CN211004386U - Synchronous lifting mechanism of heavy-load four-way shuttle robot - Google Patents
Synchronous lifting mechanism of heavy-load four-way shuttle robot Download PDFInfo
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- CN211004386U CN211004386U CN201920799589.4U CN201920799589U CN211004386U CN 211004386 U CN211004386 U CN 211004386U CN 201920799589 U CN201920799589 U CN 201920799589U CN 211004386 U CN211004386 U CN 211004386U
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Abstract
The utility model discloses a synchronous lifting mechanism of a heavy-load four-way shuttle robot, which comprises a tray lifting mechanism and a reversing lifting mechanism; the tray lifting mechanism comprises a hydraulic motor, a bidirectional gear pump, an oil tank, 5 electromagnetic on-off valves and 4 oil cylinders; the hydraulic motor drives the bidirectional gear pump, and the bidirectional gear pump is driven to rotate forwards and backwards through the forward and reverse rotation of the hydraulic motor; the bidirectional gear pump is connected with the oil tank; a series loop is formed between the 4 oil cylinders and the bidirectional gear pump, an electromagnetic on-off valve is respectively connected in series between the 4 oil cylinders, and an electromagnetic on-off valve is respectively connected in series at the oil inlet and the oil outlet of the bidirectional gear pump. The design of the reversing lifting mechanism is the same as that of the tray lifting mechanism. The utility model discloses utilize the two-way gear pump of servo motor drive, through the elevating system of hydraulic motor positive and negative rotation realization hydro-cylinder, the oil circuit is simpler, and used solenoid valve quantity reduces half, the assembly of being convenient for, and with low costs, oil leakage probability and fault rate reduce 50%.
Description
Technical Field
The utility model relates to a synchronous elevating system especially relates to a synchronous elevating system of heavy load quadriversal shuttle robot.
Background
The four-way shuttle robot is widely applied to domestic and foreign intelligent stereoscopic warehouse systems, can realize transverse walking and longitudinal walking through an internal lifting mechanism, 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 four-way shuttle robot comprises two sets of mutually independent lifting mechanisms: the four-direction shuttle car comprises a tray lifting mechanism and a reversing lifting mechanism, wherein each set of lifting mechanism consists of four lifting units, so that the synchronism of the four lifting units is crucial, and the four lifting units are related to the running stability and safety of the four-direction shuttle car.
The synchronous lifting mechanism adopted by the four-way shuttle robot in the market at present mainly comprises an electric cylinder synchronous mechanism and a hydraulic synchronous mechanism, wherein the electric cylinder synchronous mechanism adopts four groups of electric cylinders to drive four lifting units, and the synchronism of the lifting process is ensured through servo drive and P L C, although the synchronous precision of the lifting mechanism is high, the use cost is high, and the service life of an internal ball screw is not long in heavy-load occasions, the hydraulic synchronous mechanism adopts a serial hydraulic synchronous circuit, four lifting units are driven by four groups of oil cylinders, the oil cylinders are connected in series, namely, an oil outlet of a previous oil cylinder is used as an oil inlet of a next oil cylinder, so that the four groups of oil cylinders are synchronously lifted, as shown in figure 1, when the electromagnetic on-off valves 1.1, 1.2, 1.3, 1.4 and 1.5 are simultaneously powered on, the oil cylinders synchronously lift, and when the electromagnetic on-off valves 1.6, 1.7, 1.8, 1.9 and 1.10 are simultaneously powered on, the oil cylinders synchronously descend.
Because the hydraulic synchronization mechanism has low use cost and strong bearing capacity, the hydraulic synchronization mechanism is more and more widely applied to the four-way shuttle robot, and the advantages of the hydraulic synchronization mechanism are gradually revealed in the heavy-load field. However, the hydraulic synchronizing mechanism still has the defects that the oil leakage phenomenon and the failure rate are increased in the long-time use process due to the fact that the number of the oil pipes and the electromagnetic valves in the hydraulic synchronizing mechanism is large, and the working efficiency is affected.
