CN221190594U

CN221190594U - Transfer robot

Info

Publication number: CN221190594U
Application number: CN202323149382.8U
Authority: CN
Inventors: 白国超; 赵军科
Original assignee: Zhixing Intelligent Equipment Yancheng Co ltd
Current assignee: Zhixing Intelligent Equipment Yancheng Co ltd
Priority date: 2023-11-22
Filing date: 2023-11-22
Publication date: 2024-06-21
Anticipated expiration: 2033-11-22

Abstract

The utility model discloses a transfer robot, comprising: the frame body comprises a first bracket, a second bracket arranged opposite to the first bracket and a top frame used for connecting the first bracket and the second bracket, and travelling wheels are arranged at the bottoms of the first bracket and the second bracket; the lifting mechanism comprises a first driving unit arranged on the first bracket, a second driving unit arranged on the second bracket, a lifting assembly and a plurality of hook assemblies, wherein the lifting assembly is connected with output shafts of the first driving unit and the second driving unit, and the plurality of hook assemblies are connected to the lifting assembly; the clamping mechanism comprises a third driving unit arranged on the first bracket, a fourth driving unit arranged on the second bracket, a first clamping component connected to an output shaft of the third driving unit and a second clamping component connected to an output shaft of the fourth driving unit. The technical scheme has the advantages of compact structure, small volume, small required working space, object lifting safety improvement and the like.

Description

Transfer robot

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a transfer robot.

Background

The installation and transportation of large-size and heavy-weight objects such as a power distribution cabinet and a die are usually completed by a crane and a forklift. However, the space occupied by the crane and the forklift is large, and the crane and the forklift are not suitable when the installation place of the power distribution cabinet or the die is limited. When the crane is used for hoisting the articles, the articles lack of clamping and positioning, so that the possibility of collision and violent movement exists in the hoisting process, and potential safety hazards are caused.

Disclosure of utility model

In order to overcome the defects in the prior art, the embodiment of the utility model provides a transfer robot which is used for solving the problems.

The embodiment of the application discloses: a transfer robot comprising:

The frame body comprises a first bracket, a second bracket arranged opposite to the first bracket and a top frame used for connecting the first bracket and the second bracket, wherein travelling wheels are arranged at the bottoms of the first bracket and the second bracket;

The lifting mechanism comprises a first driving unit arranged on the first bracket, a second driving unit arranged on the second bracket, a lifting assembly and a plurality of hook assemblies, wherein the lifting assembly is connected with output shafts of the first driving unit and the second driving unit, and the plurality of hook assemblies are connected to the lifting assembly;

The clamping mechanism comprises a third driving unit arranged on the first bracket, a fourth driving unit arranged on the second bracket, a first clamping component connected to an output shaft of the third driving unit and a second clamping component connected to an output shaft of the fourth driving unit.

Specifically, the lifting assembly comprises a first lifting plate connected with the first driving unit, a second lifting plate connected with the second driving unit and a connecting piece used for connecting the first lifting plate and the second lifting plate, and the hook assembly is installed on the connecting piece.

Specifically, the couple subassembly includes the guide rail, has the locating plate of a plurality of U type grooves, has the regulating plate and the couple of a plurality of mounting holes, the guide rail with the locating plate parallel arrangement install in the connecting piece, the regulating plate can slidingly connect in on the guide rail and along the perpendicular to the direction of guide rail extends, the tip of regulating plate articulates there is the locating pin, the locating pin is used for the card to go into in the U type groove of locating plate, the couple pass through the mounting hole with the regulating plate is connected.

Specifically, the first driving unit and the second driving unit are electric cylinders.

Specifically, the first clamping assembly comprises a first telescopic piece and a first clamping plate, one end of the first telescopic piece is hinged with the third driving unit, and the other end of the first telescopic piece is connected with the first clamping plate.

Specifically, the second clamping assembly comprises a second telescopic piece and a second clamping plate, one end of the second telescopic piece is hinged with the fourth driving unit, and the other end of the second telescopic piece is connected with the second clamping plate.

Specifically, the travelling wheel is an electric universal wheel.

Specifically, the transfer robot further comprises a lithium battery system arranged on the first bracket or the second bracket.

The utility model has at least the following beneficial effects: compared with the traditional crane and forklift, the transfer robot of this embodiment has compact structure, advantage that is small, and it can shuttle in narrow passageway, is applicable to the less condition of working space, and this robot accessible fixture carries out the centre gripping to the article of lifting, prevents that the article from appearing colliding, the condition of violent motion in the transportation process, has improved the security that article was transported.

