WO2023173339A1

WO2023173339A1 - Lifting device, warehousing robot, and levelling method for goods-taking assembly

Info

Publication number: WO2023173339A1
Application number: PCT/CN2022/081269
Authority: WO
Inventors: 单明明
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2023-09-21

Abstract

A lifting device (100), a warehousing robot, and a levelling method for a goods-taking assembly (400), which relate to the technical field of warehousing logistics apparatuses. The lifting device (100) is arranged on one side of a lifting rack (300) of a warehousing robot, and the lifting rack (300) comprises columns. The lifting device (100) comprises a driving mechanism (20) arranged at bottom ends of the columns, and two winding drum assemblies (40), wherein the two winding drum assemblies (40) are connected to the same driving shaft (30), and a one-way overrunning clutch (50) is provided between each winding drum (41) and the driving shaft (30), so that each winding drum (41) can rotate relative to the driving shaft (30) in the direction of winding a transmission member; and the two winding drums (41) can rotate independently. When the driving mechanism (20) is locked, each winding drum (41) can be manually rotated to adjust a preset connection position of the winding drum (41), thereby reducing the difficulty of connection between the transmission member and the winding drum (41). The lifting device (100) is used for lifting a goods-taking assembly (400) of a warehousing robot so that the goods-taking assembly (400) moves vertically in a height direction, and same can also level the goods-taking assembly (400).

Description

Leveling methods for lifting devices, warehousing robots and pickup components

Technical field

The present disclosure relates to the technical field of warehousing and logistics equipment, and in particular to a leveling method of a lifting device, a warehousing robot and a pickup component.

Background technique

With the development of the logistics industry, warehousing robots are gradually used in cargo handling work, which can improve the efficiency of cargo handling. Therefore, warehousing robots have become a research hotspot in the logistics industry.

Warehousing robots in the prior art include a mobile base, a lifting frame, a pickup component and a lifting device. The lifting frame is set on a mobile base, and the mobile base can drive the storage robot to move to the working position; the pickup component is slidably installed on the lifting frame. One side, and can adjust its height on the lifting frame under the action of the lifting device; the lifting device includes a driving motor, two drums arranged on the left and right, and two wire ropes wrapped around each drum; the two drums are connected On the same rigid shaft, it rotates synchronously under the action of the driving motor; one end of the wire rope is connected to the drum, and the other end passes through the pulley set on the top of the lifting frame and is connected to the pickup assembly. However, when the drive motor is in a locked state, the drum cannot rotate, making it more difficult to connect the drum to the wire rope.

Contents of the invention

In view of the above problems, embodiments of the present disclosure provide a method for leveling a lifting device, a storage robot, and a pickup assembly, which can manually rotate the drum when the driving mechanism is in a locked state, so as to facilitate the installation of the wire rope on the drum. This can reduce the difficulty of connecting the wire rope to the drum; and can quickly adjust the length of the wire rope released by the drum to reduce the difficulty of leveling the pickup assembly.

In order to achieve the above objectives, embodiments of the present disclosure provide the following technical solutions:

A first aspect of the embodiment of the present disclosure provides a lifting device, which is provided on one side of a lifting frame of a warehousing robot. The lifting frame includes a column; the lifting device includes a driving mechanism provided at the bottom of the column, two Reel assembly; a driving shaft is provided between the two reel assemblies, and the driving shaft is drivingly connected to the driving mechanism; the reel assembly includes a reel and a transmission part, and one end of the transmission part is used for The other end of the transmission member is connected to the drum and can be wound by the drum. The other end of the transmission member is used to connect the object to be lifted and to make the object to be lifted and lowered along the height direction of the column. Each of the drums A one-way overrunning clutch is provided between the drive shaft and the drive shaft; when the drive mechanism is in a locked state, the drum can rotate relative to the drive shaft in the direction of winding the transmission member under the action of external force.

In a possible implementation, the lifting device further includes a slack protection mechanism; the slack protection mechanism includes a linked braking component and a limiting component; the limiting component is configured to when the transmission member is relaxed, The limiting component enables the braking component to operate, and the braking component locks the reel.

In a possible implementation, the limiting component includes a fixed sleeve, a floating sleeve, a spring bracket, a tension spring and a first mounting bracket; the first mounting bracket is used to install the floating sleeve, and The limiting component is linked with the brake component through the first mounting bracket; the fixed sleeve is provided above the floating sleeve, and the transmission member is passed through the fixed sleeve and the floating sleeve. Between the sleeves, a first pulling force is generated between the transmission member and the floating sleeve; the spring bracket is fixed on the bottom plate of the lifting device, and the tension spring is used to connect the spring bracket and the first Mounting frame; the tension spring is used to provide a second tension force in the opposite direction to the first tension force to the first mounting frame, and when the second tension force is greater than the first tension force, the first installation frame The frame swings relative to the base plate to activate the brake assembly.

In a possible implementation, the first mounting bracket includes a mounting body and a first connecting arm provided on one side of the mounting body; the floating sleeve is rotationally connected to the mounting body, and the third One end of a connecting arm away from the mounting body is rotationally connected to the brake assembly and forms the rotation center of the first mounting bracket.

In a possible implementation, the mounting body and the first connecting arm form an L-shaped integrated structure.

In a possible implementation, the first mounting bracket further includes a reinforcing arm; along the extension direction of the first connecting arm, one end of the reinforcing arm is connected to the first connecting arm, and the two are connected The position is adjustable; the other end of the reinforcing arm is rotatably connected to the brake assembly together with the first connecting arm.

In a possible implementation, the first mounting bracket further includes a second connecting arm opposite to the first connecting arm, and the bottom plate is provided with a mounting base; one end of the second connecting arm is connected to the The mounting body is connected, and its other end is rotationally connected to the mounting base and can be consistent with the rotation axis of the first connecting arm.

In a possible implementation, the brake assembly includes a brake pot, a brake pad set, a brake cam and a brake pad holder; the brake pad set includes a first brake pad, a third brake pad and a brake pad set surrounding the brake pot. Two brake pads, the fixed ends of the first brake pad and the second brake pad are respectively connected to the brake pad holder; a gap is provided between the free ends of the first brake pad and the second brake pad. The brake cam; the brake cam includes a cam and a connecting shaft, the cam is in contact with the free ends of the first brake pad and the second brake pad respectively; one end of the connecting shaft is connected to the cam , the other end passes through the brake pad holder and is connected to the first connecting arm; the brake assembly is configured such that when the first connecting arm swings, the cam rotates, so that the first brake pad is connected to the first connecting arm. The second brake pad deforms and fits the inner wall of the brake pot.

In a possible implementation, the free ends of the first brake pad and the second brake pad are provided with limiting tension springs; the two ends of the limiting tension spring are respectively connected with the first brake pad and the second brake pad. The second brake pad is connected.

In a possible implementation, a connecting flange is provided in the drum; the one-way overrunning clutch and the brake pot are respectively provided on both sides of the connecting flange.

In a possible implementation, the slack protection mechanism further includes a limit switch and a trigger mechanism; the trigger mechanism is connected to the limit switch, and the trigger mechanism is located on the first mounting frame away from the fixed One side of the sleeve; the triggering mechanism is configured such that when the transmission member is relaxed, the first mounting bracket rotates and touches the triggering mechanism, causing the triggering mechanism to act and trigger the limit switch; the The limit switch is connected with a signal to a control unit of the lifting device, and the control unit is configured to receive a signal from the limit switch and control the working state of the driving mechanism according to the signal from the limit switch.

In a possible implementation, the transmission member is a steel wire rope.

In a second aspect, embodiments of the present disclosure provide a warehousing robot, including a lifting frame, a picking assembly, a mobile base, and the lifting device described in the first aspect; the lifting frame includes two oppositely arranged columns, and the The bottom end of the upright column is fixed on the mobile base, and the lifting device is provided on one side of the upright column; a second mounting frame is provided on the side of the upright column facing the drum of the lifting device, and the lifting device is The fixed sleeve of the device is arranged on the second mounting frame; the pickup component is slidably installed on the upright column, a pulley is provided on the top of the upright column, and one end of the transmission member of the lifting device passes through the pulley and connected with the pickup assembly.

The third aspect of the embodiment of the present disclosure provides a leveling method based on the pickup component of the storage robot described in the second aspect. The storage robot includes a lifting device and a slack protection mechanism. The lifting device includes a driving mechanism, two There are two reel assemblies; a drive shaft is provided between the two reel assemblies, and the drive shaft is drivingly connected to the drive mechanism; the reel assembly includes a reel and a transmission part, and one end of each transmission part is The other end is connected to the reel, and the other end is connected to the pickup assembly of the storage robot, and each reel can rotate independently relative to the drive shaft;

When the driving mechanism is in a locked state, the reel rotates relative to the driving shaft in the direction of winding the transmission member; the slack protection mechanism is configured to when the transmission member is relaxed, the slack protection mechanism locking the drum;

The leveling method of the pickup assembly includes the following steps:

Rotate the drive shaft in the direction of releasing the transmission member and place the first side of the pickup assembly in the lowest position;

The slack protection mechanism corresponding to the transmission member on the first side is triggered and is in a braking protection state, and locks the drum corresponding to the transmission member on the first side;

Continue to rotate the drive shaft in the direction of releasing the transmission member, and bring the second side of the pickup assembly to the lowest position;

The slack protection mechanism corresponding to the transmission member on the second side is triggered and is in a braking protection state, and locks the reel corresponding to the transmission member on the second side; so that the first side and the second side of the pickup assembly Keep both sides level.

Compared with related technologies, the lifting device, storage robot, and leveling method for picking up components provided by embodiments of the present disclosure have the following advantages;

Embodiments of the present disclosure provide a lifting device, a storage robot, and a method for leveling a pickup component. The lifting device includes a base plate, a driving mechanism disposed on the base plate, and two reel assemblies. Each reel assembly includes a reel and a pickup assembly. The transmission member wrapped around it (the transmission member in this embodiment can be a steel wire rope), one end of the transmission member is connected to the drum, and the other end of the transmission member passes through the pulley on the top of the column of the storage robot and is connected to the pickup component of the storage robot, so as to Adjust the working height of the pickup assembly. The two reel assemblies are connected to the same drive shaft, and a one-way overrunning clutch is provided between each reel and the drive shaft, so that when the drive mechanism is in a locked state (when the drive mechanism cannot provide driving force for the reel), The drum can rotate relative to the drive shaft in the direction of the winding transmission part under the action of external force.

Compared with the two drums of the lifting device in the related art that are directly connected to the drive shaft, when the drum needs to be rotated to adjust the preset connection position of the wire rope and the drum, if the driving motor of the lifting device is in a locked state (such as driving The motor is in a braking state or a power-off state (when the driving motor cannot provide driving force to the drum), the preset connection position of the drum and the wire rope cannot be adjusted; and the lifting device provided by the embodiment of the present disclosure is There is a one-way overrunning clutch between the drum and the drive shaft. When the drive mechanism (such as the drive motor) is locked, the drum can be manually rotated so that the drum rotates relative to the drive shaft in the direction of winding the wire rope under the action of external force. , to adjust the preset connection position between the drum and the wire rope, and reduce the difficulty of connecting the wire rope and the drum.

Furthermore, the two drums in the embodiment of the present disclosure can rotate independently, and the rotation state of each drum can be controlled to facilitate connecting the two steel wire ropes to each drum respectively; especially when each wire rope is When the amount of deformation is different and the pickup assembly needs to be leveled (the entire pickup assembly is in a horizontal state, and the load-bearing surface of the pickup assembly remains parallel to the ground), the corresponding drums can be rotated respectively to complete the pickup assembly. Leveling work. This setting can simplify the leveling work of the warehouse robot's pickup components and improve leveling efficiency and accuracy.

In addition to the above-described technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, the lifting device, the storage robot and the pickup device provided by the embodiments of the present disclosure are Other technical problems that can be solved by the component leveling method, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation.

Description of the drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a warehousing robot provided by an embodiment of the present disclosure;

Figure 2 is a schematic structural diagram of a lifting device provided by an embodiment of the present disclosure;

Figure 3 is an enlarged schematic diagram of point A in Figure 1;

Figure 4 is a schematic structural diagram of the first mounting bracket in an embodiment of the present disclosure;

Figure 5 is an exploded schematic diagram of the reel assembly in an embodiment of the present disclosure;

Figure 6 is a schematic diagram of the connection between the brake pad set and the brake pad holder in the embodiment of the present disclosure.

Figure 7 is a schematic diagram of the installation of the first mounting bracket, limit switch and trigger mechanism in the embodiment of the present disclosure;

Figure 8 is an enlarged schematic diagram of point B in Figure 7 .

Explanation of reference symbols:

10-base plate;

11-Bearing seat; 12-Mounting seat;

20-Driving mechanism; 21-Driving motor; 22-Reduction box;

30-Drive shaft;

40-reel assembly;

41-Reel; 42-Wire rope;

50-One-way overrunning clutch;

60-limit component;

61-Floating sleeve; 62-First mounting bracket; 621-Mounting bracket body; 622-First connecting arm; 623-Second connecting arm; 624-Reinforcement arm; 63-Fixed sleeve; 64-Second mounting bracket ;65-tension spring;66-spring bracket;

70-brake components;

71-brake pad holder; 72-brake cam; 721-cam; 722-camshaft; 73-brake pad set; 731-first brake pad; 732-second brake pad; 733-limiting tension spring; 74- brake pot;

80-limit switch;

90-Trigger mechanism;

100-Lifting device;

200-mobile base

300-Lifting frame;

301-Pulley;

400-Pickup component;

500-pallet.

Detailed ways

As mentioned in the background art, the lifting device of the storage robot in the related art has the problem that when the driving motor is in a locked state, it is difficult to connect the wire rope to the drum. The inventor found through research that the reason for this problem is:

The existing lifting device includes two drum assemblies, a drive shaft and a drive motor. The two drum assemblies are connected to the drive shaft. Each drum assembly includes a drum and a steel wire rope wrapped around it. One end of the steel wire rope is used to communicate with the warehousing robot. The pick-up component is connected, and the other end is used to connect to the reel and can be wound onto the reel. The drive motor rotates the drive shaft and winds the drum or releases the wire rope to lift the pickup assembly.

When connecting the wire rope to the drum, the drum is set to a preset connection position for connecting to the wire rope. When the preset connection position of the drum is facing inward, the operating space for connecting the preset connection position to the wire rope is small, which is inconvenient. connect. Therefore it is necessary to rotate the drum to adjust the preset connection position.

However, when the drive motor is in a locked state, that is, the drive motor is in a braking state or a power outage state. At this time, the drive motor cannot provide driving force to the drum, and the preset connection position of the drum cannot be manually adjusted, and it needs to be started again. motor.

In view of the above technical problems, embodiments of the present disclosure provide a lifting device. The lifting device includes a driving mechanism and two reel assemblies, and the two reel assemblies are connected to the same drive shaft. There is a gap between each reel and the drive shaft. A one-way overrunning clutch is provided so that when the driving mechanism is locked, the drum can be manually rotated so that the drum rotates relative to the drive shaft in the direction of winding the wire rope under the action of external force to adjust the preset distance between the drum and the wire rope. The connection position is set to reduce the difficulty of connecting the wire rope and the drum.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

As shown in Figure 1, the warehousing robot provided by the embodiment of the present disclosure includes a mobile base 200, a lifting frame 300, a picking assembly 400, a lifting device 100 and a plurality of pallets 500. The mobile base 200 is provided at the bottom of the warehousing robot. The mobile base 200 is used to drive the storage robot to move, so that the storage robot moves to the operating position.

The lifting frame 300 is arranged on the mobile base 200. The lifting frame 300 is used to install the picking assembly 400 and the pallet 500; the lifting frame 300 includes a first upright column, a second upright column and a cross beam connecting the first upright column and the second upright column. ; A plurality of pallets 500 are arranged at intervals along the height direction between the first upright column and the second upright column, and the pallets 500 are used for temporary storage of containers to facilitate the storage robot to transfer the container.

The pickup component 400 can be slidably mounted on the lifting frame 300, that is, the pickup component 400 is an object to be lifted relative to the lifting device. For example, the pickup assembly 400 includes a body, which can be slidably installed on the first upright column and the second upright column through a slider, and the body can move downward along the lifting frame 300 under the action of gravity, and can move downward under the action of lifting force or pulling force. Move upward along the lifting frame 300.

As shown in FIG. 2 , the lifting device 100 provided by the embodiment of the present disclosure is used to provide pulling force to the pickup assembly 400 so that the pickup assembly 400 rises along the lifting frame 300 . The lifting device 100 is provided at the bottom end of the lifting frame and installed on the mobile base 200 .

Specifically, the lifting device 100 includes a base plate 10, a driving mechanism 20, a driving shaft 30 and two reel assemblies 40, where the base plate 10 is fixed on the mobile base 200. The base plate 10 can be a rectangular plate and is used to fix the driving mechanism 20 and the drive. Axis 30. The bottom plate 10 is provided with at least two bearing seats 11. The two bearing seats 11 are respectively arranged at both ends of the drive shaft 30, and the drive shaft 30 is rotationally connected to the bearing seats 11.

Along the axial direction of the drive shaft 30, the drive mechanism 20 can be disposed on one side of the drive shaft 30. The drive mechanism 20 includes a drive motor 21 and a reduction box 22, where the reduction box 22 includes a large gear and a pinion gear that mesh with each other. The drive motor 20 The motor shaft 21 is connected to the small gear, and the large gear is connected to the drive shaft 30 . When the driving motor 21 is started, the driving force of the driving motor 21 can be transmitted to the driving shaft 30 to rotate the driving shaft 30 .

Along the axial direction of the drive shaft 30 , two drum assemblies 40 are respectively provided at both ends of the drive shaft 30 . For the convenience of describing the embodiment of the present disclosure, the above-mentioned two drum assemblies 40 can be defined as a first drum assembly and a second drum assembly. The first drum assembly can be arranged at the right end of the driving shaft 30 , and the second drum assembly can be defined as a first drum assembly and a second drum assembly. The assembly may be arranged at the left end of the drive shaft 30, as shown in Figure 1. Since the first drum assembly and the second drum assembly have the same structure and are connected to the drive shaft 30 in the same manner, the embodiment of the present disclosure takes the first drum assembly as an example for description.

As shown in Figure 3, the drum assembly 40 includes a drum 41 and a transmission member. The transmission member in this embodiment may be a steel wire rope 42. One end of the steel wire rope 42 is used to connect to the drum 41, and the other end of the steel wire rope 42 is used to connect to the drum 41. The body of the pickup component 400 is connected.

It should be noted that the top of the lifting frame 300 is provided with a pulley 301 that cooperates with the steel wire rope 42. That is, the cross beam of the lifting frame 300 is provided with two pulleys 301. The two pulleys 301 can be respectively arranged at the left and right ends of the cross beam, and each roll The steel wire ropes 42 of the drum assembly 40 respectively go around the pulleys 301 and are connected to the body of the pickup assembly 400.

Further, a one-way overrunning clutch 50 is provided between the drum 41 and the drive shaft 30 so that when the drive shaft 30 rotates in the first direction, it can transmit driving force to the drum 41 so that the drum 41 rotates in the first direction. And the steel wire rope 42 is wound, and the steel wire rope 42 can be used to lift the pickup assembly 400 . Referring to Figure 3, the first direction is defined as the clockwise direction.

On the contrary, when the driving shaft 30 rotates in the second direction, the driving force on the driving shaft 30 cannot be transmitted to the reel 41, and the gravity of the pickup assembly 400 can cause the reel 41 to rotate in the second direction. This The drive shaft 30 can control the release speed of the wire rope 42. Referring to Figure 3, the second direction is defined as the counterclockwise direction.

Compared with the two drums of the lifting device in the related art that are directly connected to the drive shaft, when the drum needs to be rotated to adjust the preset connection position of the wire rope and the drum and the drive motor is in a locked state, the drum cannot be manually adjusted The preset connection position with the wire rope; and the lifting device 100 provided by the embodiment of the present disclosure is provided with a one-way overrunning clutch 50 between the drum 41 and the drive shaft 30. When the drive mechanism 20 is locked, for example, when driving When the motor 21 is in a power-off state or a braking state, the drum 41 can be manually rotated to adjust the preset connection position of the drum 41 and the wire rope 42, thereby reducing the difficulty of connecting the wire rope 42 and the drum 41.

Furthermore, the two drums 41 in the embodiment of the present disclosure can rotate independently, and the rotation state of each drum 41 can be controlled to facilitate connecting the two wire ropes 42 to each drum 41 respectively. Especially when the deformation of each wire rope 42 is different and the pickup assembly 400 needs to be leveled, the corresponding drum 41 can be controlled and rotated respectively to complete the leveling work of the pickup assembly 400, that is, the pickup assembly. When 400 is at the lowest point, the left and right sides of the pickup assembly 400 are at the same height. Such an arrangement can simplify the leveling work of the picking assembly 400 of the warehouse robot and improve the leveling efficiency and accuracy.

On the basis of the above embodiments, in order to facilitate the leveling of the steel wire rope 42 and prevent the steel wire rope 42 from coming out of the groove of the drum 41 when it is relaxed, the lifting device 100 provided by the embodiment of the present disclosure also includes a slack protection mechanism. The slack protection mechanism is configured so that when the drum 41 rotates counterclockwise and releases the wire rope 42, if the pickup assembly 400 is stuck during the descent or the pickup assembly 400 has been lowered to the lowest position, the drum 41 can be stopped. Turn to stop releasing wire rope 42.

For example, each reel assembly 40 can be configured with a slack protection mechanism. The slack protection mechanism includes a brake component 70 and a limit component 60. The brake component 70 and the limit component 60 are linked to each other, and the limit component 60 is configured such that when the wire rope 42 becomes slack, the limiting component 60 moves and enables the braking component 70 to brake and lock the drum 41, and the drum 41 stops rotating under the braking of the braking component 70.

Continuing to refer to Figure 3, the limiting component 60 provided by the embodiment of the present disclosure includes a fixed sleeve 63, a floating sleeve 61, a spring bracket 66, a tension spring 65 and a first mounting bracket 62; wherein the first mounting bracket 62 is used for installation The floating sleeve 61, the first mounting bracket 62 and the brake assembly 70 are hingedly connected. When the first mounting bracket 62 swings relative to the base plate 10, the braking assembly 70 can be activated and the drum 41 can be braked and locked.

The fixed sleeve 63 is arranged above the floating sleeve 61 and fixed on the lifting frame 300 . For example, the first upright column and the second upright column of the lifting frame 300 are respectively provided with second mounting brackets 64. The second mounting brackets 64 are U-shaped as a whole, and the fixing sleeve 63 is installed on the second mounting brackets 64.

The steel wire rope 42 is inserted between the fixed sleeve 63 and the floating sleeve 61 . The steel wire rope 42 is located on the side of the fixed sleeve 63 facing the lifting frame 300 . The steel wire rope 42 is located on the side of the floating sleeve 61 away from the lifting frame 300 . When the lifting device 100 is working normally (when the steel wire rope 42 is not slack), the steel wire rope 42 generates a resultant force under the action of the fixed sleeve 63 and the drum 41 and acts on the floating sleeve 61. This resultant force is defined as the first pulling force. The first mounting bracket 62 has a tendency to swing toward the lifting bracket 300 and can abut against the lifting bracket 300 .

The spring bracket 66 is provided on the side of the first mounting bracket 62 away from the lifting frame 300 , and the spring bracket 66 is fixed on the base plate 10 or fixed on the mobile base 200 of the storage robot. The tension spring 65 is arranged between the spring bracket 66 and the first mounting bracket 62. One end of the tension spring 65 is connected to the spring bracket 66, and the other end of the tension spring 65 is connected to the first mounting bracket 62. The tension spring 65 can be arranged horizontally on between the spring bracket 66 and the first mounting bracket 62, and provides a second pulling force for the first mounting bracket 62. The second pulling force is opposite to the direction of the first pulling force, so that the first mounting bracket 62 has a side facing away from the lifting frame 300. Swinging trend.

When the lifting device 100 is operating normally, the first pulling force is greater than the second pulling force, so that the first mounting bracket 62 can contact the lifting bracket 300 . At this time, the drum 41 can rotate in the second direction relative to the driving shaft 30 and can continue to release the wire rope 42 . When the wire rope 42 is relaxed and the second pulling force is much greater than the first pulling force, the first mounting bracket 62 overcomes the first pulling force under the second pulling force and causes the first mounting bracket 62 to swing, thereby causing the brake assembly 70 to operate. The brake assembly 70 brakes and locks the drum 41 and stops releasing the wire rope 42 .

As shown in Figure 4, the first mounting bracket 62 provided by the embodiment of the present disclosure includes a mounting bracket body 621 and a first connecting arm 622. The first connecting arm 622 is provided on one side of the mounting bracket body 621, and the first connecting arm 622 A hinge hole is provided at one end away from the mounting bracket body 621 . The first connecting arm 622 is hinged with the brake assembly 70 through the hinge hole and forms the rotation center of the first mounting bracket 62 . When the first mounting bracket 62 swings, the first connecting arm 622 can cause the brake assembly 70 to operate, and the brake assembly 70 brakes and locks the drum 41.

The mounting bracket body 621 in the embodiment of the present disclosure is used to install the floating sleeve 61 . The floating sleeve 61 can be fixedly provided on the mounting bracket body 621 , or the floating sleeve 61 is rotatably connected to the mounting bracket body 621 . Preferably, in the embodiment of the present disclosure, the floating sleeve 61 is rotatably connected to the mounting frame body 621 to reduce the friction between the floating sleeve 61 and the wire rope 42 . Of course, the fixing sleeve 63 in the embodiment of the present disclosure can also be rotatably connected to the second mounting bracket 64, which will not be described again here.

In one embodiment, the mounting bracket body 621 and the first connecting arm 622 are an integral structure, and the two have an L-shaped structure as a whole; such an arrangement can improve the structural strength of the first mounting bracket 62 and ensure the durability of the first mounting bracket 62 . Swing stability.

Further, the first mounting bracket 62 also includes a reinforcing arm 624. One end of the reinforcing arm 624 is connected to the first connecting arm 622 along the extension direction of the first connecting arm 622, and the reinforcing arm 624 is connected to the first connecting arm 622. Adjustable; the other end of the first connecting arm 622 is rotatably connected to the brake assembly 70 together with the first connecting arm 622 .

For example, the first connecting arm 622 is provided with a mounting hole, and a fastening screw is inserted into the mounting hole. The reinforcing arm 624 is attached to the first connecting arm 622, and one end of the fastening screw is connected to the first connecting arm 622. Thereby, the reinforcing arm 624 and the first connecting arm 622 are connected together. The reinforcing arm 624 is provided with a hinge hole at one end close to the brake assembly 70. The hinge hole is located on the same straight line as the center of the hinge hole of the first connecting arm 622. The reinforcing arm 624 and the first connecting arm 622 are jointly connected to each other through the hinge hole. on the brake assembly 70 so that the reinforcing arm 624 and the first connecting arm 622 can swing synchronously.

In order to improve the swing stability of the first mounting bracket 62, the first mounting bracket 62 provided by the embodiment of the present disclosure also includes a second connecting arm 623. The second connecting arm 623 is arranged opposite to the first connecting arm 622, and the second connecting arm 623 is disposed opposite to the first connecting arm 622. 623 is located on the other side of the mounting bracket body 621. One end of the second connecting arm 623 is connected to the mounting bracket body 621 . For example, the second connecting arm 623 can be fixedly connected to the mounting bracket body 621 .

The other end of the second connecting arm 623 forms the rotation center of the first mounting bracket 62 , and the rotation axis of the second connecting arm 623 is consistent with the rotation axis of the first connecting arm 622 . For example, the base plate 10 is provided with a bearing seat 11 near the second connecting arm 623. The bearing seat 11 is used to carry the drive shaft 30. The bearing seat 11 is provided with a mounting seat 12. One side of the mounting seat 12 is fixedly connected to the bearing seat 11. Installation The base 12 is also provided with a hinge axis for hinged connection with the second connecting arm 623 , so that the end of the second connecting arm 623 away from the mounting bracket body 621 is hinged to the mounting base 12 and can swing relative to the mounting base 12 .

As shown in FIG. 5 , the brake assembly 70 provided by the embodiment of the present disclosure is sleeved on the drive shaft 30 and can rotate relative to the drive shaft 30 , and the two rotate independently. The brake assembly 70 includes a brake pot 74, a brake pad set 73, a brake cam 72 and a brake pad holder 71. The brake pad holder 71 is located at the outermost side of the brake assembly 70 and is fixedly connected to the outermost bearing seat 11. The brake pad holder 71 is used to install the brake cam 72 and the brake pad set 73 . The brake pad set 73 is located on the side of the brake pad holder 71 away from the bearing seat 11 .

Further, as shown in Figure 6, the brake cam 72 includes a cam 721 and a camshaft 722. One end of the camshaft 722 is connected to the cam 721, and the other end of the camshaft 722 is inserted into the brake pad holder 71. The brake pad holder 71 71 is provided with a sleeve for it to pass through, the camshaft 722 can rotate relative to the sleeve, and the part of the camshaft 722 that passes through the sleeve is connected to the above-mentioned first connecting arm 622 and/or strengthening arm 624. When the first mounting bracket When 62 swings, it can drive the camshaft 722 to rotate, thereby causing the cam 721 to rotate.

The cam 721 serves as the opening and closing component of the brake pad set 73 and is in an oval shape as a whole; for the convenience of description, it can be defined as the first state when the two ends of the short axis of the cam 721 are in contact with the brake pad set 73, and the long axis of the cam is When both ends of are in contact with the brake pad set 73, it is defined as the second state. When the cam 721 is in the first state, the brake pad group 73 is in a free state and does not brake. When the first mounting bracket 62 swings and causes the cam 721 to rotate, the cam is in the second state, and the brake pad group 73 acts and performs braking. brake.

Specifically, the brake pad set 73 includes two oppositely arranged first brake pads 731 and second brake pads 732. The first brake pad 731 and the second brake pad 732 are arranged in the brake pot 74; the inner wall of the brake pot 74 has an annular shape. The brake pot 74 is fixedly connected to the drum 41 and rotates together with the drum 41.

The first brake pad 731 and the second brake pad 732 can contact the braking surface when the cam 721 is in the second state, so that the drum 41 stops rotating and then stops releasing the wire rope 42 to prevent the wire rope 42 from slackening. On the contrary, when the cam 721 is in the first state, the first brake pad 731 and the second brake pad 732 are not in contact with the braking surface, and the drum 41 can rotate normally to release the wire rope 42 .

Along the axial direction of the drum 41, the brake pot 74 and the one-way overrunning clutch 50 are respectively located at both ends of the drum 41, and the drum 41 is provided with a connecting flange at its middle position. The brake pot 74 and the one-way overrunning clutch 50 are respectively Fixed on both sides of the connecting flange.

Continuing to refer to Figure 6, the first brake pad 731 and the second brake pad 732 both have an arc shape, and the fixed ends of the first brake pad 731 and the second brake pad 732 are connected to the brake pad holder 71. The first brake pad 731 and The free end of the second brake pad 732 forms an installation space for the cam 721, that is, the cam 721 is disposed between the first brake pad 731 and the second brake pad 732, and is connected with the free ends of the first brake pad 731 and the second brake pad 732. Abut.

Further, a limiting tension spring 733 is provided between the first brake pad 731 and the second brake pad 732. When the cam 721 is in the first state, the limiting tension spring 733 provides a force for the first brake pad 731 and the second brake pad 732. The pulling force prevents the first brake pad 731 and the second brake pad 732 from contacting the braking surface of the brake pot 74 . When the cam 721 is in the second state, the tension of the cam 721 acting on the first brake pad 731 and the second brake pad 732 is greater than the tension of the limiting tension spring 733, so that the first brake pad 731 and the second brake pad 732 are deformed and Contact with the braking surface. When the cam continues to rotate and is in the first state, the limiting tension spring 733 provides a restoring force to restore the first brake pad 731 and the second brake pad 732 to the initial state.

It should be noted that, as shown in FIGS. 7 and 8 , the slack protection mechanism provided by the embodiment of the present disclosure also includes a limit switch 80 and a trigger mechanism 90 . The slack protection mechanism cooperates with the first reel assembly 40 Let's take the slack protection mechanism as an example.

The limit switch 80 and the triggering mechanism 90 can be installed on the bearing seat 11 through the bearing plate, and the limit switch 80 and the triggering mechanism 90 are located on the side of the first mounting bracket 62 away from the lifting frame 300 so that when the wire rope 42 becomes slack and When the first mounting bracket 62 swings toward the side away from the lifting frame 300, it may collide with the triggering mechanism 90, thereby causing the triggering mechanism 90 to act.

It should be noted that the triggering mechanism 90 may be a linkage rod or a linkage arm. For example, the triggering mechanism can be a linkage arm. One end of the linkage arm close to the first mounting bracket 62 is provided with a roller, and the roller contacts the mounting bracket body 621 through the roller. The roller is located on the swing path of the first mounting bracket. The other end of the linkage arm is Can be connected with limit switch.

When the triggering mechanism 90 acts, it can trigger the limit switch 80 and generate a corresponding signal. The limit switch 80 is signal-connected to the control unit of the lifting device 100. The control unit can use the above-mentioned signal from the limit switch 80 to control the driving motor. 21 stops rotating to prevent the wire rope 42 from being further released; when the limit switch 80 is in the free state, the control unit can control the drive motor 21 to rotate in the reverse direction so that the wire rope 42 is wound onto the drum 41 .

The working status of the warehousing robot provided by the embodiment of the present disclosure is as follows:

When the warehousing robot works normally (assuming that the picking assembly 400 rises and falls at a constant speed or is stationary), the gravity of the picking assembly 400 is applied to the steel wire rope 42, and the steel wire rope 42 generates a first pulling force on the floating sleeve 61 through the fixed sleeve 63 and the drum 41. , the first pulling force acts on the floating sleeve 61, causing the first mounting bracket 62 to swing toward one side of the lifting frame 300 against the second pulling force of the tension spring 65 (refer to the perspective shown in FIG. 1). Finally, the first mounting bracket 62 swings to the left and contacts the column of the lifting frame 300 and cannot continue to swing. At this time, the limit switch 80 is in a free state.

When the wire rope 42 of the warehouse robot becomes loose (for example, the picking assembly 400 is stuck during the descent, or the picking assembly 400 has been lowered to the lowest position), if the drum 41 continues to release the wire rope 42, the wire rope 42 will become loose. ), the steel wire rope 42 cannot continue to provide the first pulling force to the floating sleeve 61 to limit the position of the floating sleeve 61.

At this time, the second tension generated by the tension spring 65 will pull the first mounting bracket 62 and make the first mounting bracket 62 swing toward the side away from the lifting frame 300, and can drive the brake cam 72 to rotate, so that the brake pads and the brake pads can be rotated. The braking surface of the pot 74 comes into contact to brake and lock the drum 41 so that the drum 41 cannot continue to rotate in the counterclockwise direction (refer to the perspective of Figure 1). The wire rope 42 will maintain the current state and will not continue to relax, avoiding the risk of the wire rope 42 out of the groove of the drum 41.

The reset process of the warehouse robot in this embodiment after the steel wire rope 42 is relaxed is as follows:

In the slack rope protection state, due to the action of the one-way overrunning clutch 50, when the driving motor drives the driving shaft 30 to rotate counterclockwise, the drum 41 will not rotate following the driving shaft 30. When the motor drives the drive shaft 30 to rotate clockwise, the drum 41 receives the driving force transmitted by the one-way overrunning clutch 50 .

First, the driving force received by the drum 41 needs to overcome the frictional resistance between the brake pad and the brake pot 74 and the pulling force of its limiting tension spring 733 (the magnitude of these two forces is much smaller than the driving force provided by the drive shaft 30). The drum 41 rotates clockwise, and the wire rope 42 is rolled up and gradually restored to tension. The floating sleeve 61 receives the force (first pulling force) of the wire rope 42 and swings toward one side of the lifting frame 300. At the same time, the brake pads gradually contact with the lifting frame 300. The brake pot 74 is detached, and the frictional resistance of the brake disappears until the wire rope 42 returns to normal working condition.

After the lifting device 100 of the warehousing robot in the related art works for a period of time, the wire rope 42 of the lifting device 100 will elongate and deform. Since the deformation amounts of the wire ropes 42 provided on both sides of the lifting device 100 will be different, this In this state, the pickup component 400 mounted on one end of the steel wire rope 42 cannot remain horizontal; therefore, the pickup component 400 of the warehouse robot needs to be leveled.

The method for the warehouse robot provided by the embodiment of the present disclosure to level the picking assembly 400 based on the slack protection mechanism is as follows:

The lifting device 100 of the warehouse robot includes a first drum assembly arranged on its right side and a second drum assembly arranged on its left side. The first drum assembly includes a first steel wire rope and a first drum. The second drum assembly It includes a second steel wire rope and a second drum, wherein one ends of the first steel wire rope and the second steel wire rope can be connected to the first side (left side) and the second side (right side) of the body of the pickup assembly respectively. When the first steel wire rope When the release length of the second wire rope is the same, the pickup assembly 400 can remain in a horizontal state, that is, the first side and the second side of the pickup assembly 400 are at the same height, or the load-bearing surface of the pickup assembly 400 is parallel to the horizontal plane.

Assuming that the lengths of the first steel wire rope and the second steel wire rope released by the warehouse robot are inconsistent (for example, the second steel wire rope is longer than the first steel wire rope, and the body of the picking assembly 400 is in an inclined state at this time), the driving motor 21 is controlled to release the steel wire rope 42 . The direction of rotation causes the pickup assembly 400 to slowly descend. Since the second wire rope connected to the left side of the pickup assembly 400 is longer, the left side of the pickup assembly 400 will reach the lowest point first and trigger the brake assembly 70 to stop the rotation of the second drum.

At this time, the driving motor 21 continues to rotate, and the second reel 41 on the left will not continue to rotate because it is in a braking state; the first reel on the right continues to rotate until the right side of the pickup assembly 400 also drops to the lowest point and The corresponding brake assembly 70 is triggered to stop the rotation of the first reel; at this time, the lowest points reached on the left and right sides of the pickup assembly 400 are at the same height in the height direction.

Stop driving the motor 21. At this time, the pickup assembly 400 can remain horizontal because its left and right sides are at the lowest point, and the lengths of the wire ropes 42 released by the drum 41 become equal. Then, the drive motor 21 is controlled to rotate in the reverse direction to lift the pickup assembly 400. The pickup assembly 400 will remain horizontal and rise, and the automatic leveling operation is completed.

It should be noted that in the embodiment of the present disclosure, the drive motor is used to rotate the rotating shaft in the direction of releasing the wire rope. When the drive motor is in a locked state, manual leveling can also be performed during this process, which will not be described again here.

The method for leveling the pickup assembly 400 based on the slack protection mechanism provided in the embodiment of the present disclosure can control and rotate the corresponding drum 41 respectively to complete the leveling work of the pickup assembly 400 . Such an arrangement can simplify the leveling work of the picking assembly 400 of the warehouse robot and improve the leveling efficiency and accuracy.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. mean that the described embodiments may include specific features, structures or characteristics, but not necessarily Each embodiment includes this particular feature, structure, or characteristic. Furthermore, such phrases are not necessarily referring to the same embodiment. Furthermore, where a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, explicitly or not explicitly described.

Generally speaking, terms should be understood, at least in part, by context of use. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular, or may be used to describe a combination of features, structures, or characteristics in the plural, depending at least in part on context. . Similarly, terms such as "a" or "the" may also be understood to convey either a singular usage or a plural usage, depending at least in part on the context.

It should be readily understood that "on," "over," and "over" in this disclosure should be interpreted in the broadest manner, so that "on" does not only mean " "directly on something" also includes the meaning of "on something" with intermediate features or layers in between, and "on..." or "on..." not only includes "on something" or "on something" The meaning of "on" may also include the meaning of "over" or "over" something without intervening features or layers (i.e., directly on something).

