CN111847321A - Lifting driving assembly of transfer robot for warehouse logistics and transfer robot - Google Patents
Lifting driving assembly of transfer robot for warehouse logistics and transfer robot Download PDFInfo
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- CN111847321A CN111847321A CN202010719448.4A CN202010719448A CN111847321A CN 111847321 A CN111847321 A CN 111847321A CN 202010719448 A CN202010719448 A CN 202010719448A CN 111847321 A CN111847321 A CN 111847321A
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- transfer robot
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- lifting
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 230000002146 bilateral effect Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/125—Platforms; Forks; Other load supporting or gripping members rotatable about a longitudinal axis
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transmission Devices (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a lifting driving assembly of a transfer robot for logistics in storage and a transfer robot, wherein the lifting driving assembly comprises two groups of jacking assemblies which are arranged in bilateral symmetry, and each group of jacking assemblies comprises two groups of link mechanisms arranged in a mirror image manner and a group of driving devices; the carrying robot for the warehouse logistics executes jacking operation through the lifting driving assembly, the lifting driving assembly consists of a plurality of groups of connecting rod mechanisms, the connecting rod mechanisms are low in structural cost and high in reliability, and the lifting driving assembly supports four corners of the lifting platform through the four groups of connecting rod mechanisms and is high in lifting stability.
Description
Technical Field
The invention relates to the field of warehouse logistics, in particular to a lifting driving assembly of a transfer robot for warehouse logistics and the transfer robot.
Background
At present in the storage logistics field, the transfer robot of application transport goods shelves uses extensively, and it can carry goods shelves to the regional merit of letter sorting and supply the sorting personnel to pick up goods, waits to sort personnel to pick up goods and removes the normal position back with goods shelves after accomplishing again. The existing carrying robot mostly jacks the goods shelf based on the cam or the lead screw, and the structural stability and the reliability are lower.
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 lifting driving assembly of the conveying robot for the logistics of the stored goods with high stability and reliability and the conveying robot.
The technical scheme is as follows: in order to achieve the purpose, the lifting driving assembly of the transfer robot for the warehouse logistics comprises two groups of jacking assemblies which are arranged in a bilateral symmetry mode, and each group of jacking assemblies comprises two groups of link mechanisms arranged in a mirror image mode and a group of driving devices;
the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a sliding block, wherein one end of the first connecting rod is rotatably connected relative to the chassis base body, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged on the sliding block, and the sliding block is connected in a sliding manner relative to the chassis base body; the hinged position of the first connecting rod and the second connecting rod is also hinged with a connecting piece connected with the lifting platform; the connecting piece is connected with the lifting platform in a sliding manner;
the driving device comprises a left-handed nut and a right-handed nut which are respectively arranged on two sliding blocks of the two groups of connecting rod mechanisms, a lead screw and a driving motor for driving the lead screw to rotate, wherein a left-handed lead screw part matched with the left-handed nut and a right-handed nut part matched with the right-handed nut are respectively arranged on two sides of the lead screw;
and the movable chassis is also rotatably provided with a maintaining connecting rod, and the other end of the maintaining connecting rod is hinged on the lifting platform.
Further, when a connecting line of two hinge points of the maintaining connecting rod is in a horizontal state, the distance from the highest stroke position of the hinge point of the lifting platform and the maintaining connecting rod to the connecting line is equal to the distance from the lowest stroke position to the connecting line.
Furthermore, two lead screws contained in the two groups of jacking assemblies are driven to rotate by the same driving motor.
A transfer robot comprises the lifting driving assembly of the transfer robot for the warehouse logistics.
Has the advantages that: in the lifting driving assembly of the transfer robot for the warehouse logistics and the transfer robot, the lifting driving assembly is composed of the plurality of groups of connecting rod mechanisms, the connecting rod mechanisms are low in structural cost and high in reliability, and the lifting driving assembly supports four corners of the lifting platform through the four groups of connecting rod mechanisms, so that the lifting stability is high.
Drawings
FIG. 1 is a perspective view of a transfer robot for stock distribution;
fig. 2 is a front view of a transfer robot for stock flows;
FIG. 3 is a state diagram of the lift drive assembly with the lift platform in the raised position;
FIG. 4 is a state diagram of the lift drive assembly with the lift platform in the low position;
fig. 5 is a structural view of a transfer robot including a carrier in an unfolded state;
fig. 6 is a structural view of a transfer robot including a carrier in a stored state;
FIG. 7 is a structural view of the bracket;
FIG. 8 is a block diagram of the connection assembly;
fig. 9 is a state diagram of the carrier robot when it carries the carrier.
