CN211056046U

CN211056046U - Access mechanism

Info

Publication number: CN211056046U
Application number: CN201922151812.7U
Authority: CN
Inventors: 曹国忠; 孙寅迪; 程帅强; 秦发伟; 刘刚
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-07-21
Anticipated expiration: 2029-12-05

Abstract

The utility model discloses an access mechanism, which comprises a world double-track component and a lifting and rotating component; the lifting and rotating assembly can horizontally slide between the sky rail and the ground rail of the sky and ground double-rail assembly; the lifting and rotating assembly comprises a first support, a fourth connecting shaft, a connecting frame, a second driving motor, a second motor support, a third driving motor, a third motor support, a fifth connecting shaft, two second belt wheels, a third synchronous belt and a guide rail. The storing and taking mechanism realizes the translation, lifting and rotation of the grabbing component through the heaven-earth double-track component and the lifting and rotating component, and compared with a common three-axis type cargo carrying mechanism, the storing and taking mechanism does not need a slide rail on a Y axis and occupies small space; the mechanism can respectively access two goods shelves between the two goods shelves, thereby improving the efficiency; the grabbing component can be turned from one goods shelf to another goods shelf through rotation, and the movement is more flexible.

Description

Access mechanism

Technical Field

The utility model belongs to the technical field of the goods storage, concretely relates to access mechanism, this mechanism are used for the transport or the storage of goods.

Background

In the prior art, most of goods handling mechanisms are top-to-bottom double-track mechanisms, and the mechanisms are widely applied and used in the fields of storage and logistics, transportation and the like. However, the existing world double-track mechanism still has a lot of defects, most of the goods can only be translated and lifted by the goods taking device, the goods can only be stored and taken on the goods shelf on one side, and the goods cannot be respectively stored and taken on the goods shelves on two sides under the condition that the goods shelves are arranged on two sides.

The common three-axis type cargo handling mechanism realizes the storage and the taking of cargoes through the linear motion along an X axis, a Y axis and a Z axis respectively, and the mechanism needs to be provided with guide rails in three directions, so that the occupied space is large, and the applicability is low.

The document with the application number of 201710884625.2 discloses a lifting mechanism for a warehouse stacker, which comprises a top rail, a ground rail, a stand column, a cargo carrying table, a lifting assembly and a traveling assembly, wherein the lifting mechanism reduces friction resistance through the matching of a lead screw and a ball of a rotating member, so that the lifting is more accurate; however, the mechanism can only move horizontally and lift, cannot rotate, and can only access goods on a single-side goods shelf.

SUMMERY OF THE UTILITY MODEL

To the deficiency of the prior art, the utility model aims to solve the technical problem that an access mechanism is provided.

The utility model provides a technical scheme that technical problem adopted is: providing an access mechanism, which comprises a heaven and earth double-track component and a lifting and rotating component; the lifting and rotating component can horizontally slide between the sky rail and the ground rail of the sky and ground double-rail component, and is characterized in that,

the lifting and rotating assembly comprises a first support, a fourth connecting shaft, a connecting frame, a second driving motor, a second motor support, a third driving motor, a third motor support, a fifth connecting shaft, two second belt wheels, a third synchronous belt and a guide rail;

the top of the first support and the bottom of the second motor support are respectively in sliding connection with a top rail and a ground rail of the top-ground double-rail assembly, a second driving motor is fixed on the second motor support, and an output shaft of the second driving motor is fixed with the bottom of the connecting frame; the connecting frame is provided with an inner cavity along the height direction, the top end of the connecting frame is connected with the first support through a fourth connecting shaft, and the connecting frame can rotate relative to the first support;

a third driving motor is fixed at the bottom of the inner cavity of the connecting frame through a third motor support, an output shaft of the third driving motor horizontally faces the inner cavity of the connecting frame, and a second belt wheel is fixed on the output shaft of the third driving motor; a fifth connecting shaft is fixed at the top of the cavity in the connecting frame, another second belt wheel is rotatably mounted on the fifth connecting shaft, and a third synchronous belt is sleeved on the two second belt wheels; a plurality of guide rails are arranged around the cavity in the connecting frame along the height direction, and two ends of each guide rail are fixedly connected with the upper end and the lower end of the connecting frame respectively; the vertical sliding installation has the cushion cap that links firmly with the third hold-in range between a plurality of guide rails, installs the outside on the cushion cap and snatchs the subassembly, and the outside centre gripping end that snatchs the subassembly is located outside the link.

