Walking wheel mounting device and three-dimensional storage robot

Abstract

The utility model discloses a walking wheel mounting device and a three-dimensional storage robot, relates to the field of logistics storage, and solves the problems that during replacement, many parts need to be disassembled and assembled, and a large amount of time is consumed to complete replacement of mother rail walking wheels, the walking wheel mounting device comprises a rack, jacking connecting rods arranged at the front end and the rear end of the rack, and the mother rail walking wheels arranged at the two ends of the jacking connecting rods; the rack further comprises an outer frame and an inner plate, and the jacking connecting rod is located between the outer frame and the inner plate. The main rail walking wheel is coaxially provided with a main rail rotating shaft, the two ends of the main rail rotating shaft are each provided with a main rail bearing seat detachably connected to a jacking connecting rod, the main rail bearing seats and the main rail rotating shaft are coaxially arranged, and one end of the main rail rotating shaft penetrates out of the side wall of the inner plate. And a limiting piece is arranged between the mother rail bearing seat and the jacking connecting rod. The device has the effect that the walking wheels are convenient to maintain.

Description

Technical Field

[0001] The present application relates to the field of logistics warehousing, and in particular to a walking wheel mounting device and a three-dimensional warehousing robot. Background Art

[0002] In three-dimensional warehousing, in order to save manpower and improve work efficiency, three-dimensional warehousing robots are usually used to transport goods. Existing three-dimensional warehousing robots generally include a frame, lifting rods respectively arranged at the front and rear ends of the frame, and mother rail running wheels rotatably arranged at both ends of the lifting rods. The frame also includes an outer frame and an inner plate, and the lifting rod is located between the outer frame and the inner plate. During transportation, the motor on the frame drives the mother rail running wheels to rotate through the transmission structure, thereby driving the entire three-dimensional warehousing robot to move and achieve transportation.

[0003] In addition, the outer wall of the mother rail wheel is provided with a circle of polyurethane material to ensure that the robot can run stably and efficiently. However, after long-term use, that is, after the mother rail wheel repeatedly travels on the track, the mother rail wheel will be worn and needs to be replaced regularly. When replacing, it is necessary to disassemble the outer shell, outer frame, and jacking connecting rod of the three-dimensional storage robot in turn before disassembling the mother rail wheel.

[0004] Therefore, a lot of parts need to be disassembled and assembled during replacement, and a lot of time is spent to complete the replacement of the mother rail running wheel, which is very inconvenient for maintenance. Utility Model Content

[0005] In order to facilitate maintenance, the present application provides a walking wheel installation device and a three-dimensional storage robot.

[0006] The present application provides a walking wheel installation device and a three-dimensional storage robot, which adopt the following technical solutions:

[0007] A walking wheel installation device and a three-dimensional storage robot include a frame, a lifting connecting rod arranged at the front and rear ends of the frame, and mother rail walking wheels arranged at both ends of the lifting connecting rod. The frame also includes an outer frame and an inner plate, and the lifting connecting rod is located between the outer frame and the inner plate; the mother rail walking wheel is coaxially provided with a mother rail rotating shaft, and both ends of the mother rail rotating shaft are respectively provided with mother rail bearing seats detachably connected to the lifting connecting rod, the mother rail bearing seat is coaxially arranged with the mother rail rotating shaft, and one end of the mother rail rotating shaft passes through the side wall of the inner plate; a limiting member is arranged between the mother rail bearing seat and the lifting connecting rod.

[0008] Preferably, it also includes sub-rail running wheels, which are arranged on an outer frame located on the left and right sides of the frame; the outer frame is rotatably connected to a sub-rail rotating shaft for installing the sub-rail running wheels, and the axial direction of the sub-rail rotating shaft is perpendicular to the axial direction of the mother rail rotating shaft; the sub-rail rotating shaft is coaxially provided with a connecting shaft passing through the outer frame; the sub-rail rotating shaft is coaxially provided with a mounting plate for mounting the sub-rail running wheels, and the mounting plate is detachably connected to the sub-rail running wheels.

[0009] Preferably, the mother rail bearing seat includes a symmetrically arranged first step, a symmetrically arranged second step, and a third step located at the top of the mother rail bearing seat, the first step surface is located below the second step surface, and the second step surface is located below the third step surface; the lifting connecting rod is provided with a connecting groove for the second step and the third step to be plugged in.

[0010] Preferably, the limiting member comprises a limiting block arranged on the mother rail bearing seat, the lifting connecting rod is provided with a limiting groove for the limiting block to be inserted, and the limiting block is located between the first step and the second step.

[0011] Preferably, a positioning pin is provided between the second step and the lifting connecting rod, and two ends of the positioning pin are respectively connected to the second step and the lifting connecting rod.

