WO2023044693A1 - 一种用于物流的安全可靠的稳定型的搬运机器人 - Google Patents

一种用于物流的安全可靠的稳定型的搬运机器人 Download PDF

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Publication number
WO2023044693A1
WO2023044693A1 PCT/CN2021/120056 CN2021120056W WO2023044693A1 WO 2023044693 A1 WO2023044693 A1 WO 2023044693A1 CN 2021120056 W CN2021120056 W CN 2021120056W WO 2023044693 A1 WO2023044693 A1 WO 2023044693A1
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WIPO (PCT)
Prior art keywords
rod
transmission
main body
block
fork
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PCT/CN2021/120056
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English (en)
French (fr)
Inventor
曹燕红
Original Assignee
王伟富
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Publication date
Application filed by 王伟富 filed Critical 王伟富
Priority to PCT/CN2021/120056 priority Critical patent/WO2023044693A1/zh
Publication of WO2023044693A1 publication Critical patent/WO2023044693A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means

Definitions

  • the invention relates to the field of robots, in particular to a safe, reliable and stable handling robot for logistics.
  • Intelligent robots have all kinds of internal information sensors and external information sensors, such as vision, hearing, touch, smell, etc. In addition to receptors, they also have effectors as a means of acting on the surrounding environment. It is widely used in rescue, transportation, agriculture and other fields.
  • the two forks of the forklift may cause the goods to tilt due to fewer stress points during the process of lifting the goods, and in severe cases, the goods may be tilted. Not only that, when the forklift lifts the goods and travels downhill, the goods on the fork will tilt, which will easily cause the goods to slip from the forks, reducing reliability and practicability.
  • the technical problem to be solved by the present invention is to provide a safe, reliable and stable handling robot for logistics in order to overcome the deficiencies of the prior art.
  • a safe, reliable and stable handling robot for logistics including a main body, two support rods and two forks, and the support rods are arranged on the main body
  • the support rod is vertically fixed on the main body
  • the support rod corresponds to the fork one by one
  • the fork is horizontally arranged on the side of the support rod away from the main body
  • the fork is arranged on the support rod
  • the support rod is provided with a driving device
  • the driving device is connected to the fork transmission
  • the main body is provided with a power device
  • the upper part of the fork is provided with a fixing mechanism
  • the two forks are equipped with at least Two stabilizing mechanisms, the stabilizing mechanisms are respectively arranged on both sides of the pallet fork;
  • the fixing mechanism includes a baffle rod, a baffle plate and two transmission components, the baffle rod is horizontally arranged on the side of the support rod away from the main body, the distances from the two ends of the baffle rod to the main body are equal, and the vertical baffle
  • the transmission assembly is fixed on the bottom of the blocking rod, and the transmission assembly is in one-to-one correspondence with the support rod, and the transmission assembly is connected in transmission with the blocking rod.
  • the transmission assembly includes a drive unit and two transmission units, the drive unit includes a connection block, a drive motor, a screw and a transmission plate, the connection block is arranged on a support rod, and the drive device is in transmission connection with the connection block,
  • the driving motor is fixed on the side of the connection block away from the main body, the screw rod is arranged horizontally, the driving motor is connected to the screw rod in transmission, the transmission plate is vertically arranged, and the transmission plate is sleeved on the screw rod , the connection between the transmission plate and the screw rod is provided with a screw thread matching the screw rod, and two transmission units are respectively arranged above and below the screw rod, and the transmission plate is connected to the blocking rod through the transmission unit.
  • the stabilizing mechanism includes a power assembly, a stabilizing assembly and an auxiliary assembly
  • the stabilizing assembly includes a rotating shaft, a rotating rod and a support block
  • the fork is provided with a notch
  • the rotating shaft is vertically arranged in the notch, so
  • the inner wall of the top of the notch and the inner wall of the bottom are respectively sleeved on the two ends of the rotating shaft
  • the rotating rod is horizontally arranged in the notch
  • one end of the rotating rod is provided with a connecting hole
  • the supporting block is fixed on the rotating rod
  • the connecting hole matches the rotating shaft
  • the rotating shaft is arranged in the connecting hole
  • the rotating shaft is in interference fit with the rotating rod
  • the fork is provided with a connecting port
  • the supporting block is arranged on the connecting
  • the power assembly is in transmission connection with the rotating shaft
  • the auxiliary assembly is arranged between the rotating shaft and the supporting block.
