CN219670076U - Transport robot - Google Patents

Abstract

The present utility model provides a transport robot comprising: the first walking unit comprises a first walking wheel, a steering engine assembly and a connecting arm, wherein the steering engine assembly is in transmission connection with the first walking wheel so as to drive the first walking wheel to steer, and the first end of the connecting arm is connected with the steering engine assembly; the second walking unit comprises a support column and a second walking assembly, the support column is connected with the second end of the connecting arm, and the second walking assembly is arranged on the support column and is suitable for walking along the ground; and the lifting unit is used for connecting and/or lifting the objects to be transported. The transportation robot mainly comprises the first walking unit, the second walking unit and the lifting unit, has a simpler overall structure and smaller occupied space, is easier to realize the position movement or transportation of the container in a short distance and a limited space, can avoid the problem that the transportation modes such as a large crane or a gantry crane have larger requirements on the operation space, increases the transportation convenience and reduces the transportation cost.

Description

Transport robot

Technical Field

The utility model relates to the technical field of transportation, in particular to a transportation robot.

Background

With the vigorous development of trade and the gradual development of traffic, the container has higher and higher frequency of use in logistics transportation due to the standardized appearance design, easy stacking and stable structure. In the prior art, the container is usually transferred by adopting a large crane or a gantry crane.

However, when short-range transportation is performed, and in places where the transportation work space is small, it is difficult to spread a large crane and a gantry crane, and in remote areas, the use of a large crane or a gantry crane causes a large increase in cost, which is very inconvenient for short-range transportation of containers, and therefore, it is required to provide a container transportation means facilitating short-range transportation and transportation in a small space.

Disclosure of Invention

In view of the above problems, the utility model provides a transportation robot, which mainly comprises a first walking unit, a second walking unit and a lifting unit, has a simple overall structure and small occupied space, and can solve the technical problems.

The present utility model provides a transport robot comprising: the steering engine assembly is in transmission connection with the first traveling wheel so as to drive the first traveling wheel to steer, and the first end of the connecting arm is connected with the steering engine assembly; the second walking unit comprises a support column and a second walking assembly, the support column is connected with the second end of the connecting arm, and the second walking assembly is arranged on the support column and is suitable for walking along the ground; the lifting unit comprises a lifting device, a driving device and a transmission device, wherein the lifting device is used for connecting and/or lifting objects to be transported, the driving device is arranged on the support column, the transmission device is respectively in transmission connection with the driving device and the lifting device, and the driving device drives the lifting device to move along the vertical direction through the transmission device.

The transportation robot mainly comprises the first walking unit, the second walking unit and the lifting unit, has a simpler overall structure and smaller occupied space, is easier to realize the position movement or transportation of the container in a short distance and a limited space, can avoid the problem that the transportation modes such as a large crane or a gantry crane have larger requirements on the operation space, increases the transportation convenience and reduces the transportation cost.

Optionally, the transport robot further includes: the suspension unit is arranged between the first walking unit and the second walking unit and comprises a buffer frame assembly and a shock absorber, wherein the buffer frame assembly is connected with the support column, a first end of the shock absorber is connected with the buffer frame assembly, and a second end of the shock absorber is connected with a second end of the connecting arm.

Optionally, the buffer rack assembly includes: the buffer seat is provided with a chute extending along the vertical direction, the shock absorber is arranged on the horizontal side of the buffer seat, and the buffer seat is pivotally connected with the support column; the sliding component is slidably arranged in the sliding groove and is respectively connected with the connecting arm and the second end of the shock absorber.

Optionally, the buffer seat and one side opposite to each other of the pillar are respectively provided with a pivot seat, two pivot seats are respectively formed with pivot holes oppositely arranged, the buffer seat and the pillar pass through the two pivot holes in turn through a pivot shaft to realize connection, and the pivot shaft extends along the horizontal direction.

Optionally, two first lifting lugs opposite to each other in the left-right direction and arranged at intervals and a fixing pin penetrating through the two first lifting lugs are arranged at the bottom of the buffer seat; the direction of pillar still be equipped with the connecting seat in one side of buffering seat, the connecting seat is two between the first lug, the connecting seat with first lug is formed with the connecting hole of relative arrangement respectively, the connecting seat with first lug passes through in proper order the fixed pin the connecting seat with the connecting hole on the first lug realizes connecting.

Optionally, the two ends of the pillar in the vertical direction are respectively provided with a mounting seat, and the driving device is arranged on one of the mounting seats.

Optionally, the driving device includes: the first speed reducer is arranged on the mounting seat, and the output end of the first driving motor is connected with the input end of the first speed reducer; the transmission device comprises: the screw rod is parallel to the support columns and is arranged at intervals, two ends of the screw rod are respectively connected with the two mounting seats, and the screw rod is in transmission connection with the first speed reducer through the synchronous belt.

