CN220245204U - Intelligent vertical elevator special for robot - Google Patents

Abstract

The utility model discloses a special intelligent vertical elevator for a robot, which comprises an elevator main body frame, a lift car and a balancing weight, wherein the main body frame comprises a base, a support column and a top plate, a dragging motor and a steel wire rope channel are fixedly arranged on the upper part of the top plate, a first fixed pulley is arranged on the lower part of the top plate, a lift car guide rail and a balancing weight guide rail are arranged in the elevator main body frame, the bottom of the top plate is fixedly connected with one end of a steel wire rope, the other end of the steel wire rope sequentially passes through a first movable pulley block, the first fixed pulley, a hinge wheel and a second movable pulley block to be fixedly connected with the top plate, and a control box is further arranged on the top plate and comprises a communication module and a control module, and the control module is electrically connected with a power supply and the dragging motor. The intelligent vertical elevator special for the robot can realize the falling robot from three directions, and the intelligent communication control mode of the intelligent vertical elevator and the robot is adopted, so that a calling system of a traditional elevator is not needed, the service efficiency of the carrying elevator can be greatly improved, and the technical problem of low service efficiency of the carrying elevator in the prior art is solved.

Description

Intelligent vertical elevator special for robot

Technical Field

The utility model relates to the technical field of robot application, in particular to an intelligent vertical elevator special for a robot.

Background

In recent years, logistics industry in China is rapidly developed, and new technology applied to logistics distribution is also explosively increased. Among the many new technologies, cargo robots represented by unmanned vehicles exhibit greater advantages in logistics transportation in close-up areas, mainly in terms of relatively low manufacturing costs of the robots, relatively low cargo transportation costs, and relatively high safety of the cargo transportation process. However, in the market actual verification process, we also find some places for restricting the development of the freight robot, wherein the most important is that the robot has some limitations in the process of going upstairs.

In order to solve the above problems, a technical route appears in the market at present, and by modifying the control system of the existing elevator, namely, a control system which is convenient for the exchange of a robot and the elevator is built, the control system needs to be added with a function module in the aspects of information transmission and processing, and a people counting module is also needed to be arranged in the elevator. The technical route can solve the problem that part of robots and passengers fight for elevator resources, but the technical route has higher requirement on the hardware of the existing elevator of the building and cannot be popularized in a large range; moreover, as the communication signals of the bottom layer of the building are poor, the elevator reconstruction cost is high; passengers and the robot machine in the elevator are mixed and are possibly led to the fact that the robot cannot communicate with the platform in real time, the dead time is prolonged, the robot keeps off the road, and potential safety hazards are easily generated when children comma the robot and the like.

In order to solve the above problems, another technical route has been developed in the market by constructing a robot-independent carrying elevator, such as: the utility model discloses an elevator carrying a transfer robot in China patent application with the bulletin number of CN112478991A, which comprises a bottom plate, wherein four corners of the upper surface of the bottom plate are provided with supporting plates, the top of each supporting plate is provided with a top plate, the lower part of each supporting plate is provided with a guide rod, the middle part of each guide rod is in sliding connection with a sliding block, one side of each sliding block, which is close to the center of a device, is provided with a rotating shaft, the upper part of each rotating shaft is rotationally connected with the right side of the lower surface of each supporting plate, the front side and the rear side of the left end of each supporting plate are provided with fixing plates, the lower part of each fixing plate is provided with supporting wheels, the left side of the lower surface of each supporting plate is provided with a baffle, a baffle rod is arranged between the two baffle rods, and the front end and the rear end of each baffle rod are fixedly connected with the left end of each sliding rod. This carry and move elevator that carries robot through setting up driving motor control layer board and controlling the removal, when needs loading the robot, can make the layer board stretch out the bottom plate to make the robot can directly remove to the layer board on, make things convenient for the robot to go up and down the elevator. However, in practical investigation, we find that the main characteristic of the carrying elevator is that the supporting plate is controlled to move in one direction through the guide rod, the sliding block, the screw rod and the like, and the structure causes low service efficiency of the carrying elevator and cannot meet the high-frequency and rapid carrying requirements of large buildings and the like.

