CN221317797U

CN221317797U - Double-upright-column goods shelf robot

Info

Publication number: CN221317797U
Application number: CN202323354965.4U
Authority: CN
Inventors: 马文凯; 张小艺; 张贻弓; 刘鹏; 沈长鹏; 吴耀华
Original assignee: Lanjian Intelligent Technology Co ltd
Current assignee: Lanjian Intelligent Technology Co ltd
Filing date: 2023-12-07
Publication date: 2024-07-12
Anticipated expiration: 2033-12-07

Abstract

The utility model relates to a double-upright shelf robot which comprises two uprights, wherein a loading and unloading mechanism is arranged between the two uprights and is connected with a lifting mechanism arranged on the uprights, the two uprights are respectively provided with a travelling mechanism, the travelling mechanisms are matched with guide rails fixed on a shelf, a plurality of cross beams which are parallel to each other are arranged between the two uprights, one end of each cross beam is hinged with one upright on one side, the other end of each cross beam is hinged with the other upright on the other side, and a damping limiting mechanism is arranged between the end of at least one cross beam and the upright on the same side so as to limit the movement of the cross beam.

Description

Double-upright-column goods shelf robot

Technical Field

The utility model relates to the technical field of storage equipment, in particular to a double-upright-column shelf robot.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

At present, the shelf robot fixed on the shelf is used for transferring cargoes, the occupied area is small, the carrying capacity is large, the cargo loading and unloading speed is high, for example, patent CN113830485B discloses cargo loading and unloading equipment fixed on the shelf, the shelf robot is double-upright, in order to ensure the stability of the whole structure, two uprights are required to be connected into a whole by using a connecting piece, in the above patent, a connecting rod is adopted to connect a corresponding driving support, and the connecting rod is fixedly connected with the driving support, when one driving support and the corresponding uprights vibrate, vibration is transmitted to the other driving support and the uprights through the connecting rod, so that all the uprights and the driving support vibrate, and larger noise is generated during operation, and the operation is unstable and smooth.

Disclosure of utility model

The utility model aims to overcome the defects of the prior art, and provides the double-upright-post shelf robot which avoids the mutual transmission of vibration between two upright posts and ensures the smoothness of operation.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

The embodiment of the utility model provides a double-upright-post shelf robot, which comprises two upright posts, wherein a loading and unloading mechanism is arranged between the two upright posts, the loading and unloading mechanism is connected with a lifting mechanism arranged on the upright posts, the two upright posts are provided with travelling mechanisms which are matched with guide rails fixed on a shelf, at least one cross beam is arranged between the two upright posts, one end of the cross beam is hinged with one upright post on one side, the other end of the cross beam is hinged with the other upright post, and a damping limiting mechanism is arranged between the end part of at least one cross beam and the upright post on the same side.

Optionally, the damping limiting mechanism comprises a limiting rod, the bottom end of the limiting rod is hinged with the cross beam, the limiting rod passes through a limiting plate and is fixed with a first limiting piece, the limiting plate is fixed with the upright post, and an elastic piece is arranged between the limiting plate and the bottom of the limiting rod;

Or alternatively

Elastic pieces are arranged between the limiting plate and the bottom of the limiting rod and between the first limiting piece and the limiting plate.

Optionally, the limiting rod passes through the rectangular hole that the limiting plate set up the limiting plate, the long axis in rectangular hole is followed running gear's walking direction sets up.

Optionally, the gag lever post bottom is equipped with the articulated pole perpendicularly, the articulated pole is articulated with articulated seat, articulated seat is fixed on the crossbeam.

Optionally, the damping stop gear adopts the elastic component, elastic component one end with the crossbeam is fixed, and the other end is fixed with the limiting plate, the limiting plate with the stand is fixed.

Optionally, at least one of the running mechanisms is connected with a power component to drive the running mechanism to run along the guide rail.

Optionally, in the two travelling mechanisms located in the same guide rail, the two travelling mechanisms are connected with a power component;

Or alternatively;

One of the running mechanisms is connected with a power part to serve as a driving running mechanism, and the other running mechanism serves as a driven running mechanism;

Or alternatively;

One of the running mechanisms is connected with a power part to serve as a driving running mechanism, the other running mechanism serves as a driven running mechanism, and a flexible transmission mechanism is arranged between the driving running mechanism and the driven running mechanism to transmit power.

