CN215158981U

CN215158981U - Cargo handling device

Info

Publication number: CN215158981U
Application number: CN202120775141.6U
Authority: CN
Inventors: 马溢斌; 陈观浩
Original assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Current assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-12-14
Anticipated expiration: 2031-04-15

Abstract

The utility model provides a cargo handling device, is including removing the automobile body, flexible yoke structure, multiaxis arm and end effector, but removes the automobile body automatic navigation removal, removes the automobile body and is equipped with the storage tank, and flexible yoke structure installs in the storage tank, and flexible yoke structure can stretch out from the storage tank and insert and get the goods, and the one end of multiaxis arm is connected in removing the automobile body, and the other end and the end effector of multiaxis arm are connected, and the multiaxis arm gets the goods through end effector clamp. The utility model discloses a cargo handling device overall dimension reduces, does not occupy the passageway space, and turning radius is little, can carry out the split to the goods and select, and the flexibility is high.

Description

Cargo handling device

Technical Field

The utility model relates to a handling machinery technical field, in particular to cargo handling device.

Background

A forklift is an industrial transportation vehicle, and refers to a transportation vehicle that performs loading, unloading, stacking, and short-distance transportation operations on goods on loading pallets. The forklift arm of the existing forklift can not stretch out and draw back, so that the whole forklift is large in size, occupies passageway space and is large in turning radius. Moreover, the existing forklift can not split and pick the goods on the tray, and can not meet the actual demand.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a cargo handling device, whole size reduces, does not occupy the passageway space, and turning radius is little, can carry out the split to the goods and select, and the flexibility is high.

The utility model provides a cargo handling device, is including removing the automobile body, flexible yoke structure, multiaxis arm and end effector, but removes the automobile body automatic navigation removal, removes the automobile body and is equipped with the storage tank, and flexible yoke structure installs in the storage tank, and flexible yoke structure can stretch out from the storage tank and insert and get the goods, and the one end of multiaxis arm is connected in removing the automobile body, and the other end and the end effector of multiaxis arm are connected, and the multiaxis arm gets the goods through end effector clamp.

The utility model discloses an in the embodiment, above-mentioned flexible yoke structure includes flexible yoke and flexible drive assembly, flexible yoke includes shell body, middle casing and interior casing, the shell body is installed in the storage tank, middle casing slidable install in the shell body, install interior casing slidable in the middle casing, flexible drive assembly install in the shell body with between the interior casing, flexible drive assembly is used for ordering about middle casing with interior casing can be followed stretch out or retract in the storage tank.

In an embodiment of the present invention, the above-mentioned telescopic driving assembly includes a fixed plate, a first sliding plate, a second sliding plate, a linkage assembly, a transmission belt and a motor, the fixed plate is fixedly connected to the outer casing, the first sliding plate is slidably connected to the fixed plate, the second sliding plate is slidably connected to the first sliding plate, the second sliding plate is fixedly connected to the inner casing, the transmission belt is respectively connected to the first sliding plate and the motor, the linkage assembly is respectively connected to the fixed plate, the first sliding plate and the second sliding plate, and the motor is driven by the linkage assembly to drive the first sliding plate and the second sliding plate to slide.

In an embodiment of the present invention, the above-mentioned linkage assembly includes a first rack, a second rack and a gear, the first rack is fixed on the fixed plate, the second rack is fixed on the second sliding plate, the gear is rotatably installed on the first sliding plate, the first rack and the second rack are respectively engaged with the gear.

In an embodiment of the present invention, one side of the fixing plate is provided with a first driving wheel, a second driving wheel is disposed in a driving shaft of the motor, the driving belt is respectively connected to the first driving wheel and the second driving wheel, a connecting member is fixed to one side of the first sliding plate, and the connecting member is fixedly connected to the driving belt.

The utility model discloses an in the embodiment, above-mentioned cargo handling device still includes lifting mechanism, lifting mechanism fixes in the locomotive body, lifting mechanism with flexible yoke structural connection, lifting mechanism is used for ordering about flexible yoke structure rises or descends.

The utility model discloses an in the embodiment, above-mentioned lifting mechanism includes lifting rack, drive gear and lifting motor, the lifting rack is fixed in flexible yoke structure, drive gear with the lifting motor is connected, the lifting motor is fixed in the locomotive body, the lifting motor passes through drive gear with the cooperation of lifting rack orders about flexible yoke structure rises or descends.

The utility model discloses an in the embodiment, be equipped with elevating system on the above-mentioned automobile body that removes, elevating system includes base, lift post and lift drive assembly, the base is fixed in remove the automobile body, the one end telescopically of lift post connect in the base, lift drive assembly connects in the base, lift drive assembly is used for ordering about the lift post rises or descends, the multiaxis arm with the lift leg joint.

