CN216642676U

CN216642676U - Flexible connecting device

Info

Publication number: CN216642676U
Application number: CN202123324995.1U
Authority: CN
Inventors: 朱俊达; 张正勇
Original assignee: Hangzhou Huicang Information Technology Co ltd
Current assignee: Zhejiang Huicang Intelligent Technology Co.,Ltd.
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-05-31
Anticipated expiration: 2031-12-27

Abstract

The utility model relates to a flexible connecting device, which comprises a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly, wherein the connecting frame is provided with a flexible adjusting structure; the four corners of the connecting frame are respectively provided with a butt joint positioning track; one end of the flexible adjusting structure is connected with the mounting plate, and the other end of the flexible adjusting structure is connected with the connecting frame; the mounting plate is provided with a plurality of mounting holes and is connected with the horizontal motion robot through the mounting holes; the top part of the floating seat assembly can move along with the connecting frame under the action of the flexible adjusting structure; the butt joint positioning track comprises a positioning portion and a positioning support, a lifting track is arranged on the positioning portion, the inner wall of the lifting track is matched with the driving wheel to achieve the vertical movement robot to vertically move in and out of the lifting track, and a positioning hole matched with the article storage system is formed in the positioning support.

Description

Flexible connecting device

Technical Field

The utility model relates to a connecting structure, in particular to a flexible connecting device.

Background

The prior three-dimensional warehouse system generally uses a production line to convey articles to a specified position, and then conveys the articles to a specified storage position after the articles are taken away by a vertical motion robot (shuttle vehicle), for example, CN209097512U applied before my department discloses a three-dimensional warehouse system based on an automatic operating platform, but the structure has the defects that the shuttle vehicle can only operate between two three-dimensional warehouses at most, can not operate on a plurality of three-dimensional warehouses to realize more flexible storage, and also causes the need of installing transverse motion guide rails and conveying lines on the three-dimensional warehouses, thereby causing the cost increase of the three-dimensional warehouses. Therefore, the horizontal movement robot needs to be combined with the shuttle vehicle, so that the horizontal movement robot can be in butt joint with and separated from the shuttle vehicle, the shuttle vehicle can run among a plurality of three-dimensional storehouses, and feeding and discharging with higher efficiency are realized.

However, in the prior art, the docking and the disengagement of the horizontal motion robot and the shuttle car cannot be well realized, the structure is complex, the error rate is high, and the overall efficiency cannot be well improved. Therefore, a flexible connection device which can be conveniently butted with a shuttle by a horizontal motion robot is needed to be needed.

SUMMERY OF THE UTILITY MODEL

The present invention addresses the above-identified problems in the prior art by providing a flexible connection device.

In order to realize the purpose of the utility model, the utility model adopts the following technical scheme: the flexible connecting device comprises a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly; the four corners of the connecting frame are respectively provided with a butt-joint positioning track, and the connecting frame is connected with a vertical motion robot through the butt-joint positioning tracks; the flexible adjusting structures are respectively arranged at four corners of the mounting plate, one end of each flexible adjusting structure is connected with the mounting plate, and the other end of each flexible adjusting structure is connected with the connecting frame; the mounting plate is provided with a plurality of mounting holes, and the mounting plate is connected with the horizontal motion robot through the mounting holes; the top part of the floating seat assembly can move along with the connecting frame under the action of a flexible adjusting structure to realize relative movement with the mounting plate; the butt joint positioning track comprises a positioning part and a positioning support, a lifting track for placing a driving wheel of the vertical motion robot is arranged on the positioning part, the inner wall of the lifting track is matched with the driving wheel to enable the vertical motion robot to vertically move in and out of the lifting track, and a positioning hole matched with the article storage system is arranged on the positioning support.

The working principle and the beneficial effects are as follows: 1. compared with the prior art, the flexible connecting device can be conveniently installed on a horizontal motion robot, the horizontal motion robot (AGV) is connected with a driving wheel of a vertical motion robot through a lifting track of the flexible connecting device, especially in the connection process, if the lifting track is not aligned with the vertical motion robot, when the vertical motion robot (shuttle car) descends, a butt joint positioning track of the flexible connecting device is matched with a positioning structure on an article storage system, so that a connecting frame of the flexible connecting device has a twisting trend in a correct direction, and therefore under the action of a flexible adjusting structure, the top of a floating seat assembly can move along with the connecting frame, so that relative motion is formed between the connecting frame and a mounting plate, the vertical motion robot is aligned, and accurate matching of the horizontal motion robot and the vertical motion robot is finally realized, the requirement of accurate butt joint of the horizontal motion robot and the vertical motion robot is greatly reduced, and the error rate is greatly reduced;

2. therefore, the article storage system (three-dimensional warehouse system) is very suitable for the article storage system (three-dimensional warehouse system) of our department, the arrangement of a conveying line and a horizontal track can be omitted, only the goods shelf of the article storage system is needed, the horizontal movement robot can drive the vertical movement robot to achieve feeding and discharging operations on each article storage system, and the operation efficiency is greatly improved.

