CN214454053U - Lifting device and transfer robot - Google Patents
Lifting device and transfer robot Download PDFInfo
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- CN214454053U CN214454053U CN202023169186.3U CN202023169186U CN214454053U CN 214454053 U CN214454053 U CN 214454053U CN 202023169186 U CN202023169186 U CN 202023169186U CN 214454053 U CN214454053 U CN 214454053U
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- guide surface
- roller
- lifting device
- floating plate
- bracket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The utility model provides a lifting device and transfer robot relates to intelligent storage equipment field for improve lifting device's bearing capacity. The lifting device comprises a support assembly and a sliding assembly, wherein the support assembly comprises a vertical support which is oppositely and parallelly provided with a first guide surface and a second guide surface; the sliding assembly comprises a sliding part and at least one first roller mechanism, the sliding part is slidably arranged on the vertical bracket, and the sliding part is used for connecting the carrying device; the first roller mechanism comprises a floating plate and two first roller groups, the floating plate is rotatably connected with the sliding part, the two first roller groups are arranged on the floating plate, the two first roller groups are positioned between the first guide surface and the second guide surface, when the carrying device bears cargos, the outer circumferential surface of one first roller group is in contact with the first guide surface, and the outer circumferential surface of the other first roller group is in contact with the second guide surface. The present disclosure further provides a transfer robot including the above lifting device.
Description
Technical Field
The utility model belongs to intelligent storage equipment field especially relates to a elevating gear and transfer robot.
Background
In the field of intelligent warehousing, a carrying robot is often used to replace manpower to carry out carrying operation of goods so as to improve carrying efficiency. The transfer robot generally includes a movable chassis, a lifting device, a transfer device, and a storage rack, wherein the lifting device and the storage rack are both mounted on the movable chassis, the transfer device is mounted on the lifting device, a cargo is placed on the transfer device, and the lifting device drives the transfer device to perform a lifting motion to lift the cargo.
In the related art, the lifting device generally includes a bracket assembly, a power mechanism, a transmission mechanism, and a sliding assembly. The power mechanism and the transmission mechanism are both arranged on the support assembly, the support assembly is provided with a vertical support, the sliding assembly is connected with the vertical support in a sliding manner, the power mechanism is connected with the sliding assembly through the transmission mechanism, and the sliding assembly is connected with the carrying device; when the power mechanism responds to a signal that the carrying device needs to perform lifting action, the power mechanism drives the sliding assembly to lift along the vertical support through the transmission mechanism, so that the carrying device is driven to perform lifting action.
However, the above-mentioned lifting device has a limited carrying capacity and cannot lift heavy loads.
SUMMERY OF THE UTILITY MODEL
In view of this, the present disclosure provides a lifting device, which aims to improve the carrying capacity of the lifting device to lift a heavy cargo.
The embodiment of the disclosure provides a lifting device, which comprises a support assembly and a sliding assembly, wherein the support assembly comprises a vertical support, the vertical support is provided with a first guide surface and a second guide surface, and the first guide surface and the second guide surface are arranged oppositely and parallelly; the sliding assembly comprises a sliding part and at least one first roller mechanism, the sliding part is slidably arranged on the vertical bracket, and the sliding part is used for connecting the carrying device; the first roller mechanism comprises a floating plate and two first roller groups, the floating plate is rotatably connected with the sliding part, the two first roller groups are arranged on the floating plate, the two first roller groups are positioned between the first guide surface and the second guide surface, and when the carrying device bears cargos, the outer circumferential surface of the roller of one first roller group is in contact with the first guide surface, and the outer circumferential surface of the roller of the other first roller group is in contact with the second guide surface.
The lifting device provided by the embodiment of the disclosure is used for placing a heavy cargo on a carrying device when the heavy cargo is lifted. The handling device has a tendency to tip downwards under the influence of the weight of the load and the weight of the handling device, the handling device and the load exerting a first moment downwards on the skid, the skid turning or having a tendency to turn. The floating plate is connected with the sliding part in a rotating mode, so that the floating plate rotates reversely or has a reverse rotation trend relative to the sliding part, the outer circumferential surface of the roller of one first roller group is in contact with the first guide surface, the outer circumferential surface of the roller of the other first roller group is in contact with the second guide surface, the first guide surface and the second guide surface apply a second moment opposite to the first moment to the two first roller groups, the effect of the first moment is reduced and even balanced, the downward tilting trend of the carrying device is resisted, the stability of the lifting motion of the sliding part along the vertical support is ensured, the bearing capacity of the lifting device is improved, and lifting of heavy goods is achieved.
The embodiment of the disclosure further provides a transfer robot, which comprises a mobile chassis, a storage shelf, a transfer device and the lifting device, wherein the lifting device and the storage shelf are installed on the mobile chassis, the transfer device is provided with an installation frame, and the installation frame is connected with a sliding piece in the lifting device.
