CN221070832U - Transfer robot and chain type lifting device thereof - Google Patents

Abstract

The embodiment of the utility model provides a transfer robot and a chain type lifting device thereof. The fork body structure comprises a cargo platform and two fork body mounting plates connected with the cargo platform, and a first chain connecting assembly and a second chain connecting assembly are arranged on each fork body mounting plate at intervals up and down in the height direction. The first open end of the non-closed chain is connected to the first chain connecting assembly. The first flexible end of second chain coupling assembling sets up in fork body mounting panel, and the second open end of non-closed chain surrounds drive sprocket, is connected with the flexible end of second, and first flexible end and the flexible end of second are in tensile state to make second chain coupling assembling apply sprocket meshing tensioning force to non-closed chain, take up non-closed chain on drive sprocket and driven sprocket, reduce the risk that non-closed chain and sprocket break away from.

Description

Transfer robot and chain type lifting device thereof

Technical Field

The utility model relates to the technical field of transfer robots, in particular to a transfer robot and a chain type lifting device thereof.

Background

In the field of intelligent logistics, transfer robots play an important role. They are widely used in storage, logistics and production lines, etc. to improve efficiency, reduce cost and reduce human labor.

Transfer robots typically have the ability to transfer and lift cargo, and can automatically perform various logistic tasks such as transferring cargo from one location to another, placing cargo on a designated pallet, removing cargo from a pallet, etc.

Lifting members of the transfer robot are used to achieve the ability to lift cargo. Generally, a fork-structured cargo platform is used for placing cargo, and is driven by a chain to move up and down.

In the actual working environment in the intelligent logistics field, the carrying robot usually works continuously for 24 hours, under long-time working, the chain may be stretched, so that problems such as loosening, tooth jump and chain disengagement occur between the chain and the driving wheel, and even accidents may be caused under serious conditions.

Disclosure of utility model

The embodiment of the utility model aims to provide a transfer robot and a chain type lifting device thereof, so as to improve the operation stability of the transfer robot. The specific technical scheme is as follows:

A chain type lifting device of a transfer robot, comprising:

The lifting portal frame comprises portal column lifting components at two sides, wherein each portal column lifting component at each side comprises a portal column guide rail, a driving sprocket, a driven sprocket and a non-closed chain, the driving sprocket is rotatably arranged at the bottom of the portal column guide rail, and the driven sprocket is rotatably arranged at the top of the portal column guide rail;

The fork body structure comprises a cargo platform and two fork body mounting plates connected with the cargo platform, and the two fork body mounting plates are respectively and slidably connected with the door post guide rail on the corresponding side in the height direction of the door post guide rail; wherein,

A first chain connecting component and a second chain connecting component are arranged at intervals up and down in the height direction of each fork body mounting plate;

The first opening end of the non-closed chain surrounds the driven sprocket, extends towards the bottom direction of the door post guide rail and is connected with the first chain connecting component;

The second chain connecting assembly is provided with a first telescopic end and a second telescopic end which can be elastically telescopic relatively, the first telescopic end is arranged on the fork body mounting plate, the second opening end of the non-closed chain surrounds the driving sprocket and extends towards the top direction of the door post guide rail and is connected with the second telescopic end, and the first telescopic end and the second telescopic end are in a stretching state, so that the second chain connecting assembly applies sprocket meshing tensioning force to the non-closed chain.

In some embodiments, the first chain connection assembly comprises: a chain link and at least one locking screw;

The chain connecting piece comprises a first part and a second part, wherein the first part is provided with at least one first threaded hole, and the second part is connected with the first open end of the non-closed chain;

The fork body mounting plate is provided with a first connecting seat, wherein a long hole extending in the height direction is formed in the first connecting seat, and at least one locking screw can pass through the long hole to be locked with at least one first threaded hole of the first part of the chain connecting piece, so that the chain connecting piece is locked at different positions in the height direction.

In some embodiments, the first connecting seat is a chute structure, a slideway extending in the height direction is formed between two sides of the chute structure, the first part of the chain connecting piece is slidably embedded in the slideway, and the second part of the chain connecting piece extends out of the slideway;

the long hole is arranged on the inner wall of the chute structure.

In some embodiments, the first chain connection assembly further comprises: a first fork leveling screw;

The top plate of the chute structure is provided with a through second threaded hole;

the first fork leveling screw is in threaded connection with the second threaded hole in a height-adjustable mode, extends into the slideway of the chute structure and abuts against the top surface of the first part of the chain connecting piece.

In some embodiments, the first chain connection assembly further comprises: the safety baffle ring is fixed at the bottom of the first fork leveling screw and is positioned in the slideway of the chute structure so as to prevent the first fork leveling screw from falling out of the second threaded hole.

In some embodiments, the second threaded hole may be formed by a weld nut welded to a top plate of the chute structure provided with a through hole communicating with the second threaded hole; or (b)

The second threaded hole is a threaded hole formed in the top plate of the chute structure.

In some embodiments, the first chain connection assembly further comprises: the second fork leveling screw and the first limit baffle ring;

the top plate of the chute structure is provided with a first through hole;

the first part of the chain connecting piece is provided with a third threaded hole extending in the height direction;

The second fork leveling screw penetrates through the first through hole, stretches into the slideway of the chute structure and is in threaded connection with the third threaded hole of the first part of the chain connecting piece;

The retaining ring is fixed to the second fork leveling screw and is positioned in the slideway of the chute structure, and the chain connecting piece carries the retaining ring to collide with the top plate of the chute structure under the tension of the first opening end of the non-closed chain.

In some embodiments, a first tooth surface is arranged on a surface of the first part of the chain connecting piece, which faces the first connecting seat, and the first tooth surface is a first unidirectional tooth surface with a tooth tip inclined towards the top of the door post guide rail;

The first connecting seat is provided with a second tooth surface which is matched and clamped with the first tooth surface, and the second tooth surface is a second unidirectional tooth surface with a tooth tip inclined towards the bottom of the door post guide rail.