Furthermore, the flexible adjusting structure comprises a reset connecting seat detachably connected with the bottom plate, and an elastic reset piece, one end of which is connected with the reset connecting seat, and the other end of the elastic reset piece is detachably connected with the connecting frame.

Furthermore, the floating seat assembly comprises a flexible block, a limiting block, a floating seat bottom plate and a floating plate, the flexible block is exposed out of the hole and connected with the vertical motion robot, the limiting block and the floating seat bottom plate are combined to form a cavity for the floating plate to move, and the floating plate extends out of the limiting block and is connected with the flexible block.

Furthermore, balls are arranged between the floating plate and the limiting block, and balls are also arranged between the floating plate and the floating seat bottom plate.

Furthermore, the flexible block is matched with the vertical motion robot through magnetic attraction, insertion or clamping.

Furthermore, a position locating element is further arranged below the locating support, and the height of the mounting plate is limited through the position locating element.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of the mounting plate of the present invention;

FIG. 3 is a schematic view of the internal structure of the floating seat assembly of the present invention;

FIG. 4 is a perspective view of the present invention applied to a horizontal movement device;

FIG. 5 is a schematic view of the vertical motion robot of FIG. 4 with the vertical motion robot removed;

FIG. 6 is a perspective view of the present invention applied to a stereoscopic garage system;

FIG. 7 is a top view of FIG. 6;

fig. 8 is a schematic view of the horizontal movement device during docking.

In the drawings, 1, a flexible connecting device; 2. a horizontally moving robot; 3. a vertical motion robot; 4. an item storage system; 11. a connecting frame; 12. a flexible adjustment structure; 13. mounting a plate; 14. a float seat assembly; 111. butting the positioning rails; 121. resetting the connecting seat; 122. an elastic reset member; 141. a flexible block; 142. a limiting block; 143. a floating seat bottom plate; 145. a floating plate; 146. a ball bearing; 21. a lifting platform; 1111. a lifting rail; 1112. positioning the bracket; 1113. positioning holes; 1114. a position locating element; 31. a vehicle body; 32. a drive wheel; 33. a storage structure; 311. a height positioning element; 41. a shelf body; 42. storing bits; 43. a vertical track; 431. a positioning member.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.

Example 1

As shown in fig. 1, the flexible connection device includes a connection frame 11, a flexible adjustment structure 12, a mounting plate 13 and a floating seat assembly 14, wherein the connection frame 11 is rectangular and has a hollow middle part, four corners are protruded, the four corners are used for being abutted with the vertical motion robot 3, and the mounting plate 13 is also rectangular. The flexible connection means is equivalent to an elastic connection structure for connecting the horizontal movement robot 2 and the vertical movement robot 3.

Specifically, the connecting frame 11 is provided with an opening for exposing the floating seat assembly 14, the four corners of the connecting frame 11 are respectively provided with a docking positioning rail 111 matched with the vertical motion robot 3 and the article storage system 4, wherein the docking positioning rail 111 is used for being in docking connection with the vertical motion robot 3, the vertical motion robot 3 is a shuttle disclosed before my department, the docking positioning rails 111 are installed at the four corners protruding from the connecting frame 11, and the opening is used for facilitating installation of the floating seat assembly 14, so that the connecting frame 11 and the mounting plate 13 can move relatively.

Referring to fig. 2, specifically, the flexible adjusting structures 12 are respectively disposed at four corners of the mounting plate 13, one end of the flexible adjusting structure 12 is connected to the mounting plate 13, and the other end of the flexible adjusting structure 12 is connected to the connecting frame 11, actually, the flexible adjusting structure 12 includes a reset connecting seat 121 fixed to the bottom plate by screws, and an elastic reset member 122 having one end connected to the reset connecting seat 121, and the other end of the elastic reset member 122 is fixed to the connecting frame 11 by screw connection. The elastic force of the elastic reset piece 122 is utilized to restore the connecting frame 11 and the mounting plate 13 to the initial position, and the connecting frame 11 moves under the driving of the flexible block 141, so that the structure is simple and the stability is high. In the present embodiment, the elastic restoring member 122 is a common tension spring.

