CN107244275A - A kind of Multi-functional transporting machine people - Google Patents
A kind of Multi-functional transporting machine people Download PDFInfo
- Publication number
- CN107244275A CN107244275A CN201710485300.7A CN201710485300A CN107244275A CN 107244275 A CN107244275 A CN 107244275A CN 201710485300 A CN201710485300 A CN 201710485300A CN 107244275 A CN107244275 A CN 107244275A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- fixed
- shaft
- motor
- machine people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Multi-functional transporting machine people, it is related to transportation robot field.The robot is divided into Department of Transportation and chassis two parts, and the Department of Transportation includes：Push-and-pull transport establishment, lifting transport establishment and high-altitude transport machine structure；The push-pull mechanism is arranged on chassis rear and front end；Chassis center is fixed in the lifting transport establishment, and is stretched out from robot front end；The high-altitude transport machine structure is fixed on chassis center and upwardly extended；The present invention, can be with the honorable article of lifting, and to the goods transportation of certain altitude in addition to the Traditional Transportation of push-and-pull is carried out to ground article；Realize the multifunction transport of robot.
Description
Technical field
The present invention relates to transportation robot field, more particularly to a kind of Multi-functional transporting machine people.
Background technology
With continuing to develop for human society, the various robots for substituting human labour power arise, especially with
Transportation robot is more and more appeared in the life of people, but current Traditional Transportation robot function is single, and knot
Structure is complicated
A kind of transportation robot as disclosed in Chinese invention patent CN 104386494A, the transportation robot includes flat
Platform；Vehicle frame is provided with below the platform, the bottom of frame is provided with wheel, and the wheel is connected with the first motor, described first
Motor is fixed on vehicle frame.The semi-finished product of machine tooling are delivered into specially inspection platform using the robot, then entered by specially examining personnel
Performing check, after the assay was approved again transports semi-finished product to the process back；Transport that can only simply to single article, operation strategies compared with
It is small；
A kind of and for example load type logistics transportation robot disclosed in Chinese invention patent CN 105059411A, it is related to
A kind of transportation robot, it is complicated with the transport vehicle robot architecture for solving to be currently used for logistic storage, and can not rotate in place,
Shelf and transport vehicle are unable to adjustment direction, and goods is carried still to meet and is actually needed, the problem of bad adaptability.It includes driving
Motivation structure, elevating mechanism and battery；Drive mechanism includes support body, two sets of differential drive mechanisms and four castors；Two sets of differentials
Drive mechanism is arranged in parallel on support body, and often covering differential drive mechanism includes road wheel, first gear, second gear and driving electricity
Machine, road wheel is rotatably installed on support body, and first gear is arranged on road wheel, and the output shaft of motor is horizontally disposed, the
Two gears are arranged on the output shaft of motor, first gear and second gear engagement；It is mechanical, electrical that elevating mechanism includes power electric
Frame, little gear, middle gear, gear wheel, leading screw, screw and crane；But above-mentioned transportation robot is complicated, production cost
It is high.
The content of the invention
First, the technical problem to be solved
The purpose of the present invention is that, for the above mentioned problem present in prior art, spy provides a kind of simple in construction multi-functional
Transportation robot, with overcome in the prior art transportation robot use narrow range, complicated, the problem of production cost is high.
2nd, technical scheme
Include in order to solve the above technical problems, the present invention provides a kind of Multi-functional transporting machine people by Department of Transportation and chassis two
Part is constituted；
Wherein, Department of Transportation includes push-and-pull transport establishment, lifting transport establishment and high-altitude transport machine structure, push-and-pull transport establishment
Chassis rear and front end is set respectively, it is main to be responsible for carrying out push-and-pull transport to the article on ground；Chassis is fixed in lifting transport establishment
Center, and stretched out to robot front end, it is main to be responsible for ground article being lifted to certain altitude；High-altitude transport machine structure is fixed on
The chassis center, is mainly transported to the article of certain altitude near transportation robot；
Wherein, chassis includes：Bottom plate, motor, wheel, line walking plate and controller；Motor by motor rack with
Bottom plate is fixed；Wheel is fixed on the front output shaft of the motor；Line walking plate is separately positioned on place at three before, during and after bottom plate,
Controller is arranged at bottom plate center, and is electrically connected with motor and the realization of line walking plate.
