CN210103390U

CN210103390U - Novel heavy-load RGV robot with reversing and lifting functions

Info

Publication number: CN210103390U
Application number: CN201920494510.7U
Authority: CN
Inventors: 胡友民
Original assignee: Jiangsu Five Ocean Parking Industry Group Ltd By Share Ltd; Huazhong University of Science and Technology
Current assignee: Jiangsu Five Ocean Parking Industry Group Ltd By Share Ltd; Huazhong University of Science and Technology
Priority date: 2019-04-12
Filing date: 2019-04-12
Publication date: 2020-02-21
Anticipated expiration: 2029-04-12

Abstract

The utility model discloses a novel heavy-duty RGV robot with reversing and lifting functions, belonging to the field of engineering equipment, wherein a first driving shaft is driven to rotate by a lifting driving motor; the first driving shaft drives the crank-link mechanism to move so as to drive the lifting frame to move up and down, so that cargoes are lifted by the lifting frame; the translation reversing unit comprises an X-direction wheel, a Y-direction wheel and a transmission shaft; the Y-direction wheels are arranged on the lifting frame to lift along with the lifting frame, and are matched with the transmission shaft through a gear pair; wherein: when the Y-direction wheel rises and is suspended, the Y-direction wheel is separated from a gear pair of the transmission shaft; when the Y-direction wheel descends and is meshed with the gear pair of the transmission shaft, the X-direction wheel is suspended, and therefore the movement switching between the X direction and the Y direction is achieved. The utility model discloses a RGV has switching-over and raising and lowering functions concurrently, can reduce RGV transport system's construction cost, realizes the nimble control and the management of RGV robot.

Description

Novel heavy-load RGV robot with reversing and lifting functions

Technical Field

The utility model belongs to the engineering equipment field, more specifically relates to possess switching-over and lifting function's novel heavy load RGV robot.

Background

In the traditional industry, most of logistics transportation and storage in a production workshop are finished by manpower, and the automation level is low. Due to the fact that the flow of goods is large, manual transportation and storage are long in time and high in labor intensity, and the goods are at risk of being lost.

With the development of scientific and technological intellectualization and automation, RGVs (Rail Guided vehicles) are widely used in logistics conveying areas of production workshops, most of traditional RGVs in the market can only do linear reciprocating motion at present, or are manually controlled, so that the transportation efficiency and the production efficiency are greatly reduced, and the labor force and the cost are increased. Moreover, because the traditional RGV only can do linear reciprocating motion, the transportation in different directions can only adopt different RGVs, thereby greatly increasing the construction cost of an RGV transportation system; in addition, because the conventional RGV can only do linear reciprocating motion, goods at different positions can only be conveyed by the RGV corresponding to the conveying direction, and the goods can only be loaded and conveyed by the designated RGV at the corresponding position of a single track, which is not beneficial to flexible management.

SUMMERY OF THE UTILITY MODEL

To the above defect of prior art or improve the demand, the utility model provides a possess switching-over and lifting function's novel heavy load RGV robot, its aim at through translational motion mechanism and elevating system's improvement, directly utilizes elevating system to carry out the switching control of translational motion direction to make RGV robot have switching-over and elevating function concurrently, and then can reduce RGV transport system's construction cost, realize the nimble control and the management of RGV robot.

In order to achieve the above object, according to an aspect of the present invention, there is provided a novel heavy load RGV robot having a reversing and lifting function, comprising: the lifting device comprises a base, a lifting frame, a lifting driving unit and a translation reversing unit;

the lifting frame is arranged on the base and only has the freedom degree of lifting in the Z direction relative to the base;

the lifting driving unit comprises a first driving shaft, a lifting driving motor and a crank connecting rod mechanism; the first driving shaft and the lifting driving motor are arranged on the base, and the lifting driving motor drives the first driving shaft to rotate; the crank connecting rod mechanism comprises a driving crank and a first connecting rod; the driving crank is fixed on the first driving shaft to rotate along with the first driving shaft; one end of the first connecting rod is pivoted with the driving crank, and the other end of the first connecting rod is pivoted on the lifting frame so as to drive the lifting frame to move up and down under the driving of the driving crank, so that cargoes are lifted by the lifting frame;

