CN207618946U - Lifting device, rotating device, lifting rotary system and intelligent storage robot - Google Patents

Abstract

The utility model is related to a kind of lifting device, rotating device, lifting rotary system and intelligent storage robots, wherein, the lifting device includes lifting driving device, pivoting support and lead screw slide block assembly, wherein pivoting support includes outer circle the ring disk and is installed in the inner circle the ring disk that can be relatively rotated on the inside of outer circle the ring disk and therewith, and gear is provided on the outside of the outer circle the ring disk；The lead screw slide block assembly includes lead screw, the lead screw sliding block coordinated with the lead screw and the lifting gear being fixedly connected with the lead screw sliding block, the lifting gear are engaged with the gear on the outside of the outer circle the ring disk；The lifting driving device drives the outer circle the ring disk rotation, and the lifting gear is driven to rotate, so that the lead screw moves up and down.

Description

Lifting device, rotating device, lifting rotary system and intelligent storage robot

Technical field

The utility model is related to a kind of lifting devices and rotating device can be applied to intelligent storage robot, and Including the intelligent storage robot of the lifting device and/or rotating device.

Background technology

The fast development of Internet era and e-commerce bring life to the development of logistic industry, however explosion type The electric business of growth also brings new challenge to traditional logistics storage, and traditional logistics storage sector is constantly forced to turn from labor-intensive To technology-intensive type, the development of Intelligent logistics storage has been expedited the emergence of.In traditional logistics storage sector, main application with conveyer belt and Robot based on relevant device in more and more logistic storage services, introduces automatic guided vehicle AGV to subtract in recent years Few human cost；A new generation logistic storage robot will be docked with logistic management system, in conjunction with artificial intelligence, machine vision, The technologies such as mechanical arm form the logistics system that height is intelligent, automates, and reduce cost of labor, improve logistic efficiency and logistics matter Amount.

Currently, by the cardinal principle of the logistic storage robot represented of Amazon robot, Fetch and Freight as, Self-navigation is moved near specified shelf, and it is liftoff and be moved to sorting platform to lift shelf using lift system, rotates goods Frame is further worked with providing the side where specified object.Wherein hoisting system is one of core of robot, lifting system Heavy burden ability, the moving stability and the rotational accuracy of system will generate the whole efficiency of logistics system important influence.

In current lifting device, using electric pushrod mechanism, Electrohydraulic push rod mechanism or X-type double-lever mechanism, wherein electronic Push rod, Electrohydraulic push rod are simple in structure, bearing capacity is strong and can realize that mandril straight line lifts, but electric pushrod mechanism overtension, Poor in self and stability is poor, and the problems such as Electrohydraulic push rod will appear leakage, poor in self level-one height is difficult to control, X Although type double rod solves aforementioned stable sex chromosome mosaicism, bearing capacity is poor, high and complicated to motor requirement, needs to customize.

CN103422583A discloses a kind of submarine AGV movements transfer robot, and wherein lifting structures use electronic Push rod realizes the automatic raising and lowering of lift pin；CN104192762A discloses a kind of rotating lifting device and including rotation The AGV trolleies of lifting device, wherein rotating lifting device is by using transmission component, lead screw, feed screw nut, gear combination, shape Rise at rotation；CN104370242A discloses a kind of dead axle Xuan Sheng mechanisms and AGV robots for AGV robots, wherein And rotate rising by the way of the cooperation of gear, screw tube and swivel nut cylinder；CN204897298A discloses a kind of AGV liftings Revolution combination unit, wherein lift unit use gear, cam and the mutually matched mode of directive wheel and realize a liter act.

In above-mentioned lifting device solution, the self-locking property and stability of electric pushrod are poor；Rotating lifting side In formula, when needing individually lifting without rotation, individual rotating device is usually also needed to offset rotation, lifting is only provided； And using directive wheel come liter lift for ensure straight line rise lift also need to be reconfigured directive slide track make complexity increase and under stability Drop.Thus above-mentioned technical solution can not all obtain more stable, more simple and reliable Integral Lifting Scheme.

Utility model content

The purpose of this utility model is that proposing a kind of new lifting device and rotating device, and include the lifting device And/or the intelligent storage robot of rotating device, the lifting device and the relatively independent work of rotating device, it does not interfere with each other, surely Fixed reliable, repair easy to disassemble is easily modified upgrading.

