CN216036649U - Transfer robot - Google Patents

Transfer robot Download PDF

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Publication number
CN216036649U
CN216036649U CN202121370899.8U CN202121370899U CN216036649U CN 216036649 U CN216036649 U CN 216036649U CN 202121370899 U CN202121370899 U CN 202121370899U CN 216036649 U CN216036649 U CN 216036649U
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China
Prior art keywords
synchronizing wheel
transfer robot
seat
mounting
synchronizing
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CN202121370899.8U
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Chinese (zh)
Inventor
李再金
孔哲
高明
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Hai Robotics Co Ltd
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Hai Robotics Co Ltd
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Priority to CN202121370899.8U priority Critical patent/CN216036649U/en
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Abstract

The application provides a transfer robot, which comprises a transfer device, a stand column structure and a driving mechanism; the upright post structure comprises a first upright post and a second upright post, and the driving mechanism comprises a mounting plate, a motor unit, a driving shaft and two synchronous wheel assemblies; the upper surface at the mounting panel is connected to motor unit and synchronous wheel subassembly, and the lower surface of mounting panel is connected on first stand and second stand, and motor unit is rotatory with the drive driving shaft, and the both ends and the synchronous wheel subassembly of driving shaft are connected to drive two synchronous wheel subassemblies synchronous revolution, and the synchronous wheel subassembly is connected with handling device's both sides respectively, goes up and down for the stand structure with driving handling device. The application provides a transfer robot can improve actuating mechanism's drive efficiency and drive accuracy.

Description

Transfer robot
Technical Field
The application relates to the field of intelligent warehousing, in particular to a transfer robot.
Background
Intelligent warehousing is an important link in the logistics process. The transfer robot can replace manual goods transfer and plays an important role in intelligent warehouse logistics.
The transfer robot may include a column structure, a transfer device, and a drive mechanism. The driving mechanism drives the carrying device to lift relative to the upright post structure. The stand column structure can comprise a first stand column and a second stand column, the driving mechanism can comprise a motor unit and two synchronous wheel assemblies, the top of the first stand column and the top of the second stand column are respectively connected with one synchronous wheel assembly, and the motor unit is connected between the first stand column and the second stand column.
However, due to the problem of the processing accuracy of the first column and the second column, the assembly deviation between the motor unit and the two synchronizing wheel assemblies is large, resulting in low driving efficiency and driving accuracy of the driving mechanism.
SUMMERY OF THE UTILITY MODEL
The application provides a transfer robot, can improve actuating mechanism's drive efficiency and drive accuracy.
The application provides a transfer robot, which comprises a transfer device, a stand column structure and a driving mechanism;
the upright post structure comprises a first upright post and a second upright post, and the driving mechanism comprises a mounting plate, a motor unit, a driving shaft and two synchronous wheel assemblies;
the upper surface at the mounting panel is connected to motor unit and synchronizing wheel subassembly, and the lower surface of mounting panel is connected at the top of first stand and the top of second stand, and motor unit and initiative axle connection to the drive driving shaft is rotatory, and the both ends of driving shaft are connected with synchronizing wheel subassembly, in order to drive two synchronizing wheel subassembly synchronous revolution, and synchronizing wheel subassembly is connected with handling device's both sides respectively, in order to drive handling device and go up and down for the stand structure.
In an implementation mode, the transfer robot that this application provided, synchronizing wheel subassembly includes synchronizing wheel and synchronizing wheel seat, and the synchronizing wheel cover is established on the driving shaft, and the driving shaft drives two synchronizing wheel rotations, and the synchronizing wheel is connected with synchronizing wheel seat, and relative and synchronizing wheel seat rotation, synchronizing wheel seat and the upper surface of mounting panel are connected.
In one implementation mode, the transfer robot provided by the application comprises a synchronizing wheel seat and a synchronizing wheel seat, wherein the synchronizing wheel seat comprises a synchronizing wheel upper seat and a synchronizing wheel lower seat which jointly enclose an accommodating cavity, and the synchronizing wheel is partially positioned in the accommodating cavity;
the lower synchronizing wheel seat is connected with the upper surface of the mounting plate, and the upper synchronizing wheel seat covers the lower synchronizing wheel seat and is connected with the lower synchronizing wheel seat.
In one implementation, the transfer robot provided by the application has the upper parts of the two synchronizing wheel upper seats connected through the connecting plate.
In one implementation, the transfer robot provided by the application has the connecting plate parallel to the mounting plate;
the upper surface of the connecting plate is flush with the upper surface of the upper seat of the synchronizing wheel.
