WO2019010604A1 - 举升装置、旋转装置、举升旋转系统和智能仓储机器人 - Google Patents

举升装置、旋转装置、举升旋转系统和智能仓储机器人 Download PDF

Info

Publication number
WO2019010604A1
WO2019010604A1 PCT/CN2017/092340 CN2017092340W WO2019010604A1 WO 2019010604 A1 WO2019010604 A1 WO 2019010604A1 CN 2017092340 W CN2017092340 W CN 2017092340W WO 2019010604 A1 WO2019010604 A1 WO 2019010604A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting
annular disk
lifting device
screw
support frame
Prior art date
Application number
PCT/CN2017/092340
Other languages
English (en)
French (fr)
Inventor
吕江
魏庆坤
王金峰
Original Assignee
水岩科技（北京）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 水岩科技（北京）有限公司 filed Critical 水岩科技（北京）有限公司
Priority to PCT/CN2017/092340 priority Critical patent/WO2019010604A1/zh
Publication of WO2019010604A1 publication Critical patent/WO2019010604A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes

Definitions

  • the present disclosure relates to a lifting device and a rotating device that can be applied to a smart storage robot, and a smart storage robot including the lifting device and/or the rotating device.
  • the main principle of the logistics warehousing robot represented by Amazon Robot, Fetch and Freight is that the automatic navigation moves to the vicinity of the designated shelf, lifts the shelf to the ground and moves to the picking platform by using the lifting system, and rotates the shelf to provide the specified object.
  • the lifting system is one of the core of the robot. The weight-bearing capacity, movement stability and rotation accuracy of the lifting system will have an important impact on the overall efficiency of the logistics system.
  • an electric push rod mechanism In the current lifting device, an electric push rod mechanism, an electro-hydraulic push rod mechanism or an X-type double-rod mechanism is adopted, wherein the electric push rod and the electro-hydraulic push rod have a simple structure, a strong carrying capacity, and can realize straight lifting of the jack.
  • the electric push rod mechanism has a high voltage, poor self-locking performance and poor stability, while electro-hydraulic The push rod will have problems such as leakage, and the self-locking performance is difficult to control.
  • the X-type double rod solves the above stability problems, but has poor carrying capacity, high requirements on the motor, and complicated structure, and needs to be customized.
  • CN103422583A discloses a latent AGV mobile handling robot, wherein the lifting structure adopts an electric push rod to realize automatic lifting and lowering of the lifting pin;
  • CN104192762A discloses a rotary lifting device and an AGV trolley including the rotating lifting device.
  • the rotary lifting device forms a rotary rise by using a transmission assembly, a screw rod, a screw nut, and a gear combination;
  • CN104370242A discloses a fixed-axis rotary mechanism and an AGV robot for an AGV robot, wherein a gear and a screw are also used.
  • CN204897298A discloses a lift rotary combination device for the AGV, wherein the lifting unit adopts a gear, a cam and a guide wheel to cooperate with each other to realize lifting.
  • the self-locking performance and stability of the electric push rod are poor; in the rotary lifting mode, when it is required to lift separately without rotating, a separate rotating device is usually required to cancel the rotation and only Lifting is provided; and the use of the guide wheel to lift the lift in order to ensure the straight lift requires the reconfiguration of the guide rail to increase the complexity and stability. Therefore, the above technical solutions are unable to obtain a more stable, simpler and more reliable lifting scheme.
  • the purpose of the present disclosure is to propose a new lifting device and a rotating device, and a smart storage robot comprising the lifting device and/or the rotating device, the lifting device and the rotating device are relatively independent, do not interfere with each other, and are stable. Reliable, easy to disassemble and repair, easy to upgrade and upgrade.
  • the present disclosure provides a lifting device, wherein: the lifting device comprises a lifting drive, a slewing bearing and a screw slider assembly, wherein the slewing bearing comprises an outer annular disk and is mounted on the outer annular disk Inner annular disk with inner side and relative rotation therewith, said outer ring a gear is disposed outside the disk; the screw slider assembly includes a screw, a screw slider matched with the screw, and a lifting gear fixedly coupled to the screw slider, the lifting gear and the lifting gear Engaging the gears on the outer side of the outer annular disk;
  • the lifting drive device drives the outer annular disk to rotate, and drives the lifting gear to rotate, thereby moving the screw rod up and down.
  • the lifting device further includes a lead screw support bearing.
  • the lift drive includes a motor reducer and a lift drive gear coupled thereto.
  • the lift drive gear meshes with a gear on the outer side of the outer annular disk.
  • the inner annular disk is sleeved on the inner side of the outer annular disk by a ball.
  • the lifting device further includes a bottom plate for fixing the lift driving device and the screw slider assembly.
  • the bottom plate is provided with a plurality of mounting holes for mounting the structural components carried and mounted on the mechanical frame of the applied device.
  • the bottom plate includes an opening portion, a first opening portion for fixing the lift driving device, and a second fixing portion for fixing the screw rod slider assembly.
  • the number and positional relationship of the second fixing portions are the same as the number of the screw slider assemblies.
  • the bottom plate is an integrally cast flat plate type, which is made of a metal material or a high-strength resin material.
  • the lifting device further includes a support bracket mounted on the top end of the screw.
  • the support frame is an equilateral n-sided shape, n ⁇ 3, and at least a portion of the top corner position corresponds to the screw.
  • the support frame and the lead screw are fixedly connected by a nut.
  • top corner position of the support frame is set to a stepped structure, and the upper end surface of the nut and the upper surface of the support frame are maintained on a plane or lower than the upper surface.
  • the support frame is provided with a lightening hole.
  • the support frame is provided with a first mounting hole that cooperates with the screw rod.
  • the inner annular disk is connected to the bottom plate by a supporting mechanism.
  • the supporting mechanism is a plurality of slewing bearing columns or an annular protrusion.
  • the slewing bearing column or the annular protrusion is integrally formed with the inner annular disk or fixedly connected by a fixing connector.
  • the inner annular disk has a concave stepped inner ring.
  • the slewing bearing column or the annular protrusion is integrally formed with the inner annular disk or fixedly connected by a fixed connecting member, the fixed connecting member is located in the concave stepped inner ring, and the fixed connection is ensured The top end of the piece does not exceed the surface of the inner annular disk.
  • the lifting gear is sleeved on the outer side of the screw slider, the screw rod is disposed inside the screw rod slider, and the screw rod slider is disposed on the screw rod supporting bearing Inside.
  • the screw slider assembly further includes a bearing housing and a protective cover, and the screw supporting bearing is mated with the bearing housing.
  • the lifting device further includes a limiting device for controlling the lifting distance to ensure that the tolerance is not exceeded.
  • the limiting device includes a limit switch mounting plate, a limit control plate and a limit switch, wherein the limit control plate is fixed to the support frame, and the height of the limit control plate reaches a preset The value triggers the limit switch.
  • the support frame rises or falls to drive the limit control board to rise or fall, and the contact pin of the limit control board touches the limit switch to trigger the limit Switching and stopping the rise or fall of the support frame.
  • the present disclosure also provides a rotating device, wherein: the rotating device includes a rotary driving assembly, a slewing bearing, and a tray, wherein the slewing bearing includes an outer annular disk and is disposed inside the outer annular disk and An inner annular disk opposite to the outer annular disk, wherein the outer annular disk is provided with a gear, wherein the tray is fixed to the outer annular disk, and the rotary driving assembly can drive the outer annular disk to rotate, In turn, the tray is rotated.
  • the rotating device includes a rotary driving assembly, a slewing bearing, and a tray
  • the slewing bearing includes an outer annular disk and is disposed inside the outer annular disk and An inner annular disk opposite to the outer annular disk, wherein the outer annular disk is provided with a gear, wherein the tray is fixed to the outer annular disk, and the rotary driving assembly can drive the outer annular disk to rotate, In turn, the tray is rotated.
  • the rotating device further includes a support frame fixedly coupled to the inner annular disk and configured to fix the rotary drive assembly.
  • the inner annular disk is connected to the support frame by a support mechanism.
  • the supporting mechanism is a plurality of supporting columns or an annular protrusion.