Optionally, the flexible transmission mechanism adopts a synchronous belt transmission mechanism or a chain transmission mechanism.

Optionally, at least one of the running gear is provided with a running state detection element.

Optionally, at least one running mechanism is connected with a power component as a driving running mechanism, the rest running mechanisms are used as driven running mechanisms, and the running state detection element is installed on the driven running mechanisms.

Optionally, the running gear includes running gear support, running gear support and stand fixed connection, and the running gear support installs with guide rail complex walking wheel.

Optionally, the travelling mechanism support comprises a wheel frame, the wheel frame is provided with travelling wheels, the wheel frame is hinged with the bottom end of the floating rod, the floating rod passes through a fixed plate fixed on the upright post and is fixed with a second limiting piece, and an elastic piece is arranged between the second limiting piece and the bottom end of the floating rod.

Optionally, the fixed plate is provided with a guide rod vertically arranged, and the guide column penetrates through the wheel frame and is in sliding connection with the wheel frame.

The beneficial effects of the utility model are as follows:

1. According to the double-upright shelf robot disclosed by the utility model, the two ends of the cross beam are hinged with the upright posts, when the upright posts on one side vibrate up and down, the cross beam can not transmit vibration to the upright posts on the other side because the two ends of the cross beam are hinged with the upright posts, so that the motion stability of the two upright posts is ensured, the noise is reduced, meanwhile, through the damping limiting mechanism, the swing amplitude of the cross beam can be reduced through elasticity when the cross beam swings under the action of the vibration of the upright posts, the vibration amplitude of the upright posts is further reduced, the motion stability of the two upright posts is further ensured, and the whole robot runs more smoothly.

2. According to the double-upright-column shelf robot, the wheel frame of the travelling mechanism is connected with the floating rod, the floating rod penetrates through the fixed plate fixed on the upright column, the elastic piece is arranged between the fixed plate and the bottom end of the floating rod, and the travelling wheel can float up and down through the floating rod, so that the travelling wheel can be always matched with the guide rail, the travelling wheel is prevented from being separated from the guide rail, the matching requirement of the travelling wheel with the uneven guide rail is met, and the travelling stability of the travelling mechanism along the guide rail is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

FIG. 1 is a schematic view showing the overall structure of embodiment 1 of the present utility model;

FIG. 2 is an enlarged view of a portion of the utility model at A in FIG. 1;

FIG. 3 is a front view showing the overall structure of embodiment 2 of the present utility model;

FIG. 4 is an enlarged view of a portion of the utility model at B in FIG. 3;

FIG. 5 is a front view showing the overall structure of embodiment 3 of the present utility model;

FIG. 6 is an enlarged view of a portion of the utility model at C in FIG. 5;

FIG. 7 is a schematic overall structure of embodiment 5 of the present utility model;

The lifting mechanism comprises a first upright, a second upright, a lifting mechanism, a loading and unloading mechanism, a walking mechanism, a shelf, a guide rail, a cross beam, a limit rod, a hinge seat, a limit plate, a first limit nut, a first spring, a connecting plate, a long hole, a driving motor, a wheel frame, a driving wheel, a floating rod, a fixing plate, a second limit nut, a guide rod, a second spring, a third spring and a synchronous belt transmission mechanism.

Detailed Description

Example 1

The embodiment provides a double-upright shelf robot, as shown in fig. 1-2, the robot comprises two uprights, the two uprights are a first upright 1 and a second upright 2 respectively, the first upright 1 and the second upright 2 are both provided with a lifting mechanism 3, a loading and unloading mechanism 4 is arranged between the first upright 1 and the second upright 2, two sides of the loading and unloading mechanism 4 are respectively connected with lifting parts of the lifting mechanisms 3 on two sides of the loading and unloading mechanism, and the lifting mechanisms 3 can drive the loading and unloading mechanism 4 to lift.