Specifically, the utility model provides a kind of lifting device, it is characterised in that：The lifting device includes that lifting is driven Dynamic device, pivoting support and lead screw slide block assembly, wherein pivoting support include outer circle the ring disk and are installed on the inside of outer circle the ring disk And the inner circle the ring disk that can be relatively rotated therewith, the outer circle the ring disk outside are provided with gear；The lead screw slide block assembly packet Include lead screw, the lead screw sliding block coordinated with the lead screw and the lifting gear being fixedly connected with the lead screw sliding block, the lifting Gear is engaged with the gear on the outside of the outer circle the ring disk；

The lifting driving device drives the outer circle the ring disk rotation, and the lifting gear is driven to rotate, so that The lead screw moves up and down.

Further, it is characterised in that：The lifting device further includes lead screw spring bearing.

Further, it is characterised in that：The lifting driving device includes that motor reducer and the lifting being attached thereto are driven Moving gear.

Further, it is characterised in that：The lifting driving gear is engaged with the gear on the outside of the outer circle the ring disk.

Further, it is characterised in that：The inner circle the ring disk is socketed in the inside of the outer circle the ring disk by ball.

Further, it is characterised in that：The lifting device further includes bottom plate, for fix the lifting driving device with And the lead screw slide block assembly.

Further, it is characterised in that：The bottom plate is configured with multiple mounting holes, for installing carried structure member And it is installed on the mechanical framework of applied equipment.

Further, it is characterised in that：The bottom plate includes opening portion, first for fixing the lifting driving device Opening portion and the second fixed part for fixing the lead screw slide block assembly.

Further, which is characterized in that the quantity phase of the quantity and position relationship and lead screw slide block assembly of the second fixed part Together.

Further, it is characterised in that：The bottom plate is integrated the plate of casting, using metal material or high intensity tree Fat material is made.

Further, it is characterised in that：The lifting device further includes supporting rack, is mounted on the screw mandrel top.

Further, it is characterised in that：Support frame as described above is the equilateral sides n shape, and n >=3 correspond at least partly at corner position There is lead screw.

Further, it is characterised in that：It is fixedly connected by nut between support frame as described above and the lead screw.

Further, it is characterised in that：It is arranged to drop step structure at the corner position of support frame as described above, ensures the spiral shell The upper surface of female upper surface and support frame as described above keeps in one plane or is less than the upper surface.

Further, it is characterised in that：Support frame as described above is equipped with lightening hole.

Further, it is characterised in that：Support frame as described above is equipped with the first mounting hole coordinated with the lead screw.

Further, it is characterised in that：The inner circle the ring disk is connect by supporting mechanism with the bottom plate.

Further, it is characterised in that：The supporting mechanism is more pivoting support columns or is a circular protrusion.

Further, it is characterised in that：The pivoting support column or circular protrusion and inner circle the ring disk it is integrally formed or It is fixedly connected by fixedly connected part.

Further, it is characterised in that：The inner circle the ring disk has recessed staged inner ring.

Further, it is characterised in that：The pivoting support column or circular protrusion and the inner circle the ring disk are integrally formed Or be fixedly connected by fixedly connected part, the fixedly connected part is located at the recessed staged inner ring, and ensures described solid Determine connector top and is no more than the interior annular panel surface.

Further, it is characterised in that：The lifting gear is socketed on the outside of the lead screw sliding block, and the lead screw is threaded through On the inside of the lead screw sliding block, the lead screw sliding block is threaded through the inside of the lead screw spring bearing.

Further, it is characterised in that：The lead screw slide block assembly further includes bearing block and protective cover, the lead screw support Bearing is connected with the bearing block.

Further, it is characterised in that：The lifting device further includes limiting device, for controlling lifting distance to ensure Without departing from tolerance.

Further, it is characterised in that：The limiting device includes that limit switch mounting plate, limit control panel and limit are opened It closes, wherein the limit control panel is fixed with support frame as described above, the height of the limit control panel reaches preset numerical value, then touches Send out limit switch described.

Further, it is characterised in that：In lifting process, support frame as described above, which rises or falls, drives the limit control Plate rises or falls, and the haptic element of the limit control panel touches the limit switch, to trigger the limit switch and stop institute State rising or falling for supporting rack.

The utility model additionally provides a kind of rotating device, it is characterised in that：The rotating device includes rotation driving group Part, pivoting support and pallet, wherein the pivoting support includes outer circle the ring disk and is installed on the inside of the outer circle the ring disk and can The inner circle the ring disk to relatively rotate therewith, the outer circle the ring disk outside is provided with gear, wherein the pallet and the outer circle The ring disk is fixed, and the rotary drive assembly can drive the outer circle the ring disk to rotate, and then drives the pallet rotation.

