CN220078515U - Lifting structure and transfer robot using same - Google Patents

Abstract

The utility model discloses a lifting structure and a transfer robot using the same. When the lifting device is used, the other end of the arm inserting assembly rotates relative to the other end of the fixing frame assembly, so that the other end of the arm inserting assembly is separated from the other end of the fixing frame assembly, the fixing frame assembly is supported on three transverse plates at the bottom layer, the arm inserting assembly is inserted between the three middle vertical plates, and lifting of a field-shaped pallet can be achieved; the lifting of the Chinese character Chuan-shaped pallet can be realized by the same method. The lifting structure provided by the utility model can lift the Sichuan-shaped pallet and the field-shaped pallet, has better compatibility, and solves the technical problem that the traditional automatic guiding transport vehicle can only lift the Sichuan-shaped pallet.

Description

Lifting structure and transfer robot using same

Technical Field

The utility model belongs to the technical field of lifting transfer robots, and relates to a lifting structure and a transfer robot using the same.

Background

The pallet is a base which is made for facilitating the placement and shipment requirements of scattered objects, the pallet is widely used as a carrier for logistics transportation in a factory workshop and a warehouse, the pallet is mainly divided into a field-shaped pallet and a river-shaped pallet according to the structure, a tool for carrying the pallet is generally provided with a manual forklift or a forklift driven by a professional, and in a factory with higher automation degree, an unmanned forklift and an automatic guide transport vehicle with a bracket are generally used.

The unmanned forklift is limited in large application range, the automatic guided vehicle with the bracket is small in size but can only lift the Chinese character Chuan-shaped pallet, the Chinese character Chuan-shaped pallet is shown in fig. 1, and for the Chinese character Tian-shaped pallet, as shown in fig. 2, the Chinese character Tian-shaped pallet cannot bear great force on the bottommost surface due to the structural characteristics of the Chinese character Tian-shaped pallet, so that the automatic guided vehicle is not suitable for lifting; therefore, a transfer robot compatible with lifting of the Chinese character 'Tian' shaped pallet and Chuan shaped pallet is needed.

Disclosure of Invention

In view of the above, the utility model provides a lifting structure and a transfer robot using the same, which can lift a Sichuan-shaped pallet and a field-shaped pallet, have better compatibility, and solve the technical problem that the traditional automatic guiding transport vehicle can only lift the Sichuan-shaped pallet.

In order to solve the above-mentioned problems, according to an aspect of the present utility model, there is provided a lifting structure, which includes a fixing frame assembly, an arm assembly and a connecting assembly, wherein the arm assembly is disposed on the fixing frame assembly, one end of the arm assembly is hinged to one end of the fixing frame assembly through the connecting assembly, and the other end of the arm assembly can be rotated and opened relative to the other end of the fixing frame assembly.

In some embodiments, the arm assembly is a U-shaped structure including a first arm, a second arm, and a connecting rod for connecting the first arm and the second arm; the first arm of inserting and the second arm of inserting keep away from the one end of connecting rod all are provided with the gyro wheel.

In some embodiments, the front end of the arm module is provided with an anti-collision detection module; the anti-collision detection assembly is provided with two groups, and the two groups are respectively positioned at the front ends of the first inserting arm and the second inserting arm.

In some embodiments, the rear end of the arm module is provided with an in-place detection module; the in-place detection assembly is provided with two groups which are fixed on the connecting rod and extend into a gap formed by the first inserting arm and the second inserting arm.

In some embodiments, the rear end of the arm insertion assembly is also provided with an in-situ detection assembly; the on-site detection assembly is provided with two groups, wherein one group of on-site detection assembly is arranged on one surface of the first inserting arm facing the second inserting arm and is close to the connecting rod, and the other group of on-site detection assembly is arranged on one surface of the second inserting arm facing the first inserting arm and is close to the connecting rod.

In some embodiments, the mount assembly includes a first mount located below the first insert arm and a second mount located below the second insert arm.

