CN221092289U

CN221092289U - Tray-turning shuttle robot

Info

Publication number: CN221092289U
Application number: CN202322525786.6U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Jiangsu Huazhang Logistics Technology Co ltd
Current assignee: Jiangsu Huazhang Logistics Technology Co ltd
Priority date: 2023-09-15
Filing date: 2023-09-15
Publication date: 2024-06-07
Anticipated expiration: 2033-09-15

Abstract

The utility model relates to the technical field of logistics storage and sorting, in particular to a turnover shuttle robot, which comprises a travelling device and a turnover device, wherein the material turnover shuttle robot runs along a track through the adaptation of a driving side guide assembly and a driven side travel guide assembly, sorting, carrying and unloading materials are completed at a specific position, the rotation output of a travelling motor is converted into symmetrical synchronous rotation on two sides through the meshing of bevel gears, the arrangement of the travelling motor is easy, the structure of the travelling device is simplified, and a plurality of turnover shuttle robots can be deployed in a system consisting of a plurality of tracks to complete systematic conveying, sorting and sorting of the materials. Through the pan motor and the pan speed reducer, the double-side pan is realized, goods are stably placed in the frames arranged along the two sides of the rail, the arrangement position of the feed box can be prevented from being influenced by the movement direction of the robot by the double-side pan mechanism, the arrangement of the I-shaped rail is convenient, and the application scene is wide.

Description

Tray-turning shuttle robot

Technical Field

The utility model relates to the technical field of logistics storage and sorting, in particular to a turnover shuttle robot.

Background

Currently, in the logistics storage industry, the main stream types of transfer robots are concentrated on tray types and bin types. For the bin type, the main application scene is in the express sorting industry at present, in recent years, along with the rapid development of electronic commerce and new retail, the structure of an enterprise order is changed from 'multi-batch' to 'few-batch' and 'multi-batch', and the picking scene becomes diversified, so that a picking scheme needs to be quickly built in a plurality of application scenes to complete the picking system, and the bin type shuttle robot of the system for quickly building the picking system is widely used.

The box-type shuttle robot is a trolley for executing reciprocating conveying tasks in an automatic stereoscopic warehouse system, and mainly solves the problems of dense storage and quick storage and retrieval of cargoes. The basic function is to accomplish the transport of the cargo units by reciprocating movement on rails in a logistics system (in-plane). The material box type shuttle robot is mainly applied to high-speed picking scenes of multi-item rule multi-storage such as production line side libraries and the like, and is an indispensable jigsaw in an automatic stereoscopic warehouse solution after a pallet stacker and a pallet shuttle form.

Sorting robot equipment commonly used in the express industry, such as a cross belt sorting machine, a sliding block sorting machine and the like, has the problems of complex deployment and higher maintenance cost in the practical use process of the cross belt sorting machine and the sliding block sorting machine. The existing box type shuttle robot in the market is complex in running gear arrangement structure, the 'big horse pulling trolley' feel is not light enough and is unfavorable for controlling cost when the box type shuttle robot is applied to small material conveying and sorting scenes, the existing box type shuttle robot adopts a single-side turnover mechanism, the unloading direction of the conveying robot is caused to be a single direction by the single-side turnover mechanism, the box type shuttle robot is limited by the arrangement position of the box type shuttle robot and the running direction of the box type shuttle robot on a track, and the box type shuttle robot is inconvenient in application scenes of small material conveying, and therefore the novel and light-weight type tray turnover shuttle robot which is suitable for small material conveying and sorting and can realize double-side tray turnover conveying is required to cover most small material conveying and sorting scenes.

Disclosure of utility model

The utility model provides a tray-turning shuttle robot, which adopts the adaptation of a driving side guide assembly and a driven side traveling guide assembly, converts the rotation output of a traveling motor into symmetrical synchronous rotation on two sides through the meshing of bevel gears, is easy to arrange the traveling motor, simplifies the structure of a traveling device, realizes light weight arrangement, and realizes double-side turning through the matching of a tray-turning motor and a tray speed reducer so as to solve the problems of insufficient light weight, single unloading direction caused by single-side tray turning and limited and lack of convenience in the deployment of a feed box of the prior art.