SUMMERY OF THE UTILITY MODEL
To above problem, the utility model provides an oil circuit is simple, the assembly of being convenient for, and the heavy load quadriversal of low cost shuttles back and forth robot's synchronous elevating system.
In order to solve the above problem, the utility model adopts the following technical scheme: a synchronous lifting mechanism of a heavy-load four-way shuttle robot comprises a four-way shuttle robot body and a synchronous lifting mechanism, wherein the synchronous lifting mechanism comprises a tray lifting mechanism and a reversing lifting mechanism; the tray lifting mechanism is characterized by comprising a hydraulic motor, a bidirectional gear pump, an oil tank, a valve group I, 5 electromagnetic on-off valves, an oil cylinder I, an oil cylinder II, an oil cylinder III and an oil cylinder IV; the hydraulic motor drives the bidirectional gear pump, and the bidirectional gear pump is driven to rotate forwards and backwards through the forward and reverse rotation of the hydraulic motor; the bidirectional gear pump is connected with the oil tank, and 5 electromagnetic on-off valves are arranged on the valve group I; an electromagnetic on-off valve is arranged between an oil inlet of the bidirectional gear pump and the oil cylinder I, an electromagnetic on-off valve is arranged between the oil cylinder I and the oil cylinder II, an electromagnetic on-off valve is arranged between the oil cylinder II and the oil cylinder III, an electromagnetic on-off valve is arranged between the oil cylinder III and the oil cylinder IV, and an electromagnetic on-off valve is arranged between the oil cylinder IV and an oil outlet of the bidirectional gear pump. The reversing lifting mechanism comprises a hydraulic motor, a bidirectional gear pump, an oil tank, a valve group II, 5 electromagnetic on-off valves, an oil cylinder V, an oil cylinder VI, an oil cylinder VII and an oil cylinder VIII. The hydraulic motor drives the bidirectional gear pump, and the bidirectional gear pump is driven to rotate forwards and backwards through the forward and reverse rotation of the hydraulic motor; the bidirectional gear pump is connected with the oil tank, and 5 electromagnetic on-off valves are arranged on the valve group II; an electromagnetic on-off valve is arranged between an oil inlet of the bidirectional gear pump and the oil cylinder V, an electromagnetic on-off valve is arranged between the oil cylinder V and the oil cylinder VI, an electromagnetic on-off valve is arranged between the oil cylinder VI and the oil cylinder VII, an electromagnetic on-off valve is arranged between the oil cylinder VII and the oil cylinder VIII, and an electromagnetic on-off valve is arranged between the oil cylinder VIII and an oil outlet of the bidirectional gear pump. The tray lifting mechanism and the reversing lifting mechanism are mutually independent and do not interfere with each other when in work.
The tray lifting mechanism is fixed at the bottom of the four-way shuttle robot by using 4 oil cylinders I, II, III and IV, and is positioned in the same horizontal plane, and 4 oil cylinders are the same; the reversing lifting mechanism is fixed at the top of the four-way shuttle robot by using 4 oil cylinders V, VI, VII and VIII, and is positioned in the same horizontal plane, and the 4 oil cylinders are the same. The design ensures that the starting position and the end position of the piston rods of 4 oil cylinders in each lifting mechanism are consistent, and the effective bearing areas in the oil cylinders are consistent, so that the synchronous precision of the lifting mechanism is improved.
Compared with the closest prior art, the utility model discloses specific following beneficial effect: the utility model discloses utilize servo motor drive bidirectional gear pump, through the elevating system of hydraulic motor positive and negative rotation realization hydro-cylinder, the oil circuit is simpler, and used solenoid valve quantity reduces half, the assembly of being convenient for, and with low costs, and oil leakage probability and fault rate reduce 50%. The bearing capacity of the hydraulic oil is extremely strong, so that the bearing capacity of the mechanism is improved, and the hydraulic oil bearing mechanism is suitable for heavy-load occasions.