Optionally, the lifting device includes: the screw rod sliding block is movably matched with the screw rod along the vertical direction; the docking arm is connected with the bottom of the screw rod sliding block and is suitable for docking with a docking device on an object to be transported; the abutting arm is connected with the side part of the screw rod sliding block and is suitable for abutting against the object to be transported.

Optionally, the free ends of the abutment arms and the free ends of the abutment arms are vertically spaced apart.

Optionally, the second walking assembly includes: the retractable support is pivotally connected with the support column; the second travelling wheel is connected with the retractable support so as to retract or fall along with the retractable support.

Optionally, the buffering seat includes a seat main part, the seat main part is the C template, dodge the mouth has been seted up to the front side of seat main part, the spout is for locating dodge two of mouth both sides, the subassembly that slides includes: the sliding support comprises a sliding part and a connecting part, the sliding part is located at the avoidance opening, the roller is arranged at two sides of the sliding part and is rotatably connected with the sliding part, the roller is matched with the sliding groove, and the connecting part is located at the outer side of the avoidance opening and is connected with the second end of the connecting arm.

Optionally, the roller comprises a first roller and a second roller, wherein a rolling surface of the first roller is in rolling fit with a side wall of the seat main body along the left-right direction so as to limit the sliding component, and a rolling surface of the second roller is in rolling fit with a rear wall of the seat main body so as to enable the sliding component to move.

Optionally, the sliding assembly further comprises a second lifting lug, the second lifting lug is connected with the connecting portion, the second lifting lug is connected with the second end of the shock absorber, a third lifting lug which is vertically and oppositely arranged with the second lifting lug is arranged on the seat main body, and the third lifting lug is connected with the first end of the shock absorber.

Optionally, the top end of the chute is open, the buffer seat further comprises a limit baffle, and the limit baffle is used for blocking the top end of the chute and is fixedly connected with the seat main body.

Optionally, the steering engine assembly includes: the steering engine seat is positioned on the upper side of the first travelling wheel and is connected with the first end of the connecting arm; the second speed reducer is arranged on the steering engine seat, and the output end of the second speed reducer is provided with a first gear; the output shaft of the second driving motor is connected with the input end of the second speed reducer; the bogie is connected with the first travelling wheels, a second gear is arranged on the bogie, and the second gear is meshed with the first gear for transmission so as to steer under the drive of the driving motor.

Optionally, the transport robot further includes: the functional module is arranged on the support column and comprises at least one of a spraying module, a traction transportation module and a fork arm module.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a transport robot according to an embodiment of the present utility model;

FIG. 2 is a schematic view of another angle of the transport robot according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a transport robot at another angle according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a transport robot at a further angle according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a transport robot at a further angle according to an embodiment of the present utility model;

FIG. 6 is a schematic view of an angle configuration of a suspension unit according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a suspension unit according to another embodiment of the present utility model;

fig. 8 is a schematic view showing a structure of a suspension unit according to still another angle of the embodiment of the present utility model.

Reference numerals illustrate:

100-a transport robot;

1-a first travel unit;

11-a first travelling wheel;

12-steering engine components; 121-rudder mount; 122-a second decelerator; 123-a second drive motor; 124-bogie; 1241-transverse connecting section; 1242-vertical connection section; 125-a first gear; 126-a second gear;

13-a connecting arm;

2-a suspension unit;

a 21-bumper assembly;

211-a buffer seat; 2111-seat body; 2112—a chute; 2113-avoiding port; 2114-third lifting lug; 2115-limit stops; 2116-first lifting lug; 2117—a first pivot mount;

212-a slip assembly; 2121-sliding brackets; 2122-rollers; 21221-first roller; 21222-a second roller; 2123-second lifting lug;

22-a shock absorber;

3-a second walking unit;

31-a pillar; 311-connecting seats; 312-a second pivot mount;

32-a second walking assembly; 321-a second travelling wheel; 322-folding and unfolding a bracket; 3221-a connecting frame; 3222-a telescoping cylinder; 3223-handle;

4-lifting units;

41-lifting device; 411-screw slide block; 412-a docking arm; 413-an abutment arm;

42-driving means; 421-a first drive motor; 422-first decelerator;

43-transmission device; 431-screw.

Detailed Description

In order to make the above objects, features and advantages of the embodiments of the present utility model more comprehensible, the technical solutions of the embodiments of the present utility model will be described clearly and completely with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. 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.

With the vigorous development of trade and the gradual development of traffic, the container has higher and higher frequency of use in logistics transportation due to the standardized appearance design, easy stacking and stable structure. In the prior art, the container is usually transferred by adopting a large crane or a gantry crane. However, when short-range transportation is performed, and in places where the transportation work space is small, it is difficult to spread a large crane and a gantry crane, and in remote areas, the use of a large crane or a gantry crane causes a large increase in cost, which is very inconvenient for short-range transportation of containers, and therefore, it is required to provide a container transportation means facilitating short-range transportation and transportation in a small space.