In an implementation mode, the transfer robot that this application provided, the upper surface of synchronizing wheel seat of honour has first recess, and the both ends of connecting plate all have connecting portion, and in connecting portion embedded respectively and the first recess relative of connecting portion, connecting portion and synchronizing wheel seat of honour are connected.
In one implementation manner, the transfer robot provided by the present application has at least one first mounting hole in the bottom of the first groove, at least one second mounting hole in the connecting portion, and the first connecting member extends into the first mounting hole through the second mounting hole and is connected to the first mounting hole.
In one implementation manner, according to the transfer robot provided by the application, the synchronizing wheel comprises a first sleeve, a second sleeve and a third sleeve which are coaxially arranged in sequence, bearings are sleeved on the first sleeve and the third sleeve, and the second sleeve is located in the accommodating cavity;
the lower part of the upper synchronizing wheel seat is provided with two opposite first mounting notches, the upper part of the lower synchronizing wheel seat is provided with two opposite second mounting notches, and the first mounting notches and the second mounting notches are communicated with the accommodating cavity;
the first installation notch and the second installation notch opposite to the first installation notch are jointly spliced to form an accommodating part for accommodating the bearing.
In one implementation, the transfer robot provided by the application has at least one second groove on one surface of the lower seat of the synchronizing wheel, which faces the upper surface of the mounting plate.
In one implementation mode, the transfer robot provided by the application has the advantages that the upper seat of the synchronizing wheel is provided with at least two first through holes, the lower seat of the synchronizing wheel is provided with at least two second through holes, and the first through holes and the second through holes are in one-to-one correspondence and are coaxially arranged;
the mounting plate is provided with at least four third through holes, and the second connecting piece sequentially penetrates through the first through hole, the second through hole and the third through holes so as to connect the upper seat and the lower seat of the synchronizing wheel to the mounting plate;
and/or the third connecting piece is arranged in the first through hole and the second through hole in a penetrating mode and is connected with the second through hole so as to be connected with the upper seat and the lower seat of the synchronizing wheel.
In one implementation mode, the carrying robot provided by the application comprises a synchronous wheel component, wherein the synchronous wheel component comprises a synchronous belt, the synchronous belt is connected with a carrying device, and the synchronous belt is sleeved on the synchronous wheel and meshed with the synchronous wheel;
the mounting plate is provided with an access hole for the synchronous belt to enter and exit.
In an implementation, the application provides a transfer robot, the motor unit includes interconnect's driving piece and transmission assembly, and the transmission assembly is connected with the driving shaft to with the drive power transmission of driving piece to the driving shaft.
In one implementation mode, the transfer robot provided by the application comprises a transmission assembly, a conveying assembly and a conveying mechanism, wherein the transmission assembly comprises a speed reducer, a box body and a gear set positioned in the box body, and a driving piece is connected with the speed reducer;
the gear train includes first gear and with first gear engagement's second gear, box and second gear wear to establish on the driving shaft, speed reducer and first gear connection to transmit the drive power of driving piece to the driving shaft through first gear and second gear.
In one implementation mode, in the transfer robot provided by the application, a shell of a speed reducer is connected with a shell of a driving piece, and the shell of the speed reducer is further connected with a box body;
the mounting plate is provided with a mounting part, and the box body is connected with the mounting part through screws.
In one implementation, the transfer robot provided by the application further comprises a driver, wherein the driver is arranged on the mounting plate, and the driver is electrically connected with the driving piece.
The application provides a transfer robot, which comprises a transfer device, a stand column structure and a driving mechanism; the driving mechanism comprises a mounting plate, a motor unit, a driving shaft and two synchronous wheel assemblies. Wherein, the mounting panel can be a flat board, directly connects motor element and synchronizing wheel subassembly at the upper surface of mounting panel, and from this, the mounting panel provides the installation benchmark for motor element and two synchronizing wheel subassemblies. Thus, the installation height of the synchronizing wheel assembly is convenient to adjust, and the installation angle of the synchronizing wheel assembly is convenient to adjust. This application connects motor element and synchronizing wheel subassembly at the upper surface of mounting panel, the lower surface of mounting panel is connected at the top of first stand and the top of second stand, installation error has been reduced, the installation degree of difficulty has also been reduced simultaneously, the axiality of motor element, driving shaft and two synchronizing wheel subassemblies has been improved, the axis that makes motor element, driving shaft and two synchronizing wheel subassemblies is located same straight line, thereby improve actuating mechanism's drive efficiency and drive accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of the drive mechanism and a portion of the column structure of FIG. 1;
fig. 3 is a schematic structural diagram of a driving mechanism in a transfer robot according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of another angle of a driving mechanism in the transfer robot according to the embodiment of the present disclosure;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic structural view of a synchronizing wheel upper seat in the transfer robot according to the embodiment of the present disclosure;
FIG. 7 is a schematic view of another angle of FIG. 6;
FIG. 8 is an enlarged view of a portion of FIG. 5 at A;
fig. 9 is a schematic structural view of a lower seat of a synchronizing wheel in the transfer robot according to the embodiment of the present disclosure;
FIG. 10 is a schematic view of another angle of FIG. 9;
fig. 11 is a schematic structural view of a synchronizing wheel in the transfer robot according to the embodiment of the present disclosure;
fig. 12 is a schematic structural view of a mounting plate in the transfer robot according to the embodiment of the present disclosure;
fig. 13 is a schematic structural view of a box and a gear train in the transfer robot according to the embodiment of the present disclosure.
