CN217494254U

CN217494254U - Horizontal reciprocating motion device and robot

Info

Publication number: CN217494254U
Application number: CN202221176689.XU
Authority: CN
Inventors: 施彬; 宋恩记
Original assignee: Cloud Machine Times Shanghai Intelligent Technology Co ltd
Current assignee: Cloud Machine Times Shanghai Intelligent Technology Co ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-09-27
Anticipated expiration: 2032-05-07

Abstract

The utility model relates to an intelligence storage logistics technology field provides a horizontal reciprocating motion device and robot, including drive arrangement, base, guide rail and back and forth movement unit, the guide rail with the combination in the base, collaborative work, back and forth movement unit is along the guide rail back and forth movement, drive arrangement provides power for back and forth movement unit; the utility model has the advantages that one or more reciprocating units are selectively arranged to be embedded in the guide rail or the moving element is wholly or semi-externally coated on the guide rail to reciprocate, so as to improve the control precision of reciprocating operation; the transmission belt of the utility model is arranged on the first fixed seat through the fixed block, and the mobile unit is arranged on the side surface of the first fixed seat, thereby improving the stability of the mobile unit in the transmission process of the transmission belt; the utility model provides a robot uses horizontal reciprocating motion device in the crossbeam, promotes the overall control precision of manipulator, increases the home range of manipulator, improves work efficiency.

Description

Horizontal reciprocating motion device and robot

Technical Field

The utility model relates to an intelligence storage commodity circulation technical field, in particular to horizontal reciprocating motion device and robot.

Background

The storage logistics mainly refers to the storage, the keeping, the loading, the unloading, the transportation and the delivery of goods by utilizing self-built or leased storehouses and yards. In the recent large environment of rapid development of electronic commerce, the robot freight technology in the field of modern warehouse logistics has become a hot spot. Compared with the traditional goods transportation mode, the automatic goods transportation system has the advantages of high automation degree, flexible application, safety, reliability, high efficiency and the like, and the advantages enable the robot goods transportation technology to become an important technology in the modern logistics storage system.

At present, the vast majority of storage robots in China, flexible manipulator can not be on the crossbeam reciprocating motion, can cause the manipulator on the one hand because the overall control precision is low, need reserve great interval between the goods, and on the other hand, manipulator home range is little, and it is little to cause the carrier space of depositing goods quantity, and the goods that carry is small in quantity, inefficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, the utility model provides a following technical scheme:

at least one embodiment of the present disclosure provides a horizontal reciprocating device, including a driving device, a base, a guide rail, and a reciprocating unit, where the guide rail is combined with the base, the reciprocating unit reciprocates along the guide rail, and the driving device provides power for the reciprocating unit.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, where the reciprocating unit includes a belt, a fixing block, a first fixing base, and a moving unit, the belt is mounted on the first fixing base through the fixing block, and the moving unit is mounted on a side surface of the first fixing base.

Preferably, the first fixing seat comprises a fixing seat bottom plate and fixing seat side plates, the transmission belt is installed on the fixing seat bottom plate through the fixing blocks, and the moving units are arranged in pairs and connected with the fixing seat side plates on the two sides of the first fixing seat respectively.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, wherein one of the guide rails is engaged with at least one set of moving units.

At least one embodiment of the present disclosure provides a horizontal reciprocating apparatus, the moving unit including a moving member including a pulley or a slider or a roller; the moving piece is connected with the guide rail in a connecting mode that the moving piece is embedded in the guide rail or the moving piece is totally or semi-externally coated on the guide rail.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, the moving unit further including a connection plate connected with the moving member.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, wherein the base is combined with at least one guide rail.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, where the driving device includes a driving element, a driving shaft, and a motor set, the driving element drives the driving shaft to rotate under the action of the motor set, and the driving shaft is connected to the transmission belt.

Preferably, the driving shaft is further provided with a belt wheel, and the belt wheel drives the driving belt to move.

Preferably, at least one end of the driving shaft rotates in the base, and the base is provided with an end cover for shielding at least one end of the driving shaft and preventing the driving shaft from being wound with other objects in the moving process.

Preferably, the driving member includes, but is not limited to, a driven gear, a sprocket and a chain, and the driving member corresponds to a connecting member, so long as the power of the motor set can be transmitted to the driving shaft to rotate the driving shaft, which is within the protection scope of the present solution.