The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the 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, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic view of the structure of the lifting assembly and the hook assembly from one perspective in accordance with an embodiment of the present utility model;

FIG. 3 is a schematic view of the structure of the lifting assembly and the hook assembly from another perspective in accordance with an embodiment of the present utility model;

FIG. 4 is a schematic view of a hook assembly according to an embodiment of the present utility model;

Fig. 5 is a schematic cross-sectional view of the third driving unit connected to the first clamping assembly according to the embodiment of the present utility model.

Reference numerals of the above drawings: 1. a frame body; 11. a first bracket; 12. a second bracket; 13. a top frame; 2. a lifting mechanism; 21. a first driving unit; 22. a second driving unit; 23. a lifting assembly; 231. a first lifting plate; 232. a second lifting plate; 233. a connecting piece; 24. a hook assembly; 241. a guide rail; 242. a positioning plate; 243. an adjusting plate; 244. a hook; 245. a positioning pin; 31. a third driving unit; 32. a fourth driving unit; 33. a first clamping assembly; 331. a first telescopic member; 332. a first clamping plate; 333. a hinge; 34. a second clamping assembly.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first feature and the second feature being in direct contact, and may also include both the first feature and the second feature not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "below," and "above" a second feature includes both the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being "below" and obliquely below "the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present application.

Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.

As shown in fig. 1, the transfer robot of the present embodiment mainly includes a frame 1, a lifting mechanism 2 disposed on the frame 1, a clamping mechanism disposed on the frame 1, and a travelling wheel disposed at the bottom of the frame 1. Specifically, the frame body 1 comprises a first bracket 11 and a second bracket 12 which are oppositely arranged, and further comprises a top frame 13 for connecting the first bracket 11 and the second bracket 12 from the top, wherein at least two travelling wheels are respectively arranged at the bottoms of the first bracket 11 and the second bracket 12. The first bracket 11, the second bracket 12 and the top frame 13 are connected to form an inverted concave shape, and have a space for accommodating lifted and transported articles. The lifting mechanism 2 comprises a first driving unit 21 arranged on the first bracket 11, a second driving unit 22 arranged on the second bracket 12, a lifting assembly 23 and a plurality of hook assemblies 24. The two ends of the lifting assembly 23 are respectively connected with the output shafts of the first driving unit 21 and the second driving unit 22, and a plurality of hook assemblies 24 are connected to the lifting assembly 23. The lifting assembly 23 is driven by the first driving unit 21 and the second driving unit 22 to lift, carry and put down the articles. The clamping mechanism comprises a third driving unit 31 arranged on the first bracket 11, a fourth driving unit 32 arranged on the second bracket 12, a first clamping component 33 connected to an output shaft of the third driving unit 31 and a second clamping component 34 connected to an output shaft of the fourth driving unit 32, when the lifting component 23 lifts an article to a preset position, the first clamping component 33 and the second clamping component 34 clamp the article from two sides, so that the article is prevented from shaking in the carrying process.

Specifically, the first driving unit 21 of the present embodiment is two electric cylinders disposed near the bottom of the first bracket 11, and output shafts of the two electric cylinders are connected to one end of the lifting assembly 23; the second driving unit 22 is two electric cylinders arranged near the bottom of the second bracket 12, and the output shafts of the two electric cylinders are connected with the other end of the lifting assembly 23. When the article needs to be lifted, the electric cylinder drives the lifting assembly 23 to descend so that the hook assembly 24 can be connected with the hanging ring on the article, after the hanging ring is connected, the electric cylinder drives the lifting assembly 23 to ascend so as to drive the article to ascend, after the article ascends to a preset position, the third driving unit 31 and the fourth driving unit 32 respectively drive the corresponding clamping assemblies to move, so that the article is clamped from two sides of the article, and the article cannot shake in the carrying process. The third drive unit 31 and the fourth drive unit 32 may also be electric cylinders. The limit position of the lifting assembly 23 is preferably not reached to the top frame 13.

As shown in fig. 2 and 3, the lifting assembly 23 of the present embodiment includes a first lifting plate 231, a second lifting plate 232, and a connection member 233. The first lifting plate 231 is used for being connected with the first driving unit 21, the second lifting plate 232 is used for being connected with the second driving unit 22, two ends of the connecting piece 233 are respectively connected with the first lifting plate 231 and the second lifting plate 232, and the connecting piece 233 is used for installing the hook assembly 24. To improve the lifting stability of the lifting assembly 23, guide assemblies (not shown) for connecting the first and second lifting plates 231 and 232 may be further provided on the first and second brackets 11 and 12.