Description of reference numerals:
100-a handling device;
200-column structure; 210-a first upright; 220-a second upright;
300-a drive mechanism; 310-a mounting plate; 311-third via; 312-access hole; 313-a mounting portion; 314-a driver; 315-a driver mount; 320-a motor unit; 321-a driving member; 322-a transmission assembly; 3221-a reducer; 3222-case body; 3223-gear set; 3224-a first gear; 3225-a second gear; 330-driving shaft; 340-a synchronizing wheel assembly; 341-synchronizing wheel; 3411-a first sleeve; 3412-a second sleeve; 3413-a third sleeve; 3414-a bearing; 342-a synchronizing wheel seat; 3421-synchronizing wheel upper seat; 3421 a-first side panel; 3421 b-second side plate; 3421 c-third side panel; 3421 d-fourth side plate; 3422-lower seat of synchronizing wheel; 3423-first groove; 3424-first mounting hole; 3425-first mounting notch; 3426-second mounting notch; 3427-second groove; 3428-first via; 3429-second via; 343-a synchronous belt;
400-a connecting plate; 410-a connecting portion; 411-second mounting hole;
500-a first connector;
600-a second connector;
700-a third connection;
800-moving the chassis.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.
The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.
The transfer robot may include a moving chassis, a column structure, a transfer device, and a drive mechanism. The upright column structure can comprise a first upright column and a second upright column which are arranged oppositely, the first upright column and the second upright column are connected on the movable chassis, the carrying device is positioned between the first upright column and the second upright column, and the driving mechanism is used for driving the carrying device to lift relative to the first upright column and the second upright column. The drive mechanism may comprise a motor unit and two synchronized wheel assemblies. The top of the first upright post and the top of the second upright post are respectively connected with a synchronous wheel assembly, and the motor unit is connected between the first upright post and the second upright post.
Due to the problems of machining precision and machining errors, the first stand column and the second stand column are difficult to be completely consistent, and the heights and the sections of the first stand column and the second stand column are deviated. The synchronous wheel assemblies are directly connected to the first stand column and the second stand column respectively, due to the height difference of the first stand column and the second stand column and the problem of section flatness, the installation heights of the two synchronous wheel assemblies are inconsistent, the installation angles of the synchronous wheel assemblies can incline, and therefore the installation deflection of the motor unit and the two synchronous wheel assemblies is influenced. If the axes of the motor unit and the two synchronous wheel assemblies are not on the same straight line, the driving efficiency and the driving precision of the driving mechanism can be reduced, and the maintenance cost of the driving mechanism is correspondingly increased.
In view of the above, the present application provides a transfer robot capable of improving the driving efficiency and driving accuracy of a driving mechanism.
Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure; FIG. 2 is a schematic structural view of the drive mechanism and a portion of the column structure of FIG. 1; fig. 3 is a schematic structural diagram of a driving mechanism in a transfer robot according to an embodiment of the present disclosure; fig. 4 is a schematic structural view of another angle of a driving mechanism in the transfer robot according to the embodiment of the present disclosure; fig. 5 is an exploded view of fig. 4. Referring to fig. 1 to 5, an embodiment of the present application provides a transfer robot including a transfer device 100, a column structure 200, and a driving mechanism 300.
The upright structure 200 includes a first upright 210 and a second upright 220, the driving mechanism 300 includes a mounting plate 310, a motor unit 320, a driving shaft 330 and two synchronizing wheel assemblies 340, the motor unit 320 and the synchronizing wheel assemblies 340 are connected to the upper surface of the mounting plate 310, the lower surface of the mounting plate 310 is connected to the top of the first upright 210 and the top of the second upright 220, the motor unit 320 is connected to the driving shaft 330 to drive the driving shaft 330 to rotate, two ends of the driving shaft 330 are connected to the synchronizing wheel assemblies 340 to drive the two synchronizing wheel assemblies 340 to rotate synchronously, and the synchronizing wheel assemblies 340 are respectively connected to two sides of the carrying device 100 to drive the carrying device 100 to lift relative to the upright structure 200 (i.e., the first upright 210 and the second upright 220).