Further, it is characterised in that：The rotating device further includes supporting rack, fixes and connects with the inner circle the ring disk It connects, and for fixing the rotary drive assembly.

Further, it is characterised in that：The inner circle the ring disk is connect by supporting mechanism with supporting rack.

Further, it is characterised in that：The supporting mechanism is more support posts or is a circular protrusion.

Further, it is characterised in that：The support post or circular protrusion are integrally formed or pass through with inner circle the ring disk Fixedly connected part is fixedly connected.

Further, it is characterised in that：Support frame as described above is equipped with mounting bracket, for fixing rotary drive assembly.

Further, it is characterised in that：The rotary drive assembly includes electric rotating machine and rotary drive gear.

Further, it is characterised in that：The pallet is a loop configuration, including metal tray support, and upper surface is covered There are rubber pad, the back side to have reinforcing rib, inner ring that installation screw is distributed with.

The utility model additionally provides a kind of lifting rotary system, it is characterised in that：It is lifted including front any one of them It rises device and front any one of them rotating device, the rotating device is set to the top of lifting device.

Further, it is characterised in that：The supporting rack of the rotating device and lifting device is the same component or two A component being fixedly connected.

The utility model additionally provides a kind of intelligent storage robot, it is characterised in that：Including front any one of them Lifting device and front any one of them rotating device, the rotating device are installed in the top of lifting device.

Further, it is characterised in that：The supporting rack of the rotating device and lifting device is the same component or two A component being fixedly connected.

The utility model proposes the lifting device and rotating device that can be applied to intelligent storage robot, it is relatively independent Running, can individually and co-operating, and component structural is simple, and assembly is simple, is easy to Quick Release, maintenance costs are low.

Description of the drawings

Each exemplary embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage are common for this field It will become more apparent for technical staff, in the accompanying drawings:

Fig. 1 is the lifting device and rotating device outside drawing according to one embodiment of the utility model；

Fig. 2 is lifting device structure chart, and wherein A is oblique view；B is vertical view；C is side view；

Fig. 3 is floor structure figure；

Fig. 4 is installation speed reducer and lifting driving gear structure figure on bottom plate；

Fig. 5 is the assembled view of the outer circle the ring disk and inner circle the ring disk of the utility model pivoting support；Wherein A is side, sectional Figure；B is front view；C is the oblique view for the pivoting support for being equipped with pivoting support column；

Fig. 6 is lead screw slide block assembly schematic diagram；

Fig. 7 is support frame structure figure；

Fig. 8 is limit schematic device；

Fig. 9 is the structure chart that electric rotating machine and rotary drive gear are equipped on supporting rack；

Figure 10 is support holder structure figure, and wherein A is side view；B is upward view.

1- bottom plates；101- mounting holes；The opening portions 102-；The first fixed parts of 103-；The second fixed parts of 104-；

2- motor reducers；

3- lifting driving gears；301- positioning keys；

4- pivoting supports；401- outer circle the ring disks；402- inner circle the ring disks；The outer rings 403- mounting hole；404- inner ring mounting holes； 405- balls

5- pivoting support columns；

6- lead screw slide block assemblies；601- lead screws；602- lead screw sliding blocks；603- lifts gear；604- lead screw spring bearings； 605- bearing blocks；606- protective covers

7- supporting racks；701- circular opens；The first mounting holes of 702-；703- lightening holes；The second mounting holes of 704-；705- Three mounting holes

8- limiting devices；801- limit switch mounting plates；802- limits control panel；803- limit switches；

9- electric rotating machines；

10- electric rotating machine mounting brackets

11- rotary drive gears；

12- pallets；1201- rubber pads；1202- tray supports；1203- reinforcing ribs；1204- installation screws

13- nuts

Specific implementation mode

In order to keep the technical solution of the utility model and advantage clearer, in the following with reference to the drawings and specific embodiments to this Utility model is described in detail.

The utility model is related to a kind of lifting device and rotating device can be applied to intelligent storage robot, Yi Jiying With the intelligent storage robot of the lifting device and rotating device, intelligent storage robot is to refer to can be applied to storehouse herein It transports goods in storage, logistics, transport, the mobile handling unit of shelf, counter etc., also commonly known as merchandising machine people, AGV, intelligence Energy carrier etc.；However, the application of lifting device and rotating device that the utility model is proposed is not limited to the intelligent storehouse Robot is stored up, can also be applied in other robot and mechanical equipment and transporting equipment, such as goods stock etc. is for carrying Function is lifted, rotates and carries for liter.

