PH12018050206A1

PH12018050206A1 - Multifunctional Transportation Robot

Info

Publication number: PH12018050206A1
Application number: PH12018050206A
Authority: PH
Inventors: Liujun Hua
Original assignee: Liujun Hua
Priority date: 2017-06-23
Filing date: 2018-06-13
Publication date: 2019-08-14
Also published as: CN108859908A; CN108995571A; CN107244275A; CN108859908B; CN109017502B; CN108995571B; CN107244275B; CN109017502A

Abstract

The invention discloses a multifunctional transportation robot and relates to the field of transportation robots. The robot is divided into two parts: a transport part and a chassis. The transport part comprises a push-pull transport mechanism, a lift transport mechanism and a high-altitude transport mechanism; the push-pull mechanism is arranged at the front and rear ends of the chassis; the lift transport mechanism is fixed to the chassis Central and extending from the front of the robot; the high-altitude transportation mechanism is fixed at the center of the chassis and extends upwards; in addition to the traditional ransportation for pushing and pulling the ground objects, the invention can also lift the decent objects and transport the articles at a certain height; to realize the multifunctional transportation of robots.

Description

programming; (2) With the four-wheel drive, the robot is more flexible and convenient in the transportation process; (3) Through a variety of transport frameworks, to achieve different requirements of the transport needs, so that the use of transport robots are wider.

Drawings

FIG. 1 is a schematic structural view of the overall structure of the multifunctional transport robot of the present invention.

FIG. 2 is a schematic structural view of the chassis structure of the multifunctional transport robot of the present invention;

FIG. 3 is a schematic structural view of a push-pull transport mechanism of the multifunctional transport robot of the present invention;

FIG. 4 is a schematic structural view of a lifting transport mechanism of a multifunctional transport robot of the present invention;

FIG. 5 is a schematic structural view of a high-altitude transportation mechanism of a multifunctional transport robot of the present invention;

FIG. 6 is a schematic view of the horizontal axis of the multifunctional transport robot of the present invention;

FIG. 7 is a schematic view of the appearance of a vertical rudder rack of the multifunctional transport robot of the present invention;

In the Figures: 1 is a chassis; 2 is a push-pull transport mechanism; 3 is a lift transport mechanism; 4 is a high-altitude transport mechanism; 11 is a base plate; 12 is a drive motor; 13 is a wheel; 14 is a patrol line plate; 15 is a controller; 22 is the driving wheel; 23 is the driven wheel; 24 is the main shaft; 25 is the bearing seat; 26 is the coupling; 27 is the transport frame; 31 is the worm gear motor; 32 is the connecting shaft; 33 is the connecting shaft support Seat; 34 is the transmission arm; 35 is the follower arm; 36 is the buffer; 37 is the buffer fixing plate; 38 is the lifting plate; 39 is the follower arm motor; 41 is the support beam; 42 is the vertical rudder frame; For the vertical axis; 44 for the longitudinal servo; 45 for the transverse rudder frame; 46 for the horizontal axis; 47 for the transverse servo; 48 for the horizontal bearing seat; 49 for the pole; 50 for the shelves; 411 for the hole; 461 for Inner shaft; 462 is the first outer shaft; 463 is the second outer shaft; 464 is the fixed shaft of the pole.

Detailed Implementation

The specific embodiments of the present invention will be further described in detail below with reference to the accompanying figures and examples. The following examples are intended to illustrate the present invention but are not intended to limit the scope of the present invention.

The structure of a multifunctional transport robot according to an embodiment of the present invention is as shown in FIG. 1 to FIG. 7, including two parts of the transport department and the chassis 1;

The transport part includes a push-pull transport mechanism 2, a lift transport mechanism 3, and an upper-air transport mechanism 4. The push-pull transport mechanism 2 is respectively disposed at the front and rear ends of the chassis 1, and the main function is to push and pull the floor items; Both are provided with a push-pull transport mechanism 2, so the transport robot can simultaneously push and pull the objects at the front and rear ends of the transport robot or interchange the ground items in situ by the chassis 1; the lift transport mechanism 3 is fixed at the center of the chassis 1, and To extend to the front end of the robot, the main function is to lift the ground items to a certain height or remove the items from a certain height; the high-altitude transport mechanism 4 is fixed in the center of the chassis, and mainly transports items with a certain height near the transport robot;

Of which, the chassis for the four-wheel drive floor includes: floor 11, four drive motors 12, four wheels 13, three patrol board 14 and the controller 15; the drive motor 12 is fixed to the floor 11 around the motor frame The wheel 13 is mounted on the front output shaft of the drive motor 12; the patrol board 14 is respectively disposed at the front, middle and rear parts of the bottom plate 11 and is connected with the controller 15. The controller 15 is located at the center of the bottom plate 11 and controls the drive motor 12. The rotational speed of the four drive motors 12 is controlled by the controller 15 so that the traveling robot's traveling and steering functions are realized.