Compared with the prior art, the beneficial effects of the utility model reside in that:

1) the utility model realizes the translation, lifting and rotation of the grabbing component through the top and bottom double-track component and the lifting and rotating component, and compared with a common three-shaft type cargo handling mechanism, the utility model does not need a slide rail on the Y shaft, and occupies small space; the mechanism can respectively access two goods shelves between the two goods shelves, thereby improving the efficiency; the grabbing component can be turned from one goods shelf to another goods shelf through rotation, and the movement is more flexible.

2) The dual-track assembly adopts a motor to drive, and the synchronous movement of the upper end and the lower end of the lifting and rotating assembly is realized by the three synchronous belts and the corresponding synchronous belt wheels, so that the structure is compact, the stability of the lifting and rotating assembly in translation is improved, and the service life of the mechanism is prolonged.

3) The first bracket, the second motor bracket and the connecting frame are respectively made of sectional materials, so that additional processing is not needed, and the cost is low; one end of the external grabbing component is arranged in the hollow-out area of the connecting frame, so that the space is further saved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the installation of the head rail and the linear bearing of the present invention;

fig. 3 is a schematic connection diagram of the first driving motor, the first pulley, and the second synchronous belt according to the present invention;

FIG. 4 is a schematic view of the lifting and rotating assembly of the present invention;

fig. 5 is a schematic connection diagram of a fourth connecting shaft, a bearing seat and a connecting seat of the present invention;

fig. 6 is a schematic view of the installation of the second motor bracket and the second driving motor of the present invention;

in the figure, 1, a heaven and earth double-rail component; 2. a lifting and rotating assembly; 3. external gripping assembly

101. A fixed support; 102. a first connecting shaft; 103. a sky rail; 104. a ground rail; 105. a second connecting shaft; 106. a third connecting shaft; 107. a first pulley; 108. a first synchronization belt; 109. a second synchronous belt; 110. a first motor bracket; 111. a first drive motor;

201. a linear bearing; 202. a first bracket; 203. a fourth connecting shaft; 204. a connecting frame; 205. a second drive motor; 206. a second motor support; 207. a third drive motor; 208. a third motor support; 209. a fifth connecting shaft; 210. a second pulley; 211. a third synchronous belt; 212. a guide rail; 213. a bearing seat; 214. a connecting seat; 215. and a sixth connecting shaft.

Detailed Description

The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and is not intended to limit the scope of the claims of the present invention.

The utility model provides an access mechanism, which comprises a world double-track component 1 and a lifting and rotating component 2; the upper end and the lower end of the heaven-earth double-track assembly 1 are respectively connected with the top and the bottom of the external storage space; the upper part and the lower part of the lifting and rotating component 2 are respectively connected with the upper part and the lower part of the heaven-earth double-track component 1 in a sliding way; the external grabbing component 3 is slidably arranged on the lifting and rotating component; the heaven and earth double-track assembly 1 is used for realizing the horizontal movement of the lifting and rotating assembly 2, and the lifting and rotating assembly 2 is used for realizing the horizontal rotation and the vertical lifting of the external grabbing assembly 3;

the sky and earth double-track assembly 1 comprises a plurality of fixed supports 101, a first connecting shaft 102, a sky track 103, a ground track 104, a second connecting shaft 105, a third connecting shaft 106, a plurality of first belt pulleys 107, a first synchronous belt 108, two second synchronous belts 109, a first motor bracket 110 and a first driving motor 111;