The utility model discloses an in the embodiment, above-mentioned removal automobile body is the AGV automobile body.

In an embodiment of the present invention, the end effector is a mechanical gripper or a suction cup.

The utility model discloses a cargo handling device can satisfy different scene needs through moving the automobile body omnidirectional movement, nimble diversion, and when the cargo handling device is unloaded, flexible yoke structure is acceptd in the storage tank, and the whole size reduces, does not occupy the passageway space, can reduce the turning radius of cargo handling device; when the goods handling device carries goods, the telescopic fork arm structure stretches out from the containing groove, the function of inserting and taking the goods is achieved, and the storage space utilization rate is greatly improved. Moreover, install the multiaxis arm on the removal automobile body, during the seeding, tray is got to flexible yoke structure fork, and the multiaxis arm gets the goods on the tray through end effector clamp and sows, and cargo handling device accessible multiaxis arm realizes selecting the goods with the end effector split promptly, and the flexibility is high, more can satisfy actual demand.

Drawings

Fig. 1 is a schematic perspective view of the cargo handling device of the present invention.

Fig. 2 is a schematic structural view of the cargo handling apparatus according to the present invention when extended.

Fig. 3 is a schematic structural view of the telescopic yoke structure of the present invention when it is retracted in the vehicle body.

Fig. 4 is a schematic structural view of the telescopic yoke structure of the present invention when extended.

Fig. 5 is a schematic view of a partial structure of the telescopic yoke structure of the present invention.

Fig. 6 is a cross-sectional structural view of the telescopic yoke structure shown in fig. 5.

Fig. 7 is a schematic structural diagram of the telescopic driving assembly of the present invention.

Detailed Description

The application provides a cargo handling device.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to facilitate understanding of those skilled in the art, the present application provides a specific implementation process of the technical solution provided by the present application through the following embodiments.

FIG. 1 is a schematic perspective view of the cargo handling apparatus of the present invention, FIG. 2 is a schematic perspective view of the cargo handling apparatus of the present invention when it is extended, FIG. 3 is a schematic structural view of the telescopic yoke structure of the present invention retracted in the vehicle body, fig. 4 is the structure schematic diagram of the utility model discloses a flexible yoke structure when stretching out, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the cargo handling device is including removing automobile body 10, flexible yoke structure 20, multiaxis arm 30 and end effector 40, but remove automobile body 10 automatic navigation removal, it is equipped with storage tank 101 to remove automobile body 10, flexible yoke structure 20 is installed in storage tank 101, flexible yoke structure 20 can stretch out from storage tank 101 and insert the goods, the one end of multiaxis arm 30 is connected in removing automobile body 10, the other end and the end effector 40 of multiaxis arm 30 are connected, multiaxis arm 30 presss from both sides the goods through end effector 40.

The utility model discloses a cargo handling device can satisfy different scene needs through moving the omnidirectional movement of automobile body 10, nimble diversion, and when the cargo handling device was unloaded, flexible yoke structure 20 was acceptd in storage tank 101, and the whole size reduces, did not occupy the passageway space, can reduce the turning radius of cargo handling device; when the goods handling device carries goods, the telescopic fork arm structure 20 extends out of the containing groove 101, the function of inserting and taking the goods is achieved, and the storage space utilization rate is greatly improved. Moreover, install multiaxis arm 30 on the removal automobile body 10, during the seeding, tray is got to flexible yoke structure 20 fork, and multiaxis arm 30 presss from both sides the goods of getting on the tray through end effector 40 and sows, and cargo handling device accessible multiaxis arm 30 realizes selecting the goods with end effector 40 splitting promptly, and the flexibility is high, more can satisfy actual demand.

Further, a navigation system and a camera device are provided on the mobile vehicle body 10 to assist the mobile vehicle body 10 to move autonomously.

Further, fig. 5 is a schematic partial structure diagram of the telescopic boom structure of the present invention, fig. 6 is a schematic sectional structure diagram of the telescopic boom structure shown in fig. 5, fig. 7 is a schematic structural diagram of the telescopic driving assembly of the present invention, as shown in fig. 4, fig. 5, fig. 6 and fig. 7, the telescopic boom structure 20 includes a telescopic boom 21 and a telescopic driving assembly, the telescopic boom 21 includes an outer shell 211, an intermediate shell 212 and an inner shell 213, the outer shell 211 is installed in the accommodating tank 101, the intermediate shell 212 is slidably installed in the outer shell 211, the inner shell 213 is slidably installed in the intermediate shell 212, the telescopic driving assembly is installed between the outer shell 211 and the inner shell 213, and the telescopic driving assembly is used for driving the intermediate shell 212 and the inner shell 213 to extend out or retract from the accommodating tank 101. When the telescopic yoke 21 is in the contracted state, the intermediate housing 212 is located inside the outer housing 211, and the inner housing 213 is located inside the intermediate housing 212; when the telescopic yoke 21 is in the extended state, the intermediate housing 212 is extended from the outer housing 211, and the inner housing 213 is extended from the intermediate housing 212.

