CN219605905U

CN219605905U - Braking device and storage robot

Info

Publication number: CN219605905U
Application number: CN202320240408.0U
Authority: CN
Inventors: 杨理泽; 安利; 梁贤
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2023-02-06
Filing date: 2023-02-06
Publication date: 2023-08-29
Anticipated expiration: 2033-02-06

Abstract

The utility model relates to a braking device and a storage robot. The braking device includes: a first bracket; a second bracket; the rotating shaft is arranged on the first bracket and can rotate relative to the first bracket; the brake gear is sleeved on the rotating shaft; the locking pin is arranged on the second bracket and can slide relative to the second bracket, and one end of the locking pin is provided with a tooth part; the driving assembly is arranged on the second bracket and can drive the locking pin to slide back and forth on the second bracket so as to enable the tooth part to be meshed with or separated from the braking gear. The scheme provided by the utility model can facilitate the unlocking operation of the braking device.

Description

Braking device and storage robot

Technical Field

The utility model relates to the technical field of warehouse logistics, in particular to a braking device and a warehouse robot.

Background

As the automation degree of the logistics industry increases, the storage robot is increasingly used in the transportation of goods, so the storage robot becomes a research hotspot of the logistics industry.

In the related art, the storage robot comprises a vertical frame, a fork assembly, a driving device and a braking device, wherein the driving device is used for driving the fork assembly to slide up and down along the vertical frame, and the braking device is used for braking and locking the driving device during testing or maintenance so as to lock the fork assembly and prevent the fork assembly from sliding down due to gravity to cause a safety accident. The brake device generally comprises a spanner, a locking pin and a rotating shaft, wherein the rotating shaft is provided with a brake disc, the brake disc is provided with a pin hole, and when in braking, the spanner is pulled to enable the locking pin to be downwards inserted into the pin hole of the brake disc, so that the rotating shaft is locked to stop rotating.

However, in the locked state of the brake device, the side surface of the lock pin is subjected to a large pressure in the pin hole, and it is difficult to remove the lock pin from the pin hole during unlocking, resulting in inconvenience in unlocking operation.

Disclosure of Invention

In order to solve or partially solve the problems existing in the related art, the utility model provides a braking device and a storage robot, which can facilitate the unlocking operation of the braking device.

A first aspect of the present utility model provides a brake device comprising: a first bracket; a second bracket; the rotating shaft is arranged on the first bracket and can rotate relative to the first bracket; the brake gear is sleeved on the rotating shaft; the locking pin is arranged on the second bracket and can slide relative to the second bracket, and one end of the locking pin is provided with a tooth part; the driving assembly is arranged on the second bracket and can drive the locking pin to slide back and forth on the second bracket so as to enable the tooth part to be meshed with or separated from the braking gear.

Further, the teeth parts and the teeth of the braking gear are triangular.

Further, the driving assembly comprises a sliding block which is in sliding connection with the second bracket, a driving groove is formed in the sliding block, and a driving arm which is positioned in the driving groove is arranged on the locking pin;

when the sliding block slides to one side of the second bracket, the driving groove enables the locking pin to slide towards the braking gear through the driving arm, and when the sliding block slides to the other side of the second bracket, the driving groove enables the locking pin to slide towards a direction away from the braking gear through the driving arm.

Further, a bearing is arranged on the driving arm, and when the sliding block slides relative to the second bracket, the bearing can roll along the side wall of the driving groove.

Further, a first chute and a second chute are arranged on the second support, the locking pin is in sliding connection with the first chute, the sliding block is in sliding connection with the second chute, the first chute is arranged in the vertical direction, and the second chute is arranged in the horizontal direction.

Further, the driving assembly further comprises a limiting pin, a pin hole is formed in the sliding block, the limiting pin is detachably connected with the pin hole, and the limiting pin is located on one side of the second support.

Further, the braking device further comprises a spring sleeved on the locking pin, one end of the spring is abutted against the second bracket, the other end of the spring is abutted against the locking pin, and the acting force of the spring on the locking pin enables the locking pin to have a sliding trend towards the braking gear.

Further, the braking device further comprises an inductor arranged on the second bracket, and the inductor can be triggered when the sliding block slides to one side of the second bracket.

Further, the braking device further comprises a guide block arranged on the first support, a guide hole is formed in the guide block, and the limiting pin penetrates through the guide hole.

The second aspect of the utility model provides a storage robot, comprising a robot body and a braking device according to any one of the schemes; the first support and the second support are respectively arranged on the robot body.