The transfer robot provided in the embodiment of the present disclosure includes the lifting device, so that the transfer robot also has the advantages of the transfer device, which can be referred to the above description specifically, and is not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is easy to see that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
Fig. 1 is a first schematic view of an overall structure of a transfer robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of the overall structure of the transfer robot shown in fig. 1;
FIG. 3 is a schematic structural diagram of the lifting device in FIG. 1;
FIG. 4 is an enlarged schematic view of the structure at A in FIG. 3;
FIG. 5 is an enlarged cross-sectional view of the vertical support of FIG. 4;
FIG. 6 is a schematic structural view of the slide assembly of FIG. 3;
FIG. 7 is an exploded view of the slider assembly of FIG. 6;
FIG. 8 is a schematic bottom view of the slide assembly of FIG. 6;
FIG. 9 is a cross-sectional view taken along line B-B of the slider assembly of FIG. 8;
fig. 10 is a schematic view showing the connection between the support bar and the moving chassis in fig. 1.
Description of reference numerals:
10-a lifting device;
11-a bracket assembly;
110-a vertical support; 111-a first transverse bracket; 112-a second transverse support;
113-a first guide surface; 114-a second guide surface; 115-a third guide surface;
116-a second support seat; 117-third support seat;
12-a power mechanism;
120-a motor base; 121-a motor; 122-a reducer;
13-a transmission mechanism;
131-a transmission belt;
14-a slide assembly;
140-a slide; 141-arc limiting groove; 142-a first roller mechanism;
143-floating plate; 144-first shaft mounting hole; 145-second shaft mounting hole;
146-a limit projection; 147-a first roller; 148-a first rotating shaft;
149-a second axis of rotation; 150-shaft sleeve; 151-a connector;
152-a first splint; 153-lobe configuration; 154-a second splint;
155-a second roller mechanism; 156-a first support; 157-a second roller;
20-moving the chassis;
200-a second connection hole;
30-storage shelves;
31-a bracket; 32-a tray; 33-support rods;
330-a first connection hole;
40-a handling device;
400-a mounting frame; 401-support frame.
Detailed Description
In the related art, when the lifting device lifts a heavy cargo, the cargo is placed on the carrying device, and is influenced by the gravity of the cargo and the gravity of the carrying device, the carrying device has a tendency of tipping downwards, and the cargo and the carrying device apply a first downward moment to the sliding assembly, so that the sliding assembly rotates or has a rotating tendency, the lifting movement of the sliding assembly along the vertical support is influenced, the bearing capacity of the lifting device is limited, and the heavy cargo cannot be lifted.
In the lifting device provided by the embodiment of the disclosure, the first roller mechanism is arranged on the sliding part and located between the first guide surface and the second guide surface of the vertical support, and the first roller mechanism comprises a floating plate capable of rotating relative to the sliding part and two first roller groups connected with the floating plate. When the heavy goods are lifted, the floating plate rotates reversely relative to the sliding part or has a reverse rotation trend, so that the outer circumferential surfaces of the rollers of the two first roller groups are respectively contacted with the first guide surface and the second guide surface of the vertical support, the first guide surface and the second guide surface apply reverse second moment to the rollers of the two first roller groups, the effect of the first moment is reduced and even balanced, the downward tipping trend of the carrying device is resisted, the stability of the lifting motion of the sliding part along the vertical support is ensured, the bearing capacity of the lifting device is improved, and the lifting of the heavy goods is realized.
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1, an aspect of the disclosed embodiment provides a transfer robot including a lifting device 10, a moving chassis 20, a storage rack 30, and a transfer device 40. The lifting device 10 and the storage shelf 30 are mounted on the movable chassis 20, the carrying device 40 has a mounting frame 400, the mounting frame 400 is connected with the lifting device 10, and the carrying device 40 is connected with the lifting device 10 through the mounting frame 400. The moving chassis 20 is used for realizing the moving function of the transfer robot and for bearing other structures of the transfer robot, such as the storage rack 30 and the lifting device 10, which are arranged on the moving chassis 20, and the moving chassis 20 drives the storage rack 30, the lifting device 10 and the transfer device 40 to transfer goods. The lifting device 10 has a lifting function, and the lifting device 10 can respond to a signal that the carrying device 40 needs to be lifted to lift at a specified height, so as to drive the carrying device 40 to lift the goods. The handling device 40 is used for carrying goods. The storage shelf 30 serves to temporarily store goods.