  • the transmission unit includes a guide rod, a limit block and a transmission rod, both the guide rod and the transmission rod are arranged horizontally, and one end of the guide rod is fixed on the connecting block away from the main body
  • the limit block is fixed on the other end of the guide rod
  • the transmission plate is sleeved on the guide rod
  • one end of the transmission rod is arranged on the side away from the main body of the transmission rod
  • the transmission rod The other end is fixedly connected with the retaining rod.
  • the auxiliary assembly includes a connecting rod, a slider, a connecting rod and two fixed blocks, the connecting rod is arranged horizontally, and the two ends of the connecting rod respectively pass through the two fixed blocks Fixed on the inner wall of the notch, the slider is sleeved on the connecting rod, the bottom of the slider is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the top of the rotating rod.
  • the connecting rod is coated with lubricating oil.
  • the main body is provided with a PLC and an antenna
  • the top of the fork is provided with an infrared sensor, and the infrared sensor, antenna, power motor, driving motor, driving device and power device are all connected with the PLC electrical connection.
  • the side of the baffle near the main body is provided with anti-skid lines.
  • the beneficial effect of the present invention is that the safe, reliable and stable handling robot used in logistics improves the reliability through the fixing mechanism.
  • the fixing mechanism is ingeniously designed and more practical, not only that , the stability of the goods is also improved through the stabilizing mechanism.
  • the stabilizing mechanism has a simple structure and lower cost.
  • Fig. 1 is a schematic structural view of a safe, reliable and stable handling robot for logistics of the present invention
  • Fig. 2 is the structural representation of the fixing mechanism of the safe, reliable and stable handling robot for logistics of the present invention
  • Fig. 3 is a structural schematic diagram of a stabilizing mechanism of a safe, reliable and stable handling robot for logistics according to the present invention
  • Fig. 4 is an enlarged view of part A of Fig. 3;
  • a safe, reliable and stable handling robot for logistics includes a main body 1, two support rods 2 and two forks 3, and the support rods 2 are arranged on one side of the main body 1 , the support rod 2 is vertically fixed on the main body 1, the support rod 2 corresponds to the fork 3, and the fork 3 is horizontally arranged on the side of the support rod 2 away from the main body 1, and the fork 3 is set on the support rod 2, the support rod 2 is provided with a driving device, the driving device is connected with the fork 3 in transmission, the main body 1 is provided with a power device, and the upper part of the fork 3 is provided with a fixed mechanism, each of the two forks 3 is provided with at least two stabilizing mechanisms, and the stabilizing mechanisms are respectively arranged on both sides of the forks 3 .
  • the fixing mechanism includes a stop rod 4, a baffle plate 5 and two transmission assemblies
  • the stop rod 4 is horizontally arranged on the side of the support rod 2 away from the main body 1, and the two ends of the stop rod 4 The distance from the end to the main body 1 is equal
  • the baffle plate 5 is vertically fixed on the bottom of the blocking rod 4
  • the transmission assembly corresponds to the support rod 2 one by one
  • the transmission assembly is connected to the blocking rod 4 in transmission.
  • Described transmission assembly comprises drive unit and two transmission units, and described drive unit comprises connection block 6, drive motor 7, screw mandrel 8 and transmission plate 9, and described connection block 6 is arranged on support bar 2, and described drive unit It is connected with the connection block 6 in transmission, the drive motor 7 is fixed on the side of the connection block 6 away from the main body 1, the screw rod 8 is arranged horizontally, the drive motor 7 is connected with the screw rod 8 in transmission, and the transmission plate 9 Vertically arranged, the transmission plate 9 is sleeved on the screw rod 8, and the connection between the transmission plate 9 and the screw rod 8 is provided with a thread matched with the screw rod 8, and the two transmission units are respectively arranged on the screw rod 8 Above and below, the transmission plate 9 is in transmission connection with the blocking rod 4 through a transmission unit.