the translation reversing unit comprises an X-direction wheel, a Y-direction wheel, a translation driving motor, a transmission shaft and a second driving shaft;

the X-direction wheel is fixed on the second driving shaft to rotate along with the second driving shaft; the second driving shaft and the transmission shaft are both arranged on the base; the Y-direction wheel is arranged on the lifting frame to lift along with the lifting frame; the translation driving motor simultaneously drives the second driving shaft and the transmission shaft to rotate; the Y-direction wheels are matched with the transmission shaft through a gear pair and driven to lift through the lifting frame; wherein:

when the Y-direction wheel rises and is suspended, the Y-direction wheel is separated from a gear pair of the transmission shaft; when the Y-direction wheel descends and is meshed with the gear pair of the transmission shaft, the X-direction wheel is suspended, and therefore the movement switching between the X direction and the Y direction is achieved.

Further, the crank-link mechanism further comprises a driven crank, a second link and a third link; one end of the driven crank is pivoted on the base, the other end of the driven crank is pivoted on one end of a third connecting rod, and the other end of the third connecting rod is pivoted on the lifting frame; one end of the second connecting rod is pivoted with the pivoting parts of the driving crank and the first connecting rod, and the other end of the second connecting rod is pivoted with the pivoting parts of the driven crank and the third connecting rod;

the driving crank and the driven crank are parallel and equal in length, and the first connecting rod and the third connecting rod are parallel and equal in length.

Further, the lifting frame comprises two crank connecting rod mechanisms which are symmetrically distributed on two sides of the lifting frame.

Further, the lifting driving motor is connected with the first driving shaft through the first speed reducer.

Further, the transmission shaft and the second driving shaft are perpendicular to each other; the translation driving motor is connected with the second speed reducer, and an output shaft of the second speed reducer is parallel to one of the transmission shaft and the second driving shaft and is respectively matched with the transmission shaft and the second driving shaft through a bevel gear pair and a cylindrical gear pair.

Furthermore, one of the base and the lifting frame is provided with a sliding block in the Z direction, the other one of the base and the lifting frame is provided with a sliding groove in the Z direction, and the sliding block is matched with the sliding groove so that the lifting frame only has the freedom degree of lifting in the Z direction relative to the base.

Furthermore, an outer frame is arranged on the base; the lifting frame is a frame structure arranged in the outer frame, a gap is arranged between the lifting frame and the outer frame in the Y direction, and the wheels in the Y direction are positioned in the gap.

Furthermore, one of the outer frame and the lifting frame is provided with a slide block in the Z direction, the other one of the outer frame and the lifting frame is provided with a slide groove in the Z direction, and the slide block is matched with the slide groove to enable the lifting frame to only have the freedom degree of lifting in the Z direction relative to the base.

Further, the track width of the wheels in the X direction is larger than the track width of the wheels in the Y direction, and the track width of the wheels in the X direction is smaller than the track width of the wheels in the Y direction.

Generally, compared with the prior art, the above technical solution contemplated by the present invention can obtain the following beneficial effects:

(1) the RGV robot of the utility model is characterized in that the lifting mechanism for lifting the heavy goods is used as the switching control mechanism of the movement direction, which can lift the heavy goods and switch the movement direction, and the function diversification is realized while simplifying the RGV movement structure, which is beneficial to the intellectualization and automation of the warehouse management goods;

(2) the RGV robot can be controlled to move along the front direction, the rear direction, the left direction and the right direction of the guide rail by controlling the lifting of the lifting frame and combining the forward and reverse rotation of the lifting driving motor and the translation driving motor, so that the reversing transportation of goods is realized; therefore, the goods can be loaded and transported from a plurality of positions and a plurality of directions, and compared with the linear reciprocating transportation in the prior art, the flexibility is greatly improved;

(3) the RGV robot designed by the utility model can adapt to various working conditions, and keep the working conditions after being adjusted, and meanwhile, the speed and the acceleration of the RGV can be adjusted according to practical occasions due to the adoption of the translation driving motor and the reducer to drive the translation, so that the applicability is enhanced;

(4) generally, because the utility model discloses simple structure is compact, possesses switching-over and raising and lowering functions concurrently, and can carry out the direction of motion through the lift operation and switch, possesses good flexibility, has reduced artifical transportation and save time, raises the efficiency reduce cost.

