CN213707636U - Four-way shuttle type carrying robot for storage and logistics - Google Patents
Four-way shuttle type carrying robot for storage and logistics Download PDFInfo
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- CN213707636U CN213707636U CN202022696862.6U CN202022696862U CN213707636U CN 213707636 U CN213707636 U CN 213707636U CN 202022696862 U CN202022696862 U CN 202022696862U CN 213707636 U CN213707636 U CN 213707636U
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Abstract
The utility model provides a be used for storage commodity circulation quadriversal shuttle transfer robot, be in including frame and setting screw rod elevating system, walking drive mechanism and power control unit in the frame, screw rod elevating system and walking drive mechanism by power control unit control operation, the installation main entrance wheel subassembly and vice passageway wheel subassembly all around of frame by the walking drive mechanism drives. The utility model discloses a two-way jacking that four sets of brand-new design screw rod elevating system realized vehicle main entrance wheel subassembly and to the lifting of goods, practiced thrift transfer robot's whole space, reduce the cost of equipment. According to the scheme, the full-mechanical transmission structural design of the chain wheel, the chain and the screw is adopted, the problem of oil leakage in hydraulic lifting is solved, and the transfer robot can adapt to more application scenes.
Description
Technical Field
The utility model relates to a storage transfer robot, especially one kind is used for storage commodity circulation quadriversal shuttle transfer robot, belongs to storage commodity circulation intelligence and equips technical field.
Background
With the rising of land cost and labor cost, the concept of intensive warehousing is more and more concerned by logistics companies and 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.
In order to adapt to the intensive storage of pallet goods and increase the quantity of the stored goods in unit space, a four-way shuttle type transfer robot is needed to finish the transfer of the pallet goods. There are many limitations to the four-way shuttle transfer robots on the market: the height of the robot exceeds 180mm, and the size of the robot is larger than that of the tray, so that the robot is not beneficial to effectively utilizing the storage space; some robot jacking mechanisms adopt hydraulic structures, but the number of hydraulic jacking cylinders is eight, and the problem of oil leakage and cargo pollution exists; some lifting devices adopt a cam structure, but the cam structure is worn quickly, and the motor power is high, so that the energy is not saved; some screw lifters adopt eight sets of screw lifters to realize bidirectional lifting, so that the cost is high; some robots cannot realize a bidirectional cross-domain fire door, and have limitations in practical cases; the existing four-way shuttle robot in the market cannot be used in an explosion-proof environment due to the fact that the structure is complex and the space is small, explosion-proof transformation cannot be conducted, and the existing four-way shuttle robot cannot be used in the explosion-proof environment.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the technical problem that above-mentioned provided, provide one kind and be used for storage commodity circulation quadriversal shuttle transfer robot, through the optimal design and reasonable configuration to the structure, reduced the weight and the volume of equipping, improve the adaptability of robot greatly.
The utility model provides a four-way shuttle type transfer robot for warehouse logistics, which comprises a frame, a screw lifting mechanism, a walking driving mechanism and a power control unit, wherein the screw lifting mechanism, the walking driving mechanism and the power control unit are arranged in the frame;
the main channel wheel assembly comprises a main channel wheel, a main channel transmission shaft and a first chain wheel pair, the main channel wheel is symmetrically arranged on two sides of the frame in the main channel running direction, a pair of main channel wheels are driven by two ends of the main channel transmission shaft, the main channel transmission shaft is in driving connection with the walking driving mechanism through the first chain wheel pair, and the main channel wheel and the main channel transmission shaft are driven by the screw lifting mechanism to lift;
the screw lifting mechanism is composed of two groups of screw lifting units which are respectively arranged in the rack, and each group of screw lifting units controls the lifting of the main channel wheel at one side; the upper part of the screw lifting unit is provided with a lifting screw connecting plate, and a jacking plate for jacking up goods is arranged on the lifting screw connecting plate;
the auxiliary channel wheel assembly comprises an auxiliary channel wheel, an auxiliary channel transmission shaft and a second chain wheel pair, the auxiliary channel wheel is symmetrically arranged on two sides of the rack in the auxiliary channel running direction, a pair of auxiliary channel wheels are driven at two ends of the auxiliary channel transmission shaft, and the auxiliary channel transmission shaft is connected with the walking driving mechanism through the second chain wheel pair in a driving mode.