Of which, the wheel 1 includes a hub 131 and a rubber tire skin 132; the rubber tire skin 132 is directly die-cast on the outer diameter of the hub 131 and is die-casted into one body; in order to further improve the wheel friction effect, the hardness of the rubber tire skin 132 is set It is 37 degrees.

Of which, the push-pull transport mechanism includes: a steering gear 21, a driving wheel 22, a driven wheel 23, a main shaft 24, a bearing seat 25, a coupling 26 and a transport frame 27; the driving wheel is sleeved on the rotating shaft of the steering gear 21; The driving wheel 23 meshes with the driving wheel 22 and transmits power to the driven wheel 23; the main shaft 24 penetrates the driven wheel 23 and is fixed with the driven wheel 23. The main shaft 24 is sleeved with bearings on both sides, the bearing is set on the bearing seat 25, and the rear bearing seat 25 is fixed on On the chassis floor 11; the coupling 26 is inserted from the two ends of the main shaft 24 against the bearing seat 25 and is in interference fit with the main shaft 24; the end of the coupling 26 fixes the transport frame 27; when the steering gear 21 powers the driving wheel 22 When the driving wheel 22 rotates the driven wheel 23, the main shaft 24 also rotates. Since the transport frame 27 is fixed to the main shaft 24 through the coupling 26, the transport frame swings up and down with the direction of rotation of the steering gear 21 and takes over. The items that need to be transported in order to achieve the pushing or dragging of the items.

Of which, the lift transport mechanism includes a worm gear motor 31, a connecting shaft 32, a connecting shaft support base 33, a transmission arm 34, a follower arm 35, a buffer 36, a buffer fixing plate 37, a lifting plate 38, and a follower The arm motor 39; the connecting shaft 32 is sleeved on the output shafts of both sides of the worm and worm motor 31; the connecting shaft 32 is sleeved with a bearing; the bearing is sleeved to connect the shaft support base 33; On the chassis base plate 11; the transmission arm 34 is installed from the outside of the connection shaft support base 33 and is mounted on the connecting shaft 32; the follower arm motor 39 is mounted on the front end of the transmission arm 34; the follower arm 35 is installed on the front of the follower arm motor 39; On the shaft; the buffer fixing plate 37 is mounted on the bottom of the follower arm 35; the buffer 36 is mounted on the buffer fixing plate 37; the lifting plate 38 is connected with the buffer 36; and the cooperation through the worm gear motor 31 and the follower arm motor 39. The lifting plate 38 is always raised and lowered in an equilibrium state, and under the action of the buffer 36, vibration can be reduced when the lifting plate 38 contacts the ground.

Of which, the high-altitude transportation mechanism includes: a support beam 41, a vertical rudder frame 42, a vertical axis 43, a longitudinal servo 44, a rudder frame 45, a horizontal axis 46, a transverse servo 47, a horizontal bearing block 48, and Rod 49, shelf 50; support beam 41 supports longitudinal rudder frame 42; longitudinal rudder frame 42 fixes the longitudinal servo 44; rudder rudder frame 45 is sleeved on the longitudinal servo 44 rotation shaft, and the longitudinal axis 43 passes through the vertical rudder rack 42 is fixed with the transverse rudder frame 45, and the vertical servo 44 drives the horizontal rudder frame 45 to perform a left-right rotational movement; the transverse servo 47 is fixed on the rudder frame 45, and the horizontal bearing block 48 is fixed on the rudder frame 45. The horizontal shaft 46 penetrates the horizontal bearing block 48 and is connected with the transverse servo 47. Both the upright bar 49 and the shelf 50 are fixed on the horizontal shaft 46. The transverse servo 47 drives the horizontal shaft 46 to rotate up and down. The upright bar 49 and the shelf 50 are The horizontal axis 46 is also driven to rotate up and down.