Drawings

FIG. 1 is a perspective view of the internal structure of the preferred embodiment of the RGV robot of the present invention, with the upper cover plate and other auxiliary and control mechanisms hidden for better illustration of the internal structure;

FIG. 2 is another perspective view of FIG. 1 with the upper cover plate and other auxiliary and control mechanisms hidden to better show the internal structure;

FIG. 3 is an isometric view of FIG. 1;

fig. 4 is a schematic mechanical movement diagram of the lifting mechanism of the preferred embodiment of the present invention;

FIG. 5 is a schematic view of the overall appearance of FIG. 1 with an upper cover plate mounted thereon;

fig. 6 is a schematic view of the suspension of the wheels in the Y direction when the lifting frame is in the lifting state in the preferred embodiment of the present invention;

fig. 7 is a schematic view of the suspension of the wheels in the X direction in the descending state of the crane in the preferred embodiment of the present invention;

fig. 8 is a schematic structural view of a sliding chute and a sliding block according to a second embodiment of the present invention;

fig. 9 is a schematic diagram of a multi-point and multi-directional transmission area of an application scenario of the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

1-base (RGV robot outer frame in the preferred embodiment), 2-chute, 3-lifting frame (RGV robot inner frame in the preferred embodiment), 4-wheel baffle, 5-speed reducing shaft, 6-driving crank, 7-first connecting rod, 8-lifting block A, 9-bearing seat A, 10-second connecting rod, 11-third connecting rod, 12-driven crank, 13-lifting block B, 14-bearing seat B, 15-lifting block C, 16-speed reducing big gear, 17-X direction wheel, 18-lifting block D, 19-first driving shaft, 20-speed reducing pinion, 21-first speed reducer, 22-lifting driving motor, 23-second driving shaft, 24-gear E, 25-gear F, 26-second speed reducer, 27-translation driving motor, 28-bearing seat C, 29-gear A, 30-gear B, 31-gear C, 32-gear D, 33-bevel gear A, 34-bevel gear B, 35-Y direction wheel, 36-transmission shaft, 37-upper cover plate and 38-sliding block.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

In order to solve the difficulties such as automatic level is low, the commodity circulation is numerous, the utility model provides a novel RGV robot, it possesses switching-over and elevating system, and this mechanism is installed inside the RGV robot, can control its rising or descend. The basic working principle of the mechanism is as follows: when the lifting platform rises, goods can be lifted to move freely in a workshop, and the goods are transported; when it is lowered, the load can be unloaded and then the other load can be carried on. Meanwhile, the lifting mechanism can be controlled to control the meshing condition of the parallel gear set, so that the running direction of the RGV robot is adjusted, when the RGV robot ascends, wheels along the Y direction are lifted, and the RGV moves along the X direction; when the wheel is lowered, the wheel along the Y direction is lowered, and the RGV moves along the Y direction, so that the problems that cargoes can be carried and the movement track of the RGV can be controlled are solved.

As shown in FIGS. 1 to 4, the RGV robot of the preferred embodiment of the present invention comprises: the RGV robot comprises an RGV robot outer frame 1 (namely a base 1), a sliding chute 2, an RGV robot inner frame 3, a wheel baffle 4, a speed reduction shaft 5, a driving crank 6, a first connecting rod 7, a jacking block A8, a bearing seat A9, a second connecting rod 10, a third connecting rod 11, a driven crank 12, a jacking block B13, a bearing seat B14, a jacking block C15, a speed reduction gear wheel 16, an X-direction wheel 17, a jacking block D18, a driving shaft 19, a speed reduction pinion 20, a first speed reducer 21, a lifting driving motor 22, a second driving shaft 23, a gear E24, a gear F25, a second speed reducer 26, a translation driving motor 27, a bearing seat C28, a gear A29, a gear B30, a gear C31, a gear D32, a bevel gear A33, a bevel gear B34, a Y-direction wheel 35, a transmission shaft 36, an upper cover.

