CN111409992A - Driving device for carrying robot - Google Patents

Abstract

The invention discloses a traveling driving device for a handling robot, comprising a sub-channel, a main channel and a main support; the sub-channel and the main channel are mutually perpendicular bidirectional rails and are arranged staggered in space; A dual-output motor is fixed in the middle of the bracket; the rotating shaft of the dual-output motor is respectively drivingly connected with the sub-track traveling structure and the main track traveling structure; the sub-track traveling structure includes sub-channel traveling wheels; the main track traveling structure includes a main track traveling structure. Channel driving wheels; the handling robot can freely travel on the corresponding sub-channels and main aisles through the sub-channel driving wheels and the main channel driving wheels. The invention provides a traveling driving device for a transporting robot, which can realize the flexible and free full-drive running of the transporting robot in multiple directions in a warehouse, thereby improving the transporting efficiency and the effect of improving the working efficiency.

Description

A traveling drive device for a handling robot

technical field

The invention relates to the field of goods storage and handling equipment, in particular to a traveling driving device of a handling robot.

Background technique

In modern society, robots are getting deeper and deeper into our lives; among them, handling robots have been widely used in cargo handling and storage. At present, the frequently used handling robots include track stackers and sub-mother car systems. The use of handling robots has brought us a lot of convenience; however, such handling robots generally require a large number of motors and consume a large amount of power, so As a result, the battery discharge time is shortened, the operation time of the handling robot is short, and the charging frequency is high, resulting in low work efficiency. If work efficiency is increased by increasing the number of robots, this will lead to higher costs for the entire warehouse, higher error rates, and greater susceptibility to failures.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a driving device for a transport robot, which can realize the flexible and free full-drive running of the transport robot in multiple directions in the warehouse, improve the transport efficiency, and improve the efficiency of the transport. effect of work efficiency.

Technical scheme: in order to achieve the above object, the technical scheme of the present invention is as follows:

A traveling drive device for a handling robot, comprising a sub-channel, a main channel and a main support; the sub-channel and the main channel are mutually perpendicular bidirectional rails, and are arranged staggered in space; the middle of the main support is fixed There are dual-output motors; the rotating shafts of the dual-output motors are respectively drivingly connected with the sub-track traveling structure and the main track traveling structure; the sub-track traveling structure includes sub-channel traveling wheels; the main track traveling structure includes main channel traveling wheels; The handling robot travels freely on the corresponding sub-channel and main channel through the sub-channel driving wheels and the main channel driving wheels.

Further, the sub-track running structure further includes a first transmission shaft; the first transmission shaft is erected between two sides of the main support; the first output shaft of the dual-output motor is connected to the first transmission through a roller chain The shafts are rotatably connected; a plurality of the sub-channel running wheels are symmetrically arranged on both sides of the main bracket; the first transmission shaft is rotatably connected with the rotating shafts of the plurality of sub-channel running wheels through a roller chain.

Further, the main track traveling structure further includes a second transmission shaft, a swing structure and a reversing body; the second output shaft of the dual-output motor is drivingly connected with the roller chain, and the roller chain extends to both sides, And the extension end of the roller chain is rotatably connected with two second transmission shafts symmetrically arranged on both sides of the main bracket; a plurality of the reversing bodies are arranged symmetrically at intervals inside both ends of the main bracket; the main channel running wheel It is installed in the reversing body; the second transmission shaft is rotatably connected with the connecting shaft of the main channel traveling wheel through the swing structure.

Further, an auxiliary driving wheel is also installed in the reversing body; the auxiliary driving wheel and the driving wheel of the main channel are arranged at intervals in the horizontal direction, and the distance between the auxiliary driving wheel and the main channel is smaller than that of the driving wheel in the main channel. The distance of the main channel.

Further, a driving device is sandwiched between a plurality of reversing bodies at the same end of the main bracket; a rack is fixed on a side wall of the reversing body close to the driving device; the output gear of the driving device and the tooth The bars are arranged to fit each other; the output gear of the driving device drives the rack in forward and reverse directions, thereby driving the reversing body to move up and down; the reversing body moves between two extreme positions in the vertical direction, and The distance between the installation positions of the second transmission shaft is set below the center level of the two extreme positions of the reversing body.

Further, the swing structure includes a telescopic universal joint; the dual output motor is drivingly connected to one end of the telescopic universal joint through the second transmission shaft; the other end of the telescopic universal joint is connected to the connecting shaft of the main channel traveling wheel. Swivel connection.

Beneficial effects: The driving device for a handling robot of the present invention adopts a multi-directional all-drive method to enable the handling robot to flexibly and freely drive and transport goods in multiple directions in a three-dimensional warehouse, which can effectively improve the handling efficiency. Productivity; including but not limited to the following technologies:

1) The structure design and layout of this solution is compact, which reduces the volume and self-weight of the handling robot, improves the flexibility of the handling robot, increases the utilization rate of the warehouse, and reduces the failure rate under collision;

2) The use of roller chains and telescopic universal joints as connecting transmission parts can effectively improve the transmission and driving efficiency of the handling robot, shorten the braking distance, prevent slippage, and reduce the failure rate of the handling robot; improve work efficiency and save money cost.

