CN111409992A - Driving device for carrying robot - Google Patents
Driving device for carrying robot Download PDFInfo
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- CN111409992A CN111409992A CN202010356771.XA CN202010356771A CN111409992A CN 111409992 A CN111409992 A CN 111409992A CN 202010356771 A CN202010356771 A CN 202010356771A CN 111409992 A CN111409992 A CN 111409992A
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- transfer robot
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 42
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a driving device for a transfer robot, which comprises a sub-channel, a main channel and a main bracket, wherein the main channel is communicated with the sub-channel; the sub-channels and the main channel are mutually vertical bidirectional tracks and are arranged in a staggered manner in spatial position; a double-output motor is fixedly arranged in the middle of the main bracket; the rotating shafts of the double-output motors are respectively in driving connection with the sub-track traveling structure and the main track traveling structure; the sub-track running structure comprises sub-channel running wheels; the main track travel structure comprises main channel travel wheels; and the transfer robot freely runs on the corresponding sub-channel and main channel through the sub-channel running wheels and the main channel running wheels. The driving device for the transfer robot provided by the invention can realize flexible free full-drive driving of the transfer robot in multiple directions in a warehouse, improves the transfer efficiency and improves the working efficiency.
Description
Technical Field
The invention relates to the field of cargo storage and transportation equipment, in particular to a driving device for a transportation robot.
Background
In modern society, robots are more and more deep into our lives; among them, transfer robots are widely used in the transfer and storage of goods. The existing transfer robot frequently used comprises a rail roadway stacker and a primary-secondary vehicle system, and the use of the transfer robot brings much convenience to people; however, such a transfer robot generally requires a large number of motors and consumes a large amount of power, which results in a shortened battery discharge time, a short transfer robot operation time, a high charging frequency, and a low work efficiency. If the work efficiency is improved by increasing the number of robots, this leads to an increase in the cost of the entire warehouse, an increase in the error rate, and an increased susceptibility to failure.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the driving device for the transfer robot, which can realize flexible and free full-drive driving of the transfer robot in multiple directions in a warehouse, improves the transfer efficiency and improves the working efficiency.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme of the invention is as follows:
a travel driving device for a transfer robot includes a sub-passage, a main passage, and a main stand; the sub-channels and the main channel are mutually vertical bidirectional tracks and are arranged in a staggered manner in spatial position; a double-output motor is fixedly arranged in the middle of the main bracket; the rotating shafts of the double-output motors are respectively in driving connection with the sub-track traveling structure and the main track traveling structure; the sub-track running structure comprises sub-channel running wheels; the main track travel structure comprises main channel travel wheels; and the transfer robot freely runs on the corresponding sub-channel and main channel through the sub-channel running wheels and the main channel running wheels.
Further, the sub-track running structure further comprises a first transmission shaft; the first transmission shaft is erected between two sides of the main bracket; a first output shaft of the double-output motor is rotationally connected with a first transmission shaft through a roller chain; a plurality of sub-channel running wheels are symmetrically arranged on two sides of the main bracket at intervals; the first transmission shaft is rotatably connected to the rotation shafts of the plurality of sub-tunnel travel wheels through the roller chain.
Furthermore, the main track advancing structure also comprises a second transmission shaft, a swinging structure and a reversing body; second output shafts of the double-output motors are in driving connection with roller chains, the roller chains extend towards two sides, and the extending ends of the roller chains are in rotating connection with two second transmission shafts symmetrically arranged on two sides of the main support; the plurality of reversing bodies are symmetrically arranged inside two ends of the main bracket at intervals; the main channel running wheel is arranged in the reversing body; and the second transmission shaft is correspondingly and rotatably connected with the connecting shaft of the main channel running wheel through a swinging structure.
Furthermore, a driving auxiliary wheel is also arranged in the reversing body; the auxiliary driving wheels and the driving wheels of the main channel are arranged at intervals in the horizontal direction, and the distance between the auxiliary driving wheels and the main channel is smaller than the distance between the driving wheels of the main channel and the main channel.