In this embodiment, the floating seat assembly 14 includes a flexible block 141, a limit block 142, a floating seat bottom plate 143, and a floating plate 145, and is fixed to the connecting frame 11 by screws through the flexible block 141, the limit block 142 and the floating seat bottom plate 143 are combined to form a cavity for the floating plate 145 to move, the floating plate 145 extends out of the limit block 142 and is connected to the flexible block 141, and the top portion of the floating seat assembly 14 can move along with the connecting frame 11 under the action of the flexible adjusting structure 12. According to the scheme, when the flexible block 141 is connected with the vertical motion robot 3, the flexible block 141 and the floating plate 145 move integrally, the limiting block 142 and the floating seat bottom plate 143 are integrally fixed on the mounting plate 13, and just as such, the two can move relatively, and under the action of the flexible adjusting structure 12, the two can move relatively, but can always return to the initial position, and just as such, after the vertical motion robot 3 is installed in place, under the action of the flexible adjusting structure 12, the mounting plate 13 can return to the initial position, so that the vertical motion robot 3 and the horizontal motion robot 2 are really aligned, the position deviation of the vertical motion robot 3 in a certain range can be met, the requirement on the docking accuracy is greatly reduced, and the docking operation can be completed more smoothly.

Referring to fig. 3, preferably, in order to reduce the friction force, a ball 146 is disposed between the floating plate 145 and the stopper 142, and a ball 146 is also disposed between the floating plate 145 and the floating seat bottom plate 143. According to the arrangement, the friction type between the floating plate 145, the limiting block 142 and the floating seat bottom plate 143 is changed from sliding friction to rolling friction, so that the friction force is greatly reduced, the smoothness of the relative movement of the floating plate 145 is improved, the mounting plate 13 actually moves in the butt joint process of the vertical movement robot 3, and the mounting plate 13 can rotate on the horizontal movement robot 2 at a certain angle, so that the butt joint success rate can be greatly improved.

Specifically, a plurality of mounting holes are formed in the mounting plate 13, and the mounting plate is connected with the horizontal movement robot 2 through the mounting holes, wherein the horizontal movement robot 2 is a common AGV trolley, and the mounting plate 13 is mounted on an elevator platform 21 of the AGV trolley through screws.

Example 2

Referring to fig. 4 and 5, a horizontal moving device is formed by applying the flexible connecting device 1 of embodiment 1 to a horizontal moving robot 2, and the horizontal moving device includes the flexible connecting device 1, a vertical moving robot 3 detachably connected to a floating seat assembly 14, and a horizontal moving robot 2 detachably connected to a mounting plate 13, and the horizontal moving robot 2 can lift the mounting plate 13 to perform a lifting operation. The floating seat assembly 14 is matched with the vertical motion robot 3 in a magnetic attraction or clamping manner, and the lifting platform 21 of the horizontal motion robot 2 is fixed with the mounting plate 13 through screws.

Preferably, the docking positioning rail 111 in the flexible connection device 1 includes a positioning portion and a positioning bracket 1112, the positioning portion is provided with a lifting rail 1111 for the driving wheel 32 of the vertical movement robot 3 to place on, and the inner wall of the lifting rail 1111 cooperates with the driving wheel 32 to enable the vertical movement robot 3 to go in and out of the lifting rail 1111 from top to bottom, and the positioning bracket 1112 is provided with a positioning hole 1113 cooperating with the article storage system 4. The lifting track 1111 enables the vertical movement robot 3 to automatically run to the track on the article storage system 4 from the flexible connecting device 1, and the positioning hole 1113 can be conveniently matched with the article storage system 4 to realize positioning, so that the requirement on the hardware structure of the article storage system 4 is greatly reduced.

Preferably, the vertical movement robot 3 includes a vehicle body 31, a driving wheel 32 disposed on the vehicle body 31, and a storage structure 33 for placing goods, the driving wheel 32 is engaged with the inner wall of the lifting rail 1111, the storage structure 33 can drive the goods to enter and leave the article storage system 4, the specific structure of the storage structure 33 is the prior art, which is not the key point of the present application, and therefore it is not described any more herein, and the driving wheel 32 is a gear, one of the inner walls of the lifting rail 1111 has a tooth shape, which is equivalent to a rack, and the lifting movement of the vertical movement robot 3 is realized through the gear and the rack. This scheme, realize automobile body 31 at lift track 1111 up-and-down motion through drive wheel 32 and the meshing of lift track 1111 inner wall, can conveniently place the goods and take the goods from article storage system 4 through storage structure 33.

By applying the flexible connecting device 1, the vertical motion robot 3 and the horizontal motion robot 2 form a horizontal moving device, the separation and butt joint operation of the horizontal motion robot 2 and the vertical motion robot 3 can be easily completed through the flexible connecting device 1 under the unmanned intervention, particularly, the horizontal motion robot 2 can carry out the lifting operation of a certain height on the vertical motion robot 3 through driving the mounting plate 13, so that a mechanical positioning structure capable of lifting motion is not required to be arranged on each article storage system 4, only the vertical motion robot 3 is required to be lifted and is matched with the positioning structure on the article storage system 4 along with the lifting of the mounting plate 13, and then the vertical motion robot 3 can be correctly lifted on the track on the article storage system 4, realize material loading and unloading operation, greatly reduced the butt joint degree of difficulty, it is low to realize the degree of difficulty, simple structure.