Fig. 1 shows the combination of the lifting device and rotating device of the utility model, and description this practicality for clarity is new The utility model is divided into two parts of lifting device and rotating device by each building block of type, this is not meant as lifting Unique constituted mode of device and rotating device.

Lifting device

As shown in Fig. 1,2A, 2B and 2C, lifting device includes but not limited to mainly bottom plate 1, lifting driving device (including electricity Machine speed reducer 2, lifting driving gear 3), pivoting support 4, pivoting support column 5, lead screw slide block assembly 6, supporting rack 7 and limit Device 8.

Bottom plate 1, as shown in figure 3, optionally, which is integrated the plate of casting, optionally, the material of bottom plate can be with For metal or high-intensity resin；Optionally, multiple mounting holes 101 are configured on bottom plate, mounting hole can be that circle, ellipse etc. are appointed What is suitable for the shape of installation, and optionally, mounting hole is divided into two classes, one kind for install the structure member carried on receiving bottom plate with And a kind of mechanical framework for bottom plate to be installed on to applied transporting equipment, this two classes mounting hole may be used it is identical or Different shapes and/or size, Fig. 3 it is merely exemplary show part mounting hole；The shape of bottom plate should be according to mounted on being answered The mechanical framework of transporting equipment is adaptively adjusted and ensures to provide enough structural supports comprising but it is unlimited In circle, rectangle, triangle, polygon and other polymorphic structures, optionally, to be adapted to mount to intelligent storage robot On chassis, bottom plate uses shape as shown in Figure 3, not influence to install other component on chassis, optionally, the shape of bottom plate It can also adjust to mitigate weight, such as dismiss some non-essential parts；Preferably, further include lightening hole on bottom plate (in figure It is not shown), the shapes and sizes of lightening hole can be configured as the case may be；Optionally, bottom plate further includes opening portion 102, The shape of lower section field range for providing such as computer vision system component, opening portion includes but not limited to the shapes such as circle Shape；Optionally, it is circular open, the circular open is for accommodating such as computer vision system component；Further include on bottom plate First fixed part 103 further includes the second fixed part 104 on bottom plate 1 for motor reducer 2 and lifting driving gear 3, and second Fixed part includes three component parts, is respectively used to fix 3 lead screw slide block assemblies 6, optionally, the position of three component parts With shape as shown in figure 3, respectively include from opening portion periphery to diagram top the second fixed part outstanding, from opening portion periphery to Illustrate central axes both sides two the second fixed parts outstanding, the shape of the first and second fixed parts, including but not limited to rectangular, wedge Shape and combination of different shapes, optionally, as shown in figure 3, the first fixed part 103 is using rectangular, the second fixed part 104 use It is outstanding rectangular and from centre to diagram central axes both sides wedge shape outstanding from centre to diagram top, wherein wedge-shaped design is In order to avoid the other component on chassis.

Fig. 4 shows the motor reducer 2 on bottom plate 1 and the lifting being attached thereto driving gear 3.

Motor reducer 2 is the integration member for including driving motor and speed reducer, to realize identical function, in another embodiment It can also be made of discrete component；Motor reducer 2 is fixed on the first fixed part 103 of bottom plate 1；Optionally, the lifting is driven Moving gear 3 is connect by positioning key 301 with motor reducer 2；In the preferred scheme, lifting driving gear 3 is gear set, root Gear set middle gear number is determined according to the transmission ratio and rotary speed direction of needs.

As Fig. 5 A to 5C show the pivoting support 4 in the utility model and pivoting support column 5.

Pivoting support 4 includes outer circle the ring disk 401 and the inner circle the ring disk 402 being sleeved on the inside of outer circle the ring disk 401, between the two It is connected in a manner of it can relatively rotate；401 outside of the outer circle the ring disk has gear structure, for being engaged with lifting driving gear 3； Optionally, inner circle the ring disk 402 by ball 405 is socketed in the inside of outer circle the ring disk 401 to provide relative rotation between the two, Ball 405 includes but not limited to cylinder；Optionally, have along the equally distributed outer ring mounting hole of annulus in outer circle the ring disk 401 403；Inner circle the ring disk 402 has is uniformly distributed inner ring mounting hole 404 along annulus, and inner ring mounting hole 404 can be used for fixed revolution branch Hold column 5 and other assemblies, such as computer vision component.Optionally, as seen in figs. 5 a and 5 c, under inner circle the ring disk 402 has Recessed staged inner ring, and inner ring mounting hole 404 is located in recessed staged inner ring so that when pivoting support column 5 is using fixation Component, such as bolt, when being fixed with inner circle the ring disk 402, the upper surface of bolt is not higher than the upper surface of pivoting support 4；Optionally, Similar function can also be realized in such a way that inner ring mounting hole sink.Optionally, the diameter of outer circle the ring disk 401 about 200- 800mm；The internal diameter of inner circle the ring disk 402 is not less than 130mm.