In some embodiments, the first fixing frame and the second fixing frame each comprise a body, the front end of the body extends out of the first extending section, the rear end of the body extends out of the second extending section, and the second extending section is matched with the connecting assembly; the horizontal plane of the body is lower than the horizontal planes of the first extension section and the second extension section, so that a gap is formed between the body and the first insertion arm or the second insertion arm above the body.

In some embodiments, the front end of the first extension is provided with a downwardly sloping ramp.

In some embodiments, the connection assembly includes a rotating shaft.

According to another aspect of the present utility model, an embodiment of the present utility model provides a transfer robot, which is characterized in that the transfer robot includes a chassis and the lifting structure described above, and the lifting structure is disposed on the chassis.

Compared with the prior art, the lifting structure has at least the following beneficial effects:

the lifting structure comprises a fixed frame component, an arm inserting component and a connecting component, wherein the arm inserting component is arranged on the fixed frame component, one end of the arm inserting component is hinged with one end of the fixed frame component through the connecting component, and the other end of the arm inserting component can be rotated and opened relative to the other end of the fixed frame component.

The field-shaped pallet comprises three transverse plates arranged at the bottom layer, and the middle of the three transverse plates is connected with the top layer plate through three vertical plates; when the lifting structure provided by the utility model is used, the other end of the arm inserting assembly rotates relative to the other end of the fixing frame assembly, so that the other end of the arm inserting assembly is separated from the other end of the fixing frame assembly, the fixing frame assembly is supported on three transverse plates at the bottom layer, and the arm inserting assembly is inserted between the three middle vertical plates, so that the lifting of the field-shaped pallet can be realized. Lifting of the Chinese character Chuan-shaped pallet can be realized by the same method; in the utility model, the bottom surface of the field-shaped pallet is not subjected to great force because the lower part of the field-shaped pallet is supported by the fixing frame component and the middle part of the field-shaped pallet is provided with the arm inserting component in the lifting process. Therefore, the lifting structure provided by the utility model can lift the Sichuan-shaped pallet and the field-shaped pallet, has better compatibility, and solves the technical problem that the traditional automatic guide transport vehicle can only lift the Sichuan-shaped pallet.

The transfer robot provided by the utility model is designed based on the lifting structure, and the beneficial effects of the lifting structure are referred to and are not described in detail herein.

The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and the accompanying drawings.

Drawings

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

FIG. 1 is a schematic view of a pallet in the shape of a Chinese character Chuan;

FIG. 2 is a schematic view of a structure of a pallet in the shape of a Chinese character 'Tian';

FIG. 3 is a front view of a lifting structure provided by an embodiment of the present utility model;

FIG. 4 is a front view of another state of a lifting structure provided by an embodiment of the present utility model;

FIG. 5 is a schematic view of a lifting structure according to an embodiment of the present utility model;

FIG. 6 is a front view of a lifting structure according to an embodiment of the present utility model in an operational state;

FIG. 7 is a schematic view of a lifting structure according to an embodiment of the present utility model in an operating state;

FIG. 8 is a front view of a lifting structure mated with a pallet in the shape of a Chinese character 'Tian' according to an embodiment of the present utility model;

FIG. 9 is a schematic diagram of a lifting structure in cooperation with a pallet in the shape of a Chinese character 'tian';

fig. 10 is a schematic structural view of a transfer robot according to an embodiment of the present utility model.

Wherein:

1. a mount assembly; 2. an arm insertion assembly; 3. a connection assembly; 4. an anti-collision detection assembly; 5. an in-place detection component; 6. an in-situ detection component; 7. a chassis; 11. a first fixing frame; 12. the second fixing frame; 21. a first insertion arm; 22. a second insertion arm; 23. a connecting rod; 24. a roller; 111. a body; 112. a first extension; 113. a second extension; 114. and (5) an inclined plane.