Example 3

Referring to fig. 6-8, in the present embodiment, the horizontal moving device and the article storage system 4 in embodiment 2 form a three-dimensional warehouse system, which includes the article storage system 4 and the horizontal moving device;

article are deposited system 4 and are included goods shelves body 41, locate a plurality of storage positions 42 and a plurality of vertical tracks 43 of lifting rail 1111 complex on goods shelves body 41, every vertical track 43 bottom all be equipped with locating hole 1113 complex setting element 431, be equipped with the location portion on every storage position 42, be equipped with on the automobile body 31 and realize the high locating element 311 of 3 high location of vertical motion robot with the cooperation of location portion. The positioning portion is a common sensor barrier or a bar code, and the height positioning element 311 is a common photoelectric sensor, a limit switch, a visual sensor, or the like.

Specifically, a position positioning element 1114 engaged with the positioning member 431 is further provided below the positioning bracket 1112. The position locating element 1114 can be used for stopping the horizontal motion robot 2 from driving the mounting plate 13 to ascend and performing height limiting operation on the mounting plate 13 to prevent the mounting plate 13 from ascending excessively when the locating piece 431 is abutted or contacted with the position locating element 1114, wherein the locating element can be a common limit switch.

The application combines the horizontal moving device and the existing article storage system 4, the conveying line and the transverse rail of the article storage system 4 are removed, the hardware cost of a single article storage system 4 is greatly reduced, the vertical moving robot 3 on the horizontal moving device can be conveniently lifted through the plurality of vertical rails 43, so that the loading and unloading operation, namely the goods storage operation, is carried out on each storage position 42, the vertical rails 43 and the horizontal moving device are accurately positioned through the matching of the positioning piece 431 and the positioning holes 1113, only the horizontal moving robot 2 is required to drive the vertical moving robot 3 to lift, the positioning piece 431 is inserted into the positioning holes 1113 along with the lifting of the mounting plate 13, if the positioning piece 431 and the positioning holes 1113 are not completely aligned in the process, the relative rotation can occur between the connecting frame 11 and the mounting plate 13 at the moment, make locating piece 431 can insert smoothly in locating hole 1113, flexible adjustment structure 12 holds power this moment, and accomplished vertical track 43 and horizontal migration device's accurate positioning promptly after both cooperate completely, descend when horizontal motion robot 2 drive mounting panel 13 for locating piece 431 and locating hole 1113 after the separation, under the effect of flexible adjustment structure 12, connecting frame 11 and mounting panel 13 resume initial position, this process requires greatly reduced to the positioning accuracy of horizontal migration device, the butt joint success rate has been shown to be improved.

The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Claims

1. The flexible connecting device is characterized by comprising a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly; the four corners of the connecting frame are respectively provided with a butt joint positioning rail, and the connecting frame is connected with the vertical motion robot through the butt joint positioning rails; the flexible adjusting structures are respectively arranged at four corners of the mounting plate, one end of each flexible adjusting structure is connected with the mounting plate, and the other end of each flexible adjusting structure is connected with the connecting frame; the mounting plate is provided with a plurality of mounting holes, and the mounting plate is connected with the horizontal motion robot through the mounting holes; the top part of the floating seat assembly can move along with the connecting frame under the action of a flexible adjusting structure to realize relative movement with the mounting plate; the butt joint positioning track comprises a positioning part and a positioning support, a lifting track for placing a driving wheel of the vertical motion robot is arranged on the positioning part, the inner wall of the lifting track is matched with the driving wheel to enable the vertical motion robot to vertically move in and out of the lifting track, and a positioning hole matched with the article storage system is arranged on the positioning support.

2. The flexible connecting device according to claim 1, wherein the flexible adjusting structure comprises a reset connecting seat detachably connected to the bottom plate, and an elastic reset member having one end connected to the reset connecting seat and the other end detachably connected to the connecting frame.

3. The flexible connecting device of claim 2, wherein the floating seat assembly comprises a flexible block, a limiting block, a floating seat bottom plate and a floating plate, the flexible block is connected with the vertical motion robot through an exposed opening, the limiting block and the floating seat bottom plate are combined to form a cavity for the floating plate to move, and the floating plate extends out of the limiting block and is connected with the flexible block.

4. The flexible connection device of claim 3 wherein a ball is disposed between the floating plate and the stop block, and a ball is also disposed between the floating plate and the floating seat bottom plate.

5. The flexible connection device of claim 3, wherein the flexible block is magnetically attracted, inserted or snapped into engagement with the vertical motion robot.

6. The flexible connection device according to claim 1, wherein a position locating element is further arranged below the locating bracket, and the height limit of the mounting plate is realized through the position locating element.