WO2024001951A1

WO2024001951A1 - Lifting device of transfer robot and transfer robot

Info

Publication number: WO2024001951A1
Application number: PCT/CN2023/102102
Authority: WO
Inventors: 汪清强
Original assignee: 杭州海康机器人股份有限公司
Priority date: 2022-06-30
Filing date: 2023-06-25
Publication date: 2024-01-04
Also published as: CN217732592U

Abstract

A lifting device of a transfer robot and a transfer robot. The lifting device comprises two guide rails (100), two rolling mechanisms (200), two adjustment mechanisms and a fork body (300). The guide rails (100) are provided with guide channels (110), and the two guide rails (100) are arranged in parallel, openings of the guide channels (110) of the two guide rails (100) being oppositely arranged. Each rolling mechanism (200) comprises a first rolling member (210) and a first mounting base (220), the first rolling member (210) being rotatably mounted on the first mounting base (220). The first rolling members (210) of the two rolling mechanisms (200) respectively extend into the guide channels (110) of the two guide rails (100). The first mounting bases (220) of the two rolling mechanisms (200) are movably connected to the fork body (300) in a first direction. The two adjustment mechanisms are both connected to the fork body (300) and the respective first mounting bases (220). The adjustment mechanisms are used for moving the respective first mounting bases (220) relative to the fork body (300), so that the first mounting bases (220) drive the first rolling members (210) to be in rolling contact with the bottom walls of the guide channels (110), the first direction being perpendicular to the bottom walls.

Description

Lifting devices for handling robots and handling robots

Technical field

This application belongs to the technical field of handling robots, and specifically relates to a lifting device for a handling robot and a handling robot.

Background technique

The handling robot is an industrial robot that can perform automated handling operations. The handling robot can not only carry goods on flat ground to transport goods on flat ground, but can also drive goods up and down through a lifting device to transport goods on planes of different heights. .

The lifting device includes guide rails, rolling parts and a fork body. The fork body is used to place goods. The fork body moves and cooperates with the guide rail through rolling parts so that the fork body can move along the guide rail. When the guide rail is placed at an angle to the horizontal plane, the fork body moves along the guide rail. The movement of the guide rail can change the height of the fork body, thereby transporting goods to different height planes. However, due to processing and assembly errors, gaps are likely to exist between the rolling parts and the guide rails, causing the fork to shake during movement, affecting the stability and safety of the lifting device.

Contents of the invention

The purpose of the embodiments of the present application is to provide a lifting device and a handling robot for a handling robot, which can solve the problem in the related technology that the fork body shakes during movement due to the gap easily existing between the rolling element and the guide rail.

In order to solve the above technical problems, this application is implemented as follows:

In a first aspect, embodiments of the present application provide a lifting device for a handling robot, which includes two guide rails, two rolling mechanisms, two adjustment mechanisms and a fork body, wherein:

The guide rails are provided with guide grooves, the two guide rails are arranged in parallel, and the notches of the guide grooves of the two guide rails are arranged oppositely, and the rolling mechanism includes a first rolling element and a first mounting base. The first rolling element is rotatably installed on the first installation base, and the first rolling elements of the two rolling mechanisms respectively extend into the guide grooves of the two guide rails;

The first mounting bases of the two rolling mechanisms are movably connected to the fork in the first direction, and the two adjustment mechanisms are respectively connected to the fork and the corresponding first mounting base. Connected, the adjustment mechanism is used to move the corresponding first mounting base relative to the fork body, so that the first mounting base drives the first rolling element and the bottom of the guide groove The walls are in rolling contact and the first direction is perpendicular to the bottom wall.

In a second aspect, embodiments of the present application also provide a handling robot, including the above-mentioned lifting device.

In the embodiment of the present application, when there is a gap between the first rolling element and the bottom wall of the guide groove, the adjusting mechanism is operated The corresponding first installation base drives the first rolling member to move relative to the fork body until the first rolling member is in rolling contact with the bottom wall of the guide groove, eliminating the gap between the first rolling member and the bottom wall, so as to alleviate the second problem. The whole body formed by a rolling element, the first mounting base and the fork body shakes when moving along the guide groove, thereby improving the stability and safety of the lifting device during operation. It can be seen that this application can solve the problem in the related art that the fork body shakes during its movement due to the gap easily existing between the rolling element and the guide rail.