  • the support post or the annular protrusion is integrally formed with the inner annular disk or fixedly connected by a fixing connector.
  • the support frame is provided with a mounting bracket for fixing the rotary drive assembly.
  • the rotary drive assembly includes a rotary electric machine and a rotary drive gear.
  • the tray is an annular structure, including a metal tray support, the upper surface is covered with a rubber pad, the back surface has a reinforcing rib, and the inner ring is distributed with a mounting screw hole.
  • the present disclosure also provides a lift rotary system, comprising: the lift device of any of the preceding claims, and the rotary device of any of the preceding claims, the rotary device being disposed above the lift device.
  • support frame of the rotating device and the lifting device are the same component or two fixedly connected components.
  • the present disclosure also provides a smart storage robot, comprising: the lifting device of any of the preceding claims, and the rotating device of any of the preceding claims, the rotating device being mounted above the lifting device.
  • support frame of the rotating device and the lifting device are the same component or two fixedly connected components.
  • the lifting device and the rotating device which can be applied to the intelligent storage robot proposed by the present disclosure operate relatively independently, and can be operated separately and in concert, and the components are simple in structure, simple in assembly, easy to be quick-released, and low in maintenance cost.
  • FIG. 1 is an external view of a lifting device and a rotating device according to an embodiment of the present disclosure
  • A is a perspective view
  • B is a top view
  • C is a side view
  • FIG. 3 is a structural view of a bottom plate according to an embodiment of the present disclosure.
  • FIG. 4 is a structural view showing a reduction gear and a lift drive gear mounted on a bottom plate according to an embodiment of the present disclosure
  • A is a side cross-sectional view
  • B is a main view
  • C is a perspective view of a slewing bearing equipped with a slewing bearing column.
  • FIG. 6 is a schematic view of a screw slider assembly according to an embodiment of the present disclosure.
  • FIG. 7 is a structural view of a support frame according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a limiting device according to an embodiment of the present disclosure.
  • FIG. 9 is a structural view of a support frame equipped with a rotary electric machine and a rotary drive gear according to an embodiment of the present disclosure
  • FIG. 10 is a structural view of a tray in which A is a side view and B is a bottom view, according to an embodiment of the present disclosure.
  • 6-screw slider assembly 601-screw; 602-screw slider; 603-lifting gear; 604-screw support bearing; 605-bearing; 606-shield
  • 8-limit device 801-limit switch mounting plate; 802-limit control board; 803-limit switch;
  • the present disclosure relates to a lifting device and a rotating device that can be applied to a smart storage robot, and a smart storage robot to which the lifting device and the rotating device are applied, where the intelligent storage robot is generally applicable to storage, logistics, transportation.
  • Mobile handling units for transporting goods, shelves, containers, etc. are also often referred to as logistics robots, AGVs, smart vans, etc.; however,
  • the application of the lifting device and the rotating device proposed by the present disclosure is not limited to the smart storage robot, and can also be applied to other robots as well as mechanical equipment and transportation equipment, such as freight vehicles, etc. for providing lifting, rotating and carrying functions. .
  • FIG. 1 shows a combination of a lifting device and a rotating device of the present disclosure.
  • the present disclosure is divided into two parts, a lifting device and a rotating device, which does not mean that the lifting device and The only way to construct a rotating device.
  • the lifting device mainly comprises, but is not limited to, a bottom plate 1, a lifting drive device (including a motor reducer 2, a lift drive gear 3), a slewing ring 4, a slewing bearing column 5, Screw rod assembly 6, support frame 7 and limiting device 8.
  • the bottom plate 1 is, as shown in FIG. 3, optionally, the bottom plate is an integrally cast flat plate type.
  • the bottom plate may be made of metal or high-strength resin; optionally, the bottom plate is provided with a plurality of mounting holes 101.
  • the mounting hole may be any shape suitable for mounting such as a circular shape, an elliptical shape, etc.
  • the mounting holes are divided into two types, one for mounting structural members carried on the bottom plate and one for mounting the bottom plate.
  • the two types of mounting holes may adopt the same or different shapes and/or sizes, and FIG. 3 only exemplarily shows a part of the mounting holes; the shape of the bottom plate should be installed according to the application.
  • the mechanical frame structure of the transport device is adapted and secured to provide adequate structural support including, but not limited to, circular, rectangular, triangular, polygonal, and other profiled structures, optionally adapted to be mounted to the bottom of a smart storage robot On the shelf, the bottom plate adopts the shape shown in Figure 3 so as not to affect the mounting of other components on the chassis.
  • the shape of the bottom plate can be adjusted to reduce the weight, for example, cutting off some non-
  • the bottom plate further includes a weight reducing hole (not shown), and the shape and size of the weight reducing hole may be configured according to a specific situation; optionally, the bottom plate further includes an opening portion 102 for providing
  • the shape of the opening includes, but is not limited to, the lower field of view of components such as a computer vision system. In the shape of a circle or the like; alternatively, it is a circular opening for accommodating components such as a computer vision system; the bottom plate further includes a first fixing portion 103 for the motor reducer 2 and the lift drive
  • the gear 3 and the bottom plate 1 further include a second fixing portion 104.
  • the second fixing portion includes three components for respectively fixing the three screw slider assemblies 6, and optionally, the positions and shapes of the three components are as follows. 3, each includes a second fixing portion that protrudes from the periphery of the opening toward the top of the figure, and two second fixing portions that protrude from the periphery of the opening toward both sides of the center axis of the drawing, and the first and second fixing portions
  • the shape includes, but is not limited to, a square shape, a wedge shape, and a combination of different shapes.
  • the first fixing portion 103 adopts a square shape
  • the second fixing portion 104 adopts a square and a protrusion protruding from the middle toward the top of the figure.
  • the wedge shape protrudes to the sides of the central axis of the figure, wherein the wedge shape is designed to avoid other components on the chassis.
  • FIG 4 shows the motor reducer 2 mounted on the base plate 1 and the lift drive gear 3 connected thereto.
  • the motor reducer 2 is an integrated component including a drive motor and a reducer. In order to achieve the same function, another embodiment may also be composed of discrete components; the motor reducer 2 is fixed to the first fixing portion 103 of the bottom plate 1; optionally The lift drive gear 3 is connected to the motor reducer 2 via a positioning key 301; in a preferred embodiment, the lift drive gear 3 is a gear set, and the number of gears in the gear set is determined according to the required gear ratio and the rotational speed direction. .
  • FIGS. 5A to 5C The slewing ring 4 and the slewing bearing column 5 in the present disclosure are shown in FIGS. 5A to 5C.
  • the slewing ring 4 includes an outer annular disk 401 and an inner annular disk 402 sleeved on the inner side of the outer annular disk 401, and the two are connected in a relatively rotatable manner;
  • the outer annular disk 401 has a gear structure on the outer side for The lifting drive gear 3 is engaged;
  • the inner annular disk 402 is sleeved on the inner side of the outer annular disk 401 by balls 405 to provide relative rotation therebetween, the balls 405 including but not limited to cylindrical;
  • the outer annular disk 401 has an outer ring mounting hole 403 uniformly distributed along the circular ring;
  • the inner annular disk 402 has an inner ring mounting hole 404 uniformly distributed along the circular ring, and the inner ring mounting hole 404 can be used for fixing the slewing bearing column 5 and Other components, such as computer vision Sensory components.
  • the inner annular disk 402 has a concave stepped inner ring, and the inner ring mounting hole 404 is located on the concave stepped inner ring, so that when the slewing bearing column 5 adopts a fixing component,
  • the bolt is fixed to the inner annular disk 402
  • the upper end surface of the bolt is not higher than the upper surface of the slewing ring 4; alternatively, a similar function can be achieved by the inner ring mounting hole being depressed.
  • the outer annular disk 401 has a diameter of about 200-800 mm; and the inner annular disk 402 has an inner diameter of not less than 130 mm.