Drawings
Fig. 1 is a working principle diagram of a hydraulic synchronization mechanism of a four-way shuttle robot in the prior art.
Fig. 2 is a schematic structural view of the heavy-duty four-way shuttle robot of the present invention.
Fig. 3 is a schematic structural view of a display tray of the heavy-duty four-way shuttle robot of the present invention.
Fig. 4 is a working principle diagram of the synchronous lifting mechanism of the heavy-duty four-way shuttle robot of the present invention.
Wherein, 1 is laser displacement sensor I, 2 is laser displacement sensor II, 3 is laser displacement sensor III, 4 is laser displacement sensor IV, 5 is laser displacement sensor V, 6 is laser displacement sensor VI, 7 is laser displacement sensor VII, 8 is laser displacement sensor VIII, 9 is electric cabinet, 10 is storage battery, 11 is hydro-cylinder I, 12 is hydro-cylinder II, 13 is hydro-cylinder III, 14 is hydro-cylinder IV, 15 is hydro-cylinder V, 16 is hydro-cylinder VI, 17 is hydro-cylinder VII, 18 is hydro-cylinder VIII, 19 is hydraulic motor, 20 is bidirectional gear pump, 21 is oil tank, 22 is walking motor, 23 is valve group I, 24 is valve group II, 25 is the tray, 26 is electromagnetism on-off valve.
Detailed Description
The present invention will be further explained below.
As shown in fig. 2 to 4, the utility model provides a synchronous elevating system of heavy load quadriversal shuttle robot, its quadriversal shuttle robot is inside to be equipped with two servo motor: a walking motor 22 and a hydraulic motor 19.
The walking motor 22 drives respective chain wheels after being decelerated by a double-output-shaft speed reducer, and realizes the transverse and longitudinal walking of the four-way shuttle robot in the stereoscopic warehouse by matching with the position feedback of the laser displacement sensor I1, the laser displacement sensor II, the laser displacement sensor III3 and the laser displacement sensor IV4 on the periphery.
The hydraulic motor 19 is a power source of a synchronous lifting mechanism, and the synchronous lifting mechanism comprises a tray lifting mechanism and a reversing lifting mechanism.
As shown in fig. 2, the tray lifting mechanism includes a hydraulic motor 19, a bidirectional gear pump 20, an oil tank 21, a valve set I23, 5 electromagnetic on-off valves 26, an oil cylinder I11, an oil cylinder II12, an oil cylinder III13, and an oil cylinder IV 14. The oil cylinder I11, the oil cylinder II12, the oil cylinder III13 and the oil cylinder IV14 are 4 identical oil cylinders, are fixed at the bottom of the four-way shuttle robot and are positioned in the same horizontal plane; the bidirectional gear pump 20 is connected to the oil tank 21, and 5 electromagnetic on-off valves 26 are mounted on a valve block I23. The hydraulic motor 19 drives the bidirectional gear pump 20, the bidirectional gear pump is driven to rotate positively and negatively through positive and negative rotation of the hydraulic motor 19, four groups of oil cylinders are synchronously lifted in a matched manner through a serial hydraulic synchronous loop, and the synchronism of the tray lifting mechanism is monitored in real time in a matched manner through the laser displacement sensor V5 and the laser displacement sensor VI6, so that closed-loop control is realized.
The serial hydraulic synchronous circuit is shown in fig. 4, an electromagnetic on-off valve is arranged between an oil inlet of a bidirectional gear pump and an oil cylinder I11, an electromagnetic on-off valve is arranged between an oil cylinder I11 and an oil cylinder II12, an electromagnetic on-off valve is arranged between an oil cylinder II12 and an oil cylinder III13, an electromagnetic on-off valve is arranged between an oil cylinder III13 and an oil cylinder IV14, and an electromagnetic on-off valve is arranged between an oil cylinder IV14 and an oil outlet of the bidirectional gear pump.