Description of drawings

Figure 1 is a schematic structural diagram of the lifting device disclosed in the embodiment of the present application;

Figure 2 is a top view of the lifting device disclosed in the embodiment of the present application;

Figure 3 is a schematic diagram of the cooperation between the guide rail and the rolling mechanism disclosed in the embodiment of the present application;

Figure 4 is a schematic diagram of the connection between the fork body and the rolling mechanism disclosed in the embodiment of the present application;

Figure 5 is a schematic structural diagram of the first rolling element, the first mounting base and the mounting plate disclosed in the embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the figures so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first," "second," etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

The embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios.

As shown in FIGS. 1 to 5 , this application discloses a lifting device for a handling robot. The disclosed lifting device includes two guide rails 100 , two rolling mechanisms 200 , two adjustment mechanisms and a fork body 300 .

The guide rail 100 is provided with a guide groove 110. The two guide rails 100 are arranged in parallel, and the notches of the guide grooves 110 of the two guide rails 100 are arranged oppositely. The ends of the two guide rails 100 along the extension direction of the guide groove 110 can pass through the connecting plate 600, etc. The connectors are fixedly connected. The rolling mechanism 200 includes a first rolling element 210 and a first mounting base 220. The first rolling element 210 is rotatably installed on the first mounting base 220. The first rolling elements 210 of the two rolling mechanisms 200 respectively extend into In the guide grooves 110 of the two guide rails 100.

Optionally, the first rolling element 210 may be a first ball. The first ball is rotatably mounted on the first mounting base 220 , and part of the first ball extends out of the first mounting base 220 . Alternatively, the first rolling element 210 may be a first guide wheel, and the first guide wheel may be rotatably installed on the first mounting base 220 through a first rotating shaft.

The fork body 300 is connected to the first mounting bases 220 of the two rolling mechanisms 200. The first mounting bases 220 of the two rolling mechanisms 200 are movably connected to the fork body 300 in the first direction. The two adjustment mechanisms are respectively connected to the fork body. 300 and the corresponding first mounting base 220 are connected. In other words, the two adjusting mechanisms are connected to the fork 300, and the two adjusting mechanisms are respectively connected to the first mounting bases 220 of the two rolling mechanisms 200. The mechanism is used to adjust the movement of the corresponding first mounting base 220 relative to the fork body 300, so that the first mounting base 220 drives the first rolling member 210 to make rolling contact with the bottom wall 111 of the guide groove 110, and the first direction is perpendicular to Bottom wall 111.

When the first rolling element 210 extends into the corresponding guide groove 110, but there is a gap between the first rolling element 210 and the bottom wall 111 of the guide groove 110 due to processing errors or assembly errors, the operating adjustment mechanism can make the corresponding The first installation base 220 drives the first rolling element 210 to move in the direction of the bottom wall 111 of the guide groove 110 until the first rolling element 210 is in rolling contact with the bottom wall 111 of the guide groove 110, so as to eliminate the contact between the first rolling element 210 and the bottom wall 111 of the guide groove 110. The gap between the bottom walls 111 of the guide groove 110 prevents the first rolling element 210, the first mounting base 220 and the fork body 300 from moving in the first direction. When the first rolling member 210 rolls along the bottom wall 111, the first rolling member 210 drives the corresponding first mounting base 220 and the fork body 300 to move along the guide groove 110, thereby changing the height of the lifting device.

In the embodiment of the present application, when there is a gap between the first rolling element 210 and the bottom wall 111 of the guide groove 110, the adjusting mechanism is operated to cause the corresponding first mounting base 220 to drive the first rolling element 210 relative to the fork body. 300 moves until the first rolling member 210 is in rolling contact with the bottom wall 111 of the guide groove 110, eliminating the gap between the first rolling member 210 and the bottom wall 111, so as to relieve the friction between the first rolling member 210, the first mounting base 220 and The whole body formed by the fork body 300 will have the problem of shaking when moving along the guide groove 110, thereby improving the stability and safety during the operation of the lifting device. It can be seen that this application can solve the problem in the related art that the fork body shakes during its movement due to the gap easily existing between the rolling element and the guide rail.

