CN212607303U - A switching-over climbing mechanism for transfer robot - Google Patents

Abstract

The utility model discloses a reversing jacking mechanism for a transfer robot, which comprises a transfer robot body, a ramp and a tunnel; the extending directions of the ramp and the roadway are mutually vertical; the carrying robot body comprises a driving mechanism, a body main frame and a reversing body part; roadway running wheels are arranged on two sides of the main frame of the vehicle body; the reversing body parts are symmetrically arranged inside two ends of the main frame of the vehicle body, and ramp driving wheels are installed inside the reversing body parts; the advancing directions of the roadway driving wheels and the ramp driving wheels are mutually vertical; the driving mechanism drives the reversing body part to vertically move up and down, and the roadway driving wheels and the ramp driving wheels respectively accompany the roadway and the ramp to advance. The utility model provides a switching-over climbing mechanism for transfer robot can realize transfer robot freely traveling in different passageways to the effect of nimble transport goods.

Description

A switching-over climbing mechanism for transfer robot

Technical Field

The utility model relates to a goods storage haulage equipment field especially relates to a transfer robot's switching-over climbing mechanism.

Background

In daily warehouse goods transportation, the size and the weight of a transportation machine which is mostly used are large, so that the height and the strength of a goods shelf need to be improved, the cost of the goods shelf of the whole warehouse is increased, the effective space utilization rate is reduced, and the storage density is reduced; the carrying robot has larger volume and self weight, so the working efficiency is also reduced; in addition, during the process of transporting goods and traveling, collision is easy to occur, so that the fault of the transporting robot is caused, the transporting efficiency is influenced, and the cost of management and maintenance is increased.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the not enough of existence among the prior art, the utility model provides a switching-over climbing mechanism for transfer robot can realize transfer robot freely traveling in different passageways to the effect of nimble transport goods.

The technical scheme is as follows: in order to achieve the above purpose, the technical scheme of the utility model is as follows:

a reversing jacking mechanism for a transfer robot comprises a transfer robot body, a ramp and a roadway; the extending directions of the ramp and the roadway are mutually vertical; the carrying robot body comprises a driving mechanism, a body main frame and a reversing body part; roadway running wheels are arranged on two sides of the main frame of the vehicle body; the reversing body parts are symmetrically arranged inside two ends of the main frame of the vehicle body, and ramp driving wheels are installed inside the reversing body parts; the advancing directions of the roadway driving wheels and the ramp driving wheels are mutually vertical; the driving mechanism drives the reversing body part to vertically move up and down, and the roadway driving wheels and the ramp driving wheels respectively accompany the roadway and the ramp to advance.

Furthermore, the driving mechanism comprises a transmission reversing structure, and the transmission reversing structure comprises a reversing motor, a reversing transmission shaft and a gear box structure; the reversing motor is fixedly arranged in the middle of the main frame of the vehicle body; an output shaft of the reversing motor is rotationally connected with the reversing transmission shaft through a gear; two ends of the reversing transmission shaft are in butt joint with gear shafts of the two groups of gear box structures through the Oldham coupling.

Furthermore, reversing body parts are symmetrically arranged on two sides of the gear box structure; a sawtooth strip is fixed on one side of the reversing body part close to the gear box structure, and the sawtooth strip is vertically arranged; a gear box structure is clamped between the sawtooth racks, and a gear shaft in the gear box structure and the sawtooth racks are correspondingly split.

Furthermore, two groups of gear box structures are symmetrically arranged at two ends of one reversing transmission shaft; two reversing body parts are symmetrically arranged on two sides of the gear box structure; a plurality of commutator body parts are symmetrically distributed at intervals.

Further, the transfer robot car body further comprises a supporting plate; the layer board cross arm is in the both ends of automobile body main frame, just the downside of layer board and the laminating of automobile body main frame top surface set up.