In view of the above, the utility model provides a transportation robot, which mainly comprises a first walking unit, a suspension unit, a second walking unit and a lifting unit, so that the problem that a large crane or a gantry crane or other transportation modes have large requirements on the operation space can be avoided, the transportation convenience is improved, and the transportation cost is reduced.

A transport robot 100 according to an embodiment of the present utility model is described below with reference to fig. 1 to 8.

Referring to fig. 1, a transport robot 100 of the present embodiment may be used for combined transport of containers or other goods, or may be used alone for lifting or transporting goods. The transport robot 100 includes: a first travelling unit 1, a second travelling unit 3 and a lifting unit 4.

In particular, the first travelling unit 1 may comprise a first travelling wheel 11, a steering engine assembly 12 and a connecting arm 13. The steering engine assembly 12 is in transmission connection with the first traveling wheel 11, and the steering engine assembly 12 can drive the first traveling wheel 11 to turn, so that the traveling direction of the transportation robot 100 is adjusted. The connecting arm 13 may be located on the rear side of the steering engine assembly 12, with a first end of the connecting arm 13 (e.g., the front end of the connecting arm 13) being connected to the steering engine assembly 12.

The second walking unit 3 may include a pillar 31 and a second walking assembly 32, where the pillar 31 may be a square pillar, a cylinder or other shaped pillar, the pillar 31 may be a solid pillar, or a hollow pillar, and the configuration of the pillar 31 may be reasonably selected according to actual needs on the premise of ensuring structural strength. The strut 31 is connected to the second end of the connecting arm 13, and the strut 31 may be directly connected to the connecting arm 13, or may be connected via an intermediate member. The second traveling assembly 32 is provided to the pillar 31, and for example, the second traveling assembly may be provided to the bottom of the pillar 31. The second running gear 32 is adapted to run along the ground to assist in supporting the mast 31 and the first running wheels 11 during transport.

The strut 31, after being connected to the first travelling unit 1 by the connecting arm 13, can better support a container or other cargo having a large weight with the support of the first travelling wheel 11 and the second travelling assembly 32. The second traveling assembly 32 may be plural in number so as to secure traveling stability of the first traveling wheel 11 and prevent the transport robot 100 from rolling.

The lifting unit 4 is fixed to the column 31, and the lifting unit 4 may include: lifting means 41, driving means 42 and transmission means 43. Wherein the lifting device 41 is used for connecting and/or lifting objects to be transported, such as containers or other goods. The driving device 42 is arranged on the mounting seat at the top of the strut 31, the transmission device 43 is respectively connected with the driving device 42 and the lifting device 41 in a transmission way, and the driving device 42 drives the lifting device 41 to move along the vertical direction through the transmission device 43. In this way, after the lifting device 41 is in butt joint with the container or other goods, the driving device 42 can drive the lifting device 41 to lift the container or other goods to a certain height, so as to facilitate transportation. The connection and fixation of the lifting device 41 and the support 31 and the arrangement position of the lifting unit 4 on the support 31 can be designed reasonably according to the requirements.

It will be appreciated that when lifting a large-sized and heavy object to be transported such as a container, a plurality of transporting robots 100, herein, a plurality of two or more, may be used in combination to increase the stability and reliability of the transportation process.

The transportation robot 100 according to the embodiment of the utility model mainly comprises the first walking unit 1, the second walking unit 3 and the lifting unit 4, has a simpler overall structure and smaller occupied space, is easier to realize the position movement or transportation of the container in a short distance and a limited space, can avoid the problem that a large crane or a gantry crane is adopted to transport the container in a large mode to have larger requirements on the operation space, increases the transportation convenience, and reduces the transportation cost.

In some embodiments, when the transporting robot 100 of the present embodiment is used in combination to transport a container, the second traveling unit 3 may be retracted, and at this time, power may be provided by the first traveling unit 1, for example, the first traveling wheel 11 may include a wheel body and a traveling driving motor provided in the wheel body, and the traveling driving motor may drive the wheel body to rotate so as to implement automatic traveling of the first traveling wheel 11, thereby providing traveling power. While power may be provided by at least one of the first travel unit 1 and the second travel unit 3 when the transport robot 100 is used alone or in combination with functional modules such as a forklift, a spraying module.

In some embodiments, the transport robot 100 may further include a suspension unit 2 provided between the first traveling unit 1 and the second traveling unit 3, for example, the suspension unit 2 may be provided at a rear side of the first traveling unit 1 and on an upper side of the first traveling wheel 11.

The suspension unit 2 may include a shock absorber 22 and a shock absorber assembly 21, wherein the shock absorber assembly 21 may be coupled to a strut 31, and the shock absorber assembly 21 may be fixedly coupled to the strut 31 or may be movable relative to the strut 31. The shock absorber 22 may be vertically disposed so that the shock absorber 22 plays a shock absorbing and buffering role during the traveling of the transportation robot 100. The first end of the shock absorber 22 (e.g., the upper end of the shock absorber 22) is connected to the buffer frame assembly 21, the second end of the shock absorber 22 (e.g., the lower end of the shock absorber 22) is connected to the second end of the connecting arm 13 (e.g., the rear end of the connecting arm 13), and the shock absorber 22 may be directly connected to the connecting arm 13 or indirectly connected to the connecting arm. That is, in the transport robot 100 of the present embodiment, the first traveling unit 1 and the second traveling unit 3 are connected by the suspension unit 2, and thus, vibration transmission between the first traveling unit 1 and the second traveling unit 3 can be reduced.