Furthermore, a driving device is clamped among a plurality of reversing bodies at the same end of the main support; a rack is fixedly arranged on one side wall of the reversing body close to the driving device; the output gear of the driving device is meshed with the rack in a matched mode; an output gear of the driving device rotates forwards and backwards to drive a rack, so that the reversing body is driven to move up and down; the reversing body moves between two extreme positions in the vertical direction, and the installation position interval of the second transmission shaft is arranged below the horizontal center of the two extreme position centers of the reversing body.
Further, the swing structure comprises a telescopic universal joint; the double-output motor is in driving connection with one end of the telescopic universal joint through a second transmission shaft; the other end of the telescopic universal joint is rotatably connected with a connecting shaft of the main channel running wheel.
Has the advantages that: the driving device for the transfer robot adopts a multi-direction full-drive mode, so that the transfer robot can flexibly and freely drive and transfer goods in multiple directions in a stereoscopic warehouse, and the working efficiency of transfer can be effectively improved; including but not limited to the following technologies:
1) the structure design layout of the scheme is compact, the volume and the dead weight of the transfer robot are reduced, the flexibility of the transfer robot is improved, the utilization rate of a warehouse is increased, and the failure rate under collision is reduced;
2) the roller chain and the telescopic universal joint are used as connecting transmission parts, so that the transmission and running efficiency of the transfer robot can be effectively improved, the braking distance is shortened, the slip is prevented, and the failure rate of the transfer robot is reduced; the working efficiency is improved, and the cost is saved.
Drawings
FIG. 1 is a view showing a construction of a travel driving apparatus of a transfer robot;
FIG. 2 is a schematic diagram of a swing structure trajectory;
FIG. 3 is a block diagram of the sub-tunnel during travel;
fig. 4 is a structural view when traveling on the main tunnel.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in figures 1-4: a travel driving apparatus for a transfer robot includes a sub passage 00, a main passage 01, and a main stand 10; the sub-channel 00 and the main channel 01 are mutually vertical bidirectional tracks and are arranged in a staggered manner in spatial position; the upper edges of the sub-channel 00 and the main channel 01 have height difference; a double-output motor 20 is fixedly arranged in the middle of the main bracket 10; the rotating shafts of the double-output motors 20 are respectively in driving connection with the sub-track traveling structure and the main track traveling structure; the sub-track travel structure comprises sub-channel travel wheels 40; the main track travel structure includes main channel travel wheels 50; the transfer robot freely travels on the corresponding sub lane and main lane by the sub lane travel wheels 40 and main lane travel wheels 50. The sub-channel running wheels 40 correspondingly run on the sub-channel 00, the main channel running wheels 50 correspondingly run on the main channel 01, when the sub-channel running wheels 40 and the main channel running wheels 50 run on respective tracks in a full-drive mode, the sub-channel running wheels 50 do not interfere with each other, when the sub-channel running wheels 40 run, the main channel running wheels 50 do not run, and when the main channel running wheels 50 run, the sub-channel running wheels 40 do not run; when the transfer robot needs to change direction to different tracks, the driving device 90 drives the reversing body 80 to move up and down to make the sub-channel running wheels 40 and the main channel running wheels 50 fall on the respective tracks respectively, so as to complete the reversing; then the double-output motor 20 respectively drives the sub-channel running wheels 40 and the main channel running wheels 50 to run in a full-driving mode on respective tracks; therefore, the transfer robot can freely and flexibly transfer goods in the warehouse.