The specific working process is as follows:
the hydraulic lifting device comprises a hydraulic motor, a bidirectional gear pump, a piston rod, a hydraulic oil pushing rod, a piston rod pushing rod, a hydraulic oil pushing rod, a hydraulic. When 4 groups of oil cylinders are synchronously jacked in place, the laser displacement sensor V5 and the laser displacement sensor VI6 feed detected displacement signals back to the system, all electromagnetic on-off valves are powered off, an oil way is closed, a hydraulic motor stops rotating, the oil cylinders (the oil cylinder I11, the oil cylinder II12, the oil cylinder III13 and the oil cylinder IV14) are in a pressure maintaining state, and jacking actions of the four groups of oil cylinders are completed.
In a similar way, when the hydraulic motor rotates reversely, the bidirectional gear pump is driven to rotate reversely, all the electromagnetic on-off valves are electrified, the oil circuit is conducted, hydraulic oil enters the oil cavity on the oil cylinder IV from the oil pipe on the right side of the bidirectional gear pump, and piston rods of the four groups of oil cylinders synchronously move downwards under the action of the hydraulic oil. When 4 groups of oil cylinders synchronously descend to the right position, the laser displacement sensor V5 and the laser displacement sensor VI6 feed detected displacement signals back to the system, all electromagnetic on-off valves are powered on, the oil way is closed, the hydraulic motor stops rotating, the oil cylinders (the oil cylinder I11, the oil cylinder II12, the oil cylinder III13 and the oil cylinder IV14) are in a pressure maintaining state, and four groups of oil cylinders complete descending actions.
The reversing lifting mechanism comprises a hydraulic motor 19, a bidirectional gear pump 20, an oil tank 21, a valve group II24, 5 electromagnetic on-off valves 26, an oil cylinder V15, an oil cylinder VI16, an oil cylinder VII17 and an oil cylinder VIII 18; the hydraulic motor 19 drives the bidirectional gear pump 20, and the bidirectional gear pump 20 is driven to rotate forward and backward by the forward and backward rotation of the hydraulic motor 19; the oil cylinder V15, the oil cylinder VI16, the oil cylinder VII17 and the oil cylinder VIII18 are 4 identical oil cylinders, are fixed at the top of the four-way shuttle robot and are positioned in the same horizontal plane; the bidirectional gear pump 20 is connected with the oil tank 21, and 5 electromagnetic on-off valves 26 are arranged on the valve group II 24; an electromagnetic on-off valve is arranged between an oil inlet of the bidirectional gear pump and the oil cylinder V15, an electromagnetic on-off valve is arranged between the oil cylinder V15 and the oil cylinder VI16, an electromagnetic on-off valve is arranged between the oil cylinder VI16 and the oil cylinder VII17, an electromagnetic on-off valve is arranged between the oil cylinder VII17 and the oil cylinder VIII18, and an electromagnetic on-off valve is arranged between the oil cylinder VIII18 and an oil outlet of the bidirectional gear pump. And the laser displacement sensor VII7 and the laser displacement sensor VIII8 monitor the synchronism of the reversing lifting mechanism in real time to realize closed-loop control.
The reversing lifting mechanism and the tray lifting mechanism have the same working principle.