In some embodiments, the second portion of the chain connector has a first connecting through hole through which the chain pin of the first open end of the non-closed chain extends.

In some embodiments, the fork mounting plate has a second connection mount;

The second chain connection assembly includes: the chain tensioning device comprises a spring, a chain tensioning rod and a spring limiting part;

The second connecting seat is provided with a second through hole which is formed in the height direction, the chain tensioning rod penetrates through the second through hole, the spring is arranged at the top of the chain tensioning rod, the spring limiting part is arranged at the top end of the chain tensioning rod, the top end of the spring is in contact with the spring limiting part, the bottom end of the spring is used as the first telescopic end and is in contact with the second connecting seat, and the spring is limited between the second connecting seat and the spring limiting part;

The bottom of the chain tensioning rod is used as the second telescopic end and is connected with the second opening end of the non-closed chain, and the spring is in a compressed state, so that the chain tensioning rod applies sprocket meshing tensioning force to the non-closed chain.

In some embodiments, the second chain connecting assembly further comprises: a lock nut;

The bottom of the chain tensioning rod is a threaded rod, and the locking nut is in threaded connection with the bottom of the chain tensioning rod;

When the locking nut is locked, the locking nut is abutted against the bottom surface of the second connecting seat, the chain tensioning rod applies sprocket meshing tensioning force to the non-closed chain, and the locking force of the locking nut to the bottom surface of the second connecting seat is transferred.

In some embodiments, the second chain connecting assembly further comprises: the limiting sleeve is sleeved outside the spring and can be limited between the spring limiting part and the second connecting seat.

In some embodiments, the second connecting seat is a trapezoid frame structure, the trapezoid frame structure has a top plate, a bottom plate, a back plate and two trapezoid side plates, the top plate is connected with the top edges of the two trapezoid side plates, the bottom plate is connected with the bottom edges of the two trapezoid side plates, and the back plate is respectively connected with the top plate, the bottom plate and the two trapezoid side plates;

The second through holes are formed in the bottom plate and located outside the vertical projection of the top plate on the bottom plate.

In some embodiments, the bottom of the chain tensioning lever has a second connecting through hole through which the chain pin of the second open end of the non-closed chain passes.

In some embodiments, further comprising:

a connecting frame;

Each fork mounting plate includes: a riser;

the vertical plates of the two fork body mounting plates are correspondingly connected with the two lifting connection points of the cargo platform through the connecting frame, and the vertical plates of the two fork body mounting plates are positioned between the two door post guide rails;

the door post guide rail is provided with a fork body guide groove extending in the height direction of the door post guide rail and a chain wheel mounting groove;

The two vertical plates are provided with roller assemblies on one back surface, and the roller assemblies are slidably arranged in the fork body guide grooves so that the two fork body mounting plates are slidably connected on the inner sides of the door post guide rails;

The driving sprocket is rotatably arranged at the bottom of the sprocket mounting groove, and the driven sprocket is rotatably arranged at the top of the sprocket mounting groove;

The first and second chain connection assemblies are located at different positions of the riser side wall.

A transfer robot comprising:

The chain type lifting device of the transfer robot.

In the technical scheme that this embodiment provided, the chain formula hoisting device of transfer robot, wherein, promote the portal and include the gatepost lifting unit of both sides, the gatepost lifting unit of every side includes gatepost guide rail, driving sprocket, driven sprocket and non-closed chain, driving sprocket rotationally set up in the bottom of gatepost guide rail, driven sprocket rotationally set up in the top of gatepost guide rail. The fork body structure comprises a cargo platform and two fork body mounting plates connected with the cargo platform, wherein the two fork body mounting plates are respectively and slidably connected with the door post guide rail on the corresponding side in the height direction of the door post guide rail. Wherein, in the height direction of each fork body mounting plate, a first chain connecting component and a second chain connecting component are arranged at intervals up and down; the first open end of the non-closed chain surrounds the driven sprocket, extends towards the bottom of the door post guide rail and is connected with the first chain connecting assembly. The second chain connecting assembly is provided with a first telescopic end and a second telescopic end which can be elastically telescopic relatively, the first telescopic end is arranged on the fork body mounting plate, the second opening end of the non-closed chain surrounds the driving sprocket and extends towards the top direction of the door post guide rail and is connected with the second telescopic end, and the first telescopic end and the second telescopic end are in a stretching state, so that the second chain connecting assembly applies sprocket meshing tensioning force to the non-closed chain. Compared with the prior art, the second chain connecting assembly of this scheme can be continued to apply the tensioning force to non-closed chain, after the non-closed chain extension, can realize the automatic tensioning of non-closed chain under the elastic force of second chain connecting assembly, take up non-closed chain on driving sprocket and driven sprocket, reduce the risk that non-closed chain and sprocket break away from.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic structural view of a chain type lifting device of a transfer robot according to an embodiment of the present utility model;

FIG. 2 is an enlarged view of A in FIG. 1;

FIG. 3 is an enlarged view of B in FIG. 1;

fig. 4 is a partial structural view of a chain type lifting device of a transfer robot according to an embodiment of the present utility model;

Fig. 5 is a schematic structural view of a fork structure of a chain type lifting device of a transfer robot according to an embodiment of the present utility model;

FIG. 6 is an enlarged view of C in FIG. 5;

fig. 7 is an enlarged view of D in fig. 5;

FIG. 8 is a schematic illustration of an isometric construction of the inside of a conveyor fork mounting plate, a first chain link assembly, and a second chain link assembly of a conveyor robot according to one embodiment of the utility model;

FIG. 9 is a schematic view of an exploded view of the inside of a conveyor robot chain hoist fork mounting plate, a first chain link assembly and a second chain link assembly according to one embodiment of the present utility model;

FIG. 10 is a schematic illustration of an axially measured structure of the outside of a conveyor robot chain hoist fork mounting plate, a first chain link assembly, and a second chain link assembly in accordance with one embodiment of the present utility model;

FIG. 11 is a schematic view of an exploded view of the outside of a conveyor robot chain hoist fork mounting plate, a first chain link assembly and a second chain link assembly in accordance with one embodiment of the present utility model;

FIG. 12 is a schematic view of a cross-sectional partial structure of a connection of a chain hoist fork mounting plate and a first chain connecting assembly of a transfer robot in accordance with another embodiment of the present utility model;

FIG. 13 is a schematic view of a cross-sectional partial structure of a connection of a chain hoist fork mounting plate and a first chain connecting assembly of a transfer robot in accordance with yet another embodiment of the present utility model;

fig. 14 is a schematic structural view of a transfer robot according to an embodiment of the present utility model.