For example, the shock mount assembly 21 may include a fixed portion and a movable portion, and a first end of the shock 22 may be coupled to the fixed portion, and a second end of the shock 22 and a second end of the connecting arm 13 are both coupled to the movable portion. Thus, when the suspension unit 2 and the first traveling unit 1 vibrate to generate displacement relative to each other during traveling of the transport robot 100, the first end and the second end of the shock absorber 22 generate movement away from each other, and then reset under the action of the shock absorbing spring, so that the vibration of the body can be buffered, and the traveling of the transport robot 100 is more stable.

Alternatively, in conjunction with fig. 1 and 6-8, the buffer rack assembly 21 may include: a buffer seat 211 and a slip assembly 212. Specifically, the buffer seat 211 is provided with a vertically extending chute 2112, the shock absorber 22 is disposed at a horizontal side of the buffer seat 211, the sliding assembly 212 is slidably disposed at the chute 2112, the sliding assembly 212 is respectively connected with the connecting arm 13 and the second end of the shock absorber 22, for example, the buffer seat 211 may be formed into a substantially vertically disposed square box shape, a front wall of the buffer seat 211 near a middle portion is formed with a dodging port 2113 extending in a vertical direction and penetrating the front wall, front wall portions on left and right sides of the dodging port 2113, a side wall of the buffer seat 211 and a rear wall together define a chute 2112, and the two chutes 2112 are opposite in the left and right directions, at this time, the horizontal section of the buffer seat 211 is substantially C-shaped, the shock absorbers 22 are respectively disposed at the left and right sides of the buffer seat 211, and the sliding assembly 212 extends into the chute 2112 from the opening and is adapted to move vertically in the chute 2112.

Thus, when the transportation robot 100 jolts and vibrates, the sliding assembly 212 slides along the chute 2112 relative to the buffer seat 211, and meanwhile, the shock absorber 22 is driven by the sliding assembly 212 to move the second end relative to the first end, so that the vibration can be buffered, and the vibration transmission between the first travelling unit 1 and the suspension unit 2 is blocked.

Referring to fig. 3, the buffer seat 211 is pivotally connected to the pillar 31, for example, the buffer seat 211 may be connected to the pillar 31 through a pivot shaft, or may also be connected through a ball pair, or may be other connection manners, and the pivot connection manner between the buffer seat 211 and the pillar 31 may be reasonably selected according to actual needs, so that the pillar 31 has a certain activity allowance relative to the buffer seat 211, so that rigid collision of each component of the transport robot 100 can be avoided, the damage risk is reduced, and the matching structure of the buffer seat 211 and the pillar 31 is simpler, easy to assemble and disassemble, and convenient to maintain.

In some embodiments, referring to fig. 2 and 3, the buffer seat 211 and the strut 31 are respectively formed with pivot seats at opposite sides thereof, and the two pivot seats are respectively formed with pivot holes arranged opposite to each other, and the buffer seat 211 and the strut 31 are connected through the pivot shafts sequentially passing through the two pivot holes, the pivot shafts extending in a horizontal direction.

For example, as shown in fig. 3, the rear side wall of the buffer seat 211 is provided with a first pivot seat 2117, the first pivot seat 2117 may be detachably connected to the buffer seat 211, or may be integrally connected, the first pivot seat 2117 is formed with a first pivot hole penetrating in a horizontal direction, the front side wall of the support column 31 is formed with a second pivot seat 312, the second pivot seat 312 may be detachably connected to the support column 31, or may be integrally connected, the second pivot seat 312 is formed with a second pivot hole penetrating in a horizontal direction, the first pivot hole and the second pivot hole are oppositely arranged in the horizontal direction, and the pivot shaft is inserted into the first pivot hole and the second pivot hole in the horizontal direction to realize the pivot connection of the first pivot seat 2117 and the second pivot seat 312, at this time, the support column 31 can perform a minute angle movement in a vertical direction relative to the buffer seat 211, so that the rigid collision between the two is buffered, and at the same time, the connection structure of the buffer seat 211 and the support column 31 is relatively simple, and easy to manufacture and assemble.