  • the drive motor 7 runs to make the screw 8 rotate, so that the transmission plate 9 moves away from the main body 1 on the screw 8, and the movement of the transmission plate 9 causes the stop rod to move through the transmission unit.
  • the baffle 5 Drive the baffle 5 to move away from the main body 1, so that the goods are located between the baffle 5 and the support rod 2, then drive the connecting block 6 to move downward through the driving device, and finally drive the screw 8 to reversely rotate through the driving motor 7,
  • the baffle plate 5 is driven to abut against the goods, so that the baffle plate 5 fixes the goods, preventing the goods from falling from the fork 3 when the main body 1 is on a downhill section, thereby improving reliability.
  • the stabilizing mechanism includes a power assembly, a stabilizing assembly and an auxiliary assembly
  • the stabilizing assembly includes a rotating shaft 10, a rotating rod 11 and a support block 12,
  • the fork 3 is provided with a notch
  • the The rotating shaft 10 is vertically arranged in the notch
  • the inner wall of the top of the notch and the inner wall of the bottom are respectively sleeved on the two ends of the rotating shaft 10
  • the rotating rod 11 is horizontally arranged in the notch
  • one end of the rotating rod 11 A connecting hole is provided
  • the support block 12 is fixed on the other end of the rotating rod 11, the connecting hole matches the rotating shaft 10,
  • the rotating shaft 10 is arranged in the connecting hole, the rotating shaft 10 and the rotating rod 11 pass through Fittingly
  • the fork 3 is provided with a connection port
  • the support block 12 is arranged in the connection port
  • the power assembly is connected to the rotating shaft 10 in transmission
  • the auxiliary assembly is arranged between the rotating shaft 10 and the support block 12 .
  • the rotating shaft 10 When the cargo abuts against the top of the cargo fork 3, the rotating shaft 10 is rotated by the power assembly, so that the rotation of the rotating shaft 10 rotates the supporting block 12 through the rotating rod 11, and the supporting block 12 abuts against the bottom of the cargo, thereby improving the The supporting point of the goods on the pallet fork 3 improves the stability of the goods.
  • the transmission unit includes a guide rod 13, a limit block 14 and a transmission plate 9, the guide rod 13 and the transmission plate 9 are all arranged horizontally, and one end of the guide rod 13 Fixed on the side of the connection block 6 away from the main body 1, the limit block 14 is fixed on the other end of the guide rod 13, the transmission plate 9 is sleeved on the guide rod 13, and one end of the transmission plate 9 is arranged on One side of the transmission plate 9 away from the main body 1, the other end of the transmission plate 9 is fixedly connected with the stop rod 4, the transmission plate 9 can be supported to move on the screw mandrel 8 by the guide rod 13, and the guide bar 9 can be avoided by the stopper 14.
  • the rod 13 is separated from the transmission plate 9, and the movement of the transmission plate 9 drives the blocking rod 4 to move through the transmission plate 9, realizing the function of driving the blocking rod 4 to move.
  • the power assembly includes a power motor 16, a drive gear 17 and a driven gear 18, the power motor 16 is fixed on the inner wall of the notch, and the power motor 16 is connected in transmission with the drive gear 17, so
  • the driving gear 17 meshes with the driven gear 18, the driven gear 18 is installed on the rotating shaft 10, and the driving gear 17 drives the driven gear 18 to rotate through the operation of the power motor 16, so that the rotating shaft 10 rotates, realizing The function of driving the rotating shaft 10 to rotate.
  • the auxiliary assembly includes a connecting rod 19, a slider 20, a connecting rod 21 and two fixed blocks 22, the connecting rod 21 is horizontally arranged, and the two connecting rods 21
  • the ends are respectively fixed on the inner wall of the notch by two fixing blocks 22, the slider 20 is sleeved on the connecting rod 21, the bottom of the slider 20 is hinged with one end of the connecting rod 19, and the connecting rod 19
  • the other end is hinged with the top of the rotating rod 11, the rotation of the rotating rod 11 drives the slide block 20 to move on the connecting rod 21 through the connecting rod 19, and the rotating rod 11 realizes the support of the rotating rod 11 through the connection of the connecting rod 19 and the slide block 20.
  • Function has improved the stability that support block 12 supports goods.
