CN112374049A - Reel device and transmission system - Google Patents
Reel device and transmission system Download PDFInfo
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- CN112374049A CN112374049A CN202011239935.7A CN202011239935A CN112374049A CN 112374049 A CN112374049 A CN 112374049A CN 202011239935 A CN202011239935 A CN 202011239935A CN 112374049 A CN112374049 A CN 112374049A
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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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
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Abstract
The invention discloses a winding wheel device and a transmission system. Wherein: the inner layer wheel core is made of insulating materials and is driven to rotate by a driving device; the outer wheel core is conductive material, and the cover is established outside the inlayer wheel core and is linked firmly with it, and outer wheel core is used for twining the drive belt and links firmly with the link of drive belt, and the other end of drive belt is used for connecting passive target. The invention provides a reel device and a transmission system, which can avoid the situations of electricity supply disorder and communication disorder caused by short circuit between a driving shaft, a transmission mechanism and other parts in a transfer robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a winding wheel device and a transmission system with the winding wheel device.
Background
An automated warehouse is a system capable of automatically storing and taking out materials without direct manual intervention, and is generally composed of multiple shelves, wherein the materials are usually stored in standard bins or trays, and then are accessed by a handling manipulator (or called a handling robot), and automatic access control and management of the materials are realized by a computer.
Disclosure of Invention
The invention aims to provide a reel device and a transmission system, which can avoid the situation that electricity and communication are disordered due to short circuit between multiple parts such as a driving shaft and a transmission mechanism in a transfer robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a reel device comprising an inner layer core and an outer layer core, wherein:
the inner layer wheel core is made of insulating materials and is driven to rotate by the driving device;
the outer wheel core is made of conductive materials, is sleeved outside the inner wheel core and is fixedly connected with the inner wheel core, the outer wheel core is used for winding a transmission belt and is fixedly connected with the connecting end of the transmission belt, and the other end of the transmission belt is used for connecting a passive target.
Optionally, in the above reel device, the outer layer core comprises a core main body portion and a core connecting portion, wherein:
the wheel core main body part is sleeved outside the inner layer wheel core and fixedly connected with the inner layer wheel core;
the wheel core connecting part and the wheel core main body part are spliced to form a roller structure for winding the transmission belt, and a splicing seam between the wheel core connecting part and the wheel core main body part is used for clamping and establishing the connecting end of the transmission belt and is fixedly connected with the connecting end.
Optionally, in the winding wheel device, the splice seam between the wheel core connecting part and the wheel core main body part is a planar seam parallel to the central axis of the outer-layer wheel core.
Alternatively, in the winding wheel device, the wheel core connecting part and the wheel core main body part are fixedly connected through a radial screw.
Optionally, in the above rolling wheel device, the outer layer wheel core and the inner layer wheel core are fixedly connected through a radial screw.
Optionally, in the winding wheel device, a driving shaft mounting hole adapted to a driving shaft of the driving device is provided in the inner layer wheel core.
Optionally, in the above winding wheel device, a first guide mechanism and a second guide mechanism for axially limiting the driving belt are respectively disposed at two ends of the outer wheel core.
Optionally, in the winding wheel device, the first guide mechanism is fixedly connected to the first side end surface of the outer layer wheel core;
the second guide mechanism is an annular limiting part fixedly connected with the second side end face of the outer wheel core, and a central through hole of the second guide mechanism is used for allowing the driving shaft of the driving device to extend into the driving shaft mounting hole of the inner wheel core.
Optionally, in the winding wheel device, the first guide mechanism is made of a conductive material, and is provided with an electrical interface for connecting with a rotating cable of an electrical connector, so that the outer-layer wheel core can be electrically connected with the electrical connector;
or, the second guide mechanism is made of a conductive material or a non-conductive material and is provided with a through hole, and the through hole is used for allowing a rotating cable of the electric connector to pass through so as to enable the rotating cable to be electrically connected with the outer layer wheel core.
A transmission system comprising a reel unit and a drive belt, wherein:
the winding wheel device is the winding wheel device described above;
the driving belt is made of conductive materials, one end of the driving belt is fixedly connected with an outer layer wheel core of the winding wheel device, and the other end of the driving belt is used for being connected with a passive target and can be electrically connected with an electrical interface in the passive target.