  • the support column 5 is fixedly connected to the inner annular disk 402 and the bottom plate 1 by fixing members, for example, bolts; alternatively, the slewing support column 5 is fixed to the inner annular disk 402 through the inner ring mounting hole 404 on the inner annular disk 402. .
  • the slewing bearing column 5 may be integrally formed with the inner annular disk 402.
  • other supporting structures may be used instead of the slewing bearing column 5, for example, forming an annular direction on the inner annular disk 402. The lower projections are used to lift the slewing ring 4 from a certain height from the bottom plate without affecting the rotation of the outer annular disk 401.
  • the lead screw slider assembly 6 includes a lead screw 601, a lead screw slider 602, a lift gear 603, a lead screw support bearing 604, a bearing housing 605, and a protective cover 606.
  • a ball is accommodated between the screw 601 and the thread of the screw slider 602 so that the screw slider 602 and the screw 601 can smoothly rotate and axially displace;
  • the lifting gear 603 and the screw slider 602 is fixedly connected, for example, by a screw;
  • the lifting gear 603 is sleeved outside the screw slider 602, the screw 601 is disposed inside the screw slider 602, and the screw slider 602 is disposed inside the screw support bearing 604
  • the lift gear 603 is located above the lead support bearing 604 and is not in contact with the lead support bearing 604;
  • the lead support bearing 604 is in an interference fit with the bearing housing 605, and the bearing housing 605 is fixed to the base plate, for example by bolting,
  • a protective cover 606 is fixed on the other side of the bottom plate corresponding to the
  • the support frame 7, as shown in Fig. 7, is generally triangular, preferably equilateral triangle, and the screw slider assembly 6 is generally mounted at the apex position of the equilateral triangle; alternatively, the support frame 7 may be equilateral n sides Shape, that is, the same number as the screw slider assembly n (n ⁇ 3), the apex is rounded, and the screw slider assembly 6 is substantially at the position of the apex of the equilateral n-edge; the apex position of the support frame 7 Corresponding to the screw 601, to facilitate fixing with the screw rod 601 through the nut 13; alternatively, as shown in FIGS.
  • the top corner position of the support frame 7 is subjected to step-down treatment under the premise of ensuring strength.
  • the upper end surface of the nut 13 and the support frame 7 are integrally held on a plane or slightly lower than the upper end surface of the support frame 7, thereby reducing the center of gravity of the entire product structure and making the product compact.
  • the support frame 7 has a circular opening 701 in the middle for accommodating computer vision system components; the first mounting hole 702 at the top corner position adopts a U-shaped hole design to match the screw 601 U-shaped head, easy to install, reduce component weight, reduce machining accuracy and cost; optionally, under the premise of meeting structural strength requirements, the support frame 7 has a weight reduction hole 703, optionally, the weight reduction hole along the circle The annular shape is evenly distributed.
  • weight reducing holes 703 may be distributed on the rings of different diameters, and the shape of the weight reducing holes includes, but is not limited to, a circle, a triangle, etc.; alternatively, the support frame 7 is provided a second mounting hole 704 having a top mounting structure for further carrying other structural components, such as a structural unit that implements rotation; alternatively, the support frame 7 is provided with a third mounting hole 705 for mounting other structural components, such as Bit device.
  • the U-shaped head of the lead screw 601 can match the shape of the U-shaped first mounting hole 702 of the support frame, and the U-shaped first mounting hole 702 passes through a small angle of rotation and is stuck in the U-shaped portion.
  • the screw 601 and the support frame 7 are fixed together by the fixing nut 13 above and below the support frame 7.
  • a magnetic ring counter (not shown) is also provided for controlling the height of the ascending or descending; optionally, the magnetic ring counter is disposed at the lift drive gear 3 through the lift drive gear 3 The number of revolutions is counted to determine the relative height of the rise or fall, and further, when the rise or fall reaches a predetermined height, the magnetic ring counter triggers the motor to stop.
  • FIG. 8 shows the limiting device, which mainly includes a limit switch mounting plate 801, a limit control plate 802, and a limit switch 803.
  • the upper end of the limit control board 802 is fixed to the support frame 7 , optionally fixed by the third mounting hole 705 on the support frame 7 , and the lower end is a bent structure.
  • the bent structure has a control rising and a control falling position respectively.
  • the limit switch mounting plate 801 is disposed on the bottom plate, which is a column structure on which the limit switch 803 is disposed.
  • the movement further drives the limit control board 802 to move upwards, so that the touch pin of the limit control board 802 is closer to the trigger point of the limit switch 803, and the limit switch 803 is triggered to act after the collision, thereby controlling the motor to stop.
  • the upper end of the limit control board 802 is fixed to the support frame 7 by screws.
  • the upper end of the limit control board 802 has a bent structure, and the bent structure is placed on the surface of the support frame 7.
  • the bent structure has a concave notch to facilitate screw insertion and positioning.
  • the magnetic ring counter is used to control the rise or fall to a preset height, and the limit device is used to ensure that the rise or fall does not exceed the tolerance position.
  • the motor driving reducer 2 drives the lifting drive gear 3 to rotate, thereby driving the outer annular disk 401 of the slewing ring 4 to rotate, and the inner annular disk 402 is fixed relative to the bottom plate 1.
  • the outer annular disk 401 is rotated relative to the inner annular disk 402, and the inner annular disk 402 is stationary relative to the bottom plate 1; the outer annular disk 401 is engaged with the lifting gear 603 of the screw-slider assembly 6, thereby driving the lifting Gear 603 rotates, lift gear 603 and screw slider 602 is fixed, therefore, the screw slider 602 rotates together with the lifting gear 603, and the ball between the screw slider 602 and the screw 601 rolls along the spiral groove between the screw slider 602 and the screw 601, and the wire The rod 601 moves up or down without rotating relative to the bottom plate.
  • the upward or downward displacement of the screw rod 601 is related to the number of rotations of the screw slider 602 and the pitch of the spiral channel; the rise or fall of the screw rod 601
  • the motion drives the support frame 7 to rise or fall, thereby achieving the lifting function without the rotation of the support frame.
  • a rotary drive assembly including a rotary electric machine 9 and its mounting bracket 10 and a rotary drive gear 11
  • a slewing ring 4 and a tray 12 are provided for providing a rotary function to the system.
  • a rotary electric machine mounting bracket 10 for fixing the rotary electric machine 9 and the rotary drive may be fixed.
  • Gear 11; alternatively, the rotary drive gear 11 may be a gear set to achieve a desired gear ratio and direction of rotation. The number and size of gears in the gear set are determined as needed; alternatively, the rotary motor 9 and the rotation
  • the drive gears 11 are mounted on both sides of the mounting bracket 10.
  • the outer annular disk 401 of the slewing ring 4 is meshed with the rotary drive gear 11, and the inner annular disk 402 is fixedly coupled to the support frame 7, or is connected to the support frame 7. Attached to a support mechanism; optionally, the inner annular disk 402 is fixedly coupled to the support frame 7 via a second mounting hole 704 in the support frame 7; alternatively, the same structure and size are employed in the rotating device and the lifting device Slewing ring 4 to reduce the types of parts in production, assembly and maintenance and improve operational efficiency.
  • the tray 12 has an annular structure. As shown in FIG. 10A, the upper surface of the tray 12 is covered with a rubber pad 1201, for example, by bonding or hot-melt, and the tray is shown in FIG. 10B.
  • the lower surface view of the 12 is a metal tray support 1202 having a rib 1203 on the back side, and the inner ring is evenly distributed with a mounting screw hole 1204 for fixing to the outer ring mounting hole 403 of the outer annular disk 401 of the slewing ring 4.
  • the rotary motor 9 drives the rotary drive gear 11 to rotate, thereby driving the outer annular disk 401 and the tray 12 to rotate, and the inner annular disk 402 and the support frame 7 remain relatively stationary.
  • the lifting device and the rotating device are combined to form a lifting rotary device, which are relatively independent systems.
  • the lift is completed by the motor of the lifting device, and at this time, the rotating device is relatively stationary; when it is required to rotate, the rotation of the motor of the rotating device is completed, and the lifting device is relatively stationary. No rotation; when both lifting and rotation are required, the two can work together to achieve the required height and angle of rotation.

