CN212401408U - Corridor transfer robot - Google Patents
Corridor transfer robot Download PDFInfo
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- CN212401408U CN212401408U CN202020506760.0U CN202020506760U CN212401408U CN 212401408 U CN212401408 U CN 212401408U CN 202020506760 U CN202020506760 U CN 202020506760U CN 212401408 U CN212401408 U CN 212401408U
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- downstairs
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Abstract
The invention discloses a corridor transfer robot, which comprises an upstairs and downstairs going mechanism, an electronic control box and a carrying box, wherein the electronic control box is arranged on the upstairs going mechanism; a hydraulic telescopic rod is arranged above the electronic control box, and the carrying box is arranged on the hydraulic telescopic rod; an upstairs and downstairs mechanism is arranged below the electronic control box; an electric control device is arranged in the electronic control box and is in communication connection with the upstairs and downstairs mechanism and the hydraulic telescopic rod; the upstairs and downstairs mechanism includes: the electric power generating device comprises two motors and a machine body connecting shaft which are arranged in front and back, wherein transmission shafts are arranged at two ends of each motor, and a master gear is sleeved outside each transmission shaft; the two ends of the machine body connecting shaft are respectively provided with a T-shaped supporting rod, the T-shaped supporting rods are arranged in a scattering manner, the inner chain is connected into an annular chain through an outer chain, the main gear is meshed with the chain, and the chain is sleeved on the outer edge of the T-shaped supporting rod; supporting legs are arranged at two ends of the T-shaped supporting rod, and the supporting legs and the T-shaped supporting rod form a sliding groove for the chain to slide; the contact surface of the supporting leg and the ground is a cambered surface. The invention drives the chain type transmission mechanism by the motor to carry out the operation of going upstairs and downstairs, and has simple structure and convenient operation.
Description
Technical Field
The invention relates to a corridor transfer robot.
Background
A robot that performs a transportation operation for moving a load from a certain location to another location is called an "automated guided vehicle" or an "AGV", and is widely introduced into facilities such as warehouses, factories, and harbors.
The wheel type robot has advantages of high-speed mobility and high operation efficiency, and has a problem in that it is difficult to cross a large obstacle such as a doorsill, a staircase, etc., and it is not suitable for running on a complicated road surface such as a muddy ground, a gravel ground, etc., so that it is difficult for the conventional wheel type robot to walk all terrain. Some improved wheeled mechanisms can partially improve the obstacle crossing capability of the robot: CN2717789 proposes a four-wheel-drive robot platform, which uses two front wheels between the front and rear wheels, and two rear wheels between the front and rear wheels respectively connected through a trapezoidal link mechanism, and four wheels between the motor connected through electromagnetic clutch, can bear large load, and can be used in various indoor and outdoor complex road conditions, but the robot body type, vehicle weight, not portable robot, and also can not climb stairs. Therefore, the research of a robot capable of climbing stairs is one of the important problems to be solved by the current transfer robot.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a corridor transfer robot which can adapt to stair transfer.
In order to solve the technical problems, the invention adopts the following technical scheme: a corridor transfer robot is characterized in that: comprises an upstairs and downstairs mechanism, an electronic control box and a carrying box; a hydraulic telescopic rod is arranged above the electronic control box, and the carrying box is arranged on the hydraulic telescopic rod; an upstairs and downstairs mechanism is arranged below the electronic control box; an electric control device is arranged in the electronic control box and is in communication connection with the upstairs and downstairs mechanism and the hydraulic telescopic rod; the upstairs and downstairs mechanism includes: the electric power generating device comprises two motors and a machine body connecting shaft which are arranged in front and back, wherein transmission shafts are arranged at two ends of each motor, and a master gear is sleeved outside each transmission shaft;
the two ends of the machine body connecting shaft are respectively provided with a T-shaped supporting rod, the T-shaped supporting rods are arranged in a scattering manner, the inner chain is connected into an annular chain through an outer chain, the main gear is meshed with the chain, and the chain is sleeved on the outer edge of the T-shaped supporting rod;
supporting legs are arranged at two ends of the T-shaped supporting rod, and the supporting legs and the T-shaped supporting rod form a sliding groove for the chain to slide; the contact surface of the supporting leg and the ground is a cambered surface.
Furthermore, the housing is arranged outside the upstairs and downstairs going mechanism.