At least one embodiment of the present disclosure provides a horizontal reciprocating device, in which the reciprocating unit includes a moving seat and a rotating rod, and the rotating rod drives the moving seat to reciprocate under the driving of the driving device.

Preferably, the rotary rod passes remove the seat, the at least one end of rotary rod is placed in the second fixing base, still be equipped with the dead lever in the second fixing base, the dead lever sets up the both sides of rotary rod, remove the seat and also move on the dead lever.

At least one embodiment of this disclosure provides a robot, the back and forth movement unit includes slide and magnetic track, the magnetic track is placed on the base, drive arrangement drives slide along magnetic track reciprocating motion.

At least one embodiment of this disclosure provides a robot, the robot adopts foretell horizontal reciprocating motion device, the robot is including removing chassis, support column, manipulator and at least a set of crossbeam, at least one end of crossbeam is connected the support column, and can follow the support column removes, horizontal reciprocating motion device sets up in the crossbeam, the manipulator with horizontal reciprocating motion device connects, the manipulator is in reciprocating motion under horizontal reciprocating motion device's the drive.

Preferably, each set of beams is individually or collectively movable.

Preferably, the supporting column may only include a fixed supporting column, the fixed supporting column is mounted on the moving chassis, and at least one end of the cross beam is connected to the fixed supporting column and can move along the fixed supporting column. Preferably, the supporting columns comprise fixed supporting columns and lifting supporting columns, the lifting supporting columns and the fixed supporting columns are movably assembled and combined, the fixed supporting columns are installed on the moving chassis, the lifting supporting columns can move along the fixed supporting columns, and at least one end of the cross beam is connected with the lifting supporting columns and can move along the lifting supporting columns.

The utility model discloses following beneficial effect has:

(1) the utility model has the advantages that one or more reciprocating units are selectively arranged to be embedded in the guide rail or the moving element is wholly or semi-externally coated on the guide rail to reciprocate, so as to improve the control precision of reciprocating operation;

(2) the transmission belt of the utility model is arranged on the first fixed seat through the fixed block, and the mobile unit is arranged on the side surface of the first fixed seat, thereby improving the stability of the mobile unit in the transmission process of the transmission belt;

(3) the utility model provides a robot uses horizontal reciprocating motion device in the crossbeam, promotes the overall control precision of manipulator, increases the home range of manipulator, improves work efficiency.

Drawings

Fig. 1 is a schematic structural view of a horizontal reciprocating apparatus of embodiment 1.

FIG. 2 is a schematic diagram of the structure of a mobile unit according to embodiment 2

Fig. 3 is a schematic structural diagram of a mobile unit of embodiment 3.

Fig. 4 is a schematic configuration diagram of a mobile unit of embodiment 4.

Fig. 5 is a schematic structural diagram of a mobile unit of embodiment 5.

Fig. 6 is a schematic configuration diagram of a mobile unit of embodiment 6.

FIG. 7 is a schematic view of a plurality of guide rails of embodiment 7.

Fig. 8 is a schematic structural view of a reciprocating unit of embodiment 8.

Fig. 9 is a schematic structural view of a reciprocating unit of embodiment 9.

Fig. 10 is a schematic configuration diagram of a robot according to embodiment 10.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, and it should be noted that the embodiments are only specific illustrations of the present invention, and should not be considered as limitations of the present invention, and the purpose of the embodiments is to make those skilled in the art better understand and reproduce the technical solutions of the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims.

It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

In the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as either a fixed connection, a detachable connection, or an integral part; they may be mechanically coupled, directly coupled, or indirectly coupled through intervening agents, both internally and/or in any other manner known to those skilled in the art. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Example 1

As shown in fig. 1, the present embodiment provides a horizontal reciprocating device, which includes a driving device 1, a base 2, a guide rail 3, and a reciprocating unit 4, wherein the guide rail 3 is combined with the base 2, the reciprocating unit 4 reciprocates along the guide rail 3, and the driving device 1 provides power for the reciprocating unit 4.

The reciprocating unit 4 comprises a belt 41, a fixed block 42, a first fixed block 43 and a moving unit 44, wherein the belt 41 is mounted on the first fixed block 43 through the fixed block 42, and the moving unit 44 is mounted on the side surface of the first fixed block 43.