When carrying goods, the moving chassis 20 drives the lifting device 10, the carrying device 40 and the storage shelf 30 to move to a designated place; the lifting device 10 receives a signal that the carrying device 40 needs to be lifted, and drives the carrying device 40 to be lifted to a specified height, so that the carrying device 40 is opposite to the goods; the carrying device 40 takes the goods and sends the goods to the storage shelf 30 for temporary storage. The movable chassis 20 drives the lifting device 10, the carrying device 40, the storage shelf 30 and the goods to move to another designated place again; the carrying device 40 takes the goods on the storage shelf 30; the lifting device 10 receives the signal that the carrying device 40 needs to perform lifting action again, and drives the carrying device 40 and the goods to lift to another specified height; the conveying device 40 sends out the load to complete the conveyance of the load. The transfer robot that this disclosed embodiment provided can replace the manpower to carry out the transport operation of goods, improves handling efficiency.
The carrying device 40 has a mounting bracket 400, and the mounting bracket 400 functions to support the carrying device 40. Illustratively, referring to fig. 2, there are two mounting brackets 400, two mounting brackets 400 are disposed in parallel, two mounting brackets 400 are connected to the lower side of the carrying device 40, and one end of each of the two mounting brackets 400 is connected to the lifting device 10. Still be connected with support frame 401 between two mounting brackets 400, can improve the intensity of two mounting brackets 400. The lifting device 10 drives the carrying device 40 to lift through the mounting frame 400.
To increase the amount of single handled goods, the storage rack 30 is a multi-tiered mechanism. Illustratively, referring to fig. 1, the storage shelf 30 includes a plurality of brackets 31 and support rods 33, the bottom ends of the support rods 33 are connected to the moving chassis 20, the support rods 33 are detachably connected to the respective brackets 31, and a tray 32 for placing goods is provided in each of the brackets 31. The number of trays 32 per tray 31 may be one or more. In the handling process, can place the goods in keeping in the tray 32 on the bracket 31, can improve the quantity of the goods of single transport, further improve handling efficiency.
Referring to fig. 10, the lower end of the support rod 33 is provided with a plurality of vertically aligned first connection holes 330, and the moving chassis 20 is provided with a plurality of vertically aligned second connection holes 200, and the connection bolts connect the first connection holes 330 and the second connection holes 200. When carrying different goods, need increase the quantity of bracket 31 and tray 32, or need adjust the height of bracket 31 and tray 32, accessible adjustment connecting bolt makes different first connecting hole 330 and different second connecting hole 200 connect to the height of adjustment bracing piece 33, makes the change that bracing piece 33 is applicable to the quantity and/or the height of bracket 31, need not to change the bracing piece 33 of different length, improves the convenience of storage goods shelves 30 dismouting.
Another aspect of the disclosed embodiment provides a lifting device 10. The lifting device 10 is used for lifting the conveying device 40. Referring to fig. 3 and 4, the lifting device 10 includes a bracket assembly 11, a power mechanism 12, a transmission mechanism 13 and a sliding assembly 14, wherein the power mechanism 12 and the transmission mechanism 13 are mounted on the bracket assembly 11, the power mechanism 12 is in transmission connection with the transmission mechanism 13, the sliding assembly 14 is slidably mounted on the bracket assembly 11, the sliding assembly 14 is connected with the transmission mechanism 13, and the carrying device 40 is connected with the sliding assembly 14. The power mechanism 12 drives the sliding assembly 14 along the bracket assembly 11 through the transmission mechanism 13 to drive the carrying device 40 to move up and down.
The bracket assembly 11 provides support and guidance. Referring to fig. 3, the bracket assembly 11 includes a vertical bracket 110 and a first lateral bracket 111. In some embodiments of the present disclosure, the number of the vertical supports 110 may be one or more, and is not limited herein. Illustratively, in the embodiment of the present disclosure, there are two vertical supports 110, and the two vertical supports 110 are disposed oppositely and in parallel. First horizontal support 111 is horizontally connected to the top ends of two vertical supports 110, power mechanism 12 is installed on first horizontal support 111, and first horizontal support 111 is used for supporting power mechanism 12.
To improve the supporting strength of the vertical bracket 110 and prevent the vertical bracket 110 from deforming, the bracket assembly 11 further includes a second horizontal bracket 112. The number of the second transverse brackets 112 is plural, the plurality of the second transverse brackets 112 are parallel to the first transverse bracket 111, and both ends of the plurality of the second transverse brackets 112 are respectively connected with the two vertical brackets 110.
Referring to fig. 4 and 5, the vertical bracket 110 is provided with a first guide surface 113 and a second guide surface 114, the first guide surface 113 and the second guide surface 114 are arranged oppositely and in parallel, and the first guide surface 113 and the second guide surface 114 are used for being installed with the sliding component 14 in a sliding manner.
In order to improve the sliding smoothness of the sliding assembly 14, the vertical bracket 110 is further provided with a third guiding surface 115, and the third guiding surface 115 is used for being slidably installed with the sliding assembly 14. The third guide surface 115 is located between the first guide surface 113 and the second guide surface 114, and the third guide surface 115 is perpendicular to the first guide surface 113 and the second guide surface 114.