Furthermore, the cambered surface of the supporting leg is higher than that of the chain.
Furthermore, the lifting device comprises a lifting wheel, wherein the lifting wheel is arranged at the bottom of the electronic control box, and the electric control device controls the lifting wheel to be retracted.
Furthermore, a weight sensor connected with the hydraulic telescopic rod is arranged in the electronic control box.
Furthermore, the T-shaped support rod is connected with the machine body connecting shaft through a connecting plate.
Furthermore, the connecting plate is fixedly connected with the machine body connecting shaft through a fixing nut.
Has the advantages that: compared with the prior art, the corridor transfer robot provided by the invention has the following advantages:
1. the carrying box is connected with the weight sensor in the electronic control box through the hydraulic telescopic rod, and the moment can be adjusted by sensing the carrying weight, so that the carrying box is suitable for carrying different articles;
2. the stair climbing device is provided with the stair climbing mechanism, the motor drives the chain type transmission mechanism to climb up and down stairs, and the stair climbing device is simple in structure and convenient to operate;
3. the lifting wheel is arranged under the electronic control box, and the electronic control box controls the lifting wheel to lift and operate on different grounds.
Drawings
FIG. 1 is a schematic structural view of a mechanism for going upstairs and downstairs according to the present invention;
FIG. 2 is a schematic structural view of the corridor transfer robot according to the present invention;
FIG. 3 is a state diagram of the present invention in use;
wherein: 1. the device comprises an electronic control box, a 2-upstairs and downstairs going mechanism, a 3-carrying box, a 4-lifting wheel, a 21-motor, a 22-transmission shaft, a 23-master gear, a 24-inner chain, a 25-outer chain, a 26-T-shaped support rod, a 27-shell, a 28-machine body connecting shaft and a 31-hydraulic telescopic rod.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings and examples, which should be construed as merely illustrative and not a limitation of the scope of the present invention.
Example 1
As shown in fig. 2, the corridor transfer robot comprises an upstairs and downstairs going mechanism 2, an electronic control box 1 and a carrying box 3; a hydraulic telescopic rod 31 is arranged above the electronic control box 1, the carrying box 3 is arranged on the hydraulic telescopic rod 31, and a weight sensor connected with the hydraulic telescopic rod 31 is arranged in the electronic control box 1; an upstairs and downstairs mechanism 2 is arranged below the electronic control box 1; an electric control device is arranged in the electronic control box 1 and is in communication connection with the upstairs and downstairs going mechanism 2 and the hydraulic telescopic rod 31; as shown in fig. 1, the upstairs and downstairs mechanism 2 includes: the device comprises two motors 21 and a machine body connecting shaft 28 which are arranged in a front-back manner, wherein two ends of each motor 21 are provided with transmission shafts 22, and a main gear 23 is sleeved outside each transmission shaft 22 and is arranged outside a casing 27 of the upstairs and downstairs going mechanism 2;
the two ends of the machine body connecting shaft 28 are respectively provided with a T-shaped supporting rod 26, and the T-shaped supporting rods 26 are connected with the machine body connecting shaft 28 through connecting plates; the connecting plate is fixedly connected with the machine body connecting shaft 28 through a fixing nut;
the T-shaped support rods 26 are arranged in a scattering shape, the inner chains 24 are connected into an annular chain through the outer chains 25, the main gear 23 is meshed with the chain, and the chain is sleeved on the outer edge of the T-shaped support rods 26;
supporting legs are arranged at two ends of the T-shaped supporting rod 26, and the supporting legs and the T-shaped supporting rod 26 form a sliding chute for the chain to slide; the contact surface of the supporting leg and the ground is an arc surface, and the position of the arc surface of the supporting leg is higher than that of the chain;
the lifting wheel is arranged at the bottom of the electronic control box 1, and the electric control device controls the lifting wheel to be retracted.