  • the connecting rod 21 is coated with lubricating oil, which has a lubricating function and can improve the friction between the connecting rod 21 and the sliding block 20 The force improves the smoothness of the movement of the slider 20.
  • the main body 1 is provided with a PLC and an antenna
  • the top of the fork 3 is provided with an infrared sensor
  • the infrared sensor, antenna, power motor 16, drive motor 7, drive device and power The devices are all electrically connected to the PLC, and the user sends a wireless signal through a wireless device, and the antenna sends a signal to the PLC after receiving the signal, and the PLC controls the operation of the driving device, the power device and the driving motor 7, and when the goods and the top of the fork 3 are in contact, the infrared rays
  • the sensor detects the signal, and the infrared sensor sends a signal to the PLC, and the PLC controls the power motor 16 to rotate the rotating shaft 10 to set an angle, thereby realizing intelligence.
  • the top of the support block 12 is provided with a ball 23, the support block 12 is sleeved on the ball 23, the top of the ball 23 is on the same plane as the top of the fork 3,
  • the sliding friction between the support block 12 and the goods can be converted into rotational friction through the ball 23, which reduces the friction force and facilitates the movement of the support block 12.
  • the material of the rotating rod 11 is titanium alloy, which has the characteristics of high strength and corrosion resistance, and improves the strength of the rotating rod 11 .
  • the driving motor 7 is a servo motor, and the servo motor has the characteristics of strong driving force, which improves the driving force of the driving motor 7.
  • the safe, reliable and stable handling robot used for logistics can prevent the cargo from sliding down from the fork 3 and being damaged when the main body 1 is driving on a downhill section through the abutment between the baffle plate 5 and the cargo, which improves the reliability.