Referring to fig. 5, the vertical bracket 110 is provided with a groove, the groove is arranged along the extending direction of the vertical bracket 110, two opposite side walls of the groove are respectively a first guide surface 113 and a second guide surface 114, the bottom surface of the groove is a third guide surface 115, the sliding assembly 14 is slidably mounted in the groove, and the sliding assembly 14 is respectively matched with the first guide surface 113, the second guide surface 114 and the third guide surface 115. That is, the vertical bracket 110 is integrally formed with the first guide surface 113, the second guide surface 114 and the third guide surface 115, which can facilitate the processing and adjustment of the vertical bracket 110.
It is understood that in other embodiments of the present disclosure, the first guide surface 113, the second guide surface 114, and the third guide surface 115 are guide surfaces of three guide rails, and the three guide rails are respectively connected with the vertical bracket 110 by a bolt connection manner or a welding manner.
The two ends of the vertical support 110 are further provided with a second support seat 116 and a third support seat 117, the first horizontal support 111 is connected to the top end of the second support seat 116, and the second support seat 116 and the third support seat 117 are used for installing the transmission mechanism 13.
The power mechanism 12 is used for providing lifting power for the lifting device 10. For example, power mechanism 12 in the disclosed embodiment is an electric motor. Referring to fig. 3, in the embodiment of the present disclosure, power mechanism 12 includes a motor base 120, a motor 121, and a reducer 122. The motor base 120 is mounted on the first transverse bracket 111, the motor 121 is connected with the speed reducer 122, the motor 121 and the speed reducer 122 are mounted on the motor base 120, and the motor 121 and the speed reducer 122 have output shafts which are in transmission connection with the transmission mechanism 13 (not shown in the figure). The motor 121 operates in response to a signal that the carrying device 40 requires an up-down operation, the motor 121 and the output shaft of the reducer 122 rotate, and the output shaft drives the transmission mechanism 13 to operate.
In other embodiments of the present disclosure, power mechanism 12 may be a hydraulic or pneumatic cylinder.
The transmission mechanism 13 is used for transmitting power. Exemplarily, referring to fig. 3 and 4, in the embodiment of the present disclosure, the transmission mechanism 13 is a belt transmission mechanism. The transmission mechanism 13 includes a driving gear, a driven gear, and a transmission belt 131. The driving gear is rotatably connected in the second supporting seat 116, the driving gear can rotate around the axis of the driving gear, the driving gear is in transmission connection with the output shaft, and the output shaft drives the driving gear to rotate. The driven gear is rotatably connected in the third supporting seat 117, and the driven gear can rotate around the axis of the driven gear. The driving belt 131 surrounds the driving gear and the driven gear and is engaged with the driving gear and the driven gear, respectively, the driving belt 131 is disposed along a direction in which the vertical bracket 110 extends, and the driving belt 131 is connected with the slider 140. The motor 121 starts to move in response to a signal that the carrying device 40 needs to be lifted, the output shaft is driven to rotate through the speed reducer 122, the output shaft drives the driving gear to rotate, the driving gear drives the transmission belt 131 to move along the vertical support 110, the transmission belt 131 drives the driven gear to rotate, and the transmission belt 131 drives the sliding assembly 14 to lift.
For protecting the transmission belt 131, the vertical support 110 is further provided with a receiving groove and a receiving cavity. The holding tank sets up respectively in the both sides of recess with holding the chamber, and the holding tank sets up with holding the chamber along first guide surface 113's extending direction. When drive belt 131 encircles driving gear and driven gear to wear to locate and hold chamber and holding tank, slider 14 is connected with the part drive belt 131 that is located the holding tank.
In other embodiments of the present disclosure, the transmission mechanism 13 may be a rack and pinion transmission mechanism, a sprocket transmission mechanism, or a lead screw transmission mechanism.
The sliding assembly 14 drives the carrying device 40 to move up and down along the vertical support 110. Referring to fig. 6, 7, 8 and 9, the sliding assembly 14 includes a slider 140, at least one first roller mechanism 142, a connecting head 151 and a second roller mechanism 155.
The sliding member 140 is a bending plate structure having two side plates, and an included angle between the two side plates is 90 °. The first roller mechanism 142 and the second roller mechanism 155 are installed on one side plate of the sliding member 40, the first roller mechanism 142 is engaged with the first guide surface 113 and the second guide surface 114, and the second roller mechanism 155 is engaged with the third guide surface 115. The connection head 151 is mounted on the other side plate of the slider 40, and the connection head 151 is used for connecting with the drive belt 131. One end of the mounting frame 400 of the carrying device 40 is connected to the outer side of the bent plate structure, and the sliding member 40 drives the carrying device 40 to ascend and descend through the mounting frame 400.