Optionally, in the transmission system, an electrical interface for connecting with a rotating cable of an electrical connector is provided on a side end of the reel device or a first guide mechanism fixedly connected to the side end of the reel device, so that the outer wheel core can be electrically connected with the electrical connector;
or a first guide mechanism is arranged at the side end of the winding wheel device, the first guide mechanism is made of a conductive material or a non-conductive material, and is provided with a through hole, and the through hole is used for allowing a rotating cable of an electric connector to pass through so that the rotating cable can be electrically connected with the outer layer wheel core.
Optionally, in the above transmission system, the transmission system further includes an electrical connector, where the electrical connector includes a fixing portion and a rotating portion, the fixing portion is provided with a fixing cable for externally connecting electrical equipment, the rotating portion is provided with the rotating cable, and an external connection end of the rotating cable is electrically connected to a side end face of the outer wheel core, or is electrically connected to the first guide mechanism fixedly connected to the side end face of the outer wheel core.
According to the technical scheme, the reel device and the transmission system thereof can realize a basic transmission function, and the reel device adopts a double-layer structure, the inner layer wheel core of the reel device is made of an insulating material, so that the driving device and the outer layer wheel core are insulated and isolated, the problems of power connection and signal interference between the driving device and the outer layer wheel core (or the problems of power connection and signal interference between the driving device and a transmission belt) can be effectively avoided, and the situations of power-on disorder or communication disorder between a driving shaft, a transmission mechanism and other parts in a transfer robot are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an exploded view of a reel device according to a second embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of a reel device according to a second embodiment of the present invention;
FIG. 3 is a schematic view of an assembly structure of an inner layer wheel core, an outer layer wheel core and a first guiding mechanism according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a reel device provided with a protective cover according to a second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a transmission system according to a third embodiment of the present invention;
FIG. 6 is a schematic illustration of an alternate transmission system according to a third embodiment of the present invention;
FIG. 7 is a schematic view of an overall structure of a transfer robot according to a fourth embodiment of the present invention;
FIG. 8 is a first isometric view of a first platform provided with a drive belt according to a fourth embodiment of the present invention;
FIG. 9 is a second isometric view of a first platform provided with a drive belt in accordance with a fourth embodiment of the present invention;
fig. 10 is a schematic view of a conductive loop when a metal strip is used as a power transmission cable in the transfer robot according to the fourth embodiment of the present invention (arrows indicate current flowing directions);
fig. 11 is a schematic view of a communication path when a metal tape is used as a communication cable in the transfer robot according to the fourth embodiment of the present invention.
Wherein:
1-a first platform, 2-a second platform, 3-a transmission belt,
41-electrical connector, 411-stationary cable, 422-rotating cable,
42-the first guide means is arranged to,
43-inner layer wheel core, 431-driving shaft mounting hole, 432-groove,
44-outer layer wheel core, 441-wheel core main body portion, 442-wheel core connecting portion,
45-second guiding mechanism, 46-protective cover;
5-a power supply, 6-a wiring terminal,
7-a first control system, 8-a second control system,
31-a first belt, 32-a second belt,
34-a third belt, 34-a fourth belt,
101-a first drive shaft, 102-a second drive shaft,
401-a first reel means, 402-a second reel means,
403-third reel device, 404-fourth reel device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
First embodiment
A first embodiment of the present invention provides a transfer robot including an upper platform and a lower platform. Wherein:
a transmission mechanism for adjusting the distance between the upper platform and the lower platform is arranged between the upper platform and the lower platform, such as a gear transmission mechanism, a drag chain transmission mechanism, a belt transmission mechanism and the like;
communication devices for realizing automatic control, such as wireless communication devices arranged on the upper platform and the lower platform, or signal detection devices, signal transmission devices and signal receiving devices arranged on the upper platform and the lower platform, and communication cables arranged between the upper platform and the lower platform, are also arranged between the upper platform and the lower platform;
the upper platform or the lower platform is provided with a power supply, and the lower platform and the upper platform are electrically connected through a power transmission cable to realize power supply.