  • 11 drives the support block 12 to rotate, which improves the support point for the cargo fork 3 to lift the goods, and improves the stability of the goods lifted by the cargo fork 3 .

Abstract

本发明涉及一种用于物流的安全可靠的稳定型的搬运机器人，包括主体、两个支撑杆和两个货叉，所述支撑杆排列设置在主体的一侧，所述支撑杆竖向固定在主体上，所述支撑杆与货叉一一对应，所述货叉水平设置在支撑杆的远离主体的一侧，所述货叉设置在支撑杆上，所述支撑杆上设有驱动装置，所述驱动装置与货叉传动连接，所述主体内设有动力装置，所述货叉的上方设有固定机构，两个货叉上均设有至少两个稳定机构，所述稳定机构分别排列设置在货叉的两侧，该用于物流的安全可靠的稳定型的搬运机器人通过固定机构提高了可靠性，不仅如此，还通过稳定机构提高了货物的稳定性。

Description

一种用于物流的安全可靠的稳定型的搬运机器人 技术领域
本发明涉及机器人领域，特别涉及一种用于物流的安全可靠的稳定型的搬运机器人。
背景技术
智能机器人具备形形色色的内部信息传感器和外部信息传感器，如视觉、听觉、触觉、嗅觉等，除具有感受器外，它还有效应器，作为作用于周围环境的手段,因其智能化程度高，在救援、运输、农业等领域得到广泛应用。
现有的用于物流的叉车在实际使用中，当货物底部不平整时，叉车的两个货叉抬起货物的过程中由于受力点较少可能导致货物发生倾斜的状况，严重时还会导致货物倒塌而坠落，造成货物损坏，不仅如此，当叉车抬起货物行驶在下坡路段时，货叉上的货物发生倾斜，易导致货物从货叉上滑落，降低了可靠性和实用性。
发明内容
本发明要解决的技术问题是：为了克服现有技术的不足，提供一种用于物流的安全可靠的稳定型的搬运机器人。
本发明解决其技术问题所采用的技术方案是：一种用于物流的安全可靠的稳定型的搬运机器人，包括主体、两个支撑杆和两个货叉，所述支撑杆排列设置在主体的一侧，所述支撑杆竖向固定在主体上，所述支撑杆与货叉一一对应，所述货叉水平设置在支撑杆的远离主体的一侧，所述货叉设置在支撑杆上，所述支撑杆上设有驱动装置，所述驱动装置与货叉传动连接，所述主体内设有动力装置，所述货叉的上方设有固定机构，两个货叉上均设 有至少两个稳定机构，所述稳定机构分别排列设置在货叉的两侧；
所述固定机构包括挡杆、挡板和两个传动组件，所述挡杆水平设置在支撑杆的远离主体的一侧，所述挡杆的两端到主体的距离相等，所述挡板竖向固定在挡杆的底部，所述传动组件与支撑杆一一对应，所述传动组件与挡杆传动连接。
所述传动组件包括驱动单元和两个传动单元，所述驱动单元包括连接块、驱动电机、丝杆和传动板，所述连接块设置在支撑杆上，所述驱动装置与连接块传动连接，所述驱动电机固定在连接块的远离主体的一侧，所述丝杆水平设置，所述驱动电机与丝杆传动连接，所述传动板竖向设置，所述传动板套设在丝杆上，所述传动板的与丝杆的连接处设有与丝杆匹配的螺纹，两个传动单元分别设置在丝杆的上方和下方，所述传动板通过传动单元与挡杆传动连接。
所述稳定机构包括动力组件、稳定组件和辅助组件，所述稳定组件包括转动轴、转动杆和支撑块，所述货叉上设有凹口，所述转动轴竖向设置在凹口内，所述凹口顶部的内壁和底部的内壁分别套设在转动轴的两端，所述转动杆水平设置在凹口内，所述转动杆的一端设有连接孔，所述支撑块固定在转动杆的另一端，所述连接孔与转动轴匹配，所述转动轴设置在连接孔内，所述转动轴与转动杆过盈配合，所述货叉上设有连接口，所述支撑块设置在连接口内，所述动力组件与转动轴传动连接，所述辅助组件设置在转动轴和支撑块之间。
作为优选，为了实现挡杆移动的功能，所述传动单元包括导杆、限位块和传动杆，所述导杆和传动杆均水平设置，所述导杆的一端固定在连接块的远离主体的一侧，所述限位块固定在导杆的另一端，所述传动板套设在导杆上，所述传动杆的一端设置在传动杆的远离主体的一侧，所述传动杆的另一端与挡杆固定连接。
作为优选，为了驱动转动轴转动，所述动力组件包括动力电 机、驱动齿轮和从动齿轮，所述动力电机固定在凹口的内壁上，所述动力电机与驱动齿轮传动连接，所述驱动齿轮与从动齿轮啮合，所述从动齿轮安装在转动轴上。