The utility model provides a tray-turning shuttle robot, which comprises a robot body, a track, a first transmission assembly, a driving side walking assembly, a coupler, a walking device and a tray-turning device arranged above the walking device, wherein the robot body walks on the track through the walking device, the walking device comprises a motor assembly arranged above a base, the motor assembly is connected with the first transmission assembly through the coupler, the first transmission assembly comprises a first transmission shaft connected with the coupler, the first transmission shaft is connected with a connecting device through a first fixing seat fixed on the base, the connecting device is a first bevel gear, the connecting device of the first transmission assembly is connected with the driving side walking assembly, the driving side walking assembly is far away from the outer side of the motor assembly and is provided with a driving side guiding assembly, and the lower part of the base below the motor assembly is connected with a driven side walking guiding assembly. The turnover device comprises a turnover motor, wherein the turnover motor is matched with the turnover speed reducer, and the turnover motor is controlled to rotate positively and reversely.

Further, the motor assembly comprises a motor mounting seat and a walking motor mounted on the base through the vertical motor mounting seat.

Further, the motor assembly includes a travel motor mounted on the base through a vertical motor mount.

Further, the whole initiative side walking assembly is symmetrically arranged and comprises a second bevel gear and a third bevel gear which are symmetrically arranged on two sides of the connecting device and are meshed with the connecting device in a mutually perpendicular mode, the third bevel gear is connected with a second transmission shaft, the second transmission shaft is connected with a driving wheel through a first tensioning sleeve, the driving wheel is connected with a driven wheel below the driving wheel through a transmission belt, the third transmission shaft is connected with the driven wheel through a second tensioning sleeve, and the walking wheel is connected on the third transmission shaft and is arranged on the inner side of the driven wheel.

Further, initiative side direction subassembly includes the rotatory side leading wheel of horizontal direction, and the side leading wheel passes through the leading wheel axle and installs on the leading wheel mount pad, and the leading wheel mount pad is connected with the below of base.

Further, driven side walking direction subassembly includes driven side base plate, is equipped with rolling bearing in the middle of the driven side base plate, and rolling bearing links to each other with the base below, and driven walking wheel mount pad is vertical to be connected in driven side base plate below, and driven walking wheel passes through driven walking shaft and links to each other with driven walking wheel mount pad, and driven leading wheel mount pad is vertical to be connected in driven side base plate below, and driven leading wheel passes through driven leading wheel shaft and links to each other with driven leading wheel mount pad.

Further, the tray motor and the tray speed reducer of the tray device are connected with the tray base through the motor support, the tray speed reducer enables the tray driving belt pulley to rotate synchronously, the tray driving belt pulley is connected with the tray driven belt pulley through the driving belt, the tray driven belt pulley is connected with the tray rotating shaft through the tray tensioning sleeve, two ends of the tray rotating shaft are connected with the tray base through the bearing seats, two ends of the tray rotating shaft are connected with the tray support, the tray support is connected with the tray, and the tray can be turned over to the left side and the right side of the movement direction of the tray shuttle robot through controlling the tray motor to turn forward and reverse.

Further, the bottom surface that tray and tray support link to each other is level, and the bottom surface is connected with the curb plate of upward slope in the left and right sides of the shuttle robot direction of motion of turning over the dish, is equipped with the baffle in the front and back both sides of the shuttle robot direction of motion between bottom surface and the curb plate, and the angle of curb plate upward slope is positive correlation with tray pivot pivoted biggest angle.

