CN114291468A - Portable high-freedom transfer robot - Google Patents
Portable high-freedom transfer robot Download PDFInfo
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- CN114291468A CN114291468A CN202111591781.2A CN202111591781A CN114291468A CN 114291468 A CN114291468 A CN 114291468A CN 202111591781 A CN202111591781 A CN 202111591781A CN 114291468 A CN114291468 A CN 114291468A
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- guide rail
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Abstract
The invention discloses a portable high-freedom transfer robot, comprising: a transport device and a slide handling device; the transportation device is arranged below the sliding transportation device to transport the sliding transportation device; the slide conveyance device includes: the sliding guide rail is vertically arranged on the conveying device; a sliding support frame connected to the sliding guide rail and movable up and down along the sliding guide rail; the lifting driving mechanism is arranged on the sliding guide rail and connected to the sliding support frame so as to drive the sliding support frame to move up and down along the sliding guide rail; the goods placing frames are arranged at intervals along the sliding guide rail and used for placing goods; the carrying assembly is arranged on the sliding support frame and used for carrying the goods to the goods placing frame or moving the goods out of the goods placing frame. The portable high-freedom transfer robot is simple in structure, high in transfer freedom and capable of achieving rapid high-altitude transfer.
Description
Technical Field
The present invention relates to a portable high-degree-of-freedom transfer robot.
Background
With the development of intelligent warehousing, warehouse transportation robots with automatic navigation are more and more widely applied. The existing warehouse transportation robot has the functions of completing automatic transportation and automatic carrying simultaneously and has more perfect functions. However, the existing warehouse transportation robot with automatic transportation and automatic transportation functions has limited transportation capability and low transportation freedom.
Disclosure of Invention
The invention provides a portable high-freedom transfer robot for solving the technical problems, which specifically adopts the following technical scheme:
a portable high-degree-of-freedom transfer robot comprising:
a transport device and a slide handling device;
the transportation device is arranged below the sliding transportation device to transport the sliding transportation device;
the slide conveyance device includes:
the sliding guide rail is vertically arranged on the conveying device;
a sliding support frame connected to the sliding guide rail and movable up and down along the sliding guide rail;
the lifting driving mechanism is arranged on the sliding guide rail and connected to the sliding support frame so as to drive the sliding support frame to move up and down along the sliding guide rail;
the goods placing frames are arranged at intervals along the sliding guide rail and used for placing goods;
the carrying assembly is arranged on the sliding support frame and used for carrying the goods to the goods placing frame or moving the goods out of the goods placing frame.
Furthermore, the sliding support frame is arranged on one side of the sliding guide rail;
the goods placing frames are arranged on the other side of the sliding guide rail.
Further, the sliding guide rail comprises two sliding guide columns which are arranged in parallel;
the lifting driving mechanism comprises two lifting driving components;
the two lifting driving components are respectively arranged on the two sliding guide columns;
the sliding support frame is connected to the two lifting driving components.
Furthermore, the lifting driving component comprises a lifting driving motor, a threaded rod and a threaded sliding block;
the threaded rod is connected to the sliding guide column and is parallel to the sliding guide column;
the lifting driving motor is arranged at one end of the sliding guide column and is connected to the threaded rod to drive the threaded rod to rotate along the central axis of the threaded rod;
the screw thread sliding block is connected to the sliding support frame and with threaded rod screw-thread fit, thereby drive screw thread sliding block drives the sliding support frame and reciprocates along the sliding guide post when the threaded rod is rotatory.
Furthermore, the lifting driving assembly also comprises a lifting speed reducing mechanism;
one end of the lifting speed reducing mechanism is connected with the lifting driving motor and the other end of the lifting speed reducing mechanism is connected to the threaded rod.
Further, the goods placing frame is a supporting plate;
the goods shelf is arranged between the two sliding guide columns, and at least part of the goods shelf extends out of the other side, opposite to the sliding support frame, of the sliding guide columns.
Further, the carrying assembly is rotatably arranged on the sliding support frame.