In this application, transfer robot can be applied to intelligent warehousing system, intelligent logistics system, intelligent letter sorting system etc.. In the present embodiment, a case where the transfer robot is applied to the smart stocker system will be described.
To facilitate the transfer robot movement, the transfer robot may further include a moving chassis 800, and the first upright 210 and the second upright 220 may be connected to the moving chassis 800, and the transfer device 100, the upright structure 200, and the driving mechanism 300 are moved on the working surface (e.g., the floor) of the transfer robot by the moving chassis 800. In a specific implementation, the first upright column 210 and the second upright column 220 may be perpendicular to the moving chassis 800, that is, the first upright column 210 and the second upright column 220 may be disposed along a vertical direction, and the extending directions of the first upright column 210 and the second upright column 220 are both vertical directions.
The carrying device 100 is used for carrying goods, and the driving mechanism 300 drives the carrying device 100 to ascend and descend relative to the column structure 200, so that the carrying device 100 can carry goods at different heights on the shelves. The moving chassis 800 moves the transfer device 100, thereby allowing the transfer robot to transport goods at different positions in the warehouse.
In the present application, the driving mechanism 300 includes a mounting plate 310, a motor unit 320, a driving shaft 330, and two synchronizing wheel assemblies 340. The mounting plate 310 may be a flat plate, and the motor unit 320 and the synchronous wheel assembly 340 are directly connected to the upper surface of the mounting plate 310, so that the mounting plate 310 provides a mounting reference for the motor unit 320 and the two synchronous wheel assemblies 340. In this way, it is convenient to adjust the installation height of the synchronizing wheel assembly 340, and to adjust the installation angle of the synchronizing wheel assembly 340. For among the prior art, install two synchronizing wheel subassemblies 340 respectively on first stand 210 and second stand 220 that have machining error, this application connects motor unit 320 and synchronizing wheel subassembly 340 at the upper surface of mounting panel 310, the lower surface of mounting panel 310 is connected at the top of first stand 210 and the top of second stand 220, installation error has been reduced, the installation degree of difficulty has also been reduced simultaneously, motor unit 320, the axiality of driving shaft 330 and two synchronizing wheel subassemblies 340 have been improved, make motor unit 320, the axis of driving shaft 330 and two synchronizing wheel subassemblies 340 be located same straight line, thereby improve drive mechanism 300's drive efficiency and drive accuracy.
In this application, the synchronizing wheel assembly 340 includes a synchronizing wheel 341 and a synchronizing wheel seat 342, the synchronizing wheel 341 is sleeved on the driving shaft 330, the driving shaft 330 drives the two synchronizing wheels 341 to rotate, the synchronizing wheel 341 is connected with the synchronizing wheel seat 342 and rotates relatively with the synchronizing wheel seat 342, and the synchronizing wheel seat 342 is connected with the upper surface of the mounting plate 310.
Specifically, the synchronizing wheel holders 342 are used for supporting the synchronizing wheels 341, and one synchronizing wheel 341 corresponds to one synchronizing wheel holder 342. The driving shaft 330 and the two synchronizing wheels 341 can be connected by keys, so that the driving shaft 330 drives the two synchronizing wheels 341 to rotate synchronously. The timing wheel base 342 may be coupled to the upper surface of the mounting plate 310 by screws, snaps, or the like.
To facilitate installation of the synchronizing wheel 341, in some embodiments, the synchronizing wheel base 342 includes an upper synchronizing wheel base 3421 and a lower synchronizing wheel base 3422, the lower synchronizing wheel base 3422 is connected to the upper surface of the mounting plate 310, the upper synchronizing wheel base 3421 covers the lower synchronizing wheel base 3422 and is connected to the lower synchronizing wheel base 3422, the upper synchronizing wheel base 3421 and the lower synchronizing wheel base 3422 together define an accommodating cavity, and the synchronizing wheel 341 is partially located in the accommodating cavity.
Specifically, the synchronizing wheel 341 may be placed on the synchronizing wheel lower seat 3422, and the synchronizing wheel upper seat 3421 may be covered on the synchronizing wheel lower seat 3422, so that the synchronizing wheel 341 is partially located in the accommodating cavity defined by the synchronizing wheel upper seat 3421 and the synchronizing wheel lower seat 3422, and the synchronizing wheel upper seat 3421 and the synchronizing wheel lower seat 3422 may be connected by a detachable connection means such as a screw or a buckle.