[0012] Preferably, the mother rail bearing seat has a transition arc section between the second step and the third step.

[0013] Preferably, the outer frame is provided with an escape opening near the mother rail running wheel.

[0014] A three-dimensional storage robot comprises a walking wheel mounting device and a driving motor arranged on an inner plate.

[0015] In summary, the present application includes at least one of the following beneficial effects:

[0016] 1. When the mother rail running wheel needs to be replaced, the mother rail bearing seat can be removed from the jacking connecting rod through the avoidance, and the mother rail running wheel can be removed from the jacking connecting rod, and then the mother rail running wheel can be removed from the mother rail bearing seat, and the mother rail running wheel can be replaced without disassembling more parts and spending a lot of time, which is convenient for maintenance;

[0017] 2. The sub-rail running wheel is rotatably connected to the outer frame through the sub-rail rotating shaft, and the sub-rail running wheel is detachably connected to the mounting plate on the sub-rail rotating shaft. When replacing, the sub-rail running wheel can be removed from the mounting plate for easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of this embodiment of the present application;

[0019] Figure 2This is a schematic diagram of the structure of the mother rail running wheels at both ends of the jacking connecting rod in this embodiment of the present application;

[0020] Figure 3 yes Figure 2 The enlarged schematic diagram of point A in the middle;

[0021] Figure 4 This is a cross-sectional schematic diagram of the embodiment of the present application highlighting the connection between the mother rail running wheel and the mother rail rotating shaft;

[0022] Figure 5 is a cross-sectional schematic diagram showing the connection between the sub-rail running wheel and the sub-rail rotating shaft in this embodiment of the present application;

[0023] Figure 6 This is a schematic diagram of the structure of the sub-rail running wheel of this embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the structure of the sub-rail rotating shaft, connecting shaft and mounting plate of this embodiment of the present application.

[0025] Explanation of the reference numerals in the accompanying drawings: 1. frame; 11. outer frame; 111. avoidance opening; 12. inner plate; 2. lifting connecting rod; 21. installation opening; 22. connecting groove; 3. mother rail running wheel; 31. mother rail rotating shaft; 311. limiting groove; 32. mother rail bearing seat; 321. first step; 322. second step; 323. third step; 4. mother rail shaft ring; 5. transition arc section; 6. positioning pin; 61. positioning hole; 7. limiting block; 71. limiting groove; 8. sub-rail running wheel; 81. sub-rail rotating shaft; 82. connecting shaft; 83. mounting plate; 831. bolt hole; 9. sub-rail bearing seat; 91. sub-rail shaft ring; 92. sub-rail bearing; 10. driving motor. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings.

[0027] Reference Figure 1 The walking wheel installation device disclosed in the embodiment of the present application includes a frame 1, a lifting rod 2 mounted on the front and rear ends of the frame 1, and a mother rail walking wheel 3 located at both ends of the lifting rod 2. The frame 1 also includes an outer frame 11 and an inner plate 12, and the lifting rod 2 is located between the outer frame 11 and the inner plate 12.

[0028] Reference Figure 1 and Figure 2 The frame 1 is generally a rectangular parallelepiped structure, and the lifting connecting rod 2 is located on the wide side of the frame 1. The top of the lifting connecting rod 2 is penetrated with an installation opening 21 for installing the mother rail running wheel 3. There are two installation openings 21 on one lifting connecting rod 2, and one mother rail running wheel 3 is assembled corresponding to one installation opening 21. In addition, the outer frame 11 is provided with an avoidance opening 111 near the mother rail running wheel 3 to facilitate the installation and replacement of the mother rail running wheel 3.

[0029] Reference Figure 2 and Figure 3 The mother rail running wheel 3 is coaxially mounted with a mother rail rotating shaft 31, and the mother rail rotating shaft 31 is rotatably connected to two mother rail bearing seats 32, and the mother rail bearing seats 32 are coaxially arranged with the mother rail rotating shaft 31. The mother rail bearing seat 32 is detachably connected to the bottom end of the jacking connecting rod 2, so that the mother rail running wheel 3 is detachably connected to the jacking connecting rod 2.

[0030] Reference Figure 3 and Figure 4 Specifically, when assembling the mother rail running wheel 3 and the mother rail rotating shaft 31: the mother rail running wheel 3 has a hole at its center, and the mother rail rotating shaft 31 has a corresponding shaft section. The mother rail running wheel 3 can be sleeved on the mother rail rotating shaft 31 through the hole, and a shoulder, a fastener (such as a flat key, a spline) or a locating pin 6 is used to prevent the wheel from sliding on the shaft. When disassembling, the mother rail running wheel 3 and the mother rail rotating shaft 31 can be disassembled by removing the fastener or directly sliding the mother rail running wheel 3 off the mother rail rotating shaft 31.

[0031] Reference Figure 3 and Figure 4 When assembling the mother rail shaft 31 and the mother rail bearing seat 32: the mother rail shaft 31 is provided with a limiting groove 311 in the circumferential direction at the connection with the mother rail bearing seat 32, and the mother rail shaft 31 is provided with a mother rail collar 4 coaxially sleeved at the limiting groove 311, and the mother rail collar 4 is located between the mother rail bearing seat 32 and the mother rail running wheel 3. During installation, the mother rail running wheel 3 is first assembled on the mother rail shaft 31, and then the mother rail bearing seat 32 is installed on both ends of the mother rail shaft 31, and the mother rail running wheel 3 is limitedly installed on the mother rail shaft 31.

[0032] Reference Figure 3 When assembling the mother rail bearing seat 32 and the lifting connecting rod 2, one end of the mother rail shaft 31 needs to pass through the side wall of the inner plate 12. The mother rail bearing seat 32 includes a symmetrically arranged first step 321, a symmetrically arranged second step 322, and a third step 323 located at the top of the mother rail bearing seat 32; the surface of the first step 321 is located below the surface of the second step 322, and the surface of the second step 322 is located below the surface of the third step 323. The lifting connecting rod 2 is provided with a connecting groove 22 for the second step 322 and the third step 323 to be plugged in; when the second step 322 and the third step 323 are plugged in the connecting groove 22, the mother rail bearing seat 32 can be pre-positioned on the lifting connecting rod 2. The mother rail bearing seat 32 is provided with a transition arc section 5 between the second step 322 and the third step 323, which is used to adapt the mother rail bearing seat 32 to be installed on the jacking connecting rod 2, while also reducing the amount of cutting at this part of the jacking connecting rod 2 to increase the structural strength at this part.

[0033] Reference Figure 3Furthermore, a positioning pin 6 is inserted between the second step 322 and the lifting connecting rod 2, a positioning hole 61 for the positioning pin 6 to be inserted is provided at the top of the second step 322, and a positioning hole 61 for the positioning pin 6 to be inserted is also provided at the inner wall of the connecting groove 22. During installation, the two ends of the positioning pin 6 are respectively inserted into the positioning holes 61 to position and assemble the mother rail bearing seat 32 and the lifting connecting rod 2.

[0034] Reference Figure 3 Furthermore, a limiting member is provided between the mother rail bearing seat 32 and the lifting connecting rod 2 to prevent the positioning pin 6 from breaking and the mother rail bearing seat 32 from being separated from the lifting connecting rod 2. The limiting member includes a limiting block 7 provided on the side wall of the mother rail bearing seat 32, and the limiting block 7 is located between the first step 321 and the second step 322. The lifting connecting rod 2 is provided with a limiting groove 71 for the limiting block 7 to be inserted.

[0035] Reference Figure 3 During installation, the positioning pin 6 and the limit block 7 are used for positioning and limiting. After the second step 322 and the third step 323 on the mother rail bearing seat 32 are inserted into the connecting groove 22, the mother rail bearing seat 32 is detachably connected to the lifting connecting rod 2 by bolts.

[0036] Reference Figure 5 In addition, the running wheel installation device disclosed in the embodiment of the present application also includes a sub-rail running wheel 8. The sub-rail running wheels 8 are spaced apart on the side of the outer frame 11 away from the inner plate 12, that is, the sub-rail running wheels 8 are located on the long side of the frame 1; in the present embodiment, there are four sub-rail running wheels 8 located on one long side of the frame 1. The outer frame 11 is rotatably connected to a sub-rail rotating shaft 81 for installing the sub-rail running wheels 8. The sub-rail rotating shaft 81 is coaxially fixed with a connecting shaft 82 that passes through the outer frame 11 for connection with the transmission mechanism inside the three-dimensional storage robot. The transmission mechanism is a prior art and will not be described in detail here. A mounting plate 83 is coaxially fixed to one end of the sub-rail rotating shaft 81 away from the connecting shaft 82 for detachable connection of the sub-rail running wheel 8.

[0037] Reference Figure 5 and Figure 6 Specifically, the sub-rail shaft 81 is coaxially provided with a sub-rail bearing seat 9 for connecting to the outer frame 11. The sub-rail bearing seat 9 is detachably connected to the outer frame 11 by bolts. A sub-rail collar 91 and two sub-rail bearings 92 are provided between the sub-rail shaft 81 and the sub-rail bearing seat 9, and the sub-rail collar 91, the sub-rail bearing 92 and the sub-rail bearing seat 9 are coaxially provided. During installation, the sub-rail collar 91 is located between the two sub-rail bearings 92, and the sub-rail shaft 81 is sequentially passed through the inner ring of the sub-rail bearing 92, the sub-rail collar 91, and the inner ring of the sub-rail bearing 92.

[0038] Reference Figure 7The mounting plate 83 is provided with bolt holes 831 at intervals along the circumference of the sub-rail rotating shaft 81, and the sub-rail running wheel 8 is also provided with corresponding bolt holes 831. During installation, the sub-rail running wheel 8 and the mounting plate 83 are detachably connected by bolts, which can also play an auxiliary supporting role.

[0039] Reference Figure 1 In addition, the embodiment of the present application also discloses a three-dimensional storage robot, including a walking wheel mounting device and a driving motor 10 mounted on the inner plate 12. The driving motor 10 is used to drive the sub-rail walking wheel 8 to move, and is connected to the connecting shaft 82 through a transmission mechanism such as a sprocket and a gear to achieve automatic control. The transmission mechanism is relatively common in actual applications and is not described in detail here.

[0040] The implementation principle of the walking wheel installation device and the three-dimensional storage robot in the embodiment of the present application is: when the mother rail walking wheel 3 needs to be replaced, the bolts are removed through the avoidance opening 111, the mother rail bearing seat 32 is removed from the jacking connecting rod 2, and then the mother rail bearing seat 32 is removed from the mother rail rotating shaft 31, and then the mother rail walking wheel 3 is removed from the mother rail rotating shaft 31, and the mother rail walking wheel 3 can be replaced without removing more parts and without spending a lot of time, which is convenient for maintenance.

[0041] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A walking wheel installation device, comprising a frame (1), a lifting connecting rod (2) arranged at the front and rear ends of the frame (1), and a mother rail walking wheel (3) arranged at both ends of the lifting connecting rod (2), wherein the frame (1) further comprises an outer frame (11) and an inner plate (12), and the lifting connecting rod (2) is located between the outer frame (11) and the inner plate (12); characterized in that: The mother rail walking wheel (3) is coaxially provided with a mother rail rotating shaft (31), and both ends of the mother rail rotating shaft (31) are respectively provided with mother rail bearing seats (32) detachably connected to the lifting connecting rod (2), the mother rail bearing seat (32) and the mother rail rotating shaft (31) are coaxially provided, and one end of the mother rail rotating shaft (31) passes through the side wall of the inner plate (12); and a limiting member is provided between the mother rail bearing seat (32) and the lifting connecting rod (2).

2. The travel wheel mounting device according to claim 1, characterized in that: The invention also comprises sub-rail running wheels (8), wherein the sub-rail running wheels (8) are arranged on an outer frame (11) located on the left and right sides of the frame (1); the outer frame (11) is rotatably connected to a sub-rail rotating shaft (81) for mounting the sub-rail running wheels (8), and the axial direction of the sub-rail rotating shaft (81) is perpendicular to the axial direction of the mother rail rotating shaft (31); the sub-rail rotating shaft (81) is coaxially provided with a connecting shaft (82) passing through the outer frame (11); the sub-rail rotating shaft (81) is coaxially provided with a mounting plate (83) for mounting the sub-rail running wheels (8), and the mounting plate (83) is detachably connected to the sub-rail running wheels (8).

3. The travel wheel mounting device according to claim 1, characterized in that: The mother rail bearing seat (32) comprises a symmetrically arranged first step (321), a symmetrically arranged second step (322), and a third step (323) located at the top of the mother rail bearing seat (32), wherein the surface of the first step (321) is located below the surface of the second step (322), and the surface of the second step (322) is located below the surface of the third step (323); the lifting connecting rod (2) is provided with a connecting groove (22) for plugging the second step (322) and the third step (323).

4. The travel wheel mounting device according to claim 3, characterized in that: The limiting member comprises a limiting block (7) arranged on the mother rail bearing seat (32); the lifting connecting rod (2) is provided with a limiting groove (71) for the limiting block (7) to be inserted; the limiting block (7) is located between the first step (321) and the second step (322).

5. The travel wheel mounting device according to claim 4, characterized in that: A positioning pin (6) is provided between the second step (322) and the lifting connecting rod (2), and two ends of the positioning pin (6) are respectively connected to the second step (322) and the lifting connecting rod (2).

6. The travel wheel mounting device according to claim 3, characterized in that: The mother rail bearing seat (32) is located between the second step (322) and the third step (323) and has a transition arc section (5).

7. The travel wheel mounting device according to claim 1, characterized in that: The outer frame (11) is provided with an escape opening (111) located near the mother rail running wheel (3).

8. Three-dimensional storage robot, characterized by: It comprises the walking wheel mounting device according to any one of claims 1 to 7, and also comprises a driving motor (10) arranged on the inner plate (12).

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