Because the reel among the drive mechanism is mostly the metal material, its drive shaft of connecting also is the metal material, when the drive belt between upper and lower platform adopted steel band, copper strips, conductive rubber or other electrically conductive material and connect the power, or when the drive belt between upper and lower platform adopted steel band, copper strips, conductive rubber or other electrically conductive material and had the communication function, especially when being provided with multiunit drive mechanism between top platform and the below platform, then take place the drive shaft easily, the short circuit takes place between the multicomponent such as drive mechanism to take place the circular telegram confusion, the chaotic condition of communication.
Second embodiment
A second embodiment of the present invention provides a reel device that can avoid power supply confusion and communication confusion due to short-circuiting between multiple components such as a drive shaft and a transmission mechanism in a transfer robot.
Referring to fig. 1 to 4, fig. 1 is an exploded schematic view of a reel device according to a second embodiment of the present invention; fig. 2 is a schematic view of an overall structure of a reel device according to a second embodiment of the present invention; FIG. 3 is a schematic view of an assembly structure of an inner layer wheel core, an outer layer wheel core and a first guiding mechanism according to a second embodiment of the present invention; fig. 4 is a schematic structural diagram of a reel device provided with a protective cover according to a second embodiment of the present invention.
The second embodiment of the present invention provides a reel device, comprising an inner layer wheel core 43 and an outer layer wheel core 44, wherein:
the inner layer wheel core 43 is made of insulating materials, is used for being in transmission connection with a driving device and is driven to rotate by the driving device;
When in work: the driving device connected with the winding wheel device is fixedly arranged on the appointed platform, and when the driving device drives the winding wheel device to rotate, the driven target can be pulled through the driving belt 3 matched with the winding wheel device, so that the lifting movement of materials (including a material box) or the translation in other directions is realized.
It can be seen from the above technical solutions that the reel device provided in the second embodiment of the present invention can implement a basic transmission function, and because the reel device adopts a double-layer structure, the inner layer core 43 is made of an insulating material, so that the driving device and the outer layer core 44 are insulated and isolated, thereby effectively avoiding a problem of power connection and a problem of signal interference between the driving device and the outer layer core 44 (or a problem of power connection and a problem of signal interference between the driving device and the transmission belt 3), and avoiding a situation of power-on confusion or communication confusion between multiple components such as a driving shaft and a transmission mechanism in the transfer robot.
Specifically, referring to fig. 1 and 3, the outer layer wheel core 44 of the winding device includes a wheel core main body portion 441 and a wheel core connecting portion 442. Wherein:
the wheel core main body part 441 is sleeved outside the inner layer wheel core 43 and fixedly connected with the inner layer wheel core;
the wheel core connecting portion 442 and the wheel core main body portion 441 are spliced to form a roller structure for winding the transmission belt 3, and a splicing seam between the wheel core connecting portion 442 and the wheel core main body portion 441 is used for clamping and fixing a connecting end of the transmission belt 3, that is, when the rolling wheel device works, one end of the transmission belt 3 is clamped and fixed in the splicing seam between the wheel core connecting portion 442 and the wheel core main body portion 441.
Specifically, the splice between the core attaching portion 442 and the core main body portion 441 is a planar-type seam a parallel to the center axis of the outer-layer core 44.
Specifically, the wheel core connecting portion 442 and the wheel core main body portion 441, and the outer layer wheel core 44 and the inner layer wheel core 43 are fixedly connected by radial screws, respectively.
Specifically, a drive shaft mounting hole 431 adapted to the drive shaft of the drive device and a groove 432 for extending the cable are provided in the inner-layer wheel core 43.
Specifically, a first guide mechanism 42 and a second guide mechanism 45 are respectively arranged at two ends of the outer-layer wheel core 44, and the first guide mechanism 42 and the second guide mechanism 45 can play a role in axial limiting and guiding for the driving belt 3. Preferably, the first guide mechanism 42 and the second guide mechanism 45 are respectively in the form of an annular limiting plate, and the two guide mechanisms are respectively and fixedly connected with the end face of the outer-layer wheel core 44 through axial screws.