Abstract

一种举升装置、旋转装置、举升旋转系统及智能仓储机器人，其中，所述举升装置包括举升驱动装置、回转支承（4）和丝杆滑块组件（6），其中回转支承（4）包括外圆环盘（401）以及装设在外圆环盘（401）内侧且可与之发生相对转动的内圆环盘（402），所述外圆环盘（401）外侧设置有齿轮；所述丝杆滑块组件（6）包括丝杆（601）、与所述丝杆（601）配合的丝杆滑块（602）以及与所述丝杆滑块（602）固定连接的举升齿轮（603），所述举升齿轮（603）与所述外圆环盘（401）外侧的齿轮啮合；所述举升驱动装置驱动所述外圆环盘（401）转动，并带动所述举升齿轮（603）转动，进而使得所述丝杆（601）上下移动。

Description

举升装置、旋转装置、举升旋转系统和智能仓储机器人 技术领域
本公开涉及一种能够应用于智能仓储机器人的举升装置以及旋转装置，以及包含所述举升装置和/或旋转装置的智能仓储机器人。
背景技术
互联网时代和电子商务的快速发展，给物流行业的发展带来了生机，然而爆发式增长的电商也给传统物流仓储带来新的挑战，不断迫使传统物流仓储行业从劳动密集型转向技术密集型，催生了智能物流仓储的发展。在传统物流仓储行业中，主要应用以传送带及相关设备为主的机器人，近年来，越来越多的物流仓储服务中，引入了自动导引车AGV来减少人力成本；新一代的物流仓储机器人将与物流管理系统对接，结合人工智能、机器视觉、机械臂等技术形成高度智能化、自动化的物流系统，降低人工成本，提高物流效率和物流质量。
目前，以亚马逊机器人、Fetch和Freight为代表的物流仓储机器人的主要原理为，自动导航移动到指定的货架附近，利用升举系统托举货架离地并移动至拣选平台，旋转货架以提供指定物体所在的一侧进一步工作。其中举升系统是机器人的核心之一，其举升系统的负重能力、移动稳定性以及旋转精确度将对物流系统的整体效率产生重要的影响。
目前的举升装置中，采用电动推杆机构、电液推杆机构或X型双杆机构，其中电动推杆、电液推杆结构简单、承载能力强、且能实现顶杆直线举升，但电动推杆机构电压过高、自锁性能差且稳定性差，而电液 推杆会出现漏液、自锁性能差一级高度难以控制等问题，X型双杆虽然解决上述稳定性问题，但承载能力差，对电机要求高、且结构复杂，需要定制。
CN103422583A公开了一种潜伏式AGV移动搬运机器人，其中举升结构采用了电动推杆来实现举升销的自动上升和下降；CN104192762A公开了一种旋转举升装置及包括旋转举升装置的AGV小车，其中旋转举升装置通过利用传动组件、丝杆、丝杆螺母、齿轮组合，形成旋转上升；CN104370242A公开了一种用于AGV机器人的定轴旋升机构和AGV机器人，其中也是采用齿轮、螺杆筒和螺套筒配合的方式旋转上升；CN204897298A公开了一种AGV用举升回转组合装置，其中举升单元采用了齿轮、凸轮和导向轮相互配合的方式实现升举。
上述的举升装置解决方案中，电动推杆的自锁性能和稳定性能较差；旋转举升方式中，当需要单独举升而不旋转时，通常还需要单独的旋转装置来抵消旋转而仅提供举升；而利用导向轮来升举为保证直线升举还需要再配置导向滑轨使得复杂度增加而稳定性下降。因而上述的技术方案都无法获得更稳定，更简单可靠的举升方案。
发明内容
本公开的目的在于提出一种新的举升装置和旋转装置，以及包含该举升装置和/或旋转装置的智能仓储机器人，所述举升装置和旋转装置相对独立工作，互不干扰，稳定可靠，便于拆装维修，易于改进升级。
具体而言，本公开提供一种举升装置，其中：所述举升装置包括举升驱动装置、回转支承和丝杆滑块组件，其中回转支承包括外圆环盘以及装设在外圆环盘内侧且可与之发生相对转动的内圆环盘，所述外圆环 盘外侧设置有齿轮；所述丝杆滑块组件包括丝杆、与所述丝杆配合的丝杆滑块以及与所述丝杆滑块固定连接的举升齿轮，所述举升齿轮与所述外圆环盘外侧的齿轮啮合；
所述举升驱动装置驱动所述外圆环盘转动，并带动所述举升齿轮转动，进而使得所述丝杆上下移动。
进一步地：所述举升装置还包括丝杆支撑轴承。
进一步地：所述举升驱动装置包括电机减速机和与之连接的举升驱动齿轮。
进一步地：所述举升驱动齿轮与所述外圆环盘外侧的齿轮啮合。
进一步地：所述内圆环盘通过滚珠套接在所述外圆环盘的内侧。
进一步地：所述举升装置还包括底板，用于固定所述举升驱动装置以及所述丝杆滑块组件。
进一步地：所述底板配置有多个安装孔，用于安装所承载的结构部件以及安装于所应用的设备的机械框架上。
进一步地：所述底板包括开口部、用于固定所述举升驱动装置的第一开口部、和用于固定所述丝杆滑块组件的第二固定部。
进一步地，第二固定部的数量和位置关系与丝杆滑块组件的数量相同。
进一步地：所述底板为一体铸造的平板型，采用金属材料或高强度树脂材料制成。
进一步地：所述举升装置还包括支撑架，其安装在所述丝杆顶端。
进一步地：所述支撑架为等边n边形，n≥3，至少部分顶角位置处对应有丝杆。
进一步地：所述支撑架与所述丝杆之间通过螺母固定连接。
进一步地：所述支撑架的顶角位置处设置成降台阶结构，保证所述螺母的上端面与所述支撑架的上表面保持在一个平面上或低于所述上表面。
进一步地：所述支撑架上设有减重孔。
进一步地：所述支撑架上设有与所述丝杆配合的第一安装孔。
进一步地：所述内圆环盘通过支撑机构与所述底板连接。
进一步地：所述支撑机构为多根回转支承立柱或者为一环状突起。
进一步地：所述回转支承立柱或环状突起与内圆环盘一体形成或者通过固定连接件固定连接。
进一步地：所述内圆环盘具有下凹阶梯式内环。
进一步地：所述回转支承立柱或环状突起与所述内圆环盘一体形成或者通过固定连接件固定连接，所述固定连接件位于所述下凹阶梯式内环，且保证所述固定连接件顶端不超过所述内圆环盘表面。
进一步地：所述举升齿轮套接在所述丝杆滑块外侧，所述丝杆穿设在所述丝杆滑块内侧，所述丝杆滑块穿设在所述丝杆支撑轴承的内侧。
进一步地：所述丝杆滑块组件还包括轴承座和保护罩，所述丝杆支撑轴承与所述轴承座配合连接。
进一步地：所述举升装置还包括限位装置，用于控制举升距离以确保不超出容限。
进一步地：所述限位装置包括限位开关安装板、限位控制板和限位开关，其中所述限位控制板与所述支撑架固定，所述限位控制板的高度达到预设的数值，则触发所述限位开关。
进一步地：在举升过程中，所述支撑架上升或下降带动所述限位控制板上升或下降，所述限位控制板的触脚触碰所述限位开关，以触发所述限位开关并停止所述支撑架的上升或下降。
本公开还提供了一种旋转装置，其中：所述旋转装置包括旋转驱动组件、回转支承和托盘，其中，所述回转支承包括外圆环盘以及装设在所述外圆环盘内侧且可与之发生相对转动的内圆环盘，所述外圆环盘外侧设置有齿轮，其中所述托盘与所述外圆环盘固定，所述旋转驱动组件可驱动所述外圆环盘转动，进而带动所述托盘转动。
进一步地：所述旋转装置还包括支撑架，其与所述内圆环盘固定连接，并用于固定所述旋转驱动组件。
进一步地：所述内圆环盘通过支撑机构与支撑架连接。
进一步地：所述支撑机构为多根支撑立柱或者为一环状突起。
进一步地：所述支撑立柱或环状突起与内圆环盘一体形成或者通过固定连接件固定连接。
进一步地：所述支撑架上设有安装支架，用于固定旋转驱动组件。
进一步地：所述旋转驱动组件包括旋转电机和旋转驱动齿轮。