The first roller mechanism 142 is used for the load-bearing capacity of the lifting device 10. The first roller mechanism 142 includes a floating plate 143 and two first roller groups. The floating plate 143 is rotatably coupled to one side plate of the slider 140, and two first roller groups, which are located between the first guide surface 113 and the second guide surface 114, are mounted on the floating plate 143. When the transporting device 40 is loaded with the load, the outer circumferential surface of the roller of one first roller set contacts the first guide surface 113, and the outer circumferential surface of the roller of the other first roller set contacts the second guide surface 114.
When lifting heavy loads, the load is placed on the handling device 40, the handling device 40 has a tendency to tip downwards under the influence of the weight of the load and the weight of the handling device 40, the handling device 40 and the load exert a first moment downwards on the skid 140, and the skid rotates or has a tendency to rotate. Since the floating plate 143 is rotatably coupled to the slider 140, the floating plate 143 rotates in a reverse direction or has a tendency to rotate in a reverse direction with respect to the slider 140 such that the outer circumferential surfaces of the rollers of one first roller set are in contact with the first guide surface 113 and the outer circumferential surfaces of the rollers of the other first roller set are in contact with the second guide surface 114. The first guide surface 113 and the second guide surface 114 apply a second moment opposite to the first moment to the two first roller groups to reduce the effect of setting and balancing the first moment, resist the downward tilting tendency of the carrying device 40, ensure the stability of the lifting movement of the sliding member along the vertical support, improve the bearing capacity of the lifting device 10, and thus realize the lifting of heavier goods.
It should be noted that, when the transporting device 40 is loaded with goods, the outer circumferential surface of the roller of one first roller set contacts the first guiding surface 113, and the outer circumferential surface of the roller of the other first roller set contacts the second guiding surface 114, which cannot be understood only that, when the transporting device 40 is loaded with goods, the outer circumferential surface of the roller of one first roller set contacts only the first guiding surface 113, and the outer circumferential surface of the roller of the other first roller set contacts only the second guiding surface 114.
It is understood that in other embodiments of the present disclosure, the diameter of the rollers of the first roller set is equal to the distance between the first guide surface 113 and the second guide surface 114. That is, when the carrying device 40 does not carry the load, the rollers of the first roller set simultaneously contact the first guide surface 113 and the second guide surface 114. When the carrying device 40 is loaded with goods, although the rollers of the two first roller sets are in contact with the first guide surface 113 and the second guide surface 114, the first guide surface 113 only applies force to the roller of one of the first roller sets, and the second guide surface 114 only applies force to the roller of the other first roller set to form a second moment opposite to the first moment, so that the influence of the first moment on the slider 140 is reduced or even eliminated, and the smoothness of the lifting movement of the slider 140 along the vertical support 110 is ensured.
In order to improve the bearing capacity, the number of the first roller mechanisms 142 may be plural, and the number of the first roller mechanisms 142 is not limited. Illustratively, in the embodiment of the present disclosure, there are two first roller mechanisms 142, and the two first roller mechanisms 142 are arranged at intervals along the extending direction of the first guide surface 113. When carrying heavier goods, first spigot surface 113 can contact with a plurality of first roller groups, and simultaneously, second spigot surface 114 can contact with a plurality of first roller groups, increases the second moment to further reduce or balance the effect of first moment, guarantee slider 140 along the stationarity of vertical support 110 lift operation, improve elevating gear 10's bearing capacity.
Referring to fig. 7 and 9, in the embodiment of the present disclosure, the floating plate 143 is provided with two first shaft mounting holes 144 and one second shaft mounting hole 145, and the two first shaft mounting holes 144 are symmetrically distributed on both sides of the second shaft mounting hole 145. The two first roller sets are respectively screwed into the first rotating shaft mounting holes 144 through a first rotating shaft 148, and the two first roller sets can rotate relative to the first rotating shaft 148. The floating plate 143 is mounted on the slider 140 through a second rotating shaft 149, and the floating plate 143 is rotatable with respect to the second rotating shaft 149. The first roller mechanism 142 further includes a shaft sleeve 150, the shaft sleeve 150 is fixedly disposed in the second rotating shaft mounting hole 145, the shaft sleeve 150 is sleeved on the second rotating shaft 149, and the shaft sleeve 150 can rotate relative to the second rotating shaft 149, the second rotating shaft 149 is in threaded connection with the sliding member 140, so that the floating plate 143 can rotate relative to the sliding member 140.