5 one end of pivoting support column is fixed in inner circle the ring disk 402, and the other end is fixed on bottom plate 1 so that turning round Bearing 4 is fixed on bottom plate 1 and apart from 1 height appropriate of bottom plate, as shown in Figure 2 C；Optionally, pivoting support column 5 is using solid Determine component to be fixedly connected with inner circle the ring disk 402 and bottom plate 1 respectively, such as bolt；Optionally, pivoting support column 5 passes through inner circle Inner ring mounting hole 404 in the ring disk 402 is fixed with inner circle the ring disk 402.

Optionally, the pivoting support column 5 can be integrally formed as other realization method with inner circle the ring disk 402, Other support constructions may be used and substitute pivoting support column 5, such as formation is cyclic annular downwardly convex on interior circle ring disk 402, with It realizes to have lifted pivoting support 4 and be rotated apart from bottom plate certain altitude without influencing outer circle the ring disk 401.

As shown in fig. 6, lead screw slide block assembly 6 includes lead screw 601, lead screw sliding block 602, lifting gear 603, lead screw support shaft Hold 604, bearing block 605 and protective cover 606.Ball is accommodated between lead screw 601 and the screw thread of lead screw sliding block 602 so that silk Simultaneously axial displacement occurs for rotation that can be smooth between bar sliding block 602 and lead screw 601；It is solid with lead screw sliding block 602 to lift gear 603 Fixed connection, such as pass through screw；Lifting gear 603 is socketed in 602 outside of lead screw sliding block, and lead screw 601 is threaded through lead screw sliding block 602 Inside, lead screw sliding block 602 are threaded through the inside of lead screw spring bearing 604, and lifting gear 603 is located on lead screw spring bearing 604 It is not in contact just and with lead screw spring bearing 604；Lead screw spring bearing 604 is with bearing block 605 using interference fit, bearing block 605 are fixed on bottom plate, such as are bolted, and optionally, are fixed in the other side of bottom plate and 605 corresponding position of bearing block There is protective cover 606, for the protection in 601 rise and fall channel of lead screw and dust-proof.Optionally, the size of lead screw slide block assembly 6, Lifting gear 603 is depended primarily on, and lifts the size of gear 603, is true according to gear ratio according to the size of pivoting support 4 Fixed, lifting gear 603 is preferably nylon gear.

Supporting rack 7, as shown in fig. 7, generally rectangular, preferably equilateral triangle, lead screw slide block assembly 6 are substantially installed At the vertex position of equilateral triangle；Optionally, supporting rack 7 can be in the equilateral sides n shape, i.e., with lead screw slide block assembly number n (n >=3) identical, apex does fillet processing, and lead screw slide block assembly 6 is generally located at the position on the vertex of the equilateral sides n shape；Supporting rack It is corresponding with lead screw 601 at 7 vertex positions, it is fixed by nut 13 and lead screw 601 with facilitating；Optionally, as Fig. 2A and 2C show Go out, the corner position of supporting rack 7 has carried out the processing of drop step under the premise of being in proof strength so that installation nut 13 with Afterwards, the upper surface of nut 13 and supporting rack 7 keep the upper surface of in one plane or slightly below support frame as described above 7 on the whole, So as to reduce whole product structure center of gravity, make product with compact structure.

As shown in fig. 7, optionally, there is circular open 701, for accommodating computer vision system portion among supporting rack 7 Part；The first mounting hole 702 at corner position uses U-shaped hole design to coordinate the U-shaped head of lead screw 601, facilitates installation, subtracts Light component counterweight, reduces machining accuracy and cost；Optionally, under the premise of meeting Structural strength calls, supporting rack 7, which has, to be subtracted Repeated hole 703, optionally, lightening hole is uniformly distributed along circular ring shape, it is alternatively possible to which difference is distributed on the annulus of different-diameter The shape of the lightening hole 703 of size, lightening hole includes but not limited to circle, triangle etc.；Optionally, supporting rack 7 is equipped with top Second mounting hole 704 of mounting structure for further carrying other structures component, such as realizes the structural unit of rotation；It can Selection of land, supporting rack 7 is equipped with third mounting hole 705, for installing other structures component, such as limiting device.