Disclosure of Invention

The utility model mainly aims to provide an intelligent vertical elevator special for a robot, and aims to solve the technical problems that the existing robot carrying system is low in use efficiency and cannot meet the high-frequency and rapid carrying requirements of a large building and the like.

In order to achieve the above purpose, the utility model provides an intelligent vertical elevator special for a robot, which comprises an elevator main body frame, a lift car and a balancing weight, wherein the main body frame comprises a base, support columns and a top plate, a dragging motor and a steel wire rope channel are fixedly arranged on the upper part of the top plate, a first fixed pulley is arranged on the lower part of the top plate, a lift car guide rail and a balancing weight guide rail are arranged in the elevator main body frame, the lift car guide rail comprises four first guide columns parallel to the support columns, and the balancing weight guide rail comprises two second guide columns parallel to the support columns; the elevator car comprises an elevator car bottom plate, an elevator car top plate and four elevator car support plates, wherein limit sliding blocks are arranged at four corners of the elevator car bottom plate and the elevator car top plate and are in sliding connection with elevator car guide rails, a first movable pulley block is arranged on the elevator car top plate, a second movable pulley block is arranged on the upper portion of a balancing weight, one end of a steel wire rope is fixedly connected to the bottom of the elevator car top plate, the other end of the steel wire rope sequentially penetrates through the first movable pulley block, the first fixed pulley block and a hinge wheel of a dragging motor, then penetrates through the second movable pulley block and the elevator car top plate to be fixedly connected with the elevator car top plate, a control box is further arranged on the elevator car top plate, and a communication module and a control module are arranged in the control box and are electrically connected with a power supply and the dragging motor.

Optionally, set up the car shrouding between two car backup pads adjacent with the balancing weight guide rail, set up the outer shrouding of elevator between two support columns adjacent with the balancing weight guide rail, set up the outer movable door of elevator between other support columns.

Optionally, blocking devices are arranged between adjacent car support plates, the blocking devices comprise blocking arms, the middle parts of the blocking arms are hinged to the outer sides of the car support plates, the rear ends of the blocking arms are in butt joint with a pressing-down blocking ring, a pressing-down blocking ring screw rod is fixedly connected, the screw rod is meshed with a lifting motor arranged on a car top plate, and the lifting motor is electrically connected with a control module.

Optionally, a set of blocking devices are disposed between the adjacent car support plates in opposite directions.

Optionally, the front end lower part of stopping arm still sets up the spacing separation blade of L font, and the lateral wall of the spacing separation blade of L font is fixed connection with the outside of car backup pad, and the extension end of the spacing separation blade of L font overlaps with the front end lower part of stopping arm, and the front end of stopping arm still hangs and establishes a pull-down spring, and the one end of pull-down spring is connected with the front end lower part hook of stopping arm, and the other end of pull-down spring is fixed connection with the outside hook of car backup pad.

Optionally, the first guide pillar, the second guide pillar are T font channel-section steel, stretch out end and spacing slider sliding connection through T font channel-section steel, and spacing slider is the concave structure.

Optionally, car buffer block and counter weight buffer block are set up above the base of main body frame, and car buffer block sets up under the bottom plate of car, and counter weight buffer block is provided with under the balancing weight.

Optionally, a transverse connection plate is arranged between the support columns, and a fixing plate is arranged between the transverse connection plate and the first guide column.

Optionally, the inboard of first guide pillar sets up photoelectric switch, car backup pad sets up the reflector panel with the side that photoelectric switch corresponds, photoelectric switch and control module electric connection.

Optionally, an RFID tag is disposed inside the first guide post adjacent to the optoelectronic switch.

Optionally, a two-dimensional code label is arranged on the inner side of the first guide pillar adjacent to the photoelectric switch.