The beneficial effects of the utility model are as follows: according to the tray-turning shuttle robot, the rails are deployed to the corresponding goods frame positions, the material tray-turning shuttle robot runs along the rails, and sorting, carrying and unloading of materials are completed at specific positions. The I-shaped track is simple in structure and convenient to deploy, the small materials are conveyed, carried and sorted systematically, the running gear converts the rotation output of the running motor into two synchronous rotations, the driving wheels on two sides of the running gear synchronously rotate, the arrangement of the running motor is easy, the running gear structure is simplified, and a plurality of tray-turning shuttle robots can be deployed in a system consisting of a plurality of tracks to finish systematic conveying, sorting and sorting of the materials. The tray can realize double-side turnover, goods are stably placed in the frames arranged along the two sides of the track, and the double-side turnover mechanism can prevent the arrangement position of the feed box from being influenced by the movement direction of the robot. The I-shaped track is simple in structure, and the deployment of the track is not limited by application scenes, so that the robot is widely applied to the scenes.

Drawings

In order to more clearly illustrate the technical solution of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of the robot body according to the present utility model;

FIG. 3 is a schematic view of the walking device of the present utility model;

FIG. 4 is a schematic view of the connection structure of the traveling wheel and the side guide wheel of the active side traveling assembly of the present utility model;

FIG. 5 is a schematic view of the driven side travel guide assembly of the present utility model;

Fig. 6 is a schematic structural diagram of the tray device of the present utility model.

Illustration of: 1. a robot body; 2. a track; 11. a walking device; 12. a tray overturning device; 111. a base; 112. a walking motor; 113. a motor mounting seat; 114. a coupling; 115. a first drive shaft; 116. a first fixing seat; 117. a first bevel gear; 118. a second bevel gear; 119. a third bevel gear; 120. a second drive shaft; 121. a first tensioning sleeve; 122. a driving wheel; 123. a transmission belt; 124. driven wheel; 125. a third drive shaft; 126. the second tensioning sleeve; 127. a walking wheel; 128. a guide wheel mount 129, a guide wheel axle; 130. a side guide wheel; 131. a driven side substrate; 132. a driven travelling wheel; 133. a driven travelling wheel mounting seat; 134. a driven traveling wheel shaft; 135. a driven guide wheel; 136. driven guide wheel axle; 137. a driven guide wheel mounting seat; 138. a rotating bearing; 161. a tray base; 162. a tray overturning motor; 163. a bearing seat; 164. a tray rotating shaft; 165. a tray support; 166. a tray; 167. a turnplate tensioning sleeve; 168. a turning plate driven belt wheel; 169. a drive belt; 170. a driving pulley of the turning plate; 171. a tray-turning speed reducer; 172. and a motor bracket.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to specific embodiments of the present utility model and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. The following describes in detail the technical solutions provided by the embodiments of the present utility model with reference to the accompanying drawings.

In summary, as shown in fig. 1 and 2, the tray-turning shuttle robot provided by the utility model comprises a robot body 1, an h-shaped track 2, a traveling device 11, and a tray-turning device 12 mounted above the traveling device 11, wherein the robot body 1 travels on the track 2 through the traveling device 11, the tray-turning shuttle robot receives materials in a sorting area through a tray 166, travels on the h-shaped track 2 through the traveling device 11, and conveys the materials to a discharging area, and then the materials in the tray 166 are put into a bin. The walking device 11, the tray overturning device 12 and the driving mechanism are arranged in the robot body 1, so that the robot is compact in structure and the material tray overturning shuttle robot is light.