The utility model discloses a further inject technical scheme, the aforesaid is used for storage commodity circulation quadriversal shuttle transfer robot, including a pair of initiative main entrance wheel and a pair of driven main entrance wheel in the main entrance wheel, the initiative main entrance wheel through the third sprocket vice with the main entrance transmission shaft links to each other. Two ends of the main channel transmission shaft penetrate through the waist-shaped holes in the side wall of the rack, the end part of the main channel transmission shaft is connected with one of the main channel wheels of the driving main channel wheel, and adjacent main channel wheels are connected through the third chain wheel pair; and a transmission shaft lifting guide frame is arranged in the middle of the transmission shaft of the main channel.
The auxiliary channel wheels comprise a pair of driving auxiliary channel wheels and a pair of driven auxiliary channel wheels, and the driving auxiliary channel wheels are connected with the auxiliary channel transmission shaft through a fourth chain wheel pair; the fourth chain wheel pair comprises a driving chain wheel pair between two secondary wheels of the driving secondary channel wheel and a driving chain wheel pair between the secondary channel transmission shaft and one of the secondary wheels.
According to the four-way shuttle type carrying robot for the warehouse logistics, the transmission chain wheel pair between the two auxiliary road wheels is arranged on the outer side of the rack, so that when the walking wheels break down or need to be overhauled, the chains are directly dismounted, the road wheels can be dismounted on the outer side, and convenience is brought to overhauling work.
The screw lifting unit comprises a lifting transmission machine, a lifting transmission shaft and screw lifters, the two screw lifters arranged on the same side of the rack are connected through the lifting transmission shaft, and the lifting transmission shaft is driven by the lifting transmission machine through a chain wheel pair; the top of the screw rod lifter drives the jacking plate, the screw rod lifter synchronously drives the main channel wheel assembly to lift, the screw rod lifting mechanism synchronously lifts through the screw rod lifting unit, and the lifting of the goods and the lifting of the main channel wheel assembly can be stably realized.
The four-way shuttle type carrying robot for the warehouse logistics comprises a walking motor and a double-output-shaft speed reducer, wherein two groups of output shafts of the double-output-shaft speed reducer are respectively connected with a main channel transmission shaft and an auxiliary channel transmission shaft through a first chain wheel pair and a second chain wheel pair; the walking motor drives two groups of output shafts of the double-output-shaft speed reducer to output power to drive the four-way upward channel wheels.
According to the four-way shuttle type carrying robot for the warehouse logistics, the three-gear position height sensor is mounted on the side edge of the main channel transmission shaft and connected with the power supply control unit, so that the positions of the upward moving or descending positions of the main channel wheel assembly and the screw lifting unit are positioned.
Further, in the four-way shuttle type carrying robot for warehouse logistics, traveling wheel protective covers are arranged on the outer sides of the main channel wheel assembly and the auxiliary channel wheel assembly; the four corners of the frame are provided with guide wheels for protecting the trolley and the walking channel and avoiding excessive friction or collision with the trolley walking channel.
The beneficial effects of the utility model are that, the utility model discloses a four sets of brand-new design screw rod elevating system realize the two-way jacking of vehicle main entrance wheel subassembly and to the lifting of goods, practiced thrift transfer robot's whole space, reduce the cost of equipment. According to the scheme, the full-mechanical transmission structural design of the chain wheel, the chain and the screw is adopted, so that the problem of oil leakage during hydraulic lifting is solved, and the transfer robot can adapt to more application scenes; the design of two-way 8 walking wheels is adopted to the whole car, and the automobile body has two-way fire door function of crossing, and the automobile body of many rounds of structures can effectively disperse and bear, moves more steadily. In addition, the length of the robot is consistent with that of the tray, complete stacking can be achieved, and the robot storage capacity of the unit space of the storage area is improved.
Drawings
The present invention will be described in further detail with reference to the following embodiments, which are illustrated in the accompanying drawings.
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view B-B of FIG. 1;
FIG. 4 is a cross-sectional view of C-C of FIG. 1;
FIG. 5 is an isometric view of the present invention;
FIG. 6 is a schematic view of the screw lifting mechanism of the present invention;
fig. 7 to 14 are schematic views of the operating state of the vehicle body in this embodiment.