The U-shaped head of lead screw 601 can be with the shape phase of the first mounting hole of U-shaped 702 of supporting rack as a preferred method, Matching passes through rotation low-angle from the first mounting hole of U-shaped 702 and is stuck on the first mounting hole of U-shaped 702, then passes through fixing nut 13 are fixed together lead screw 601 and supporting rack 7 in the upper surface of supporting rack 7 and below.

In lifting device, it is additionally provided with magnet ring counter (not shown), for controlling the height risen or fallen；Optionally, The setting of magnet ring counter is counted by the revolution to lifting driving gear 3 so that it is determined that being risen at lifting driving gear 3 Or the relative altitude declined, in turn, when increasing or decline reaches scheduled height, it is dynamic that magnet ring counter triggers motor stopping Make.

Fig. 8 shows limiting device, includes mainly, limit switch mounting plate 801, limit control panel 802 and limit switch 803.It limits 802 upper end of control panel to fix with supporting rack 7, be fixed alternately through the third mounting hole 705 on supporting rack 7, under End is a bending structure, and optionally, bending structure is respectively provided with the haptic element that control rises and controls down position, limit switch peace Loading board 801 is arranged on bottom plate, is a pillar construction, is provided with limit switch 803.Limit switch 803, when limit is controlled Making sheet 802, which rises or falls, reaches preset numerical value, and haptic element triggering limit switch 803 then stops rising or falling；Have at one In body embodiment, in lifting process, supporting rack 7 moves up and then limit control panel 802 is driven to move up so that limit The haptic element of control panel 802 becomes closer to 803 trigger point of limit switch, and limit switch 803 is triggered after collision and is acted, into And control motor stopping action.

Optionally, 802 upper end of limit control panel is fixed by screws on supporting rack 7.Optionally, the limit control There is bending structure, the bending structure to ride on 7 surface of supporting rack for the upper end of making sheet 802.Optionally, on the bending structure With concave indentation, screw is facilitated to be inserted into and position.

Magnet ring counter is raised or lowered to preset height for controlling, and limiting device rises or falls for ensureing Without departing from tolerance position.

As shown in Figure 2 A, when triggering lift operation, lifting driving gear 3 is driven to rotate by motor reducer 2, and then band The outer circle the ring disk 401 of dynamic pivoting support 4 rotates, and inner circle the ring disk 402 is fixed relative to bottom plate 1, thus outer circle the ring disk 401 relative to Inner circle the ring disk 402 rotates, and inner circle the ring disk 402 is static relative to bottom plate 1；The lifting of outer circle the ring disk 401 and lead screw slide block assembly 6 Gear 603 engages, and then lifting gear 603 is driven to rotate, and lifting gear 603 is fixed with lead screw sliding block 602, and therefore, lead screw is slided Block 602 is rotated together with lifting gear 603, and the ball between lead screw sliding block 602 and lead screw 601 is along lead screw sliding block 602 and lead screw Spiral channel between 601 rolls, and lead screw 601 rises or falls movement and do not rotate relative to bottom plate, at this time silk The displacement of bar 601 upward or downward is related with 602 revolution number of lead screw sliding block and the screw pitch of spiral channel；The rising of lead screw 601 Or descending motion drives supporting rack 7 to rise or fall, and to realize lifting function, the rotation without supporting rack occurs.

Rotating device

As shown in Figure 1, on supporting rack 7, including rotary drive assembly (including 10 He of electric rotating machine 9 and its mounting bracket Rotary drive gear 11), pivoting support 4 and pallet 12, for providing rotation function to system.

As shown in figure 9, on the supporting rack 7 of the lifting device, or can be in other branch being connect with supporting rack 7 On support mechanism, it is fixed with electric rotating machine mounting bracket 10, for fixing electric rotating machine 9 and rotary drive gear 11；Optionally, institute It can be a gear set to state rotary drive gear 11, to realize the transmission ratio needed and rotation direction, gear set middle gear Number, size determine as needed；Optionally, electric rotating machine 9 and rotary drive gear 11 are mounted on the both sides of mounting bracket 10.

As shown in Fig. 5 B and Fig. 7, on supporting rack 7, outer circle the ring disk 401 and the rotary drive gear 11 of pivoting support 4 are nibbled Close, inner circle the ring disk 402 is fixedly connected with supporting rack 7, or be connected to on 7 fixed supporting mechanisms of supporting rack；It is optional Ground, inner circle the ring disk 402 are fixedly connected by the second mounting hole 704 on supporting rack 7 with supporting rack 7；Optionally, rotating device and The pivoting support 4 that same structure and size are used in lifting device, to reduce the parts type in production, assembly and repair, Improve efficiency of operation.