Wherein, wheel includes wheel hub and is wrapped in the rubber periderm of hub outside diameter；Rubber periderm rheo-die-casting is in wheel hub
On external diameter, and die casting is integral.
Wherein, in order to preferably produce most suitable frictional force with ground, the hardness of rubber periderm is adjusted to 37 degree.
Wherein, push-and-pull transport establishment includes：Steering wheel, driving wheel, driven pulley, main shaft, bearing block, shaft coupling and transportation frame；
Driving wheel is sheathed in steering wheel rotating shaft；Driven pulley is engaged with driving wheel；Main shaft runs through driven pulley；Main shaft both sides are arranged with bearing,
Bearing block is arranged on bearing, and after bearing block is fixed with chassis；Shaft coupling and main shaft two ends are interference fitted and against bearing block；Connection
Transportation frame is fixed in axle device end.
Wherein, lifting transport establishment includes：Worm and gear motor, connecting shaft, connecting shaft support base, transmission arm, slave arm,
Buffer, buffer fixed plate, lifting plate, slave arm motor；Connecting bushing is on the output shaft of worm and gear motor both sides；Even
It is arranged with spindle on bearing, bearing and is arranged connecting shaft support base；Transmission arm is installed on the connecting shaft on the outside of connecting shaft support base
On；Slave arm motor is installed on the transmission arm front end；Slave arm is installed on slave arm motor front output shaft；Buffer fixed plate
It is installed on slave arm bottom；Buffer is installed in buffer fixed plate；Lifting plate is connected with buffer, and buffer can be given
Lifting plate plays cushioning effect.
Wherein, high-altitude transport machine structure includes：Support beam, longitudinal steering wheel frame, the longitudinal axis, longitudinal steering wheel, horizontal steering wheel frame, horizontal stroke
Axle, horizontal steering wheel, horizontal bearing block, vertical rod, shelf；The longitudinal steering wheel frame of support beam support；Longitudinal steering wheel frame fixes longitudinal steering wheel；
The longitudinal axis passes through longitudinal steering wheel frame to be fixed with horizontal steering wheel frame, and horizontal steering wheel frame is by longitudinal servo driving；Horizontal steering wheel is fixed
In on horizontal steering wheel frame；Horizontal bearing block is fixed on horizontal steering wheel frame；Transverse axis runs through horizontal bearing block and is connected with horizontal steering wheel；
Vertical rod and shelf are both secured on transverse axis.
Wherein, longitudinal steering wheel frame is provided with U-shaped bearing block, U-shaped bearing block and is provided with bearing, and the longitudinal axis is passed through from bearing inner race
Wear and fixed with horizontal bearing block.
Wherein, transverse axis includes：Inner axles, the first outer shaft, the second outer shaft, vertical rod fixing axle；Inner axles run through horizontal bearing block；The
One outer shaft and the second outer shaft are inserted in from Inner axles two ends and against horizontal bearing block both sides；Shelf and the first outer shaft and the second axially outer end
Portion is fixed；Vertical rod fixing axle is inserted in and pushed down the fixed part of shelf shelf and the second outer shaft, and vertical rod fixing axle from Inner axles one end
It is connected with the second outer shaft by long screw.
Wherein, vertical rod fixing axle side is drilled with fixing hole, and vertical rod is inserted in the fixing hole and fixed with adhesive.
Wherein, support beam bottom is drilled with through hole；Connecting shaft is passed through from through hole in installation process.
3rd, beneficial effects of the present invention
Compared with prior art, a kind of Multi-functional transporting machine people of the invention has many advantages, such as follows：
(1) by programming, job requirement is set, Unmanned operation is realized；
(2) four-wheel drive is utilized, makes robot more flexible and convenient in transportation；
(3) by a variety of transport establishments, the transportation demand of different requirements is realized, makes the operation strategies of robot wider
It is general.
