CN210762693U - Transmission device for transfer robot - Google Patents
Transmission device for transfer robot Download PDFInfo
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- CN210762693U CN210762693U CN201921532263.1U CN201921532263U CN210762693U CN 210762693 U CN210762693 U CN 210762693U CN 201921532263 U CN201921532263 U CN 201921532263U CN 210762693 U CN210762693 U CN 210762693U
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Abstract
The utility model relates to a transmission for transfer robot, this transmission is used for the walking wheel, and wherein the walking wheel includes main entrance wheelset and sub-passageway wheelset, and the axis of main entrance wheelset and sub-passageway wheelset is mutually perpendicular, transmission includes power motor and the reduction gear of being connected with power motor, the reduction gear includes two output shafts, two output shafts are in two vertical direction output power, and the main entrance wheel axle of main entrance wheelset is rotated through drive mechanism to the output power of a direction; the output power in the other direction enables a sub-channel wheel shaft of the sub-channel wheel set to rotate through a transmission mechanism; the main channel wheel in the main channel wheel set is directly fixed on a main channel wheel shaft, the sub-channel wheel shaft is transmitted to each short shaft arranged on the base through a chain wheel and chain mechanism, and each sub-channel wheel is arranged on each short shaft; the main passage wheel set is configured to be movable in a vertical direction.
Description
Technical Field
The utility model relates to a warehouse management and cargo handling equipment, more specifically say, relate to a transmission for transfer robot.
Background
In recent years, with the rise of land cost and labor cost, the concept of intensive warehousing is receiving more and more attention from logistics companies or e-commerce companies. The automatic stereoscopic warehouse has become an indispensable warehousing technology for enterprise logistics and production management due to high space utilization rate and strong warehousing and ex-warehousing capacity, and the application of the automatic stereoscopic warehouse in industries such as automobiles, chemical engineering, electronics, tobacco and the like is increased year by year. In the coming years, one of the technological development trends of the automated three-dimensional warehousing system is represented by high speed, high efficiency and high density.
The transfer robot commonly used in the prior art stereoscopic warehouse includes a rail way stacker and a primary and secondary car system. The rail tunnel stacker is lifting and stacking equipment in an automatic three-dimensional warehouse, mainly comprises a machine body, a cargo carrying table, a horizontal traveling mechanism, a lifting mechanism and a fork mechanism, and can realize storage of cargos through three-axis coordinated motion. Another common primary-secondary vehicle system comprises a longitudinal moving shuttle plate vehicle, a transverse moving shuttle plate vehicle and a vertical moving elevator, which form a primary-secondary vehicle system taking the shuttle plate vehicle as a core.
The two carrying robots have many problems and cannot meet the flexibility, high efficiency and large load capacity required by the current intensive warehousing system. In particular, it is not satisfactory for the transfer robot to be able to flexibly steer and to achieve travel drive with a compact structure.
SUMMERY OF THE UTILITY MODEL
To solve or alleviate the above-mentioned problems in the prior art, the present disclosure proposes a transmission for a transfer robot.
According to an aspect of the present invention, the transmission device is used for driving a traveling wheel installed on a base of the transfer robot, wherein the traveling wheel includes a main channel wheel set and a sub-channel wheel set, axes of the main channel wheel set and the sub-channel wheel set are perpendicular to each other, the transmission device includes a power motor and a speed reducer connected to the power motor, the speed reducer includes two output shafts, the two output shafts output power in two perpendicular directions, and the output power in one direction rotates a main channel wheel shaft of the main channel wheel set through a transmission mechanism; the output power in the other direction enables a sub-channel wheel shaft of the sub-channel wheel set to rotate through a transmission mechanism; the main channel wheel in the main channel wheel set is directly fixed on a main channel wheel shaft, the sub-channel wheel shaft is transmitted to each short shaft arranged on the base through a chain wheel and chain mechanism, and each sub-channel wheel is arranged on each short shaft; the main passage wheel set is configured to be movable in a vertical direction.
Further preferably, in a transmission according to the present invention, a position of a first output shaft in the reduction gear for driving the main channel axle is fixed, and the first output shaft is at a position above a midpoint horizontal position between two positions that the main channel axle can reach in a vertical direction.