But is not so limited and in other embodiments:
the splicing seam between the wheel core connecting part 442 and the wheel core main body part 441 can also be arranged in other structural forms, such as a step shape, an arc shape and the like;
the connection between the inner core 43 and the drive shaft may be made by other means, such as a spline connection;
other connecting pieces or other connecting structures can be respectively adopted to be fixedly connected between the outer-layer wheel core 44 and the inner-layer wheel core 43, between the wheel core connecting portion 442 and the wheel core main body portion 441 of the outer-layer wheel core 44, and between the annular limiting plate and the outer-layer wheel core 44, for example, the fixedly connection can be realized by adopting one or more combined modes of multiple connecting modes such as conductive adhesive bonding, clamping, threaded connection, connecting piece fixing and the like.
Specifically, referring to fig. 1, in the winding wheel device, the first guiding mechanism 42 is fixedly connected to a first side end surface of the outer layer wheel core 44; the second guiding mechanism 45 is an annular limiting member fixedly connected to the second side end surface of the outer wheel core 44, and a central through hole thereof is used for allowing the driving shaft of the driving device to extend into the driving shaft mounting hole 431 of the inner wheel core 43.
Preferably, the first guiding mechanism 42 is made of conductive material and is provided with an electrical interface 421 for connecting with the rotating cable 412 of the electrical connector 41, so that the outer-layer wheel core 44 can be electrically connected with the electrical connector 41; alternatively, the second guide mechanism 45 is made of a conductive material (or a non-conductive material), and is provided with a through hole for allowing the rotation cable 412 of the electrical connector 41 to pass through so as to electrically connect the rotation cable 412 with the outer-layer core 44.
Further, referring to fig. 4, in an implementation, a protective cover 46 may be disposed outside the outer layer core 44 to prevent the transmission belt 3 from being accidentally flicked and damaged or other components from being damaged, and also to prevent the transmission belt 3 or the outer layer core 44 from contacting other components to cause short circuit.
Third embodiment
A third embodiment of the present invention provides a transmission system having the reel unit of the second embodiment.
Referring to fig. 5 and 6, fig. 5 is a schematic structural diagram of a transmission system according to a third embodiment of the present invention; fig. 6 is a schematic structural diagram of another transmission system according to a third embodiment of the present invention.
A third embodiment of the invention provides a transmission system comprising a reel unit and a transmission belt 3, wherein:
the reel device is the reel device in the second embodiment;
the driving belt 3 is made of a conductive material, one end of the driving belt is fixedly connected with the outer layer wheel core 44 of the winding wheel device, and the other end of the driving belt is used for connecting a passive target and can be electrically connected with an electrical interface in the passive target.
Specifically, the transmission belt 3 and the outer wheel core 44 may be made of steel belt, copper belt, conductive rubber, or other conductive materials, and can simultaneously meet the transmission requirement of the transmission system and the conductive requirement of the power supply loop, or can simultaneously meet the transmission requirement of the transmission system and the signal transmission requirement of the control system.
For example, when the above-described transmission system is used between the upper and lower stages of a transfer robot, a metal belt (for example, a 301 steel metal belt) is used as the transmission belt 3, and the following parameters are required for the metal belt:
tensile strength σ b (mpa): not less than 480
Conditioned yield strength σ 0.2 (MPa): not less than 205
Elongation δ 5 (%): not less than 40
Reduction of area ψ (%): not less than 60
Hardness: 187HB or less; less than or equal to 90 HRB; less than or equal to 200HV
Resistivity ρ: less than or equal to 1 omega mm2·m-1
Thickness: 0.1 to 0.3mm
Width: not less than 10mm
Length: less than or equal to 10m
Specifically, referring to fig. 5, an electrical interface 421 for connecting with the rotating cable 412 of the electrical connector 41 is disposed on a side end of the reel device (or the first guiding mechanism 42 fixedly connected to the side end of the reel device) so that the outer wheel core 44 can be electrically connected with the electrical connector 41.