two ends of the top rail 103 are horizontally fixed at the top of the external storage space through the fixed support 101, and the ground rail 104 is horizontally fixed at the bottom of the external storage space and at a position opposite to the top rail 103; the first connecting shaft 102 and the second connecting shaft 105 are respectively installed on two sides of the external storage space perpendicular to the top rail 103 through other fixed supports 101, and the first connecting shaft 102 and the second connecting shaft 105 can rotate relative to the respective fixed supports 101 and are perpendicular to the top rail 103; the third connecting shaft 106 is fixed on the side surface of the external storage space provided with the second connecting shaft 105 through another fixed support 101, and the third connecting shaft 106 is positioned below the second connecting shaft 105 and is parallel to the second connecting shaft 105; two first pulleys 107 are fixed on the first connecting shaft 102, and one first pulley 107 is fixed on each of the second connecting shaft 105 and the third connecting shaft 106;

the first motor bracket 110 is fixed at the bottom of the external storage space, close to the side surface provided with the first connecting shaft 102, and is positioned below the first connecting shaft 102; the first driving motor 111 is fixed on the first motor bracket 110, an output shaft of the first driving motor 111 is parallel to the first connecting shaft 102, and two first pulleys 107 are fixed on the output shaft of the first driving motor 111; the first timing belt 108 is fitted over a first pulley 107 (outside) on the output shaft of the first drive motor 111 and a first pulley 107 (inside) on the first connecting shaft 102; one second synchronous belt 109 is sleeved on the other first belt pulley 107 (inside) on the output shaft of the first driving motor 111 and the first belt pulley 107 on the third connecting shaft 106, and the other second synchronous belt 109 is sleeved on the other first belt pulley 107 (outside) on the first connecting shaft 102 and the first belt pulley 107 of the second connecting shaft 105; the two second synchronous belts 109 are fixedly connected with the upper part and the lower part of the rotating mechanism 2 respectively, and the top and the bottom of the lifting and rotating assembly 2 are connected with the top rail 103 and the ground rail 104 in a sliding manner respectively; the first driving motor 111 drives the two first belt pulleys 107 on the output shaft of the first driving motor 111 to rotate, so that the first synchronous belt 108 and the two second synchronous belts 109 rotate together, and the lifting and rotating assembly 2 horizontally slides along the sky rail 103 and the ground rail 104;

the lifting and rotating assembly 2 comprises a first bracket 202, a fourth connecting shaft 203, a connecting frame 204, a second driving motor 205, a second motor bracket 206, a third driving motor 207, a third motor bracket 208, a fifth connecting shaft 209, two second belt wheels 210, a third synchronous belt 211 and a guide rail 212;

the top of the first bracket 202 is connected with the head rail 103 in a sliding manner through a linear bearing 201, and the lower side of the first bracket 202 is fixedly connected with a second synchronous belt 109 close to the head rail 103, so that the first bracket 202 and the second synchronous belt 109 can move as a whole; the bottom of the first bracket 202 is rotatably connected with one end of a fourth connecting shaft 203, and the fourth connecting shaft 203 is vertically downward; the bottom of the second motor bracket 206 is slidably mounted on the ground rail 104 through a linear bearing 201, and the lower side of the second motor bracket 206 is fixedly connected with a second synchronous belt 109 close to the ground rail 104, so that the second motor bracket 206 and the second synchronous belt 109 can move as a whole; the second driving motor 205 is fixed on the second motor bracket 206, and an output shaft of the second driving motor 205 vertically extends upwards out of the second motor bracket 206; the lower end of the connecting frame 204 is fixed on the output shaft of the second driving motor 205, and the upper end is fixedly connected with the tail end of the fourth connecting shaft 203;