进一步地：所述托盘为一环形结构，包括金属托盘支撑，其上表面覆有橡胶垫，背面有加强筋，内环分布有安装螺孔。
本公开还提供了一种举升旋转系统，其中：包括前面任一项所述的举升装置和前面任一项所述的旋转装置，所述旋转装置设置于举升装置的上方。
进一步地：所述旋转装置和举升装置的支撑架为同一个部件或者两个固定连接的部件。
本公开还提供了一种智能仓储机器人，其中：包括前面任一项所述的举升装置和前面任一项所述的旋转装置，所述旋转装置安设于举升装置的上方。
进一步地：所述旋转装置和举升装置的支撑架为同一个部件或者两个固定连接的部件。
本公开提出的能够应用于智能仓储机器人的举升装置和旋转装置，相对独立运作，可单独和协同动作，并且零部件结构简单，装配简单，易于快拆，维修保养成本低。
附图说明
通过参照附图详细描述各示例性实施例，以上及其他特征和优点对于本领域普通技术人员而言将变得更为明显，在附图中:
图1为根据本公开一实施例的举升装置及旋转装置外观图；
图2为根据本公开一实施例的举升装置结构图，其中A为斜视图；B为俯视图；C为侧视图；
图3为根据本公开一实施例的底板结构图；
图4为根据本公开一实施例的底板上安装减速机和举升驱动齿轮结构图；
图5为根据本公开一实施例的回转支承的外圆环盘和内圆环盘的装配视图；其中A为侧面剖视图；B为主视图；C为装配有回转支承立柱的回转支承的斜视图；
图6为根据本公开一实施例的丝杆滑块组件示意图；
图7为根据本公开一实施例的支撑架结构图；
图8为根据本公开一实施例的限位装置示意图；
图9为根据本公开一实施例的支撑架上装配有旋转电机和旋转驱动齿轮的结构图；
图10为根据本公开一实施例的托盘结构图，其中A为侧视图；B为仰视图。
1-底板；101-安装孔；102-开口部；103-第一固定部；104-第二固定部；
2-电机减速机；
3-举升驱动齿轮；301-定位键；
4-回转支承；401-外圆环盘；402-内圆环盘；403-外圈安装孔；404-内圈安装孔；405-滚珠
5-回转支承立柱；
6-丝杆滑块组件；601-丝杆；602-丝杆滑块；603-举升齿轮；604-丝杆支撑轴承；605-轴承座；606-保护罩
7-支撑架；701-圆形开口；702-第一安装孔；703-减重孔；704-第二安装孔；705-第三安装孔
8-限位装置；801-限位开关安装板；802-限位控制板；803-限位开关；
9-旋转电机；
10-旋转电机安装支架
11-旋转驱动齿轮；
12-托盘；1201-橡胶垫；1202-托盘支撑；1203-加强筋；1204-安装螺孔
13-螺母
具体实施方式
为了使本公开的技术方案和优点更加清楚，下面结合附图和具体实施例对本公开进行详细描述。
本公开涉及一种能够应用于智能仓储机器人的举升装置和旋转装置，以及应用了该举升装置和旋转装置的智能仓储机器人，此处智能仓储机器人是泛指可应用于仓储、物流、运输中搬运货物、货架、货柜等的移动搬运单元，也常被称为物流机器人、AGV、智能搬运车等；然而， 本公开所提出的举升装置和旋转装置的应用并不限于所述智能仓储机器人，还可以应用于其他机器人以及机械设备和运输设备中，例如货运车辆等用于提供升举、旋转和搬运功能。
图1示出了本公开的举升装置和旋转装置的组合，为了清晰的描述本公开的各个组成部件，将本公开分成举升装置和旋转装置两个部分，这并非意味着举升装置和旋转装置的唯一构成方式。
举升装置
如图1、2A、2B和2C所示，举升装置主要包括但不限于底板1、举升驱动装置(包括电机减速机2、举升驱动齿轮3)、回转支承4、回转支承立柱5、丝杆滑块组件6、支撑架7和限位装置8。
底板1，如图3所示，可选地，该底板为一体铸造的平板型，可选地，底板的材料可以为金属或高强度树脂；可选地，底板上配置有多个安装孔101，安装孔可为圆形、椭圆形等任何适于安装的形状，可选地，安装孔分为两类，一类用于安装容纳底板上承载的结构部件以及一类用于将底板安装于所应用的运输设备的机械框架上，这两类安装孔可以采用相同或不同的形状和/或尺寸，图3仅示例性的示出了部分安装孔；底板的形状应根据安装在所应用的运输设备的机械框架结构进行适应性调整并保证提供足够的结构支撑，其包括但不限于圆形、矩形、三角形、多边形以及其他异形结构，可选地，为适于安装在智能仓储机器人的底架上，底板采用了如图3所示的形状，以不影响底架上安装其他部件，可选地，底板的形状还可以调整以减轻重量，例如裁掉一些非必要的部分；优选的，底板上还包括减重孔(图中未示出)，减重孔的形状和大小可根据具体情况进行配置；可选地，底板还包括开口部102，用于提供如计算机视觉系统等部件的下方视野范围，开口部的形状包括但不限 于圆形等形状；可选地，为圆形开口，所述圆形开口用于容纳如计算机视觉系统等部件；底板上还包括第一固定部103，用于电机减速机2和举升驱动齿轮3，底板1上还包括第二固定部104，第二固定部包括三个组成部分，分别用于固定3个丝杆滑块组件6，可选地，三个组成部分的位置和形状如图3所示，分别包括从开口部周边向图示顶部突出的第二固定部、从开口部周边向图示中轴线两侧突出的两个第二固定部，第一和第二固定部的形状，包括但不限于方形、楔形以及不同形状的组合，可选地，如图3所示，第一固定部103采用方形，第二固定部104采用从中间向图示顶部突出的方形和从中间向图示中轴线两侧突出的楔形，其中，楔形设计是为了避让底架上的其他部件。
图4示出了安装在底板1上的电机减速机2和与之相连的举升驱动齿轮3。
电机减速机2是包括驱动电机和减速机的集成件，为实现相同功能，另一实施例中也可以由分立元件组成；电机减速机2固定在底板1的第一固定部103；可选地，所述举升驱动齿轮3通过定位键301与电机减速机2连接；在优选的方案中，举升驱动齿轮3为齿轮组，根据需要的传动比和转速方向来确定齿轮组中齿轮个数。
如图5A至5C示出本公开中的回转支承4和回转支承立柱5。
回转支承4包括外圆环盘401以及套在外圆环盘401内侧的内圆环盘402，两者之间以可相对转动方式连接；所述外圆环盘401外侧具有齿轮结构，用于与举升驱动齿轮3啮合；可选地，内圆环盘402通过滚珠405套接在外圆环盘401的内侧来提供二者之间的相对转动，滚珠405包括但不限于圆柱形；可选地，外圆环盘401上具有沿圆环均匀分布的外圈安装孔403；内圆环盘402具有沿圆环均匀分布内圈安装孔404，内圈安装孔404可用于固定回转支承立柱5和其他组件，例如计算机视 觉组件。可选地，如图5A和5C所示，内圆环盘402具有下凹阶梯式内环，且内圈安装孔404位于下凹阶梯式内环上，使得当回转支承立柱5采用固定部件，例如螺栓，与内圆环盘402固定时，螺栓的上端面不高于回转支承4的上表面；可选地，也可以通过内圈安装孔下陷的方式实现类似的功能。可选地，外圆环盘401的直径约200-800mm；内圆环盘402的内径不小于130mm。
回转支承立柱5一端固定在内圆环盘402上，另一端固定在底板1上从而使得回转支承4固定在底板1上并距离底板1适当的高度，如图2C所示；可选地，回转支承立柱5采用固定部件分别与内圆环盘402和底板1固定连接，例如螺栓；可选地，回转支承立柱5通过内圆环盘402上的内圈安装孔404与内圆环盘402固定。