Further, the inner wall of the outer shell 211 is provided with a first guide groove, the first guide groove is arranged along the length direction of the outer shell 211, the outer wall of the middle shell 212 is provided with a first guide rail, the first guide rail is arranged along the length direction of the middle shell 212, the first guide rail is arranged in the first guide groove, and the middle shell 212 is slidably connected in the outer shell 211 through the first guide rail and the first guide groove.

Further, the inner wall of the middle housing 212 is provided with a second guide groove, the second guide groove is arranged along the length direction of the middle housing 212, the outer wall of the inner housing 213 is provided with a second guide rail, the second guide rail is arranged along the length direction of the inner housing 213, the second guide rail is arranged in the second guide groove, and the inner housing 213 is slidably connected in the middle housing 212 through the second guide rail and the second guide groove.

Further, as shown in fig. 6 and 7, the telescopic driving assembly includes a fixed plate 221, a first sliding plate 222, a second sliding plate 223, a linkage assembly, a transmission belt 224 and a motor 225, the fixed plate 221 is fixedly connected with the outer housing 211, the first sliding plate 222 is slidably connected to the fixed plate 221, the second sliding plate 223 is slidably connected to the first sliding plate 222, the second sliding plate 223 is fixedly connected with the inner housing 213, the transmission belt 224 is respectively connected with the first sliding plate 222 and the motor 225, the linkage assembly is respectively connected with the fixed plate 221, the first sliding plate 222 and the second sliding plate 223, and the motor 225 drives the first sliding plate 222 and the second sliding plate 223 to slide through the transmission belt 224 and the linkage assembly. In this embodiment, a motor 225 is connected to the fixed plate 221, the motor 225 is used to drive the transmission belt 224 to slide the first sliding plate 222 back and forth, and the first sliding plate 222 drives the second sliding plate 223 to slide through the linkage assembly.

Further, as shown in fig. 6 and 7, the linkage assembly includes a first rack 2231, a second rack (not shown), and a gear 2232, the first rack 2231 is fixed on the fixed plate 221, the second rack is fixed on the second sliding plate 223, the gear 2232 is rotatably mounted on the first sliding plate 222, and the first rack 2231 and the second rack are engaged with the gear 2232, respectively. In this embodiment, the first sliding plate 222 is provided with a movable hole penetrating through the first sliding plate 222, the movable plate is located in the middle of the first sliding plate 222, the gear 2232 is arranged corresponding to the movable hole, the gear 2232 penetrates through the movable hole to be engaged with the first rack 2231, and the second rack is arranged on the bottom surface of the second sliding plate 223, that is, the second rack is located on the surface of the second sliding plate 223 close to the first sliding plate 222. When the motor 225 drives the first sliding plate 222 to retract through the transmission belt 224, the gear 2232 rotates under the action of the first rack 2231, and further drives the second rack and the inner housing 213 to retract; when the motor 225 drives the first sliding plate 222 to extend through the transmission belt 224, the gear 2232 is rotated by the first rack 2231, and the second rack and the inner housing 213 are driven to extend.

Further, a first driving wheel (not shown) is disposed on one side of the fixed plate 221, a second driving wheel (not shown) is disposed on a driving shaft of the motor 225, the driving belt 224 is respectively connected to the first driving wheel and the second driving wheel, and a connecting member (not shown) is fixed to one side of the first sliding plate 222 and is fixedly connected to the driving belt 224. In this embodiment, the motor 225 drives the belt 224 via the second drive pulley.

Further, the telescopic yoke structure 20 includes two telescopic yokes 21, the two telescopic yokes 21 are disposed at an interval, and the two telescopic yokes 21 have the same structure and function, which is described above.

Further, the cargo handling device further comprises a lifting mechanism 50, the lifting mechanism 50 is fixed in the movable vehicle body 10, the lifting mechanism 50 is connected with the telescopic fork arm structure 20, and the lifting mechanism 50 is used for driving the telescopic fork arm structure 20 to ascend or descend. When the cargo handling device handles the cargo, the lifting mechanism 50 drives the telescopic yoke structure 20 to descend, then the telescopic yoke structure 20 extends out of the accommodating groove 101 to insert the tray, and finally the lifting mechanism 50 drives the telescopic yoke structure 20 to ascend. In the present embodiment, the middle of the moving body 10 is provided with a mounting hole 102, the lifting mechanism 50 is mounted in the mounting hole 102, and the lifting mechanism 50 is located between the two telescopic booms 21.