Preferably, the driving belt 41 may be replaced with a chain.

One of said rails 3 is provided with at least one set of mobile units 44 for power transmission.

The driving device 1 comprises a driving part 11, a driving shaft 12 and a motor set 13, wherein the driving part 11 drives the driving shaft 12 to rotate under the action of the motor set 13, and the driving shaft 12 is connected with the transmission belt 41.

Preferably, a pulley 14 is further disposed on the driving shaft 12, and the pulley 14 drives the driving belt 41 to move.

Preferably, at least one end of the driving shaft 12 rotates in the base 2, and an end cap 20 is disposed on the base 2 and used for shielding at least one end of the driving shaft 12 and preventing the driving shaft from being wound by other objects in the moving process.

Preferably, the driving member 11 includes, but is not limited to, a driven gear, a sprocket and a chain, and the driving member 11 corresponds to a connecting member, so long as the power of the motor set 13 can be transmitted to the driving shaft to rotate the driving shaft 12, which is within the protection scope of the present solution.

Example 2

As shown in fig. 2, the present embodiment provides one kind of the moving unit 44.

The moving unit 44 includes a moving member 441, and the moving member 441 includes a slider 442.

The slider 442 is embedded in the guide rail 3.

The slider 442 reciprocates in the guide rail 3 by sliding friction.

Preferably, the guide rails may be replaced by racks, and the corresponding slide blocks 442 may be replaced by gears.

Other embodiments of this example are the same as example 1.

Example 3

As shown in fig. 3, the present embodiment provides one kind of the moving unit 44.

The slider 442 is entirely wrapped around the guide rail 3.

Other embodiments of this example are the same as example 1.

Example 4

As shown in fig. 4, the present embodiment provides one kind of the moving unit 44.

The moving unit 4 includes a moving member 441, and the moving member 441 includes a slider 442.

The slider 442 is partially wrapped around the rail 3. Preferably, the 3 is a cylindrical guide rail, and a part of the sliding block 442 can be placed on the cylindrical guide rail to move back and forth; or the guide rails may be replaced by racks and the corresponding slide blocks 442 may be replaced by gears. Other embodiments of this example are the same as example 1.

Example 5

As shown in fig. 5, the present embodiment provides one kind of the moving unit 44.

The moving unit 44 includes a moving member 441, and the moving member 441 includes a pulley 445.

The pulley 445 is connected to the guide rail 3. Other embodiments of this embodiment are the same as embodiment 1, and the mobile unit of this embodiment can be used in embodiments 2 to 4.

Example 6

As shown in fig. 6, the present embodiment provides one kind of the moving unit 44.

The moving unit 44 further includes a connection plate 443, and the connection plate 443 is connected to the pulley 445.

Preferably, the pulley 445 can be adjusted to the position of the first fixing seat 43 by the screw 444, so as to ensure the central position of the pulley 445.

Preferably, a bearing 4421 is provided in the pulley 445.

Other embodiments of this example are the same as example 1.

Example 7

As shown in fig. 7, this solution provides a connection of the base 2 and the guide rail 3.

The base 2 is combined with two guide rails 3.

The two guide rails 3 are connected to a moving unit 44.

Other embodiments of this example are the same as example 1 or example 2 or example 3 or example 4 or example 5 or example 6.

Example 8

As shown in fig. 8, the present embodiment provides a reciprocating unit 4.

The reciprocating unit 4 includes a moving seat 45 and a rotating rod 46, and the rotating rod 46 drives the moving seat 45 to reciprocate under the driving of the driving device 1.

Preferably, the rotating rod 46 passes through the moving seat 45, at least one end of the rotating rod 46 is placed in a second fixed seat 47, a fixed rod 48 is further disposed in the second fixed seat 47, the fixed rods 48 are disposed on two sides of the rotating rod 46, and the moving seat 45 also moves on the fixed rod 48.

Other embodiments of the present example are the same as example 1.

Example 9

As shown in fig. 9, the present embodiment provides a reciprocating unit 4.

The reciprocating unit 4 comprises a sliding seat 51 and a magnetic track 52, the magnetic track 52 is arranged on the base 2, a driving device 1 is arranged on the sliding seat 51, and the driving device 1 drives the sliding seat 51 to reciprocate along the magnetic track 52, so that the manipulator is driven to reciprocate along the cross beam 9.