作为优选，为了提高转动杆的稳定性，所述辅助组件包括连杆、滑块、连接杆和两个固定块，所述连接杆水平设置，所述连接杆的两端分别通过两个固定块固定在凹口的内壁上，所述滑块套设在连接杆上，所述滑块的底部与连杆的一端铰接，所述连杆的另一端与转动杆的顶部铰接。
作为优选，为了减小连接杆与滑块之间的摩擦力，所述连接杆上涂有润滑油。
作为优选，为了实现智能化，所述主体内设有PLC和天线，所述货叉的顶部设有红外线传感器，所述红外线传感器、天线、动力电机、驱动电机、驱动装置和动力装置均与PLC电连接。
作为优选，为了便于支撑块移动，所述支撑块的顶部设有滚珠，所述支撑块套设在滚珠上，所述滚珠的顶部与货叉的顶部处于同一平面。
作为优选，为了提高摩擦力，所述挡板的靠近主体的一侧设有防滑纹。
作为优选，为了提高转动杆的强度，所述转动杆的制作材料为钛合金。
作为优选，为了提高驱动电机的驱动力，所述驱动电机为伺服电机。
本发明的有益效果是，该用于物流的安全可靠的稳定型的搬运机器人通过固定机构提高了可靠性，与现有的固定机构相比，该固定机构设计巧妙，实用性更高，不仅如此，还通过稳定机构提高了货物的稳定性，与现有的稳定机构相比，该稳定机构结构简单，成本更低。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明的用于物流的安全可靠的稳定型的搬运机器人的结构示意图；
图2是本发明的用于物流的安全可靠的稳定型的搬运机器人的固定机构的结构示意图；
图3是本发明的用于物流的安全可靠的稳定型的搬运机器人的稳定机构的结构示意图；
图4是图3的A部放大图；
图中：1.主体，2.支撑杆，3.货叉，4.挡杆，5.挡板，6.连接块，7.驱动电机，8.丝杆，9.传动板，10.转动轴，11.转动杆，12.支撑块，13.导杆，14.限位块，15.传动杆，16.动力电机，17.驱动齿轮，18.从动齿轮，19.连杆，20.滑块，21.连接杆，22.固定块，23.滚珠。
具体实施方式
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。
如图1所示，一种用于物流的安全可靠的稳定型的搬运机器人，包括主体1、两个支撑杆2和两个货叉3，所述支撑杆2排列设置在主体1的一侧，所述支撑杆2竖向固定在主体1上，所述支撑杆2与货叉3一一对应，所述货叉3水平设置在支撑杆2的远离主体1的一侧，所述货叉3设置在支撑杆2上，所述支撑杆2上设有驱动装置，所述驱动装置与货叉3传动连接，所述主体1内设有动力装置，所述货叉3的上方设有固定机构，两个货叉3上均设有至少两个稳定机构，所述稳定机构分别排列设置在货叉3的两侧。
通过动力装置使主体1移动，通过驱动装置使货叉3在支撑杆2上升降，实现了抬起货物移动的功能。
如图2所示，所述固定机构包括挡杆4、挡板5和两个传动组件，所述挡杆4水平设置在支撑杆2的远离主体1的一侧，所述挡杆4的两端到主体1的距离相等，所述挡板5竖向固定在挡杆4的底部，所述传动组件与支撑杆2一一对应，所述传动组件与挡杆4传动连接。
所述传动组件包括驱动单元和两个传动单元，所述驱动单元包括连接块6、驱动电机7、丝杆8和传动板9，所述连接块6设置在支撑杆2上，所述驱动装置与连接块6传动连接，所述驱动电机7固定在连接块6的远离主体1的一侧，所述丝杆8水平设置，所述驱动电机7与丝杆8传动连接，所述传动板9竖向设置，所述传动板9套设在丝杆8上，所述传动板9的与丝杆8的连接处设有与丝杆8匹配的螺纹，两个传动单元分别设置在丝杆8的上方和下方，所述传动板9通过传动单元与挡杆4传动连接。
当货叉3抬起货物后，通过驱动电机7运行，使丝杆8转动，从而使传动板9在丝杆8上向远离主体1的方向移动，传动板9的移动通过传动单元使挡杆4带动挡板5向远离主体1方向移动，使货物位于挡板5和支撑杆2之间，随后通过驱动装置带动连接块6向下移动，最后通过驱动电机7使丝杆8反向转动，带动挡板5货物抵靠，从而使挡板5固定货物，避免主体1在下坡路段时货物从货叉3上坠落，提高了可靠性。
如图3所示，所述稳定机构包括动力组件、稳定组件和辅助组件，所述稳定组件包括转动轴10、转动杆11和支撑块12，所述货叉3上设有凹口，所述转动轴10竖向设置在凹口内，所述凹口顶部的内壁和底部的内壁分别套设在转动轴10的两端，所述转动杆11水平设置在凹口内，所述转动杆11的一端设有连接孔，所述支撑块12固定在转动杆11的另一端，所述连接孔与转动轴 10匹配，所述转动轴10设置在连接孔内，所述转动轴10与转动杆11过盈配合，所述货叉3上设有连接口，所述支撑块12设置在连接口内，所述动力组件与转动轴10传动连接，所述辅助组件设置在转动轴10和支撑块12之间。