Preferably, in an embodiment of the transmission according to the invention, a chain tensioning device is provided in the sprocket chain mechanism.
It is further preferred that the main and sub-channel wheel sets are at different heights and for travelling in different directions. The main channel wheel shaft is arranged on a wheel shaft bearing, and the wheel shaft bearing drives a cylinder rod of a hydraulic cylinder in the hydraulic cylinder group through a connecting block and the reversing of the carrying robot.
Preferably, the transmission device further comprises a lifting mechanism for driving the main channel wheel shaft and the main channel wheel to lift in a vertical direction, the lifting mechanism comprising: the cylinder body of the hydraulic cylinder is fixed on the base; the middle part of the connecting block is fixedly connected with a cylinder rod of the hydraulic cylinder, the side part of the connecting block is fixedly connected with the vertical plate, and the vertical plate and the connecting block are vertical to each other; the vertical plate is provided with a through hole for penetrating the main channel wheel shaft, and the main channel wheel shaft is arranged on the vertical plate through a bearing and a bearing seat.
Preferably, the middle part of the connecting block is connected with a cylinder rod of the hydraulic cylinder through a threaded fastener.
Preferably, the main channel driven by the main channel wheel set is lower than the sub-channel driven by the sub-channel wheel set; the main channel is a continuous track, and the sub-channels are disconnected at the main channel.
Preferably, the main channel wheel set comprises four main channel wheels and the sub channel wheel set comprises eight sub channel wheels.
Preferably, the base is provided with a limit groove for the main channel wheel shaft to pass through and lift up and down on a side plate provided with the main channel wheel.
By using the transmission according to the present disclosure, at least the following advantageous effects can be obtained:
the weight and the volume of the robot are reduced, the structure is improved, and the operation capacity is improved; the flexible steering of the transfer robot can be realized; the flexibility is improved; and then the goods storing and taking efficiency is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the disclosure, as claimed.
Drawings
Further objects, features and advantages of the present disclosure will become apparent from the following description of embodiments of the present disclosure, with reference to the accompanying drawings, in which:
fig. 1 shows a schematic top view of a transmission for a handling robot in accordance with one embodiment of the present disclosure;
FIG. 2 is a schematic view showing a layout of a subchannel sprocket in the travel drive apparatus shown in FIG. 1;
FIG. 3 shows a schematic view of a subchannel wheel in the transmission of FIG. 2;
FIG. 4 shows a schematic view of a main channel wheel and a main channel axle in a transmission according to one embodiment of the present disclosure;
FIG. 5 is an enlarged schematic view of a portion of the transmission shown in FIG. 4; and
fig. 6 shows a schematic layout of a main channel axle and a first output shaft of a power motor for use in a transmission in a handling robot in accordance with a preferred embodiment of the present disclosure.
Fig. 7 is a sectional view of a transfer robot according to an embodiment of the present invention and a schematic view of an elevating mechanism of a main passage wheel set.
Fig. 8 is a schematic view illustrating a main passage wheel set, a main passage rail, and a sub passage rail of a transfer robot according to an embodiment of the present invention.
Fig. 9 is a schematic side view of a transfer robot according to an embodiment of the present invention.
Detailed Description
The objects and functions of the present disclosure and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present disclosure is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the disclosure.
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The transfer robot runs on a goods shelf of the stereoscopic warehouse, the channel on the goods shelf is divided into a main channel and a sub-channel, the sub-channel is used for storing goods, the transfer robot can enter different sub-channels through the main channel, and the main channel and the sub-channels are generally perpendicular to each other. The transfer robot needs to travel on a shelf channel of the stereoscopic warehouse, change the direction between a main channel and a sub-channel, pick and place goods, and the like. In a transfer robot according to the present disclosure, a base and a road wheel mounted on the base are included. The transmission device is used for driving a travelling wheel arranged on a base of the carrying robot, wherein the travelling wheel comprises a main channel wheel set and a sub-channel wheel set, the axes of the main channel wheel set and the sub-channel wheel set are perpendicular to each other, the transmission device comprises a power motor and a speed reducer connected with the power motor, the speed reducer comprises two output shafts, the two output shafts output power in two perpendicular directions, and the output power in one direction enables a main channel wheel shaft of the main channel wheel set to rotate through a transmission mechanism; the output power in the other direction enables a sub-channel wheel shaft of the sub-channel wheel set to rotate through a transmission mechanism; the main channel wheel in the main channel wheel set is directly fixed on a main channel wheel shaft, the sub-channel wheel shaft is transmitted to each short shaft arranged on the base through a chain wheel and chain mechanism, and each sub-channel wheel is arranged on each short shaft; the main channel axle is configured to be movable in a vertical direction.