Of which, in order to reduce the weight and increase the strength, the preferred material of the upright bar 49 is a carbon fiber round pipe.

Of which, the U-shaped bearing seat is arranged on the longitudinal rudder frame 42, a bearing is mounted in the U-shaped bearing seat, and the longitudinal shaft 43 is penetrated and fixed from the bearing inner ring.

Of which, the horizontal axis 46 includes: the inner shaft 461, the first outer shaft 462, the second outer shaft 463, the pole fixing shaft 464; the inner shaft 461 penetrates the horizontal bearing seat 48; the first outer shaft 462 and the second outer Shafts 463 are inserted from both ends of the inner shaft 461 and abut against both sides of the transversal bearing block 48; the two fixing portions of the shelf 50 are fixed to the ends of the first and second outer shafts 462 and 463; the pole fixing shaft 464 is from the inside One end of the shaft 461 is sleeved in and pressed against the fixed portion of the shelf 50 against the second outer shaft 463, and the second outer shaft 463, the shelf 50, and the pole fixing shaft 464 are fixed in series with long screws.

Of which, there is a fixing hole drilled on the side of the pole fixing shaft 464, and the pole 49 is inserted into the fixing hole and fixed with an adhesive.

Of which, in order to save the installation space of the chassis, the worm gear motor 31 and the support beam 41 are arranged side by side, and a through hole 411 larger than the connecting shaft 32 is drilled on the support beam so that the connecting shaft 32 passes through the through hole 411.

The working process of the transport robot is as follows: 1. When the items on the ground need to be displaced, the push-pull transport mechanism starts to work, the steering gear 21 starts, puts down the transport box 27, so that the transport box 27 box selects the items to be transported, and pushes and pulls the items To the destination of the desired transportation; 2. When the ground object needs to be raised to a certain height, the lifting transport mechanism starts to work, the worm gear motor 31 and the follower arm motor 39 are started, the lift plate 38 is gently placed on the ground, and then the robot advances and lifts the plate. 38 is pushed underneath the item to be transported, and finally the worm gear motor 31 and the follower arm motor 39 are again activated to raise the lifting plate 38 vertically to the desired transport height or to place the item at the desired transportation destination; 3. When transporting items at high altitudes, the high-altitude transportation mechanism is started, the cross-head servo 47 is started to turn the upright 49 down to the horizontal, and then the vertical servo

44 starts to turn the upright 49 right and left and pushes the required transportation. Items to the destination;

The above are merely preferred embodiments of the present invention, it should be pointed out that for those skilled in the art, several improvements and improvements can be made without departing from the technical principle of the present invention.

Retouching should also be regarded as the protection scope of the present invention.

Multifunctional Transportation Robot

Technical Field

The invention relates to the field of transport robots, in particular to a kind of multifunctional transportation robot.

Background Technique

With the continuous development of human society, various robots that replace the human labor force have emerged, especially as transport robots have appeared more and more in people’s lives.

However, the current traditional transport robots have a single function and a complex structure

For example, a transport robot disclosed in Chinese patent CN 104386494A includes a platform, a frame below the platform, a wheel at the bottom of the frame, and a first motor connected to the wheel, a fixed motor on the frame. The robot is used to send the semi-manufactured goods processed by the machine tool to the special inspection platform, which is then inspected by the special inspection personnel. After the inspection is completed, the semi-finished product is transported back to the process; only a simple way to transport a single product, the scope of application is small;

Another example is a load-type logistics transport robot disclosed in the Chinese invention patent CN 105059411A, which relates to a transport robot to solve the existing transport vehicle robot used for logistics and warehousing. The structure is complicated, and it cannot be rotated in place. Shelves and transport vehicles cannot regulate the direction, cargo handling still cannot meet actual needs and the problem of poor adaptability still exists. The drive mechanism includes a drive mechanism, a lifting mechanism and a battery; the drive mechanism includes a frame body, two sets of differential drive mechanisms and four casters; and two sets of differential drive mechanisms are arranged side by side on the frame body, each differential drive mechanism includes a walking wheel, the first gear, the second gear and the drive motor, the running wheel is rotatably mounted on the frame, the first gear is mounted on the running wheel, the output shaft of the drive motor is arranged horizontally, and the second gear is mounted on the output shaft of the drive motor. A gear meshes with the second gear; the lifting mechanism includes a power motor, a motor frame, a pinion gear, a middle gear, a bull gear, a screw, a nut, and a lifting frame; however, the above-mentioned transportation robot has a complicated structure and a high production cost.