a third motor bracket 208 is fixed on the connecting frame 204, a third driving motor 207 is fixed on the third motor bracket 208, the output shaft of the third driving motor 207 is horizontal, and a second belt wheel 210 is fixed on the output shaft of the third driving motor 207; a fifth connecting shaft 209 is fixed on the top of the connecting frame 204, is positioned inside the connecting frame 204, and has a vertical distance from the third driving motor 207; the other second belt pulley 210 is rotatably mounted on the fifth connecting shaft 209, and a third synchronous belt 211 is sleeved on the two second belt pulleys 210; two ends of the guide rail 212 are fixedly connected with the upper end and the lower end of the connecting frame 204 respectively; the external grabbing component 3 is fixedly connected with the third synchronous belt 211 through a bearing platform, the bearing platform is in sliding connection with the guide rail 212 through a linear bearing 201, and a clamping end of the external grabbing component 3 is located outside the connecting frame 204; the second driving motor 205 drives the connecting frame 204 to rotate, so that the horizontal rotation of the external grabbing component 3 is realized; the third driving motor 207 drives the third synchronous belt 211 to rotate, so that the external grabbing component 3 is vertically lifted.

The lifting and rotating assembly 2 further comprises two bearing seats 213, a sixth connecting shaft 215 and two connecting seats 214; the first bracket 202, the connecting bracket 204 and the second motor bracket 206 are all made of aluminum profiles; a bearing seat 213 is fixed at the bottom of the first bracket 202, one end of the fourth connecting shaft 203 is matched with the bearing inner ring of the bearing seat 213, the other end of the fourth connecting shaft 203 is fixed with a connecting seat 214, and the connecting seat 214 is fixed at the top of the connecting frame 204;

the connecting frame 204 is a strip-shaped frame structure and is provided with an internal cavity along the length direction; the second motor support 206 is composed of a tool frame and a U-shaped frame, the U-shaped frame is fixed on the tool frame, and an opening of the U-shaped frame faces the tool frame; the second driving motor 205 is fixed in the middle of the U-shaped frame of the second motor bracket 206, and another bearing seat 213 is fixed on the U-shaped frame of the second motor bracket 206; an output shaft of the second driving motor 205 penetrates through the bearing seat 213 and is fixedly connected with one end of a sixth connecting shaft 215 through a coupler; the other end of the sixth connecting shaft 215 is fixed with another connecting seat 214, and the connecting seat 214 is fixed at the bottom of the connecting frame 204.

The number of the guide rails 212 is multiple, and the plurality of guide rails 212 are vertically fixed around the cavity in the connecting frame 204; the third motor bracket 208, the fifth connecting shaft 209 and the connecting ends of the external grabbing component 3 and the lifting and rotating component 2 are respectively positioned in the inner cavity of the connecting frame 204, and the output shaft of the third driving motor 207 horizontally extends to the inner cavity of the connecting frame 204.

Outside snatchs subassembly 3 belongs to prior art, can snatch mechanism, manipulator etc. for the formula is inhaled to magnetism.

The first drive motor 111 is model 57J 1880-830; the third drive motor 207 is of type 86J 1880-842;

the second drive motor 205 is of a type 57J 1876-447.

The utility model discloses a theory of operation and work flow are:

the mechanism is suitable for respectively storing and taking goods from two goods shelves between two rows of goods shelves;

starting a first driving motor 111, driving two first belt pulleys 107 on an output shaft of the first driving motor 111 to rotate, enabling a first synchronous belt 108 and two second synchronous belts 109 to rotate together, and further enabling the lifting and rotating assembly 2 to slide to corresponding goods taking areas along the top rail 103 and the ground rail 104;

starting a second driving motor 205 to drive the connecting frame 204 to rotate, and rotating the grabbing end of the external grabbing component 3 to the position of the goods; starting a third driving motor 207, driving the external grabbing component 3 to lift through a third synchronous belt 211, aligning the grabbing end of the external grabbing component 3 to the position of the goods, and grabbing the goods by the external grabbing component 3; then, starting a first driving motor 111, a second driving motor 205 and a third driving motor 207 to respectively realize translation, lifting and rotation of the external grabbing component 3, so that the external grabbing component 3 conveys grabbed goods to a goods transferring position, and the goods fetching operation of the mechanism is completed;

the stock function can be realized by the reverse movement of the goods taking operation.