As shown in Figure 1, pallet 12 is a loop configuration, as shown in Figure 10 A, 12 upper surface of pallet is covered with rubber pad 1201, For example, by using bonding or hot melting way etc.；Figure 10 B show the lower surface view of pallet 12, are metal tray support 1202, the back of the body Face has reinforcing rib 1203, inner ring to be uniformly distributed installation screw 1204, for pacifying with the outer ring of the outer circle the ring disk 401 of pivoting support 4 Hole 403 is filled to fix.

When triggering spinning movement, electric rotating machine 9 drives rotary drive gear 11 to rotate, and then drives 401 He of outer circle the ring disk Pallet 12 rotates, and inner circle the ring disk 402 keeps opposing stationary with supporting rack 7 and do not turn.

As shown in Figure 1, lifting device and rotating device are combined, lifting rotating device is formed, the two is relatively solely The system of vertical running.When intelligent storage robot needs lifting, lifting is completed by the motor driving of lifting device, is rotated at this time Device is opposing stationary not to be turned；And when needing rotation, rotation is completed by the motor driving of rotating device, lifting device is relatively quiet at this time Only do not turn；When not only needing lifting but also needing rotation, the two, which can cooperate, completes the requirement of desired height and rotation angle.

Lifting structures in the prior art, when needing lifting, due to rotating simultaneously, it is still necessary to the rotation outside amount of exports Caused rotation is lifted to offset, causes the power consumption that equipment is additional, when large number of equipment is run simultaneously, does not only result in energy consumption mistake Height can also cause system effectiveness low due to the frequent charge of equipment；And the lifting in the utility model and rotating device, structure letter Single, Mechanical Reliability is high, is easy to dismounting repair, and amount of equipment power consumption is small and running efficiency of system higher.

Tool of the series of detailed descriptions listed above only for the feasible embodiment of the utility model Body illustrates that they are all without departing from made by the utility model skill spirit not to limit the scope of protection of the utility model Equivalent implementations or change should be included within the scope of protection of this utility model.

Claims (38)

1. a kind of lifting device, it is characterised in that：

The lifting device includes lifting driving device, pivoting support and lead screw slide block assembly, and wherein pivoting support includes outer circle The ring disk and it is installed in the inner circle the ring disk that can be relatively rotated on the inside of outer circle the ring disk and therewith, setting on the outside of the outer circle the ring disk There is gear；The lead screw slide block assembly includes lead screw, consolidates with the lead screw sliding block of lead screw cooperation and with the lead screw sliding block Surely the lifting gear connected, the lifting gear are engaged with the gear on the outside of the outer circle the ring disk；

The lifting driving device drives the outer circle the ring disk rotation, and the lifting gear is driven to rotate, so that described Lead screw moves up and down.

2. lifting device according to claim 1, it is characterised in that：The lifting device further includes lead screw spring bearing.

3. lifting device according to claim 1, it is characterised in that：The lifting driving device include motor reducer and The lifting driving gear being attached thereto.

4. lifting device according to claim 3, it is characterised in that：Outside the lifting driving gear and the outer circle the ring disk The gear of side engages.

5. lifting device according to claim 1, it is characterised in that：The inner circle the ring disk is socketed in described outer by ball The inside of circle ring disk.

6. lifting device according to claim 1, it is characterised in that：The lifting device further includes bottom plate, for fixing The lifting driving device and the lead screw slide block assembly.

7. lifting device according to claim 6, it is characterised in that：The bottom plate is configured with multiple mounting holes, for pacifying It fills carried structure member and is installed on the mechanical framework of applied equipment.

8. lifting device according to claim 6, it is characterised in that：The bottom plate includes opening portion, for described in fixation Lift the first opening portion of driving device and the second fixed part for fixing the lead screw slide block assembly.

9. lifting device according to claim 8, which is characterized in that the quantity and position relationship and lead screw of the second fixed part The quantity of slide block assembly is identical.

10. lifting device according to claim 6, it is characterised in that：The bottom plate is integrated the plate of casting, uses Metal material or high-strength resin material are made.

11. lifting device according to claim 1, it is characterised in that：The lifting device further includes supporting rack, installation In the screw mandrel top.

12. lifting device according to claim 11, it is characterised in that：Support frame as described above be the equilateral sides n shape, n >=3, until It is corresponding with lead screw at small part corner position.

13. lifting device according to claim 12, it is characterised in that：Pass through spiral shell between support frame as described above and the lead screw Mother is fixedly connected.