Detailed Description

In order to further describe the technical means and effects adopted for achieving the preset aim of the utility model, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the application of the utility model with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

In the description of the present utility model, it should be clear that the terms "first," "second," and the like in the description and claims of the present utility model and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order; the terms "vertical," "transverse," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "horizontal," and the like are used for indicating an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description of the present utility model, and do not mean that the apparatus or element referred to must have a specific orientation or position, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. 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.

Example 1

The present embodiment provides a lifting structure, as shown in fig. 1-9, where the lifting structure includes a fixing frame assembly 1, an arm inserting assembly 2 and a connecting assembly 3, where the arm inserting assembly 2 is disposed on the fixing frame assembly 1, and one end of the arm inserting assembly 2 is hinged to one end of the fixing frame assembly 1 through the connecting assembly 3, and the other end of the arm inserting assembly 2 can be rotated and opened relative to the other end of the fixing frame assembly 1.

Specifically, as shown in fig. 2, the field-shaped pallet comprises three transverse plates arranged at the bottom layer, and the middle of the three transverse plates is connected with the top layer plate through three vertical plates; when the lifting structure provided by the embodiment is used, the other end of the arm inserting assembly 2 rotates relative to the other end of the fixing frame assembly 1, so that the other end of the arm inserting assembly 2 is separated from the other end of the fixing frame assembly 1, the fixing frame assembly 1 is supported on three transverse plates of a bottom layer, the arm inserting assembly 2 is inserted between the three middle vertical plates, and lifting of a field pallet can be achieved. The lifting of the Chinese character Chuan-shaped pallet can be realized by the same method. In this embodiment, the fixing frame assembly 1 is arranged below the field pallet for supporting in the lifting process, and the arm inserting assembly 2 is arranged in the middle of the fixing frame assembly, so that the bottommost surface of the field pallet cannot bear great force.

The lifting structure provided by the embodiment can lift the Sichuan-shaped pallet and the field-shaped pallet, has good compatibility, and solves the technical problem that the traditional automatic guiding transport vehicle can only lift the Sichuan-shaped pallet.

In a specific embodiment, as shown in fig. 5, the arm assembly 2 has a U-shaped structure, and includes a first arm 21, a second arm 22, and a connecting rod 23 for connecting the first arm 21 and the second arm 22; the ends of the first inserting arm 21 and the second inserting arm 22, which are far away from the connecting rod 23, are respectively provided with a roller 24.

More specifically, the first inserting arm 21 and the second inserting arm 22 are arranged in parallel with a gap therebetween, the connecting rod 23 is arranged perpendicular to the first inserting arm 21 and the second inserting arm 22, one end of the connecting rod 23 is fixedly connected with the tail end of the first inserting arm 21, and the other end of the connecting rod 23 is fixedly connected with the tail end of the second inserting arm 22; the specific structure of the arm inserting assembly 2 is mainly used for corresponding to the shape of the field-shaped pallet, and the specific structure of the arm inserting assembly 2 can be correspondingly adjusted for pallets with different shapes.

In addition, the ends of the first inserting arm 21 and the second inserting arm 22 far away from the connecting rod 23 are respectively provided with a roller 24, the rollers 24 are unpowered rollers and are hinged with the first inserting arm 21 or the second inserting arm 22, and the rollers 24 on the first inserting arm 21 and the rollers 24 on the second inserting arm 22 are symmetrically arranged; thus, in the initial state, the front ends of the first inserting arm 21 and the second inserting arm 22 are contacted with the fixed frame assembly 1 through the roller 24, specifically, the rear ends of the fixed frame assembly 1 and the inserting arm assembly 2 are hinged through the connecting assembly 3, the front ends of the fixed frame assembly 1 and the inserting arm assembly 2 are not fixedly connected, and the front ends of the inserting arm assembly 2 are contacted with the front end plane of the fixed frame assembly 1 only through the self gravity of the roller 24; when the lifting structure needs to work, the front end of the arm inserting assembly 2 is tilted upwards by a certain angle, and at the moment, the rear end of the arm inserting assembly 2 rotates around the connecting assembly 3, so that the bottom transverse plate of the field-shaped pallet can enter the early lifting structure.