Alternatively, referring to fig. 2 and 3, the bottom of the buffer seat 211 is provided with two first lifting lugs 2116 and fixing pins, wherein the two first lifting lugs 2116 are opposite and spaced along the left-right direction, and the fixing pins penetrate through the two first lifting lugs 2116. The connecting seat 311 is further formed on one side of the strut 31 facing the buffer seat 211, the connecting seat 311 is arranged at the lower side of the second pivot seat 312 at intervals, the connecting seat 311 is located between the two first lifting lugs 2116, the connecting seat 311 and the first lifting lugs 2116 are respectively formed with connecting holes which are arranged oppositely, the connecting seat 311 and the first lifting lugs 2116 sequentially penetrate through the connecting holes on the connecting seat 311 and the first lifting lugs 2116 through fixing pins to realize connection, the connecting seat 311 and the fixing pins can be mutually matched with the first pivot seat 2117 and the second pivot seat 312 through mutual connection, two-point connection between the buffer seat 211 and the strut 31 is realized, the uncontrolled rotation of the strut 31 and the buffer seat 211 relative to each other is prevented, and accordingly the matching stability of the second walking unit 3 and the suspension unit 2 is improved.

Alternatively, the upper surface of the connection seat 311 abuts against the lower surface of the buffer seat 211 between the two first lifting lugs 2116, and thus the strut 31 can better support the suspension unit 2, thereby improving the structural stability of the entire transporting robot 100.

As an alternative embodiment, to avoid the risk of breakage of the fixing pin in the above embodiment, the structure formed by the first lifting lug 2116 and the fixing pin may be replaced by a fixing block, that is, the bottom of the buffer seat 211 is provided with the fixing block, the size and thickness of the fixing block may be flexibly designed according to the needs, and the connection seat 311 and the fixing block may be connected by means of clamping, inserting, bolting, etc., so as to further ensure the connection reliability of the buffer seat 211 and the supporting column 31, and further simplify the structure, improve the manufacturing and assembly efficiency, and facilitate maintenance.

Alternatively, referring to fig. 3, the suspension unit 2 is located at a vertically middle portion of the strut 31, and the two vertically ends of the strut 31 are respectively provided with mounting seats, in other words, the second pivot seat 312 and the connecting seat 311 are each located approximately at a position near the middle portion of the strut 31.

Alternatively, in connection with fig. 1-4, the driving device 42 may include a first driving motor 421 and a first decelerator 422. Wherein, the mount pad is located to first reduction gear 422, the output of first driving motor 421 is connected with the input of first reduction gear 422, transmission 43 can include lead screw 431, lead screw 431 is parallel and the interval arrangement with pillar 31, the both ends of lead screw 431 are connected with the mount pad at pillar 31 both ends respectively, lead screw 431 passes through the hold-in range transmission with first reduction gear 422 and is connected, so, first driving motor 421 loops through first reduction gear 422, hold-in range and lead screw 431 drive lifting device 41 along vertical movement, overall structure is comparatively simple, the assembly of being convenient for.

Alternatively, in connection with fig. 1-3, the lifting device 41 may comprise: lead screw slider 411, butt arm 412 and butt arm 413. The screw slider 411 is movably engaged with the screw 431 in the vertical direction, that is, when the screw 431 rotates, the screw slider 411 may be driven to move in the vertical direction. The docking arm 412 is connected to the bottom of the lead screw slider 411, the docking arm 412 being adapted to dock with a docking device on the object to be transported, e.g. the docking arm 412 may be connected to a matching docking block on a container or cargo by means of a corner block. The abutment arm 413 is connected to the side of the screw slider 411, the abutment arm 413 being adapted to abut against a to-be-transported object, such as a container or a cargo, so that the container or the cargo can be kept stable during lifting. In this way, the lifting device 41 can be stably connected to the container or cargo while also ensuring the stability of the lifting process. It can be appreciated that when the lifting device 41 is lifted, the first driving motor 421 drives the screw 431 to rotate, and when the lifting device is lowered, the first driving motor 421 drives the screw 431 to rotate reversely.

Alternatively, the lead screw slider 411 may include: the device comprises a horizontal screw nut, a spherical pad and a conical sleeve. The horizontal screw nut is sleeved on the screw 431, the spherical pad is fixed on the horizontal screw nut through a bolt, the conical sleeve is arranged on the upper portion of the spherical pad, and the spherical pad is in sliding connection with the conical sleeve through a spherical matching relationship between the spherical pad and the conical sleeve, so that the radial force applied to the screw 431 is reduced. The horizontal screw nut and the spherical pad are cut to be level at two sides, and a step is arranged on the conical sleeve which is matched with the horizontal screw nut, when the horizontal screw nut and the spherical pad are embedded into the conical sleeve, namely the horizontal screw nut is embedded into the conical sleeve, the lifting device 41 can be driven to move upwards when the screw 431 rotates.

Optionally, referring to fig. 3, the free ends of the abutment arm 412 and the abutment arm 413 are vertically spaced apart. For example, as shown in fig. 3, the abutting arm 413 is located at an upper side of the abutting arm 412, the abutting arm 413 extends obliquely upward and backward, the abutting arm 412 extends in a horizontal direction, a free end of the abutting arm 412 is provided with an abutting angle block, and a free end of the abutting arm 413 is located at an upper side of the abutting angle block, and by vertically spacing the free end of the abutting arm 412 and the free end of the abutting arm 413, stability of a container or goods during lifting is facilitated to be ensured.