Further, the handling assembly comprises: the steering containing box, the fork, the telescopic driving mechanism, the steering driving motor, the steering speed reducing mechanism and the steering seat;
the steering accommodating box is arranged on the sliding support frame;
the steering driving motor is arranged below the sliding support frame;
one end of the steering speed reducing mechanism is connected to the steering driving motor, and the other end of the steering speed reducing mechanism is connected to the steering seat;
the steering seat is connected to the lower part of the steering accommodating box;
the fork is arranged in the steering containing box in a sliding manner;
the telescopic driving mechanism is arranged in the steering accommodating box and used for driving the fork to move between the accommodating position and the extending position.
Further, a motor shaft of the steering driving motor is vertical to a rotating axis of the steering accommodating box;
when the sliding support frame slides to the lowest point, the steering driving motor is at least partially positioned in the transportation device.
Further, the transport device is an AGV.
Further, the lifting drive motor is at least partially located inside the housing of the transportation device;
the motor shaft of the lifting driving motor is perpendicular to the threaded shaft.
Furthermore, the lower end of the sliding guide column is provided with an accommodating cavity;
the lifting driving motor is arranged in the accommodating cavity;
a motor shaft of the lifting driving motor is parallel to the threaded rod;
the driving end of the driving shaft of the lifting driving motor is arranged downwards.
The portable high-freedom transfer robot has the advantages of simple structure and higher transfer freedom.
The portable high-freedom transfer robot has the advantages that the portable high-freedom transfer robot can realize rapid high-altitude transfer.
Drawings
FIG. 1 is a schematic view of a portable high-degree-of-freedom transfer robot of the present invention;
FIG. 2 is a schematic view of another perspective of a portable high-freedom transfer robot of the present invention;
the portable high-freedom transfer robot 100, the transportation device 10, the sliding transfer device 20, the sliding guide rail 21, the sliding guide column 211, the sliding support frame 22, the lifting drive mechanism, the lifting drive assembly 231, the lifting drive motor 232, the threaded rod 233, the threaded slide block 234, the lifting speed reduction mechanism 235, the goods placement frame 24, the transfer assembly 25, the steering accommodating box 251, the fork 252, the telescopic drive mechanism, the steering drive motor 253, the steering speed reduction mechanism 254, the steering seat 255 and the goods shelf 200.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
Fig. 1 to 2 show a portable high-degree-of-freedom transfer robot 100 according to the present invention, which is used to transfer goods onto a rack 200 or to remove goods from the rack 200. Comprises the following steps: a transporter 10 and a slide handler 20. The transport apparatus 10 is disposed below the slide conveyance apparatus 20 to transport the slide conveyance apparatus 20. In the present application, transport 10 is an AGV. The slide conveyance device 20 includes: the device comprises a sliding guide rail 21, a sliding support frame 22, a lifting driving mechanism, a plurality of goods placing frames 24 and a carrying assembly 25. In which the slide guide rail 21 is vertically provided on the transportation device 10. The slide support frame 22 is connected to the slide guide rail 21 and is movable up and down along the slide guide rail 21. The lifting driving mechanism is disposed on the sliding guide rail 21 and connected to the sliding support frame 22 to drive the sliding support frame 22 to move up and down along the sliding guide rail 21. A plurality of goods placing frames 24 are arranged along the sliding guide rail 21 at intervals for placing goods. The carrying assembly 25 is disposed on the sliding support frame 22 for carrying the goods to the goods shelf 24 or carrying the goods out of the goods shelf 24.
Through the portable high-freedom transfer robot 100 of the application, the transfer assembly 25 can move up and down to the goods placing frame 24 of the opposite side goods along with the sliding support frame 22, and the goods on the goods placing frame 24 are moved away from the portable high-freedom transfer robot 100. The goods can also be carried to one of the goods placing frames 24.
In a preferred embodiment, the sliding support frame 22 is disposed on one side of the sliding guide rail 21. And a plurality of goods shelves 24 are disposed at the other side of the sliding guide rail 21. Thus, the sliding support frame 22 does not interfere with the goods shelf 24 during the movement along the sliding guide rail 21.
In a preferred embodiment, the slide guide rail 21 includes two parallel slide guide columns 211. The lift driving mechanism includes two lift driving assemblies 231. The two elevation driving assemblies 231 are respectively provided on the two sliding guide columns 211. The sliding support frame 22 is connected to two lifting drive assemblies 231.
