CN210595080U - Modularization jacking structure suitable for transfer robot - Google Patents
Modularization jacking structure suitable for transfer robot Download PDFInfo
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- CN210595080U CN210595080U CN201921065697.5U CN201921065697U CN210595080U CN 210595080 U CN210595080 U CN 210595080U CN 201921065697 U CN201921065697 U CN 201921065697U CN 210595080 U CN210595080 U CN 210595080U
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Abstract
The utility model discloses a modularization jacking structure suitable for transfer robot, include: the jacking device comprises a mounting supporting plate, a jacking supporting plate, a rotary supporting plate, a jacking mechanism and a rotary mechanism; the rotary supporting disc is rotatably connected to the jacking supporting plate; the climbing mechanism includes: the belt conveyor comprises a plurality of jacking screw rods, a plurality of belt pulley jacking motors, a first driving wheel and a belt; the swing mechanism comprises: the rotary gear, the second driving wheel and the rotary motor are arranged on the first driving wheel; the rotary gear is sleeved on the periphery of the rotary supporting disk and fixed to the rotary supporting disk; the second driving wheel is fixed to an output shaft of the rotary motor and meshed with the rotary gear; the rotary motor is mounted to the mounting plate. The modular jacking structure suitable for the transfer robot can be detached from the body of the transfer robot alone to carry out performance testing alone, so that the maintenance and the replacement are convenient.
Description
Technical Field
The utility model relates to a modularization jacking structure suitable for transfer robot.
Background
Traditional transfer robot is behind the goods or tray lower part of advancing, through lead screw with gyration dish jack-up, gyration dish is with goods jack-up. The conventional carrier robot has a jacking mechanism assembled with a body of the carrier robot. The climbing mechanism installed together with the vehicle body can not carry out independent test, and the maintenance is inconvenient when the climbing mechanism goes wrong. Simultaneously, assemble climbing mechanism together with transfer robot's automobile body and can't realize carrying out solitary stock to climbing mechanism, and stock pressure is big, and production efficiency is not high.
SUMMERY OF THE UTILITY MODEL
The utility model provides a modularization jacking structure suitable for transfer robot adopts following technical scheme:
a modular jacking structure adapted for use with a transfer robot, comprising: the device comprises a mounting supporting plate, a jacking supporting plate for supporting cargos, a rotary supporting plate for supporting the cargos and driving the cargos to rotate, a jacking mechanism for realizing jacking action on the jacking supporting plate and a rotary mechanism for realizing rotary action on the rotary supporting plate; the rotary supporting disc is rotatably connected to the jacking supporting plate; the climbing mechanism includes: the jacking device comprises a plurality of jacking lead screws for realizing jacking action, a plurality of belt pulleys for driving the jacking lead screws, a jacking motor for driving the belt pulleys, a first driving wheel for outputting the driving force of the jacking motor and a belt for transmitting the power of the first driving wheel to the plurality of belt pulleys to drive the plurality of jacking lead screws; the jacking lead screw includes: a lead screw and a lead screw nut; the jacking motor is mounted to the mounting support plate; the lead screw is rotationally connected to the mounting support plate; the screw nut is sleeved on the periphery of the screw; the jacking supporting plate is sleeved on the periphery of the screw nut and fixed to the screw nut; the belt pulley is fixed to one end of the screw rod; the first driving wheel is fixed to an output shaft of the jacking motor; the belt is connected with the plurality of belt pulleys and the first driving wheel; the swing mechanism comprises: the rotary gear is used for driving the rotary supporting disk to perform rotary motion, the second driving wheel is used for driving the rotary gear to rotate, and the rotary motor is used for driving the second driving wheel to rotate; the rotary gear is sleeved on the periphery of the rotary supporting disk and fixed to the rotary supporting disk; the second driving wheel is fixed to an output shaft of the rotary motor and meshed with the rotary gear; the rotary motor is mounted to the mounting plate.
Further, climbing mechanism still includes: a jacking driver for controlling the jacking motor; the jacking driver is mounted to the mounting pallet and electrically connected to the jacking motor.
Further, climbing mechanism still includes: the first photoelectric position control switch is used for controlling the jacking motor to stop rotating; the first photoelectric position control switch is mounted to the mounting support plate and electrically connected to the jacking driver.