The technical scheme provided by the utility model can comprise the following beneficial effects: the tooth part is meshed with the brake gear by driving the locking pin to slide, so that the brake gear can be locked, and the rotating shaft is further locked to prevent the rotating shaft from rotating; when unlocking, the locking pin is driven to slide, so that the tooth part is separated from the braking gear, and the locking state of the braking gear can be released. The mode that tooth portion and braking gear engaged with each other are locked is adopted, lateral stress condition when the locking pin is locked is improved, tooth portion and braking gear are more convenient to separate when the locking pin is unlocked, the size of acting force needed to be applied when the locking pin is unlocked is reduced, and unlocking operation is facilitated.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.

Drawings

The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular descriptions of exemplary embodiments of the utility model as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the utility model.

Fig. 1 is a schematic structural view of a brake device according to an embodiment of the present utility model;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of the structure of a locking pin according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a slider according to an embodiment of the present utility model;

FIG. 5 is a schematic view showing the structure of a second bracket according to an embodiment of the present utility model;

fig. 6 is a cross-sectional view of the second bracket, the locking pin and the slider shown in an embodiment of the present utility model.

Reference numerals:

1-first support, 2-second support, 21-first spout, 22-second spout, 23-dog, 3-axis of rotation, 4-braking gear, 5-locking round pin, 51-tooth portion, 52-actuating arm, 53-bearing, 6-drive assembly, 61-slider, 62-drive slot, 63-spacer pin, 64-pinhole, 7-spring, 8-collar, 9-inductor, 10-guide block, 101-grudging post.

Detailed Description

Embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While embodiments of the present utility model are illustrated in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the utility model. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In view of the above, embodiments of the present utility model provide a brake device capable of facilitating an unlocking operation of the brake device.

The following describes the technical scheme of the embodiment of the present utility model in detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, an embodiment of the present utility model provides a brake apparatus including a first bracket 1, a second bracket 2, a rotation shaft 3, a brake gear 4, a lock pin 5, and a driving assembly 6. The rotating shaft 3 is arranged on the first bracket 1 and can rotate relative to the first bracket 1, and the rotating shaft 3 is used for being in transmission connection with a driving device of the storage robot and can be driven by the driving device to rotate. The brake gear 4 is sleeved on the rotating shaft 3, the brake gear 4 can rotate along with the rotating shaft 3, and the brake gear 4 and the rotating shaft 3 can be fixed in a key connection mode.

The locking pin 5 is arranged on the second bracket 2 and can slide relative to the second bracket 2, one end of the locking pin 5 is provided with a tooth part 51, and the tooth part 51 can be meshed with the brake gear 4. The driving component 6 is arranged on the second bracket 2, and the driving component 6 can drive the locking pin 5 to slide back and forth on the second bracket 2 so as to enable the tooth part 51 to be meshed with or separated from the braking gear 4.

Based on the above scheme, by driving the locking pin 5 to slide, the tooth part 51 is meshed with the brake gear 4, so that the brake gear 4 can be locked, and the rotating shaft 3 is locked to prevent the rotating shaft 3 from rotating; when unlocking, the lock pin 5 is driven to slide, and the tooth portion 51 is separated from the brake gear 4, so that the lock state of the brake gear 4 can be released. The mode that the tooth part 51 is meshed with the brake gear 4 for locking is adopted, the lateral stress condition of the locking pin 5 during locking is improved, and compared with the mode that the locking pin 5 is inserted into a pin hole, the tooth part 51 is more convenient to separate from the brake gear 4 during unlocking, so that the size of acting force required to be applied during unlocking is reduced, and unlocking operation is facilitated. In addition, the tooth part 51 and the brake gear 4 can be quickly locked at any position, and the locking pin 5 does not need to be aligned to be inserted into the pin hole to realize locking.

Specifically, as shown in fig. 1 and 2, the second bracket 2 may be disposed on a stand 101 of the storage robot, the first bracket 1 may be disposed at a lower end of the stand 101 and mounted on a chassis of the storage robot, the brake gear 4 is disposed below the lock pin 5, the tooth portion 51 is disposed at a lower end of the lock pin 5, the driving assembly 6 may drive the lock pin 5 to slide up and down, the lock pin 5 may slide down to engage the tooth portion 51 with the brake gear 4, lock the rotation shaft 3, and the lock pin 5 may slide upward to separate the tooth portion 51 from the brake gear 4, thereby unlocking the rotation shaft 3. The driving device for driving the fork assembly to lift by the storage robot is provided with a motor, the rotating shaft 3 can be connected with the motor in a transmission manner through a gear transmission manner, and when the rotating shaft 3 is locked, the motor can be locked, so that the fork assembly is prevented from sliding down.