In this application, the elevation drive assembly 231 includes an elevation drive motor 232, a threaded rod 233, and a threaded slide block 234. The threaded rod 233 is connected to the slide guide post 211 and is parallel to the slide guide post 211. The elevation driving motor 232 is provided at one end of the sliding guide post 211 and is connected to the threaded rod 233 to drive the threaded rod 233 to rotate along its central axis. The screw slide block 234 is connected to the slide support frame 22 and is in threaded engagement with the threaded rod 233, and the threaded rod 233 rotates to drive the screw slide block 234 to move the slide support frame 22 up and down along the slide guide post 211.
Preferably, the elevation driving assembly 231 further includes an elevation deceleration mechanism 235. The elevating speed reducing mechanism 235 has one end connected to the elevating driving motor 232 and the other end connected to the threaded rod 233. The elevating speed reducing mechanism 235 reduces the rotation speed of the elevating drive motor 232 and transmits the reduced rotation speed to the threaded rod 233.
In the present application, the goods shelf 24 is a support plate. The goods shelf 24 is disposed between the two sliding guide posts 211 and at least partially extends to the other side of the sliding guide posts 211 opposite to the sliding support frame 22.
In a preferred embodiment, the carrying assembly 25 is pivotally mounted to the sliding support frame 22. Specifically, the handling assembly 25 includes: a steering accommodating box 251, a fork 252, a telescopic driving mechanism (not shown), a steering driving motor 253, a steering speed reducing mechanism 254 and a steering seat 255. The steering accommodating box 251 is provided on the sliding support frame 22. The steering drive motor 253 is disposed below the slide support frame 22. The steering reduction mechanism 254 has one end connected to the steering drive motor 253 and the other end connected to the steering base 255. The steering seat 255 is connected to the lower side of the steering accommodating box 251. The forks 252 are slidably disposed in the steering accommodating box 251. A telescopic drive mechanism is provided in the steering accommodating box 251 for driving the forks 252 to move between the storage position and the extended position.
Thus, when the transporting device 10 moves to the corresponding shelf 200 for unloading, the lifting driving motor 232 is started to drive the sliding support frame 22 to the height of the corresponding goods placing frame 24. The steering drive motor 253 is then activated to rotate the steering accommodating box 251 to open toward the cargo. The telescopic drive mechanism drives the forks 252 to extend and engage the load. At this point, the lift drive motor 232 is re-started to continue driving the sliding support frame 22 upward for a distance, and the forks 252 grasp the load and keep it suspended. The telescopic driving mechanism drives the forks 252 to contract and transport the goods into the turn-receiving box 251. The steering drive motor 253 is again activated to rotate the steering housing box 251 open to the container. After the height of the sliding support frame 22 is adjusted by the lifting driving motor 232, the telescopic driving mechanism drives the fork 252 to extend out to enable the goods to be located above the shelf 200. The lifting driving motor 232 drives the sliding support frame 22 to move downwards for a certain distance so that the goods are placed on the shelf 200. Finally, the telescopic driving mechanism drives the fork 252 to contract to complete the unloading.
As an alternative embodiment, the motor shaft of the steering drive motor is perpendicular to the axis of rotation of the steering receptacle. Thus, the space below the sliding support frame can be saved. Preferably, the steering drive motor is located at least partially within the transportation device when the sliding support frame slides to the lowest point. Thus, the space in which the sliding support frame can descend is larger.
As an alternative, the lifting drive motor is located at least partially inside the housing of the transport device. The motor shaft of the lifting driving motor is perpendicular to the threaded shaft. Like this, lift driving motor and reduction gears part hold in the conveyer, and the appearance of product is simpler, compact.
As another alternative, the lower end of the sliding guide column is provided with a containing cavity. The lifting driving motor is arranged in the accommodating cavity. The motor shaft of the lifting driving motor is parallel to the threaded rod. The driving end of the driving shaft of the lifting driving motor is arranged downwards. The lifting driving motor is arranged in the sliding guide column, so that the compactness of the device is further improved, and the occupied space of the device is reduced.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (10)
1. A portable high-degree-of-freedom transfer robot, comprising:
a transport device and a slide handling device;
the transportation device is arranged below the sliding transportation device to transport the sliding transportation device;
the slide conveyance device includes:
the sliding guide rail is vertically arranged on the transportation device;
a sliding support frame connected to the sliding guide rail and movable up and down along the sliding guide rail;
the lifting driving mechanism is arranged on the sliding guide rail and is connected to the sliding support frame so as to drive the sliding support frame to move up and down along the sliding guide rail;
the goods placing frames are arranged at intervals along the sliding guide rail and used for placing goods;
and the carrying assembly is arranged on the sliding support frame and is used for carrying goods to the goods placing frame or carrying the goods out of the goods placing frame.