Also, as shown in fig. 6, the roller 24 is provided to facilitate sliding insertion of the arm assembly 2 into the pallet in the shape of a Chinese character 'tian'.

In a specific embodiment, the front end of the arm inserting assembly 2 is provided with an anti-collision detection assembly 4; the anti-collision detection assembly 4 is provided with two groups, and the two groups are respectively positioned at the front ends of the first inserting arm 21 and the second inserting arm 22.

More specifically, the anti-collision detecting unit 4 has a telescopic movement characteristic, and the detection switch can detect the telescopic movement of the anti-collision detecting unit 4 to determine whether the arm inserting unit 2 is in contact with an object. A reflective detection switch can be added in the anti-collision detection assembly 4 to improve the detection distance.

In a specific embodiment, the rear end of the arm inserting assembly 2 is provided with an in-place detection assembly 5; the in-place detection assembly 5 is provided with two groups, which are both fixed on the connecting rod 23 and extend into a gap formed by the first inserting arm 21 and the second inserting arm 22.

In a specific embodiment, the rear end of the arm inserting assembly 2 is also provided with an in-situ detection assembly 6; the in-situ detection components 6 are arranged in two groups, wherein one group of in-situ detection components 6 is arranged on one surface of the first inserting arm 21 facing the second inserting arm 22 and is close to the connecting rod 23, and the other group of in-situ detection components 6 is arranged on one surface of the second inserting arm 22 facing the first inserting arm 21 and is close to the connecting rod 23.

More specifically, the in-place detection assembly 5 and the in-place detection assembly 6 are respectively provided with mutually independent detection switches, so that whether the material pallet moves to a designated position during the picking and placing actions can be detected respectively, the in-place detection assembly 5 is provided with vertically arranged contact pieces, and the detection switches can be triggered when the material or the pallet contacts. The in-place detecting assembly 6 is provided with a contact piece which is horizontally arranged, the contact piece is pressed down when the pallet moves downwards from top to bottom, and the contact piece can trigger the detecting switch to judge whether the pallet or the material exists on the lifting structure.

In a specific embodiment, as shown in fig. 5, the fixing frame assembly 1 includes a first fixing frame 11 and a second fixing frame 12, where the first fixing frame 11 is located below the first inserting arm 21, and the second fixing frame 12 is located below the second inserting arm 22.

The specific structure of the fixing frame component 1 is also in order to correspond to the shape of the field-shaped pallet, and the specific structure of the fixing frame component 1 can be correspondingly adjusted for pallets with different shapes.

In a specific embodiment, as shown in fig. 5, each of the first fixing frame 11 and the second fixing frame 12 includes a body 111, a front end of the body 111 extends out of a first extension section 112, a rear end extends out of a second extension section 113, and the second extension section 113 is matched with the connecting assembly 3; the body 111 has a lower level than the first extension 112 and the second extension 113, so that a gap is formed between the body 111 and the upper first or second insertion arm 21 or 22.

That is, the first fixing frame 11 and the second fixing frame 12 are both high at two ends and low in the middle, so that the pallet or the material can be clamped at a lower position in the middle.

In a specific embodiment, the front end of the first extension section 112 is provided with a downward inclined surface 114; the provision of the ramp 114 facilitates insertion of the mounting bracket assembly 1 under the field pallet.

In a specific embodiment, the connecting assembly 3 comprises a rotating shaft, and of course, the connecting assembly 3 further comprises a bearing seat; the number of the rotating shafts and the bearing seats is designed according to the requirement, and the rotating shafts can rotate around the centers of the rotating shafts.