Preferably, the base 2 includes various forms, and a matching base can be selected according to the reciprocating unit.

Clamping grooves 511 are respectively arranged on two sides of the sliding seat 51, the manipulator 8 is connected to the sliding seat 51 through the clamping grooves 511, sliding rails 512 are further arranged on the sliding seat 51, at least two sliding rails 512 are arranged, and the sliding seat 51 can move on the guide rail 3 through the sliding rails 512;

preferably, the driving device 1 may be a linear motor.

Preferably, the guide rail 3 may be a linear guide rail.

Other embodiments of this example are the same as example 1.

Example 10

As shown in fig. 10, this embodiment provides a robot, the robot employs the above horizontal reciprocating device, the robot includes a moving chassis 5, a supporting column, a manipulator 8 and at least one set of beam 9, at least one end of the beam 9 is mounted on the supporting column and can move along the supporting column, the horizontal reciprocating device is disposed in the beam 9, the manipulator 8 is connected with the horizontal reciprocating device, and the manipulator 8 reciprocates under the driving of the horizontal reciprocating device.

Preferably, each set of beams is individually or collectively movable.

Preferably, the supporting column may only comprise a fixed supporting column 6, the fixed supporting column 6 is mounted on the moving chassis 5, and at least one end of the cross beam 9 is connected to the fixed supporting column 6 and can move along the fixed supporting column 6. Preferably, the support column adopts compound form, specifically, the support column includes fixed support column 6 and lift support column 7, lift support column 7 with fixed support column 6 removes the assembly, lift support column 7 can follow fixed support column 6 removes, in addition, at least one end of crossbeam 9 is connected on lift support column 7, by lift support column 7 drives crossbeam 9 removes, or crossbeam 9 itself also can follow lift support column 7 removes, realizes second grade lift removal.

Other embodiments of this example are the same as example 1 or example 2 or example 3 or example 4 or example 5 or example 6 or example 7 or example 8.

While the preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the present application.

Claims

1. The horizontal reciprocating motion device is characterized by comprising a driving device, a base, a guide rail and a reciprocating motion unit, wherein the guide rail is combined with the base, the reciprocating motion unit reciprocates along the guide rail, and the driving device provides power for the reciprocating motion unit.

2. The horizontal reciprocating apparatus of claim 1, wherein the reciprocating unit comprises a belt, a fixed block, a first fixed block, and a moving unit, the belt is mounted on the first fixed block through the fixed block, and the moving unit is mounted on a side surface of the first fixed block.

3. A horizontally reciprocating apparatus as claimed in claim 2, wherein one of said guide rails is engaged with at least one of said plurality of moving units.

4. The horizontal reciprocating apparatus of claim 2, wherein the moving unit comprises a moving member, the moving member is connected to the guide rail in a manner that the moving member is embedded in the guide rail or the moving member is completely or semi-externally wrapped on the guide rail.

5. The horizontal reciprocating apparatus of claim 4, wherein the moving unit further comprises a connecting plate connected to the moving member.

6. The horizontal reciprocating apparatus of claim 1, wherein the base is combined with at least one guide rail.

7. The horizontal reciprocating apparatus as claimed in claim 2, wherein the driving means comprises a driving member, a driving shaft and a motor unit, the driving member drives the driving shaft to rotate under the action of the motor unit, and the driving shaft is connected with the transmission belt.

8. The horizontal reciprocating apparatus as claimed in claim 1, wherein the reciprocating unit comprises a moving base and a rotating rod, the rotating rod reciprocates the moving base under the driving of the driving means.

9. The horizontally reciprocating apparatus as claimed in claim 1, wherein said reciprocating unit comprises a slider and a track, said track is disposed on said base, and said driving means drives said slider to reciprocate along said track.

10. A robot, characterized in that the robot adopts the horizontal reciprocating device of any one of claims 1 to 9, the robot comprises a moving chassis, a supporting column, a manipulator and at least one set of beams, the beams move along the supporting column, the horizontal reciprocating device is arranged in the beams, the manipulator is connected with the horizontal reciprocating device, and the manipulator moves back and forth under the driving of the horizontal reciprocating device.