Brief description of the drawings
Fig. 1 is Multi-functional transporting machine people's overall structure diagram of the invention；
Fig. 2 is the chassis structure schematic diagram of the Multi-functional transporting machine people of the present invention；
Fig. 3 is the push-and-pull transport establishment structural representation of the Multi-functional transporting machine people of the present invention；
Fig. 4 is the lifting transport establishment structural representation of the Multi-functional transporting machine people of the present invention；
Fig. 5 is the high-altitude transport machine structure structural representation of the Multi-functional transporting machine people of the present invention；
Fig. 6 is the cross shaft structure schematic diagram of the Multi-functional transporting machine people of the present invention；
Fig. 7 is longitudinal steering wheel frame schematic appearance of the Multi-functional transporting machine people of the present invention；
In figure：1 is chassis；2 be push-and-pull transport establishment；3 be lifting transport establishment；4 be high-altitude transport machine structure；11 be bottom
Plate；12 be motor；13 be wheel；14 be line walking plate；15 be controller；21 be steering wheel；22 be driving wheel；23 be driven
Wheel；24 be main shaft；25 be bearing block；26 be shaft coupling；27 be transportation frame；31 be worm and gear motor；32 be connecting shaft；33 are
Connecting shaft support base；34 be transmission arm；35 be slave arm；36 be buffer；37 be buffer fixed plate；38 be lifting plate；39
For slave arm motor；41 be support beam；42 be longitudinal steering wheel frame；43 be the longitudinal axis；44 be longitudinal steering wheel；45 be horizontal steering wheel frame；
46 be transverse axis；47 be horizontal steering wheel；48 be horizontal bearing block；49 be vertical rod；50 be shelf；411 be through hole；461 be Inner axles；
462 be the first outer shaft；463 be the second outer shaft；464 be vertical rod fixing axle.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but can not be used for limiting the scope of the present invention.
The structure of Multi-functional transporting machine people of the embodiment of the present invention a kind of as shown in Figures 1 to 7, including Department of Transportation and bottom
The two parts of disk 1；
Wherein, Department of Transportation includes：Push-and-pull transport establishment 2, lifting transport establishment 3 and high-altitude transport machine structure 4, push-and-pull transporter
Structure 2 is separately positioned on the rear and front end of chassis 1, and major function is push-and-pull ground article；Because transportation robot rear and front end is all set
Have push-and-pull transport establishment 2, thus transportation robot can to the article in transportation robot rear and front end simultaneously push-and-pull or
Ground article is carried out by original place location swap by the pivot turn of chassis 1；The center of chassis 1 is fixed in lifting transport establishment 3, and
Stretched out to robot front end, major function is that ground article is lifted into certain altitude or is that article is unloaded by certain altitude；It is high
Air transport transfer mechanism 4 is fixed on chassis center, and mainly the article of certain altitude near transportation robot is transported；
Wherein, chassis is that four-wheel drive bottom plate includes：Bottom plate 11, four motors 12, four wheels 13, three patrol
Line plate 14 and controller 15；Motor 12 is fixed on the surrounding of bottom plate 11 by motor rack；Wheel 13 is installed on motor 12
Front output shaft；Line walking plate 14 is separately positioned at three before, during and after bottom plate 11 place and is connected with controller 15, controller 15
In the center of bottom plate 11, and motor 12 is controlled, control the rotating speed of four motors 12 to realize by controller 15
The traveling of transportation robot and turning function.
Wherein, wheel 1 includes wheel hub 131 and rubber periderm 132；The rheo-die-casting of rubber periderm 132 is in the external diameter of wheel hub 131
On, and die casting is integral；In order to further improve wheel friction effect, the hardness of rubber periderm 132 is set to 37 degree.