The outer frame 1 is a support body of the RGV robot and used for mounting other devices, wherein the bearing seat a9, the bearing seat B14, the bearing seat C28, the lifting drive motor 22 and the first speed reducer 21 are fixed on the outer frame 1 by bolts. The upper cover plate 37 is an executing element for lifting cargos by the RGV robot, and the upper cover plate 37 is lifted by jacking the inner frame 3, so that the cargos are lifted. When it is not necessary to lift the goods, the upper cover plate 37 is rested on the outer frame 1. The inner frame 3 is installed inside the outer frame 1 and slides relatively along the outer frame 1, a gap is left between the inner frame 3 and the edge of the outer frame 1 for placing wheels (the wheels can also be located outside the outer frame 1, or the base 1 only retains a bottom plate, without providing a frame structure), the inner frame 3 is an actuating element for lifting the upper cover plate 37, and the inner frame 3 is moved upward along the outer frame 1 by a lifting mechanism, thereby lifting the upper cover plate 37.

The four bearing seats A9 are fixed on the bottom of the RGV frame 1 through bolts, and are supporting elements of the driving crank 6 and the driven crank 12 in the lifting mechanism, and the driving crank 6 and the driven crank 12 are arranged on the corresponding bearing seats A9 through bearings.

The upper end of the driving crank 6 is connected with the second connecting rod 10 and the third connecting rod 11 through a movable hinge, the lower end is connected with a driving shaft, and the driving crank 6 is a power executing element of the lifting mechanism. The driven crank 12 moves along a certain angle in the circumference and is a supporting element of the lifting mechanism and plays a role of auxiliary support. The lower end of the first connecting rod 7 is connected with the driving crank 6 and the second connecting rod 10 through a movable hinge, the upper end of the first connecting rod is connected with the jacking block A8, the first connecting rod 7 moves to drive the jacking block A8 to lift, and the jacking block A8 is fixed on the inner shell 3 so as to drive the inner frame 3 to lift. This embodiment adopts two sets of symmetrical crank link mechanisms, and all possesses the double crank to this lift of control inside casing 3, the bearing capacity is higher, and work is more stable. For light load applications, single crank drives are also possible.

The reduction shaft 5 is connected with a first speed reducer 21, and the reduction shaft 5 is connected with a reduction pinion 20 through a key to transmit power to the first driving shaft 19. The reduction gear 16 is connected to the first driving shaft 19, the reduction pinion 20 is connected to the reduction shaft 5, and power is transmitted to the first driving shaft 19 through the reduction gear set, thereby controlling the movement of the crank link mechanism. In other embodiments (not shown), the first reducer 21 may be directly coupled to the end of the first drive shaft 19 through a coupling. The lifting drive motor 22 is fixed in the outer frame 1, and after being decelerated by the first decelerator 21, power is transmitted to the first drive shaft 19 through a deceleration gear set.

The parallel gear set consists of a gear A29, a gear B30, a gear C31 and a gear D32, is installed on the inner wall of the inner frame 3, and when the RGV is required to run along the X direction, the lifting driving motor 22 is controlled to lift the inner frame 3, the wheels 35 in the Y direction are suspended away from the track surface, meanwhile, the gear A29 and the gear B30 are separated, the power provided for the wheels 35 in the Y direction is interrupted, and the RGV runs along the X direction. A schematic view of the state when the RGV is traveling in the X direction is shown in FIG. 6.

When the RGV is required to run along the Y direction, the lifting drive motor 22 is controlled to lower the inner frame 3, the wheels in the Y direction contact with the track surface, meanwhile, the gear in the X direction is suspended, the gear A is meshed with the gear B, power is provided for the wheels in the Y direction through the transmission shaft, and the RGV runs along the Y direction. A schematic view of the state when the RGV is traveling in the Y direction is shown in FIG. 7.

If the weight is lifted without reversing, the translation driving motor 27 stops rotating, and the lifting driving motor 22 drives the lifting frame 3 (i.e. the inner frame 3) to ascend.