Further, the slewing mechanism further comprises: a swing driver for controlling the swing motor; the rotary driver is mounted to the mounting plate and electrically connected to the rotary motor.
Further, the number of the jacking lead screws is 3.
Further, the rotation axes of the lead screws of the 3 jacking lead screws are parallel to each other.
Further, 3 jacking lead screws are distributed in a triangular mode.
Furthermore, the jacking motor and the rotary motor are both servo motors.
Further, climbing mechanism still includes: a first tensioner pulley set for tensioning the belt from an outer side of the belt and a second tensioner pulley set for tensioning the belt from an inner side of the belt; the first tensioning wheel set is rotatably connected to the mounting plate and contacts the outer side of the belt; the second set of tensioner wheels is rotatably connected to the mounting plate and contacts the inside of the belt.
Further, the rotation axis of the tensioning wheel of the first tensioning wheel set, the rotation axis of the tensioning wheel of the second tensioning wheel set and the rotation axis of the belt pulley are parallel to each other.
The utility model discloses an useful part lies in that the climbing mechanism and the rotation mechanism of the modularization jacking structure who is applicable to transfer robot who provides constitute a modular whole, can dismantle alone from transfer robot's automobile body and carry out performance test alone. Such structure not only is convenient for maintain and change climbing mechanism and rotation mechanism, can also realize carrying out solitary stock to climbing mechanism, alleviates stock pressure, improves production efficiency.
Drawings
Fig. 1 is a schematic view of a modular jacking structure suitable for a transfer robot according to the present invention;
fig. 2 is a schematic view of another perspective of the modular jacking structure of fig. 1 adapted for use with a transfer robot.
The modular jacking structure 10 suitable for the transfer robot comprises an installation supporting plate 11, a jacking supporting plate 12, a rotary supporting plate 13, a jacking mechanism 14, a lead screw 141, a lead screw nut 142, a belt pulley 143, a jacking motor 144, a first driving wheel 145, a belt 146, a jacking driver 147, a first photoelectric position control switch 148, a first tensioning wheel set 149, a second tensioning wheel set 150, a rotary mechanism 15, a rotary gear 151, a second driving wheel 152, a rotary motor 153 and a rotary driver 154.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 2, a modular jacking structure 10 adapted to a transfer robot, includes: the device comprises a mounting support plate 11, a jacking support plate 12, a rotary support plate 13, a jacking mechanism 14 and a rotary mechanism 15.
The jacking pallets 12 are used for jacking up the goods. The rotary supporting disk 13 is used for supporting the goods and driving the goods to rotate. The jacking mechanism 14 is used for jacking the jacking supporting plate 12. The turning mechanism 15 is used to perform a turning operation on the turning support plate 13. Specifically, the swivel support plate 13 is rotatably connected to the jacking palette 12. The jacking-pallet 12 is fixed to the jacking mechanism 14 to be driven by the jacking mechanism 14 to realize jacking. The revolving mechanism 15 drives the revolving support plate 13 to drive the revolving support plate 13 to implement revolving action.
As a specific structure, the jack mechanism 14 includes: a plurality of jacking screw shafts 141, a plurality of pulleys 143, a jacking motor 144, a first drive wheel 145 and a belt 146. The jacking screw 141 is used for realizing jacking action. The belt pulley 143 is used for driving the jacking screw 141. The jacking motor 144 is used for driving the pulley 143. The first driving pulley 145 is used to output the driving force of the jacking motor 144. The belt 146 serves to transmit power of the first driving wheel 145 to the plurality of pulleys 143 to drive the plurality of lift screws 141. Wherein, jacking lead screw 141 includes: a lead screw 141 and a lead screw nut 142. Specifically, the jacking motor 144 is mounted to the mounting plate 11. The jacking motor 144 is mounted to the mounting plate 11. The lead screw 141 is rotatably connected to the mounting plate 11. The screw nut 142 is fitted around the screw 141. The jacking supporting plate 12 is sleeved on the periphery of the screw nut 142 and fixed to the screw nut 142. A pulley 143 is fixed to one end of the screw 141. The first driver 145 is fixed to an output shaft of the lift motor 144. A belt 146 connects the plurality of pulleys 143 with the first drive pulley 145.