Wherein, push-and-pull transport establishment includes：Steering wheel 21, driving wheel 22, driven pulley 23, main shaft 24, bearing block 25, shaft coupling
26 and transportation frame 27；Driving wheel is sheathed in the rotating shaft of steering wheel 21；Driven pulley 23 is engaged with driving wheel 22 and transmitted to driven pulley 23
Power；Main shaft 24 is fixed through driven pulley 23 and with driven pulley 23；The both sides of main shaft 24 are arranged with bearing, bearing and are arranged bearing block
25, and rear bearing block 25 is fixed on chassis base plate 11；Shaft coupling 26 be inserted in from the two ends of main shaft 24 against bearing block 25 and with master
Axle 24 is interference fitted；Transportation frame 27 is fixed in the end of shaft coupling 26；When steering wheel 21 provides power to driving wheel 22, the band of driving wheel 22
Dynamic driven pulley 23 is rotated, main shaft 24 also can concomitant rotation, because transportation frame 27 is fixed by shaft coupling 26 with main shaft 24, transportation frame
Can be swung up and down with the rotation direction of steering wheel 21 and transport needed for extracting article, so as to realize promotion to article or drag
It is dynamic.
Wherein, lifting transport establishment includes：Worm and gear motor 31, connecting shaft 32, connecting shaft support base 33, transmission arm
34th, slave arm 35, buffer 36, buffer fixed plate 37, lifting plate 38, slave arm motor 39；Connecting shaft 32 is sheathed on worm gear
On the both sides output shaft of endless screw electric motor 31；It is arranged with connecting shaft 32 on bearing, bearing and is arranged connecting shaft support base 33, is then fixed
In chassis base plate 11；Transmission arm 34 loads from the outside of connecting shaft support base 33, is installed in connecting shaft 32；Slave arm motor 39 is pacified
Loaded on the front end of transmission arm 34；Slave arm 35 is installed on the front output shaft of slave arm motor 39；Buffer fixed plate 37 is installed on driven
The bottom of arm 35；Buffer 36 is installed in buffer fixed plate 37；Lifting plate 38 is connected with buffer 36；Pass through worm and gear electricity
The cooperation of machine 31 and slave arm motor 39, makes lifting plate 38 be in lifting or decline under poised state all the time, and in buffer 36
In the presence of can lifting plate 38 contact ground when reduction vibrations.
Wherein, high-altitude transport machine structure includes：Support beam 41, longitudinal steering wheel frame 42, the longitudinal axis 43, longitudinal steering wheel 44, horizontal rudder
Frame 45, transverse axis 46, horizontal steering wheel 47, horizontal bearing block 48, vertical rod 49, shelf 50；Support beam 41 supports longitudinal steering wheel frame 42；
Longitudinal steering wheel frame 42 fixes longitudinal steering wheel 44；Horizontal steering wheel frame 45 is sheathed on longitudinal rotating shaft of steering wheel 44, and the longitudinal axis 43 passes through longitudinal rudder
Frame 42 is fixed with horizontal steering wheel frame 45, and longitudinal steering wheel 44 drives horizontal steering wheel frame 45 to do left-right rotation；Horizontal rudder
Machine 47 is fixed on horizontal steering wheel frame 45, and horizontal bearing block 48 is fixed on horizontal steering wheel frame 45, and transverse axis 46 runs through horizontal bearing
Seat 48 is connected with horizontal steering wheel 47, and vertical rod 49 and shelf 50 are both secured on transverse axis 46, and horizontal steering wheel 47 drives transverse axis 46 to do
Lower rotary motion, vertical rod 49 and shelf 50 also done therewith under the drive of transverse axis 46 above and below rotary motion.
Wherein, intensity is improved in order to mitigate weight, the preferred material of vertical rod 49 is carbon fiber pipe.
Wherein, longitudinal steering wheel frame 42 is provided with U-shaped bearing block, is provided with bearing in U-shaped bearing block, and the longitudinal axis 43 is from the axle
Inner ring is held to run through and fix.
Wherein, transverse axis 46 includes：Inner axles 461, the first outer shaft 462, the second outer shaft 463, vertical rod fixing axle 464；Inner axles 461
Through horizontal bearing block 48；First outer shaft 462 and the second outer shaft 463 are inserted in from the two ends of Inner axles 461 and against horizontal bearing block 48
Both sides；Two fixed parts of shelf 50 are fixed with the first outer shaft 462 and the end of the second outer shaft 463；Vertical rod fixing axle 464 is from Inner axles
461 one end are inserted in and push down the fixed parts of shelf 50 against the second outer shaft 463, and with long screw by the second outer shaft 463, shelf 50
Connect and fix with vertical rod fixing axle 464.