Alternatively, referring to fig. 6, a first guiding mechanism 42 is disposed at a side end of the reel device, the first guiding mechanism 42 is made of a conductive material (or a non-conductive material), and a through hole is disposed in the first guiding mechanism 42 for allowing the rotation cable 412 of the electrical connector 41 to pass through so that the rotation cable 412 can be electrically connected to the outer-layer wheel core 44. At this time, the external connection end of the rotation cable 412 of the electrical connector 41 is inserted into the through hole, and is in contact with the outer layer core 43 made of conductive material to ensure electrical connection therebetween, and then the rotation cable 412 is fastened in the through hole by a connector such as a screw 422.
Further, in the above transmission system, the electric connector 41 for external electrical equipment may be assembled with the reel device during the manufacturing process, or the electric connector 41 may be sold with the reel device during the selling process.
Specifically, the electrical connector 41 includes a fixing portion and a rotating portion, the fixing portion is provided with a fixing cable 411 for externally connecting an electrical device, the rotating portion is provided with a rotating cable 412, and an external connection end of the rotating cable 412 is electrically connected with a side end face of the outer-layer wheel core 44 or electrically connected with the first guide mechanism 42 fixedly connected with the side end face of the outer-layer wheel core 44.
Fourth embodiment
A fourth embodiment of the present invention provides a transfer robot.
Referring to fig. 7 to 11, fig. 7 is a schematic view illustrating an overall structure of a transfer robot according to a fourth embodiment of the present invention; FIG. 8 is a first isometric view of a first platform provided with a drive belt according to a fourth embodiment of the present invention; FIG. 9 is a second isometric view of a first platform provided with a drive belt in accordance with a fourth embodiment of the present invention; fig. 10 is a schematic view of a conductive loop of a transfer robot according to a fourth embodiment of the present invention, in which a metal strip is used as a power transmission cable; fig. 11 is a schematic view of a communication path when a metal tape is used as a communication cable in the transfer robot according to the fourth embodiment of the present invention.
The transfer robot according to the fourth embodiment of the present invention includes a first stage 1, a second stage 2, and a belt 3, and the reel device according to the first embodiment of the present invention. Wherein, the one end of drive belt 3 is installed on first platform 1 through the reel device, and the other end and the second platform 2 of drive belt 3 are connected. During operation, the reel device rotates, then can drive second platform 2 elevating movement or along other direction translations through drive belt 3.
Specifically, taking the example of controlling the second platform 2 to ascend and descend, at this time, the first platform 1 is located above the second platform 2, the winding wheel device and the driving device connected with the winding wheel device are both arranged on the first platform 1, one end of the transmission belt 3 is connected with the winding wheel device, and the other end is connected with the second platform 2. The rolling wheel device rotates, and then first platform 1 passes through rolling wheel device and drive belt 3 control second platform 2 and goes up and down.
It should be noted that in other embodiments, the material to be handled may also be translated in other directions by the handling robot, for example: the first platform 1 and the second platform 2 are horizontally arranged, and the second platform 2 can be pulled to horizontally move through the rolling wheel device and the transmission belt 3 so as to carry materials in the horizontal direction; for example: the first platform 1 and the second platform 2 are arranged along an inclined plane, and the second platform 2 can be pulled to move in the inclined plane through a rolling wheel device and a transmission belt 3 so as to realize the material handling in the inclined plane.
Specifically, in the transfer robot described above: the outer layer wheel core 44 of the rolling wheel device is made of conductive materials, the transmission belt 3 is also made of conductive materials, and the two parts can be electrically connected, so that the rolling wheel device and the transmission belt 3 can be used for conducting or communicating between the first platform 1 and the second platform 2.
It should be noted that, in the specific implementation, it is preferable to use a metal belt such as a steel belt or a copper belt as the transmission belt 3, but not limited thereto, in other specific embodiments, the transmission belt 3 may also be made of conductive rubber or other conductive materials, and a manner of combining a common transmission belt and a conductive material may also be adopted, for example, a layer of conductive material is covered on the common transmission belt, or a metal cable is nested, or a metal wire is engraved on the common transmission belt. The way in which the drive belt is provided with the conductive function is based on the core idea of the invention and is within the scope of the claimed invention.