14. lifting device according to claim 13, it is characterised in that：It is arranged to drop at the corner position of support frame as described above The upper surface of step structure, the upper surface and support frame as described above that ensure the nut keeps in one plane or is less than on described Surface.

15. lifting device according to claim 11, it is characterised in that：Support frame as described above is equipped with lightening hole.

16. lifting device according to claim 11, it is characterised in that：Support frame as described above is equipped with to be coordinated with the lead screw The first mounting hole.

17. lifting device according to claim 6, it is characterised in that：The inner circle the ring disk by supporting mechanism with it is described Bottom plate connects.

18. lifting device according to claim 17, it is characterised in that：The supporting mechanism is more pivoting support columns Or it is a circular protrusion.

19. lifting device according to claim 18, it is characterised in that：The pivoting support column or circular protrusion with it is interior Circle ring disk is integrally formed or is fixedly connected by fixedly connected part.

20. lifting device according to claim 18, it is characterised in that：The inner circle the ring disk has in recessed staged Ring.

21. lifting device according to claim 20, it is characterised in that：The pivoting support column or circular protrusion and institute It states inner circle the ring disk to be integrally formed or be fixedly connected by fixedly connected part, the fixedly connected part is located at the recessed staged Inner ring, and ensure that the fixedly connected part top is no more than the interior annular panel surface.

22. lifting device according to claim 2, it is characterised in that：The lifting gear is socketed in the lead screw sliding block Outside, the lead screw are threaded through on the inside of the lead screw sliding block, and the lead screw sliding block is threaded through the inside of the lead screw spring bearing.

23. lifting device according to claim 22, it is characterised in that：The lead screw slide block assembly further include bearing block and Protective cover, the lead screw spring bearing are connected with the bearing block.

24. lifting device according to claim 11, it is characterised in that：The lifting device further includes limiting device, is used In control lifting distance to ensure without departing from tolerance.

25. lifting device according to claim 24, it is characterised in that：The limiting device includes limit switch installation Plate, limit control panel and limit switch, wherein the limit control panel is fixed with support frame as described above, the height of the limit control panel Degree reaches preset numerical value, then triggers the limit switch.

26. lifting device according to claim 25, it is characterised in that：In lifting process, support frame as described above rise or Decline and the limit control panel is driven to rise or fall, the haptic element of the limit control panel touches the limit switch, with triggering The limit switch simultaneously stops rising or falling for support frame as described above.

27. a kind of rotating device, it is characterised in that：The rotating device includes rotary drive assembly, pivoting support and pallet, In, the pivoting support includes outer circle the ring disk and is installed on the inside of the outer circle the ring disk and can relatively rotate therewith interior Circle ring disk, the outer circle the ring disk outside is provided with gear, wherein the pallet is fixed with the outer circle the ring disk, the rotation driving Component can drive the outer circle the ring disk to rotate, and then drive the pallet rotation.

28. rotating device according to claim 27, it is characterised in that：The rotating device further includes supporting rack, with The inner circle the ring disk is fixedly connected, and for fixing the rotary drive assembly.

29. rotating device according to claim 28, it is characterised in that：The inner circle the ring disk passes through supporting mechanism and support Frame connects.

30. rotating device according to claim 29, it is characterised in that：The supporting mechanism be more support posts or For a circular protrusion.

31. rotating device according to claim 30, it is characterised in that：The support post or circular protrusion and interior annular Disk is integrally formed or is fixedly connected by fixedly connected part.

32. rotating device according to claim 31, it is characterised in that：Support frame as described above is equipped with mounting bracket, is used for Fixed rotary drive assembly.

33. rotating device according to claim 32, it is characterised in that：The rotary drive assembly include electric rotating machine and Rotary drive gear.

34. rotating device according to claim 27, it is characterised in that：The pallet is a loop configuration, including metal Tray support, upper surface are covered with rubber pad, and the back side has reinforcing rib, inner ring that installation screw is distributed with.

35. a kind of lifting rotary system, it is characterised in that：Including claim 1-26 any one of them lifting device and right It is required that 27-34 any one of them rotating devices, the rotating device are set to the top of lifting device.

36. lifting rotary system according to claim 35, it is characterised in that：The branch of the rotating device and lifting device Support is the same component or two components being fixedly connected.

37. a kind of intelligent storage robot, it is characterised in that：Including claim 1-26 any one of them lifting device and power Profit requires 27-34 any one of them rotating devices, the rotating device to install in the top of lifting device.

38. according to the intelligent storage robot described in claim 37, it is characterised in that：The rotating device and lifting device Supporting rack is the same component or two components being fixedly connected.