The sub-track traveling structure further includes a first transmission shaft 30; the first transmission shaft 30 is erected between two sides of the main bracket 10; a first output shaft of the dual-output motor 20 is rotatably connected with a first transmission shaft 30 through a roller chain; a plurality of said sub-tunnel driving wheels 40 are symmetrically arranged at intervals on both sides of the main stand 10; the first transmission shaft 30 is rotatably connected to a rotation shaft of the plurality of sub-lane travel wheels 40 through a roller chain. The transmission among the first output shafts of the dual-output motors 20, the first transmission shafts 30 and the rotating shafts of the sub-channel running wheels 40 and the roller chains is realized in a gear breaking manner; the first output shafts of the double-output motor 20, the first transmission shafts 30 and the rotating shafts of the sub-channel running wheels 40 are all provided with gears which are matched with the roller chains; the first output shafts of the dual-output motors 20 transmit power to the first transmission shafts 30 through the roller chains, and the first transmission shafts 30 transmit power to the rotation shafts of the sub-channel travel wheels 40 through the roller chains, so that the sub-channel travel wheels 40 can travel on the sub-channel 00 in a full-drive manner.
The main track advancing structure further comprises a second transmission shaft 70, a swinging structure and a reversing body 80; a second output shaft of the dual-output motor 20 is in driving connection with a roller chain, the roller chain extends towards two sides, and the extending ends of the roller chain are in rotating connection with two second transmission shafts 70 symmetrically arranged at two sides of the main bracket 10; two ends of the roller chain are sleeved on the two second transmission shafts 70, and the middle part of the roller chain is rotatably connected with the second output shafts of the double-output motor 20; the second output shaft of the double-output motor 20 rotates to drive the roller chain to move and rotate, and power is transmitted to the second transmission shaft 70; a plurality of the direction-changing bodies 80 are symmetrically arranged at intervals inside both ends of the main support 10; the main channel running wheel 50 is arranged in the reversing body 80; the second transmission shaft 70 is correspondingly and rotatably connected with the connecting shaft 51 of the main channel running wheel 50 through a swinging structure; the second transmission shaft 70 rotates to drive the swing structure to rotate, the connecting shaft 51 of the main channel running wheel 50 also rotates along with the swing structure, and the main channel running wheel 50 can roll and can run on the main channel 01 in a full-driving mode.
The reversing body 80 is also internally provided with a driving auxiliary wheel 52; the auxiliary driving wheels 52 and the main channel driving wheels 50 are arranged at intervals in the horizontal direction, the distance between the auxiliary driving wheels 52 and the main channel 01 is smaller than the distance between the main channel driving wheels 50 and the main channel 01, when the main channel driving wheels 50 drive on the main channel 01, deviation can occur, and at the moment, the auxiliary driving wheels 52 are in contact with the tracks of the main channel 01, so that the oblique force of the main channel driving wheels 50 is weakened, rollover is avoided, and stability is enhanced.
A driving device 90 is clamped among a plurality of reversing bodies 80 at the same end of the main bracket 10; a rack 81 is fixedly arranged on one side wall of the reversing body 80 close to the driving device 90; the output gear of the driving device 90 is meshed with the rack 81, and the tooth port of the output gear of the driving device 90 is embedded with the convex tooth of the rack 81; the output gear of the driving device 90 rotates forward and backward to drive the rack 81, the output gear of the driving device 90 rotates, and the rack 81 matched with the output gear moves up and down, so that the reversing body 80 is driven to move up and down; the reversing body 80 moves between two extreme positions in the vertical direction, and the installation position interval of the second transmission shaft 70 is arranged below the horizontal center of the two extreme positions of the reversing body 80; the upper limit position of the reversing body 80 is a position which can ensure a proper safe distance between the main channel running wheel and the main channel track, and the lower limit position is a position which can ensure a proper safe distance between the sub channel running wheel and the sub channel; when the transfer robot runs on the sub-channel, the reversing body is positioned in the vehicle body, namely the upper limit position of the reversing body 80; when the transfer robot needs to change the direction to the main channel for running, the reversing body is driven by the driving device 90 to move to the lower limit position, and the sub-channel running wheels are far away from the sub-channel track and are switched to the main channel from the sub-channel; design simple structure like this, convenient operation has reduced the time that turns to, has improved the efficiency of transport.