Detailed Description
The embodiment provides a four-way shuttle type carrying robot for warehouse logistics, the structure of which is shown in fig. 1 to 6, and the robot comprises a rack 1, a screw lifting mechanism 3, a walking driving mechanism 4 and a power supply control unit 5, wherein the screw lifting mechanism 3 and the walking driving mechanism 4 are arranged in the rack, the power supply control unit 5 controls the operation of the screw lifting mechanism 3 and the walking driving mechanism 4, a main channel wheel assembly 6 and an auxiliary channel wheel assembly 7 are arranged around the rack, walking wheel protective covers 8 are arranged on the outer sides of the main channel wheel assembly and the auxiliary channel wheel assembly, and guide wheels 2 are arranged at four corners of the rack; main passageway wheel subassembly 6 includes main passageway wheel 61, main passageway transmission shaft 62 and first sprocket 63, main passageway wheel 61 symmetry sets up in the both sides at the main passageway traffic direction, a pair of main passageway wheel 61 of main passageway transmission shaft 62 both ends drive, the main passageway transmission shaft is last to link to each other with walking drive mechanism 4 drive through first sprocket 63, and main passageway wheel 61 and main passageway transmission shaft 62 are driven by screw rod elevating system 3 and are gone up and down, three fender position altitude sensor 64 of side installation of main passageway transmission shaft 62 are connected with power control unit 5. The screw lifting mechanism 3 is composed of two groups of screw lifting units 31 which are respectively arranged in the frame 1, and each group of screw lifting units 31 controls the lifting of the main channel wheel 61 on one side; a lifting screw connecting plate 32 is arranged at the upper part of the screw lifting unit 31, and a jacking plate 33 for jacking up goods is arranged on the lifting screw connecting plate; the auxiliary channel wheel assembly 7 comprises auxiliary channel wheels 71, an auxiliary channel transmission shaft 72 and a second chain wheel pair 73, the auxiliary channel wheels 71 are symmetrically arranged on two sides of the machine frame 1 in the auxiliary channel running direction, a pair of auxiliary channel wheels 71 are driven by two ends of the auxiliary channel transmission shaft 72, and the auxiliary channel transmission shaft 72 is connected with the walking driving mechanism drive 4 through the second chain wheel pair 73.
The main channel wheels 61 of this embodiment include a pair of driving main channel wheels 611 and a pair of driven main channel wheels 612, which are connected to the main channel drive shaft 62 by a third sprocket pair 613. Two ends of the main channel transmission shaft 62 penetrate through the waist-shaped hole 11 on the side wall of the rack 1, the end of the main channel transmission shaft 62 is connected with one main channel wheel 614 of the driving main channel wheels, and the adjacent main channel wheels are connected through a third chain wheel pair 613; and a transmission shaft lifting guide frame 65 is arranged in the middle of the main channel transmission shaft and used for stabilizing and guiding the main channel transmission shaft 62 through the transmission shaft lifting guide frame 65 when the main channel wheel 61 is lifted, so that the stability of the state of the robot in the lifting process is ensured. The auxiliary channel wheel 71 comprises a pair of driving auxiliary channel wheels 711 and a pair of driven auxiliary channel wheels 712, and the driving auxiliary channel wheels 711 are connected with the auxiliary channel transmission shaft 72 through a fourth chain wheel pair; the fourth sprocket set includes a drive sprocket set 714 between the two secondary wheels of the drive secondary channel wheel and a drive sprocket set 713 between the secondary channel drive shaft 72 and one of the secondary wheels. A drive sprocket pair 714 between the two secondary road wheels is arranged on the outer side of the frame 1, which facilitates the disassembly and maintenance of the secondary road wheels 71.
The screw lifting unit 31 of the present embodiment includes a lifting transmission machine 311, a lifting transmission shaft 312 and screw lifters 34, the two screw lifters 34 installed on the same side of the frame are connected through the lifting transmission shaft 312, and the lifting transmission shaft 312 is driven by the lifting transmission machine 311 through a chain wheel pair connection; the top of the screw rod lifter drives the lifting plate 33 to lift so as to lift the goods, and the screw rod lifter 34 simultaneously drives the main channel wheel assembly 6 to lift. The walking driving mechanism 4 comprises a walking motor 41 and a double output shaft speed reducer 42, and two groups of output shafts of the double output shaft speed reducer 42 are respectively connected with the main channel transmission shaft and the auxiliary channel transmission shaft through a first chain wheel pair 63 and a second chain wheel pair 73.