Content of the Invention 1. Technical problems to be solved

The purpose of the present invention is to solve the above-mentioned problems existing in the prior art, and provide a multi-functional transport robot with a simple structure to overcome the problems in the prior art that the use scope of the transport robot is narrow, the structure is complex, and the production cost is high. 2. Technical solutions

In order to solve the above technical problems, the present invention provides a multifunctional transportation robot comprising a transportation part and a chassis;

Of which, the transportation part includes a push-pull transport mechanism, a lift transport mechanism and a high-altitude transport mechanism. The push-pull transport mechanism sets the front and rear ends of the chassis, and is mainly responsible for pushing and pulling the articles on the ground; the lift transport mechanism is fixed in the center of the chassis and protruding into the front end of the robot, mainly responsible for lifting the ground items to a certain height; the upper-air transport mechanism is fixed in the center of the chassis, mainly transporting items with a certain height near the transport robot;

Of which, the chassis includes a base plate, a driving motor, a wheel, a patrol plate, and a controller; the driving motor is fixed by the motor frame and the bottom plate; the wheels are fixed on the front output shaft of the driving motor; the patrol boards are respectively arranged in front of the bottom plate, the middle and the rear, the controller is set in the center of the bottom plate and is electrically connected with the driving motor and the patrol board.

Of which, the wheel includes a hub and a rubber tire wrapped around the outer diameter of the hub; the rubber tire is directly die cast on the outer diameter of the hub and is die cast into one.

Of which, in order to produce the most appropriate friction with the ground, the hardness of the rubber tire is adjusted to 37 degrees.

Of which, the push-pull transport mechanism includes: a steering gear, a driving wheel, a driven wheel, a main shaft, a bearing seat, a coupling, and a transport frame; the driving wheel is sleeved on the steering shaft of the steering gear; the driven wheel is meshed with the driving wheel; and the main shaft runs through the driven wheel; the bearing is sleeved on both sides of the main shaft, the bearing seat is sleeved on the bearing, and the bearing seat and the chassis are fixed; the coupling and the two ends of the main shaft are interference fit and abut against the bearing seat; the coupling ends fix the transport frame.

Of which, the lifting transport mechanism includes: a worm gear motor, a connecting shaft, a connecting shaft supporting base, a transmission arm, a follower arm, a buffer, a buffer fixing plate, a lifting plate, and a follower arm motor; and the connecting shaft sleeve is arranged on the output shaft of the two sides of the worm wheel and worm motor; the connecting shaft is sleeved with a bearing; the bearing is sleeved and connected with the shaft supporting seat; the transmission arm is mounted on the connecting shaft outside the connecting shaft supporting seat; the driven arm motor is installed at the front end of the transmission arm; the boom is mounted on the front axle of the driven arm motor; the buffer fixing plate is mounted on the bottom of the driven arm; the buffer is mounted on the buffer fixing plate; the lifting plate is connected with the buffer, and the buffer can be used for the lifting plate.

Of which, the high-altitude transportation framework includes: supporting beams, longitudinal rudder frames, longitudinal axes, longitudinal servos, transverse rudder frames, horizontal shafts, transverse servos, transverse bearing blocks, uprights, shelves; supporting beams to support vertical rudder racks; vertical rudder frame to fix longitudinal servo; longitudinal axis is fixed through vertical rudder frame and transverse rudder frame, and transverse rudder frame is driven by longitudinal servo; transverse servo is fixed on transverse rudder frame; transverse bearing is fixed on the rudder frame; the horizontal axis penetrates the transverse bearing seat and is connected with the transverse servo; the pole and the shelf are fixed on the horizontal axis.

Of which, a U-shaped bearing seat is arranged on the longitudinal rudder frame, a bearing is mounted in the U-shaped bearing seat, and the longitudinal axis is penetrated through the bearing inner ring and fixed to the transverse bearing seat.