As shown in fig. 3 and 4, the running gear 11 includes a motor assembly mounted above the base 111, the motor assembly including a running motor 112 mounted on the base 111 by a vertical motor mount 113. The output of motor element links to each other with first drive assembly through shaft coupling 114, and first drive assembly's connecting device links to each other with initiative side walking subassembly, and the outside that initiative side walking subassembly kept away from motor element is equipped with initiative side direction subassembly, is connected with driven side walking direction subassembly below the base 111 of motor element below. The first transmission assembly includes a first transmission shaft 115 connected to a coupling 114, and the first transmission shaft 115 is connected to a connection device, which is a first bevel gear 117, through a first fixing base 116 fixed to the base 111. The whole driving side walking assembly is symmetrically arranged and comprises a second bevel gear 118 and a third bevel gear 119 which are symmetrically arranged on two sides of the connecting device and are mutually vertically meshed with the connecting device, the third bevel gear 119 is connected with a second transmission shaft 120, the second transmission shaft 120 is connected with a driving wheel 122 through a first tensioning sleeve 121, the driving wheel 122 is connected with a driven wheel 124 below through a transmission belt 123, a third transmission shaft 125 is connected with the driven wheel 124 through a second tensioning sleeve 126, and a walking wheel 127 is connected on the third transmission shaft 125 and is arranged on the inner side of the driven wheel 124. The first bevel gear 117 meshes with the second bevel gear 118 and the third bevel gear 119. The first bevel gear 117 is driven by the output shaft of the travel motor 112 to rotate, and the second bevel gear 118 and the third bevel gear 119 are rotated synchronously. The third bevel gear 119 is connected with the second transmission shaft 120, the second transmission shaft 120 is connected with the driving wheel 122 through the first tensioning sleeve 121, the driving wheel 122 is connected with the driven wheel 124 through the driving belt 123, the third transmission shaft 125 is connected with the driven wheel 124 through the second tensioning sleeve 126, and the travelling wheel 127 is connected on the third transmission shaft 125. When the output shaft of the walking motor 112 rotates, the first bevel gear 117, the second bevel gear 118 and the third bevel gear 119 rotate under the meshing action, the walking motor is matched with the meshing transmission of the three bevel gears, so that the turnover shuttle robot walks on the track 2 more uniformly, the third bevel gear 119 enables the driving wheel 122 to rotate, the driven wheel 124 rotates under the action of the transmission belt 123, and the walking wheel 127 rotates, so that the purpose of robot walking is achieved. The first bevel gear 117, the second bevel gear 118 and the third bevel gear 119 convert the rotation output of the running motor 112 into two synchronous rotations, so that the driving wheels 122 at two sides of the running gear 11 synchronously rotate, the arrangement of the running motor 112 is easy, and the structure of the running gear 11 is simplified.

As shown in fig. 4, the driving side guide assembly includes a side guide wheel 130 rotating in a horizontal direction, the side guide wheel 130 is mounted on a guide wheel mounting seat 128 through a guide wheel shaft 129, and the guide wheel mounting seat 128 is connected with the lower side of the base 111. During the robot walking process, the side guide wheels 130 contact with the side surfaces of the track 2, so that the robot body 1 completes straight line or turning walking along the track 2.

As shown in fig. 5, the driven side walking guide assembly stabilizes the robot during walking, and includes a driven side base plate 131, and a rotation bearing 138 is disposed in the middle of the driven side base plate 131, so that the robot completes steering movement during walking of the circular arc track 2. The rolling bearing 138 is connected with the bottom of the base 111, the driven traveling wheel mounting seat 133 is vertically connected with the bottom of the driven side base plate 131, the driven traveling wheel 132 is connected with the driven traveling wheel mounting seat 133 through the driven traveling wheel axle 134, the driven guide wheel mounting seat 137 is vertically connected with the bottom of the driven side base plate 131, and the driven guide wheel 135 is connected with the driven guide wheel mounting seat 137 through the driven guide wheel axle 136. The driven guide wheels 135 and the side guide wheels 130 are symmetrically arranged at two sides below the base 111, so that the robot body 1 can more stably complete the walking of straight line and turning along the track 2.