There are many specific structures of the adjustment mechanism. In an optional embodiment, the adjustment mechanism may include a telescopic cylinder, such as an air cylinder or an oil cylinder. The cylinder of the telescopic cylinder is connected to the fork body 300 , and the piston rod of the telescopic cylinder is connected to the first cylinder. The mounting bases 220 are connected. When the telescopic cylinder is extended or shortened, the telescopic cylinder can drive the corresponding first mounting base 220 to move relative to the fork body 300, so that the first mounting base 220 drives the first rolling element 210 to move with the fork body 300. The bottom wall 111 of the guide groove 110 is in rolling contact. In this case, the telescopic cylinder is a common component and the method of operating the telescopic cylinder is relatively simple.

In another optional embodiment, the adjustment mechanism may include a top screw 410, the fork body 300 may be provided with a first threaded hole, the top screw 410 may cooperate with the first threaded hole, and the top screw 410 passes through the fork body 300, And with the first mounting base 220 butt against each other. Rotating the top screw 410, the top screw 410 rotates relative to the fork body 300 and moves relative to the fork body 300 to change the distance of the top screw 410 between the fork body 300 and the first mounting base 220, thereby driving the corresponding The first mounting base 220 moves relative to the fork body 300 , so that the first mounting base 220 drives the first rolling member 210 to make rolling contact with the bottom wall 111 of the guide groove 110 .

Along the extension direction of the guide groove 110, one or more first rolling elements 210 can be provided at both ends of the first mounting base 220, and the first rolling elements 210 located at both ends of the first mounting base 220 are in contact with the guide groove. The bottom wall 111 of 110 is in rolling contact. Furthermore, a plurality of first rolling members 210 may be provided at both ends of the first mounting base 220 , and the plurality of first rolling members 210 are in rolling contact with the bottom wall 111 of the guide groove 110 .

Providing a plurality of first rolling elements 210 so that the plurality of first rolling elements 210 are spaced apart and in rolling contact with the bottom wall 111 of the guide groove 110 can enhance the stability of the cooperation between the rolling mechanism 200 and the guide rail 100, thereby enhancing the stability of the rolling mechanism. The movement stability of the fork 300 connected to the mechanism 200.

In the case where first rolling elements 210 are provided at both ends of the first mounting base 220 along the extension direction of the guide groove 110 , each adjustment mechanism may include a top screw 410 , and along the extension direction of the guide groove 110 , A rolling element is symmetrically distributed along the extension direction of the guide groove 110 with the top screw as the center. For example, when there are two first rolling elements, the distance between the two first rolling elements 210 and the top screw 410 is the same, so that the first rolling element 210 and the top screw 410 are at the same distance. The rolling elements 210 are subjected to the same pressing force, which avoids the problem that one of the first rolling elements 210 is tilted and causes a gap between one of the rolling elements 210 and the bottom wall 111 .

Each adjustment mechanism may also include two top screws 410 , the two top screws 410 are distributed along the extension direction of the guide groove 110 , and the two top screws 410 are respectively in contact with both ends of the first mounting base 220 . Two first threaded holes are provided on each side of the fork body 300, and the two top screws 410 are respectively matched with the two first threaded holes. In this case, the two top screws 410 are respectively in contact with the two ends of the first mounting base 220, thereby exerting pressure on the two ends of the first mounting base 220, thereby causing the first two ends of the first mounting base 220 to The rolling element 210 is in close contact with the bottom wall 111 of the guide groove 110 .

In a further technical solution, the adjustment mechanism may also include a first threaded connector 420. The first mounting base 220 may be provided with a second threaded hole 222. The first threaded connector 420 passes through the fork body 300 and is connected with the second threaded hole 222. Threaded holes 222 provide a secure fit. In this case, connecting the fork body 300 and the first mounting base 220 through the first threaded connector 420 can enhance the connection strength between the fork body 300 and the first mounting base 220 and enhance the reliability of the lifting device.