The beneficial effects of the utility model are as follows:

the intelligent vertical elevator special for the robot can be connected with a communication module of the robot, the robot sends an elevator preset instruction to a control module through the communication module, enters a car through an elevator car outer movable door at a corresponding position and stays on a car bottom plate, the control module controls a dragging motor to rotate after the elevator car outer movable door is closed, the car is lifted to a target floor through a hinge wheel, and the elevator car outer movable door is opened to reach the target floor.

Because the intelligent vertical elevator special for the robot is provided with the sealing plates at one side corresponding to the counterweight guide rail, the other three sides can be provided with the movable door outside the elevator cabin, and the robot falls from three directions, the service efficiency of the carrying elevator can be greatly improved, and the technical problems that the service efficiency of the carrying elevator in the prior art is low and the high-frequency carrying requirements of large buildings and the like can not be met are solved. Meanwhile, the device such as an inner door of a traditional elevator is removed from the elevator car of the intelligent vertical elevator special for the robot, the overall weight of the elevator car is greatly reduced, the lightweight and high-speed operation of the elevator can be realized, meanwhile, the installation standard of the elevator can be reduced, the elevator can be built on the side of the outer wall of a building together through the carrying rail, and the requirement on the field during the installation of the elevator is reduced.

In addition, the special intelligent vertical elevator for the robot is directly connected with the robot through the communication module, the position of the robot and the target position of the robot are intelligently communicated with the control system of the elevator through RFID or two-dimensional code and other labels, photoelectric switches and the like, and the integrated intelligent butt joint of the robot and the elevator control system is realized, so that the elevator is more intelligent. In addition, the elevator does not need to be provided with a call panel at each floor like a conventional passenger elevator, so that the hardware cost of the elevator is reduced, the elevator is not interfered by other people, the elevator is not in 'channel robbery' with pedestrians, the elevator is ensured to run smoothly, and the elevator is more energy-saving. Furthermore, this special intelligent vertical elevator of robot need not to consider the travelling comfort of robot, and the lift speed in the lift in-process of elevator car is faster than conventional elevator, can further improve logistics transmission efficiency.

Drawings

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

Fig. 1 is a schematic structural diagram of an intelligent vertical elevator dedicated for a robot according to an embodiment of the present utility model;

fig. 2 is a side view of a robot-specific intelligent vertical lift in accordance with an embodiment of the present utility model;

fig. 3 is another schematic diagram of a dedicated intelligent vertical elevator for robots according to an embodiment of the present utility model;

fig. 4 is a schematic diagram of a car structure of the intelligent vertical elevator dedicated for the robot of the present utility model;

fig. 5 is a schematic diagram of a control module of the intelligent vertical elevator control box special for the robot.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described 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.

It should be noted that, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is only for descriptive purposes, and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. If directional indications (such as up, down, left, right, front, rear … …) are involved in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture, and if the particular gesture is changed, the directional indications are changed accordingly.