Referring to fig. 7, 8 and 9, in the embodiment of the present disclosure, the floating plate 143 is provided with a limiting protrusion 146, the sliding member 140 is provided with an arc-shaped limiting groove 141, the limiting protrusion 146 is installed in the arc-shaped limiting groove 141, and the limiting protrusion 146 and the arc-shaped limiting groove 141 limit the rotation range of the floating plate 143 and the sliding member 140. When the floating plate 143 rotates relative to the sliding member 140, the limiting protrusion 146 moves in the arc-shaped limiting groove 141, and during the movement, two side planes in the arc-shaped limiting groove 141 interfere with the limiting protrusion 146 to limit the moving position of the limiting protrusion 146, so that the rotating range of the floating plate 143 relative to the sliding member 140 is limited. Illustratively, in the disclosed embodiment, the range of rotation of floating plate 143 with slider 140 is-5 ° to +5 °.
It should be noted that, referring to fig. 8, when the plane in which the axes of the rollers of the two first roller groups are located is a vertical plane, that is, when the two first roller groups are located between the first guide surface 113 and the second guide surface 114, the rotation angle between the floating plate 143 and the slider 140 is defined as 0 °. Facing the two first roller groups, the floating plate 143 rotates counterclockwise as positive, and the floating plate 143 rotates clockwise as negative.
In the embodiment of the present disclosure, there are two limiting protrusions 146, the two limiting protrusions 146 are symmetrically distributed on two sides of the rotation center of the floating plate 143 relative to the sliding member 140, there are two arc-shaped limiting grooves 141, and each limiting protrusion 146 is slidably connected to a corresponding arc-shaped limiting groove 141. In the rotating process of the floating plate 143 and the sliding part 140, the two arc-shaped limiting grooves 141 can respectively limit the limiting protrusions 146, and the reliability of limiting the rotating range of the floating plate 143 and the sliding part 140 is improved.
In other embodiments of the present disclosure, the sliding member 140 is provided with a limiting protrusion 146, the floating plate 143 is provided with an arc-shaped limiting groove 141, the limiting protrusion 146 is installed in the arc-shaped limiting groove 141, and the limiting protrusion 146 and the arc-shaped limiting groove 141 limit the rotation range of the floating plate 143 and the sliding member 140.
The first roller group includes a first roller 147. It should be noted that the number of the first rollers 147 in the first roller group is not limited in the embodiment of the disclosure. Illustratively, considering the cost of the lifting device, in the embodiment of the present disclosure, the first roller sets include a first roller 147, and when the handling device 40 carries a load, one first roller 147 of one first roller set contacts the first guide surface 113, and one first roller 147 of the other first roller set contacts the second guide surface 114.
In other embodiments of the present disclosure, to further improve the carrying capacity and ensure the smoothness of the lifting action of the sliding member 140, the first roller sets include at least two first rollers 147, the at least two first rollers 147 are spaced apart along the extending direction of the first guiding surface 113, when the carrying device 40 carries a cargo, at least two first rollers 147 of one first roller set are both in contact with the first guiding surface 113, and at least two first rollers 147 of the other first roller set are both in contact with the second guiding surface 114 to increase the second moment, so as to further reduce or balance the effect of the first moment, ensure the smoothness of the lifting operation of the sliding member 140 along the vertical bracket 110, and improve the carrying capacity of the lifting device 10.
To further improve the smoothness of the lifting movement of the sliding member 140, the sliding assembly 14 further includes a second roller mechanism 155. The second roller mechanism 155 includes a first supporting seat 156 and a second roller 157, the first supporting seat 156 is fixedly connected to the sliding member 140, the second roller 157 is mounted on the first supporting seat 156, and an outer circumferential surface of the second roller 157 contacts the third guiding surface 115. When the driving belt 131 drives the sliding member 140 to move up and down, the second roller 157 rolls along the third guiding surface 115, so as to guide and support the sliding member 140, thereby improving the stability of the lifting movement of the sliding member 140.
The slide module 14 further comprises two coupling heads 151, the coupling heads 151 being adapted to couple to the drive belt 131. In the embodiment of the present disclosure, the transmission belt 131 has an opening, the opening is located in the accommodating groove, and two ends of the transmission belt 131 are respectively connected to the two connectors 151. Referring to fig. 6 and 7, the connecting head 151 includes a first clamping plate 152 and a second clamping plate 154, the first clamping plate 152 is fixedly connected with the slider 140, the second clamping plate 154 is disposed opposite to the first clamping plate 152, and the end of the driving belt 131 is clamped between the first clamping plate 152 and the second clamping plate 154. A convex tooth structure 153 engaged with the driving belt 131 is provided on a surface of the second clamping plate 154 facing the first clamping plate 152 to improve the firmness of the connection with the driving belt 131 and prevent the connection head 151 from being separated from the driving belt 131 to affect the lifting motion of the sliding member 140.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (20)
1. A lifting device, comprising:
the bracket assembly comprises a vertical bracket, a first guide surface and a second guide surface are arranged on the vertical bracket, and the first guide surface and the second guide surface are opposite and parallel;
the sliding assembly comprises a sliding part and at least one first roller mechanism, the sliding part is slidably mounted on the vertical bracket, and the sliding part is used for connecting the carrying device; the first roller mechanism comprises a floating plate and two first roller groups, the floating plate is connected with the sliding part in a rotating mode, the two first roller groups are installed on the floating plate and located between the first guide surface and the second guide surface, when the carrying device bears cargos, the outer circumferential surface of the roller of one first roller group is in contact with the first guide surface, and the outer circumferential surface of the roller of the other first roller group is in contact with the second guide surface.