Alternatively, referring to fig. 1-3, when the docking arm 412 is docked with the container, the docking arm 412 is supported on the mounting seat at the bottom of the pillar 31, and a plurality of reinforcing ribs are arranged on the mounting seat at the bottom of the pillar 31 and are arranged at intervals along the circumferential direction of the pillar 31, and the reinforcing ribs are respectively connected with the mounting seat and the pillar 31, so that the tension of the mounting seat on the pillar 31 is increased, and the strength and the torsion resistance of the pillar 31 are increased, so as to better bear the weight of the container or the cargo.

In some embodiments, referring to fig. 4, second walking assembly 32 may comprise: a retractable bracket 322 and a second travelling wheel 321. The retractable support 322 is pivotally connected to the supporting column 31, and the second travelling wheel 321 is disposed on the retractable support 322, so as to retract or drop along with the retractable support 322, where the diameter of the second travelling wheel 321 can be smaller than that of the first travelling wheel 11, and thus, whether to drop the second travelling wheel 321 can be flexibly selected according to needs.

For example, as shown in fig. 4, the retractable stand 322 may include a connection frame 3221, a telescopic cylinder 3222 and a handle 3223, where the connection frame 3221 includes a first section and a second section, the first end of the first section is pivotally connected to the support post 31, the second end of the first section is pivotally connected to the second section, one end of the second section, which is far away from the first section, is connected to the second travelling wheel 321, a sliding slot is defined in the first section, the first end of the telescopic cylinder 3222 is located on the upper side of the connection frame 3221 and pivotally connected to the support post 31, and the second end of the telescopic cylinder 3222 is located in the sliding slot and is movably connected to the first section of the connection frame 3221, and the connection frame 3221 can be rotated by the telescopic movement of the telescopic rod, so as to implement automatic retraction of the second travelling wheel 321. Handle 3223 sets up on the first section of link 3221, and handle 3223 can be in flexible jar 3222 unable during operation, and the operating personnel of being convenient for manually pack up second walking wheel 321, so, can guarantee the operational reliability of second walking unit 3.

In a specific example, two second walking assemblies 32 are provided, and the two second walking assemblies 32 are respectively arranged at the left side and the right side of the strut 31, so that the two second walking wheels 321 can be matched with the first walking wheel 11 to form a triangle structure, which is beneficial to improving the stability of the transportation robot 100.

According to some embodiments of the present utility model, referring to fig. 1 and fig. 6-8, the buffer seat 211 may include a seat main body 2111, the seat main body 2111 is a C-shaped plate, the front side of the seat main body 2111 is provided with two avoidance openings 2113, the sliding grooves 2112 are provided on two sides of the avoidance openings 2113, for example, a part of the front wall of the seat main body 2111 near the middle is formed with the avoidance opening 2113 extending along the vertical direction and penetrating the front wall, the front wall parts on the left and right sides of the avoidance opening 2113 and the side wall and the rear wall of the buffer seat 211 define the sliding grooves 2112 together, and the two sliding grooves 2112 are opposite along the left and right directions.

Referring to fig. 6-8, the glide assembly 212 may include: a slip bracket 2121 and a roller 2122. Wherein the sliding bracket 2121 may include a sliding portion and a connecting portion. Wherein, the sliding part is located dodges mouthful 2113, and the both sides of sliding part are located and with sliding part rotatable coupling, gyro wheel 2122 cooperation is in spout 2112, and the connecting point is located dodges mouthful 2113's outside and is connected with the second end of linking arm 13, so, can realize that linking arm 13 moves relative buffer seat 211, and then realizes the buffering of moving away to avoid possible earthquakes, and the subassembly 212 overall structure that slides simultaneously is simple, is convenient for make.

Referring to fig. 6-8, in some possible embodiments, the roller 2122 may include a first roller 21221 and a second roller 21222, where the first roller 21221 and the second roller 21222 are plural, and the first roller 21221 is in rolling engagement with a side wall of the buffer seat 211 along a left-right direction, and the second roller 21222 is in rolling engagement with a rear wall of the buffer seat 211, so that the movement of the sliding bracket 2121 relative to the buffer seat 211 is smoother, and friction is reduced, so as to improve the shock absorbing and buffering performance of the suspension unit 2.

Referring to fig. 6-8, optionally, the sliding assembly 212 may further include a second lifting lug 2123, where the second lifting lug 2123 is connected to a connection portion of the sliding bracket 2121, the second lifting lug 2123 is connected to a second end of the shock absorber 22 (i.e., a lower end of the shock absorber 22), a third lifting lug 2114 vertically opposite to the second lifting lug 2123 is formed on the base main body 2111, and the third lifting lug 2114 is connected to a first end of the shock absorber 22, so that when the connecting arm 13 acts on the sliding bracket 2121, the sliding bracket 2121 drives the second end of the shock absorber 22 to move relative to the first end, thereby implementing a shock absorbing and buffering function. Meanwhile, the mounting structure of the shock absorber 22 is relatively simple and easy to manufacture and assemble.