The reference numerals are as follows:

A chain type lifting device 100;

Lifting portal 10, portal column guide rail 11, top frame 111, bottom frame 112, connecting beam 113, lifting lug 114, fork body guide groove 11a, chain wheel mounting groove 11b, driving chain wheel 12, shaft 121, driven chain wheel 13, non-closed chain 14, first open end 141, second open end 142;

fork structure 20, cargo platform 21, lifting connection surface 21a, fork mounting plate 22, connection frame 221, riser 222;

The first chain connecting assembly 30, the chain connecting piece 31, the first part 311, the first threaded hole 311a, the third threaded hole 311b, the first unidirectional tooth surface 311c, the second part 312, the first connecting hole 312a, the locking screw 32, the first fork leveling screw 33, the safety catch ring 34, the second fork leveling screw 36, the first limit catch ring 37, the second limit catch ring 38;

The second chain connecting assembly 40, the first telescopic end 40a, the second telescopic end 40b, the spring 41, the chain tensioning rod 42, the spring limiting part 43, the locking nut 44, the limiting sleeve 45 and the gasket 46;

The first connecting seat 50, the slide 501, the long hole 50a, the first through hole 50b, the second one-way tooth surface 50c, the inner wall 51, the first top plate 52, the weld nut 53;

the second connecting seat 60, the second through hole 60a, the second top plate 61, the bottom plate 62, the back plate 63 and the trapezoid side plate 64;

The roller assembly 70, the groove body side roller 71, the groove body bottom roller 72 and the roller mounting hole 73;

And a vehicle body 200.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by the person skilled in the art based on the present utility model are included in the scope of protection of the present utility model.

In order to improve the operation stability of a transfer robot, the utility model provides the transfer robot and a chain type lifting device thereof.

Specifically, a transfer robot and a chain type lifting device thereof according to an embodiment of the present utility model are described below with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of a chain type lifting device of a transfer robot according to an embodiment of the present utility model, fig. 2 is an enlarged view of fig. 1 a, fig. 3 is an enlarged view of fig. 1B, fig. 4 is a schematic partial structural view of a chain type lifting device of a transfer robot according to an embodiment of the present utility model, fig. 5 is a schematic structural view of a fork structure of a chain type lifting device of a transfer robot according to an embodiment of the present utility model, fig. 6 is an enlarged view of fig. 5C, and fig. 7 is an enlarged view of fig. 5D.

As shown in fig. 1, 2, 3, 4, 5, 6 and 7, the chain type lifting device of the transfer robot includes: lifting the mast 10 and fork structure 20.

The lifting mast 10 comprises mast lifting assemblies on both sides, each of which comprises a mast guide 11, a driving sprocket 12, a driven sprocket 13 and a non-closed chain 14, the driving sprocket 12 being rotatably arranged at the bottom of the mast guide 11, and the driven sprocket 13 being rotatably arranged at the top of the mast guide 11.

The fork structure 20 includes a cargo platform 21 and two fork mounting plates 22 connected thereto, the two fork mounting plates 22 being slidably connected to the corresponding side of the door post rail 11, respectively, in the height direction of the door post rail 11. Wherein,

The first and second chain connecting assemblies 30 and 40 are disposed at intervals up and down in the height direction of each fork mounting plate 22. The first open end 141 of the non-closed chain 14 surrounds the driven sprocket 13 and extends in the direction of the bottom of the door post rail 11 and is connected to the first chain connecting assembly 30. The second chain connecting assembly 40 has a first telescopic end 40a and a second telescopic end 40b that are elastically telescopic with respect to each other, the first telescopic end 40a is disposed on the fork mounting plate 22, the second open end 142 of the non-closed chain 14 surrounds the driving sprocket 12 and extends toward the top of the door post rail 11 and is connected to the second telescopic end 40b, and the first telescopic end 40a and the second telescopic end 40b are in a stretched state, so that the second chain connecting assembly 40 applies sprocket meshing tension to the non-closed chain 14.

In the technical scheme provided by this embodiment, the chain type lifting device of the transfer robot, wherein, the lifting portal 10 includes the gatepost lifting assembly of both sides, the gatepost lifting assembly of each side includes gatepost guide rail 11, driving sprocket 12, driven sprocket 13 and non-closed chain 14, driving sprocket 12 rotationally sets up in the bottom of gatepost guide rail 11, driven sprocket 13 rotationally sets up in the top of gatepost guide rail 11. The fork structure 20 includes a cargo platform 21 and two fork mounting plates 22 connected thereto, the two fork mounting plates 22 being slidably connected to the corresponding side of the door post rail 11, respectively, in the height direction of the door post rail 11. Wherein, in the height direction of each fork body mounting plate 22, a first chain connecting assembly 30 and a second chain connecting assembly 40 are arranged at intervals up and down; the first open end 141 of the non-closed chain 14 surrounds the driven sprocket 13 and extends in the direction of the bottom of the door post rail 11 and is connected to the first chain connecting assembly 30. The second chain connecting assembly 40 has a first telescopic end 40a and a second telescopic end 40b that are elastically telescopic with respect to each other, the first telescopic end 40a is disposed on the fork mounting plate 22, the second open end 142 of the non-closed chain 14 surrounds the driving sprocket 12 and extends toward the top of the door post rail 11 and is connected to the second telescopic end 40b, and the first telescopic end 40a and the second telescopic end 40b are in a stretched state, so that the second chain connecting assembly 40 applies sprocket meshing tension to the non-closed chain 14. Compared with the prior art, the second chain connecting assembly 40 of the scheme can continuously apply the tensioning force to the non-closed chain 14, and after the non-closed chain 14 is stretched, the automatic tensioning of the non-closed chain 14 can be realized under the elastic acting force of the second chain connecting assembly 40, so that the non-closed chain 14 is tensioned on the driving sprocket 12 and the driven sprocket 13, and the risk of separating the non-closed chain 14 from the sprockets is reduced.