Wherein, the side of vertical rod fixing axle 464 is drilled with fixing hole, the insertion fixing hole of vertical rod 49 and fixed with adhesive.
Wherein, in order to save chassis installing space, worm and gear motor 31 and support beam 41 are arranged side by side, and in support
A through hole 411 for being more than connecting shaft 32 is drilled through on beam to pass through from through hole 411 for connecting shaft 32.
The course of work of transportation robot is as follows：
1st, when the article to ground needs plane to shift, push-and-pull transport establishment starts working, and steering wheel 21 starts, put
Lower transportation frame 27, the article for making the frame of transportation frame 27 select residence to transport, and article is subjected to push-and-pull to the destination of required transport；
2nd, when needing to be raised to certain altitude to ground article；Lifting transport establishment starts working, worm and gear motor
31 and slave arm motor 39 start, by the placement ground that lifting plate 38 is gentle, then robot advances, and lifting plate 38 is pushed into institute
Below the article that need to be transported, last worm and gear motor 31 and slave arm motor 39 are again started up making the vertical ascent of lifting plate 38 extremely
The height of required transport places article required transport destination；
3rd, when to eminence goods transportation, high-altitude transport machine structure starts, and horizontal steering wheel 47, which starts, rotates down vertical rod 49
To level, then longitudinal steering wheel 44, which starts, makes the left-right rotation of vertical rod 49 and promotes the required article transported to destination；
It the above is only the preferred embodiment of the present invention, it is noted that come for those skilled in the art
Say, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of Multi-functional transporting machine people, it is characterised in that the robot is included by Department of Transportation and chassis (1) two parts group
Into, wherein the Department of Transportation includes push-and-pull transport establishment (2), lifting transport establishment (3) and high-altitude transport machine structure (4), it is described
Push-and-pull transport establishment (2) is separately positioned on the chassis (1) rear and front end, being capable of push-and-pull transportation robot rear and front end simultaneously
Article；The lifting transport establishment (3) is fixed on the chassis (1) center, and is stretched out to the robot front end, can be by
Article carries out vertical direction transport；The high-altitude transport machine structure (4) is fixed on the chassis (1) center, can be in transport
The article of certain altitude is transported near robot；
The chassis includes：Bottom plate (11), motor (12), wheel (13), line walking plate (14) and controller (15)；It is described
Motor (12) is fixed by motor rack and the bottom plate (11)；The wheel (13) is fixed on the motor (12)
Front output shaft；The line walking plate (14) is separately positioned on place at three before, during and after the bottom plate (11), and the controller (15) sets
The bottom plate (11) center is placed in, and is electrically connected with the motor (12) and the line walking plate (14) realization.
2. Multi-functional transporting machine people as claimed in claim 1, it is characterised in that the wheel (13) includes wheel hub
(131) and it is wrapped in the rubber periderm (132) of wheel hub (131) external diameter；Rubber periderm (132) rheo-die-casting is in the wheel hub
(131) on external diameter, and die casting is integral.
3. Multi-functional transporting machine people as claimed in claim 2, it is characterised in that the hardness of the rubber periderm (132) is
37 degree.
4. Multi-functional transporting machine people as claimed in claim 1, it is characterised in that the push-and-pull transport establishment includes：Steering wheel
(21), driving wheel (22), driven pulley (23), main shaft (24), bearing block (25), shaft coupling (26) and transportation frame (27)；The master
Driving wheel is sheathed in the steering wheel (21) rotating shaft；The driven pulley (23) is engaged with the driving wheel (22)；The main shaft (24)
Through the driven pulley (23)；Main shaft (24) both sides, which are arranged with bearing, the bearing, is arranged the bearing block (25)；Institute
Shaft coupling (26) is stated to be interference fitted with the main shaft (24) two ends；Transportation frame (27) is fixed in shaft coupling (26) end.