Further preferably, in a transmission according to the present invention, a position of a first output shaft in the reduction gear for driving the main channel axle is fixed, and the first output shaft is at a position above a midpoint horizontal position between two positions that the main channel axle can reach in a vertical direction.
Preferably, in an embodiment of the transmission according to the invention, a chain tensioning device is provided in the sprocket chain mechanism.
It is further preferred that the main and sub-channel wheel sets are at different heights and for travelling in different directions. The main channel wheel shaft is arranged on a wheel shaft bearing, and the wheel shaft bearing drives a cylinder rod of a hydraulic cylinder in the hydraulic cylinder group through a connecting block and the reversing of the carrying robot.
In the stereoscopic warehouse in which the transmission device works, the main channel and the sub-channels are arranged in different directions and at different heights. Thus, the main and sub-aisle wheel sets are also at different heights and are used for driving in different directions. For example, in the transfer robot shown in fig. 1 to 4, the traveling wheels include a main lane wheel 20 that travels on a main lane (first lane), and a sub lane wheel 30 that travels on a sub lane (second lane). In some embodiments, the main channel may be lower than the sub-channels.
In the utility model, the main channel wheel set is used as a lifting wheel set, when the lifting wheel set is in a falling position and is in contact with the main channel in the existing running process, the carrying robot is in a state that the main channel can run; when the reversing driving mechanism drives each main channel wheel 20 in the lifting wheel set to move upwards to a lifting position in the vertical direction, the main channel wheel set of the transfer robot is separated from the main channel, the sub-channel wheel set is in contact with the sub-channel, and then the transfer robot is in a state that the sub-channel can run. The utility model discloses a transfer robot changes the direction of travel according to main entrance wheelset or subchannel wheelset and orbital contact state.
In order to realize the lifting of the main channel wheel set and the effective transmission of power, the transmission device disclosed by the invention is provided. The technical contents of the transmission of the transfer robot will be mainly exemplified below.
As in the transmission device installed in the transfer robot shown in fig. 1 to 4, the first lane is a main lane, and the first group of wheels is a main lane wheel group 20; the second lane is a sub-lane and the second wheelset is a sub-lane wheelset 30, the main lane and the sub-lane being perpendicular to each other. The transmission device of the transfer robot comprises a power motor and a speed reducer connected with the power motor, wherein the speed reducer comprises two output shafts, the two output shafts output power in two vertical directions, and the power output in one direction enables a main channel wheel shaft 40 of a main channel wheel set 20 to rotate through a transmission mechanism; the other direction of output power causes the subchannel wheel shaft 50 of the subchannel wheel set 30 to rotate through the transmission mechanism. As shown in fig. 1, a first output shaft 71 of the reducer is connected to and drives the main channel axle 40 by a chain drive, and a second output shaft 72 of the reducer is connected to and drives the sub channel axle 50 by a chain drive. The two ends of the sub-channel wheel shaft 50 can be not directly provided with the sub-channel wheel 20, and the sub-channel wheel shaft 50 is connected with the short shaft through chain transmission and drives the sub-channel wheel 20.
The power motor transmits power to the main channel wheel shaft 40 and the sub-channel wheel shaft 50 through the speed reducer and the transmission device respectively, the main channel wheel 20 in the main channel wheel set is directly fixed on the main channel wheel shaft 40, and the sub-channel wheel shaft 50 transmits the power to the short shaft where the sub-channel wheel 30 is located through the chain wheel and chain mechanism after obtaining the power, so that the main channel wheel 30 in the sub-channel wheel set rotates.