可选地，所述回转支承立柱5可与内圆环盘402一体成型，作为另外的实现方式，也可以采用其他支撑结构替代回转支承立柱5，例如在内圆环盘402上形成环状向下凸起，以实现将回转支承4托举起距离底板一定高度而不影响外圆环盘401旋转。
如图6所示，丝杆滑块组件6包括丝杆601、丝杆滑块602、举升齿轮603、丝杆支撑轴承604、轴承座605和保护罩606。在丝杆601和丝杆滑块602的螺纹之间容纳有滚珠，使得丝杆滑块602和丝杆601之间能够顺滑的旋转并发生轴向位移；举升齿轮603与丝杆滑块602固定连接，例如通过螺钉；举升齿轮603套接在丝杆滑块602外侧，丝杆601穿设在丝杆滑块602内侧，丝杆滑块602穿设在丝杆支撑轴承604的内侧，举升齿轮603位于丝杆支撑轴承604上方且不与丝杆支撑轴承604相接触；丝杆支撑轴承604与轴承座605采用过盈配合，轴承座605固定在底板上，例如通过螺栓固定，可选地，在底板的另一侧与轴承座605对应位置固定有保护罩606，用于丝杆601上升下降通道的保护以及防 尘。可选地，丝杆滑块组件6的尺寸，主要取决于举升齿轮603，而举升齿轮603的尺寸，是根据回转支承4的尺寸按照齿数比确定，举升齿轮603优选为尼龙齿轮。
支撑架7，如图7所示，大体为三角形，优选为等边三角形，丝杆滑块组件6大体安装在等边三角形的顶点位置处；可选地，支撑架7可呈等边n边形，即与丝杆滑块组件数目n(n≥3)相同，顶点处做圆角处理，丝杆滑块组件6大体位于等边n边形的顶点的位置处；支撑架7顶点位置处与丝杆601相对应，以方便通过螺母13与丝杆601固定；可选地，如图2A和2C示出的，支撑架7的顶角位置处在保证强度的前提下进行了降台阶处理，使得安装螺母13以后，螺母13的上端面与支撑架7整体上保持在一个平面上或略低于所述支撑架7的上端面，从而能降低整产品结构重心，使产品结构紧凑。
如图7所示，可选地，支撑架7中间具有圆形开口701，用于容纳计算机视觉系统部件；顶角位置处的第一安装孔702采用了U形孔设计以配合丝杆601的U形头部，方便安装，减轻部件配重，降低加工精度和成本；可选地，在满足结构强度要求的前提下，支撑架7具有减重孔703，可选地，减重孔沿圆环形均匀分布，可选地，可以在不同直径的圆环上分布有不同大小的减重孔703，减重孔的形状包括但不限于圆形、三角形等；可选地，支撑架7设有顶部安装结构的第二安装孔704，用于进一步承载其他结构部件，例如实现旋转的结构单元；可选地，支撑架7设有第三安装孔705，用于安装其他结构部件，例如限位装置。
作为一种优选方式，丝杆601的U形头部可与支撑架的U形第一安装孔702的形状相匹配，从U形第一安装孔702穿过旋转小角度而卡在U形第一安装孔702上，再通过固定螺母13在支撑架7的上面和下面将丝杆601和支撑架7固定在一起。
举升装置中，还设有磁环计数器(未示出)，用于控制上升或下降的高度；可选地，磁环计数器设置在举升驱动齿轮3处，通过对举升驱动齿轮3的转数进行计数从而确定上升或下降的相对高度，进而，当升高或下降达到预定的高度时，磁环计数器触发电机停止动作。
图8示出了限位装置，主要包括，限位开关安装板801、限位控制板802和限位开关803。限位控制板802上端与支撑架7固定，可选地通过支撑架7上的第三安装孔705固定，下端为一弯折结构，可选地，弯折结构分别具有控制上升和控制下降位置的触脚，限位开关安装板801设置在底板上，其为一立柱结构，其上设置有限位开关803。限位开关803，当限位控制板802上升或下降达到预设的数值，触脚触发限位开关803则停止上升或下降；在一个具体实施例中，在举升过程中，支撑架7向上移动进而带动限位控制板802向上移动，使得限位控制板802的触脚与限位开关803触发点越来越接近，直到碰撞后触发限位开关803动作，进而控制电机停止动作。
可选地，所述限位控制板802上端通过螺钉固定在支撑架7上。可选地，所述限位控制板802的上端具有弯折结构，所述弯折结构搭在支撑架7表面上。可选地，所述弯折结构上具有凹形缺口，方便螺钉插入和定位。
磁环计数器用于控制上升或下降到预设的高度，而限位装置用于保障上升或下降不会超出容限位置。
如图2A所示，当触发举升操作时，由电机减速机2带动举升驱动齿轮3转动，进而带动回转支承4的外圆环盘401转动，内圆环盘402相对于底板1固定，因而外圆环盘401相对于内圆环盘402转动，而内圆环盘402相对于底板1静止；外圆环盘401与丝杆滑块组件6的举升齿轮603啮合，进而带动举升齿轮603转动，举升齿轮603与丝杆滑块 602固定，因此，丝杆滑块602随举升齿轮603一起转动，丝杆滑块602与丝杆601之间的滚珠沿丝杆滑块602与丝杆601之间的螺旋槽道滚动，丝杆601发生上升或下降运动而相对于底板不发生转动，此时丝杆601向上或向下的位移与丝杆滑块602旋转周数和螺旋槽道的螺距有关；丝杆601的上升或下降运动带动支撑架7上升或下降，从而实现举升功能，而不会发生支撑架的旋转。
旋转装置
如图1所示，在支撑架7上，包括旋转驱动组件(包括旋转电机9及其安装支架10和旋转驱动齿轮11)、回转支承4和托盘12，用于对系统提供旋转功能。
如图9所示，在所述举升装置的支撑架7上，或者可以是在与支撑架7连接的其他支撑机构上，固定有旋转电机安装支架10，用于固定旋转电机9和旋转驱动齿轮11；可选地，所述旋转驱动齿轮11可以是一个齿轮组，以实现需要的传动比和转动方向，齿轮组中齿轮个数、尺寸根据需要确定；可选地，旋转电机9和旋转驱动齿轮11安装在安装支架10的两侧。
如图5B和图7所示，在支撑架7上，回转支承4的外圆环盘401与旋转驱动齿轮11啮合，内圆环盘402与支撑架7固定连接，或者连接在与支撑架7固定的一个支撑机构上；可选地，内圆环盘402通过支撑架7上的第二安装孔704与支撑架7固定连接；可选地，旋转装置和举升装置中采用同样结构和尺寸的回转支承4，以减少生产、装配和维修中的零部件种类，提高运营效率。
如图1所示，托盘12为一环形结构，如图10A所示，托盘12上表面覆有橡胶垫1201，例如采用粘接或热熔方式等；图10B所示为托盘 12的下表面视图，是金属托盘支撑1202，背面有加强筋1203，内环均匀分布安装螺孔1204，用于与回转支承4的外圆环盘401的外圈安装孔403固定。
触发旋转动作时，旋转电机9带动旋转驱动齿轮11转动，进而带动外圆环盘401和托盘12转动，而内圆环盘402与支撑架7保持相对静止不转。
如图1所示，举升装置和旋转装置组合在一起，形成举升旋转装置，二者是相对独立运作的系统。当智能仓储机器人需要举升时，由举升装置的电机驱动完成举升，此时旋转装置相对静止不转；而需要旋转时，由旋转装置的电机驱动完成旋转，此时举升装置相对静止不转；当既需要举升又需要旋转时，二者可以相互配合完成所需高度和旋转角度的要求。
现有技术中的举升结构，需要举升时，由于同时发生旋转，仍需要输出额外的旋转来抵消举升引起的旋转，造成设备额外的耗电，在大量设备同时运行时，不仅导致能耗过高，还会由于设备的频繁充电导致系统效率低；而本公开中的举升和旋转装置，结构简单，机械可靠性高、易于拆装维修，设备耗电量小且系统运行效率更高。
上文所列出的一系列的详细说明仅仅是针对本公开的可行性实施方式的具体说明，它们并非用以限制本公开的保护范围，凡未脱离本公开技艺精神所作的等效实施方式或变更均应包含在本公开的保护范围之内。