当货物与货叉3的顶部抵靠，通过动力组件使转动轴10转动，从而转动轴10的转动通过转动杆11使支撑块12转动，通过支撑块12抵靠在货物的底部，从而提高了货物在货叉3上的支撑点，提高了货物的稳定性。
作为优选，为了实现挡杆4移动的功能，所述传动单元包括导杆13、限位块14和传动板9，所述导杆13和传动板9均水平设置，所述导杆13的一端固定在连接块6的远离主体1的一侧，所述限位块14固定在导杆13的另一端，所述传动板9套设在导杆13上，所述传动板9的一端设置在传动板9的远离主体1的一侧，所述传动板9的另一端与挡杆4固定连接，通过导杆13可以支撑传动板9在丝杆8上移动，通过限位块14可以避免导杆13与传动板9分离，传动板9的移动通过传动板9带动挡杆4移动，实现了驱动挡杆4移动的功能。
如图4所示，所述动力组件包括动力电机16、驱动齿轮17和从动齿轮18，所述动力电机16固定在凹口的内壁上，所述动力电机16与驱动齿轮17传动连接，所述驱动齿轮17与从动齿轮18啮合，所述从动齿轮18安装在转动轴10上，通过动力电机16运行，使驱动齿轮17带动从动齿轮18转动，从而使转动轴10转动，实现了驱动转动轴10转动的功能。
作为优选，为了提高转动杆11的稳定性，所述辅助组件包括连杆19、滑块20、连接杆21和两个固定块22，所述连接杆21水平设置，所述连接杆21的两端分别通过两个固定块22固定在凹口的内壁上，所述滑块20套设在连接杆21上，所述滑块20的底部与连杆19的一端铰接，所述连杆19的另一端与转动杆11 的顶部铰接，转动杆11的转动通过连杆19带动滑块20在连接杆21上移动，转动杆11通过连杆19和滑块20的连接实现了支撑转动杆11的功能，提高了支撑块12支撑货物的稳定性。
作为优选，为了减小连接杆21与滑块20之间的摩擦力，所述连接杆21上涂有润滑油，润滑油具有润滑的功能，可以提高连接杆21与滑块20之间的摩擦力，提高了滑块20移动的流畅性。
作为优选，为了实现智能化，所述主体1内设有PLC和天线，所述货叉3的顶部设有红外线传感器，所述红外线传感器、天线、动力电机16、驱动电机7、驱动装置和动力装置均与PLC电连接，使用者通过无线设备发出无线信号，天线接收信号后给PLC发出信号，PLC控制驱动装置、动力装置和驱动电机7运行，当货物与货叉3顶部抵靠时，红外线传感器检测到信号，红外线传感器给PLC发出信号，PLC控制动力电机16使转动轴10转动设定角度，实现了智能化。
作为优选，为了便于支撑块12移动，所述支撑块12的顶部设有滚珠23，所述支撑块12套设在滚珠23上，所述滚珠23的顶部与货叉3的顶部处于同一平面，通过滚珠23可以使支撑块12与货物之间的滑动摩擦转换成转动摩擦，减小了摩擦力，便于支撑块12移动。
作为优选，为了提高摩擦力，所述挡板5的靠近主体1的一侧设有防滑纹，通过防滑纹可以提高了挡板5与货物之间的摩擦力，提高了稳定性。
作为优选，为了提高转动杆11的强度，所述转动杆11的制作材料为钛合金，钛合金具有强度高、耐腐蚀等特点，提高了转动杆11的强度。
作为优选，为了提高驱动电机7的驱动力，所述驱动电机7为伺服电机，伺服电机具有驱动力强的特点，提高了驱动电机7的驱动力。
该用于物流的安全可靠的稳定型的搬运机器人，通过挡板5与货物的抵靠避免主体1在下坡路段行驶时，货物从货叉3上滑落而损坏，提高了可靠性，通过转动杆11带动支撑块12转动，提高了货叉3抬起货物的支撑点，提高了货叉3抬起货物的稳定性。
与现有技术相比，该用于物流的安全可靠的稳定型的搬运机器人通过固定机构提高了可靠性，与现有的固定机构相比，该固定机构设计巧妙，实用性更高，不仅如此，还通过稳定机构提高了货物的稳定性，与现有的稳定机构相比，该稳定机构结构简单，成本更低。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (10)

  1. 一种用于物流的安全可靠的稳定型的搬运机器人，包括主体(1)、两个支撑杆(2)和两个货叉(3)，所述支撑杆(2)排列设置在主体(1)的一侧，所述支撑杆(2)竖向固定在主体(1)上，所述支撑杆(2)与货叉(3)一一对应，所述货叉(3)水平设置在支撑杆(2)的远离主体(1)的一侧，所述货叉(3)设置在支撑杆(2)上，所述支撑杆(2)上设有驱动装置，所述驱动装置与货叉(3)传动连接，所述主体(1)内设有动力装置，其特征在于，所述货叉(3)的上方设有固定机构，两个货叉(3)上均设有至少两个稳定机构，所述稳定机构分别排列设置在货叉(3)的两侧；