In some embodiments, the upper portions of the two synchronizing wheel upper seats 3421 are connected by a connecting plate 400, wherein the connecting plate 400 is parallel to the mounting plate 310, so that the symmetry of the two synchronizing wheel assemblies 340 can be improved, thereby improving the coaxiality of the synchronizing wheels 341, the motor units 320 and the driving shaft 330.
Specifically, the upper surface of the connecting plate 400 is flush with the upper surface of the synchronizing wheel upper seat 3421. Thereby, the connection of the connecting plate 400 with the two timing wheel upper seats 3421 is facilitated.
FIG. 6 is a schematic structural view of a synchronizing wheel upper seat in the transfer robot according to the embodiment of the present disclosure;
FIG. 7 is a schematic view of another angle of FIG. 6; fig. 8 is a partial enlarged view of a portion a in fig. 5. Referring to fig. 5 to 8, in the present application, the upper surface of the upper seat 3421 of the synchronizing wheel has a first groove 3423, the two ends of the connecting plate 400 have connecting parts 410, the connecting parts 410 are respectively embedded in the first grooves 3423 opposite to the connecting parts 410, and the connecting parts 410 are connected to the upper seat 3421 of the synchronizing wheel. Wherein, the first groove 3423 provides the mounting and positioning position for the connecting plate 400, the connecting parts 410 are disposed corresponding to the first grooves 3423, the connecting parts 410 are embedded in the first grooves 3423 opposite to the connecting parts 410 to initially position the connecting plate 400 on the synchronizing wheel upper seat 3421, and then the connecting parts 410 are connected with the synchronizing wheel upper seat 3421.
Specifically, the bottom of the first groove 3423 has at least one first mounting hole 3424, the connecting portion 410 has at least one second mounting hole 411, and the first connecting member 500 extends into the first mounting hole 3424 through the second mounting hole 411 and is connected to the first mounting hole 3424. The first connecting member 500 may be a screw, the first mounting hole 3424 may be a screw hole, the second mounting hole 411 may be a through hole, and the screw passes through the second mounting hole 411 and is screwed with the first mounting hole 3424. The first mounting hole 3424 and the second mounting hole 411 may be both screw holes, and the embodiment is not limited herein.
Next, the manner of attaching the timing wheel 341 will be described with reference to the configurations of the timing wheel 341, the timing wheel upper mount 3421, and the timing wheel upper mount 3421.
Fig. 9 is a schematic structural view of a lower seat of a synchronizing wheel in the transfer robot according to the embodiment of the present disclosure;
FIG. 10 is a schematic view of another angle of FIG. 9; fig. 11 is a schematic structural view of a synchronizing wheel in the transfer robot according to the embodiment of the present application. Referring to fig. 5 to 11, in the transfer robot provided in the embodiment of the present application, the synchronizing wheel 341 includes a first sleeve 3411, a second sleeve 3412, and a third sleeve 3413 coaxially disposed in sequence, a bearing 3414 is sleeved on the first sleeve 3411 and the third sleeve 3413, and the second sleeve 3412 is located in the accommodating cavity.
The lower portion of the upper seat 3421 of the synchronizing wheel has two opposite first mounting notches 3425, the upper portion of the lower seat 3422 of the synchronizing wheel has two opposite second mounting notches 3426, and the first mounting notches 3425 and the second mounting notches 3426 are communicated with the accommodating cavity.
The first mounting notch 3425 and the second mounting notch 3426 opposite the first mounting notch 3425 together form a receiving portion for receiving the bearing 3414.
In a specific implementation, the upper seat 3421 of the synchronizing wheel includes at least four side plates, which are sequentially connected end to form a frame, and exemplarily, the upper seat 3421 of the synchronizing wheel includes a first side plate 3421a, a second side plate 3421b, a third side plate 3421c and a fourth side plate 3421d, which are sequentially connected end to end, the first side plate 3421a and the third side plate 3421c are oppositely disposed, and each of the first side plate 3421a and the third side plate 3421c has a first mounting notch 3425, the second sleeve 342 is partially located in an area surrounded by the first side plate 3421a, the second side plate 3421b, the third side plate 3421c and the fourth side plate 3421d, an outer side wall of an outer ring 3414 of the bearing 3414 on the first sleeve 3411 abuts against the first mounting notch 3425 on the first side plate 3421a, that is, the bearing 3414 on the first sleeve 3411 abuts against the first mounting notch 3425 on the outer ring 3421a of the outer ring 3414 on the third sleeve 3413, that is, the bearing 3414 on the third sleeve 3413 is lapped on the first mounting notch 3425 on the third side plate 3421 c. The structure of the lower seat 3422 and the upper seat 3421 of the synchronizing wheel can be the same, and reference is made to the above description of the upper seat 3421 of the synchronizing wheel, which is not repeated herein.