For example, in the above transfer robot, the first stage 1 is located above the second stage 2, and a metal belt (for example, 301 steel metal belt) is used as the belt 3, and the following parameters are required for the metal belt:
tensile strength σ b (mpa): not less than 480
Conditioned yield strength σ 0.2 (MPa): not less than 205
Elongation δ 5 (%): not less than 40
Reduction of area ψ (%): not less than 60
Hardness: 187HB or less; less than or equal to 90 HRB; less than or equal to 200HV
Resistivity ρ: less than or equal to 1 omega mm2·m-1
Thickness: 0.1 to 0.3mm
Width: not less than 10mm
Length: less than or equal to 10m
At this time, the end of the inner core 43 away from the driving device is provided with an electrical connector 41, and the electrical connector 41 may be a conductive slip ring or a carbon brush or other electrical connector capable of realizing a rotary electrical connection. Wherein:
the fixing portion of the electrical connector 41 is rotatably sleeved in the driving shaft mounting hole of the inner wheel core 43, and is provided with a fixing cable 411 for externally connecting electrical equipment, where the externally connected electrical equipment is static equipment on a static platform (i.e. the first platform 1) of the robot, such as a power supply or a controller or a signal transmitter or a signal receiver on the static first platform 1;
the rotating cable 412 of the electrical connector 41 is connected to a side end face of the outer wheel core 44 or a guide mechanism fixedly attached to a side end face of the outer wheel core 44, so that the rotating cable 412 of the electrical connector 41 is electrically connected to the driving belt 3 through the outer wheel core 44 to transmit an electrical or communication signal from the robot stationary platform (i.e., the first platform 1) to the second platform 2 through the reel device and the driving belt 3 in sequence, and then transmitted back to the first platform 1 from the second platform 2.
Specifically, referring to fig. 7 to 10, when the belt 3 (i.e., the metal belt) in the above-described transfer robot is used not only for transmission but also for conduction between the first stage 1 and the second stage 2:
the first platform 1 is provided with two reel devices, namely a first reel device 401 and a second reel device 402, the first reel device 401 is connected with the second platform 2 through a first transmission belt 31, and the second reel device 402 is connected with the second platform 2 through a second transmission belt 32; an inner layer wheel core in the first winding wheel device 401 and an inner layer wheel core in the second winding wheel device 402 are both connected with the first driving shaft 101 so as to be driven to rotate through the first driving shaft 101, and the inner layer wheel core in the first winding wheel device 401 and the inner layer wheel core in the second winding wheel device 402 are both made of insulating materials, so that insulation can be realized between the first winding wheel device 401 and the second winding wheel device 402;
the power supply 5 is arranged on the first platform 1, the wiring terminal 6 is arranged on the second platform 2, and at least one group of transmission belts 3 (two metal belts are included in one group of transmission belts 3, namely the first transmission belt 31 and the second transmission belt 32) is arranged between the first platform 1 and the second platform 2, so that the power supply 5, the first reel device 401, the first transmission belt 31, the wiring terminal 6, the second transmission belt 32 and the second reel device 402 form a conductive loop, and power is supplied to electrical equipment which is positioned on the second platform 2 and connected with the wiring terminal 6 through the power supply 5 positioned on the first platform 1.
Specifically, the power supply 5 on the first platform 1 is a switching power supply for supplying power to electrical devices such as a PLC, a sensor, and a dc motor on the second platform 2. Also, the input of the power supply 5 is alternating current (e.g., AC220V) and the output is direct current (e.g., DC 24V); the first belt 31 is a dc positive input (e.g., 24+) and the second belt 32 is a dc negative output (e.g., 24-). When the first platform 1 is an upper platform, the power supply 5 is disposed on the "upper platform" mainly due to safety considerations, so as to avoid potential safety hazards when the AC220V passes through the metal belt, for example, the potential safety hazards are avoided when the transmission belt 3 made of a conductive material is broken and grounded.
The first belt 31 and the second belt 32 are used to supply 24V dc to the second platform 2, wherein the first belt 31 is 24V dc and the second belt 32 is 24V dc.