    所述固定机构包括挡杆(4)、挡板(5)和两个传动组件，所述挡杆(4)水平设置在支撑杆(2)的远离主体(1)的一侧，所述挡杆(4)的两端到主体(1)的距离相等，所述挡板(5)竖向固定在挡杆(4)的底部，所述传动组件与支撑杆(2)一一对应，所述传动组件与挡杆(4)传动连接；
    所述传动组件包括驱动单元和两个传动单元，所述驱动单元包括连接块(6)、驱动电机(7)、丝杆(8)和传动板(9)，所述连接块(6)设置在支撑杆(2)上，所述驱动装置与连接块(6)传动连接，所述驱动电机(7)固定在连接块(6)的远离主体(1)的一侧，所述丝杆(8)水平设置，所述驱动电机(7)与丝杆(8)传动连接，所述传动板(9)竖向设置，所述传动板(9)套设在丝杆(8)上，所述传动板(9)的与丝杆(8)的连接处设有与丝杆(8)匹配的螺纹，两个传动单元分别设置在丝杆(8)的上方和下方，所述传动板(9)通过传动单元与挡杆(4)传动连接；
    所述稳定机构包括动力组件、稳定组件和辅助组件，所述稳定组件包括转动轴(10)、转动杆(11)和支撑块(12)，所述货叉(3)上设有凹口，所述转动轴(10)竖向设置在凹口内，所述凹口顶部的内壁和底部的内壁分别套设在转动轴(10)的两端，所述转动杆(11)水平设置在凹口内，所述转动杆(11)的一端设有连接孔，所 述支撑块(12)固定在转动杆(11)的另一端，所述连接孔与转动轴(10)匹配，所述转动轴(10)设置在连接孔内，所述转动轴(10)与转动杆(11)过盈配合，所述货叉(3)上设有连接口，所述支撑块(12)设置在连接口内，所述动力组件与转动轴(10)传动连接，所述辅助组件设置在转动轴(10)和支撑块(12)之间。
  2. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述传动单元包括导杆(13)、限位块(14)和传动板(9)，所述导杆(13)和传动板(9)均水平设置，所述导杆(13)的一端固定在连接块(6)的远离主体(1)的一侧，所述限位块(14)固定在导杆(13)的另一端，所述传动板(9)套设在导杆(13)上，所述传动板(9)的一端设置在传动板(9)的远离主体(1)的一侧，所述传动板(9)的另一端与挡杆(4)固定连接。
  3. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述动力组件包括动力电机(16)、驱动齿轮(17)和从动齿轮(18)，所述动力电机(16)固定在凹口的内壁上，所述动力电机(16)与驱动齿轮(17)传动连接，所述驱动齿轮(17)与从动齿轮(18)啮合，所述从动齿轮(18)安装在转动轴(10)上。
  4. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述辅助组件包括连杆(19)、滑块(20)、连接杆(21)和两个固定块(22)，所述连接杆(21)水平设置，所述连接杆(21)的两端分别通过两个固定块(22)固定在凹口的内壁上，所述滑块(20)套设在连接杆(21)上，所述滑块(20)的底部与连杆(19)的一端铰接，所述连杆(19)的另一端与转动杆(11)的顶部铰接。
  5. 如权利要求4所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述连接杆(21)上涂有润滑油。
  6. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述主体(1)内设有PLC和天线，所述货叉 (3)的顶部设有红外线传感器，所述红外线传感器、天线、动力电机(16)、驱动电机(7)、驱动装置和动力装置均与PLC电连接。
  7. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述支撑块(12)的顶部设有滚珠(23)，所述支撑块(12)套设在滚珠(23)上，所述滚珠(23)的顶部与货叉(3)的顶部处于同一平面。
  8. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述挡板(5)的靠近主体(1)的一侧设有防滑纹。
  9. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述转动杆(11)的制作材料为钛合金。
  10. 如权利要求1所述的用于物流的安全可靠的稳定型的搬运机器人，其特征在于，所述驱动电机(7)为伺服电机。
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