As shown in fig. 1, in a specific implementation, the lifting gantry 10 may be a rectangular frame, that is, a top frame 111 is connected to the top of two door post rails 11, and a bottom frame 112 is connected to the bottom of two door post rails 11, so that an overall stable structure of the lifting gantry 10 can be realized. Further, between the two door post guides 11, a plurality of connection beams 113 may be provided at intervals in the height direction of the door post guides 11, further improving the stability. Lifting lugs 114 may also be provided on the top rim 111 for ease of lifting.

As shown in fig. 1 to 5, in some embodiments, the door post rail 11 has a fork guide groove 11a extending in a height direction thereof and a sprocket mounting groove 11b. The driving sprocket 12 is rotatably disposed at the bottom of the sprocket mounting groove 11b, and the driven sprocket 13 is rotatably disposed at the top of the sprocket mounting groove 11b.

As shown in fig. 5, the chain type lifting device of the transfer robot further includes: a connection frame 221. Each fork mounting plate 22 includes: riser 222. The risers 222 of the two fork mounting plates 22 are correspondingly connected with the two lifting connection surfaces 21a of the cargo platform 21 through the connecting frame 221, and the risers 222 of the two fork mounting plates 22 are positioned between the two door post guide rails 11. The two risers 222 are each provided with a roller assembly 70 on a back facing side, the roller assemblies 70 being slidably disposed within the fork guide slots 11a such that the two fork mounting plates 22 are slidably coupled inside the door post rail 11. In practice, both the connection frame 221 and riser 222 may be an integral component.

As shown in fig. 4 and 5, in the height direction of the door post rail 11, fork guide grooves 11a of both side door post rails 11 are provided oppositely with first openings as travel channels of the roller assemblies 70 in the height direction. The roller assembly 70 may include a tub side roller 71 and a tub bottom roller 72, and the tub side roller 71 may be at least one. Specifically, the number of the groove side rollers 71 may be two, and the groove bottom roller 72 is located between the two groove side rollers 71. The groove body side roller 71 is attached to the riser 222 through the roller attaching hole 73 of the riser 222. The groove bottom surface rollers 72 are located in the fork guide groove 11a, and the roller surfaces on both sides face the inner walls 51 on both sides of the fork guide groove 11 a. The number of the groove body bottom surface rollers 72 can be multiple, the groove body bottom surface rollers 72 are positioned in the fork body guide groove 11a, and the roller surfaces on two sides of the groove body bottom surface rollers 72 face the inner wall 51 of the bottom and the top of the fork body guide groove 11 a. The support members supporting the side rollers 71 and the bottom rollers 72 are located in the first openings of the second vertical plates, and the first openings serve as walking passages for the side rollers and the bottom rollers 72. By the cooperation of the groove body side roller 71 and the groove body bottom roller 72 and the fork guide groove 11a, the two fork mounting plates 22 can be slidably connected to the corresponding side of the door post rail 11 in the height direction of the door post rail 11, respectively, and the fork structure 20 can have a large load bearing capacity of the cargo platform 21.

As shown in fig. 4, in the height direction of the door post rail 11, the fork sprocket mounting grooves 11b of the both side door post rails 11 are provided opposite to each other with a second opening as a travel path in the height direction of the first and second chain link assemblies 30, 40.

Specifically, the two driving sprockets 12 may be coaxially connected by a shaft 121, so as to realize synchronous rotation of the driving sprockets 12 on both sides. The non-closed chain 14 is positioned in the sprocket mounting groove 11b, which can improve the safety of the apparatus.

One side of the cargo platform 21 may have two spaced apart legs, the ends of which serve as lifting connection surfaces 21a, respectively connected to two connection brackets 221. The other side of the cargo platform 21 serves as a support platform for the cargo.

Wherein, since the cargo platform 21 is supported by two spaced legs, when the heights of the two spaced legs are not uniform, the supporting platform, i.e., the cargo platform 21, is inclined.

In order to facilitate leveling operations on the support platform, in some embodiments of the present disclosure, fig. 8 is a schematic axial view of the inner sides of the fork mounting plate, the first chain connecting assembly, and the second chain connecting assembly of the chain type lifting device of the transfer robot according to one embodiment of the present disclosure, fig. 9 is a schematic exploded view of the inner sides of the fork mounting plate, the first chain connecting assembly, and the second chain connecting assembly of the chain type lifting device of the transfer robot according to one embodiment of the present disclosure, fig. 10 is a schematic axial view of the outer sides of the fork mounting plate, the first chain connecting assembly, and the second chain connecting assembly of the chain type lifting device of the transfer robot according to one embodiment of the present disclosure, and fig. 11 is a schematic exploded view of the outer sides of the fork mounting plate, the first chain connecting assembly, and the second chain connecting assembly of the chain type lifting device of the transfer robot according to one embodiment of the present disclosure.

Referring to fig. 5 to 11, the first chain connecting assembly 30 includes: a chain link 31 and at least one locking screw 32. The chain connecting element 31 comprises a first portion 311 and a second portion 312, the first portion 311 having at least one first threaded hole 311a, the second portion 312 being connected to the first open end 141 of the non-closed chain 14. The fork mounting plate 22 has a first connecting seat 50, wherein, as shown in fig. 11, the first connecting seat 50 is provided with a long hole 50a extending in the height direction, and at least one locking screw 32 can be locked with at least one first threaded hole 311a of the first portion 311 of the chain connecting member 31 through the long hole 50a to lock the chain connecting member 31 at different positions in the height direction. Specifically, in order to improve the stability of the first chain connecting assembly 30, the number of the locking screws 32 and the first threaded holes 311a may be two or more.