As shown in fig. 1 to 6, in the present embodiment, the teeth 51 and the teeth of the brake gear 4 are triangular, which further facilitates engagement and disengagement. Specifically, in the locking and braking process, the locking pin 5 can be inserted into the braking gear 4 only by a certain distance of dislocation of the teeth part 51 and the teeth of the braking gear 4, so as to form a gear meshing effect, and the locking pin 5 is kept motionless under the action of the second bracket 2, so that the locking of the braking gear 4 is realized. The brake gear 4 and the tooth part 51 adopt triangle teeth, so that the lateral force born by the locking pin 5 in the unlocking process can be improved and optimized, the locking pin 5 is stressed to decompose an upward unlocking force, the magnitude of the force can be optimized by changing the angle of the triangle tooth shape, and the problems of overlarge unlocking force and difficult unlocking during locking are further avoided.

In this embodiment, as shown in fig. 1 to 6, the driving assembly 6 includes a slider 61 slidably connected to the second bracket 2, a driving slot 62 is provided on the slider 61, and a driving arm 52 located in the driving slot 62 is provided on the locking pin 5; when the slider 61 slides to one side of the second bracket 2, the drive groove 62 slides the lock pin 5 toward the brake gear 4 via the drive arm 52, and when the slider 61 slides to the other side of the second bracket 2, the drive groove 62 slides the lock pin 5 away from the brake gear 4 via the drive arm 52.

Specifically, the left end of the driving slot 62 is higher than the right end, and when the slider 61 slides towards the right side, the edge of the driving slot 62 drives the driving arm 52 to lift, so that the tooth part 51 moves upwards and is separated from the brake gear 4; when the slider 61 slides to the left, the edge of the driving slot 62 drives the driving arm 52 to descend, so that the tooth 51 moves downward and engages with the brake gear 4. Wherein the driving arm 52 is fixedly arranged at the upper end of the locking pin 5. The locking pin 5 is driven to move up and down in a sliding back and forth sliding mode, and the operation is convenient and labor-saving.

In addition, the left and right ends of the driving groove 62 provide horizontal stop surfaces of a surplus length for reliable stop and positioning of the locking pin 5, so as to ensure that both the unlocked state and the locked state can be realized within a certain range of movement of the slider 61, without requiring an accurate stop point of the slider 61. At the same time, the redundant horizontal stop surface ensures that the locking pin 5 is not disengaged due to the upward force of the brake gear 4 on the locking pin 5 during locking, and ensures that the locking pin 5 is reliably locked.

In order to reduce the friction between the driving slot 62 and the driving arm 52, in this embodiment, the driving arm 52 is provided with a bearing 53, and when the sliding block 61 slides relative to the second bracket 2, the bearing 53 can roll along the side wall of the driving slot 62, so as to reduce the friction generated by direct contact between the driving arm 52 and the side wall of the driving slot 62.

As shown in fig. 5, in the present embodiment, the second bracket 2 is provided with a first chute 21 and a second chute 22, the locking pin 5 is slidably connected with the first chute 21, the slider 61 is slidably connected with the second chute 22, the first chute 21 is disposed along the vertical direction, and the second chute 22 is disposed along the horizontal direction. The slider 61 slides back and forth along the second slide groove 22, and drives the lock pin 5 to slide back and forth along the first slide groove 21.

As shown in fig. 2 and 4, in this embodiment, the driving assembly 6 further includes a limiting pin 63, the sliding block 61 is provided with a pin hole 64, the limiting pin 63 is detachably connected with the pin hole 64, and the limiting pin 63 is located at one side of the second bracket 2. Specifically, the limiting pin 63 is used to limit the sliding of the slider 61, and as shown in fig. 2, when the brake gear 4 is locked by the locking pin 5, the limiting pin 63 is located at the left side of the second bracket 2, so that the slider 61 can be limited to slide rightward. During unlocking, the limiting pin 63 is pulled out of the pin hole 64, the sliding block 61 is pushed to move to the right, the driving groove 62 of the sliding block 61 drives the locking pin to slide upwards through the driving arm 52, unlocking of the locking pin 5 and the brake gear 4 is achieved, at the moment, the pin hole 64 can move to the right side of the second bracket 2, the limiting pin 63 is inserted into the pin hole 64 again, the limiting pin 63 is located on the right side of the second bracket 2, and the sliding block 61 is prevented from sliding leftwards. When the brake gear 4 needs to be locked and braked, the stopper pin 63 is first pulled out, and then the slider 61 is allowed to slide leftward. By the setting of the limit pin 63, the slide block 61 can be prevented from sliding by itself due to vibration, and the brake gear 4 can be prevented from being switched between the locked and unlocked states by mistake.

