CN210853915U

CN210853915U - Roller mechanism responsible for transverse walking of heavy-load four-way shuttle robot

Info

Publication number: CN210853915U
Application number: CN201920838150.8U
Authority: CN
Inventors: 蔡传玉; 殷霄
Original assignee: Jiangsu Zhiku Logistics Technology Co ltd
Current assignee: Jiangsu think tank Intelligent Technology Co.,Ltd.
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-06-26
Anticipated expiration: 2029-06-05

Abstract

The utility model discloses a be responsible for horizontal walking roller mechanism of heavy load quadriversal shuttle robot, what its roller shaft adopted is that the right-hand member is fixed, the unsteady bearing configuration of left end. The right end fixed end comprises a NUP type bearing and a NU type bearing, the outer rings of the two bearings are fixedly connected in the right side bearing seat, and the inner rings of the two bearings are fixed on the roller shaft through a spacer sleeve I, a spacer sleeve II and a round nut. The left end floating end comprises two NU bearings, outer rings of the two bearings are fixedly connected in a left bearing seat, and inner rings of the two bearings are fixed on the roller shaft through an axial retainer ring. Because the NUP type and the NU type bearing are cylindrical roller bearings, the bearing can bear radial heavy load, the bearing is not easy to damage when medium and heavy goods are carried, and the service life of the bearing is long. In addition, because the fixed end NUP type bearing can bear axial bidirectional load at the same time, the mechanism can bear the impact load between the side surface of the roller and the side surface of the track when the four-way shuttle robot walks transversely.

Description

Roller mechanism responsible for transverse walking of heavy-load four-way shuttle robot

Technical Field

The utility model relates to a gyro wheel mechanism especially relates to a gyro wheel mechanism who is responsible for heavy load quadriversal shuttle robot horizontal walking.

Background

The four-way shuttle robot is widely applied to domestic and foreign intelligent stereoscopic warehouse systems, can realize transverse walking and longitudinal walking, has high flexibility and can randomly change operation lanes. The method is suitable for low-flow and high-density storage and high-flow and high-density storage, and can achieve maximization of efficiency, cost and resources.

The mainstream layout of the motion wheel train of the four-way shuttle robot on the market at present is shown in fig. 1: the front and the back rollers are responsible for transverse walking left and right, and the left and the right rollers realize longitudinal walking front and back.

When the walking vehicle travels transversely, the front and rear rollers contact the track, and the left and right rollers are separated from the track; when the walking machine travels longitudinally, the left and right rollers contact the track, and the front and rear rollers are separated from the track. During the walking process, the total weight of the robot and the transported goods is completely acted on the roller mechanism. The weakest link in the roller mechanism is the inner rolling bearing which bears all radial gravity and the impact force of the axial rail on the rolling bearing, so that the selection and the installation mode of the rolling bearing are very important. Wherein, the front and rear roller mechanisms responsible for transverse walking are complex. Deep groove ball bearings are currently commonly used in the art, with axial collars for axial positioning. Although this solution is simple in structure and easy to assemble, it cannot withstand large radial and axial loads in view of the properties of the deep groove ball bearing itself, and the axial collar is not generally used in applications that withstand axial loads. Therefore, the four-way shuttle robot using the mechanism is generally used for transporting light goods, and for transporting some medium and heavy goods, if the four-way shuttle robot is used for a long time, the bearing fatigue is damaged, the service life is reduced, and the use is influenced.

SUMMERY OF THE UTILITY MODEL

To above problem, the utility model provides a can strengthen four-way shuttle robot's load capacity and shock resistance to the life of extension bearing reduces the fault rate one kind and is responsible for the gyro wheel mechanism of the horizontal walking of heavy load four-way shuttle robot.

In order to solve the above problem, the utility model adopts the following technical scheme: the roller mechanism is characterized by comprising a roller shaft, a roller, a flat key, a NUP type cylindrical roller bearing, a NU type cylindrical roller bearing, a right side bearing seat, a left side bearing seat, a spacer I, a spacer II, a positioning groove and a positioning sleeve.

The driven chain wheel is positioned in the middle of the roller shaft, the rollers are fixedly connected to the two ends of the roller shaft, flat keys are arranged on the rollers and the driven chain wheel, and the driven chain wheel transmits torque to the roller shaft through the flat keys.

The roller shaft adopts a bearing configuration with a fixed right end and a floating left end. The fixed end at the right end comprises a NUP type cylindrical roller bearing and a NU type cylindrical roller bearing, the outer rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixedly connected in a bearing seat at the right side, the NU type cylindrical roller bearing is positioned at the right side of the NUP type cylindrical roller bearing, a spacer sleeve I is arranged between the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing, and a spacer sleeve II is arranged between the NU type cylindrical roller bearing and a roller at the right side; inner rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixed on the roller shaft. The left end floating end comprises two NU type cylindrical roller bearings, the outer rings of the two NU type cylindrical roller bearings are fixedly connected in a left bearing seat, the inner rings of the NU type cylindrical roller bearings are fixed on the roller shaft, the right side of the left roller is provided with a positioning sleeve, and the left end of the roller shaft is provided with a positioning groove for the positioning sleeve to be matched.

The inner ring of the NU type cylindrical roller bearing is fixedly connected with the roller shaft by an axial retainer ring.

The roller is fixedly connected with the roller shaft through a round nut and a flat key.

Compared with the closest prior art, the utility model discloses specific following beneficial effect: in view of the use characteristics of the NUP type and the NU type bearings, the two are cylindrical roller bearings, can bear radial heavy load, ensure that the bearings are not easy to damage when carrying medium and heavy goods, and have long service life. In addition, because the fixed end NUP type bearing can bear axial bidirectional load at the same time, the mechanism can bear the impact load between the side surface of the roller and the side surface of the track when the four-way shuttle robot walks transversely.