Referring to fig. 3 and fig. 6-8, optionally, the top end of the sliding chute 2112 is open, the buffer seat 211 may further include a limit baffle 2115, the limit baffle 2115 is a U-shaped plate, the limit baffle 2115 seals the top end of the sliding chute 2112 and is fixedly connected with the seat main body 2111, the top end of the sliding chute 2112 is open, so as to facilitate assembling the sliding assembly 212 with the seat main body 2111, and the limit baffle 2115 is provided, so that the sliding assembly 212 can be prevented from falling out of the sliding chute 2112 when the stroke of the sliding assembly 212 is too large. Thus, the assembly of the slip assembly 212 and the seat body 2111 is facilitated, and at the same time, the operational reliability of the suspension unit 2 can be improved.

In some embodiments, referring to fig. 1-3, steering engine assembly 12 may include: rudder mount 121, second reducer 122, second driving motor 123 and bogie 124. The steering engine seat 121 is located on the upper side of the first traveling wheel 11, the steering engine seat 121 is connected with the first end of the connecting arm 13, for example, the steering engine seat 121 may include a transverse seat plate, a side seat plate and a back seat plate, the back seat plate is located at the rear end of the transverse seat plate, the side seat plate is respectively provided with two left and right sides of the transverse seat plate, the side seat plate is respectively connected with the transverse seat plate and the back seat plate, the back seat plate is connected with the first end of the connecting arm 13, and the connecting arm 13 is square tubular.

The second speed reducer 122 is arranged on the upper side of the rudder mount 121, the second speed reducer 122 is arranged on the transverse seat plate, the output end of the second speed reducer 122 is provided with a first gear 125, the first gear 125 is arranged on the lower side of the rudder mount 121, the second driving motor 123 is arranged on the upper side of the second speed reducer 122, the output shaft of the second driving motor 123 is connected with the input end of the second speed reducer 122, the bogie 124 is connected with the first travelling wheel 11, the bogie 124 is provided with a second gear 126, the second gear 126 is meshed with the first gear 125 for transmission so as to steer under the driving of the second driving motor 123, in this way, the second driving motor 123 can drive the second speed reducer 122 to work, the second speed reducer 122 can drive the first gear 125 and the second gear 126 to rotate in sequence, and then drive the bogie 124 to rotate, and finally the steering of the first travelling wheel 11 is realized.

Alternatively, referring to fig. 4, bogie 124 can comprise: a lateral connecting section 1241 and a vertical connecting section 1242. Wherein, transverse connection section 1241 locates the upside of first walking wheel 11, steering wheel seat 121 is located transverse connection section 1241's upside, second gear 126 and transverse connection section 1241 fixed connection, vertical connection section 1242 is located the horizontal side of first walking wheel 11, vertical connection section 1242's one end is connected with transverse connection section 1241, the other end is connected with first walking wheel 11, so, bogie 124 can drive first walking wheel 11 rotation, and then realize the steering of transportation robot 100. In addition, the bogie 124 has a simpler structure, and meanwhile, the bogie 124 is connected with the first travelling wheel 11 on one side, so that the assembly and maintenance are easier.

In some embodiments, the rear side of the pillar 31 may further be provided with a functional module, for example, the functional module includes a spraying module, a traction transportation module, a fork arm module, and the like, the spraying module may spray into the cargo or the container, the traction transportation module may transport the cargo for traction, the fork arm module may fork the cargo, and the like, so that the transportation robot 100 has a more abundant function, and can better satisfy the use requirement of the user.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

Generally, terms should be understood at least in part by use in the context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, at least in part depending on the context. Similarly, terms such as "a" or "an" may also be understood to convey a singular usage or a plural usage, depending at least in part on the context.

It should be readily understood that the terms "on … …", "above … …" and "above … …" in this disclosure should be interpreted in the broadest sense such that "on … …" means not only "directly on something", but also includes "on something" with intermediate features or layers therebetween, and "above … …" or "above … …" includes not only the meaning "on something" or "above" but also the meaning "above something" or "above" without intermediate features or layers therebetween (i.e., directly on something).

Further, spatially relative terms, such as "below," "beneath," "above," "over," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein interpreted accordingly.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (16)

1. A transport robot, comprising:

the steering engine assembly is in transmission connection with the first traveling wheel so as to drive the first traveling wheel to steer, and the first end of the connecting arm is connected with the steering engine assembly;

the second walking unit comprises a support column and a second walking assembly, the support column is connected with the second end of the connecting arm, and the second walking assembly is arranged on the support column and is suitable for walking along the ground;

the lifting unit comprises a lifting device, a driving device and a transmission device, wherein the lifting device is used for connecting and/or lifting objects to be transported, the driving device is arranged on the support column, the transmission device is respectively in transmission connection with the driving device and the lifting device, and the driving device drives the lifting device to move along the vertical direction through the transmission device.