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A lifting device is provided on one side of a lifting frame of a storage robot, and the lifting frame includes a column; characterized in that the lifting device includes a driving mechanism and two reel assemblies that are provided at the bottom end of the column;

A drive shaft is provided between the two drum assemblies, and the drive shaft is drivingly connected to the drive mechanism;

The drum assembly includes a drum and a transmission member. One end of the transmission member is used to be connected to the drum and can be wound by the drum. The other end of the transmission member is used to connect to the object to be lifted. And the object to be lifted is raised and lowered along the height direction of the column, and a one-way overrunning clutch is provided between each drum and the drive shaft;

When the driving mechanism is in a locked state, the drum can rotate relative to the driving shaft in the direction of winding the transmission member under the action of external force.
The lifting device according to claim 1, wherein the lifting device further includes a slack protection mechanism;

The slack protection mechanism includes a linked braking component and a limiting component; the limiting component is configured such that when the transmission member is relaxed, the limiting component can cause the braking component to operate, and the braking component The reel is locked.
The lifting device according to claim 2, wherein the limiting component includes a fixed sleeve, a floating sleeve, a spring bracket, a tension spring and a first mounting bracket;

The first mounting bracket is used to install the floating sleeve, and the limiting component is linked with the brake component through the first mounting bracket;

The fixed sleeve is arranged above the floating sleeve, the transmission member is inserted between the fixed sleeve and the floating sleeve, and a third is generated between the transmission member and the floating sleeve. a pull;

The spring bracket is fixed on the bottom plate of the lifting device, the tension spring is used to connect the spring bracket and the first mounting bracket; the tension spring is used to provide the first mounting bracket with the first mounting bracket. A second pulling force in the opposite direction of pulling force, and when the second pulling force is greater than the first pulling force, the first mounting bracket swings relative to the base plate to cause the brake assembly to operate.
The lifting device according to claim 3, wherein the first mounting bracket includes a mounting bracket body and a first connecting arm provided on one side of the mounting bracket body;

The floating sleeve is rotationally connected to the mounting bracket body, and one end of the first connecting arm away from the mounting bracket body is rotationally connected to the brake assembly and forms the rotation center of the first mounting bracket.
The lifting device according to claim 4, wherein the mounting bracket body and the first connecting arm form an L-shaped integrated structure.
The lifting device according to claim 4, wherein the first mounting bracket further includes a reinforcing arm;

Along the extension direction of the first connecting arm, one end of the reinforcing arm is connected to the first connecting arm, and the connection position of the two is adjustable;

The other end of the reinforcing arm is rotatably connected to the brake assembly together with the first connecting arm.
The lifting device according to claim 4, characterized in that:

The first mounting bracket further includes a second connecting arm opposite to the first connecting arm, and the bottom plate is provided with a mounting seat;

One end of the second connecting arm is connected to the mounting bracket body, and the other end is rotationally connected to the mounting base and can be consistent with the rotation axis of the first connecting arm.
The lifting device according to any one of claims 4 to 7, wherein the brake assembly includes a brake pot, a brake pad set, a brake cam and a brake pad holder;

The brake pad set includes a first brake pad and a second brake pad surrounding the brake pot. The fixed ends of the first brake pad and the second brake pad are respectively connected to the brake pad holder. ; The brake cam is provided between the free ends of the first brake pad and the second brake pad;

The brake cam includes a cam and a connecting shaft. The cam is in contact with the free ends of the first brake pad and the second brake pad respectively. One end of the connecting shaft is connected to the cam, and the other end goes out. The brake pad holder is connected to the first connecting arm;

The brake assembly is configured such that when the first connecting arm swings, the cam rotates, causing the first brake pad and the second brake pad to deform and fit into the inner wall of the brake pot.
The lifting device according to claim 8, wherein the free ends of the first brake pad and the second brake pad are provided with limiting tension springs;

Both ends of the limiting tension spring are connected to the first brake pad and the second brake pad respectively.
The lifting device according to claim 8, characterized in that a connecting flange is provided in the drum;

The one-way overrunning clutch and the brake pot are respectively arranged on both sides of the connecting flange.
The lifting device according to any one of claims 3 to 7, wherein the slack protection mechanism further includes a limit switch and a trigger mechanism;

The trigger mechanism is connected to the limit switch, and the trigger mechanism is located on the side of the first mounting bracket away from the fixed sleeve;

The triggering mechanism is configured such that when the transmission member is relaxed, the first mounting bracket rotates and touches the triggering mechanism, causing the triggering mechanism to act and trigger the limit switch;

The limit switch is connected with a signal to a control unit of the lifting device. The control unit is configured to receive a signal from the limit switch and control the working state of the driving mechanism according to the signal from the limit switch.
The lifting device according to claim 11, characterized in that the transmission member is a steel wire rope.
A warehousing robot, characterized in that it includes a lifting frame, a picking assembly, a mobile base and the lifting device according to any one of claims 1 to 12;

The lifting frame includes two opposite upright columns, and the bottom end of the upright column is fixed on the mobile base, and the lifting device is arranged on one side of the upright column;

A second mounting bracket is provided on the side of the column facing the drum of the lifting device, and the fixed sleeve of the lifting device is provided on the second mounting bracket;

The pickup assembly is slidably installed on the upright column. A pulley is provided at the top of the upright column. One end of the transmission member of the lifting device passes through the pulley and is connected to the pickup assembly.
A leveling method based on the pickup component of the warehousing robot according to claim 13, characterized in that;

The warehousing robot includes a lifting device and a slack protection mechanism. The lifting device includes a driving mechanism and two reel assemblies; a drive shaft is provided between the two reel assemblies, and the drive shaft transmits with the drive mechanism. Connection; the reel assembly includes a reel and a transmission member. One end of each transmission member is used to connect to the reel, and the other end is used to connect to the pickup assembly of the storage robot. Each of the reels is opposite to The drive shaft can rotate independently;

When the driving mechanism is in a locked state, the reel rotates relative to the driving shaft in the direction of winding the transmission member; the slack protection mechanism is configured to when the transmission member is relaxed, the slack protection mechanism locking the drum;

The leveling method of the pickup assembly includes the following steps:

Rotate the drive shaft in the direction of releasing the transmission member and place the first side of the pickup assembly at the lowest point;

The slack protection mechanism corresponding to the transmission member on the first side is triggered and is in a braking protection state, and locks the drum corresponding to the transmission member on the first side;

Continue to rotate the drive shaft in the direction of releasing the transmission member, and bring the second side of the pickup assembly to the lowest position;

The slack protection mechanism corresponding to the transmission member on the second side is triggered and is in a braking protection state, and locks the reel corresponding to the transmission member on the second side; so that the first side and the second side of the pickup assembly Keep both sides level.