The utility model discloses a power motor is provided with 1, can drive main entrance shaft 40 and subchannel shaft 50 simultaneously and rotate, in normal driving state, only 1 wheelset and passageway contact, the utility model discloses a transfer robot can realize by the driven function of two vertical directions of a power motor drive. The direction change in the vertical direction can be controlled by the lifting mechanism. The forward and backward movement of the transfer robot can be controlled by the forward and backward rotation of the power motor.
Preferably, as shown in fig. 6, the main passage axle 40 is configured to be movable between two positions in the vertical direction, and the position of the first output shaft 71 in the speed reducer for driving the main passage axle (shown on the right in the drawing) is fixed and at a position horizontally offset from the midpoint of the two positions of the main passage axle 40.
In the transfer robot, a motor is used as a power source to drive the transfer robot to travel, that is, a power motor 70, and the power source may be a dc 48V servo motor, which is simply referred to as a travel motor.
Preferably, in order to avoid excessive chain sag, poor meshing and vibration phenomena in the chain wheel set, a chain wheel tensioning device can be arranged in the chain wheel set to ensure accurate meshing of the chain and the chain wheel. For example, as shown in fig. 2, there are 7 sprocket tensioners 55 in the sprocket set to ensure accurate meshing of the chain and sprocket.
FIG. 4 shows a schematic view of a main channel wheel and a main channel axle in a transmission according to one embodiment of the present disclosure; fig. 5 is an enlarged schematic view of a partial structure of the transmission shown in fig. 4. Fig. 7 is a schematic sectional view taken along line a-a of fig. 1.
As shown in fig. 4, 5 and 7, the driving unit further includes a lifting mechanism for driving the main passage wheel shaft 40 and the main passage wheel 20 to be lifted and lowered in the vertical direction. The lifting mechanism comprises a hydraulic cylinder, a connecting block 8 and a vertical plate 10. The cylinder body of the hydraulic cylinder is fixed on the base; the middle part of the connecting block 8 is fixedly connected with a cylinder rod 9 of the hydraulic cylinder, the side part of the connecting block 8 is fixedly connected with the vertical plate 10, and the vertical plate 10 is vertical to the connecting block 8. The vertical plate 10 is provided with a through hole for penetrating the main channel wheel shaft 40, and the main channel wheel shaft 40 is installed on the vertical plate 10 through a bearing 6-2 and a bearing seat.
The main channel wheel 20 may have a weight-saving hub 6-3, and the main channel wheel 20 may be mounted on the axial end of the main channel wheel shaft 40 by a locknut 6-4. In one embodiment, the connecting block 8 has a threaded hole in its middle portion, which is connectable to the rod 9 of the hydraulic cylinder by means of a threaded fastener, such as a screw or bolt.
The utility model discloses a reciprocating motion of main entrance wheel 20 and 40 accessible pneumatic cylinders of main entrance wheel axle goes up and down to the contact state of the wheelset that changes transfer robot and passageway, thereby changes transfer robot's the direction of travel.
The main passage wheel 20 is in the falling position and is in contact with the existing main passage 12 in running, and the transfer robot is in a state that the main passage 12 can run; when the reversing driving mechanism drives each main channel wheel 20 in the main channel wheel set to move upwards in the vertical direction to the lifting position, the main channel wheel 20 of the transfer robot is separated from the main channel 12, the sub channel wheel 30 is in contact with the sub channel 11, and the transfer robot is in a state that the sub channel 11 can run.
When the transfer robot travels on the sub lane (high track) 11, the main lane wheels 20 are in a raised state; when the transfer robot travels on the main lane (low rail) 12, the main lane wheels 20 are in a lowered state. The design of high low rail does not need whole transfer robot up-and-down motion, only needs to go the wheel up-and-down motion that corresponds on the low rail just can reach the purpose, has reduced the operating space, also can make the goods shelves layer interval of shuttle reduce, has improved warehouse space utilization.
In one embodiment, as shown in fig. 8, the main aisle 12 traveled by the main aisle wheel set is lower than the sub-aisle 11 traveled by the sub-aisle wheel set; the main channel 12 is a continuous track, the sub-channels being broken at the main channel.