The elevating mechanism 3 and the loading and unloading mechanism 4 may be of a technology disclosed in patent CN113830485B, and will not be described in detail here. Of course, besides the technology disclosed in the patent CN113830485B, the lifting mechanism 3 may also adopt other structures capable of driving the loading and unloading mechanism 4 to lift; the handling mechanism is used for transferring containers, and a fork handling mechanism, a suction cup handling mechanism, or the like may be used, and will not be described in detail herein.

The loading and unloading mechanism 4 is connected with the guide wheel seat, the guide wheel seat is connected with the lifting mechanism 3, the guide wheel seat is matched with the front side surface and the rear side surface of the upright post through a plurality of guide wheels, the guide wheels only play a supporting role and do not play a limiting role, when the upright post is askew, the relative position is generated between the guide wheels and the upright post, the deflection of the upright post does not influence the normal work of the loading and unloading mechanism 4, and preferably, the guide wheels adopt steel wheels, and the outer layer of the guide wheels is coated with a polyurethane layer.

The front and rear sides of the column refer to the sides of the column that are parallel to the guide rail.

The first upright 1 and the second upright 2 are provided with a travelling mechanism 5, the travelling mechanism 5 is matched with a guide rail 7 fixed on a goods shelf 6, and the travelling mechanism 5 can drive the first upright 1 and the second upright 2 to travel along the guide rail 7.

In this embodiment, one or two or three or more guide rails 7 are provided, and the guide rails 7 are horizontally provided, preferably, two guide rails 7 are provided, and the two guide rails are respectively fixed on the upper part of the shelf 6 and the lower part of the shelf 6, namely, an upper guide rail and a lower guide rail.

Correspondingly, the first upright 1 is provided with two travelling mechanisms 5, the two travelling mechanisms 5 are respectively fixed on the upper part and the lower part of the first upright 1, the travelling mechanism 5 on the upper part is matched with the upper guide rail, and the travelling mechanism 5 on the lower part is matched with the lower guide rail.

The second upright post 2 is provided with two travelling mechanisms 5, the two travelling mechanisms 5 are respectively fixed on the upper part and the lower part of the second upright post 2, the travelling mechanism 5 on the upper part is matched with the upper guide rail, and the travelling mechanism 5 on the lower part is matched with the lower guide rail.

It will be appreciated that the guide rail 7 may be disposed in the middle of the shelf 6 or at other positions, and the positions of the travelling mechanisms 5 on the first upright 1 and the second upright 2 may correspond to the guide rail 7, which is not described in detail herein.

At least one cross beam 8 is arranged between the first upright 1 and the second upright 2, one end of the cross beam 8 is hinged with the first upright 1, the other end of the cross beam 8 is hinged with the second upright 2, a damping limit mechanism is arranged between one end of at least one cross beam 8 and the first upright 1, and a damping limit mechanism is arranged between the other end of the cross beam 8 and the second upright 2.

The cross beam 8 may be two or three or more, and the position of the cross beam 8 may be at the top or middle or bottom or other positions between the first upright 1 and the second upright 2, which may be set by those skilled in the art according to actual needs.

In this embodiment, two beams 8 are provided, one beam 8 being located between the upper portions of the first and second columns 1 and 2, and the other beam 8 being located between the lower portions of the first and second columns 1 and 2.

One end of the cross beam 8 is hinged with the first upright 1 through a hinge seat, and the other end of the cross beam 8 is hinged with the second upright 2 through a hinge seat.

The cross beam 8 is hinged with the first upright 1 and the second upright 2, and forms a parallelogram linkage mechanism with the first upright 1 and the second upright 2, when the upright on one side vibrates up and down, the cross beam 8 is hinged with the upright on two sides, so that the cross beam 8 can not transmit vibration to the upright on the other side, the motion stability of the two uprights is ensured, and the noise is reduced.

In this embodiment, a damping stop mechanism is disposed between one end of each of the two cross beams 8 and the first upright 1, and a damping stop mechanism is disposed between the other end of each of the two cross beams 8 and the second upright 2, so four damping stop mechanisms are disposed, and the structures of the four damping stop mechanisms are identical, and the above cross beam 8 is illustrated by taking the damping stop mechanism between the end of the cross beam 8 close to the first upright 1 and the first upright 1 as an example:

The damping limiting mechanism comprises limiting rods 9, one or two or more limiting rods 9 are arranged, and the damping limiting mechanism is arranged according to actual needs by a person skilled in the art, and in the embodiment, two limiting rods 9 are arranged.