As shown in fig. 3 and 6, the braking device of the present embodiment further includes a spring 7 sleeved on the locking pin 5, one end of the spring 7 abuts against the second bracket 2, the other end abuts against the locking pin 5, and the acting force of the spring 7 on the locking pin 5 makes the locking pin 5 have a tendency to slide toward the brake gear 4, so that the locking pin 5 locks the brake gear 4 in place. In addition, when the bearing 53 is at the inclined portion of the driving groove 62, the spring 7 urges the lock pin 5 to slide to a state of engagement with the brake gear 4, preventing the lock pin 5 from being in an intermediate state between locked and unlocked, and preventing the bearing 53 from staying at the inclined portion of the driving groove 62.

Specifically, the locking pin 5 is provided with a collar 8, a stop 23 is arranged in the first chute 21, the upper end of the spring 7 is abutted against the stop 23, the lower end is abutted against the collar 8, and the spring 7 is in a compressed state.

As shown in fig. 1 and 2, the braking device of the present embodiment further includes a sensor 9 provided on the second bracket 2, and the sensor 9 can be activated when the slider 61 slides to one side of the second bracket 2. Specifically, when the slider 61 slides rightward, the sensor 9 is triggered, and when the sensor 9 is triggered, the storage robot receives an operable signal, which indicates that the brake gear 4 is in an unlocked state.

As shown in fig. 1 and 2, the braking device of the present embodiment further includes a guide block 10 provided on the first bracket 1, a guide hole is provided on the guide block 10, and a limit pin 63 passes through the guide hole. The lower end of the limiting pin 63 is meshed with the brake gear 4 after penetrating through the guide hole, and the guide block 10 plays a role in guiding and limiting the limiting pin 63, so that the limiting pin 63 is ensured to slide along the vertical direction.

The embodiment of the utility model also provides a storage robot which comprises a robot body and the braking device of the embodiment; wherein, the first bracket 1 and the second bracket 2 are respectively arranged on the robot body. Specifically, the second bracket 2 is installed on the stand 101, the first bracket 1 is arranged at the lower end of the stand 101, and the first bracket 1 is installed on the chassis of the storage robot.

The aspects of the present utility model have been described in detail hereinabove with reference to the accompanying drawings. In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those skilled in the art will also appreciate that the acts and modules referred to in the specification are not necessarily required for the present utility model. In addition, it can be understood that the steps in the method of the embodiment of the present utility model may be sequentially adjusted, combined and pruned according to actual needs, and the modules in the device of the embodiment of the present utility model may be combined, divided and pruned according to actual needs.

The foregoing description of embodiments of the utility model has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A brake apparatus, comprising:

a first bracket;

a second bracket;

the rotating shaft is arranged on the first bracket and can rotate relative to the first bracket;

the brake gear is sleeved on the rotating shaft;

the locking pin is arranged on the second bracket and can slide relative to the second bracket, and one end of the locking pin is provided with a tooth part; and

the driving assembly is arranged on the second bracket and can drive the locking pin to slide back and forth on the second bracket so as to enable the tooth part to be meshed with or separated from the braking gear.

2. A brake apparatus according to claim 1, wherein:

the teeth parts and the teeth of the braking gear are triangular.

3. A brake apparatus according to claim 1, wherein:

the driving assembly comprises a sliding block which is in sliding connection with the second bracket, a driving groove is formed in the sliding block, and a driving arm which is positioned in the driving groove is arranged on the locking pin;

4. A brake arrangement according to claim 3, wherein:

the driving arm is provided with a bearing, and when the sliding block slides relative to the second bracket, the bearing can roll along the side wall of the driving groove.

5. A brake arrangement according to claim 3, wherein:

the second support is provided with a first chute and a second chute, the locking pin is in sliding connection with the first chute, the sliding block is in sliding connection with the second chute, the first chute is arranged in the vertical direction, and the second chute is arranged in the horizontal direction.

6. A brake arrangement according to claim 3, wherein:

the driving assembly further comprises a limiting pin, a pin hole is formed in the sliding block, the limiting pin is detachably connected with the pin hole, and the limiting pin is located on one side of the second support.

7. A brake apparatus according to claim 1, wherein:

the locking device further comprises a spring sleeved on the locking pin, one end of the spring is abutted to the second support, the other end of the spring is abutted to the locking pin, and the acting force of the spring on the locking pin enables the locking pin to have a sliding trend towards the braking gear.

8. A brake arrangement according to claim 3, wherein:

the sliding block is arranged on the first support, and the sliding block is arranged on the second support.

9. The brake apparatus according to claim 6, wherein:

the guide block is arranged on the first support, a guide hole is formed in the guide block, and the limiting pin penetrates through the guide hole.

10. A warehousing robot, comprising:

a robot body;

a braking device according to any one of claims 1 to 9;

the first support and the second support are respectively arranged on the robot body.