5. Multi-functional transporting machine people as claimed in claim 1, it is characterised in that the lifting transport establishment includes：Worm gear
It is endless screw electric motor (31), connecting shaft (32), connecting shaft support base (33), transmission arm (34), slave arm (35), buffer (36), slow
Rush device fixed plate (37), lifting plate (38), slave arm motor (39)；The connecting shaft (32) is sheathed on the worm and gear motor
(31) on the output shaft of both sides；It is arranged with the connecting shaft on bearing, the bearing and is arranged the connecting shaft support base (33)；Institute
State in the connecting shaft (32) that transmission arm (34) is installed on the outside of the connecting shaft support base (33)；Slave arm motor (39) peace
Loaded on the transmission arm (34) front end；The slave arm (35) is installed on slave arm motor (39) front output shaft；It is described slow
Rush device fixed plate (37) and be installed on the slave arm (35) bottom；The buffer (36) is installed on the buffer fixed plate
(37) on；The lifting plate (38) is connected with the buffer.
6. Multi-functional transporting machine people as claimed in claim 1, it is characterised in that the high-altitude transport machine structure includes：Support
Beam (41), longitudinal steering wheel frame (42), the longitudinal axis (43), longitudinal steering wheel (44), horizontal steering wheel frame (45), transverse axis (46), horizontal steering wheel
(47), horizontal bearing block (48), vertical rod (49), shelf (50)；The support beam (41) supports longitudinal steering wheel frame (42)；Institute
State the fixed longitudinal steering wheel (44) of longitudinal steering wheel frame (42)；The longitudinal axis (43) through longitudinal steering wheel frame (42) with it is described
Horizontal steering wheel frame (45) is fixed；The horizontal steering wheel (47) is fixed on the horizontal steering wheel frame (45)；The horizontal bearing block
(48) it is fixed on the horizontal steering wheel frame (45)；The transverse axis (46) runs through horizontal bearing block (48) and the horizontal steering wheel
(47) connect；The vertical rod (49) and shelf (50) are both secured on the transverse axis (46).
7. Multi-functional transporting machine people as claimed in claim 6, it is characterised in that longitudinal steering wheel frame (42) is provided with U
Bearing is installed, the longitudinal axis (43) is run through and fixed from the bearing inner race in type bearing support, the U-shaped bearing block.
8. Multi-functional transporting machine people as claimed in claim 7, it is characterised in that the transverse axis (46) includes：Inner axles
(461), the first outer shaft (462), the second outer shaft (463), vertical rod fixing axle (464)；The Inner axles (461) run through the lateral shaft
Bearing (48)；First outer shaft (462) and the second outer shaft (463) are inserted in from Inner axles (461) two ends and against the horizontal stroke
To bearing block (48) both sides；The shelf (50) are fixed with first outer shaft (462) and the second outer shaft (463) end；It is described
Vertical rod fixing axle (464) is inserted in from described Inner axles (461) one end and pushes down the shelf (50), and the vertical rod fixing axle
(464) it is fixed with second outer shaft (463).
9. Multi-functional transporting machine people as claimed in claim 8, it is characterised in that bore vertical rod fixing axle (464) side
There is fixing hole, the vertical rod (49) is inserted in the fixing hole.
10. the Multi-functional transporting machine people as described in claim 5 or 6, it is characterised in that support beam (41) bottom is drilled with
Through hole (411)；The connecting shaft (32) passes through from the through hole (411).