The bottom of gag lever post 9 is articulated with the tip of crossbeam 8, in this embodiment, the bottom of gag lever post 9 is provided with rather than vertically articulated lever 10, and gag lever post 9 is fixed in the middle part of articulated lever 10 to form T type structure, and articulated lever 10 rotates with articulated seat 11 to be connected, and articulated seat 11 is fixed at the tip of crossbeam 8 upper surface.

The gag lever post 9 passes limiting plate 12 through the trompil that limiting plate 12 set up, and the pole section that limiting plate 12 top was stretched out to gag lever post 9 is fixed with first locating part, and first locating part can be with limiting plate's upper surface contact.

In this embodiment, first locating part adopts first stop nut 13, and first stop nut 13 and gag lever post 9 threaded connection, first locating part adopts first stop nut 13, can use current part, and it is convenient to draw materials, can understand that first locating part also can adopt annular stopper etc. annular stopper cover at gag lever post 9 periphery and with gag lever post 9 welded fastening, the setting of the actual need according to actual need in this field technicians can.

The bottom of gag lever post 9 is provided with a fender platform, is provided with the elastic component between fender platform and the limiting plate 12, the elastic component adopts first spring 14, and first spring 14 cover is in the gag lever post periphery, and the bottom and the fender platform butt of first spring 14, the top and the limiting plate 12 butt of first spring 14.

It should be noted that the elastic member may be a spring, or may be another elastic member such as rubber, polyurethane, or torsion spring, which is not limited in this aspect of the present application.

The limiting plate 12 is fixed with one end of the connecting plate 15, and the other end of the connecting plate 15 is fixed on the first upright 1.

In order to meet the requirements of the first upright 1 and the second upright 2 when being deflected, the long-strip holes 16 are adopted for the holes, and long axes of the long-strip holes 16 are arranged along the traveling direction of the traveling mechanism 5.

The structure and arrangement of the rest of the damping limiting mechanisms are the same and will not be repeated here.

In this embodiment, when the stand column on one side produces vertical vibration, the cross beam 8 is driven to swing, the stop lever 9 of the damping stop mechanism on the opposite side of the stand column producing vibration can produce vertical motion, when the stop lever 9 moves upwards, the first spring 14 can be compressed, the elasticity of the first spring 14 can reduce the swing amplitude of the cross beam 8, and then the vibration amplitude of the stand column is reduced, the vibration reduction effect is achieved, and the stability of the stand column motion is further improved.

At least one travelling mechanism 5 is connected with a power component, and the power component can drive travelling wheels to rotate, so that the travelling mechanism travels along the guide rail.

In the embodiment, the travelling mechanisms are connected with power components, and the power components drive the four travelling mechanisms to synchronously move along the guide rail.

The travelling mechanism comprises a travelling mechanism support, the travelling mechanism support adopts a wheel frame, the wheel frame is directly and fixedly connected with the upright post, the wheel frame is rotatably connected with travelling wheels through wheel shafts, and the travelling wheels are matched with the guide rails.

The power part adopts driving motor 17, driving motor's casing and wheel carrier fixed connection, and its output shaft is connected with the shaft, can drive the shaft rotation in order to drive the walking wheel rotation.

It is understood that the power component can also adopt other devices such as a hydraulic motor and the like capable of outputting rotary motion, and the power component can be arranged according to actual needs by a person skilled in the art.

At least one running gear 5 is provided with running state detection elements for detecting running data of a running state, such as a running speed, a position, etc. In this embodiment, one of the running mechanisms of the first upright 1 is provided with a running state detection element, and one of the running mechanisms of the second upright 2 is provided with a running state detection element.

In other embodiments, only one or two or three running mechanisms of the four running mechanisms 5 are provided with power components as driving running mechanisms, and the rest running mechanisms are driven running mechanisms, at this time, the driving running mechanisms are easy to slip, so that the running state detection elements are arranged on the driven running mechanisms, and the acquired movement data are more real and accurate.