Specifically, the lift motor 144 drives the first drive pulley 145. The first drive pulley 145 rotates to rotate the belt 146. The belt 146 drives the pulley 143 to rotate and further drives the lead screw 141 to rotate. Because the screw nut 142 is constrained by the jacking supporting plate 12, the screw nut 142 moves along the extending direction of the screw 141 under the driving of the screw 141, so as to drive the jacking supporting plate 12 to move up and down to realize jacking action.
Further, the swing mechanism 15 includes: a rotary gear 151, a secondary drive pulley 152 and a rotary motor 153. The rotation gear 151 is used to drive the rotation support plate 13 to perform a rotation operation. The second driving wheel 152 is used for driving the rotary gear 151 to rotate. The rotary motor 153 is used for driving the second driving wheel 152 to rotate. Specifically, the gyration gear 151 is sleeved on the outer circumference of the gyration support plate 13 and fixed to the gyration support plate 13. The second drive pulley 152 is fixed to an output shaft of the rotary motor 153 and meshes with the rotary gear 151. The rotary motor 153 is mounted to the mounting plate 11.
Specifically, the rotary motor 153 drives the second drive pulley 152. The second driving wheel 152 rotates to drive the rotation gear 151 to rotate. The rotation gear 151 drives the rotation support plate 13 to rotate, thereby realizing a rotation action.
In the above solution, the jacking mechanism 14 and the swing mechanism 15 of the modular jacking structure 10 for the transfer robot constitute a modular whole. When the modular jacking structure needs to be installed in the corresponding body of the transfer robot, the modular jacking structure is fixed in the body through the installation supporting plate 11. Such a modular jacking structure can be independently detached from the body of the transfer robot for performance testing. Meanwhile, the structure is convenient for maintaining and replacing the jacking mechanism 14 and the swing mechanism 15, and can also realize independent stock preparation of the jacking mechanism, relieve the stock pressure and improve the production efficiency.
As a specific embodiment, the jacking mechanism 14 further comprises: a jacking actuator 147. The lift actuator 147 is used to control the lift motor 144. Specifically, the lift actuator 147 is mounted to the mounting plate 11 and electrically connected to the lift motor 144. The worker can control the jacking motor 144 to rotate through the jacking driver 147 so as to control the jacking action of the jacking mechanism 14.
As a specific embodiment, the jacking mechanism 14 further comprises: the first electro-optic position controls the switch 148. The first photoelectric position control switch 148 is used for controlling the jacking motor 144 to stop rotating so as to control the jacking mechanism 14 to stop jacking. Specifically, a first electro-optical position control switch 148 is mounted to the mounting plate 11 and electrically connected to the lift actuator 147.
As a specific embodiment, the swing mechanism 15 further includes: the slew drive 154. The swing driver 154 is used to control the swing motor 153. Specifically, the swing driver 154 is mounted to the mounting plate 11 and electrically connected to the swing motor 153. The operator can control the rotation of the swing motor 153 through the swing driver 154 to control the swing action of the swing mechanism 15.
As a specific embodiment, the number of the jacking screw shafts 141 is 3. The rotation axes of the lead screws 141 of the 3 jacking lead screws 141 are parallel to each other. The 3 jacking screw rods 141 are distributed in a triangular shape. Set up like this and can guarantee the stability of jacking layer board 12 in jacking action in-process, effectively improve structural strength.
In one embodiment, the jacking motor 144 and the rotating motor 153 are both servo motors.
As a specific embodiment, the jacking mechanism 14 further comprises: a first tensioning wheel set 149 and a second tensioning wheel set 150. The first tensioning pulley set 149 is used to tension the belt 146 from the outside of the belt 146. The second tensioning pulley set 150 is used to tension the belt 146 from the inside of the belt 146. Specifically, the first tensioner pulley set 149 is rotatably connected to the mounting plate 11 and contacts the outside of the belt 146. The second tensioning pulley set 150 is rotatably connected to the mounting plate 11 and contacts the inside of the belt 146.
As a specific embodiment, the rotational axis of the tension pulleys of the first tension pulley set 149, the rotational axis of the tension pulleys of the second tension pulley set 150 and the rotational axis of the pulley 143 are parallel to each other.