In addition, in the present embodiment, the track width of the X-direction wheels 17 is set to be larger than the track width of the Y-direction wheels 35, and the track width of the X-direction wheels 17 is set to be smaller than the track width of the Y-direction wheels 35, so that when the vehicle runs on the X-direction track, the Y-direction wheels 35 are prevented from interfering with the X-direction track, and when the vehicle runs on the Y-direction track, the X-direction wheels 17 are prevented from interfering with the Y-direction track.

Fig. 8 is a second embodiment of the invention, which differs from the preferred embodiment in the shape and configuration of the runner 2 and the slider 38. Specifically, in this embodiment, the sliding blocks 38 are four cylindrical columns disposed on the bottom surface of the base 1, the sliding chutes 2 are circular holes fixed in four sliding sleeves on the inner frame, and four jacking blocks for hinging the driving crank, the driven crank, the first connecting rod and the third connecting rod are respectively fixed on the four sliding sleeves.

The utility model discloses a novel RGV is equivalent to an intelligent robot, carries on wireless transmission module after, can be connected through wireless network and WMS System (Warehouse Management System), can freely shuttle through workshop commodity circulation transport region, has realized the automation of workshop commodity circulation.

The RGV robot system has very high flexibility, can achieve the purpose of transporting goods through a dispatching desk and a self lifting mechanism, and can adjust the system capacity by increasing or decreasing the number of the dispatching desk and the self lifting mechanism at will. In addition, because the RGV robot system is modularized and standardized, if the RGV fails, other RGV robots can quickly replace related work.

As shown in fig. 9, there are 5X-direction and Y-direction rails in the area, and lower case letters are provided to indicate shelves, and upper case letters indicate RGV loading points. If the RGV robot with unidirectional reciprocating motion in the prior art is adopted, at least one RGV robot is required on each of the 10 guide rails, namely, at least 10 RGV robots are required, and if the goods are to be transported to the a_xOn the shelf, only RGV6 can be used to get from A_xThe goods are loaded, and the goods cannot be mutually transferred among the shelves through the RGVs 1-6.

And adopt the utility model discloses a novel RGV robot, if will transport a with the goods_xOn the shelf, any one of RGV 1-RGV 6 can be selected from A_x～E_xAnd A_y～E_yIs loaded at any one of the loading points. Therefore, adopt the utility model discloses a novel RGV robot can freely increase and decrease RGV quantity according to logistics density and flow, and 1 minimum RGV can realize the arbitrary transportation between whole dress goods point and the goods shelves, can also realize that the goods between the different goods shelves shift.

When using novel RGV robot transportation in the workshop, the goods does not break away from with the RGV robot, through self elevating system, carries out the separation and the translation of material bearing vehicle and material case at appointed position and time quantum to realize the demand of automatic material delivery. Not only can meet the transportation requirement, but also can flexibly realize the recovery of non-qualified materials, and is unlikely to have adverse effect on the production process.

The utility model discloses a RGV robot is favorable to realizing automatic, intelligent commodity circulation, simultaneously, and the logistics system based on this RGV is both fit for the storage of low flow, high density, also is fit for the storage of high flow, high density, and it can provide the best scheme that satisfies the customer demand, has important meaning.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. A possesses switching-over and novel heavy load RGV robot of raising and lowering functions which characterized in that includes: the lifting device comprises a base (1), a lifting frame (3), a lifting driving unit and a translation reversing unit;

the lifting frame (3) is arranged on the base (1) and only has the freedom degree of lifting in the Z direction relative to the base (1);

the lifting driving unit comprises a first driving shaft (19), a lifting driving motor (22) and a crank connecting rod mechanism; the first driving shaft (19) and the lifting driving motor (22) are arranged on the base (1), and the lifting driving motor (22) drives the first driving shaft (19) to rotate; the crank connecting rod mechanism comprises a driving crank (6) and a first connecting rod (7); the driving crank (6) is fixed on the first driving shaft (19) to rotate along with the first driving shaft (19); one end of a first connecting rod (7) is pivoted with the driving crank (6), and the other end of the first connecting rod is pivoted on the lifting frame (3) so as to drive the lifting frame (3) to move up and down under the driving of the driving crank (6) and lift cargoes through the lifting frame (3);