Further, the running state detecting element adopts an encoder arranged between the wheel axle and the wheel carrier, and the encoder can detect the rotation speed of the wheel axle so as to obtain the running speed of the running mechanism 5.

Example 2

The difference between the embodiment and the embodiment 1 is that the walking mechanism bracket includes a wheel frame 18, the wheel frame 18 is rotatably connected with a walking wheel 19 through a wheel shaft, the walking wheel 19 is matched with a guide rail 7 fixed on the goods shelf 6, a hinged seat is arranged on the top surface of the wheel frame 18, the hinged seat is hinged with the bottom end of a floating rod 20, the floating rod 20 passes through a fixed plate 21 through an opening arranged on the fixed plate 21, a second limiting piece is fixed on a rod section of the floating rod 20 above the fixed plate 21, the second limiting piece adopts a second limiting nut 22, the second limiting nut 22 is in threaded connection with the floating rod 20, and the second limiting piece adopts a second limiting nut 22.

The connecting part and/or the fixing part is provided with a guide rod 23, the axis of which is arranged vertically, in this embodiment the connecting part is provided with a guide rod 23, the guide rod 23 passes through the wheel frame 18 and is in sliding connection with the wheel frame 18, and the movement of the wheel frame 18 is guided by the guide rod 23.

The bottom of the floating rod 20 is provided with a baffle, an elastic piece is arranged between the baffle and the fixed part, the elastic piece adopts a second spring 24, the bottom of the second spring 24 is abutted with the baffle, and the top is abutted with the lower surface of the fixed part.

Through setting up floating rod 20 and second spring 24, realized the floating connection of walking wheel 19 and stand, walking wheel 19 can be according to the surface of guide rail 7 floating from top to bottom for walking wheel 19 can cooperate with guide rail 7 all the time, has satisfied the cooperation demand of upper surface uneven guide rail 7 and walking wheel 19, has improved the stability of running gear 5 along the guide rail walking.

The remaining structure of this embodiment is the same as that of embodiment 1, and a repetitive description thereof will not be given here.

Example 3

Compared with the embodiment 1, in the damping limiting mechanism, an elastic piece is also arranged between the first limiting nut 13 and the limiting plate 12, the elastic piece is a third spring 25, the third spring 25 is sleeved on the periphery of the limiting rod, one end of the third spring 25 is abutted with the first limiting nut 13, and the other end of the third spring is abutted with the upper surface of the limiting plate 12.

In this embodiment, only two travelling mechanisms of the second upright 2 are connected with the power component, two travelling mechanisms 5 of the second upright 2 are used as driving travelling mechanisms, and two travelling mechanisms of the first upright 1 are used as driven travelling mechanisms.

Preferably, an encoder is provided between the wheel frame and the wheel axle in the driven running gear to detect the rotational speed of the wheel axle.

Example 4

Compared with embodiment 1, the damping limiting mechanism adopts an elastic piece, the elastic piece is a spring, one end of the spring is fixed with the upper surface of the end part of the cross beam 8, the other end of the spring is fixed with the bottom surface of the limiting plate 12, the limiting plate 12 is fixed with one end of the connecting plate 15, and the other end of the connecting plate 15 is fixed with the stand column.

Example 5

Compared with the embodiment 1, in the embodiment 1, two travelling mechanisms positioned on the same side of the first upright 1 and the second upright 2 are respectively connected with one power component, while in the embodiment, the two travelling mechanisms are connected with the same power component, for example, the two travelling mechanisms can be respectively connected with the power component through flexible transmission mechanisms; it is also possible that one running gear is directly connected with the power component, and the other running gear is connected with the power component through a flexible transmission mechanism, wherein the other running gear can be connected with the output shaft of the power component through the flexible transmission mechanism, or as shown in fig. 7, the running gear 3 of the second upright post 2 is directly connected with the power component, the running gear 5 of the first upright post 1 is not directly connected with the power component, and a flexible transmission mechanism is arranged between the two running gears 3 to realize power transmission between the two running gears.