In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1 to 5, an embodiment of the present utility model provides a dedicated intelligent vertical elevator for a robot, which includes an elevator main frame 01, a car 02 and a counterweight 05, wherein the main frame includes a base 011, a support column 012 and a top plate 013. The base passes through pile foundation and ground fixed mounting connection, and the support column passes through welding and floor or elevator shaft lateral wall fixed connection according to the installation needs. The upper part of the top plate 013 is fixedly provided with a dragging motor 014 and a steel wire rope channel 015, the lower part of the top plate 013 is provided with a first fixed pulley 016, a car guide rail 021 and a balancing weight guide rail 051 are arranged in the elevator main body frame 01, the car guide rail comprises four first guide posts 022 which are parallel to the support columns 012, and the balancing weight guide rail 051 comprises two second guide posts 052 which are parallel to the support columns 012; the car 02 comprises a car bottom plate 023, a car top plate 024 and four car support plates 025, the car 02 can vertically slide back and forth in the car guide rails 021, and in particular, limit sliding blocks 026 are arranged at four corners of the car bottom plate 023 and the car top plate 024 and are in sliding connection with the car guide rails 021. The first movable pulley block 027 is arranged on the car top plate 024, the second movable pulley block 053 is arranged on the upper portion of the balancing weight, one end of the steel wire rope 06 is fixedly connected with the top plate, and the other end of the steel wire rope sequentially penetrates through the first movable pulley block, the first fixed pulley and the hinge pulley 017 of the dragging motor 014 and then penetrates through the second movable pulley block to be fixedly connected with the top plate. The lift car and the counterweight realize opposite lifting movement under the hinging of the hinging wheel. A car sealing plate 028 is arranged between two car supporting plates adjacent to the counterweight guide rail, an elevator outer sealing plate 08 is arranged between two supporting columns adjacent to the counterweight guide rail, and an elevator outer movable door 081 is arranged between other supporting columns. The top plate 013 is further provided with a control box 07, a communication module 071 and a control module 072 are arranged in the control box 07, and the control module 072 is electrically connected with a power supply and a dragging motor. The robot sends a preset elevator instruction to the control module through the communication module, enters the elevator car through the elevator car outer movable door at the corresponding position, stays on the elevator car bottom plate, controls the dragging motor to rotate after the elevator car outer movable door is closed, lifts the elevator car to a target floor through the hinge wheel, and reaches the target floor through opening the elevator car outer movable door.

According to the intelligent vertical elevator special for the robot, the sealing plates are arranged on the sides corresponding to the counterweight guide rails, the movable doors outside the elevator cabin are arranged on the other three sides, and the robot falls from three directions, so that the service efficiency of the carrying elevator can be greatly improved, and the technical problems that the service efficiency of the carrying elevator in the prior art is low and the high-frequency carrying requirements of large buildings and the like cannot be met are solved. Meanwhile, the device such as an inner door of a traditional elevator is removed from the elevator car of the intelligent vertical elevator special for the robot, the overall weight of the elevator car is greatly reduced, the lightweight and high-speed operation of the elevator can be realized, meanwhile, the installation standard of the elevator can be reduced, the elevator can be built on the side of the outer wall of a building together through the carrying rail, and the requirement on the field during the installation of the elevator is reduced.

In addition, the special intelligent vertical elevator for the robot is directly connected with the robot through the communication module, the position of the robot and the target position of the robot are intelligently communicated with the control system of the elevator through RFID, photoelectric switch and the like, and the integrated intelligent butt joint of the robot and the elevator control system is realized, so that the elevator is more intelligent. In addition, the elevator does not need to be provided with a call panel at each floor like a conventional passenger elevator, so that the hardware cost of the elevator is reduced, the elevator is not interfered by other people, the elevator is not in 'channel robbery' with pedestrians, the elevator is ensured to run smoothly, and the elevator is more energy-saving. Furthermore, this special intelligent vertical elevator of robot need not to consider the travelling comfort of robot, and the lift speed in the lift in-process of elevator car is faster than conventional elevator, can further improve logistics transmission efficiency.

In order to increase the safety of the robot in the lifting process of the lift car, a blocking device 04 is arranged between other adjacent lift car supporting plates, the blocking device 04 comprises a blocking arm 041, the middle part of the blocking arm 041 is hinged with the outer side of the lift car supporting plate 025, the rear end of the blocking arm is abutted with a pressing-down blocking ring 042, a screw rod 043 of the pressing-down blocking ring 042 is fixedly connected, the screw rod 043 is meshed with a lifting motor 044 arranged on the lift car top plate, and the lifting motor 044 is electrically connected with a control module 072. The blocking device can prevent the robot from falling out of the car due to unexpected situations in the ascending and descending process of the car, thereby generating safety accidents. The special elevator for the robot mainly considers the factors such as rapidness, cost reduction, energy conservation and the like, the design of the elevator car is not totally enclosed for reducing the weight, the robot displacement is prevented from sliding out of the elevator car in the elevator operation on the basis by the blocking device, the blocking device is in an upright state when the elevator car is positioned at a corresponding floor, the elevator car is required to be restarted and becomes a transverse state, the robot is effectively prevented from sliding off the elevator car due to braking faults and the like, the robot is prevented from being damaged or the safety problem is caused, and the blocking device is changed into an upright state again when the elevator car returns to a target floor again, so that the robot is not influenced to fall on the elevator car.