Drawings

Fig. 1 is a schematic diagram of a mainstream layout of a motion wheel train of a four-way shuttle robot on the market.

Fig. 2 shows the working principle of the roller mechanism responsible for the transverse walking of the heavy-duty four-way shuttle robot.

Fig. 3 is an AA cross-sectional view of fig. 2.

Wherein, 1 is a walking motor, 2 is a speed reducer for reducing speed, 3 is a driving sprocket, 4 is a chain, 5 is a driven sprocket, 6 is a roller shaft, 7 is a roller, 8 is a flat key, 9 is a NUP type cylindrical roller bearing, 10 is a NU type cylindrical roller bearing, 11 is a right side bearing seat, 12 is a spacer I, 13 is a spacer II, 14 is a round nut, 15 is a left side bearing seat, 16 is an axial retainer ring, 17 is a positioning groove, 18 is a positioning sleeve, 19 is a left wheel, 20 is a right wheel, 21 is a front wheel, 22 is a rear wheel, and 23 is a track.

Detailed Description

The present invention will be further explained below.

As shown in fig. 2, when the four-way shuttle robot travels transversely, the traveling motor 1 decelerates 2 through the dual output shaft reducer, and drives a pair of sprocket pairs (a driving sprocket 3, a chain 4, and a driven sprocket 5) to drive the roller shaft 6 to rotate, thereby realizing transverse travel of the robot.

As shown in fig. 3, the utility model provides a be responsible for horizontal walking roller mechanism of heavy load four-way shuttle robot, including roller shaft 6, gyro wheel 7, flat key 8, NUP type cylindrical roller bearing 9, NU type cylindrical roller bearing 10, right side bearing frame 11, spacer I12, spacer II 13, round nut 14, left side bearing frame 15, axial rand 16, constant head tank 17, position sleeve 18.

The driven chain wheel 5 is positioned in the middle of the roller shaft 6, flat keys 8 are respectively arranged on the roller 7 and the driven chain wheel 5, and the driven chain wheel 5 transmits torque to the roller shaft through the flat keys 8.

The roller shaft 6 adopts a bearing configuration with a fixed right end and a floating left end.

The fixed end at the right end comprises a NUP type cylindrical roller bearing 9 and a NU type cylindrical roller bearing 10, outer rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixedly connected in a right side bearing seat 11, the NU type cylindrical roller bearing is positioned at the right side of the NUP type cylindrical roller bearing, a spacer bush I12 is arranged between the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing, and a spacer bush II 13 is arranged between the NU type cylindrical roller bearing and a right side roller; the right roller 7 is fixed on the roller shaft through a round nut 14, and the inner rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixed on the roller shaft through the spacer bush I, the spacer bush II and the round nut.

The left end floating end comprises two NU type cylindrical roller bearings 10, the outer rings of the two NU type cylindrical roller bearings are fixedly connected in a left bearing seat 15, the inner rings of the NU type cylindrical roller bearings are fixed on a roller shaft through an axial retainer ring 16, a positioning sleeve 18 is installed on the right side of a left roller 7, a positioning groove 17 is formed in the left end of the roller shaft 6 in a matched mode for the positioning sleeve 18, the left roller is fixed on the roller shaft through a round nut 14, and the inner ring and the outer ring of the NU type cylindrical roller bearings can slide in the axial direction mutually, so that the left end of the roller shaft and the bearing seat are in a floating state.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.

Claims

1. A roller mechanism for transverse walking of a heavy-load four-way shuttle robot is characterized by comprising a roller shaft (6), a roller (7), a flat key (8), a NUP type cylindrical roller bearing (9), a NU type cylindrical roller bearing (10), a right side bearing seat (11), a left side bearing seat (15), a spacer bush I (12), a spacer bush II (13), a positioning groove (17) and a positioning sleeve (18); the driven chain wheel (5) is positioned in the middle of the roller shaft (6), the rollers (7) are fixedly connected to the two ends of the roller shaft (6), flat keys (8) are respectively arranged on the rollers (7) and the driven chain wheel (5), and the driven chain wheel (5) transmits torque to the roller shaft through the flat keys (8);

the roller shaft (6) adopts a bearing configuration with a fixed right end and a floating left end;

the fixed end at the right end comprises a NUP type cylindrical roller bearing (9) and a NU type cylindrical roller bearing (10), outer rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixedly connected in a right side bearing seat (11), the NU type cylindrical roller bearing is positioned on the right side of the NUP type cylindrical roller bearing, a spacer bush I (12) is arranged between the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing, and a spacer bush II (13) is arranged between the NU type cylindrical roller bearing and a right side roller; inner rings of the NUP type cylindrical roller bearing and the NU type cylindrical roller bearing are fixed on the roller shaft;

the left end floating end comprises two NU type cylindrical roller bearings (10), outer rings of the two NU type cylindrical roller bearings are fixedly connected in a left side bearing seat (15), inner rings of the NU type cylindrical roller bearings are fixed on a roller shaft, a positioning sleeve (18) is installed on the right side of a left side roller (7), and a positioning groove (17) is formed in the left end of the roller shaft (6) in a matched mode for the positioning sleeve (18).

2. A roller mechanism for transverse walking of heavy-duty four-way shuttle robot according to claim 1, characterized in that the inner ring of said NU-type cylindrical roller bearing is fixedly connected with the roller shaft by means of an axial collar (16).

3. A roller mechanism for transverse walking of heavy-duty four-way shuttle robot according to claim 1, characterized in that the roller (7) is fixedly connected with the roller shaft through a round nut (14) and a flat key (8).