In this embodiment, the first mounting notch 3425 and the second mounting notch 3426 are both arc-shaped, and the first mounting notch 3425 and the second mounting notch 3426 are split together to form a circular shape, and the inner diameter of the circular shape is equal to the outer diameter of the outer ring of the bearing 3414. In a specific implementation, the arc shape of the first mounting notch 3425 and the arc length of the second mounting notch 3426 may be equal, or the arc shape of the first mounting notch 3425 and the arc shape of the second mounting notch 3426 may not be equal. Wherein, the arc length of the second mounting notch 3426 is set to be less than or equal to the arc length of the first mounting notch 3425. In this way, when the synchronizing wheel 341 is mounted, the bearings 3414 are directly engaged with the corresponding second mounting notches 3426. If the arc length of the second mounting notch 3426 is set to be larger than the arc length of the first mounting notch 3425, the bearing 3414 is inserted into the second mounting notch 3426 through the side of the second mounting notch 3426 when the timing wheel 341 is mounted.
In the transfer robot according to the embodiment of the present application, a surface of the lower sync wheel seat 3422 facing the upper surface of the mounting plate 310 has at least one second groove 3427. Specifically, the second groove 3427 and the second mounting notch 3426 may be located at two ends of the same side plate that defines the lower seat 3422 of the timing wheel. Alternatively, the second grooves 3427 may be formed in all the side plates surrounding the under-seat 3422 of the timing wheel. The one side of the upper surface of the synchronizing wheel lower seat 3422 facing the mounting plate 310 is provided with at least one second groove 3427, so that the area of the contact surface between the synchronizing wheel lower seat 3422 and the mounting plate 310 is reduced, the machining precision and the flatness of the synchronizing wheel lower seat 3422 can be improved, the fit clearance between the synchronizing wheel lower seat 3422 and the mounting plate 310 is reduced, and the height consistency and the coaxiality of the two synchronizing wheel assemblies 340 are ensured.
Fig. 12 is a schematic structural view of a mounting plate in the transfer robot according to the embodiment of the present application. Referring to fig. 5 to 12, in the transfer robot provided in the embodiment of the present application, at least two first through holes 3428 are formed in the upper synchronizing wheel seat 3421, at least two second through holes 3429 are formed in the lower synchronizing wheel seat 3422, and the first through holes 3428 and the second through holes 3429 are arranged coaxially and in a one-to-one correspondence;
the mounting plate 310 is provided with at least four third through holes 311, and the second connecting piece 600 is sequentially arranged in the first through hole 3428, the second through hole 3429 and the third through holes 311 in a penetrating manner so as to connect the upper seat 3421 and the lower seat 3422 of the synchronizing wheel to the mounting plate 310;
and/or, a third connecting member 700 is inserted into the first through hole 3428 and the second through hole 3429 and connected to the second through hole 3429 to connect the upper seat 3421 and the lower seat 3422.
In this embodiment and the drawings, the number of the first through holes 3428, the second through holes 3429, and the third through holes 311 is four. The number of the second connecting members 600 is four, two second connecting members 600 are disposed on the upper seat 3421 and the lower seat 3422 of the synchronizing wheel, and the second connecting members 600 are sequentially inserted into the first through hole 3428, the second through hole 3429 and the third through hole 311 to connect the upper seat 3421 and the lower seat 3422 of the synchronizing wheel to the mounting plate 310. The number of the third connecting members 700 is four, two third connecting members 700 are disposed on the upper seat 3421 and the lower seat 3422 of the synchronizing wheel, and the third connecting members 700 are inserted into the first through hole 3428 and the second through hole 3429 and connected to the second through hole 3429 to connect the upper seat 3421 and the lower seat 3422 of the synchronizing wheel.
In some embodiments, the mounting plate 310 further has at least one fourth through hole, the synchronizing wheel lower seat 3422 is provided with a screw hole corresponding to the fourth through hole, and a fourth connecting member is inserted into the fourth through hole and the screw hole to connect the mounting plate 310 and the synchronizing wheel lower seat 3422. Wherein, the fourth connecting piece may be a screw. In this embodiment, the upper sync wheel seat 3421, the lower sync wheel seat 3422 and the mounting plate 310 are connected by the second connecting member 600, the upper sync wheel seat 3421 and the lower sync wheel seat 3422 are connected by the third connecting member 700, and the lower sync wheel seat 3422 and the mounting plate 310 are connected by the fourth connecting member, thereby stably connecting the upper sync wheel seat 3421, the lower sync wheel seat 3422 and the mounting plate 310.