The utility model discloses the nothing is mentioned the part and is applicable to prior art.

Claims

1. An access mechanism comprises a heaven and earth double-track assembly and a lifting and rotating assembly; the lifting and rotating component can horizontally slide between the sky rail and the ground rail of the sky and ground double-rail component, and is characterized in that,

2. The mechanism of claim 1, wherein the dual sky-ground track assembly comprises a plurality of fixed supports, a first connecting shaft, a sky-ground track, a second connecting shaft, a third connecting shaft, a plurality of first belt pulleys, a first synchronous belt, two second synchronous belts, a first motor bracket and a first driving motor;

two ends of the top rail are horizontally fixed at the top of the external storage space through a fixed support, and the ground rail is horizontally fixed at the bottom of the external storage space and at a position opposite to the top rail; the first connecting shaft and the second connecting shaft are respectively arranged on two side surfaces of the external storage space, which are vertical to the sky rail, through other fixed supports, and can rotate relative to the respective fixed supports and are vertical to the sky rail; the third connecting shaft is fixed on the side face, provided with the second connecting shaft, of the external storage space through another fixed support, and the third connecting shaft is located below the second connecting shaft and is parallel to the second connecting shaft; two first belt wheels are fixed on the first connecting shaft, and one first belt wheel is fixed on the second connecting shaft and the third connecting shaft respectively;

the first motor bracket is fixed at the bottom of the external storage space, close to the side surface provided with the first connecting shaft and positioned below the first connecting shaft; the first driving motor is fixed on the first motor bracket, an output shaft of the first driving motor is parallel to the first connecting shaft, and two first belt wheels are fixed on the output shaft of the first driving motor; the first synchronous belt is sleeved on a first belt wheel on the output shaft of the first driving motor and a first belt wheel on the first connecting shaft; one second synchronous belt is sleeved on the other first belt wheel on the output shaft of the first driving motor and the first belt wheel on the third connecting shaft, and the other second synchronous belt is sleeved on the other first belt wheel on the first connecting shaft and the first belt wheel of the second connecting shaft; the side surface of the lower part of the first bracket is fixedly connected with a second synchronous belt close to the sky rail; and the side surface of the lower part of the second motor support is fixedly connected with a second synchronous belt close to the ground rail.

3. The mechanism of claim 2, wherein the second motor support is comprised of a jig and a U-shaped frame, the U-shaped frame being fixed to the jig, the U-shaped frame opening toward the jig; the bottom of the I-shaped frame is slidably mounted with the ground rail through a linear bearing, the lower portion of the U-shaped frame is fixedly connected with a second synchronous belt close to the ground rail, and an output shaft of a second driving motor extends out of the upper end of the U-shaped frame.

4. The mechanism of claim 1, wherein the lifting and rotating assembly further comprises two bearing blocks, a sixth connecting shaft and two connecting seats; a bearing seat is fixed at the bottom of the first support, one end of a fourth connecting shaft is matched with a bearing inner ring of the bearing seat, and a connecting seat connected with the top of the connecting frame is fixed at the other end of the fourth connecting shaft; the other bearing seat is fixed at the top of the second motor bracket, and an output shaft of the second driving motor penetrates through the bearing seat and is fixedly connected with one end of a sixth connecting shaft through a coupler; and the other end of the sixth connecting shaft is fixedly provided with a connecting seat connected with the bottom of the connecting frame.

5. The mechanism of claim 1, wherein said connecting frame is an elongated frame structure.

6. The mechanism of claim 1, wherein the first bracket, the connecting bracket, and the second motor bracket are all made of aluminum profiles.

7. The mechanism of claim 1, wherein the mechanism is mounted between two rows of racks for accessing the racks.