The swing structure includes a telescopic universal joint 60; the double-output motor 20 is in driving connection with one end of the telescopic universal joint 60 through a second transmission shaft 70; the other end of the telescopic universal joint 60 is rotatably connected to the connecting shaft 51 of the main tunnel travel wheel 50. When the reversing body 80 moves up and down, the main passage running wheel 50 also moves up and down together with the reversing body 80; one end of the telescopic universal joint 60 connected with the connecting shaft 51 of the main channel running wheel 50 can move up and down along with the main channel running wheel 50; while the end of the telescopic universal joint 60 connected with the second transmission shaft 70 remains stationary; the main channel running wheel and the connecting shaft can be guaranteed not to be influenced by the movement of the reversing body in the transmission process, the transmission of running power is guaranteed all the time, and the main channel running wheel 50 can be guaranteed to run in a full-driving mode on the main channel.
The four-direction full-drive mode is adopted, the roller chain transmission is adopted, the telescopic universal joint is used as a connecting piece, the transmission efficiency and the running efficiency can be improved, and the carrying robot is prevented from slipping in the running process; and compact in structural layout, can reduce the base member and the dead weight of transfer robot, strengthen the mechanical strength of automobile body, improve the flexibility of automobile body operation, can effectively increase the storage density in warehouse.
The above description is of the preferred embodiment of the present invention and it will be apparent to those of ordinary skill in the art that modifications and variations can be made without departing from the principles of the invention and these are considered to be within the scope of the invention.
Claims (6)
1. A travel drive device for a transfer robot, characterized in that: comprises a sub-channel (00), a main channel (01) and a main bracket (10); the sub-channel (00) and the main channel (01) are mutually vertical bidirectional tracks and are arranged in a staggered manner in spatial position; a double-output motor (20) is fixedly arranged in the middle of the main bracket (10); the rotating shafts of the double-output motors (20) are respectively in driving connection with the sub-track traveling structure and the main track traveling structure; the sub-track travel structure comprises sub-channel travel wheels (40); the primary track travel structure comprises primary channel travel wheels (50); the transfer robot freely travels on the corresponding sub lane and main lane by the sub lane travel wheel (40) and main lane travel wheel (50).
2. A travel drive device for a transfer robot according to claim 1, characterized in that: the sub-track running structure further comprises a first transmission shaft (30); the first transmission shaft (30) is erected between two sides of the main bracket (10); a first output shaft of the double-output motor (20) is rotationally connected with a first transmission shaft (30) through a roller chain; a plurality of sub-passage running wheels (40) are symmetrically arranged at intervals on two sides of the main bracket (10); the first transmission shaft (30) is rotatably connected to the rotational shafts of the plurality of sub-lane travel wheels (40) via a roller chain.
3. A travel drive device for a transfer robot according to claim 1, characterized in that: the main track advancing structure further comprises a second transmission shaft (70), a swinging structure and a reversing body (80); a second output shaft of the double-output motor (20) is in driving connection with a roller chain, the roller chain extends towards two sides, and the extending ends of the roller chain are in rotating connection with two second transmission shafts (70) symmetrically arranged on two sides of the main support (10); the plurality of reversing bodies (80) are symmetrically arranged inside two ends of the main bracket (10) at intervals; the main channel running wheel (50) is arranged in the reversing body (80); the second transmission shaft (70) is correspondingly and rotatably connected with a connecting shaft (51) of the main channel running wheel (50) through a swinging structure.
4. A travel drive apparatus for a transfer robot according to claim 3, characterized in that: a driving auxiliary wheel (52) is also arranged in the reversing body (80); the auxiliary driving wheels (52) and the main channel driving wheels (50) are arranged at intervals in the horizontal direction, and the distance between the auxiliary driving wheels (52) and the main channel (01) is smaller than the distance between the main channel driving wheels (50) and the main channel (01).
5. A travel drive apparatus for a transfer robot according to claim 3, characterized in that: a driving device (90) is clamped among a plurality of reversing bodies (80) at the same end of the main bracket (10); a rack (81) is fixedly arranged on one side wall of the reversing body (80) close to the driving device (90); the output gear of the driving device (90) and the rack (81) are arranged in a mutually meshed matching manner; an output gear of the driving device (90) rotates forwards and backwards to drive a rack (81), so that the reversing body (80) is driven to move up and down; the reversing body (80) moves between two limit positions in the vertical direction, and the installation position interval of the second transmission shaft (70) is arranged below the horizontal center of the two limit positions of the reversing body (80).