Claims (38)

  1. 一种举升装置，其中：
    所述举升装置包括举升驱动装置、回转支承和丝杆滑块组件，其中回转支承包括外圆环盘以及装设在外圆环盘内侧且可与之发生相对转动的内圆环盘，所述外圆环盘外侧设置有齿轮；所述丝杆滑块组件包括丝杆、与所述丝杆配合的丝杆滑块以及与所述丝杆滑块固定连接的举升齿轮，所述举升齿轮与所述外圆环盘外侧的齿轮啮合；
    所述举升驱动装置驱动所述外圆环盘转动，并带动所述举升齿轮转动，进而使得所述丝杆上下移动。
  2. 根据权利要求1所述的举升装置，其中：所述举升装置还包括丝杆支撑轴承。
  3. 根据权利要求1所述的举升装置，其中：所述举升驱动装置包括电机减速机和与之连接的举升驱动齿轮。
  4. 根据权利要求3所述的举升装置，其中：所述举升驱动齿轮与所述外圆环盘外侧的齿轮啮合。
  5. 根据权利要求1所述的举升装置，其中：所述内圆环盘通过滚珠套接在所述外圆环盘的内侧。
  6. 根据权利要求1所述的举升装置，其中：所述举升装置还包括底板，用于固定所述举升驱动装置以及所述丝杆滑块组件。
  7. 根据权利要求6所述的举升装置，其中：所述底板配置有多个安装孔，用于安装所承载的结构部件以及安装于所应用的设备的机械框架上。
  8. 根据权利要求6所述的举升装置，其中：所述底板包括开口部、用于固定所述举升驱动装置的第一开口部、和用于固定所述丝杆滑块组件的第二固定部。
  9. 根据权利要求8所述的举升装置，其中，第二固定部的数量和位置关系与丝杆滑块组件的数量相同。
  10. 根据权利要求6所述的举升装置，其中：所述底板为一体铸造的平板型，采用金属材料或高强度树脂材料制成。
  11. 根据权利要求1所述的举升装置，其中：所述举升装置还包括支撑架，其安装在所述丝杆顶端。
  12. 根据权利要求11所述的举升装置，其中：所述支撑架为等边n边形，n≥3，至少部分顶角位置处对应有丝杆。
  13. 根据权利要求12所述的举升装置，其中：所述支撑架与所述丝杆之间通过螺母固定连接。
  14. 根据权利要求13所述的举升装置，其中：所述支撑架的顶角位置处设置成降台阶结构，保证所述螺母的上端面与所述支撑架的上表面保持在一个平面上或低于所述上表面。
  15. 根据权利要求11所述的举升装置，其中：所述支撑架上设有减重孔。
  16. 根据权利要求11所述的举升装置，其中：所述支撑架上设有与所述丝杆配合的第一安装孔。
  17. 根据权利要求6所述的举升装置，其中：所述内圆环盘通过支撑机构与所述底板连接。
  18. 根据权利要求17所述的举升装置，其中：所述支撑机构为多根回转支承立柱或者为一环状突起。
  19. 根据权利要求18所述的举升装置，其中：所述回转支承立柱或环状突起与内圆环盘一体形成或者通过固定连接件固定连接。
  20. 根据权利要求18所述的举升装置，其中：所述内圆环盘具有下凹阶梯式内环。
  21. 根据权利要求20所述的举升装置，其中：所述回转支承立柱或环状 突起与所述内圆环盘一体形成或者通过固定连接件固定连接，所述固定连接件位于所述下凹阶梯式内环，且保证所述固定连接件顶端不超过所述内圆环盘表面。
  22. 根据权利要求2所述的举升装置，其中：所述举升齿轮套接在所述丝杆滑块外侧，所述丝杆穿设在所述丝杆滑块内侧，所述丝杆滑块穿设在所述丝杆支撑轴承的内侧。
  23. 根据权利要求22所述的举升装置，其中：所述丝杆滑块组件还包括轴承座和保护罩，所述丝杆支撑轴承与所述轴承座配合连接。
  24. 根据权利要求1所述的举升装置，其中：所述举升装置还包括限位装置，用于控制举升距离以确保不超出容限。
  25. 根据权利要求24所述的举升装置，其中：所述限位装置包括限位开关安装板、限位控制板和限位开关，其中所述限位控制板与所述支撑架固定，所述限位控制板的高度达到预设的数值，则触发所述限位开关。
  26. 根据权利要求25所述的举升装置，其中：在举升过程中，所述支撑架上升或下降带动所述限位控制板上升或下降，所述限位控制板的触脚触碰所述限位开关，以触发所述限位开关并停止所述支撑架的上升或下降。
  27. 一种旋转装置，其中：所述旋转装置包括旋转驱动组件、回转支承和托盘，其中，所述回转支承包括外圆环盘以及装设在所述外圆环盘内侧且可与之发生相对转动的内圆环盘，所述外圆环盘外侧设置有齿轮，其中所述托盘与所述外圆环盘固定，所述旋转驱动组件可驱动所述外圆环盘转动，进而带动所述托盘转动。
  28. 根据权利要求27所述的旋转装置，其中：所述旋转装置还包括支撑架，其与所述内圆环盘固定连接，并用于固定所述旋转驱动组件。
  29. 根据权利要求28所述的旋转装置，其中：所述内圆环盘通过支撑机 构与支撑架连接。
  30. 根据权利要求29所述的旋转装置，其中：所述支撑机构为多根支撑立柱或者为一环状突起。
  31. 根据权利要求30所述的旋转装置，其中：所述支撑立柱或环状突起与内圆环盘一体形成或者通过固定连接件固定连接。
  32. 根据权利要求31所述的旋转装置，其中：所述支撑架上设有安装支架，用于固定旋转驱动组件。
  33. 根据权利要求32所述的旋转装置，其中：所述旋转驱动组件包括旋转电机和旋转驱动齿轮。
  34. 根据权利要求27所述的旋转装置，其中：所述托盘为一环形结构，包括金属托盘支撑，其上表面覆有橡胶垫，背面有加强筋，内环分布有安装螺孔。
  35. 一种举升旋转系统，其中：包括权利要求1-26任一项所述的举升装置和权利要求27-34任一项所述的旋转装置，所述旋转装置设置于举升装置的上方。
  36. 根据权利要求35所述的举升旋转系统，其中：所述旋转装置和举升装置的支撑架为同一个部件或者两个固定连接的部件。
  37. 一种智能仓储机器人，其中：包括权利要求1-26任一项所述的举升装置和权利要求27-34任一项所述的旋转装置，所述旋转装置安设于举升装置的上方。
  38. 根据权利要求37所述的智能机器人，其中：所述旋转装置和举升装置的支撑架为同一个部件或者两个固定连接的部件。
PCT/CN2017/092340 2017-07-10 2017-07-10 举升装置、旋转装置、举升旋转系统和智能仓储机器人 WO2019010604A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/092340 WO2019010604A1 (zh) 2017-07-10 2017-07-10 举升装置、旋转装置、举升旋转系统和智能仓储机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/092340 WO2019010604A1 (zh) 2017-07-10 2017-07-10 举升装置、旋转装置、举升旋转系统和智能仓储机器人