The names of the parts indicated by the reference numerals in the drawings are as follows:
1-a movable chassis; 11-chassis base; 2-a lifting platform; 3-a lifting drive assembly; 31-a linkage mechanism; 311-a first link; 312-a second link; 313-a slider; 314-a connector; 32-a drive device; 321-left-handed nut; 322-right-hand nut; 323-lead screw; 324-a drive motor; 4-a tray; 5-a rotary drive assembly; 51-bull gear; 52-pinion gear; 53-rotating electrical machines; 6-maintaining the connecting rod; 7-a bracket; 71-a carrier; 72-a bracket base; 721-fixed gear; 73-a connecting assembly; 731-first link; 732-a second link; 732-1-rack portion; 733 — first gear; 734-a second gear; 735-a gearbox; 74 — the drive unit; 741-a slider; 742-a linear motion execution unit; 743-a drive rod; 75-a roller; 8-a guide; 9-sliding sleeve.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The transfer robot for warehouse logistics shown in fig. 1 and fig. 2 comprises a movable chassis 1, a lifting platform 2, a lifting driving assembly 3, a tray 4 and a rotating driving assembly 5;
the movable chassis 1 comprises a chassis base body 11 which can controllably move relative to the ground; the lifting platform 2 is arranged on the movable chassis 1 and can do lifting motion relative to the movable chassis 1; the lifting driving component 3 is used for driving the lifting platform 2 to do lifting motion relative to the movable chassis 1; a tray 4 is mounted on the lifting platform 2 and is rotatable with respect to the lifting platform 2; the rotary driving component 5 is used for driving the tray 4 to rotate relative to the lifting platform 2;
the lifting driving assembly 3 comprises two groups of jacking assemblies which are arranged in bilateral symmetry, and each group of jacking assemblies comprises two groups of link mechanisms 31 arranged in a mirror image mode and a group of driving devices 32;
the link mechanism 31 includes a first link 311, a second link 312 and a slide block 313, wherein one end of the first link 311 is rotatably connected with respect to the chassis base 11, the other end of the first link 311 is hinged with one end of the second link 312, the other end of the second link 312 is hinged on the slide block 313, and the slide block 313 is slidably connected with respect to the chassis base 11; the hinged position of the first connecting rod 311 and the second connecting rod 312 is also hinged with a connecting piece 314 connected with the lifting platform 2; the connecting piece 314 is connected with the lifting platform 2 in a sliding way;
the driving device 32 includes a left-handed nut 321 and a right-handed nut 322 respectively disposed on the two sliding blocks 313 of the two sets of link mechanisms 31, and further includes a lead screw 323 and a driving motor 324 for driving the lead screw 323 to rotate, and two sides of the lead screw 323 are respectively a left-handed lead screw portion used in cooperation with the left-handed nut 321 and a right-handed nut portion used in cooperation with the right-handed nut 322;
the movable chassis 1 is also rotatably provided with a maintaining connecting rod 6, and the other end of the maintaining connecting rod 6 is hinged on the lifting platform 2; when the connecting line of the two hinge points of the maintaining connecting rod 6 is in a horizontal state, the distance from the highest stroke position of the hinge point of the lifting platform 2 and the maintaining connecting rod 6 to the connecting line is equal to the distance from the lowest stroke position to the connecting line.
Fig. 3 is a state diagram of the lifting driving assembly when the lifting platform is at a high position, fig. 4 is a state diagram of the lifting driving assembly when the lifting platform is at a low position, by the above structure, because each set of jacking assembly includes two sets of link mechanisms 31 arranged in a mirror image and a set of driving device 32, the driving device 32 synchronously drives the two sets of link mechanisms 31 to move through the rotation of the screw 323, in the upward movement stroke of the jacking tray 4, the rotation of the screw 323 enables the connecting members 314 of the two link mechanisms 31 to gradually rise, the two connecting members 314 thereof move in a constant speed and in a reverse direction, the distance between the two connecting members is gradually increased, in the process that the connecting members 314 are gradually far away, the effective supporting length of the two connecting members to the lifting platform 2 is increased, the supporting stability of the jacking assembly to the lifting platform 2 is gradually improved, when the lifting platform 2 moves to a highest position, the, the support stability is also best. Preferably, when the lifting platform 2 is in the high position, the first link 311 is in the vertical state, and at this time, the first link 311 is a vertically arranged two-force rod capable of bearing most of the pressure. And the two link mechanisms 31 are driven by the same lead screw 323, so that the best synchronism of the movement of the two link mechanisms 31 can be ensured. The maintaining connecting rod 6 is basically transversely arranged, so that transverse moment can be effectively resisted, the lifting platform 2 cannot transversely move, the length of the maintaining connecting rod 6 is at least one order of magnitude higher than the stroke of the lifting platform 2, and the distance from the stroke highest position of the hinged point of the lifting platform 2 and the maintaining connecting rod 6 to the connecting line is equal to the distance from the stroke lowest position to the connecting line, so that when the lifting platform 2 ascends and descends, the lifting platform 2 only can generate negligible horizontal translation, and the maintaining connecting rod 6 can play a great role in maintaining the stability of the lifting platform 2.