Further, referring to fig. 11, when the belt 3 (i.e., the metal belt) in the above-described transfer robot is used not only for transmission but also for communication between the first platform 1 and the second platform 2:
the first platform 1 is provided with two winding wheel devices, namely a third winding wheel device 403 and a fourth winding wheel device 404, the third winding wheel device 403 is connected with the second platform 2 through a third driving belt 33, and the fourth winding wheel device 404 is connected with the second platform 2 through a fourth driving belt 34; an inner layer wheel core in the third winding wheel device 403 and an inner layer wheel core in the fourth winding wheel device 404 are both connected with the second driving shaft 102 so as to be driven to rotate through the second driving shaft 102, and because the inner layer wheel core in the third winding wheel device 403 and the inner layer wheel core in the fourth winding wheel device 404 are both made of insulating materials, insulation can be realized between the third winding wheel device 403 and the fourth winding wheel device 404;
the first platform 1 is provided with a first control system 7, the second platform 2 is provided with a second control system 8, and at least one group of transmission belts 3 (one group of transmission belts 3 comprises two metal belts, namely a third transmission belt 33 and a fourth transmission belt 34) is arranged between the first platform 1 and the second platform 2, so that the first control system 7, the third reel device 403, the third transmission belt 33, the second control system 8, the fourth transmission belt 34 and the fourth reel device 404 form a communication loop, and communication can be realized between the first control system 7 on the first platform 1 and the second control system 8 on the second platform 2.
It can be seen that the transfer robot provided in the fourth embodiment of the present invention uses the metal belt as the transmission belt, so that the metal belt and the outer layer wheel core 44 of the reel device can be used as the conductive medium/communication medium, and simultaneously meet the transmission requirement and the conductive requirement/communication requirement between the upper and lower platforms of the box transfer robot (i.e. the transfer robot) in the automated warehouse. Moreover, the two reel devices which coaxially rotate are insulated from the driving shaft in transmission connection with the reel devices, so that conductive short circuit/signal short circuit is avoided.
Specifically, the first platform 1 of the transfer robot is provided with a protection cover 46 on the outer side of the outer wheel core 44.
It should be noted that the metal strip is a bare steel strip, a copper strip or other conductive material. When the metal strip is used for DC24V power, there is no danger of electrocution due to the lower than safe voltage; when the metal band is used for communication, the communication effect is not influenced by signal interference due to short communication distance and strong and weak current separation.
In summary, the transfer robot provided by the fourth embodiment of the present invention has the following advantages:
(1) compared with the scheme that a battery and a common cable are adopted for conducting electricity between the upper platform and the lower platform and a common transmission mechanism is adopted for transmission, and compared with the scheme that a wireless communication system or a wired communication system is adopted between the upper platform and the lower platform and a common transmission mechanism is adopted for transmission, in the carrying robot provided by the fourth embodiment of the invention, a metal belt (a steel belt, a copper belt or other conductive media) is used as a transmission belt, and meanwhile, the carrying robot has a conductive function/a communication function, so that the purpose of multiple purposes of one object is realized, the common cable is omitted, the structure is more compact, the occupied space is less, the cost is saved, and the maintenance is avoided;
(2) the metal belt has small flexibility, high strength and small friction relative to the belt or other transmission media, thereby being beneficial to prolonging the service life of equipment and reducing the maintenance cost.
Specifically, in the transfer robot, the first platform 1 is a master station, the controller (e.g., PLC, i.e., "programmable logic controller") of the lower platform 2 is a slave station, the first platform 1 is mainly used to control the equipment to move and lift, and the lower platform 2 is mainly used to control the equipment to grab the bin.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A reel device, comprising an inner layer core (43) and an outer layer core (44), wherein:
the inner layer wheel core (43) is made of insulating materials and is driven to rotate by a driving device;
outer round of core (44) is electrically conductive material, overlaps and establishes inlayer round of core (43) is outer and link firmly with it, outer round of core (44) be used for twining drive belt (3) and with the link of drive belt (3) links firmly, the other end of drive belt (3) is used for connecting passive target.
2. The reel device according to claim 1, wherein the outer layer core (44) includes a core main body portion (441) and a core attachment portion (442), wherein:
the wheel core main body part (441) is sleeved outside the inner layer wheel core (43) and fixedly connected with the inner layer wheel core;
the wheel core connecting portion (442) and the wheel core main body portion (441) are spliced to form a roller structure used for winding the transmission belt (3), and a splicing seam between the wheel core connecting portion (442) and the wheel core main body portion (441) is used for clamping and setting a connecting end of the transmission belt (3) and is fixedly connected with the connecting end.