Further, the lifting mechanism 50 includes a lifting rack (not shown), a driving gear (not shown), and a lifting motor 51, the lifting rack is fixed to the telescopic yoke structure 20, the driving gear is connected to the lifting motor 51, the lifting motor 51 is fixed in the movable vehicle body 10, and the lifting motor 51 drives the telescopic yoke structure 20 to ascend or descend through the cooperation of the driving gear and the lifting rack.

Further, a lifting mechanism 60 is arranged on the movable vehicle body 10, the lifting mechanism 60 includes a base 61, a lifting column 62 and a lifting driving assembly (not shown), the base 61 is fixed on the movable vehicle body 10, one end of the lifting column 62 is telescopically connected to the base 61, the lifting driving assembly is connected in the base 61, the lifting driving assembly is used for driving the lifting column 62 to ascend or descend, and the multi-axis mechanical arm 30 is connected with the lifting column 62. In the present embodiment, the multi-axis robot arm 30 performs a lifting function by the lifting mechanism 60, and can be adjusted to be lifted and lowered according to the height of the cargo. Further, the moving body 10 is an AGV body.

Further, end effector 40 is a mechanical gripper or suction cup.

The present application is not limited to the details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.

Claims

1. The utility model provides a cargo handling device, its characterized in that, is including removing automobile body, flexible yoke structure, multiaxis arm and end effector, but remove the automobile body automatic navigation and remove, it is equipped with the storage tank to remove the automobile body, flexible yoke structure install in the storage tank, flexible yoke structure can be followed stretch out in the storage tank and insert and get the goods, the one end of multiaxis arm connect in remove the automobile body, the other end of multiaxis arm with end effector connects, the multiaxis arm passes through end effector presss from both sides and gets the goods.

2. The cargo handling device of claim 1, wherein the telescoping yoke structure includes a telescoping yoke and a telescoping drive assembly, the telescoping yoke including an outer housing mounted in the storage tank, an intermediate housing slidably mounted within the outer housing, and an inner housing slidably mounted within the intermediate housing, the telescoping drive assembly mounted between the outer housing and the inner housing, the telescoping drive assembly configured to actuate the intermediate housing and the inner housing to extend or retract from the storage tank.

3. The cargo handling device of claim 2, wherein the telescopic drive assembly comprises a fixed plate fixedly coupled to the outer housing, a first sliding plate slidably coupled to the fixed plate, a second sliding plate slidably coupled to the first sliding plate, a linkage assembly fixedly coupled to the inner housing, a belt coupled to the fixed plate, the first sliding plate, and the second sliding plate, the belt coupled to the first sliding plate and the motor, respectively, and a motor driving the first sliding plate and the second sliding plate to slide via the belt and the linkage assembly.

4. The cargo handling device of claim 3 wherein the linkage assembly includes a first rack secured to the fixed plate, a second rack secured to the second slide plate, and a gear rotatably mounted to the first slide plate, the first and second racks respectively intermesh with the gear.

5. The cargo handling device of claim 3 wherein the fixed plate has a first drive pulley on one side thereof, the motor has a second drive pulley on the drive shaft thereof, the drive pulleys are coupled to the first and second drive pulleys, respectively, and a coupling member is secured to one side of the first slide plate and is fixedly coupled to the drive pulley.

6. The cargo handling device of any one of claims 1 to 5, further comprising a lifting mechanism fixed within the mobile body, the lifting mechanism being coupled to the telescopic yoke structure, the lifting mechanism being configured to actuate the telescopic yoke structure to be raised or lowered.

7. The cargo handling device of claim 6, wherein the lifting mechanism comprises a lifting rack, a driving gear and a lifting motor, the lifting rack is fixed to the telescopic yoke structure, the driving gear is connected to the lifting motor, the lifting motor is fixed in the movable body, and the lifting motor drives the telescopic yoke structure to ascend or descend through cooperation of the driving gear and the lifting rack.

8. The cargo handling device of claim 1, wherein the movable body is provided with a lifting mechanism, the lifting mechanism comprises a base, a lifting column and a lifting driving assembly, the base is fixed on the movable body, one end of the lifting column is telescopically connected to the base, the lifting driving assembly is connected in the base, the lifting driving assembly is used for driving the lifting column to ascend or descend, and the multi-axis mechanical arm is connected with the lifting column.

9. The load handling device of claim 1, wherein the moving body is an AGV body.

10. The cargo handling device of claim 1, wherein the end effector is a mechanical grab or suction cup.