The electronic control box 1 is internally provided with a microprocessor, a detection device, a voice device, a controller, a camera and the like, an operator sends a signal through a computer, the electronic control box 1 receives the controller to operate and start the motor 21, and the motion is stopped when the operator arrives at a place. The detection device detects road conditions, stops working when a person passes through the detection device, and voice prompts enable the person to pass through the detection device first to prevent accidental injuries. The camera constantly pays attention to whether the road ahead is smooth or not, and normal forward running is guaranteed;
when goods are loaded, the goods are placed in front of a machine, the machine is started, the machine detects the goods through an induction device in an electronic control box 1, the hydraulic telescopic rod 31 is controlled to ascend or descend to reach a proper height, then the goods are placed in a carrying box 3 by a worker, the goods are placed in the box, a weight sensor on the hydraulic telescopic rod 31 senses the weight of the goods, weight data are transmitted into the control device of the electronic control box 1 and fed back to a built-in system to calculate the moment when the goods are lifted most laborsaving, and the extension compression amount of three rods of the hydraulic telescopic rod 31 is controlled to reach the required moment;
the worker locks the two side doors of the carrying box 3 to prevent the goods from sliding off;
as shown in fig. 3, in the process of climbing stairs, firstly, the walking route is transmitted into the control device of the electronic control box 1 through the chip, and the walking direction is controlled, the robot walks according to the set route, the motor 21 drives the transmission shaft 22 to rotate during the operation process, the main gear 23 arranged on the transmission shaft 22 rotates along with the rotation, and the main gear 23 drives the chain to move; supporting legs are arranged at two ends of the T-shaped supporting rod 26, and the supporting legs and the T-shaped supporting rod 26 form a sliding chute for the chain to slide; the contact surface of the supporting leg and the ground is an arc surface, and the position of the arc surface of the supporting leg is higher than that of the chain; thereby driving the supporting feet to move, part of the supporting feet are climbed by climbing into the high layer of the ladder, and the bottom layer of the ladder of the part of the supporting feet still plays a role in supporting;
when a corner between floors is encountered, a detector in the electronic control box 1 detects that no step exists in the front, the lifting wheel is controlled to be put down, and the machine is supported to climb up from a transition region of the corner of the stair to complete the next work.
After arriving at the site, the motor 21 is stopped, the hydraulic telescopic rod 31 is lowered, and the worker takes the goods down and carries them into the room.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A corridor transfer robot is characterized in that: comprises an upstairs and downstairs mechanism, an electronic control box and a carrying box; a hydraulic telescopic rod is arranged above the electronic control box, and the carrying box is arranged on the hydraulic telescopic rod; an upstairs and downstairs mechanism is arranged below the electronic control box; an electric control device is arranged in the electronic control box and is in communication connection with the upstairs and downstairs mechanism and the hydraulic telescopic rod; the upstairs and downstairs mechanism includes: the electric power generating device comprises two motors and a machine body connecting shaft which are arranged in front and back, wherein transmission shafts are arranged at two ends of each motor, and a master gear is sleeved outside each transmission shaft;
the two ends of the machine body connecting shaft are respectively provided with a T-shaped supporting rod, the T-shaped supporting rods are arranged in a scattering manner, the inner chain is connected into an annular chain through an outer chain, the main gear is meshed with the chain, and the chain is sleeved on the outer edge of the T-shaped supporting rod;
supporting legs are arranged at two ends of the T-shaped supporting rod, and the supporting legs and the T-shaped supporting rod form a sliding groove for the chain to slide; the contact surface of the supporting leg and the ground is a cambered surface.
2. The corridor transfer robot according to claim 1, wherein: the upstairs and downstairs mechanism is externally provided with a shell.
3. The corridor transfer robot according to claim 1, wherein: the cambered surface of the supporting leg is higher than that of the chain.
4. The corridor transfer robot according to claim 1, wherein: the lifting wheel is arranged at the bottom of the electronic control box, and the electric control device controls the lifting wheel to be retracted.
5. The corridor transfer robot according to claim 1, wherein: and a weight sensor connected with the hydraulic telescopic rod is arranged in the electronic control box.
6. The corridor transfer robot according to claim 1, wherein: the T-shaped support rod is connected with the machine body connecting shaft through a connecting plate.
7. The corridor transfer robot according to claim 6, wherein: the connecting plate is fixedly connected with the machine body connecting shaft through a fixing nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020506760.0U CN212401408U (en) | 2020-04-09 | 2020-04-09 | Corridor transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020506760.0U CN212401408U (en) | 2020-04-09 | 2020-04-09 | Corridor transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212401408U true CN212401408U (en) | 2021-01-26 |
Family
ID=74370966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020506760.0U Active CN212401408U (en) | 2020-04-09 | 2020-04-09 | Corridor transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212401408U (en) |
-
2020
- 2020-04-09 CN CN202020506760.0U patent/CN212401408U/en active Active
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