The working process of the embodiment:
when the four-way shuttle transfer robot moves to the main passage, the lifting transmission machine 311 starts to operate, the main passage wheel assembly 6 moves downwards, the vehicle body state is as shown in fig. 7 and 8, the transfer robot is in the direction facing the main passage, and the main passage wheels 61 are in contact with the goods shelf main passage track, so that the four-way shuttle transfer robot can pass through the main passage. The functions realized at the moment are that the main channel runs, the main channel runs with goods, and the goods enter the elevator to carry out goods or integral layer changing.
When the four-way shuttle type carrying robot enters the auxiliary channel from the main channel to carry goods, the wheels need to be reversed at the intersection. At this time, the vehicle stops, the lifting transmission machine 311 starts to operate, the main channel wheel assembly 6 moves up to the middle position, the vehicle body state is as shown in fig. 9 and fig. 10, the transfer robot is in the direction facing the auxiliary channel, at this time, the main channel wheel 61 is separated from the main channel, the auxiliary channel wheel 71 is in contact with the auxiliary rail, the auxiliary channel wheel operates, the four-way shuttle type transfer robot operates on the auxiliary channel, and the goods to be transferred are found.
When the four-way shuttle type carrying robot finds the goods to be carried in the auxiliary channel, the vehicle stops, the lifting transmission machine 311 starts at the moment, the main channel wheel assembly 6 continuously moves upwards, the tray is supported, and the tray leaves the goods shelf. At this time, the auxiliary passage wheels run, the four-way shuttle type transfer robot transfers the goods to the intersection of the main passage and the auxiliary passage according to the dispatching requirement, and the state of the vehicle body is shown in fig. 11 and 12.
After the four-way shuttle type transfer robot transfers the goods to the intersection of the main and auxiliary channels, the vehicle stops, the lifting transmission machine 311 rotates reversely, the main channel wheel assembly 6 moves downwards, the goods contact the vehicle body when the main channel wheel assembly moves downwards to the positions of fig. 9 and 10, the main channel wheel assembly continues to move downwards to the positions of fig. 7 and 8, the main channel wheel 61 contacts the main channel track, the auxiliary channel wheel 71 is separated from the auxiliary channel track, the main channel wheel runs, and the vehicle body state is as shown in fig. 13 and 14. At the moment, the four-way shuttle type transfer robot carries the goods to the intersection of the appointed auxiliary channel and the main channel.
After the four-way shuttle type transfer robot with the goods moves to the intersection of the designated auxiliary channel and the main channel, the vehicle stops, the lifting transmission machine 311 rotates, and the main channel wheel assembly 6 continuously moves upwards until the tray and the goods are lifted to the positions shown in the figures 11 and 12; at this time, the sub passage wheel 71 runs, and when the specified goods parking position is reached, the four-way shuttle type transfer robot stops, the lifting transmission machine 311 rotates reversely, the main passage wheel assembly 6 moves downwards, and stops when the main passage wheel assembly moves downwards to the position shown in fig. 9 and fig. 10, and one-time goods transfer is completed. The reciprocating way realizes the delivery and storage of goods and realizes the function of rapid storage.
In addition to the above embodiments, the present invention may have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.
Claims (10)
1. The four-way shuttle type carrying robot for the warehouse logistics comprises a rack, and a screw lifting mechanism, a walking driving mechanism and a power supply control unit which are arranged in the rack, wherein the screw lifting mechanism and the walking driving mechanism are controlled by the power supply control unit to operate, and a main channel wheel assembly and an auxiliary channel wheel assembly are arranged around the rack; the method is characterized in that:
the main channel wheel assembly comprises a main channel wheel, a main channel transmission shaft and a first chain wheel pair, the main channel wheel is symmetrically arranged on two sides of the frame in the main channel running direction, a pair of main channel wheels are driven by two ends of the main channel transmission shaft, the main channel transmission shaft is in driving connection with the walking driving mechanism through the first chain wheel pair, and the main channel wheel and the main channel transmission shaft are driven by the screw lifting mechanism to lift;
the screw lifting mechanism is composed of two groups of screw lifting units which are respectively arranged in the rack, and each group of screw lifting units controls the lifting of the main channel wheel at one side; the upper part of the screw lifting unit is provided with a lifting screw connecting plate, and a jacking plate for jacking up goods is arranged on the lifting screw connecting plate;
the auxiliary channel wheel assembly comprises an auxiliary channel wheel, an auxiliary channel transmission shaft and a second chain wheel pair, the auxiliary channel wheel is symmetrically arranged on two sides of the rack in the auxiliary channel running direction, a pair of auxiliary channel wheels are driven at two ends of the auxiliary channel transmission shaft, and the auxiliary channel transmission shaft is connected with the walking driving mechanism through the second chain wheel pair in a driving mode.