As shown in fig. 6, the tray device 12 includes a tray motor 162 and a tray speed reducer 171, the tray motor 162 and the tray speed reducer 171 are connected with a tray base 161 through a motor bracket 172, the tray speed reducer 171 enables a tray driving pulley 170 to rotate synchronously, the tray driving pulley 170 is connected with a tray driven pulley 168 through a transmission belt 169, the tray driven pulley 168 is connected with a tray rotating shaft 164 through a tray tensioning sleeve 167, two ends of the tray rotating shaft 164 are connected with the tray base 161 through bearing blocks 163, two ends of the tray rotating shaft 164 are connected with tray brackets 165, and the tray brackets 165 are connected with the tray 166. When the tray motor 162 rotates, the tray rotating shaft 164 rotates under the transmission of the tray driving pulley 170, the transmission belt 169 and the tray driven pulley 168, and when the tray rotating shaft 164 rotates, the tray 166 correspondingly rotates by a certain angle. The tray motor 162 is matched with the tray speed reducer 171 to realize high torque and low rotation speed, so that the tray 166 can rotate stably, and the goods in the tray 166 can be placed in a bin at a designated position stably. The tray 166 can be turned in two directions by controlling the turn-over motor 162 to rotate forward or backward. The tray-turning shuttle robot can realize double-side trays, and the feed box can be arranged on the left side and the right side of the movement direction of the robot along the track 2. The bottom surface of tray 166 and tray support 165 link to each other is horizontal for the material is steadily placed in tray 166, is difficult for rocking. The bottom surface is connected with the curb plate of upwards slope in the left and right sides of pan shuttle robot direction of motion, is equipped with the baffle in the front and back both sides of pan shuttle robot direction of motion between bottom surface and the curb plate for the material is difficult for dropping because of the influence of inertia during the pan shuttle robot motion in tray 166. The angle of curb plate upward sloping is the positive correlation with tray pivot 164 pivoted biggest angle, and when the rotation of tray pivot 164 reached biggest angle, can make the material smooth roll-off along the curb plate this moment, prevented that the material from colliding with and damaging.

Specifically, when the pan shuttle robot runs, the output end of the walking motor 112 drives the coupler 114 to rotate, the coupler 114 drives the first bevel gear 117 to rotate, the second bevel gear 118 and the third bevel gear 119 vertically arranged on two sides of the first bevel gear 117 are in meshed synchronous transmission, the second bevel gear 118 and the third bevel gear 119 drive the driving wheel 122 to rotate, the driving wheel 122 drives the driven wheel 124 below to rotate, the driven wheel 124 drives the walking wheel 127 on the inner side to rotate through the third transmission shaft 125, walking on the driving side of the robot body 1 is achieved, the driven walking wheel 132 on the driven side of the robot body 1 rotates along with the walking on the driving side, the rotating bearing 138 can drive the driven side of the robot body 1 to conduct turning and advancing, the symmetrically distributed driven guide wheels 135 are in contact with the concave side face of the I-shaped track 2, the functions of stabilizing, guiding and turning are achieved, the tray 166 of the pan device 12 is matched with the pan speed reducer 171 through the adaptation of the pan motor 162 and the pan speed reducer 171, the effect of the forward rotation and the reverse rotation of the pan motor 162 is achieved, the stable rotation of the pan can be achieved, and the stable rotation speed of a cargo can be placed into a low-speed pan, and a good can be guaranteed, and the stable rotation can be achieved.

In summary, according to the tray-turning shuttle robot provided by the utility model, the rails are deployed to the corresponding positions of the frames, and the material tray-turning shuttle robot runs along the rails to finish sorting, carrying and unloading materials at specific positions. The I-shaped track is simple in structure and convenient to deploy, the small materials are conveyed, carried and sorted systematically, the running mechanism converts the rotation output of the running motor into two synchronous rotations, so that the driving wheels on two sides of the running mechanism synchronously rotate, the arrangement of the running motor is easy, the running mechanism structure is simplified, and a plurality of tray shuttle robots can be deployed in a system consisting of a plurality of tracks to finish systematic conveying, sorting and sorting of the materials. When the use scene or the application scene is replaced, the rails are paved and placed again according to the positions of materials in the application scene, then the shuttle robots are installed on the rails, and the quick construction of the carrying and sorting system of the tray-turning shuttle robots can be completed. The I-shaped track is simple in structure, and the deployment of the track is not limited by application scenes, so that the robot is widely applied to the scenes.

The embodiments of the present utility model described above do not limit the scope of the present utility model.