In a specific implementation, the top of the first and second columns 210 and 220 can have screw holes, and the second connector 600 can extend into the screw holes at the top of the first and second columns 210 and 220 to fix the driving mechanism 300 to the column structure 200. And/or, the top of the first upright column 210 and the second upright column 220 are provided with support plates, the support plates are provided with screw holes, and a fourth connecting piece sequentially passes through the screw holes on the support plates, the fourth through hole on the mounting plate 310 and the screw holes on the lower seat 3422 of the synchronizing wheel, so as to fix the driving mechanism 300 on the upright column structure 200.
Referring to fig. 1, fig. 2 and fig. 11, in the transfer robot according to the embodiment of the present application, the synchronizing wheel assembly 340 includes a synchronizing belt 343, the synchronizing belt 343 is connected to the transfer device 100, and the synchronizing belt 343 is sleeved on the synchronizing wheel 341 and is engaged with the synchronizing wheel 341;
the mounting plate 310 has an entrance/exit hole 312 for the timing belt 343. In the illustrated embodiment, when the timing wheel 341 rotates clockwise, the timing belt 343 drives the conveying device 100 to ascend, and when the timing wheel 341 rotates counterclockwise, the timing belt 343 drives the conveying device 100 to descend.
In the transfer robot provided by the embodiment of the present application, the motor unit 320 includes a driving element 321 and a transmission assembly 322 that are connected to each other, and the transmission assembly 322 is connected to the driving shaft 330 to transmit the driving force of the driving element 321 to the driving shaft 330. The driving unit 321 may be a motor or a rotary cylinder, and the driving unit 321 drives the driving shaft 330 to rotate.
Fig. 13 is a schematic structural view of a box and a gear train in the transfer robot according to the embodiment of the present disclosure. Referring to fig. 2 to 5 and fig. 13, in the transfer robot provided in the embodiment of the present application, the transmission assembly 322 includes a speed reducer 3221, a box 3222 and a gear set 3223 located in the box 3222, and the driving element 321 is connected to the speed reducer 3221;
the gear set 3223 includes a first gear 3224 and a second gear 3225 engaged with the first gear 3224, the housing 3222 and the second gear 3225 are disposed on the driving shaft 330, and the speed reducer 3221 is connected to the first gear 3224 to transmit the driving force of the driving member 321 to the driving shaft 330 through the first gear 3224 and the second gear 3225. The driving member 321 drives the driving shaft 330 to rotate through the speed reducer 3221 and the gear set 3223.
Specifically, a housing of the speed reducer 3221 is connected to a housing of the driving element 321, and the housing of the speed reducer 3221 is further connected to the case 3222;
the mounting plate 310 has a mounting portion 313, and the case 3222 is screwed to the mounting portion 313. Therefore, the coaxiality of the second gear 3225, the driving shaft 330 and the synchronizing wheel 341 is improved, the abrasion of the first gear 3224 and the second gear 3225 is reduced, and the maintenance cost of the whole transfer robot is reduced.
With continued reference to fig. 2 to 4, the transfer robot provided in the embodiment of the present application further includes a driver 314, the driver 314 is disposed on the mounting plate 310, and the driver 314 is electrically connected to the driving member 321. The driver 321 is driven to rotate by the driver 314. Wherein the actuator 314 may be directly attached to the mounting plate 310, the actuator 314 is illustratively attached to the mounting plate 310 by a screw or a snap. The driver 314 may also be connected to the mounting plate 310 by a driver mounting bracket 315, wherein the driver mounting bracket 315 is connected to the mounting plate 310 by screws, the driver 314 is connected to the driver mounting bracket 315, and the driver 314 may be located at one side of the mounting plate 310, thereby preventing the driver 314 from occupying the space of the mounting plate 310.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (15)

1. A transfer robot is characterized by comprising a transfer device, a stand column structure and a driving mechanism;
the upright post structure comprises a first upright post and a second upright post, and the driving mechanism comprises a mounting plate, a motor unit, a driving shaft and two synchronous wheel assemblies;
the upper surface at the mounting panel is connected to motor unit and synchronizing wheel subassembly, the lower surface of mounting panel is connected the top of first stand with the top of second stand, motor unit with the initiative hub connection, in order to drive the initiative shaft is rotatory, the both ends of initiative shaft with synchronizing wheel subassembly is connected, in order to drive two synchronizing wheel subassembly synchronous revolution, synchronizing wheel subassembly respectively with handling device's both sides are connected, in order to drive handling device for the stand structure goes up and down.
2. The transfer robot of claim 1, wherein the synchronizing wheel assembly comprises synchronizing wheels and synchronizing wheel mounts, the synchronizing wheels are sleeved on the drive shaft, the drive shaft drives the two synchronizing wheels to rotate, the synchronizing wheels are connected with the synchronizing wheel mounts and rotate relative to the synchronizing wheel mounts, and the synchronizing wheel mounts are connected with the upper surface of the mounting plate.