Preferably, two lead screws 323 included in the two sets of jacking assemblies are driven to rotate by the same driving motor 324. Specifically, the driving motor 324 transmits power to the two lead screws 323 through two sets of gear sets with equal transmission ratio. Therefore, the two groups of jacking assemblies can synchronously execute jacking operation, the synchronism is good, and the situation that one side is high and the other side is low can not occur.
The rotary driving assembly 5 comprises a large gear 51 which can rotate relative to the lifting platform 2 and a small gear 52 which is arranged on the lifting platform 2 and driven by the rotary motor 53 to rotate, wherein the small gear 52 is meshed with the large gear 51.
Further, the device also comprises a bracket 7, wherein the bracket 7 can rotate along with the tray 4 and does not move up and down along with the tray 4; the bracket 7 comprises four support bodies 71, and a roller 75 is arranged below each support body 71; the bracket 7 as a whole can be cut between a storage state and an expansion state, and in the expansion state, the four support bodies 71 can support the four legs of the shelf. In the initial state, the tray 7 is in the storage state, as shown in fig. 6, when the shelf needs to be transported, the lifting drive assembly 3 firstly jacks up the tray 4 to the highest position, then the whole tray 7 is switched from the storage state to the unfolding state as shown in fig. 5, the four support bodies 71 are positioned below the four leg portions of the shelf, and then the lifting drive assembly 3 lowers the tray 4 for a certain distance to enable the four leg portions to fall on the four support bodies 71, and the state is shown in fig. 9.
Specifically, as shown in fig. 7, the bracket 7 further includes a bracket base 72, a connecting assembly 73, and a driving unit 74. The bracket base 72 is circumferentially fixed relative to the tray 4 in the overlooking direction and can translate relative to the bracket base 72 in the vertical direction, so that when the tray 4 does lifting motion, the bracket 7 is not affected, and when the tray 4 rotates, the bracket 7 can be driven to synchronously rotate; specifically, the transmission mode is realized in such a way that a plurality of guide members 8 are installed on the tray 4, and sliding sleeves 9 which are in one-to-one sliding fit with the guide members 8 are fixedly installed on the bracket seat body 72.
As shown in fig. 8, a connecting assembly 73 is used for connecting the bracket 4 and the bracket holder 72; one connecting assembly 73 is provided for each support body 71; the bracket base 72 is provided with a fixed gear 721 corresponding to each connecting member 73; the driving unit 74 is configured to drive the connecting assembly 73 to rotate relative to the bracket base 72, so that the bracket 4 can be integrally switched between the retracted state and the extended state;
specifically, the linkage assembly 73 includes a first link 731, a second link 732, a first gear 733, a second gear 734, and a gearbox 735. The first link 731 is rotatably mounted with respect to the bracket base 72; the second link 732 can make telescopic motion relative to the first link 731, and the support 71 is fixed thereon; the second link 732 has a rack portion 732-1 formed thereon; a first gear 733 rotatably mounted on the first link 731, and engaged with the fixed gear 721; a second gear 734 rotatably mounted on the first link 731 and engaged with the rack portion 732-1; the gearbox 735 is used to establish a driving relationship between the first gear 733 and the second gear 734, and it makes the rotation speed of the second gear 734 higher than that of the first gear 733, so that when the first gear 733 rotates less times, the second gear 734 can rotate more times, driving the second link 732 to extend a larger distance. With the above structure, when the first link 731 rotates relative to the bracket base 72, the first gear 733 will also rotate due to the engagement between the first gear 733 and the fixed gear 721, so as to drive the second gear 734 to rotate by driving the gear box 735, and the second link 732 can extend relative to the first link 731 due to the engagement between the second gear 734 and the rack portion 732-1. In this way, by driving the first link 731 to rotate, the second link 732 can be extended and retracted at the same time.
Further, the four connecting assemblies 73 are divided into two groups, and the two connecting assemblies 73 in each group are driven by a driving unit 74 to rotate relative to the bracket base 72; the driving unit 74 includes a sliding block 741, a linear motion actuator 742, and a driving rod 743; wherein the sliding block 741 is slidably mounted with respect to the bracket base 72; the linear actuator 742 is used for driving the sliding block 741 to slide relative to the bracket base 72, and in this embodiment, the linear actuator 742 is a lead screw; one end of the driving rod 743 is hinged to the sliding block 741, and the other end is hinged to the first link 731. Thus, when the sliding block 741 moves, the two connecting members 73 connected thereto rotate.