2. The lifting device as claimed in claim 1, wherein the first roller sets include a first roller, and when the carrying device carries a load, one first roller of one of the first roller sets contacts the first guide surface and one first roller of the other first roller set contacts the second guide surface.
3. The lifting device as claimed in claim 1, wherein the first roller sets comprise at least two first rollers, at least two first rollers are spaced apart along the extension direction of the first guide surface, and when the carrying device carries a load, at least two first rollers of one of the first roller sets contact with the first guide surface, and at least two first rollers of the other first roller set contact with the second guide surface.
4. The lifting device as claimed in claim 1, wherein the floating plate is provided with two first shaft mounting holes and one second shaft mounting hole, and the two first shaft mounting holes are symmetrically distributed at both sides of the second shaft mounting hole;
the two first roller groups are respectively in threaded connection with the first rotating shaft mounting hole through a first rotating shaft, and the two first roller groups can rotate relative to the first rotating shaft; the floating plate is mounted on the slider through a second rotating shaft, and the floating plate is rotatable with respect to the second rotating shaft.
5. The lifting device as claimed in claim 4, wherein the first rotating shaft is threadedly coupled to the first rotating shaft mounting hole, and the second rotating shaft is threadedly coupled to the slider.
6. The lifting device as claimed in claim 4, wherein the first roller mechanism further comprises a bushing fixed in the second rotating shaft mounting hole, the bushing is sleeved on the second rotating shaft, and the bushing can rotate relative to the second rotating shaft.
7. The lifting device as claimed in any one of claims 1 to 6, wherein the floating plate is provided with a stopper protrusion, and the slider is provided with an arc-shaped stopper groove;
or the sliding part is provided with a limiting bulge, and the floating plate is provided with an arc-shaped limiting groove;
the limiting protrusion is arranged in the arc-shaped limiting groove, and the limiting protrusion and the arc-shaped limiting groove limit the rotating range of the floating plate and the sliding piece.
8. The lift mechanism of claim 7, wherein the float plate and the slider rotate in a range of-5 ° to +5 °.
9. The lifting device as claimed in claim 8, wherein there are two limiting protrusions, two of the limiting protrusions are symmetrically disposed on two sides of the rotation center of the floating plate rotating relative to the sliding member, and there are two of the arc-shaped limiting grooves, and each of the limiting protrusions is slidably connected to a corresponding one of the arc-shaped limiting grooves.
10. The lifting device as claimed in claim 7, wherein there are two first roller mechanisms, and the two first roller mechanisms are arranged at intervals along the extending direction of the first guide surface.
11. The lifting device as claimed in any one of claims 1 to 6, wherein the vertical support is further provided with a third guide surface, the third guide surface being located between the first guide surface and the second guide surface, and the third guide surface being perpendicular to the first guide surface and the second guide surface;
the sliding assembly further comprises a second roller mechanism, the second roller mechanism comprises a first supporting seat and a second roller, the first supporting seat is fixedly connected with the sliding piece, the second roller is installed on the first supporting seat, and the outer circumferential surface of the second roller is in contact with the third guide surface.
12. The lifting device as claimed in claim 11, wherein the vertical support is provided with a groove, the groove is arranged along the extending direction of the vertical support, two opposite side walls of the groove are respectively the first guide surface and the second guide surface, and the bottom surface of the groove is the third guide surface.
13. The lifting device as claimed in any one of claims 1 to 6, further comprising a power mechanism and a transmission mechanism, wherein the power mechanism is connected to the sliding member through the transmission mechanism, and the power mechanism drives the sliding member to lift along the vertical support through the transmission mechanism.
14. The lifting device as claimed in claim 13, wherein the transmission mechanism comprises a driving gear, a driven gear and a transmission belt, a second support seat and a third support seat are respectively disposed at two ends of the vertical support, the driving gear is rotatably connected to the second support seat, and the driven gear is rotatably connected to the third support seat; the driving gear is connected with the driving mechanism in a transmission mode, the driving gear is connected with the driven gear in a transmission mode, and the driving gear is connected with the sliding piece.