In order to realize the mobile connection between the first mounting base 220 and the fork body 300, one of the first mounting base 220 and the fork body 300 may be provided with a guide protrusion 221, and the other may be provided with a guide hole 321, for example, The protrusion 221 can be provided on the first mounting base 220, the guide hole 321 can be opened in the fork body 300, and the guide protrusion 221 and the guide hole 321 can be guided and matched along the first direction. The guide protrusion 221 and the guide hole 321 guide and cooperate along the first direction, which can improve the movement accuracy during the relative movement of the first mounting base 220 and the fork body 300, and the guide protrusion 221 and the guide The structure of hole 321 is relatively common and is convenient for production. In addition, the movable connection method through the movable coupling of the guide protrusion 221 and the guide hole 321 also facilitates the disassembly and assembly of the first mounting base 220 and the fork body 300, and reduces the difficulty of disassembly and assembly of the first mounting base 220 and the fork body 300.

The number of guide protrusions 221 and guide holes 321 can be multiple, and the guide protrusions 221 correspond to the guide holes 321 one-to-one. When assembling the first mounting base 220 and the fork body 300, the plurality of guide protrusions 221 respectively By extending into the corresponding guide hole 321, the first mounting base 220 and the fork body 300 can be prevented from rotating around one of the guide protrusions 221, further reducing the assembly difficulty of the first mounting base 220 and the fork body 300.

In some embodiments, the rolling mechanism 200 may further include a second rolling member 230 and a second mounting base 240. The second rolling member 230 is rotatably mounted on the second mounting base 240. The second rolling member 230 extends into the guide. In the groove 110, the second rolling elements 230 of the two rolling mechanisms 200 respectively extend into the guide grooves 110 of the two guide rails 100, and the rolling surfaces of the second rolling elements 230 are in rolling contact with the two side walls 112 of the guide groove 110. The second mounting base 240 is connected to the fork body 300 . The side wall 112 of the guide groove 110 may be perpendicular to the bottom wall 111 . In this case, the second rolling member 230 is in rolling contact with the two side walls 112 of the guide groove 110, which can prevent the rolling mechanism 200 from driving the fork body 300 to move in a direction perpendicular to the first direction, thereby further easing the movement process of the fork body 300. The problem of medium shaking is eliminated and the stability of the fork body 300 during movement is further improved.

Optionally, the second rolling element 230 may be a second ball. The second ball is rotatably mounted on the second mounting base 240 , and a portion of the second ball extends out of the second mounting base 240 . Alternatively, the second rolling element 230 may be a second guide wheel, and the second guide wheel may be rotatably installed on the second mounting base 240 through a second rotating shaft. The second mounting base 240 and the fork body 300 may be connected through the second threaded connection 500 .

In some embodiments, in the same rolling mechanism 200, there are multiple second rolling elements 230 and second mounting bases 240, and the second rolling elements are installed on the corresponding second mounting bases 240. The second rolling elements 230 and the second mounting bases 240 are integrally arranged at intervals along the extension direction of the guide groove 110 . Each of the plurality of second mounting bases 240 can be connected to the fork body 300 through the second threaded connector 500 . The plurality of second rolling members 230 are spaced apart and are in rolling contact with the two side walls 112 of the guide groove 110 , making the cooperation between the rolling mechanism 200 and the guide rail 100 more stable, thereby allowing the fork 300 connected to the rolling mechanism 200 to move. more stable.

The fork body 300 may include a support platform 310 and two mounting plates 320. The support platform 310 is used to carry goods. The support platform 310 may be perpendicular to the two guide rails 100. The two mounting plates 320 may be fixedly connected to opposite sides of the support platform 310. At both ends, the two mounting plates 320 can be connected to the first mounting bases 220 of the two rolling mechanisms 200 respectively.

The support platform 310 and the mounting plate 320 can be welded and fixed into an integrated structure to enhance the connection strength between the support platform 310 and the mounting plate 320 . Alternatively, the support platform 310 and the installation plate 320 can be fixedly connected through fasteners such as bolts. In this structure, the installation plate 320 and the rolling mechanism 200 can be assembled first, and then the support platform 310 can be installed on the installation plate 320 to facilitate the assembly of the fork body 300.