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 (5)
1. A synchronous lifting mechanism of a heavy-load four-way shuttle robot comprises a four-way shuttle robot body and a synchronous lifting mechanism, wherein the synchronous lifting mechanism comprises a tray lifting mechanism and a reversing lifting mechanism;
the tray lifting mechanism is characterized by comprising a hydraulic motor (19), a bidirectional gear pump (20), an oil tank (21), a valve group I (23), 5 electromagnetic on-off valves (26), an oil cylinder I (11), an oil cylinder II (12), an oil cylinder III (13) and an oil cylinder IV (14); the hydraulic motor (19) drives a bidirectional gear pump (20); the bidirectional gear pump (20) is connected with an oil tank (21), and 5 electromagnetic on-off valves (26) are arranged on the valve group I (23); an electromagnetic on-off valve (26) is arranged between an oil inlet of the bidirectional gear pump and the oil cylinder I (11), an electromagnetic on-off valve (26) is arranged between the oil cylinder I (11) and the oil cylinder II (12), an electromagnetic on-off valve (26) is arranged between the oil cylinder II (12) and the oil cylinder III (13), an electromagnetic on-off valve (26) is arranged between the oil cylinder III (13) and the oil cylinder IV (14), and an electromagnetic on-off valve (26) is arranged between the oil cylinder IV (14) and an oil outlet of the bidirectional gear pump;
the reversing lifting mechanism comprises a hydraulic motor (19), a bidirectional gear pump (20), an oil tank (21), a valve group II (24), 5 electromagnetic on-off valves (26), an oil cylinder V (15), an oil cylinder VI (16), an oil cylinder VII (17) and an oil cylinder VIII (18); the hydraulic motor (19) drives the bidirectional gear pump (20), and the bidirectional gear pump (20) is driven to rotate forwards and backwards through the forward and reverse rotation of the hydraulic motor (19); the bidirectional gear pump (20) is connected with the oil tank (21), and 5 electromagnetic on-off valves (26) are arranged on the valve group II (24); an electromagnetic on-off valve (26) is arranged between an oil inlet of the bidirectional gear pump and the oil cylinder V (15), an electromagnetic on-off valve (26) is arranged between the oil cylinder V (15) and the oil cylinder VI (16), an electromagnetic on-off valve (26) is arranged between the oil cylinder VI (16) and the oil cylinder VII (17), an electromagnetic on-off valve (26) is arranged between the oil cylinder VII (17) and the oil cylinder VIII (18), and an electromagnetic on-off valve (26) is arranged between the oil cylinder VIII (18) and an oil outlet of the bidirectional gear pump.
2. The synchronous lifting mechanism of the heavy-duty four-way shuttle robot according to claim 1, characterized in that: the oil cylinder I (11), the oil cylinder II (12), the oil cylinder III (13) and the oil cylinder IV (14) are fixed at the bottom of the four-way shuttle robot and are located in the same horizontal plane.
3. The synchronous lifting mechanism of the heavy-duty four-way shuttle robot according to claim 1, characterized in that: and the oil cylinder V (15), the oil cylinder VI (16), the oil cylinder VII (17) and the oil cylinder VIII (18) are fixed at the top of the four-way shuttle robot and are positioned in the same horizontal plane.
4. The synchronous lifting mechanism of a heavy-duty four-way shuttle robot according to claim 1 or 2, characterized in that: the oil cylinder I (11), the oil cylinder II (12), the oil cylinder III (13) and the oil cylinder IV (14) are the same.
5. The synchronous lifting mechanism of a heavy-duty four-way shuttle robot according to claim 1 or 3, characterized in that: the oil cylinder V (15), the oil cylinder VI (16), the oil cylinder VII (17) and the oil cylinder VIII (18) are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799589.4U CN211004386U (en) | 2019-05-30 | 2019-05-30 | Synchronous lifting mechanism of heavy-load four-way shuttle robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920799589.4U CN211004386U (en) | 2019-05-30 | 2019-05-30 | Synchronous lifting mechanism of heavy-load four-way shuttle robot |
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| CN211004386U true CN211004386U (en) | 2020-07-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228768A (en) * | 2019-05-30 | 2019-09-13 | 江苏智库物流科技有限公司 | A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot |
| CN111929060A (en) * | 2020-07-21 | 2020-11-13 | 江苏智库智能科技有限公司 | Steering wheel driving system detection device |
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2019
- 2019-05-30 CN CN201920799589.4U patent/CN211004386U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228768A (en) * | 2019-05-30 | 2019-09-13 | 江苏智库物流科技有限公司 | A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot |
| CN111929060A (en) * | 2020-07-21 | 2020-11-13 | 江苏智库智能科技有限公司 | Steering wheel driving system detection device |
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