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810905520.5A CN109017502B (en) | 2017-06-23 | 2017-06-23 | Robot with high-altitude transportation function |
| CN201810905516.9A CN108859908B (en) | 2017-06-23 | 2017-06-23 | Transport robot |
| CN201810905526.2A CN108995571B (en) | 2017-06-23 | 2017-06-23 | Automatic change transportation robot |
| CN201710485300.7A CN107244275B (en) | 2017-06-23 | 2017-06-23 | A kind of Multi-functional transporting machine people |
| PH12018050206A PH12018050206A1 (en) | 2017-06-23 | 2018-06-13 | Multifunctional Transportation Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485300.7A CN107244275B (en) | 2017-06-23 | 2017-06-23 | A kind of Multi-functional transporting machine people |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810905520.5A Division CN109017502B (en) | 2017-06-23 | 2017-06-23 | Robot with high-altitude transportation function |
| CN201810905526.2A Division CN108995571B (en) | 2017-06-23 | 2017-06-23 | Automatic change transportation robot |
| CN201810905516.9A Division CN108859908B (en) | 2017-06-23 | 2017-06-23 | Transport robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107244275A true CN107244275A (en) | 2017-10-13 |
| CN107244275B CN107244275B (en) | 2018-10-30 |
Family
ID=60018275
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710485300.7A Active CN107244275B (en) | 2017-06-23 | 2017-06-23 | A kind of Multi-functional transporting machine people |
| CN201810905516.9A Active CN108859908B (en) | 2017-06-23 | 2017-06-23 | Transport robot |
| CN201810905520.5A Active CN109017502B (en) | 2017-06-23 | 2017-06-23 | Robot with high-altitude transportation function |
| CN201810905526.2A Active CN108995571B (en) | 2017-06-23 | 2017-06-23 | Automatic change transportation robot |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810905516.9A Active CN108859908B (en) | 2017-06-23 | 2017-06-23 | Transport robot |
| CN201810905520.5A Active CN109017502B (en) | 2017-06-23 | 2017-06-23 | Robot with high-altitude transportation function |
| CN201810905526.2A Active CN108995571B (en) | 2017-06-23 | 2017-06-23 | Automatic change transportation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (4) | CN107244275B (en) |
| PH (1) | PH12018050206A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177933A (en) * | 2018-02-06 | 2018-06-19 | 华柳钧 | A kind of transfer robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877800B (en) * | 2019-04-10 | 2024-02-13 | 合肥工业大学 | Service robot for transportation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040240975A1 (en) * | 2003-03-27 | 2004-12-02 | Manuli Packaging Argentina S.A. | Packaging machine |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN205930308U (en) * | 2016-08-25 | 2017-02-08 | 天津天大求实电力新技术股份有限公司 | Novel carrying vehicle |
| CN206170060U (en) * | 2016-11-14 | 2017-05-17 | 绍兴职业技术学院 | Supermarket shopping machine ware people of automatic tracking of three degrees of freedom |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5288197A (en) * | 1992-02-05 | 1994-02-22 | Harris Wendell N | Equipment trailer |
| JPH09277866A (en) * | 1996-04-11 | 1997-10-28 | Shin Caterpillar Mitsubishi Ltd | Carrier |
| CN2801550Y (en) * | 2005-05-19 | 2006-08-02 | 尚·赛波 | Mechanical device used for moving pallet between londing and unloading positions |
| CN101480933B (en) * | 2009-02-06 | 2010-10-06 | 中国人民解放军后勤工程学院 | Tray type hydraulic weight-hoisting device suitable for small space |
| CN201494345U (en) * | 2009-09-07 | 2010-06-02 | 青特集团有限公司 | Translational lift device |
| US8602713B1 (en) * | 2010-05-28 | 2013-12-10 | International Automated Systems, Inc. | Universal aircraft mule |
| CN202669579U (en) * | 2012-03-20 | 2013-01-16 | 大连通泰科技有限公司 | Double-arm type lifting arm assembly |
| DE202012002832U1 (en) * | 2012-03-21 | 2013-06-25 | Gustav Bruns Maschinenbau und Förderanlagen GmbH & Co. KG | Vehicle lift with pretensioner |
| CN103963690B (en) * | 2013-02-06 | 2016-05-25 | 王马达 | A kind ofly ensure that the operation of container pallet always changes the Apparatus and method for of transport |