Of which, the horizontal axis includes: an inner shaft, a first outer shaft, a second outer shaft, and a vertical fixed shaft; the inner shaft penetrates a horizontal bearing seat; the outer shaft and the second outer shaft are inserted from the two ends of the inner shaft and are supported on both sides of the transverse bearing seat; the shelf is fixed with the first outer shaft and the second outer shaft end; the pole fixing shaft is inserted from one end of the inner shaft and presses the fixed part of the shelf and the second outer shaft, and the pole fixing shaft and the second outer shaft is connected with a long screw.

Of which, a fixing hole is drilled on the side of the fixing shaft of the vertical pole, and the vertical pole is inserted into the fixing hole and fixed with an adhesive.

Of which, a through hole is drilled at the bottom of the support beam; the connecting shaft passes through the through-hole during the installation process. 3. The beneficial effect of the present invention

Compared with the prior art, the multifunctional transport robot of the present invention has many advantages as follows: (1) Set work requirements and realize unmanned operation through

Claims

Claims:

1. A multifunctional transportation robot characterized in that the robot includes a transportation department and a chassis (1) wherein the transport department includes a push-pull transport mechanism(2), the lifting transport mechanism (3) and the high altitude transport organization (4) The push-pull transportation mechanism (2) is respectively arranged at the front and rear ends of the chassis (1), and can simultaneously push and pull the front and rear ends of the transportation robot. Article; the lifting transport mechanism (3) is fixed in the center of the chassis (1) and protrudes toward the front end of the robot and can Items are transported in the vertical direction; the high-altitude transport mechanism (4) is fixed at the center of the chassis (1) and can be transported Items of a certain height near the robot are transported,

2. The chassis includes a base plate (11), a drive motor (12), a wheel (13), a patrol board (14), and a controller (15); The drive motor (12) is fixed to the base plate (11) through a motor frame; the wheel (13) is fixed to the drive motor (12)Front axle; the patrol boards (14) are respectively arranged at the front, middle and back of the bottom board (11), and the controller (15) is provided.Located in the center of the bottom plate (11) and electrically connected with the driving motor (12) and the patrol plate (14).

3. The multifunctional transportation robot according to claim 1, wherein the push-pull transport mechanism comprises: a steering gear(21), driving wheel (22), driven wheel (23), main shaft (24), bearing seat (25), coupling (26) and transport frame (27); said main The moving wheel is sleeved on the rotating shaft of the steering gear (21); the driven wheel (23) meshes with the driving wheel (22); the main shaft (24) Through the driven wheel (23), a bearing is sleeved on both sides of the main shaft (24), and the bearing seat (25) is sleeved on the bearing; The coupling (26) has an interference fit with both ends of the spindle (24); the ends of the coupling (26) fix the transport frame (27).

4. The multifunctional transportation robot according to claim 1, wherein the lifting transport mechanism comprises: a worm gear Worm motor (31), connecting shaft (32), connecting shaft support base (33), transmission arm (34), follower arm (35), buffer (36), slow A punch fixing plate (37), a lifting plate (38) and a follower arm motor (39); the connecting shaft (32) is sleeved on the worm gear motor (31) on both sides of the output shaft; the connecting shaft is sleeved with a bearing, and the bearing shaft is sleeved on the bearing (33); A transmission arm (34) is mounted on a connecting shaft (32) outside the connecting shaft support (33); the driven arm motor (39)

is Mounted on the front end of the transmission arm (34); the follower arm (35) is mounted on the front output shaft of the follower arm motor (39); A punch fixing plate (37) is mounted on the bottom of the follower arm (35); the bumper (36) is mounted on the bumper fixing plate (37); The lifting plate (38) is connected to the damper.

5. The multifunctional transportation robot according to claim 1, wherein the high-altitude transport mechanism comprises: Beam (41), vertical rudder frame (42), vertical axis (43), vertical steering gear (44), rudder frame (45), transverse axis (46), transverse servo (47), horizontal bearing seat (48), upright bar (49), shelf (50); said supporting beam (41) supports said longitudinal rudder frame (42); A longitudinal rudder frame (42) holds the longitudinal servo (44); the longitudinal axis (43) passes through the vertical rudder frame (42) and the The transverse rudder frame (45) is fixed; the transverse servo (47) is fixed on the transverse rudder frame (45); the transverse bearing scat (48) fixed to the transverse rudder frame (45); the transverse shaft (46) penetrates the transverse bearing seat (48) and the transverse servo (47) Connection; Both the upright (49) and the shelf (50) are fixed to the transverse axis (46).