Publications (1)

Publication Number Publication Date
WO2019010604A1 true WO2019010604A1 (zh) 2019-01-17

Family

ID=65001030

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/092340 WO2019010604A1 (zh) 2017-07-10 2017-07-10 举升装置、旋转装置、举升旋转系统和智能仓储机器人

Country Status (1)

Country Link
WO (1) WO2019010604A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110182265A (zh) * 2019-05-22 2019-08-30 无锡宝岛机车发展有限公司 危化品转运车底盘车架
CN111874838A (zh) * 2020-08-24 2020-11-03 上海烁逸电子科技有限公司 一种用于agv小车的顶升回转机构
CN114180185A (zh) * 2021-12-15 2022-03-15 合肥神马科技集团有限公司 一种高承载无托轮转盘装置
CN114314446A (zh) * 2021-11-24 2022-04-12 北京特种机械研究所 一种升降托板及使用其的agv
CN115635238A (zh) * 2022-12-06 2023-01-24 邦迪智能装备(河南)有限公司 一种扁线电机的定子线头整体夹紧装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120321423A1 (en) * 2011-05-19 2012-12-20 Crossing Automation, Inc. Dynamic Storage and Transfer System Integrated with Autonomous Guided/Roving Vehicle
CN205170289U (zh) * 2015-10-15 2016-04-20 浙江国自机器人技术有限公司 一种无人搬运机器人
CN106006456A (zh) * 2016-07-20 2016-10-12 广东嘉腾机器人自动化有限公司 一种旋转举升机构及agv载物车
CN106672860A (zh) * 2017-02-07 2017-05-17 仓智（上海）智能科技有限公司 一种具有中空丝杆顶升旋转机构的自动搬运车
CN106882525A (zh) * 2017-03-14 2017-06-23 苏州牧星智能科技有限公司 顶升式搬运车
CN206666032U (zh) * 2017-03-17 2017-11-24 杭州新剑机器人技术股份有限公司 用于agv搬运机器人上的旋转顶升装置
CN206735740U (zh) * 2017-04-27 2017-12-12 苏州牧星智能科技有限公司 一种带顶升功能及悬挂系统的智能搬运车

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120321423A1 (en) * 2011-05-19 2012-12-20 Crossing Automation, Inc. Dynamic Storage and Transfer System Integrated with Autonomous Guided/Roving Vehicle
CN205170289U (zh) * 2015-10-15 2016-04-20 浙江国自机器人技术有限公司 一种无人搬运机器人
CN106006456A (zh) * 2016-07-20 2016-10-12 广东嘉腾机器人自动化有限公司 一种旋转举升机构及agv载物车
CN106672860A (zh) * 2017-02-07 2017-05-17 仓智（上海）智能科技有限公司 一种具有中空丝杆顶升旋转机构的自动搬运车
CN106882525A (zh) * 2017-03-14 2017-06-23 苏州牧星智能科技有限公司 顶升式搬运车
CN206666032U (zh) * 2017-03-17 2017-11-24 杭州新剑机器人技术股份有限公司 用于agv搬运机器人上的旋转顶升装置
CN206735740U (zh) * 2017-04-27 2017-12-12 苏州牧星智能科技有限公司 一种带顶升功能及悬挂系统的智能搬运车

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110182265A (zh) * 2019-05-22 2019-08-30 无锡宝岛机车发展有限公司 危化品转运车底盘车架
CN111874838A (zh) * 2020-08-24 2020-11-03 上海烁逸电子科技有限公司 一种用于agv小车的顶升回转机构
CN114314446A (zh) * 2021-11-24 2022-04-12 北京特种机械研究所 一种升降托板及使用其的agv
CN114180185A (zh) * 2021-12-15 2022-03-15 合肥神马科技集团有限公司 一种高承载无托轮转盘装置
CN115635238A (zh) * 2022-12-06 2023-01-24 邦迪智能装备(河南)有限公司 一种扁线电机的定子线头整体夹紧装置

Similar Documents

Publication Publication Date Title
WO2019010604A1 (zh) 举升装置、旋转装置、举升旋转系统和智能仓储机器人
CN107176558B (zh) 举升装置、旋转装置、举升旋转系统和智能仓储机器人
US11919358B2 (en) Suspension system and a carrying mobile robot
CN104192762B (zh) 一种旋转顶升机构及包括旋转顶升机构的agv小车
JP2022519113A (ja) 搬送ロボット
CN103851131B (zh) 摆线传动器的外摆线行星轮凸轮
CN105417434A (zh) 一种带有举升装置的搬运小车
CN105174131B (zh) 一种螺旋举升机构和agv小车
CN105857116B (zh) 自动导引式搬运装置的驱动机构
CN106348197B (zh) 用于重物的快速升降装置
CN110182521A (zh) 一种仓储agv小车及智能仓储系统
CN109879203A (zh) 举升机构及具有其的搬运机器人
JP2019519450A (ja) 電動ロッド式自動化倉庫用ロボット
WO2018214673A1 (zh) 分拣型自动导引运输车
CN207845070U (zh) 一种举升装置、移载型自动导引运输车
KR102206311B1 (ko) Agv용 리프팅장치
JP5351055B2 (ja) 可動ベースを移動および安定化するシステム
CN104370242A (zh) 一种用于agv机器人的定轴旋升机构和agv机器人
CN110126548B (zh) 一种agv小车换向结构及agv小车
CN210027020U (zh) 一种差速驱动装置
CN111977288A (zh) 一种具有防撞功能的搬运机器人
EP0235305B1 (en) Brake system for industrial robots
CN108750574A (zh) 一种变径支撑压紧定位装置
US6439076B1 (en) Robotic loader for machinery
CN207972694U (zh) 一种仓储/物流agv

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17917434

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17917434

Country of ref document: EP

Kind code of ref document: A1