In one embodiment, as shown in FIG. 1, the main channel wheel set includes four main channel wheels 20 and the sub-channel wheel set includes eight sub-channel wheels 30. The subchannel wheels 30 are designed in pairs to facilitate the passage of disconnected channels. 4 of 8 subchannel wheels provide the power of X direction when the auxiliary wheel is at the high low rail interval, guarantee that transfer robot goes smoothly on the track, have improved stability, the reliability of transfer robot travel process.
In one embodiment, the main channel wheel set can be lifted and lowered by using a series hydraulic circuit, each main channel wheel axle 40 is provided with 2 symmetrically arranged hydraulic cylinders, and the piston rods of the hydraulic cylinders can realize synchronous action.
In one embodiment, as shown in fig. 9, the base is provided with a limit groove on a side plate on which the main channel wheel is mounted, through which the main channel wheel shaft 40 passes and which is lifted up and down.
In the transmission of the present disclosure, the power motor may be an electric motor, or any other suitable motor capable of outputting power according to a control command.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A transmission device for a transfer robot, which is used for driving a traveling wheel arranged on a base of the transfer robot, wherein the traveling wheel comprises a main channel wheel set and a sub-channel wheel set, the axes of the main channel wheel set and the sub-channel wheel set are mutually vertical, and the transmission device is characterized in that,
the transmission device comprises a power motor and a speed reducer connected with the power motor, the speed reducer comprises two output shafts, the two output shafts output power in two vertical directions, and the output power in one direction enables a main channel wheel shaft of a main channel wheel set to rotate through a transmission mechanism; the output power in the other direction enables a sub-channel wheel shaft of the sub-channel wheel set to rotate through a transmission mechanism;
the main channel wheel in the main channel wheel set is directly fixed on the main channel wheel shaft,
the sub-channel wheel shafts are transmitted to the short shafts arranged on the base through a chain wheel and chain mechanism, and the sub-channel wheels are arranged on the short shafts;
the main passage wheel set is configured to be movable in a vertical direction.
2. A transmission according to claim 1, characterised in that the position of the first output shaft in the reducer for driving the main channel axle is fixed and that the first output shaft is at a position above the horizontal position of the midpoint between the two positions reachable by the main channel axle in the vertical direction.
3. A transmission according to claim 1, wherein a chain tensioning device is provided in the sprocket chain mechanism.
4. The transmission of claim 1, wherein the main and sub-channel wheel sets are at different heights and are for traveling in different directions.
5. Transmission according to one of claims 1 to 4, characterized in that the power motor is an electric machine.
6. The transmission of claim 1, further comprising a lift mechanism for vertically driving the main channel wheel shaft and main channel wheel up and down, the lift mechanism comprising:
the cylinder body of the hydraulic cylinder is fixed on the base;
the middle part of the connecting block is fixedly connected with a cylinder rod of the hydraulic cylinder, the side part of the connecting block is fixedly connected with the vertical plate, and the vertical plate and the connecting block are vertical to each other;
the vertical plate is provided with a through hole for penetrating the main channel wheel shaft, and the main channel wheel shaft is arranged on the vertical plate through a bearing and a bearing seat.
7. The transmission of claim 6, wherein the middle portion of the connecting block is connected to the rod of the hydraulic cylinder by a threaded fastener.
8. The transmission of claim 1, wherein the main lane traveled by the main lane wheel set is lower than the sub lane traveled by the sub lane wheel set;
the main channel is a continuous track, and the sub-channels are disconnected at the main channel.
9. The transmission of claim 8, wherein the set of main channel wheels includes four main channel wheels and the set of subchannel wheels includes eight subchannel wheels.
10. The transmission device as claimed in claim 1, wherein the base is provided with a limit groove for the main passage wheel shaft to pass through and ascend and descend on a side plate on which the main passage wheel is mounted.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018216091108 | 2018-09-30 | ||
| CN201821609110 | 2018-09-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210762693U true CN210762693U (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921532263.1U Active CN210762693U (en) | 2018-09-30 | 2019-09-16 | Transmission device for transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210762693U (en) |
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2019
- 2019-09-16 CN CN201921532263.1U patent/CN210762693U/en active Active
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