When the cargo platform 21 is tilted on one side, the locking screw 32 of the first chain link assembly 30 in the side fork mounting plate 22 is loosened during the leveling operation of the cargo platform 21, so that the first portion 311 of the chain link 31 on that side can be adjusted in position in the height direction. After the cargo platform 21 is adjusted to be in the horizontal position, the locking screw 32 is locked.

Referring to fig. 6 to 11, in the operation of adjusting the height of the chain link 31, the chain link 31 is easy to shake left and right, and in some embodiments, in order to facilitate adjusting the height position of the chain link 31, the first connecting seat 50 is a sliding groove structure, a sliding track 501 extending in the height direction is formed between two sides of the sliding groove structure, the first portion 311 of the chain link 31 is slidably embedded in the sliding track 501, and the second portion 312 of the chain link 31 extends out of the sliding track 501. The long hole 50a is provided in the inner wall 51 of the chute structure. In the adjustment, the first portion 311 of the chain connecting member 31 can slide up and down in the chute structure, so that the problem of shaking left and right can be avoided, thereby facilitating the height adjustment of the chain connecting member 31.

Specifically, the first portion 311 of the chain link 31 and the second portion 312 of the chain link 31 are offset from each other such that the first portion 311 is positioned within the slideway 501 and the second portion 312 is positioned outside the slideway 501. The locking screw 32 is screwed to the first portion 311 through the long hole 50a of the inner wall 51 of the chute structure.

Further, to further facilitate the height adjustment of the chain link 31. In some embodiments, referring to fig. 8 to 11, the first chain connecting assembly 30 further includes: the first fork leveling screw 33. The first top plate 52 of the chute structure is provided with a second threaded hole therethrough. The first fork leveling screw 33 is in threaded connection with the second threaded hole in a height-adjustable manner, extends into the slideway 501 of the chute structure, and abuts against the top surface of the first portion 311 of the chain connecting piece 31.

After loosening the locking screw 32, the chain connecting member 31 is kept still under the tension of the chain, and the fork structure 20 moves downward under the action of gravity, so that the chain connecting member 31 tends to move upward relative to the slideway of the first connecting seat 50, and the first fork leveling screw 33 abuts against the top surface of the first portion 311 of the chain connecting member 31, and the first fork leveling screw 33 is in threaded connection with the second threaded hole, so that the downward movement of the chute structure can be limited. When the cargo platform 21 is leveled, the first fork body leveling screw 33 can be screwed, so that the first fork body leveling screw 33 can be adjusted in the height direction, and the first fork body leveling screw 33 can be adjusted to adjust the height of the chain connecting piece 31 due to the fact that the first fork body leveling screw 33 is in contact with the top surface of the first portion 311 of the chain connecting piece 31, and the leveling operation of the cargo platform 21 is facilitated.

Specifically, the first fork leveling screw 33 may be an inner hexagonal screw or an outer hexagonal screw.

As shown in fig. 11, the second screw hole may be formed by a welding nut 53 welded to the first top plate 52 of the chute structure, the first top plate 52 of the chute structure is provided with a through hole communicating with the second screw hole, and the first fork leveling screw 33 is screw-coupled with the welding nut 53 of the first top plate 52 of the chute structure and penetrates the through hole of the first top plate 52 of the chute structure. The welding nut 53 of the first top plate 52 of the chute structure may be fixed to the first top plate 52 of the chute structure by welding.

Of course, in addition to the above embodiment, a welding nut may not be used, and in some other examples, the second threaded hole is a threaded hole formed in the first top plate 52 of the chute structure. The first fork leveling screw 33 is directly connected with the threaded hole of the first top plate 52 of the chute structure.

After the cargo platform 21 is loaded with cargo, if the first fork leveling screw 33 is loosened, the cargo platform is easily separated from the first top plate 52 of the chute structure, possibly enters the chain area, and risk accidents easily occur. A safety catch ring 34 may be provided at the bottom of the first fork leveling screw 33 so that the first fork leveling screw 33 may be prevented from falling off.

Specifically, fig. 12 is a schematic sectional partial structure of a connection between a fork mounting plate of a chain lifting device and a first chain connecting assembly of a transfer robot according to another embodiment of the present utility model, as shown in fig. 12, in this embodiment, the first chain connecting assembly 30 further includes: the safety catch ring 34 is fixed at the bottom of the first fork leveling screw 33 and is positioned in the slideway 501 of the chute structure to prevent the first fork leveling screw 33 from being separated from the second threaded hole, thereby increasing the reliability of the use of the first fork leveling screw 33.

In the embodiment of the present embodiment, instead of providing the screw thread at the first top plate 52 of the chute structure, the following manner may be adopted to conveniently adjust the height of the chain connecting member 31. Fig. 13 is a schematic sectional partial structure of a connection between a fork mounting plate of a chain lifting device and a first chain connecting assembly of a transfer robot according to still another embodiment of the present utility model, and as shown in fig. 13, in a specific implementation, the first chain connecting assembly 30 further includes: a second fork leveling screw 36 and a first limit stop 37. The first top plate 52 of the chute structure is provided with a first through hole 50b. The first portion 311 of the chain connecting member 31 has a third screw hole 311b extending in the height direction. The second fork leveling screw 36 penetrates through the first through hole 50b, extends into the slideway 501 of the chute structure, and is in threaded connection with the third threaded hole 311b of the first part 311 of the chain connecting piece 31. The retaining ring is fixed to the second fork leveling screw 36 and is located in the slideway 501 of the chute structure, and the chain connecting member 31 carries the retaining ring to abut against the first top plate 52 of the chute structure under the tension of the first open end 141 of the non-closed chain 14.