6. A travel drive apparatus for a transfer robot according to claim 3, characterized in that: the swing structure comprises a telescopic universal joint (60); the double-output motor (20) is in driving connection with one end of the telescopic universal joint (60) through a second transmission shaft (70); the other end of the telescopic universal joint (60) is rotatably connected with a connecting shaft (51) of a main channel running wheel (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356771.XA CN111409992A (en) | 2020-04-29 | 2020-04-29 | Driving device for carrying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356771.XA CN111409992A (en) | 2020-04-29 | 2020-04-29 | Driving device for carrying robot |
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| Publication Number | Publication Date |
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| CN111409992A true CN111409992A (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010356771.XA Pending CN111409992A (en) | 2020-04-29 | 2020-04-29 | Driving device for carrying robot |
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| CN (1) | CN111409992A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435835A (en) * | 2022-02-18 | 2022-05-06 | 上海智世物流科技有限公司 | Jacking carrying robot with compact structure and carrying method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895995A (en) * | 2012-12-28 | 2014-07-02 | 昆山光腾智能机械有限公司 | Automatic-rail-changing shuttle |
| CN107902312A (en) * | 2017-12-08 | 2018-04-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN109132311A (en) * | 2018-09-30 | 2019-01-04 | 上海速锐信息技术有限公司 | A kind of hydraulic commutation type transfer robot |
| CN110395519A (en) * | 2019-09-02 | 2019-11-01 | 天津万事达物流装备有限公司 | Heavy goods transport vehicle and the tiered warehouse facility for using it |
| CN110733841A (en) * | 2019-09-27 | 2020-01-31 | 孙益峰 | jacking and walking same-driving type carrying equipment |
| CN212607303U (en) * | 2020-04-29 | 2021-02-26 | 上海智世物流科技有限公司 | A switching-over climbing mechanism for transfer robot |
-
2020
- 2020-04-29 CN CN202010356771.XA patent/CN111409992A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895995A (en) * | 2012-12-28 | 2014-07-02 | 昆山光腾智能机械有限公司 | Automatic-rail-changing shuttle |
| CN107902312A (en) * | 2017-12-08 | 2018-04-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of automatic reverse walking dolly |
| CN109132311A (en) * | 2018-09-30 | 2019-01-04 | 上海速锐信息技术有限公司 | A kind of hydraulic commutation type transfer robot |
| CN110395519A (en) * | 2019-09-02 | 2019-11-01 | 天津万事达物流装备有限公司 | Heavy goods transport vehicle and the tiered warehouse facility for using it |
| CN110733841A (en) * | 2019-09-27 | 2020-01-31 | 孙益峰 | jacking and walking same-driving type carrying equipment |
| CN212607303U (en) * | 2020-04-29 | 2021-02-26 | 上海智世物流科技有限公司 | A switching-over climbing mechanism for transfer robot |
Non-Patent Citations (1)
| Title |
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| 蒋勇: "汽车结构与拆装（下册）", 31 May 2014, 复旦大学出版社, pages: 96 - 102 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435835A (en) * | 2022-02-18 | 2022-05-06 | 上海智世物流科技有限公司 | Jacking carrying robot with compact structure and carrying method thereof |
| CN114435835B (en) * | 2022-02-18 | 2024-03-19 | 上海智世机器人有限公司 | Jacking transfer robot with compact structure and transfer method thereof |
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Address after: 200000 building 4, No. 686, Nanfeng Road, Fengcheng Town, Fengxian District, Shanghai Applicant after: Shanghai Zhishi Robot Co.,Ltd. Address before: 200000 building 4, No. 686, Nanfeng Road, Fengcheng Town, Fengxian District, Shanghai Applicant before: Shanghai Zhishi Logistics Technology Co.,Ltd. |