Furthermore, two ends of the supporting plate are pressed on symmetrical reversing body parts inside two ends of the main frame of the vehicle body; the guide post on the supporting plate is butted with a linear bearing arranged at the top of the commutator body part; the driving structure drives the reversing body component, and the reversing body component lifts the top supporting plate upwards so as to drive the supporting plate to bear upwards.

Has the advantages that: the reversing jacking mechanism for the transfer robot adopts pure mechanical transmission, has high transmission efficiency and low failure rate, and improves the working efficiency and the endurance time of the transfer robot; including but not limited to the following technologies:

1) the reversing jacking mechanism of the transfer robot has compact structural design, can reduce the volume of the transfer robot and the dead weight of the vehicle body, increases the mechanical strength and flexibility of the vehicle body, and can effectively improve the working efficiency;

2) the carrying robot can be switched to different tracks through the reversing body part to freely run, and the reversing body part is driven by the driving mechanism to jack the supporting plate to lift the goods; the transfer robot can flexibly transfer goods in the warehouse; the efficiency of transport and the utilization ratio in warehouse have been improved.

Drawings

FIG. 1 is a structural diagram of a reversing jacking mechanism;

FIG. 2 is a commutation schematic diagram of a commutator segment;

FIG. 3 is a structural view of a roadway during driving;

FIG. 4 is a view of a structure when driving on a slope;

FIG. 5 is a side view of the reversing jack;

FIG. 6 is a diagram of the motion track of the telescopic universal joint.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in figures 1-6: a reversing jacking mechanism for a transfer robot comprises a transfer robot body, a ramp 00 and a roadway 01; the extending directions of the ramp 00 and the roadway 01 are mutually vertical; the carrying robot vehicle body comprises a driving mechanism, a vehicle body main frame 10 and a reversing body part 110; roadway running wheels 20 are arranged on two sides of the main frame 10 of the vehicle body; the reversing body parts 110 are symmetrically arranged inside two ends of the main frame 10 of the vehicle body, and ramp running wheels 60 are arranged in the reversing body parts 110; the advancing directions of the roadway driving wheels 20 and the ramp driving wheels 60 are mutually vertical; the driving mechanism drives the reversing body component 110 to move vertically up and down, and the roadway driving wheels 20 and the ramp driving wheels 60 respectively travel along the roadway and the ramp; the roadway driving wheels 20 drive in the roadway, and the ramp driving wheels 60 drive in the ramp; the conveying robot has the advantages that the conveying robot adopts pure mechanical transmission, is high in transmission efficiency and low in failure rate, improves the working efficiency and the endurance time of the conveying robot, is compact in structural layout, can reduce the size and the dead weight of a vehicle body of the conveying robot, improves the running flexibility, and increases the storage density of a warehouse.

The driving mechanism comprises a driving motor, the driving motor is arranged beside the reversing motor 40, a first output shaft of the driving motor is rotationally connected with a roadway transmission shaft through a roller chain, and two ends of the roadway transmission shaft are rotationally connected with a rotating shaft in the middle of the roadway driving wheel through the roller chain, so that the roadway driving wheel is driven to drive in a roadway; a second output shaft of the running motor is rotationally connected with the middle part of the roller chain, and two ends of the roller chain are sleeved on the ramp transmission shaft and drive the ramp transmission shaft to rotate; the two ends of the ramp transmission shaft are fixedly connected with telescopic universal joints, one end of each telescopic universal joint is rotatably connected with the ramp transmission shaft, and the other end of each telescopic universal joint is rotatably connected with a rotating shaft in the middle of the ramp traveling wheel; a second output shaft of the running motor transmits power to the ramp transmission shaft and the telescopic universal joint through the roller chain, and the telescopic universal joint transmits the power to a rotating shaft in the middle of the ramp running wheel, so that the ramp running wheel is driven to run on a ramp; because the ramp driving wheel is arranged in the reversing body component, when the reversing body moves, the telescopic universal energy-saving transmission efficiency is ensured, and the movement of the reversing body component cannot be influenced.