Further, a set of blocking devices 04 are disposed opposite each other between the adjacent car support plates 025. The blocking devices are oppositely arranged in pairs, so that the length of the blocking arm can be shortened, and the blocking arm is easy to open and close.

Further, the lower part of the front end of the blocking arm 041 is further provided with an L-shaped limiting baffle 045, the side wall of the L-shaped limiting baffle 045 is fixedly connected with the outer side of the car supporting plate 025, the extending end 046 of the L-shaped limiting baffle 045 is overlapped with the lower part of the front end of the blocking arm 041, the front end of the blocking arm 041 is further hung with a pull-down spring 047, one end of the pull-down spring 047 is hooked and connected with the lower part of the front end of the blocking arm 041, and the other end of the pull-down spring 047 is hooked and fixedly connected with the outer side of the car supporting plate 025. The downward pulling force is provided for the blocking arm through the downward pulling spring, a normally closed state is provided for the blocking arm, and when the blocking arm needs to be opened, the screw rod drives the lower pressing ring to downwards press the rear end of the blocking arm, and the front end of the blocking arm ascends due to the lever principle, so that the opening action is completed. When the stop arm needs to enter a closed state, the screw rod drives the lower pressing ring to move upwards, and the front end of the stop arm moves downwards under the tensile force of the lower pressing spring and finally is lapped on the extending end of the L-shaped limiting baffle.

Further, the first guide post 022 and the second guide post 052 are both T-shaped channel steel, and the extending end of the T-shaped channel steel is slidably connected with the limiting slide block 026, and the limiting slide block 026 is of a concave structure. The T-shaped channel steel is high in strength, the extending end of the T-shaped channel steel is matched with the concave-shaped structure of the limiting slide block, and the T-shaped channel steel is simple in structure and can meet the strength requirement.

Further, a car buffer block 018 and a counterweight buffer block 019 are disposed above the base 011 of the main body frame, the car buffer block 018 is disposed under the bottom plate of the car 02, and the counterweight buffer block 019 is disposed under the counterweight 05. The safe operation of the lift car and the balancing weight can be effectively guaranteed through the buffer block.

In an embodiment, a transverse connection plate 020 is disposed between the support columns 012, and a fixing plate 029 is disposed between the transverse connection plate 020 and the first guide column 022. The connection between the transverse connection board reinforced support column plays the effect of separating the floor simultaneously, and the transverse connection board and the first guide column are connected through the fixing plate, so that the overall safety of the equipment is improved.

In an embodiment, a photoelectric switch 091 is disposed on the inner side of the first guide post 022, a light reflecting plate 092 is disposed on a side surface of the car supporting plate 025 corresponding to the photoelectric switch 091, and the photoelectric switch 091 is electrically connected to the control module 072. Wherein, each layer of photoelectric switch sets up one for cooperate the reflector panel that sets up in the car backup pad to detect the stop position of car together.

In an embodiment, an RFID tag 093 is disposed inside the first guide post 022 adjacent to the photoelectric switch 091. The RFID tag can be used as a carrier of floor information, and when a robot equipped with the RFID information reading device goes to a corresponding floor, the information of the corresponding floor can be read and fed back to the robot control system, so that necessary information is provided for the robot to start to act as an instruction to the control module of the elevator.

In addition, it is worth to say that the RFID tag 093 on the inner side of the first guide post can be replaced by a two-dimensional code tag, the robot can read the two-dimensional code tag through a scanning device such as a camera, floor information corresponding to the tag is obtained, the floor information is fed back to the robot control system, and necessary information is provided for the robot to start to an elevator control module.