In use, the locking screw 32 is first loosened. Because the first limit stop ring 37 is fixed on the second fork leveling screw 36, the first limit stop ring 37 is in contact with the first top plate 52 of the chute structure, so that the upward movement of the second fork leveling screw 36 can be limited, and the up-and-down movement of the adjustment chain connecting piece 31 can be realized by screwing the second fork leveling screw 36. After the adjustment is completed, the locking screw 32 is locked again.

Of course, in implementation, as shown in fig. 13, the second limit stop ring 38 may be fixed on the nut of the second fork leveling screw 36 and the first top plate 52 of the chute structure, and the second limit stop ring 38, the first limit stop ring 37 and the second fork leveling screw 36 may be welded together to limit the up-and-down movement of the second fork leveling screw 36.

The second fork leveling screw 36 may be an outer hex screw or an inner hex screw.

It will be appreciated that after loading the cargo platform 21, if the load weight is excessive or the locking force of the locking screw 32 is insufficient, the first portion 311 of the chain link 31 and the abutting surface of the first connecting seat 50 may slide. For this purpose, as shown in fig. 12, a first tooth surface is provided on a surface of the first portion 311 of the chain connecting member 31 facing the first connecting seat 50, and the first tooth surface is a first unidirectional tooth surface 311c with a tooth tip inclined toward the top of the door post rail 11. The first connecting seat 50 is provided with a second tooth surface which is engaged with the first tooth surface, and the second tooth surface is a second unidirectional tooth surface 50c with a tooth tip inclined toward the bottom of the door post guide rail 11. By the first tooth surface and the second tooth surface calliper mating, the risk of sliding of the abutting surface of the first portion 311 of the chain link 31 and the first connection seat 50 can be reduced.

As shown in fig. 10 and 11, the second portion 312 of the chain link 31 has a first connecting hole 312a, and the chain pin of the first open end 141 of the non-closed chain 14 penetrates the first connecting hole 312a, thereby connecting the first portion 311 of the chain link 31 and the first open end 141 of the non-closed chain 14.

In an implementation where the second chain connecting assembly applies sprocket engaging tension to the non-closed chain, as shown in fig. 8-11, the fork mounting plate has a second connecting seat 60. The second chain connection assembly includes: a spring 41, a chain tension bar 42 and a spring retainer 43. The second connecting seat 60 is provided with a second through hole 60a which is formed in the height direction, the chain tensioning rod 42 penetrates through the second through hole 60a, the spring 41 is arranged at the top of the chain tensioning rod 42, the spring limiting part 43 is arranged at the top end of the chain tensioning rod 42, the top end of the spring 41 is in contact with the spring limiting part 43, the bottom end of the spring 41 serves as a first telescopic end 40a and is in contact with the second connecting seat 60, and the spring 41 is limited between the second connecting seat 60 and the spring limiting part 43. Wherein the bottom of the chain tensioning lever 42 is connected as a second telescoping end 40b to the second open end of the non-closed chain, the spring 41 is in a compressed state such that the chain tensioning lever 42 applies a sprocket engaging tensioning force to the non-closed chain.

The spring retainer 43 may be a spring pin that is inserted into a receptacle in the top of the chain tensioner lever 42. Specifically, a spacer 46 may also be placed over the chain tensioner lever 42 prior to the spring pin and spring 41.

The non-closed chain is in a compressed state after being mounted to the driving sprocket, the driven sprocket, and the spring 41. Under the elastic force of the spring 41, the chain tension lever 42 is continuously subjected to an upward pushing force. After the non-closed chain is elongated, the compression amount of the spring 41 is reduced, and the elongated non-closed chain is maintained in engagement with the driving sprocket and the driven sprocket.

In the actual assembly link, since the spring 41 needs to be in a compressed state, the non-closed chain and the second chain connecting assembly are installed while the compression force is manually applied to the spring 41, and thus, one person consumes time and labor. In some embodiments of the present solution, the second chain connecting assembly further comprises: a lock nut 44. The bottom of the chain tensioning rod 42 is a threaded rod, and a lock nut 44 is threadedly coupled to the bottom of the chain tensioning rod 42. When the lock nut 44 is locked to abut against the bottom surface of the second connecting seat 60, the chain tensioning rod 42 applies a sprocket meshing tensioning force to the non-closed chain, and the locking force transferred to the lock nut 44 to the bottom surface of the second connecting seat 60 is transferred.

In the assembly process, the constructor can lock the lock nut 44 so that the lock nut 44 collides with the bottom surface of the second connection seat 60, and compress the spring 41 to a compressed state. Then, the non-closed chain, the first chain connecting component and the second chain connecting component are installed. After installation, the lock nut 44 is loosened again, so that the lock nut 44 is separated from the bottom surface of the second connecting seat 60 by a certain distance, and the spring 41 can apply sprocket engagement tensioning force to the non-closed chain.

In actual operation of the transfer robot, when the cargo platform 21 starts to be started and descends, the springs 41 are subjected to instantaneous larger compression force, the compression force of the springs 41 is larger, larger expansion and contraction amount can be generated, and stable operation of the cargo platform is not facilitated. In this scheme, second chain coupling assembling still includes: the limiting sleeve 45 is sleeved outside the spring 41, and can be limited between the spring limiting part 43 and the second connecting seat 60. The limiting sleeve 45 can be used for limiting the compression amount of the spring 41 and preventing the spring 41 from being excessively compressed, so that the cargo platform can run more stably.

The second connecting seat 60 may be a trapezoid frame structure, where the trapezoid frame structure has a second top plate 61, a bottom plate 62, a back plate 63, and two trapezoid side plates 64, the second top plate 61 is connected to top edges of the two trapezoid side plates 64, the bottom plate 62 is connected to bottom edges of the two trapezoid side plates 64, and the back plate 63 is connected to the second top plate 61, the bottom plate 62, and the two trapezoid side plates 64, respectively. The second through hole 60a is disposed on the bottom plate 62, and is located outside the vertical projection of the second top plate 61 on the bottom plate 62. The ladder frame structure is stable, and the second connecting seat 60 has a large load bearing capacity by adopting the ladder frame structure.