3. The reel of claim 2, characterized in that the splice between the core attachment portion (442) and the core body portion (441) is a planar seam parallel to the central axis of the outer core (44).
4. The reel device according to claim 2, characterized in that the wheel core connecting part (442) and the wheel core main body part (441) are fixedly connected by a radial screw;
and/or the outer layer wheel core (44) and the inner layer wheel core (43) are fixedly connected through a radial screw;
and/or a driving shaft mounting hole (431) matched with a driving shaft of the driving device is arranged in the inner layer wheel core (43).
5. A reel device according to any one of claims 1 to 4, characterized in that the outer layer core (44) is provided at its two ends with a first guide means (42) and a second guide means (45), respectively, for axially limiting the drive belt (3).
6. The reel device according to claim 5, characterized in that the first guide means (42) is secured to a first lateral end face of the outer wheel core (44);
the second guide mechanism (45) is an annular limiting piece fixedly connected with the second side end face of the outer-layer wheel core (44), and a central through hole of the second guide mechanism is used for allowing a driving shaft of the driving device to extend into a driving shaft mounting hole (431) of the inner-layer wheel core (43).
7. Reel device according to claim 6, characterized in that said first guide means (42) are electrically conductive and are provided with an electrical interface for connection with a rotation cable (412) of an electrical connector (41) to enable electrical connection of said outer hub (44) with said electrical connector (41);
or, the second guide mechanism (45) is made of conductive or non-conductive material and is provided with a through hole for allowing a rotating cable (412) of an electric connector (41) to pass through so as to enable the rotating cable (412) to be electrically connected with the outer layer wheel core (44).
8. A transmission system, characterized by comprising a reel unit and a drive belt (3), wherein:
the reel device is the reel device according to any one of claims 1 to 7;
the transmission belt (3) is made of conductive materials, one end of the transmission belt is fixedly connected with an outer layer wheel core (44) of the winding wheel device, and the other end of the transmission belt is used for being connected with a passive target and can be electrically connected with an electrical interface in the passive target.
9. The transmission system according to claim 8, characterized in that on the first guiding mechanism (42) to which the side end of the reel device or the side end of the reel device is fixedly connected, an electrical interface for connection with a rotating cable (412) of an electrical connector (41) is provided to enable the outer wheel core (44) to be electrically connected with the electrical connector (41);
or a first guide mechanism (42) is arranged at the side end of the winding wheel device, the first guide mechanism (42) is made of conductive materials or non-conductive materials, and a through hole is formed in the first guide mechanism and is used for allowing a rotating cable (412) of an electric connector (41) to penetrate through so that the rotating cable (412) can be electrically connected with the outer layer wheel core (44).
10. The transmission system according to claim 9, further comprising an electrical connector (41), wherein the electrical connector (41) comprises a fixed portion and a rotating portion, the fixed portion is provided with a fixed cable (411) for externally connecting electrical equipment, the rotating portion is provided with the rotating cable (412), and an externally connecting end of the rotating cable (412) is electrically connected with a side end face of the outer-layer wheel core (44) or the first guide mechanism (42) fixedly connected with a side end face of the outer-layer wheel core (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239935.7A CN112374049A (en) | 2020-11-09 | 2020-11-09 | Reel device and transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239935.7A CN112374049A (en) | 2020-11-09 | 2020-11-09 | Reel device and transmission system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112374049A true CN112374049A (en) | 2021-02-19 |
Family
ID=74579582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011239935.7A Pending CN112374049A (en) | 2020-11-09 | 2020-11-09 | Reel device and transmission system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112374049A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115784066A (en) * | 2023-01-30 | 2023-03-14 | 上海果纳半导体技术有限公司 | Lifting mechanism |
-
2020
- 2020-11-09 CN CN202011239935.7A patent/CN112374049A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115784066A (en) * | 2023-01-30 | 2023-03-14 | 上海果纳半导体技术有限公司 | Lifting mechanism |
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