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 adopting equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
Claims (10)
1. A modular jacking structure suitable for a transfer robot, comprising: the device comprises a mounting supporting plate, a jacking supporting plate for supporting cargos, a rotary supporting plate for supporting the cargos and driving the cargos to rotate, a jacking mechanism for jacking the jacking supporting plate and a rotary mechanism for rotating the rotary supporting plate; the rotary supporting disc is rotatably connected to the jacking supporting plate; the climbing mechanism includes: the jacking device comprises a plurality of jacking lead screws for realizing jacking action, a plurality of belt pulleys for driving the jacking lead screws, a jacking motor for driving the belt pulleys, a first driving wheel for outputting the driving force of the jacking motor and a belt for transmitting the power of the first driving wheel to the plurality of belt pulleys to drive the plurality of jacking lead screws; the jacking lead screw comprises: a lead screw and a lead screw nut; the jacking motor is mounted to the mounting support plate; the lead screw is rotationally connected to the mounting support plate; the screw nut is sleeved on the periphery of the screw; the jacking supporting plate is sleeved on the periphery of the screw nut and fixed to the screw nut; the belt pulley is fixed to one end of the screw rod; the first driving wheel is fixed to an output shaft of the jacking motor; the belt is connected with the plurality of belt pulleys and the first driving wheel; the slewing mechanism comprises: the rotary gear is used for driving the rotary supporting disc to perform rotary motion, the second driving wheel is used for driving the rotary gear to rotate, and the rotary motor is used for driving the second driving wheel to rotate; the rotary gear is sleeved on the periphery of the rotary supporting disk and fixed to the rotary supporting disk; the second driving wheel is fixed to an output shaft of the rotary motor and meshed with the rotary gear; the rotary motor is mounted to the mounting plate.
2. The modular jacking structure adapted to a transfer robot of claim 1,
the climbing mechanism still includes: the jacking driver is used for controlling the jacking motor; the jacking driver is installed to the mounting support plate and electrically connected to the jacking motor.
3. The modular jacking structure adapted to a transfer robot of claim 2,
the climbing mechanism still includes: the first photoelectric position control switch is used for controlling the jacking motor to stop rotating; the first photoelectric position control switch is mounted to the mounting support plate and electrically connected to the jacking driver.
4. The modular jacking structure adapted to a transfer robot of claim 1,
the slewing mechanism further comprises: a swing driver for controlling the swing motor; the rotary driver is mounted to the mounting plate and electrically connected to the rotary motor.
5. The modular jacking structure adapted to a transfer robot of claim 1,
the number of the jacking screw rods is 3.
6. The modular jacking structure adapted to a transfer robot of claim 5,
the rotating axes of the lead screws of the 3 jacking lead screws are parallel to each other.
7. The modular jacking structure adapted to a transfer robot of claim 6,
3 the jacking screw rods are distributed in a triangular shape.
8. The modular jacking structure adapted to a transfer robot of claim 1,
the jacking motor and the rotary motor are both servo motors.
9. The modular jacking structure adapted to a transfer robot of claim 1,
the climbing mechanism still includes: a first tensioning wheel set for tensioning the belt from an outer side of the belt and a second tensioning wheel set for tensioning the belt from an inner side of the belt; the first tensioning wheel set is rotationally connected to the mounting plate and contacts the outer side of the belt; the second tensioning wheel set is rotatably connected to the mounting plate and contacts the inside of the belt.
10. The modular jacking structure adapted to a transfer robot of claim 9,
the rotation axis of the tensioning wheel of the first tensioning wheel set, the rotation axis of the tensioning wheel of the second tensioning wheel set and the rotation axis of the belt pulley are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921065697.5U CN210595080U (en) | 2019-07-09 | 2019-07-09 | Modularization jacking structure suitable for transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921065697.5U CN210595080U (en) | 2019-07-09 | 2019-07-09 | Modularization jacking structure suitable for transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210595080U true CN210595080U (en) | 2020-05-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921065697.5U Active CN210595080U (en) | 2019-07-09 | 2019-07-09 | Modularization jacking structure suitable for transfer robot |
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| Country | Link |
|---|---|
| CN (1) | CN210595080U (en) |
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2019
- 2019-07-09 CN CN201921065697.5U patent/CN210595080U/en active Active
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