| CN203766587U (en) * | 2014-02-28 | 2014-08-13 | 浙江同济科技职业学院 | Emergency rescue vehicle |
| CN104386494A (en) * | 2014-09-25 | 2015-03-04 | 天津恒威先创科技发展有限公司 | Conveying robot |
| CN105128031B (en) * | 2015-05-29 | 2017-03-08 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot centralized dispatching system and method |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN205600706U (en) * | 2016-03-18 | 2016-09-28 | 上海聿冠自动化科技有限公司 | Unmanned multi -functional transport vechicle |
| CN205890985U (en) * | 2016-07-06 | 2017-01-18 | 天津市山石机器人有限责任公司 | Shallow income formula automated guided transporting vehicle's removal chassis device |
| CN206187895U (en) * | 2016-11-17 | 2017-05-24 | 安徽工业大学 | Express delivery conveying robot |
| CN206263980U (en) * | 2016-12-14 | 2017-06-20 | 陕西圣世华安科技有限公司 | Small-sized automatic transporting machine people |
-
2017
- 2017-06-23 CN CN201710485300.7A patent/CN107244275B/en active Active
- 2017-06-23 CN CN201810905516.9A patent/CN108859908B/en active Active
- 2017-06-23 CN CN201810905520.5A patent/CN109017502B/en active Active
- 2017-06-23 CN CN201810905526.2A patent/CN108995571B/en active Active
-
2018
- 2018-06-13 PH PH12018050206A patent/PH12018050206A1/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040240975A1 (en) * | 2003-03-27 | 2004-12-02 | Manuli Packaging Argentina S.A. | Packaging machine |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN205930308U (en) * | 2016-08-25 | 2017-02-08 | 天津天大求实电力新技术股份有限公司 | Novel carrying vehicle |
| CN206170060U (en) * | 2016-11-14 | 2017-05-17 | 绍兴职业技术学院 | Supermarket shopping machine ware people of automatic tracking of three degrees of freedom |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177933A (en) * | 2018-02-06 | 2018-06-19 | 华柳钧 | A kind of transfer robot |
| CN108177933B (en) * | 2018-02-06 | 2023-08-18 | 华柳钧 | Transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109017502B (en) | 2020-10-13 |
| CN108859908A (en) | 2018-11-23 |
| CN109017502A (en) | 2018-12-18 |
| CN107244275B (en) | 2018-10-30 |
| PH12018050206A1 (en) | 2019-08-14 |
| CN108995571B (en) | 2020-09-08 |
| CN108995571A (en) | 2018-12-14 |
| CN108859908B (en) | 2020-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205589050U (en) | Half auto -control handling carriage | |
| CN206336987U (en) | AGV dollies | |
| CN105691429A (en) | Transport vehicle capable of automatically loading and unloading pigs died due to illness and working method of transport vehicle | |
| EP1731473A3 (en) | Container transport vehicle | |
| CN101353028B (en) | Movable bearing surface type automobile | |
| CN107244275B (en) | A kind of Multi-functional transporting machine people | |
| CN106744506A (en) | AGV dollies | |
| CN112660679B (en) | Chassis of storage logistics vehicle, storage logistics vehicle and storage logistics system | |
| CN202953746U (en) | Small-scale crane | |
| CN206107314U (en) | Express delivery transport vechicle | |
| CN206750011U (en) | Self balancing device and electric vehicle | |
| CN206900379U (en) | A kind of electric remote control monorail transport cart | |
| CN105731304B (en) | A kind of electric boosted trailer based on Internet of Things | |
| CN105883680A (en) | Improved electric pallet truck steering driving structure | |
| CN2923650Y (en) | Electric moving small forklift | |
| CN212126856U (en) | Train loading and unloading all-in-one | |
| CN2913277Y (en) | Mobile foodstuff transfer car | |
| CN209853663U (en) | Mechanism for automatically balancing gravity center of vehicle | |
| CN209719632U (en) | A kind of Liftable material carrier | |
| CN113232716A (en) | Controllable differential omnidirectional wheel set | |
| CN208698871U (en) | Trailer steering system | |
| CN101786583B (en) | Walking type tube handling machine | |
| CN105173708B (en) | A kind of automatic picking trolley driven by potential energy | |
| CN109878559A (en) | A kind of Liftable material carrier | |
| CN215398892U (en) | Controllable differential omnidirectional wheel set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |