WO2022142773A1 - Appareil de levage et robot de manipulation - Google Patents

Appareil de levage et robot de manipulation Download PDF

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Publication number
WO2022142773A1
WO2022142773A1 PCT/CN2021/130473 CN2021130473W WO2022142773A1 WO 2022142773 A1 WO2022142773 A1 WO 2022142773A1 CN 2021130473 W CN2021130473 W CN 2021130473W WO 2022142773 A1 WO2022142773 A1 WO 2022142773A1
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WO
WIPO (PCT)
Prior art keywords
bracket
lifting device
locking
accommodating
support
Prior art date
Application number
PCT/CN2021/130473
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English (en)
Chinese (zh)
Inventor
孔哲
詹庆鑫
何家伟
Original Assignee
深圳市海柔创新科技有限公司
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.)
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2022142773A1 publication Critical patent/WO2022142773A1/fr

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    • 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

Definitions

  • the present disclosure relates to intelligent storage equipment, and more particularly, to a lifting device and a handling robot.
  • the handling robot In the field of intelligent warehousing, handling robots are often used instead of manpower to carry out cargo handling operations to improve handling efficiency.
  • the handling robot usually includes a mobile chassis, a lifting device, a handling device and a storage shelf.
  • the lifting device is installed on the mobile chassis, the handling device and the storage shelf are installed on the lifting device, the goods are placed on the handling device, and the lifting device drives the handling device. Lifting movement to lift and lower the cargo.
  • the lifting device usually includes a bracket assembly and a transmission mechanism, the transmission mechanism is installed on the bracket assembly, the conveying device is connected with the transmission mechanism, and the transmission mechanism drives the conveying device to perform a lifting action along the bracket assembly.
  • the height of the bracket assembly is usually 4-6m, so that the height space occupied by the lifting device is large, resulting in low space utilization of the packaging wooden box of the transportation and handling robot, increasing the transportation cost of the transportation robot; at the same time, the height of the lifting device If the height is larger than the allowable height of general freight elevators, the freight elevator cannot be used to transport the handling robot, which increases the transportation difficulty of the handling robot.
  • the purpose of the present disclosure is to provide a lifting device and a handling robot, the purpose is to reduce the height during transportation, improve the space utilization rate of packing wooden boxes, and make the handling robot suitable for the height of a general freight elevator, so as to reduce the transportation cost of the handling robot and transportation difficulty.
  • the present disclosure provides a lifting device, including a foldable bracket assembly, a locking mechanism and a transmission mechanism
  • the bracket assembly includes a first bracket and a second bracket, the first bracket is mounted on a mobile chassis, and the first bracket is The upper end is hinged with the lower end of the second bracket through the hinge mechanism; when the bracket assembly is in the unfolded state, the lower end of the second bracket is butted with the upper end of the first bracket; the locking mechanism is used for locking the second bracket when the bracket assembly is in the unfolded state The lower end of the bracket and the upper end of the first bracket; the transmission mechanism is installed on the bracket assembly, and when the bracket assembly is in the unfolded state, the transmission mechanism is used to drive the conveying device to move up and down along the first bracket and the second bracket.
  • the bracket assembly during normal operation, the bracket assembly is in the unfolded state, the lower end of the second bracket is butted with the upper end of the first bracket, and the transmission mechanism drives the conveying device to move up and down along the first bracket and the second bracket, and pass through the first bracket and the second bracket.
  • the locking mechanism locks the lower end of the second bracket and the upper end of the first bracket to improve the rigidity and stability of the bracket assembly.
  • the bracket assembly is in a folded state, the locking mechanism is opened, and the second bracket can rotate relative to the first bracket to realize the folding of the bracket assembly.
  • the lifting device provided by the embodiment of the present disclosure reduces the height of the bracket assembly during transportation, thereby reducing the height of the handling robot during transportation, improving the space utilization rate of the packing wooden box, and reducing the transportation cost of the handling robot.
  • the handling robot can be adapted to the height of a general freight elevator, and a general freight elevator can be used to transport the handling robot, thereby reducing the transportation difficulty of the handling robot.
  • the present disclosure provides a handling robot, including a mobile chassis, a handling device, a storage shelf, and the above-mentioned lifting device, where the lifting device is installed on the mobile chassis, and the handling device and the storage shelf are installed on the lifting device.
  • the handling robot provided by the embodiment of the present disclosure includes the above-mentioned lifting device, the handling robot also has the advantages of the above-mentioned handling device. For details, please refer to the above description, which will not be repeated here.
  • FIG. 1 is a schematic structural diagram of a handling robot (mobile chassis not shown) provided by an embodiment of the present disclosure
  • Fig. 2 is the structural representation of a kind of lifting device in Fig. 1;
  • FIG. 3 is a schematic structural diagram of the stent assembly in FIG. 2 in an expanded state
  • Fig. 4 is the exploded structure schematic diagram of the hinge mechanism in Fig. 3;
  • FIG. 5 is a schematic structural diagram 1 of the bracket assembly in FIG. 2 in a folded state
  • Fig. 6 is the enlarged view of A area among Fig. 5;
  • Fig. 7 is the enlarged view of B area among Fig. 5;
  • Fig. 8 is the enlarged view of C area in Fig. 5;
  • FIG. 9 is a second structural schematic diagram of the bracket assembly in FIG. 2 in a folded state
  • Fig. 10 is the enlarged view of D area in Fig. 9;
  • Fig. 11 is the enlarged view of E area in Fig. 9;
  • FIG. 12 is a schematic structural diagram of a cross-section of a first bracket
  • Fig. 13 is the front view structure schematic diagram of the bracket assembly in Fig. 3;
  • Fig. 14 is the sectional view of F-F in Fig. 13;
  • 15a to 15d are schematic diagrams illustrating the changing process of the lifting device in FIG. 1 from the unfolded state to the folded state;
  • FIG. 16 is a schematic structural diagram of another lifting device in FIG. 1 .
  • the height of the bracket assembly of the lifting device is usually 4-6m, which makes the height space occupied by the lifting device larger, resulting in low space utilization rate of the packaging wooden box of the transportation and handling robot, and increasing the transportation cost of the transportation robot;
  • the height of the lifting device is greater than the allowable height of a general freight elevator, and the freight elevator cannot be used to transport the handling robot, which increases the transportation difficulty of the handling robot.
  • the first bracket and the second bracket are hinged through a hinge mechanism, and when the transport robot is transported, the first bracket and the second bracket are rotated, and the bracket assembly is folded to reduce the size of the bracket assembly. It can improve the space utilization rate of the packaging wooden box and reduce the transportation cost of the handling robot; at the same time, the handling robot is suitable for the height of the general freight elevator, and the general freight elevator can be used to transport the handling robot, which reduces the transportation difficulty of the handling robot.
  • a handling robot provided by an embodiment of the present disclosure includes a mobile chassis (not shown in the drawings), a lifting device 100 , a handling device 200 and a storage shelf 300 .
  • the lifting device 100 is installed on the mobile chassis, and the handling device 200 And the storage rack 300 is installed on the lifting device 100 .
  • the mobile chassis is used to realize the moving function of the handling robot, as well as other structures used to carry the handling robot arranged on the mobile chassis, such as the lifting device 100, etc. transport.
  • the lifting device 100 has a lifting function, and the lifting device 100 can lift and lower at a specified height in response to a signal that the transporting device 200 needs a lifting action to drive the transporting device 200 to lift and lower the goods.
  • the handling device 200 is used for carrying and handling goods.
  • the storage rack 300 is used to temporarily store goods.
  • the mobile chassis drives the lifting device 100, the transporting device 200 and the storage shelf 300 to move to a specified location; the lifting device 100 receives the signal that the transporting device 200 needs to perform a lifting action, and drives the transporting device 200 to lift to a specified height, so that The handling device 200 is opposite to the goods; the handling device 200 picks up the goods, and sends the goods to the storage rack 300 for temporary storage.
  • the mobile chassis drives the lifting device 100, the transporting device 200, the storage rack 300 and the goods to move to another designated location again; the transporting device 200 picks up the goods on the storage rack 300;
  • the signal drives the handling device 200 and the goods to lift to another specified height; the handling device 200 sends the goods out to complete the handling of the goods.
  • the handling robot provided by the embodiment of the present disclosure can perform the handling operation of goods instead of manpower, thereby improving handling efficiency.
  • the lifting device 100 includes a bracket assembly 10 , a hinge mechanism 20 , a locking mechanism 30 and a transmission mechanism 40 .
  • the bracket assembly 10 provides support and guidance for the transport device 200, and the bracket assembly 10 has a folding function, that is, the bracket assembly 10 has an unfolded state and a folded state.
  • the bracket assembly 10 is in an unfolded state, and the lifting device 100 drives the transporting device 200 to perform a lifting action.
  • the handling device 200 When transporting the handling robot, the handling device 200 is lowered to the bottom of the lifting device 100, that is, the handling device 200 is located at the part of the bracket assembly 10 close to the moving chassis, or the handling device 200 is located at the lower or bottom of the bracket assembly 10, and the bracket assembly 10 is in a folded state , in order to reduce the height of the bracket assembly 10, thereby improving the space utilization rate of the packing wooden box, and reducing the transportation cost of the handling robot; at the same time, the handling robot is suitable for the height of a general freight elevator, and the general freight elevator can be used to transport the handling robot, reducing the transportation cost. The difficulty of transporting the robot.
  • the number of the bracket assemblies 10 may be one or more, which is not limited herein.
  • there may be two bracket assemblies 10 and the two bracket assemblies 10 are arranged opposite and parallel.
  • the handling device 200 is slidably connected to the two bracket assemblies 10 respectively, and the two bracket assemblies 10 simultaneously support and guide the handling device 200 , thereby improving the stability of the lifting motion of the handling device 200 .
  • the bracket assembly 10 may include a first bracket 11 and a second bracket 12 , the first bracket 11 is mounted on the mobile chassis, and the upper end of the first bracket 11 is hinged with the lower end of the second bracket 12 through the hinge mechanism 20 .
  • the bracket assembly 10 is in the unfolded state, that is, the lower end of the second bracket 12 is butted with the upper end of the first bracket 11 , so that the conveying device 200 can be moved up and down along the docked first bracket 11 and the second bracket 12 .
  • the bracket assembly 10 When transporting the handling robot, the bracket assembly 10 is in a folded state, that is, the second bracket 12 and the first bracket 11 are rotated, so as to reduce the height of the bracket assembly 10, improve the space utilization rate of the packing wooden box, and reduce the transportation cost of the transportation robot; At the same time, the handling robot is adapted to the height of a general freight elevator, and the handling robot can be transported by a general freight elevator, thereby reducing the transportation difficulty of the handling robot.
  • the lower end of the first bracket 11 refers to, for example, the bottom end of the first bracket 11 in FIG. 3
  • the upper end of the first bracket 11 refers to, for example, the top end of the first bracket 11 in FIG. 3
  • the lower end of the second bracket 12 It refers to, for example, the bottom end of the second bracket 12 connected to the first bracket 11 in FIG. 3
  • the upper end of the second bracket 12 refers to, for example, the top end of the second bracket 12 in FIG. 3 .
  • the first bracket 11 and the second bracket 12 can be profiles.
  • the profiles are long and straight columnar structures with a certain cross-sectional shape. This design can meet the premise of the strength of the bracket assembly 10.
  • reduce the weight of the bracket assembly 10 When the bracket assembly 10 is in the unfolded state, the lower end of the second bracket 12 is abutted with the upper end of the first bracket 11 , so that the transport device 200 can move up and down along the butted first bracket 11 and the second bracket 12 .
  • the cross-sectional shapes of the first bracket 11 and the second bracket 12 are the same, so as to further facilitate the processing and adjustment of the first bracket 11 and the second bracket 12, and to facilitate the first bracket 11 when the bracket assembly 10 is in the unfolded state.
  • the docking with the second bracket 12 improves the stability of the lifting and lowering movement of the transport device 200 .
  • FIG. 12 it is a schematic structural diagram of a cross-section of the first bracket 11 .
  • a first accommodating slot 111 and a first accommodating channel 112 are provided inside the first bracket 11 , and the first accommodating slot 111 is arranged along the extending direction of the first bracket 11 .
  • the extending direction of the first bracket 11 is vertical Or the direction perpendicular to the moving chassis.
  • the first accommodating channel 112 penetrates through the first bracket 11 , and the first accommodating channel 112 is disposed along the extending direction of the first bracket 11 .
  • the first accommodating groove 111 and the first accommodating channel 112 provide a running channel for the transmission mechanism 40 and provide protection.
  • a second accommodating groove 121 and a second accommodating channel 122 are provided inside the second bracket 12 , the second accommodating groove 121 is arranged along the extending direction of the second bracket 12 , and the extending direction of the second bracket 12 is the vertical direction or the Orientation perpendicular to the moving chassis.
  • the second accommodating channel 122 penetrates through the second bracket 12 , and the second accommodating channel 122 is disposed along the extending direction of the second bracket 12 .
  • the hinge mechanism 20 is used to hinge the first bracket 11 and the second bracket 12 .
  • the hinge mechanism 20 includes a first hinge member 21 , a second hinge member 22 and a pin 23 .
  • the first end of the first hinge member 21 is connected to the upper end of the first bracket 11 .
  • the first end of the second hinge member 22 is fixedly connected with the lower end of the second bracket 12 .
  • the pin shafts 23 are respectively rotatably connected with the second end of the second hinge member 22 and the second end of the first hinge member 21 .
  • the second hinge member 22 and the first hinge member 21 are rotated around the pin shaft 23 to make the second bracket 12 and the first bracket 11 rotate relative to each other.
  • first end of the first hinge member 21 is the end of the first hinge member 21 close to the first bracket 11 as shown in FIG. 6
  • the second end of the first hinge member 21 is the first hinge member as shown in FIG. 6
  • 21 is close to one end of the pin 23
  • the first end of the second hinge 22 is the end of the second hinge 22 close to the second bracket 12 as shown in FIG. 6
  • the second end of the second hinge 22 is as shown in FIG.
  • the two hinges 22 are close to one end of the pin shaft 23 .
  • the hinge mechanism 20 may further include a first bushing 24 and a second bushing 25
  • the first hinge member 21 is provided with a first mounting hole 211
  • the first bushing 24 passes through the first mounting hole 211 . inside the hole 211.
  • the second hinge member 22 is provided with a second installation hole 221
  • the second shaft sleeve 25 passes through the second installation hole 221 .
  • the pin shaft 23 is pivotally mounted on the first bushing 24 and the second bushing 25, that is, the pin shaft 23 is mounted in the first bushing 24 and the second bushing 25, and the pin shaft 23 can be opposite to the first bushing 24 and the second bushing 25.
  • the two shaft sleeves 25 are rotated, so that the first bracket 11 and the second bracket 12 are rotatably connected through the pin shaft 23 .
  • the hinge mechanism 20 may further include an annular washer 26 , the annular washer 26 is located between the first hinge member 21 and the second hinge member 22 , the annular washer 26 is coaxial with the first bushing 24 and the second bushing 25 , the pin 23 It is pivotally mounted on the first bushing 24 , the annular washer 26 and the second bushing 25 .
  • One end of the pin shaft 23 passing through the first shaft sleeve 24 , the annular washer 26 and the second shaft sleeve 25 is axially limited by the shaft retaining ring 27 to prevent the pin shaft 23 from falling off.
  • both ends of the pin shaft 23 may also be rotatably connected to the first hinge member 21 and the second hinge member 22 through bearings, respectively.
  • the locking mechanism 30 is used to lock the lower end of the second bracket 12 and the upper end of the first bracket 11 when the bracket assembly 10 is in the unfolded state.
  • the locking mechanism 30 includes a first locking member 31 , a locking block 32 , a compression spring 33 and a second locking member 34 .
  • the first locking member 31 is a first L-shaped structure, the first side 314 of the first L-shaped structure is connected to the upper end of the first bracket 11 , the second side 315 of the first L-shaped structure is provided with a sliding groove 311 , and the sliding groove
  • the first side wall 313 of the 311 is provided with a through hole 312 , and the extending direction of the through hole 312 and the extending direction of the sliding groove 311 are both perpendicular to the extending direction of the first bracket 11 .
  • the locking block 32 is slidably installed in the sliding groove 311 and is threadedly connected with the bolt 35 passing through the through hole 312 .
  • the compression spring 33 is sleeved on the bolt 35 , and both ends of the compression spring 33 are in contact with the first side wall 313 and the locking block 32 respectively.
  • the locking block 32 slides along the sliding groove 311 in a direction away from the first bracket 11, and the locking block 32 and the first side wall 313 compress the compression spring 33; loosen the bolt At 35 o'clock, the compression spring 33 exerts a restoring force on the locking block 32, and the locking block 32 slides along the sliding groove 311 toward the direction of the first bracket 11, so that the locking block 32 can be automatically reset.
  • the second locking member 34 is a second L-shaped structure, the first side 344 of the second L-shaped structure is connected to the lower end of the second bracket 12 , and the second side 345 of the second L-shaped structure faces the edge of the first locking member 31 .
  • the end surface is provided with a locking hook 341 , and the locking hook 341 and the second side 345 of the second L-shaped structure form an opening 342 toward the end surface of the first locking member 31 .
  • the bracket assembly 10 When the handling robot is working normally, the bracket assembly 10 is in the unfolded state, that is, the upper end of the first bracket 11 is connected to the lower end of the second bracket 12 , and the second locking member 34 is connected to the first locking member 31 , that is, the first The second side 315 of the L-shaped structure is butted against the second side 345 of the second L-shaped structure.
  • the bolt 35 is loosened, and the compressed compression spring 33 pushes the locking block 32 due to the restoring action, and the locking block 32 slides along the sliding groove 311 toward the direction of the first bracket 11 and is inserted into the opening 342 to lock the first bracket 11.
  • a locking member 31 and a second locking member 34 further lock the upper end of the first bracket 11 and the lower end of the second bracket 12 to improve the rigidity and stability of the first bracket 11 and the second bracket 12 in the unfolded state, thereby The stability of the lifting and lowering motion of the conveying device 200 is improved.
  • the handling robot When transporting the handling robot, pull the bolt 35 away from the first bracket 11 , the locking block 32 slides along the sliding groove 311 in the direction away from the first bracket 11 , and the locking block 32 and the first side wall 313 compress the compression spring 33 , the locking block 32 leaves the locking hook 341 from the opening 342, and the second bracket 12 can be rotated relative to the first bracket 11 to fold the bracket assembly 10, thereby reducing the height of the bracket assembly 10 and improving the space utilization rate of the packaging wooden box, at the same time, the handling robot is suitable for the height of a general freight elevator, which reduces the transportation cost and transportation difficulty of the handling robot.
  • first side wall 313 refers to, for example, the side wall of the sliding groove 311 away from the first bracket 11 in FIG. 6 and FIG. 10 ;
  • first side 314 of the first L-shaped structure refers to, for example, the first L in FIG. 10 .
  • the second side 315 of the first L-shaped structure refers to, for example, the side perpendicular to the first side 314 of the first L-shaped structure in FIG. 10 .
  • the first side 344 of the second L-shaped structure refers to, for example, the side disposed along the extending direction of the second bracket 12 in FIG. 10 ;
  • the second side 345 of the second L-shaped structure refers to, for example, the second L-shaped structure in FIG. 10 .
  • the first side 344 is the vertical side.
  • the end face of the locking block 32 facing the first bracket 11 is provided as a first guide slope 321 .
  • the end face of the locking hook 341 away from the second bracket 12 is set as the second guide slope 343 .
  • the second guiding inclined surface 343 is slidably matched with the first guiding inclined surface 321 to guide the locking block 32 to be inserted into the opening 342 .
  • the second bracket 12 rotates relative to the first bracket 11 , and the second locking member 34 approaches the first locking member 31 , that is, the second side 345 of the second L-shaped structure faces the first
  • the second side 315 of the L-shaped structure is close to each other, and the second guide slope 343 of the locking hook 341 is in contact with the first guide slope 321 of the locking block 32 .
  • the second guide slope 343 moves toward the sliding groove 311 and pushes the first guide slope 321 , so that the locking block 32 moves away from the first guide slope 321 along the sliding groove 311 .
  • the locking block 32 and the first side wall 313 compress the compression spring 33 .
  • the locking hook 341 is located in the sliding groove 311 , and the locking block 32 slides to be opposite to the opening 342 , and the compressed compression spring 33 is locked due to the restoring action.
  • the block 32 exerts a pushing force, and the locking block 32 is inserted into the opening 342 to automatically lock the first bracket 11 and the second bracket 12 when the bracket assembly 10 is in the unfolded state, thereby improving the convenience of the locking operation.
  • the locking mechanism 30 may also be a bolt and nut tightening mechanism.
  • the butt joints of the first bracket 11 and the second bracket 12 are detachably connected by bolts and nuts.
  • the bracket assembly 10 is unfolded, the first bracket 11 and the second bracket 12 are butted together, and the bolts and nuts are manually tightened to fasten the first bracket 11 and the second bracket 12; before the bracket assembly 10 is folded, the fastening connection is manually disassembled
  • the bolts and nuts are provided to facilitate the rotation of the second bracket 12 relative to the first bracket 11 .
  • the lifting device 100 further includes a transmission mechanism 40, and the transmission mechanism 40 is used for transmitting power.
  • the transmission mechanism 40 is mounted on the bracket assembly 10 , and the transmission mechanism 40 drives the conveying device 200 to perform a lifting action along the first bracket 11 and the second bracket 12 in the unfolded state.
  • the transmission mechanism 40 is a belt transmission mechanism. 8 , 9 , 10 and 11 , the transmission mechanism 40 includes a first support base 41 , a driving gear, a second support base 42 , a driven gear and a transmission belt 43 .
  • the first support base 41 is connected to the upper end of the second bracket 12
  • the driving gear is rotatably connected to the first support base 41 , and the driving gear can rotate around its own axis.
  • the second support base 42 is connected to the lower end of the first bracket 11
  • the driven gear is rotatably connected to the second support base 42 , and the driven gear can rotate around its own axis.
  • the drive belt 43 surrounds the driving gear and the driven gear.
  • the driving gear When the driving gear rotates, it drives the transmission belt 43 to move, and the transmission belt 43 drives the driven gear to rotate, so as to realize the movement of the transmission belt 43 along the first bracket 11 and the second bracket 12 , thereby driving the conveying device 200 to perform a lifting action.
  • the transmission belt 43 passes through the first accommodating channel 112 of the first bracket 11 and the second accommodating channel 122 of the second bracket 12 to surround the driving gear, and along the second accommodating channel 122 of the second bracket 12 .
  • the accommodating groove 121 and the first accommodating groove 111 of the first bracket 11 surround the driven gear.
  • the transmission mechanism 40 further includes a base 422 .
  • the base 422 is fixedly mounted on the first bracket 11 and is close to the mobile chassis.
  • the first bracket 11 is connected to the mobile chassis through the base 422
  • the second support base 42 is slidably connected to the base 422
  • the second support base 42 is detachably connected to the mobile chassis. .
  • the connection between the second support base 42 and the mobile chassis is first disassembled, so that the second bracket 12 is rotated relative to the first bracket 11 , that is, the second bracket 12 is turned toward the Turning in the direction a shown in FIG. 9, the driving gear exerts a pulling force on the drive belt 43, and the drive belt 43 further exerts a pulling force on the driven gear, so that the second support base 42 moves upward relative to the base 422, so as to avoid excessive pulling force on the drive belt 43,
  • the transmission accuracy of the transmission belt 43 is ensured, the transmission belt 43 is prevented from being damaged, and the reliability of the lifting device 100 is ensured.
  • the second bracket 12 When the bracket assembly 10 is unfolded, the second bracket 12 is rotated in the opposite direction relative to the first bracket 11, that is, the second bracket 12 is rotated in the opposite direction to the direction a, the driving gear generates a thrust on the transmission belt 43, and the transmission belt 43 further pushes the driven gear and The second support base 42 , or the second support base 42 is manually pushed, so that the second support base 42 slides downward relative to the base 422 . Then, the second support base 42 is connected with the moving chassis to improve the stability of the first support 11 and facilitate the lifting action of the transport device 200 .
  • a guide structure is provided between the base 422 and the second support base 42 .
  • the second support base 42 is provided with a guide rail 421
  • the base 422 is provided with a groove 423 matched with the guide rail 421
  • the extending direction of the groove 423 is the same as that of the first bracket 11 . same direction.
  • the second support base 42 is provided with a groove 423
  • the base 422 is provided with a guide rail 421 matched with the groove 423
  • the extending direction of the guide rail 421 is the same as that of the first bracket 11 .
  • the lifting device 100 may further include a tensile elastic member, and the tensile elastic member refers to an elastic member that bears a tensile force during operation.
  • the tension elastic member is connected with the second support base 42, and the other end of the tension elastic member is connected with the mobile chassis.
  • the second support base 42 moves upward relative to the base 422, the second support base 42 stretches the tension elastic member, and the tension elastic member exerts a reverse pulling force on the second support base 42 due to the restoring action, thereby pulling
  • the driven gear is used to tension the transmission belt 43 to prevent the transmission belt 43 from jumping with the driven gear, and to ensure the transmission accuracy of the transmission mechanism 40 when the bracket assembly 10 is in the unfolded state.
  • the tension elastic member exerts a reverse pulling force on the second support base 42 and the driven gear.
  • the bracket assembly 10 is unfolded, the second bracket 12 rotates in the opposite direction to the direction a. Due to the reverse pulling force, the second support base 42 automatically slides downward relative to the base 422 without manual operation.
  • a crane can be used to drive the second bracket 12 to rotate in the opposite direction to the direction a, and the second support base 42 and the driven gear can be automatically reset.
  • the convenience of deploying the stent assembly 10 is improved.
  • the tension elastic member may be a tension gas spring 46, one end of the tension gas spring 46 is connected with the second support base 42, and the other end of the tension gas spring 46 is connected with the moving chassis.
  • the tension elastic member is a tension spring, one end of the tension spring is connected to the second support base 42 , and the other end of the tension spring is connected to the mobile chassis.
  • the hinge mechanism 20 may further include a support wheel 28 .
  • the support wheel 28 is connected to the pin 23 of the hinge mechanism 20 .
  • the bracket assembly 10 When the bracket assembly 10 is in a folded state, the outer circumferential surface of the support wheel 28 and the toothless surface of the transmission belt 43 touch. During the folding process, the support wheel 28 provides support for the transmission belt 43 .
  • the transmission belt 43 can be quickly reset to prevent the transmission belt 43 from being misaligned, thereby ensuring the smoothness of the lifting and lowering of the transport device 200 .
  • the lifting device 100 may include a middle tensioning mechanism, the middle tensioning mechanism is provided at the butt joint of the first bracket 11 and the second bracket 12 , the middle tensioning mechanism is in contact with the transmission belt 43 , and the middle tensioning mechanism is in contact with the transmission belt 43 .
  • the tensioning mechanism is used to tension the transmission belt 43 when the bracket assembly 10 is in the folded state, so as to prevent the transmission belt 43 from loosening during the folding process and cause the transmission belt 43 to jump teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is unfolded.
  • the middle tensioning mechanism may include a first guide wheel 44 and a second guide wheel 45 .
  • the first guide wheel 44 is rotatably connected with the upper end of the first bracket 11
  • the outer circumference of the first guide wheel 44 is in contact with the toothed surface of the transmission belt 43
  • the second guide wheel 45 is rotatably connected with the lower end of the second bracket 12
  • the second guide wheel 45 is rotatably connected with the lower end of the second bracket 12 .
  • the outer circumference of the pulley 45 is in contact with the toothed surface of the drive belt 43 .
  • the first guide wheel 44 and the second guide wheel 45 play a role of tensioning and supporting the transmission belt 43, preventing the transmission belt 43 from loosening during the folding process and causing the transmission belt 43 to jump teeth, thereby affecting the unfolding of the bracket assembly 10.
  • the lifting device 100 may further include a top tensioning mechanism, the top tensioning mechanism is connected to the upper end of the second bracket 12, the top tensioning mechanism is in contact with the transmission belt 43, and the top tensioning mechanism is used in the The belt 43 is tensioned when the bracket assembly 10 is in the folded state.
  • the top tensioning mechanism includes a first tensioning mechanism 50 and a second tensioning mechanism 60 , both of which are disposed on the upper end of the second bracket 12 .
  • the first tensioning mechanism 50 tensions the transmission belt 43 in the second accommodating groove 121
  • the second tensioning mechanism 60 tensions the transmission belt 43 in the second accommodating channel 122 , that is, the transmission belt 43 on both sides of the driving gear is tensioned.
  • Tension is performed to prevent the transmission belt 43 and the driving gear from skipping teeth, thereby ensuring the transmission accuracy of the transmission mechanism 40 .
  • the first tensioning mechanism 50 may include two third supporting seats 51 , a first tensioning wheel 52 and two first adjusting bolts 53 .
  • the two third support bases 51 are respectively connected to both sides of the second accommodating slot 121 .
  • the two third support bases 51 are both provided with a first moving slot 511 , and the extension direction of the first moving slot 511 is the same as that of the second accommodating slot 121 .
  • the direction is vertical, and two first threaded through holes 512 are provided on the side wall of the first moving slot 511 away from the second accommodating slot 121 .
  • the outer circumferential surface of the first tensioning wheel 52 is in contact with the transmission belt 43 in the second accommodating groove 121.
  • the first tensioning wheel 52 has a first rotating shaft 521, and both ends of the first rotating shaft 521 are slidably connected to the first moving shaft 521 respectively. in the groove 511.
  • the two first adjusting bolts 53 are respectively screwed with the two first threaded through holes 512 , and the two first adjusting bolts 53 are respectively abutted on both ends of the first rotating shaft 521 .
  • the first tensioning pulley 52 tensions the transmission belt 43 in the second accommodating groove 121 to prevent the transmission belt 43 from loosening when the bracket assembly 10 is folded, causing the transmission belt 43 to jump teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is unfolded. And by adjusting the depth of the first adjusting bolt 53 extending into the first moving groove 511, the position of the first rotating shaft 521 can be adjusted, thereby adjusting the relative position of the first tensioning wheel 52 and the transmission belt 43, so as to realize the 43 tensioning of the transmission belt. tightness adjustment.
  • the second tensioning mechanism 60 may include two fourth supporting seats 61 , a second tensioning wheel 62 and two second adjusting bolts 63 .
  • the second bracket 12 is provided with a window 123 , the window 123 penetrates to the second accommodating channel 122 , the two fourth support bases 61 are respectively connected to both sides of the window 123 , and the two fourth support bases 61 are both provided with a second moving slot 611
  • the extending direction of the second moving slot 611 is perpendicular to the extending direction of the second accommodating slot 121 , and two second threaded through holes 612 are provided on the side wall of the second moving slot 611 away from the second accommodating slot 121 .
  • the outer circumferential surface of the second tensioning wheel 62 is in contact with the transmission belt 43 in the second accommodating channel 122 , the second tensioning wheel 62 has a second rotating shaft 621 , and both ends of the second rotating shaft 621 are slidably connected to the second moving in the groove 611.
  • the two second adjusting bolts 63 are respectively screwed with the two second threaded through holes 612 , and the two second adjusting bolts 63 are respectively abutted on both ends of the second rotating shaft 621 .
  • the second tensioning pulley 62 tensions the transmission belt 43 in the second accommodating channel 122 to prevent the transmission belt 43 from loosening when the bracket assembly 10 is folded and causing the transmission belt 43 to jump teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is unfolded.
  • the position of the second rotating shaft 621 can be adjusted by adjusting the depth of the second adjusting bolt 63 extending into the second moving groove 611 , thereby adjusting the relative position of the second tensioning wheel 62 and the transmission belt 43 to realize the tensioning of the transmission belt 43 degree of adjustment.
  • 15a , 15b , 15c and 15d are schematic diagrams of the changing process of the lifting device 100 from the unfolded state to the folded state.
  • the driving gear exerts a pulling force on the transmission belt 43, and the toothed surfaces of the transmission belt 43 in the first accommodating channel 112 and the second accommodating channel 122 are in contact with the first guide wheel 44 and the second guide wheel 45 of the middle tensioning mechanism.
  • the first guide wheel 44 and the second guide wheel 45 rotate and support the rotating belt 43 ; the toothless surfaces of the transmission belt 43 in the first and second accommodation grooves 111 and 121 are in contact with the support wheel 28 , which supports the transmission belt 43 .
  • the transmission belt 43 produces a pulling force on the driven gear, so that the second support base 42 moves upward relative to the base 422 .
  • the second support base 42 stretches the tension elastic member, and the tension elastic member exerts a reverse pulling force on the second support base 42 to pull the driven gear to tension the transmission belt 43 .
  • the second bracket 12 continues to rotate until the second bracket 12 is flush with the first bracket 11 as shown in FIG. 15d , so that the lifting device 100 is folded.
  • FIGS. 15d , 15c , 15b and 15a that is, referring back to FIGS. 15a to 15d , it is a schematic diagram of the changing process of the lifting device 100 from the folded state to the unfolded state.
  • the transmission belt 43 passes through the first accommodating channel 112 of the first bracket 11 and the second accommodating channel 122 of the second bracket 12 to surround the driving gear, and along the second accommodating groove 121 of the second bracket 12 and the first accommodating channel 122 of the first bracket 11
  • the slot 111 surrounds the driven gear.
  • the second locking member 34 approaches the first locking member 31 , that is, the second side 345 of the second L-shaped structure moves toward the second side of the first L-shaped structure.
  • 315 approaches, the second guide slope 343 of the locking hook 341 is in contact with the first guide slope 321 of the locking block 32 . Due to the gravity of the second bracket 12 and the deployment force exerted on the second bracket 12 , the second guide slope 343 moves toward the sliding groove 311 and pushes the first guide slope 321 , so that the locking block 32 moves away from the first guide slope 321 along the sliding groove 311 .
  • the locking block 32 and the first side wall 313 compress the compression spring 33 .
  • the locking hook 341 is located in the sliding groove 311 , and when the locking block 32 slides to face the opening 342 , the compression spring 33 applies a restoring force to the locking block 32 , the locking block 32 is inserted into the opening 342, the first bracket 11 and the second bracket 12 are automatically locked, and the second support base 42 and the mobile chassis are connected to realize the unfolding of the lifting device 100.
  • FIG. 16 another embodiment of the present disclosure further provides a lifting device including a bracket assembly 10 , a hinge mechanism 20 , a locking mechanism 30 and a transmission mechanism 40 .
  • the bracket assembly 10 includes a first bracket 11 and a second bracket 12, the first bracket 11 is installed on the mobile chassis, and the upper end of the first bracket 11 is hinged with the lower end of the second bracket 12 through the hinge mechanism 20; when the bracket assembly 10 is in the unfolded state , the lower end of the second bracket 12 is butted with the upper end of the first bracket 11 .
  • the locking mechanism 30 is used to lock the lower end of the second bracket 12 and the upper end of the first bracket 11 when the bracket assembly 10 is in the unfolded state.
  • the transmission mechanism 40 is installed on the bracket assembly 10 . When the bracket assembly 10 is in the unfolded state, the transmission mechanism 40 is used to drive the transport device 200 to ascend and descend along the first bracket 11 and the second bracket 12 .
  • the bracket assembly 10 , the hinge mechanism 20 and the locking mechanism 30 refer to the above-mentioned embodiments.
  • the transmission mechanism is a rack-and-pinion transmission mechanism.
  • the transmission mechanism may include a first rack 48, a second rack 49 and a gear 47
  • the first rack 48 is mounted on the first bracket 11, the first rack 48 along the first bracket 11 extension direction setting.
  • the second rack 49 is mounted on the second bracket 12 , the second rack 49 is arranged along the extending direction of the second bracket 12 , the tooth shape of the second rack 49 is the same as that of the first rack 48 , the bracket assembly 10 In the deployed state, the second rack 49 is abutted with the first rack 48 .
  • the gear 47 is rotatably connected with the conveying device 200 , the gear 47 can rotate around its own axis, and the gear 47 is engaged with the first rack 48 and/or the second rack 49 .
  • the bracket assembly 10 is unfolded, that is, the lower end of the second bracket 12 is connected to the upper end of the first bracket 11, the second rack 49 is connected to the first rack 48, and the gear 47 can drive the transportation
  • the device 200 performs a lifting action along the first rack 48 and/or the second rack 49 .
  • the transport device 200 When transporting the transport robot including the above-mentioned lifting device, the transport device 200 is lowered to the bottom of the first bracket 11, the bracket assembly 10 is folded, that is, the second bracket 12 and the first bracket 11 are rotated, the second rack 49 and the first rack
  • the strips 48 are separated to reduce the height of the bracket assembly 10, improve the space utilization rate of the packing wooden box, and reduce the transportation cost of the handling robot; at the same time, the handling robot is suitable for the height of a general freight elevator, and the general freight elevator can be used to transport the handling robot, Reduce the transportation difficulty of the handling robot.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)

Abstract

Sont divulgués un appareil de levage et un robot de manipulation comprenant l'appareil de levage, qui se rapportent au domaine des dispositifs de stockage intelligents et sont utilisés pour réduire le coût et la difficulté de transport de robots de manipulation. L'appareil de levage (100) comprend des ensembles de support pliables (10), des mécanismes de verrouillage (30) et des mécanismes de transmission (40). Les ensembles de support (10) comprennent chacun un premier support (11) et un second support (12) ; les premiers supports (11) sont chacun montés sur un disque de fond mobile et une extrémité supérieure de chaque premier support (11) est articulée sur une extrémité de fond du second support (12) au moyen d'un mécanisme de charnière (20) ; lorsque les ensembles de support (10) sont dans un état déployé, les extrémités inférieures des seconds supports (12) sont en butée contre les extrémités supérieures des premiers supports (11) ; les mécanismes de verrouillage (30) sont utilisés pour verrouiller les extrémités inférieures des seconds supports (12) et les extrémités supérieures des premiers supports (11) lorsque les ensembles de support (10) sont à l'état déployé ; les mécanismes de transmission (40) sont montés sur les ensembles de support (10) ; lorsque les ensembles de support (10) sont dans l'état déployé, les mécanismes de transmission (40) sont utilisés pour amener l'appareil de manipulation (200) à monter et descendre le long des premiers supports (11) et des seconds supports (12).
PCT/CN2021/130473 2020-12-31 2021-11-12 Appareil de levage et robot de manipulation WO2022142773A1 (fr)

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CN202011632640.6A CN112830140B (zh) 2020-12-31 2020-12-31 升降装置及搬运机器人

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CN115417044A (zh) 2022-12-02

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