Description of drawings

Accompanying drawing 1 is the structure diagram of the traveling drive device of the handling robot;

Accompanying drawing 2 is the schematic diagram of swing structure track;

Accompanying drawing 3 is the structure diagram when driving on the sub-channel;

Figure 4 is a structural diagram when driving on the main channel.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1-4: A traveling drive device for a handling robot, including a sub-channel 00, a main channel 01 and a main support 10; The positions are staggered; there is a height difference between the upper edges of the sub-channel 00 and the main channel 01; the middle of the main support 10 is fixed with a dual-output motor 20; The traveling structure is drivingly connected; the sub-track traveling structure includes sub-channel traveling wheels 40; the main track traveling structure includes main-channel traveling wheels 50; and drive freely on the main thoroughfare. The sub-channel driving wheel 40 corresponds to driving on the sub-channel 00, and the main channel driving wheel 50 corresponds to driving on the main channel 01. When the sub-channel driving wheel 40 and the main channel driving wheel 50 drive on their respective tracks, they do not interfere with each other. , when the sub-channel running wheel 40 is running, the main channel running wheel 50 does not run, and when the main channel running wheel 50 is running, the sub-channel running wheel 40 does not run; when the transport robot needs to switch to a different track, the driving device 90 Drive the reversing body 80 to move up and down so that the sub-channel running wheel 40 and the main channel running wheel 50 fall on their respective tracks respectively to complete the reversing; after that, the dual-output motor 20 drives the sub-channel running wheel 40 and the main channel running wheel 50 to move on and off respectively. All-wheel drive on their respective tracks; in this way, the handling robot can move goods freely and flexibly in the warehouse.

The sub-track driving structure further includes a first transmission shaft 30; the first transmission shaft 30 is erected between two sides of the main bracket 10; the first output shaft of the dual output motor 20 is connected to the first transmission shaft through a roller chain. The transmission shaft 30 is rotatably connected; a plurality of the sub-channel running wheels 40 are symmetrically arranged on both sides of the main support 10 ; the first transmission shaft 30 is rotatably connected with the rotating shafts of the plurality of sub-channel running wheels 40 through a roller chain. The first output shaft of the dual-output motor 20, the first transmission shaft 30, the rotation shaft of the sub-channel running wheel 40 and the roller chain are driven by gears; the first output shaft of the dual-output motor 20 2. Gears and roller chains are installed on the rotating shafts of the first transmission shaft 30 and the sub-channel traveling wheel 40 to cooperate with each other; the first output shaft of the dual-output motor 20 transmits power to the first transmission shaft 30 through the roller chain, and the A drive shaft 30 transmits power to the rotating shaft of the sub-channel running wheel 40 through the roller chain, so that the sub-channel running wheel 40 can be fully driven on the sub-channel 00 .

The main track traveling structure further includes a second transmission shaft 70, a swing structure and a reversing body 80; the second output shaft of the dual-output motor 20 is drivingly connected with a roller chain, and the roller chain extends to both sides, And the extension end of the roller chain is rotatably connected with the two second transmission shafts 70 symmetrically arranged on both sides of the main bracket 10; the two ends of the roller chain are sleeved on the two second transmission shafts 70, and the The middle part is rotatably connected with the second output shaft of the dual output motor 20; the rotation of the second output shaft of the dual output motor 20 drives the roller chain to rotate and transmit power to the second transmission shaft 70; a plurality of the reversing bodies 80 are symmetrically spaced It is arranged inside both ends of the main support 10; the main channel running wheel 50 is installed in the reversing body 80; the second transmission shaft 70 is connected to the connecting shaft 51 of the main channel running wheel 50 through a swing structure correspondingly and rotatably; The rotation of the two transmission shafts 70 drives the swing structure to rotate, and the connecting shaft 51 of the main channel running wheel 50 also rotates with the swing structure, so that the main channel running wheel 50 can roll and drive on the main channel 01 with full drive.

A driving auxiliary wheel 52 is also installed in the reversing body 80; the driving auxiliary wheel 52 and the main channel driving wheel 50 are arranged at intervals in the horizontal direction, and the distance between the driving auxiliary wheel 52 and the main channel 01 is smaller than that of the main channel 01. The distance between the channel running wheel 50 and the main channel 01, when the main channel running wheel 50 is running on the main channel 01, it may be offset. At this time, the auxiliary driving wheel 52 is in contact with the main channel 01 track, weakening the main channel running wheel 50 The oblique force avoids rollover and enhances stability.

A driving device 90 is sandwiched between a plurality of reversing bodies 80 at the same end of the main bracket 10; a rack 81 is fixed on a side wall of the reversing body 80 close to the driving device 90; The output gear and the rack 81 are arranged in close cooperation with each other, and the tooth gap of the output gear of the driving device 90 is fitted with the convex teeth of the rack 81; When the output gear of 90 rotates, the rack 81 matched with it will move up and down, thereby driving the reversing body 80 to move up and down; the reversing body 80 moves between two extreme positions in the vertical direction, and all the The distance between the installation positions of the second transmission shaft 70 is set below the center level of the two extreme positions of the reversing body 80; The lower limit position is the position that can ensure an appropriate safety distance between the sub-channel driving wheels and the sub-channel; when the handling robot is driving on the sub-channel, the reversing body is located inside the vehicle body, that is, the upper limit position of the reversing body 80; When the robot needs to be reversed to drive on the main channel, the reversing body is driven by the driving device 90 to move to the lower limit position, and the sub-channel driving wheel is away from the sub-channel track, so it switches from the sub-channel to the main channel; this design is simple in structure and easy to operate. It is convenient, reduces the time of turning, and improves the efficiency of handling.