The bottom of the chain tension rod 42 has a second connecting through hole, and the chain pin of the second open end of the non-closed chain penetrates through the second connecting through hole, so that the connection between the second part of the chain connecting piece and the second open end of the non-closed chain is realized.

Fig. 14 is a schematic structural view of a transfer robot according to an embodiment of the present utility model, and as shown in fig. 14, a transfer robot according to another embodiment of the present utility model includes: the chain type lifting device 100 of the transfer robot.

In the technical scheme that this embodiment provided, transfer robot's promotion portal includes the gatepost lifting unit of both sides, and the gatepost lifting unit of every side includes gatepost guide rail, driving sprocket, driven sprocket and non-closed chain, and driving sprocket rotationally sets up in the bottom of gatepost guide rail, and driven sprocket rotationally sets up in the top of gatepost guide rail. The fork body structure comprises a cargo platform and two fork body mounting plates connected with the cargo platform, and the two fork body mounting plates are respectively and slidably connected with the door post guide rails on the corresponding sides in the height direction of the door post guide rails. Wherein, in the height direction of each fork body mounting plate, a first chain connecting component and a second chain connecting component are arranged at intervals up and down; the first open end of the non-closed chain surrounds the driven sprocket and extends in the bottom direction of the door post rail and is connected to the first chain connecting assembly. The second chain connecting assembly has a first telescopic end 40a and a second telescopic end 40b which can elastically stretch and retract relatively, the first telescopic end 40a is arranged on the fork body mounting plate, the second open end of the non-closed chain surrounds the driving sprocket and extends towards the top direction of the door post guide rail and is connected with the second telescopic end 40b, and the first telescopic end 40a and the second telescopic end 40b are in a stretching state, so that the second chain connecting assembly applies sprocket meshing tension to the non-closed chain. Compared with the prior art, the second chain connecting assembly of this scheme can last to apply the tensioning force to non-closed chain, and non-closed chain stretches the back, can realize the automatic tensioning of non-closed chain under the elastic force of second chain connecting assembly, with non-closed chain tensioning on driving sprocket and driven sprocket, reduces the risk that non-closed chain and sprocket break away from.

The chain type lifting device 100 may be disposed on the vehicle body 200, and the chain type lifting device 100 may be transported to a cargo handling location through the vehicle body 200.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims (16)

1. A chain type lifting device of a transfer robot, comprising:

The lifting portal frame (10) comprises portal column lifting assemblies at two sides, wherein each portal column lifting assembly comprises a portal column guide rail (11), a driving chain wheel (12), a driven chain wheel (13) and a non-closed chain (14), the driving chain wheel (12) is rotatably arranged at the bottom of the portal column guide rail (11), and the driven chain wheel (13) is rotatably arranged at the top of the portal column guide rail (11);

The fork body structure (20) comprises a goods platform (21) and two fork body mounting plates (22) connected with the goods platform, and the two fork body mounting plates (22) are respectively and slidably connected with the corresponding side door post guide rail (11) in the height direction of the door post guide rail (11); wherein,

A first chain connecting component (30) and a second chain connecting component (40) are arranged at intervals up and down in the height direction of each fork body mounting plate (22);

The first opening end (141) of the non-closed chain (14) surrounds the driven sprocket (13), extends towards the bottom direction of the door post guide rail (11) and is connected with the first chain connecting component (30);

The second chain connecting assembly (40) is provided with a first telescopic end (40 a) and a second telescopic end (40 b) which can be elastically telescopic relatively, the first telescopic end (40 a) is arranged on the fork body mounting plate (22), the second opening end (142) of the non-closed chain (14) surrounds the driving sprocket (12) and extends towards the top direction of the door post guide rail (11) and is connected with the second telescopic end (40 b), and the first telescopic end (40 a) and the second telescopic end (40 b) are in a stretching state, so that the second chain connecting assembly (40) applies sprocket meshing tensioning force to the non-closed chain (14).

2. The chain type lifting device of a transfer robot according to claim 1, wherein,

The first chain connection assembly (30) comprises: a chain connection (31) and at least one locking screw (32);

The chain connection (31) comprises a first portion (311) and a second portion (312), the first portion (311) having at least one first threaded hole (311 a), the second portion (312) being connected to the first open end (141) of the non-closed chain (14);

The fork body mounting plate (22) is provided with a first connecting seat (50), wherein a long hole (50 a) extending in the height direction is formed in the first connecting seat (50), and at least one locking screw (32) can be locked with at least one first threaded hole (311 a) of the first part (311) of the chain connecting piece (31) through the long hole (50 a) so as to lock the chain connecting piece (31) at different positions in the height direction.

3. The chain type lifting device of a transfer robot according to claim 2, wherein,

The first connecting seat (50) is of a chute structure, a slide way (501) extending in the height direction is formed between two sides of the chute structure, a first part (311) of the chain connecting piece (31) is slidably embedded into the slide way (501), and a second part (312) of the chain connecting piece (31) extends out of the slide way (501);

The long hole (50 a) is arranged on the inner wall (51) of the chute structure.

4. A chain type lifting device of a transfer robot according to claim 3, wherein,

The first chain connection assembly (30) further comprises: a first fork leveling screw (33);

The first top plate (52) of the chute structure is provided with a through second threaded hole;

The first fork leveling screw (33) is in threaded connection with the second threaded hole in a height-adjustable mode, extends into the slide way (501) of the slide way structure and abuts against the top surface of the first part (311) of the chain connecting piece (31).

5. The chain type lifting device of a transfer robot according to claim 4, wherein,

The first chain connection assembly (30) further comprises: and the safety baffle ring (34) is fixed at the bottom of the first fork leveling screw (33) and is positioned in the slideway (501) of the chute structure so as to prevent the first fork leveling screw (33) from being separated from the second threaded hole.