The driving mechanism further comprises a transmission reversing structure, wherein the transmission reversing structure comprises a reversing motor 40, a reversing transmission shaft 50 and a gear box structure 90; the reversing motor 40 is fixedly arranged in the middle of the main frame 10 of the vehicle body; an output shaft of the reversing motor 40 is rotationally connected with the reversing transmission shaft 50 through a gear 30; two ends of the reversing transmission shaft 50 are butted with gear shafts of two groups of gear box structures 90 through an Oldham coupling 80. The reversing motor 40 transmits power to the reversing transmission shaft 50 through the gear 30, and the reversing transmission shaft 50 transmits the power to a gear shaft of the gear box structure 90, so that the gear shaft rotates to achieve the effect of transmitting the power; accumulated errors in machining and assembly can be eliminated by using the Oldham coupling 80; the design can effectively improve the transmission efficiency.

The commutator body parts 110 are symmetrically arranged on two sides of the gear box structure 90; a sawtooth strip 70 is fixed on one side of the commutator body component 110 close to the gear box structure 90, and the sawtooth strip 70 is vertically arranged; a gear box structure 90 is clamped among the sawtooth racks 70, and a gear shaft in the gear box structure 90 and the sawtooth racks 70 are correspondingly arranged. The reversing motor 40 transmits power to a gear shaft of the gear box structure 90 through the reversing transmission shaft 50 and drives the gear shaft to rotate, the gear shaft in the gear box structure 90 is correspondingly matched with the sawtooth racks 70, the reversing motor 40 rotates forwards and backwards to cause the gear shaft in the gear box structure 90 to rotate forwards and backwards, so that the sawtooth racks 70 drive the reversing body part 110 to move up and down, the reversing body part moves between two extreme positions in the vertical direction, and the installation position interval of the ramp transmission shaft is arranged below the center level of the two extreme positions of the reversing body part; the upper limit position of the reversing body part is a position capable of ensuring a proper safety distance between the ramp driving wheel and a ramp track, and the lower limit position is a position capable of ensuring a proper safety distance between the roadway driving wheel and a roadway; when the transfer robot runs on a roadway, the reversing body part is positioned in the vehicle body, namely the upper limit position of the reversing body part; when the transfer robot needs to change the direction to the ramp for running, the direction change component moves to the lower limit position through the driving of the gear shaft of the gear box structure 90, and the roadway running wheels are far away from the roadway track and are switched to the ramp from the roadway; thereby effecting commutation.

Two groups of gear box structures 90 are symmetrically arranged at two ends of one reversing transmission shaft 50; two commutator body parts 110 are symmetrically arranged on two sides of the gearbox structure 90; a plurality of commutator body members 110 are symmetrically spaced apart. The design of the diffusion type transmission structure reduces the number of the transmission structures, saves space, reduces the volume and the dead weight of the transfer robot, and improves the flexibility; and the transmission efficiency is high, and the working efficiency is effectively improved.

The transfer robot car body further includes a pallet 100; the support plate 100 is cross-arm at two ends of the main frame 10, and the lower side of the support plate 100 is attached to the upper side of the main frame 10. When the transfer robot runs in a roadway in an idle state, the reversing body part 110 is at the midpoint of the action stroke, and the supporting plate 100 is simultaneously in contact with the reversing body part 110 and the vehicle body main frame 10; at this time, the commutator body part 110 does not have lifting force on the supporting plate 100, so that the driving mechanism is prevented from driving the commutator body part 110 to lift and support the supporting plate 100 when the driving mechanism still needs to run in an idle state or stop at rest, and the supporting plate 100 is directly crossarm on the main frame 10 of the vehicle body, so that the space occupied by the supporting plate 100 is reduced.