3. The transfer robot of claim 2, wherein the sync wheel seat comprises an upper sync wheel seat and a lower sync wheel seat that together enclose an accommodation cavity, the sync wheel portion being located within the accommodation cavity;
the synchronizing wheel lower seat is connected with the upper surface of the mounting plate, and the synchronizing wheel upper seat covers the synchronizing wheel lower seat and is connected with the synchronizing wheel lower seat.
4. The transfer robot of claim 3, wherein the upper portions of the two synchronizing wheel upper seats are connected by a connecting plate.
5. The transfer robot of claim 4, wherein the connecting plate is parallel to the mounting plate;
the upper surface of the connecting plate is flush with the upper surface of the upper seat of the synchronizing wheel.
6. The transfer robot as claimed in claim 4, wherein the upper surface of the upper sync wheel seat has a first groove, and the connecting plate has connecting portions at both ends thereof, the connecting portions being respectively fitted into the first grooves opposite to the connecting portions, the connecting portions being connected to the upper sync wheel seat.
7. The transfer robot of claim 6, wherein the bottom of the first groove has at least one first mounting hole, the connecting portion has at least one second mounting hole, and a first connecting member extends into the first mounting hole through the second mounting hole and is connected to the first mounting hole.
8. The transfer robot of any one of claims 3 to 7, wherein the synchronizing wheel comprises a first sleeve, a second sleeve and a third sleeve which are coaxially arranged in sequence, bearings are sleeved on the first sleeve and the third sleeve, and the second sleeve is located in the accommodating cavity;
the lower part of the upper synchronizing wheel seat is provided with two opposite first mounting notches, the upper part of the lower synchronizing wheel seat is provided with two opposite second mounting notches, and the first mounting notches and the second mounting notches are communicated with the accommodating cavity;
the first installation notch and the second installation notch opposite to the first installation notch are jointly spliced to form an accommodating part for accommodating the bearing.
9. A transfer robot as claimed in any one of claims 3 to 6, wherein the timing wheel lower seat has at least one second groove on a face thereof facing the upper surface of the mounting plate.
10. The transfer robot of claim 9, wherein the upper sync wheel seat has at least two first through holes, the lower sync wheel seat has at least two second through holes, and the first through holes and the second through holes are arranged coaxially and in one-to-one correspondence;
the mounting plate is provided with at least four third through holes, and a second connecting piece sequentially penetrates through the first through hole, the second through hole and the third through holes so as to connect the upper synchronizing wheel seat and the lower synchronizing wheel seat to the mounting plate;
and/or a third connecting piece is arranged in the first through hole and the second through hole in a penetrating mode and is connected with the second through hole so as to connect the upper synchronizing wheel seat and the lower synchronizing wheel seat.
11. The transfer robot of any one of claims 2 to 6, wherein the synchronizing wheel assembly comprises a synchronizing belt connected to the transfer device, the synchronizing belt being fitted over the synchronizing wheel and engaged with the synchronizing wheel;
and the mounting plate is provided with an access hole for the synchronous belt to enter and exit.
12. The transfer robot of any one of claims 1 to 6, wherein the motor unit includes a driving member and a transmission assembly connected to each other, the transmission assembly being connected to the driving shaft to transmit the driving force of the driving member to the driving shaft.
13. The transfer robot of claim 12, wherein the drive assembly includes a speed reducer, a housing, and a gear train within the housing, the drive member being connected to the speed reducer;
the gear set comprises a first gear and a second gear meshed with the first gear, the box body and the second gear are arranged on the driving shaft in a penetrating mode, and the speed reducer is connected with the first gear so as to transmit the driving force of the driving piece to the driving shaft through the first gear and the second gear.
14. The transfer robot of claim 13, wherein the housing of the decelerator is connected to the housing of the driving member, the housing of the decelerator being further connected to the cassette;
the mounting panel is provided with an installation part, and the box body is connected with the installation part through screws.
15. The transfer robot of claim 12, further comprising a driver disposed on the mounting plate, the driver being electrically connected to the drive member.
CN202121370899.8U 2021-06-18 2021-06-18 Transfer robot Active CN216036649U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121370899.8U CN216036649U (en) 2021-06-18 2021-06-18 Transfer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121370899.8U CN216036649U (en) 2021-06-18 2021-06-18 Transfer robot

Publications (1)

Publication Number Publication Date
CN216036649U true CN216036649U (en) 2022-03-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121370899.8U Active CN216036649U (en) 2021-06-18 2021-06-18 Transfer robot

Country Status (1)

Country Link
CN (1) CN216036649U (en)

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