2. The four-way shuttle transfer robot for warehouse logistics according to claim 1, wherein the main channel wheels comprise a pair of driving main channel wheels and a pair of driven main channel wheels, and the driving main channel wheels are connected with the main channel transmission shaft through a third chain wheel pair.
3. The four-way shuttle conveying robot for warehouse logistics according to claim 2, wherein two ends of the main channel transmission shaft penetrate through the kidney-shaped holes on the side wall of the rack, the end part of the main channel transmission shaft is connected with one of the main channel wheels of the driving main channel wheels, and adjacent main channel wheels are connected through the third chain wheel pair; and a transmission shaft lifting guide frame is arranged in the middle of the transmission shaft of the main channel.
4. The four-way shuttle transfer robot for warehouse logistics according to claim 1, wherein the auxiliary channel wheels comprise a pair of driving auxiliary channel wheels and a pair of driven auxiliary channel wheels, and the driving auxiliary channel wheels are connected with the auxiliary channel transmission shafts through a fourth chain wheel pair; the fourth chain wheel pair comprises a driving chain wheel pair between two secondary wheels of the driving secondary channel wheel and a driving chain wheel pair between the secondary channel transmission shaft and one of the secondary wheels.
5. The four-way shuttle transfer robot for warehouse logistics according to claim 4, wherein the transmission chain wheel pair between the two secondary road wheels is arranged on the outer side of the rack.
6. The four-way shuttle conveying robot for warehouse logistics according to claim 1, wherein the screw lifting unit comprises a lifting transmission machine, a lifting transmission shaft and screw lifters, two screw lifters arranged on the same side of the rack are connected through the lifting transmission shaft, and the lifting transmission shaft is driven by the lifting transmission machine through the chain wheel pair connection; the top of the screw rod lifter drives the jacking plate to lift cargoes, and the screw rod lifter synchronously drives the main channel wheel assembly to lift.
7. The four-way shuttle conveying robot for warehouse logistics according to claim 1, wherein the walking driving mechanism comprises a walking motor and a double-output-shaft speed reducer, and two groups of output shafts of the double-output-shaft speed reducer are respectively connected with the main channel transmission shaft and the auxiliary channel transmission shaft through a first chain wheel pair and a second chain wheel pair.
8. The four-way shuttle transfer robot for warehouse logistics according to claim 1, wherein a three-gear position height sensor is mounted on a side edge of the main channel transmission shaft and connected with the power supply control unit.
9. The four-way shuttle transfer robot for warehouse logistics according to claim 1, wherein a traveling wheel shield is arranged outside the main channel wheel assembly and the auxiliary channel wheel assembly.
10. The four-way shuttle conveying robot for warehouse logistics according to claim 1, wherein guide wheels are arranged at four corners of the rack.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022696862.6U CN213707636U (en) | 2020-11-19 | 2020-11-19 | Four-way shuttle type carrying robot for storage and logistics |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022696862.6U CN213707636U (en) | 2020-11-19 | 2020-11-19 | Four-way shuttle type carrying robot for storage and logistics |
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| CN213707636U true CN213707636U (en) | 2021-07-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374420A (en) * | 2020-11-19 | 2021-02-19 | 南京华德仓储设备制造有限公司 | Four-way shuttle type carrying robot for warehouse logistics |
| CN114940333A (en) * | 2022-07-08 | 2022-08-26 | 江苏正贸仓储设备制造有限公司 | Four-way shuttle based on storage transportation |
-
2020
- 2020-11-19 CN CN202022696862.6U patent/CN213707636U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374420A (en) * | 2020-11-19 | 2021-02-19 | 南京华德仓储设备制造有限公司 | Four-way shuttle type carrying robot for warehouse logistics |
| CN114940333A (en) * | 2022-07-08 | 2022-08-26 | 江苏正贸仓储设备制造有限公司 | Four-way shuttle based on storage transportation |
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