure 5) are also installed. The controller 6 and the small hydraulic station are connected by a connecting line. 16 Bottom; rechargeable battery packs 7 are symmetrically installed on both sides of the carrier plate 1, the rechargeable battery pack 7 is connected to the controller 6 through a connection line, and the controller 6 is connected to the drive motor 27 through a connection line.

A steering wheel 3 is installed at the middle part of the carrying plate 1 away from the bar beam 16 side, as shown in Figure 1, a mounting seat 4 is installed at the middle part of the carrying plate 1 away from the bar beam 16 side, and the steering wheel 3 is located below the mounting seat 4, and the steering wheel 3 is installed in the U-shaped frame 2 by a rotating shaft.

A steering motor 5 is installed on the top of the mounting base 4 , the steering motor 5 is connected to the controller by a connecting wire, and the drive shaft of the steering motor 5 runs through the mounting base 4 and is connected to the top of the U-shaped frame 2 . Specifically, when the utility model is in use, the steering wheel 3 and the two driving wheels 10 are supported on the ground at the same time, and the driving wheel 10 drives the whole robot to walk, while the steering wheel 3 is driven by the steering motor 5 to realize 360° turning.

As shown in Figure 2, a protective cover 19 is installed on the carrier plate 1, and the protective cover 19 covers the rechargeable battery pack 7. The top of the protective cover 19 is equipped with a support rod 20 and a transmitting antenna 28. The top of the support rod 20 is equipped with a camera 21. The camera 21 and the transmitting antenna 28 are respectively connected to the controller 6 by connecting wires. The camera 21 can be used to collect video information in the course of the action. Network, 4G or 5G and other wireless signals.

On the side of protective cover 19 and the outside of strip beam 16, at least one infrared human body sensor is all installed, both sides and the front side of protective cover 19 are all equipped with obstacle avoidance sensor, obstacle avoidance sensor, infrared human body sensor are connected with controller 6 respectively by connection line, and broadcaster 29 is also installed on protective cover 19, is connected by connection line between announcer 29 and controller 6, and infrared human body sensor is used for detecting whether there are people, and can also be prompted by alarm, and the obstacle avoidance sensor that is set prevents whole equipment and other objects from touching touch.

The side of the protective cover 19 away from the steering wheel 3 is equipped with an image acquisition camera 17 and a distance sensor 18. The image acquisition camera 17 and the distance sensor 18 are respectively connected to the controller 6 through connecting wires. As shown in FIG.

As shown in FIG. 1 , an inclined surface is provided at the end of the strip plate 8 away from the bearing plate 1 to play a guiding role.

As shown in Figure 3, the drive structure includes a turbine 14 installed at the end of the shaft in the middle of the drive wheel 10. The top of the turbine 14 meshes with the worm 13. The two ends of the worm 13 are installed in the second bearing housing 12 through bearings, and the second bearing housing 12 is installed on the side of the rectangular plate 24. One end of each worm 13 is connected to the first drive shaft 15, and the first drive shaft 15 extends to the bearing plate 1.

The driving structure also includes a second drive shaft 25 arranged at the bottom of the bearing plate 1 and positioned at both sides of the reducer 22. The second drive shaft 25 is connected to the output shaft of the reducer 22. At least one third bearing seat 23 is installed on the second drive shaft 25 and the first drive shaft 15. The third bearing seat 23 is connected to the strip beam 16 and below the load plate 1. The third bearing seat 23 is mainly used to support each drive shaft and keep each drive shaft stable.

As shown in Figure 3, the second drive shaft 25 and the first drive shaft 15 are arranged vertically, and bevel gears 30 are installed at the ends of the second drive shaft 25 and the first drive shaft 15.

As shown in FIG. 4 , a protective shell 26 is provided between the two second bearing blocks 12 , and on the second drive shaft 25 and the first drive shaft 15 .

As shown in FIG. 2 , a locator 31 is installed on the top of the protective cover 19 , and the locator 31 is connected to the controller through a connection line. The locator 31 supports local area network positioning or Beidou positioning.

Specifically, when the utility model is in use, it can be manually controlled or the vehicle can drive according to the set route. The camera is used to collect surrounding images, and the locator can perform real-time positioning. When the robot moves to the pallet position, the image collection camera 17 collects pallet information, and then the robot automatically adjusts its position.

In the utility model, the two driving wheels are driven simultaneously as power wheels, with large grip and good support performance, and the steering wheel can perform real-time steering operation, and can smoothly transport the goods. When the preset position is reached, the strip plate 8 is driven down by the lifting hydraulic pressure, so as to carry out the next transport work.

In the description of the present utility model, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and so on are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so the term "first" cannot be interpreted as a limitation of the utility model; ", "Second" and "Third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed or which are inherent to such process, method, article or apparatus.

Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by 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.