Two ends of the supporting plate 100 are pressed on the symmetrical reversing body parts 110 at the two ends of the main frame 10 of the vehicle body; the guide post 101 on the supporting plate 100 is butted with a linear bearing 102 arranged at the top of the commutator body part 110; the drive structure drives the commutator member 110, and the commutator member 110 lifts the carrier plate 100 upward, thereby driving the carrier plate 100 to be supported upward. When the carrying robot needs to take goods at a goods position of a roadway, namely, the supporting plate 100 is lifted, the reversing motor operates, the reversing motor transmits power to a gear shaft in the gear box structure through a ramp transmission shaft to drive the gear shaft to rotate, racks mutually assembled and matched with the gear shaft drive the reversing body part 110 and the supporting plate 100 to move upwards, and goods placed in the goods position are supported, so that the lifting of the supporting plate 100, namely, the goods taking action is realized; design structure overall arrangement is compact like this, has reduced transfer robot's volume and dead weight, has improved the flexibility ratio, has increased work efficiency, has increased the storage density in warehouse.

The present invention is not limited to the above embodiments, and for those skilled in the art, a plurality of repairs and decorations can be made without departing from the principle of the present invention, and these repairs and decorations are also regarded as the protection scope of the present invention.

Claims (6)

1. The utility model provides a switching-over climbing mechanism for transfer robot which characterized in that: comprises a transfer robot body, a ramp (00) and a roadway (01); the extending directions of the ramp (00) and the roadway (01) are mutually vertical; the carrying robot body comprises a driving mechanism, a body main frame (10) and a reversing body part (110); roadway running wheels (20) are arranged on two sides of the main frame (10) of the vehicle body; the reversing body parts (110) are symmetrically arranged inside two ends of the main frame (10) of the vehicle body, and ramp driving wheels (60) are installed in the reversing body parts (110); the advancing directions of the roadway driving wheels (20) and the ramp driving wheels (60) are mutually vertical; the driving mechanism drives the reversing body component (110) to move vertically up and down, and the roadway driving wheels (20) and the ramp driving wheels (60) respectively travel along the roadway and the ramp.

2. The reversing jacking mechanism for the transfer robot of claim 1, wherein: the driving mechanism comprises a transmission reversing structure, and the transmission reversing structure comprises a reversing motor (40), a reversing transmission shaft (50) and a gear box structure (90); the reversing motor (40) is fixedly arranged in the middle of the main frame (10) of the vehicle body; an output shaft of the reversing motor (40) is rotationally connected with the reversing transmission shaft (50) through a gear (30); two ends of the reversing transmission shaft (50) are in butt joint with gear shafts of the two groups of gear box structures (90) through an Oldham coupling (80).

3. The reversing jacking mechanism for the transfer robot of claim 2, wherein: the commutator body parts (110) are symmetrically arranged on two sides of the gear box structure (90); a sawtooth strip (70) is fixed on one side of the commutator body component (110) close to the gear box structure (90), and the sawtooth strip (70) is vertically arranged; a gear box structure (90) is clamped between the sawtooth racks (70), and a gear shaft in the gear box structure (90) and the sawtooth racks (70) are correspondingly split.

4. The reversing jacking mechanism for the transfer robot of claim 2, wherein: two groups of gear box structures (90) are symmetrically arranged at two ends of one reversing transmission shaft (50); two reversing body parts (110) are symmetrically arranged on two sides of the gear box structure (90); a plurality of commutator body parts (110) are symmetrically distributed at intervals.

5. The reversing jacking mechanism for the transfer robot of claim 1, wherein: the transfer robot car body further includes a pallet (100); the supporting plate (100) is crossarm at two ends of the main vehicle body frame (10), and the lower side surface of the supporting plate (100) is attached to the upper side surface of the main vehicle body frame (10).

6. The reversing jacking mechanism for the transfer robot of claim 5, wherein: two ends of the supporting plate (100) are pressed on the reversing body parts (110) which are symmetrical inside two ends of the main frame (10) of the vehicle body; the guide post (101) on the supporting plate (100) is butted with a linear bearing (102) arranged at the top of the commutator body part (110); the driving structure drives the reversing body component (110), and the reversing body component (110) lifts the top supporting plate (100) upwards so as to drive the supporting plate (100) to bear upwards.

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