Claims

1. The utility model provides a turnover shuttle robot, includes robot body (1), track (2), robot body (1) install in on track (2), its characterized in that still includes first drive assembly, initiative side walking subassembly, shaft coupling (114), running gear (11) and installs in turnover device (12) above running gear (11), robot body (1) walk on track (2) through running gear (11), running gear (11) include install in motor assembly above base (111), motor assembly passes through shaft coupling (114) with first drive assembly links to each other, first drive assembly includes first transmission shaft (115) that link to each other with shaft coupling (114), first transmission shaft (115) pass first fixing base (116) that are fixed on base (111) and link to each other with connecting device, connecting device is first bevel gear (117), connecting device of first drive assembly link to each other with initiative side walking subassembly, initiative side walking subassembly is kept away from motor assembly's outside and is installed motor assembly and is led below motor assembly, driven disc (162) are led to turn over side (111) and are led to turn over under motor assembly is connected with turnover device (162), the tray motor (162) is controlled to rotate forward and backward.

2. A tray shuttle robot according to claim 1, wherein the motor assembly comprises a motor mount (113), a walk motor (112) mounted on the base (111) by means of the vertical motor mount (113).

3. The tray-turning shuttle robot according to claim 1, wherein the driving side traveling assembly is integrally symmetrically arranged and comprises a second bevel gear (118) and a third bevel gear (119) which are symmetrically arranged on two sides of the connecting device and are mutually vertically meshed with the connecting device, the third bevel gear (119) is connected with the second transmission shaft (120), the second transmission shaft (120) is connected with the driving wheel (122) through a first tensioning sleeve (121), the driving wheel (122) is connected with the driven wheel (124) below through a driving belt (123), the third transmission shaft (125) is connected with the driven wheel (124) through a second tensioning sleeve (126), and the traveling wheel (127) is connected on the third transmission shaft (125) and is arranged on the inner side of the driven wheel (124).

4. The tray shuttle robot of claim 1 wherein the active side guide assembly comprises a side guide wheel (130) rotating in a horizontal direction, the side guide wheel (130) being mounted on a guide wheel mount (128) by a guide wheel axle (129), the guide wheel mount (128) being connected to the underside of the base (111).

5. The tray shuttle robot according to claim 1, wherein the driven side traveling guide assembly comprises a driven side base plate (131), a rotating bearing (138) is arranged in the middle of the driven side base plate (131), the rotating bearing (138) is connected with the lower side of the base (111), the driven traveling wheel mounting seat (133) is vertically connected with the lower side of the driven side base plate (131), the driven traveling wheel (132) is connected with the driven traveling wheel mounting seat (133) through a driven traveling wheel shaft (134), the driven guide wheel mounting seat (137) is vertically connected with the lower side of the driven side base plate (131), and the driven guide wheel (135) is connected with the driven guide wheel mounting seat (137) through a driven guide wheel shaft (136).

6. The tray shuttle robot according to claim 1, wherein the tray motor (162) and the tray speed reducer (171) of the tray device (12) are connected with the tray base (161) through a motor bracket (172), the tray speed reducer (171) enables the tray driving pulley (170) to synchronously rotate, the tray driving pulley (170) is connected with the tray driven pulley (168) through a transmission belt (169), the tray driven pulley (168) is connected with the tray rotating shaft (164) through a tray tensioning sleeve (167), two ends of the tray rotating shaft (164) are connected with the tray base (161) through bearing blocks (163), two ends of the tray rotating shaft (164) are connected with the tray bracket (165), the tray bracket (165) is connected with the tray (166), and the tray (166) can be turned over to the left side and the right side of the direction of movement of the tray shuttle robot by controlling the tray motor (162) to rotate positively and reversely.

7. The tray shuttle robot according to claim 6, wherein the bottom surface of the tray (166) connected to the tray support (165) is horizontal, the bottom surface is connected to side plates inclined upward at the left and right sides of the direction of movement of the tray shuttle robot, a baffle is provided between the bottom surface and the side plates at the front and rear sides of the direction of movement of the tray shuttle robot, and the angle of upward inclination of the side plates is in positive correlation with the maximum angle of rotation of the tray rotating shaft (164).