In this embodiment, the flexible transmission mechanism adopts a synchronous belt transmission mechanism 26, and includes a driving pulley, a driven pulley and a synchronous belt wound between the driving pulley and the driven pulley, wherein the driving pulley is installed on a wheel shaft of the travelling mechanism of the second upright, and the driven pulley is installed on a wheel shaft of the travelling mechanism of the first upright.

In another embodiment, the flexible transmission mechanism adopts a chain transmission mechanism and comprises a rotary sprocket, a driven sprocket and a chain wound between the drive sprocket and the driven sprocket, wherein the drive sprocket is arranged on a wheel shaft of the travelling mechanism of the second upright, and the driven sprocket is arranged on a wheel shaft of the travelling mechanism of the first upright.

Of course, other types of flexible drives may be used, as the application is not limited in this regard.

It should be noted that, the two running mechanisms on the same side of the first upright 1 and the second upright 2 are connected with the power component in different manners, and the mounting positions of the flexible transmission mechanisms are different, which is not limited in the present application.

While the foregoing description of the embodiments of the present utility model has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the utility model, but rather, it is intended to cover all modifications or variations within the scope of the utility model as defined by the claims of the present utility model.

Claims

1. The utility model provides a double-column goods shelves robot, includes two stands, two be equipped with handling mechanism between the stand, handling mechanism with establish elevating system of stand is connected, two the stand is equipped with running gear, running gear cooperates with the guide rail of fixing at goods shelves, its characterized in that, two be equipped with at least one crossbeam between the stand, crossbeam one end is articulated with one side stand, and the other end is articulated with the opposite side stand, at least one be equipped with damping stop gear between the tip of crossbeam and the stand of homonymy.

2. The double-upright shelf robot according to claim 1, wherein the damping limiting mechanism comprises a limiting rod, the bottom end of the limiting rod is hinged with the cross beam, the limiting rod penetrates through a limiting plate and is fixed with a first limiting piece, the limiting plate is fixed with the upright, and an elastic piece is arranged between the limiting plate and the bottom of the limiting rod;

Or alternatively

3. The double-upright shelf robot of claim 2 wherein said stop bar passes through said stop plate through a slot provided in said stop plate, the long axis of said slot being provided along the travel direction of said travel mechanism.

4. The double-upright shelf robot of claim 2 wherein a hinge rod is vertically arranged at the bottom end of the limit rod, the hinge rod is hinged with a hinge seat, and the hinge seat is fixed on the cross beam.

5. The double-upright shelf robot of claim 1 wherein said damping limiting mechanism comprises an elastic member, one end of said elastic member being secured to said cross member and the other end being secured to a limiting plate, said limiting plate being secured to said upright.

6. A double-upright shelf robot as claimed in claim 1 wherein at least one travelling mechanism is connected to a power member to drive the travelling mechanism along the track.

7. The double-upright shelf robot of claim 6 wherein said two travelling mechanisms are located in the same said rail, both said travelling mechanisms being connected to a power unit;

Or alternatively;

8. A double-upright shelf robot according to claim 1, wherein at least one of said travelling mechanisms is provided with a travelling state detecting element.

9. The double-column shelf robot of claim 8 wherein at least one of said traveling mechanisms is connected with a power unit as a driving traveling mechanism, the remaining traveling mechanisms as driven traveling mechanisms, and said traveling state detecting element is mounted on said driven traveling mechanisms.

10. The double-column shelf robot of claim 1 wherein the travelling mechanism comprises a travelling mechanism support fixedly connected to the column, the travelling mechanism support having travelling wheels mounted thereon that cooperate with the guide rails.

11. The double-upright shelf robot of claim 10 wherein the travelling mechanism support comprises a wheel frame, the wheel frame is provided with travelling wheels, the wheel frame is hinged with the bottom end of a floating rod, the floating rod passes through a fixed plate fixed on the upright and is fixed with a second limiting member, and an elastic member is arranged between the second limiting member and the bottom end of the floating rod.

12. The double-upright shelf robot of claim 11 wherein said fixed plate is provided with a vertically disposed guide bar passing through the wheel frame and slidably connected to the wheel frame.