2. The portable high-degree-of-freedom transfer robot according to claim 1,
the sliding support frame is arranged on one side of the sliding guide rail;
and the goods placing frames are arranged on the other side of the sliding guide rail.
3. The portable high-degree-of-freedom transfer robot according to claim 2,
the sliding guide rail comprises two sliding guide columns which are arranged in parallel;
the lifting driving mechanism comprises two lifting driving components;
the two lifting driving components are respectively arranged on the two sliding guide columns;
the sliding support frame is connected to the two lifting driving components.
4. The portable high-degree-of-freedom transfer robot according to claim 3,
the lifting driving component comprises a lifting driving motor, a threaded rod and a threaded sliding block;
the threaded rod is connected to and parallel with the sliding guide post;
the lifting driving motor is arranged at one end of the sliding guide column and is connected to the threaded rod so as to drive the threaded rod to rotate along the central axis of the threaded rod;
the screw thread sliding block is connected to the sliding support frame and with threaded rod screw-thread fit, thereby the drive when the threaded rod is rotatory the screw thread sliding block drives the sliding support frame along the sliding guide post reciprocates.
5. The portable high-degree-of-freedom transfer robot according to claim 4,
the lifting driving component also comprises a lifting speed reducing mechanism;
and one end of the lifting speed reducing mechanism is connected with the lifting driving motor, and the other end of the lifting speed reducing mechanism is connected to the threaded rod.
6. The portable high-degree-of-freedom transfer robot of claim 5,
the goods placing frame is a supporting plate;
the goods placing frame is arranged between the two sliding guide columns, and at least part of the goods placing frame extends out of the other side, opposite to the sliding support frame, of the sliding guide columns.
7. The portable high-degree-of-freedom transfer robot according to claim 1,
the carrying assembly is rotatably arranged on the sliding support frame.
8. The portable high-degree-of-freedom transfer robot of claim 7,
the handling assembly comprises: the steering containing box, the fork, the telescopic driving mechanism, the steering driving motor, the steering speed reducing mechanism and the steering seat;
the steering accommodating box is arranged on the sliding support frame;
the steering driving motor is arranged below the sliding support frame;
one end of the steering speed reducing mechanism is connected to the steering driving motor, and the other end of the steering speed reducing mechanism is connected to the steering seat;
the steering seat is connected to the lower part of the steering accommodating box;
the fork is arranged in the steering containing box in a sliding mode;
the telescopic driving mechanism is arranged in the steering containing box and used for driving the fork to move between a containing position and an extending position.
9. The portable high-degree-of-freedom transfer robot of claim 8,
a motor shaft of the steering driving motor is vertical to a rotating axis of the steering containing box;
when the sliding support frame slides to the lowest point, the steering driving motor is at least partially positioned in the transportation device.
10. The portable high-degree-of-freedom transfer robot according to claim 1,
the transporting device is an AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591781.2A CN114291468A (en) | 2021-12-23 | 2021-12-23 | Portable high-freedom transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591781.2A CN114291468A (en) | 2021-12-23 | 2021-12-23 | Portable high-freedom transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114291468A true CN114291468A (en) | 2022-04-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111591781.2A Pending CN114291468A (en) | 2021-12-23 | 2021-12-23 | Portable high-freedom transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114291468A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955423A (en) * | 2022-05-31 | 2022-08-30 | 菲尼克斯(南京)智能制造技术工程有限公司 | Box body carrying system integrated with AGV trolley and box body carrying method |
-
2021
- 2021-12-23 CN CN202111591781.2A patent/CN114291468A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955423A (en) * | 2022-05-31 | 2022-08-30 | 菲尼克斯(南京)智能制造技术工程有限公司 | Box body carrying system integrated with AGV trolley and box body carrying method |
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