The swing structure includes a telescopic universal joint 60 ; the dual-output motor 20 is drivingly connected to one end of the telescopic universal joint 60 through the second transmission shaft 70 ; the other end of the telescopic universal joint 60 is connected to the main channel running wheel 50 . The connecting shaft 51 is rotatably connected. When the reversing body 80 moves up and down, the main channel running wheel 50 also moves up and down together with the reversing body 80; The end of the telescopic universal joint 60 connected with the second transmission shaft 70 remains stationary; it can ensure that the main channel running wheel and the connecting shaft are not affected by the movement of the reversing body during the transmission process, and always ensure the transmission of driving power , which can ensure that the main aisle running wheel 50 runs in full drive on the main aisle.

In this way, the four-way all-drive mode is adopted, which is driven by roller chains and uses telescopic universal joints as connecting parts, which can improve the transmission efficiency and driving efficiency, and prevent the handling robot from slipping during the driving process; and the structure is compact in layout, which can reduce the handling capacity. The base and self-weight of the robot enhance the mechanical strength of the car body, improve the flexibility of the car body operation, and can effectively increase the storage density of the warehouse.

The above description is a preferred embodiment of the present invention. For those of ordinary skill in the art, several modifications and changes can be made without departing from the principle of the present invention, and these modifications and changes are also regarded as the protection scope of the present invention.

Claims (6)

1. A traveling drive device for a handling robot, characterized in that: it comprises a sub-channel (00), a main channel (01) and a main support (10); the sub-channel (00) and the main channel (01) are The two-way rails are perpendicular to each other, and are arranged staggered in space; a dual-output motor (20) is fixed in the middle of the main support (10); The track traveling structure is drivingly connected; the sub-track traveling structure includes a sub-channel traveling wheel (40); the main track traveling structure includes a main track traveling wheel (50); the handling robot travels through the sub-track traveling wheel (40) and the main aisle The wheels (50) run freely on the corresponding sub-channel and main channel. 2. A traveling drive device for a handling robot according to claim 1, characterized in that: the sub-track traveling structure further comprises a first transmission shaft (30); the first transmission shaft (30) is erected between two sides of the main support (10); the first output shaft of the dual-output motor (20) is rotatably connected with the first transmission shaft (30) through a roller chain; a plurality of the sub-channel running wheels (40) ) are symmetrically arranged on both sides of the main support (10); the first transmission shaft (30) is rotatably connected with the rotating shafts of the plurality of sub-channel running wheels (40) through a roller chain. 3. A traveling drive device for a handling robot according to claim 1, characterized in that: the main track traveling structure further comprises a second transmission shaft (70), a swing structure and a reversing body (80); The second output shaft of the dual-output motor (20) is drivingly connected to the roller chain, the roller chain extends to both sides, and the extending ends of the roller chain are symmetrically arranged on both sides of the main support (10). The two second transmission shafts (70) are rotatably connected; a plurality of the reversing bodies (80) are symmetrically arranged inside both ends of the main bracket (10); the main channel running wheels (50) are mounted on the reversing bodies In (80); the second transmission shaft (70) is rotatably connected to the connecting shaft (51) of the main channel running wheel (50) through a swing structure. 4. A driving device for transporting a robot according to claim 3, characterized in that: the reversing body (80) is further provided with a driving auxiliary wheel (52); the driving auxiliary wheel ( 52) and the main aisle running wheels (50) are arranged at intervals in the horizontal direction, and the distance between the auxiliary running wheels (52) and the main passage (01) is smaller than the distance between the main passage running wheels (50) and the main passage (01) . 5. A driving device for transporting a robot according to claim 3, characterized in that: a driving device (90) is sandwiched between a plurality of reversing bodies (80) at the same end of the main bracket (10). ); a rack (81) is fixed on a side wall of the reversing body (80) close to the drive device (90); the output gear of the drive device (90) and the rack (81) are in a fit with each other setting; the output gear of the driving device (90) drives the rack (81) forward and reversely, thereby driving the reversing body (80) to move up and down; the two reversing bodies (80) in the vertical direction move between extreme positions, and the distance between the installation positions of the second transmission shaft (70) is set below the center level of the two extreme positions of the reversing body (80). 6. A traveling driving device for a handling robot according to claim 3, characterized in that: the swing structure comprises a telescopic universal joint (60); the dual-output motor (20) passes through the second transmission shaft (70) is drivingly connected with one end of the telescopic universal joint (60); the other end of the telescopic universal joint (60) is rotatably connected with the connecting shaft (51) of the main channel running wheel (50).

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