The carrying robot for the warehouse logistics executes jacking operation through the lifting driving assembly, the lifting driving assembly consists of a plurality of groups of connecting rod mechanisms, the connecting rod mechanisms are low in structural cost and high in reliability, and the lifting driving assembly supports four corners of the lifting platform through the four groups of connecting rod mechanisms and is high in lifting stability.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. The lifting driving assembly of the transfer robot for warehouse logistics is characterized by comprising two groups of jacking assemblies which are arranged in bilateral symmetry, wherein each group of jacking assemblies comprises two groups of link mechanisms arranged in a mirror image mode and a group of driving devices;
the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a sliding block, wherein one end of the first connecting rod is rotatably connected relative to the chassis base body, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged on the sliding block, and the sliding block is connected in a sliding manner relative to the chassis base body; the hinged position of the first connecting rod and the second connecting rod is also hinged with a connecting piece connected with the lifting platform; the connecting piece is connected with the lifting platform in a sliding manner;
the driving device comprises a left-handed nut and a right-handed nut which are respectively arranged on two sliding blocks of the two groups of connecting rod mechanisms, a lead screw and a driving motor for driving the lead screw to rotate, wherein a left-handed lead screw part matched with the left-handed nut and a right-handed nut part matched with the right-handed nut are respectively arranged on two sides of the lead screw;
and the movable chassis is also rotatably provided with a maintaining connecting rod, and the other end of the maintaining connecting rod is hinged on the lifting platform.
2. The lift driving assembly of a warehouse logistics transfer robot of claim 1, wherein when a connection line of two hinge points of the maintaining link is in a horizontal state, a distance from a highest stroke position of the hinge point of the lift platform and the maintaining link to the connection line is equal to a distance from a lowest stroke position to the connection line.
3. The lift driving assembly of claim 1, wherein two sets of the lifting assemblies comprise two lead screws driven by a same driving motor.
4. A transfer robot characterized by comprising the lift driving assembly of the warehouse logistics transfer robot as recited in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010719448.4A CN111847321B (en) | 2019-08-26 | 2019-08-26 | Lifting driving assembly of transfer robot for warehouse logistics and transfer robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789215.9A CN110498370B (en) | 2019-08-26 | 2019-08-26 | Transfer robot for warehouse logistics |
| CN202010719448.4A CN111847321B (en) | 2019-08-26 | 2019-08-26 | Lifting driving assembly of transfer robot for warehouse logistics and transfer robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910789215.9A Division CN110498370B (en) | 2019-08-26 | 2019-08-26 | Transfer robot for warehouse logistics |
Publications (2)
| Publication Number | Publication Date |
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| CN111847321A true CN111847321A (en) | 2020-10-30 |
| CN111847321B CN111847321B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010719448.4A Active CN111847321B (en) | 2019-08-26 | 2019-08-26 | Lifting driving assembly of transfer robot for warehouse logistics and transfer robot |
| CN202010718211.4A Active CN111943087B (en) | 2019-08-26 | 2019-08-26 | Bracket of transfer robot for warehouse logistics and transfer robot |
| CN201910789215.9A Active CN110498370B (en) | 2019-08-26 | 2019-08-26 | Transfer robot for warehouse logistics |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010718211.4A Active CN111943087B (en) | 2019-08-26 | 2019-08-26 | Bracket of transfer robot for warehouse logistics and transfer robot |
| CN201910789215.9A Active CN110498370B (en) | 2019-08-26 | 2019-08-26 | Transfer robot for warehouse logistics |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111115137A (en) * | 2019-12-27 | 2020-05-08 | 北京旷视机器人技术有限公司 | Chassis assembly and transfer robot |
| CN113942774B (en) * | 2020-07-15 | 2023-02-21 | 沈阳新松机器人自动化股份有限公司 | Shock attenuation platform convenient to transport |
| CN112408263B (en) * | 2020-11-11 | 2022-03-01 | 保定学院 | Intelligent transfer robot for warehouse |
| CN112357499B (en) * | 2021-01-13 | 2021-03-30 | 迈赫机器人自动化股份有限公司 | Commodity circulation transfer robot for industrial workshop |
| GB2613625B (en) * | 2021-12-10 | 2024-02-28 | Grey Orange Inc | Robotic apparatus with lifting and rotation mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111943087A (en) | 2020-11-17 |
| CN110498370B (en) | 2021-07-02 |
| CN110498370A (en) | 2019-11-26 |
| CN111943087B (en) | 2021-08-06 |
| CN111847321B (en) | 2021-10-08 |
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