As shown in fig. 2 and 3, the transfer robot of the present embodiment includes four hook assemblies 24, and the four hook assemblies 24 are uniformly distributed on the connecting piece 233 of the lifting assembly 23. As shown in fig. 4, the hook assembly 24 includes a guide rail 241, a positioning plate 242, an adjustment plate 243, and a hook 244. The guide rail 241 and the positioning plate 242 are installed on the connecting piece 233 in parallel, and the positioning plate 242 is provided with a plurality of U-shaped grooves for positioning the adjusting plate 243. The adjusting plate 243 is slidably mounted on the guide rail 241 and extends in a direction perpendicular to the guide rail 241, and a positioning pin 245 is hinged to an end of the adjusting plate 243, and when the adjusting plate 243 slides to a proper position along the guide rail 241, the adjusting plate 243 is locked by clamping the positioning pin 245 at the end of the adjusting plate 243 into a U-shaped groove of the positioning plate 242, so that the adjusting plate 243 is prevented from sliding on the guide rail 241. The adjusting plate 243 is provided with a plurality of mounting holes distributed along the length direction thereof, and the mounting holes are used for mounting the hooks 244 and facilitating the adjustment of the positions of the hooks 244. By adopting the scheme, the hook 244 of the embodiment can be adjusted in the horizontal direction, and is suitable for lifting various articles with different lifting ring positions.

As shown in fig. 5, the first clamping assembly 33 of the present embodiment includes a first telescopic member 331, a first clamping plate 332, and a hinge member 333. Wherein one end of the first telescopic member 331 is connected to the output shaft of the third driving unit 31 through a hinge 333, and the other end is connected to the first clamping plate 332. The third driving unit 31 is an electric cylinder, and when the piston shaft moves, the hinge 333 drives the first telescopic member 331 to extend and retract, so as to drive the first clamping plate 332 to clamp or release the lifted object. Preferably, the second clamping assembly 34 (not shown) has substantially the same structure as the first clamping assembly 33, and includes a second telescopic member, a second clamping plate and a hinge member 333, wherein one end of the second telescopic member is connected to the fourth driving unit 32 through the hinge member 333, and the other end is connected to the second clamping plate.

Preferably, the travelling wheel of the embodiment is an electric universal wheel, which is beneficial to the robot to realize reversing.

As shown in fig. 1, the transfer robot of the present embodiment further includes a lithium battery system disposed on the first support 11, and of course, the lithium battery system may be disposed on the second support 12. The lithium battery system is used for being electrically connected with the lifting mechanism 2, the clamping mechanism and the electric universal wheel to provide power for the robot. The robot of the present embodiment may further include a control panel connected to the lithium battery system, the control panel being mounted on the first bracket 11 or the second bracket 12.

The working process of the transfer robot of this embodiment is as follows: the robot moves to the article top of waiting to carry, and first drive unit 21 and second drive unit 22 control lifting unit 23 descend, and personnel adjust the position of couple 244 according to the position condition of rings on the article, and after couple 244 catches on rings, lifting unit 23 rises in order to hoist the article, then, clamping mechanism holds the article from both sides, and the robot releases the article after carrying the article to the assigned position, and lifting mechanism descends in order to put down the article, then, the robot drives off the article from the side.

To sum up, compare with traditional crane and fork truck, the transfer robot of this embodiment has compact structure, advantage small, and it can shuttle in narrow passageway, is applicable to the less condition of working space, and this robot accessible fixture carries out the centre gripping to the article of lifting, prevents that the article from appearing collision, the condition of violent motion in the transportation process, has improved the security that article was transported.

The principles and embodiments of the present utility model have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.

Claims

1. A transfer robot, comprising:

2. The transfer robot of claim 1, wherein the lifting assembly includes a first lifting plate connected to the first driving unit, a second lifting plate connected to the second driving unit, and a connecting member for connecting the first lifting plate and the second lifting plate, and the hooking assembly is mounted on the connecting member.

3. The transfer robot of claim 2, wherein the hanger assembly includes a guide rail, a positioning plate having a plurality of U-shaped grooves, an adjusting plate having a plurality of mounting holes, and a hanger, the guide rail and the positioning plate being installed in parallel to the connecting member, the adjusting plate being slidably connected to the guide rail and extending in a direction perpendicular to the guide rail, an end of the adjusting plate being hinged with a positioning pin for being caught in the U-shaped grooves of the positioning plate, the hanger being connected to the adjusting plate through the mounting holes.

4. The transfer robot of claim 1, wherein the first drive unit and the second drive unit are electric cylinders.

5. The transfer robot of claim 1, wherein the first clamping assembly comprises a first telescoping member and a first clamping plate, one end of the first telescoping member being hinged to the third drive unit, the other end being connected to the first clamping plate.

6. The transfer robot according to claim 1, wherein the second clamping assembly comprises a second telescopic member and a second clamping plate, one end of the second telescopic member being hinged to the fourth driving unit, and the other end being connected to the second clamping plate.

7. The transfer robot of claim 1, wherein the road wheels are electric universal wheels.

8. The transfer robot of claim 1, further comprising a lithium battery system disposed on the first rack or the second rack.