the translation reversing unit comprises an X-direction wheel (17), a Y-direction wheel (35), a translation driving motor (27), a transmission shaft (36) and a second driving shaft (23);

the X-direction wheel (17) is fixed on the second driving shaft (23) to rotate along with the second driving shaft (23); the second driving shaft (23) and the transmission shaft (36) are both arranged on the base (1); the Y-direction wheels (35) are arranged on the lifting frame (3) and lift along with the lifting frame (3); the translation driving motor (27) simultaneously drives the second driving shaft (23) and the transmission shaft (36) to rotate; the Y-direction wheels (35) are matched with the transmission shaft (36) through a gear pair and drive the Y-direction wheels (35) to lift through the lifting frame (3); wherein:

when the Y-direction wheel (35) rises and is suspended, the Y-direction wheel is separated from a gear pair of the transmission shaft (36); when the Y-direction wheel (35) descends to be meshed with the gear pair of the transmission shaft (36), the X-direction wheel (17) is suspended, and therefore the movement switching between the X direction and the Y direction is achieved.

2. The RGV robot with direction changing and lifting functions as claimed in claim 1, wherein the crank-link mechanism further comprises a driven crank (12), a second link (10) and a third link (11); one end of the driven crank (12) is pivoted on the base (1), the other end of the driven crank is pivoted on one end of a third connecting rod (11), and the other end of the third connecting rod is pivoted on the lifting frame (3); one end of the second connecting rod (10) is pivoted with the pivoting parts of the driving crank (6) and the first connecting rod (7), and the other end is pivoted with the pivoting parts of the driven crank (12) and the third connecting rod (11);

the driving crank (6) and the driven crank (12) are parallel and equal in length, and the first connecting rod (7) and the third connecting rod (11) are parallel and equal in length.

3. The RGV robot with direction changing and lifting functions as claimed in claim 1 or 2, which comprises two crank-link mechanisms symmetrically arranged on both sides of the lifting frame (3).

4. The RGV robot with the functions of commutation and lifting according to claim 1 or 2, characterized in that the lifting driving motor (22) is connected to the first driving shaft (19) through the first reducer (21).

5. The novel heavy-duty RGV robot with reversing and lifting functions as claimed in claim 1 or 2, wherein the transmission shaft (36) and the second driving shaft (23) are perpendicular to each other; the translation driving motor (27) is connected with a second speed reducer (26), an output shaft of the second speed reducer (26) is parallel to one of the transmission shaft (36) and the second driving shaft (23), and the output shaft of the second speed reducer is matched with the transmission shaft (36) and the second driving shaft (23) through a bevel gear pair and a cylindrical gear pair respectively.

6. The RGV robot with reversing and lifting functions as claimed in claim 1 or 2, wherein one of the base (1) and the lifting frame (3) is provided with a Z-direction slide block, the other is provided with a Z-direction slide slot, and the slide block and the slide slot are matched to enable the lifting frame (3) to have only Z-direction lifting freedom relative to the base (1).

7. The novel heavy-duty RGV robot with functions of reversing and lifting as claimed in claim 1 or 2, wherein the base (1) is provided with an outer frame; the lifting frame (3) is a frame structure arranged in the outer frame, a gap is arranged between the lifting frame and the outer frame in the Y direction, and the wheels (35) in the Y direction are positioned in the gap.

8. The RGV robot with direction changing and lifting functions as claimed in claim 7, wherein one of the outer frame and the lifting frame (3) is provided with a Z-direction slide block (38), the other is provided with a Z-direction slide groove (2), the slide block (38) is matched with the slide groove (2) to enable the lifting frame (3) to have only Z-direction lifting freedom relative to the base (1).

9. The RGV robot with direction changing and lifting functions as claimed in claim 1 or 2, wherein the track of the wheels (17) in X direction is larger than the track of the wheels (35) in Y direction, and the track of the wheels (17) in X direction is smaller than the track of the wheels (35) in Y direction.