The lifting structure provided by the embodiment solves the technical problem that the conventional pallet transfer robot (AGV) can only transfer the Chinese character 'Chuan' shaped pallet and cannot transfer the Chinese character 'Tian' shaped pallet, meanwhile, the conventional pallet transfer robot (AGV) has no collision detection, no in-place detection and no in-place detection, accidents are easy to occur in the transportation process, and the embodiment ensures the safety in the transportation process through the cooperation of the anti-collision detection assembly 4, the in-place detection assembly 5 and the in-place detection assembly 6.

Example 2

The present embodiment provides a transfer robot, as shown in fig. 10, which includes a chassis 7 and the lifting structure described in embodiment 1, and the lifting structure is disposed on the chassis 7.

The transfer robot provided in this embodiment includes the lifting structure in embodiment 1, so it has all the beneficial effects of the lifting structure; and the lifting structure can lift and latency or rotate on the chassis 7.

In summary, it is easily understood by those skilled in the art that the above-mentioned advantageous features can be freely combined and overlapped without conflict.

The above is only a preferred embodiment of the present utility model, and the present utility model is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiment according to the technical substance of the present utility model still falls within the scope of the technical solution of the present utility model.

Claims (10)

1. The lifting structure is characterized by comprising a fixing frame assembly (1), an arm inserting assembly (2) and a connecting assembly (3), wherein the arm inserting assembly (2) is arranged on the fixing frame assembly (1), one end of the arm inserting assembly (2) is hinged to one end of the fixing frame assembly (1) through the connecting assembly (3), and the other end of the arm inserting assembly (2) can be rotated and opened relative to the other end of the fixing frame assembly (1).

2. The lifting structure according to claim 1, characterized in that the arm assembly (2) is a U-shaped structure comprising a first arm (21), a second arm (22) and a connecting rod (23) for connecting the first arm (21) and the second arm (22); the first inserting arm (21) and the second inserting arm (22) are respectively provided with a roller (24) at one end far away from the connecting rod (23).

3. Lifting structure according to claim 2, characterized in that the front end of the arm assembly (2) is provided with an anti-collision detection assembly (4); the anti-collision detection assembly (4) is provided with two groups, and the two groups are respectively positioned at the front ends of the first inserting arm (21) and the second inserting arm (22).

4. Lifting structure according to claim 2, characterized in that the rear end of the arm assembly (2) is provided with an in-place detection assembly (5); the in-place detection assembly (5) is provided with two groups which are both fixed on the connecting rod (23) and extend into a gap formed by the first inserting arm (21) and the second inserting arm (22).

5. Lifting structure according to claim 2, characterized in that the rear end of the arm assembly (2) is further provided with an in-situ detection assembly (6); the on-site detection assembly (6) is provided with two groups, wherein one group of on-site detection assemblies (6) is arranged on one surface of the first inserting arm (21) facing the second inserting arm (22) and is close to the connecting rod (23), and the other group of on-site detection assemblies (6) is arranged on one surface of the second inserting arm (22) facing the first inserting arm (21) and is close to the connecting rod (23).

6. The lifting structure according to any one of claims 2-5, wherein the mount assembly (1) comprises a first mount (11) and a second mount (12), the first mount (11) being located below the first insert arm (21), the second mount (12) being located below the second insert arm (22).

7. A lifting structure according to claim 6, characterized in that the first and second holders (11, 12) each comprise a body (111), a front end of the body (111) extending out of a first extension (112) and a rear end extending out of a second extension (113), the second extension (113) cooperating with the connecting assembly (3); the horizontal plane of the body (111) is lower than the horizontal planes of the first extension section (112) and the second extension section (113), so that a gap is formed between the body (111) and the first insertion arm (21) or the second insertion arm (22) above.

8. The lifting structure according to claim 7, characterized in that the front end of the first extension (112) is provided with a downward sloping ramp (114).

9. A lifting structure according to any one of claims 2-5, characterized in that the connection assembly (3) comprises a rotation shaft.

10. A transfer robot, characterized in that it comprises a chassis (7) and a lifting structure according to any one of claims 1-9, which lifting structure is arranged on the chassis (7).