2. The transport robot of claim 1, further comprising:

the suspension unit is arranged between the first walking unit and the second walking unit and comprises a buffer frame assembly and a shock absorber, wherein the buffer frame assembly is connected with the support column, a first end of the shock absorber is connected with the buffer frame assembly, and a second end of the shock absorber is connected with a second end of the connecting arm.

3. The transport robot of claim 2, wherein the buffer rack assembly comprises:

the buffer seat is provided with a chute extending along the vertical direction, the shock absorber is arranged on the horizontal side of the buffer seat, and the buffer seat is pivotally connected with the support column;

the sliding component is slidably arranged in the sliding groove and is respectively connected with the connecting arm and the second end of the shock absorber.

4. A transportation robot according to claim 3, wherein the buffer seat and the pillar are provided with pivot seats on opposite sides thereof, respectively, and two pivot seats are formed with oppositely arranged pivot holes, respectively, the buffer seat and the pillar are connected by passing through the pivot holes in sequence, and the pivot shaft extends in a horizontal direction.

5. The transport robot of claim 4, wherein the bottom of the buffer seat is provided with two first lifting lugs opposite to each other in the left-right direction and arranged at intervals, and a fixing pin penetrating the two first lifting lugs;

the direction of pillar still be equipped with the connecting seat in one side of buffering seat, the connecting seat is two between the first lug, the connecting seat with first lug is formed with the connecting hole of relative arrangement respectively, the connecting seat with first lug passes in proper order through the fixed pin the connecting seat with the connecting hole on the first lug realizes connecting.

6. The transport robot according to claim 1, wherein the two ends of the pillar in the vertical direction are respectively provided with a mounting seat, and the driving device is provided on one of the mounting seats.

7. The transport robot of claim 6, wherein the driving means comprises: the first speed reducer is arranged on the mounting seat, and the output end of the first driving motor is connected with the input end of the first speed reducer;

the transmission device comprises: the screw rod is parallel to the support columns and is arranged at intervals, two ends of the screw rod are respectively connected with the two mounting seats, and the screw rod is in transmission connection with the first speed reducer through the synchronous belt.

8. The transport robot of claim 7, wherein the lifting device comprises:

the screw rod sliding block is movably matched with the screw rod along the vertical direction;

the docking arm is connected with the bottom of the screw rod sliding block and is suitable for docking with a docking device on an object to be transported;

the abutting arm is connected with the side part of the screw rod sliding block and is suitable for abutting against the object to be transported.

9. The transport robot of claim 8, wherein the free ends of the docking arm and the abutment arm are vertically spaced apart.

10. The transport robot of any of claims 1-9, wherein the second walking assembly comprises:

the retractable support is pivotally connected with the support column;

the second travelling wheel is connected with the retractable support so as to retract or fall along with the retractable support.

11. The transport robot according to claim 3, wherein the buffer seat comprises a seat body, the seat body is a C-shaped plate, the front side of the seat body is provided with an avoidance opening, the sliding grooves are two arranged on two sides of the avoidance opening,

the slip assembly includes: the sliding support comprises a sliding part and a connecting part, the sliding part is located at the avoidance opening, the roller is arranged at two sides of the sliding part and is rotatably connected with the sliding part, the roller is matched with the sliding groove, and the connecting part is located at the outer side of the avoidance opening and is connected with the second end of the connecting arm.

12. The transport robot of claim 11, wherein the rollers include a first roller and a second roller, wherein a rolling surface of the first roller is in rolling engagement with a side wall of the seat body in a left-right direction to limit the glide assembly, and a rolling surface of the second roller is in rolling engagement with a rear wall of the seat body to move the glide assembly.

13. The mobile robot of claim 11, wherein the glide assembly further comprises a second lifting tab coupled to the connection, the second lifting tab coupled to the second end of the shock absorber,

the seat main body is provided with a third lifting lug which is vertically and oppositely arranged with the second lifting lug, and the third lifting lug is connected with the first end of the shock absorber.

14. The transport robot of claim 11, wherein the top end of the chute is open, and the buffer seat further comprises a limit stop for blocking the top end of the chute and fixedly connected to the seat body.

15. The transport robot of claim 1, wherein the steering engine assembly comprises:

the steering engine seat is positioned on the upper side of the first travelling wheel and is connected with the first end of the connecting arm;

the first speed reducer is arranged on the steering engine seat, and the output end of the first speed reducer is provided with a first gear;

the output shaft of the first driving motor is connected with the input end of the first speed reducer;

the bogie is connected with the first travelling wheels, a second gear is arranged on the bogie, and the second gear is meshed with the first gear for transmission so as to steer under the drive of the first driving motor.

16. The transport robot of claim 1, further comprising: the functional module is arranged on the support column and comprises at least one of a spraying module, a traction transportation module and a fork arm module.