The foregoing description is only of the optional embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all the equivalent structural changes made by the description of the present utility model and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (10)

1. The intelligent vertical elevator special for the robot comprises an elevator main body frame, a lift car and a balancing weight, and is characterized in that the main body frame comprises a base, support columns and a top plate, a dragging motor and a steel wire rope channel are fixedly arranged on the upper portion of the top plate, a first fixed pulley is arranged on the lower portion of the top plate, a lift car guide rail and a balancing weight guide rail are arranged in the elevator main body frame, the lift car guide rail comprises four first guide columns parallel to the support columns, and the balancing weight guide rail comprises two second guide columns parallel to the support columns; the elevator car comprises an elevator car bottom plate, an elevator car top plate and four elevator car support plates, wherein limit sliding blocks are arranged at four corners of the elevator car bottom plate and the elevator car top plate and are in sliding connection with elevator car guide rails, a first movable pulley block is arranged on the elevator car top plate, a second movable pulley block is arranged on the upper portion of a balancing weight, one end of a steel wire rope is fixedly connected to the bottom of the elevator car top plate, the other end of the steel wire rope sequentially penetrates through the first movable pulley block, the first fixed pulley block and a hinge wheel of a dragging motor, then penetrates through the second movable pulley block and the elevator car top plate to be fixedly connected with the elevator car top plate, a control box is further arranged on the elevator car top plate, and a communication module and a control module are arranged in the control box and are electrically connected with a power supply and the dragging motor.

2. The intelligent vertical elevator for the robot according to claim 1, wherein a car sealing plate is arranged between two car supporting plates adjacent to the counterweight guide rail, an elevator outer sealing plate is arranged between two supporting columns adjacent to the counterweight guide rail, and an elevator outer movable door is arranged between other supporting columns.

3. The intelligent vertical elevator special for the robot according to claim 1, wherein a blocking device is arranged between adjacent car supporting plates, the blocking device comprises a blocking arm, the middle part of the blocking arm is hinged with the outer side of the car supporting plates, the rear end of the blocking arm is abutted with a pressing-down blocking ring, a pressing-down blocking ring screw rod is fixedly connected, the screw rod is meshed with a lifting motor arranged on a car top plate, and the lifting motor is electrically connected with the control module.

4. The intelligent vertical elevator for a robot according to claim 3, wherein a set of blocking devices are disposed in opposition between the adjacent car support plates.

5. The intelligent vertical elevator special for the robot, as set forth in claim 4, wherein the lower part of the front end of the blocking arm is further provided with an L-shaped limiting baffle, the side wall of the L-shaped limiting baffle is fixedly connected with the outer side of the car supporting plate, the extending end of the L-shaped limiting baffle is overlapped with the lower part of the front end of the blocking arm, the front end of the blocking arm is further hung with a pull-down spring, one end of the pull-down spring is hooked and connected with the lower part of the front end of the blocking arm, and the other end of the pull-down spring is hooked and fixedly connected with the outer side of the car supporting plate.

6. The intelligent vertical elevator special for the robot, as set forth in claim 1, wherein the first guide post and the second guide post are both T-shaped channel steel, and the extending end of the T-shaped channel steel is slidably connected with the limit slider, and the limit slider is in a concave structure.

7. The intelligent vertical elevator for a robot of claim 1, wherein a car buffer block and a counterweight buffer block are disposed above the base of the main body frame, the car buffer block is disposed under the bottom plate of the car, and the counterweight buffer block is disposed under the counterweight block.

8. The intelligent vertical elevator special for the robot, as set forth in claim 1, wherein a transverse connection plate is disposed between the support columns, and a fixing plate is disposed between the transverse connection plate and the first guide column.

9. The intelligent vertical elevator special for the robot of claim 8, wherein the photoelectric switch is arranged on the inner side of the first guide post, the reflecting plate is arranged on the side surface of the car supporting plate corresponding to the photoelectric switch, and the photoelectric switch is electrically connected with the control module.

10. The intelligent vertical elevator special for the robot, according to claim 8, wherein an RFID tag or a two-dimensional code tag is arranged on the inner side of the first guide pillar adjacent to the photoelectric switch.