15. The lifting device as claimed in claim 14, wherein the bracket assembly comprises two of the vertical brackets and a first transverse bracket, the first transverse bracket is horizontally connected to the top ends of the two vertical brackets, the power mechanism is mounted on the first transverse bracket, and the power mechanism is in transmission connection with the driving gear.
16. The lift mechanism of claim 15, wherein said support assembly further comprises a plurality of second transverse supports parallel to said first transverse support, each of said second transverse supports having opposite ends connected to two of said vertical supports.
17. The lift device of claim 14, wherein the slip assembly further comprises two connectors connected to respective ends of the belt, each connector comprising:
the first clamping plate is fixedly connected with the sliding part;
the second splint, the second splint with slider fixed connection, the second splint with first splint set up relatively, the tip centre gripping of drive belt is in first splint with between the second splint.
18. The lift mechanism of claim 17, wherein a face of said second jaw facing said first jaw is provided with a tooth arrangement for engaging said belt.
19. A transfer robot comprising a moving chassis, a storage rack, a transfer device and the lifting device of any one of claims 1-18, the lifting device and the storage rack being mounted on the moving chassis, the transfer device having a mounting frame which is connected to a slide in the lifting device.
20. The transfer robot of claim 19, wherein the storage rack comprises:
a plurality of brackets, each bracket having a tray disposed therein;
the support rod is detachably connected with each bracket respectively, a plurality of vertically arranged first connecting holes are formed in the lower end of the support rod, a plurality of vertically arranged second connecting holes are formed in the movable chassis, and the first connecting holes and the second connecting holes are connected through connecting bolts.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023169186.3U CN214454053U (en) | 2020-12-24 | 2020-12-24 | Lifting device and transfer robot |
| PCT/CN2021/129074 WO2022134893A1 (en) | 2020-12-24 | 2021-11-05 | Lifting/lowering apparatus and carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023169186.3U CN214454053U (en) | 2020-12-24 | 2020-12-24 | Lifting device and transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN214454053U true CN214454053U (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023169186.3U Active CN214454053U (en) | 2020-12-24 | 2020-12-24 | Lifting device and transfer robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN214454053U (en) |
| WO (1) | WO2022134893A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134893A1 (en) * | 2020-12-24 | 2022-06-30 | 深圳市海柔创新科技有限公司 | Lifting/lowering apparatus and carrying robot |
| CN115027934A (en) * | 2022-06-27 | 2022-09-09 | 苏州富强科技有限公司 | Microbattery loading attachment |
| WO2024001951A1 (en) * | 2022-06-30 | 2024-01-04 | 杭州海康机器人股份有限公司 | Lifting device of transfer robot and transfer robot |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281707B (en) * | 2022-12-09 | 2023-09-19 | 中南林业科技大学 | Gravity greening transportation equipment |
| CN115924385B (en) * | 2022-12-12 | 2023-12-15 | 南京华设云信息技术有限公司 | Automatic metering flat warehouse system |
| CN117088027B (en) * | 2023-09-25 | 2024-03-12 | 滁州赛迩斯数字技术有限公司 | Tunnel stacker |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4128270B2 (en) * | 1998-06-12 | 2008-07-30 | 穂積 田中 | Tilt rail cart |
| CN107827033B (en) * | 2017-11-29 | 2024-03-29 | 无锡中鼎集成技术有限公司 | Cargo carrying platform capable of floating and adjusting running clearance for stacker |
| CN109160314A (en) * | 2018-08-10 | 2019-01-08 | 苏州噜噜猫软件科技有限公司 | Horizontal conveyer automatic aligning is oriented to hold-down mechanism |
| CN212174374U (en) * | 2020-02-14 | 2020-12-18 | 上海快仓智能科技有限公司 | Guide roller assembly and forklift lifting system |
| CN112079023B (en) * | 2020-08-05 | 2022-07-01 | 杭州坤格智造科技有限公司 | Multifunctional high-position sorting vehicle and operation method thereof |
| CN214454053U (en) * | 2020-12-24 | 2021-10-22 | 深圳市海柔创新科技有限公司 | Lifting device and transfer robot |
-
2020
- 2020-12-24 CN CN202023169186.3U patent/CN214454053U/en active Active
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2021
- 2021-11-05 WO PCT/CN2021/129074 patent/WO2022134893A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134893A1 (en) * | 2020-12-24 | 2022-06-30 | 深圳市海柔创新科技有限公司 | Lifting/lowering apparatus and carrying robot |
| CN115027934A (en) * | 2022-06-27 | 2022-09-09 | 苏州富强科技有限公司 | Microbattery loading attachment |
| WO2024001951A1 (en) * | 2022-06-30 | 2024-01-04 | 杭州海康机器人股份有限公司 | Lifting device of transfer robot and transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022134893A1 (en) | 2022-06-30 |
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