Based on the lifting device of any of the above embodiments of the present application, an embodiment of the present application also discloses a transport robot, and the disclosed transport robot includes the lifting device of any of the above embodiments. The beneficial effects produced by this handling robot are generally similar to the beneficial effects brought by the above-mentioned lifting device, so this article will not describe them again.

The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Inspired by this application, many forms can be made without departing from the purpose of this application and the scope protected by the claims, all of which fall within the protection of this application.

Claims

A lifting device for a handling robot, including two guide rails (100), two rolling mechanisms (200), two adjustment mechanisms and a fork body (300), wherein:

The guide rail (100) is provided with a guide groove (110), the two guide rails (100) are arranged in parallel, and the notches of the guide grooves (110) of the two guide rails (100) are arranged oppositely, and the The rolling mechanism (200) includes a first rolling element (210) and a first mounting base (220). The first rolling element (210) is rotatably mounted on the first mounting base (220). Two The first rolling element (210) of the rolling mechanism (200) respectively extends into the guide grooves (110) of the two guide rails (100);

The first mounting bases (220) of the two rolling mechanisms (200) are movably connected to the fork body (300) in the first direction, and the two adjustment mechanisms are respectively connected to the fork body (300). ) and the corresponding first mounting base (220) are connected, and the adjustment mechanism is used to move the corresponding first mounting base (220) relative to the fork (300), so that The first mounting base (220) drives the first rolling element (210) into rolling contact with the bottom wall (111) of the guide groove (110), and the first direction is perpendicular to the bottom wall (111). ).
The lifting device according to claim 1, wherein the adjustment mechanism includes a top screw (410), the fork body (300) is provided with a first threaded hole, and the top screw (410) and the first thread The top screw (410) passes through the fork body (300) and abuts with the first mounting base (220).
The lifting device according to claim 2, wherein the first rolling elements (210) are provided at both ends of the first mounting base (220) along the extension direction of the guide groove (110), And the first rolling elements (210) located at both ends of the first mounting base (220) are in rolling contact with the bottom wall (111) of the guide groove (110).
The lifting device according to claim 3, wherein the adjustment mechanism includes two top screws (410), and the two top screws (410) are along the extending direction of the guide groove (110), and the The fork body (300) is provided with two first threaded holes, and the two top screws (410) are respectively matched with the two first threaded holes, and the two top screws (410) are respectively connected with the two first threaded holes. The two ends of the first mounting base (220) are in contact with each other.
The lifting device according to any one of claims 2-4, wherein the adjustment mechanism further includes a first threaded connector (420), and the first mounting base (220) is provided with a second threaded hole (222) ), the first threaded connector (420) passes through the fork body (300) and is fixedly matched with the second threaded hole (222).
The lifting device according to any one of claims 1-5, wherein one of the first mounting base (220) and the fork body (300) is provided with a guide protrusion (221), and the other A guide hole (321) is provided, and the guide protrusion (221) guides and cooperates with the guide hole (321) along the first direction.
The lifting device according to any one of claims 1-6, wherein the rolling mechanism (200) further includes It includes a second rolling element (230) and a second mounting base (240). The second rolling element (230) is rotatably installed on the second mounting base (240). The second rolling element (230) is rotatably mounted on the second mounting base (240). 230) extends into the guide groove (110), and the rolling surface of the second rolling element (230) is in rolling contact with the two side walls (112) of the guide groove (110). The base (240) is connected to the fork body (300).
The lifting device according to claim 7, wherein the number of the second rolling element (230) and the second mounting base (240) is multiple, and the second rolling element (230) is installed on On the corresponding second mounting base (240), the plurality of second rolling elements (230) and the second mounting base (240) form an integral body along the extending direction of the guide groove (110). Interval settings.
The lifting device according to any one of claims 1 to 8, wherein the fork body (300) includes a support platform (310) and two mounting plates (320), and the two mounting plates (320) are respectively fixed. Connected to two opposite ends of the support platform (310), the two mounting plates (320) are respectively connected to the first mounting bases (220) of the two rolling mechanisms (200).
A handling robot includes the lifting device according to any one of claims 1 to 9.