6. The chain type lifting device of a transfer robot according to claim 4, wherein,

The second threaded hole may be formed by a weld nut (53) welded to a first top plate (52) of the chute structure, the first top plate (52) of the chute structure being provided with a through hole communicating with the second threaded hole; or (b)

The second threaded hole is a threaded hole formed in a first top plate (52) of the chute structure.

7. A chain type lifting device of a transfer robot according to claim 3, wherein,

The first chain connection assembly (30) further comprises: a second fork leveling screw (36) and a first limit stop ring (37);

the first top plate (52) of the chute structure is provided with a first through hole (50 b);

The first portion (311) of the chain connecting member (31) has a third screw hole (311 b) extending in the height direction;

The second fork leveling screw (36) penetrates through the first through hole (50 b), stretches into the slideway (501) of the chute structure, and is in threaded connection with the third threaded hole (311 b) of the first part (311) of the chain connecting piece (31);

The baffle ring is fixed on the second fork leveling screw (36) and is positioned in the slideway (501) of the chute structure, and the chain connecting piece (31) carries the baffle ring to be abutted against the first top plate (52) of the chute structure under the tension of the first opening end (141) of the non-closed chain (14).

8. The chain type lifting device of a transfer robot according to claim 2, wherein,

A first tooth surface is arranged on one surface of the first part (311) of the chain connecting piece (31) facing the first connecting seat (50), and the first tooth surface is a first unidirectional tooth surface (311 c) with a tooth tip inclined towards the top of the door post guide rail (11);

the first connecting seat (50) is provided with a second tooth surface which is matched and clamped with the first tooth surface, and the second tooth surface is a second unidirectional tooth surface (50 c) with a tooth tip inclined towards the bottom of the door post guide rail (11).

9. The chain type lifting device of a transfer robot according to claim 7, wherein,

The second portion (312) of the chain connecting member (31) has a first connecting through hole (312 a), and a chain pin of the first open end (141) of the non-closed chain (14) penetrates the first connecting through hole (312 a).

10. The chain type lifting device of a transfer robot according to claim 1, wherein,

The fork body mounting plate (22) is provided with a second connecting seat (60);

The second chain connecting assembly (40) comprises: a spring (41), a chain tension rod (42) and a spring limit part (43);

The second connecting seat (60) is provided with a second through hole (60 a) which is formed in the height direction, the chain tensioning rod (42) penetrates through the second through hole (60 a), the spring (41) is arranged at the top of the chain tensioning rod (42), the spring limiting part (43) is arranged at the top end of the chain tensioning rod (42), the top end of the spring (41) is in contact with the spring limiting part (43), the bottom end of the spring (41) serves as a first telescopic end (40 a) and is in contact with the second connecting seat (60), and the spring (41) is limited between the second connecting seat (60) and the spring limiting part (43);

Wherein the bottom of the chain tensioning rod (42) is used as the second telescopic end (40 b) and is connected with the second opening end (142) of the non-closed chain (14), and the spring (41) is in a compressed state, so that the chain tensioning rod (42) applies sprocket meshing tensioning force to the non-closed chain (14).

11. The chain type lifting device of a transfer robot according to claim 10, wherein,

The second chain connecting assembly (40) further comprises: a lock nut (44);

The bottom of the chain tensioning rod (42) is a threaded rod, and the locking nut (44) is in threaded connection with the bottom of the chain tensioning rod (42);

When the locking nut (44) is locked to be abutted against the bottom surface of the second connecting seat (60), the chain tensioning rod (42) applies sprocket meshing tensioning force to the non-closed chain (14) and transfers the locking force to the locking nut (44) to the bottom surface of the second connecting seat (60).

12. The chain type lifting device of a transfer robot according to claim 11, wherein,

The second chain connecting assembly (40) further comprises: the limiting sleeve (45) is sleeved outside the spring (41), and can be limited between the spring limiting part (43) and the second connecting seat (60).

13. The chain type lifting device of a transfer robot according to claim 10, wherein,

The second connecting seat (60) is of a trapezoid frame structure, the trapezoid frame structure is provided with a second top plate (61), a bottom plate (62), a back plate (63) and two trapezoid side plates (64), the second top plate (61) is connected with the top edges of the two trapezoid side plates (64), the bottom plate (62) is connected with the bottom edges of the two trapezoid side plates (64), and the back plate (63) is respectively connected with the second top plate (61), the bottom plate (62) and the two trapezoid side plates (64);

The second through hole (60 a) is arranged on the bottom plate (62) and is positioned outside the vertical projection of the second top plate (61) on the bottom plate (62).

14. The chain type lifting device of a transfer robot according to claim 10, wherein,

The bottom of the chain tensioning rod (42) is provided with a second connecting through hole, and a chain pin of a second opening end (142) of the non-closed chain (14) penetrates through the second connecting through hole.

15. The chain lifting device of a transfer robot of any one of claims 1-14, further comprising:

a connection frame (221);

Each fork mounting plate (22) includes: a riser (222);

The vertical plates (222) of the two fork body mounting plates (22) are correspondingly connected with the two lifting connecting surfaces (21 a) of the goods platform (21) through the connecting frames (221), and the vertical plates (222) of the two fork body mounting plates (22) are positioned between the two door post guide rails (11);

The door post guide rail (11) is provided with a fork body guide groove (11 a) extending in the height direction thereof and a chain wheel mounting groove (11 b);

The two vertical plates (222) are provided with roller assemblies (70) on the back surfaces, and the roller assemblies (70) are slidably arranged in the fork body guide grooves (11 a) so that the two fork body mounting plates (22) are slidably connected inside the door post guide rails (11);

The driving sprocket (12) is rotatably arranged at the bottom of the sprocket mounting groove (11 b), and the driven sprocket (13) is rotatably arranged at the top of the sprocket mounting groove (11 b);

The first chain connecting assembly (30) and the second chain connecting assembly (40) are located at different positions of the riser (222) side wall.

16. A transfer robot, comprising:

A chain lifting device (100) of a transfer robot according to any one of the preceding claims 1-15.