Lifting assembly and transportation robot

Abstract

The utility model relates to a lifting assembly and a transportation robot. The lifting assembly comprises a bottom plate and a lifting assembly, the top plate is arranged above the bottom plate; the at least one lifting mechanism is arranged between the bottom plate and the top plate; the lifting mechanism comprises a base sleeve fixed to the bottom plate, a threaded sleeve coaxially and fixedly connected with the base sleeve, a lifting shaft which coaxially penetrates through the threaded sleeve and is in threaded fit with the threaded sleeve, and a lifting gear coaxially fixed to the lifting shaft. The driving mechanism is mounted on the top plate and is in transmission connection with the lifting gear; the driving mechanism drives the lifting gear to rotate, and then the lifting shaft rotates in the threaded sleeve and ascends and descends in the axial direction of the threaded sleeve, so that the top plate ascends and descends. According to the utility model, the stability of materials during lifting or descending is improved, and the smoothness of the lifting and descending processes is kept.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lifting component and a transport robot. Background Art

[0002] A transport robot is a robot that can autonomously perform transport tasks and can carry out material loading and transfer tasks at different work points. Generally, transport robots can be of the following types: First, materials are transported to the transport robot by external handling equipment or manual labor, and then the transport robot performs the transfer service. The operating efficiency of this type of transport robot is relatively low. Second, the transport robot is provided with a conveying mechanism, such as a conveyor belt. By docking with external conveying equipment, the material can be directly transferred to the conveying mechanism of the transport robot for caching, and then the transport robot performs the transfer service. Third, the transport robot is provided with a lifting mechanism, which moves the lifting mechanism to the bottom of the material, directly lifts the material or shelf, and then directly performs the transfer service. Relatively speaking, the third type of transport robot has a higher operating efficiency and can meet larger load requirements.

[0003] However, the existing transport robots with lifting mechanisms usually adopt a multi-link structure. Although this method has a simple structure, it is difficult to maintain a uniform speed during the lifting process, resulting in an unstable material lifting process and a certain safety hazard. In addition, due to the complex speed process, the material lifting stroke control is also complex, and the multi-link structure needs to be cumbersomely designed to achieve the preset stroke control. Utility Model Content

[0004] In view of the deficiencies of the prior art, the utility model discloses a lifting component and a transport robot.

[0005] The technical solution adopted by the utility model is as follows:

[0006] In one aspect, a lifting assembly is provided, comprising:

[0007] Base plate;

[0008] A top plate, arranged above the bottom plate;

[0009] At least one lifting mechanism is arranged between the bottom plate and the top plate; the lifting mechanism comprises a base sleeve fixed to the bottom plate, a threaded sleeve coaxially fixedly connected to the base sleeve, a lifting shaft coaxially penetrating the threaded sleeve and threadedly matched with the threaded sleeve, and a lifting gear coaxially fixed to the lifting shaft;

[0010] The driving mechanism is installed on the top plate and is connected to the lifting gear; the driving mechanism drives the lifting gear to rotate, thereby causing the lifting shaft to rotate on the threaded sleeve and rise and fall along the axial direction of the threaded sleeve to lift and lower the top plate.

[0011] In one embodiment of the utility model, the lifting mechanism further includes a bearing sleeve fixed to the top plate, and at least one bearing disposed in the bearing sleeve and capable of withstanding axial force; the bearing is coaxially connected to the lifting shaft.

[0012] In one embodiment of the utility model, the lifting shaft includes a first shaft body and a second shaft body coaxially arranged from top to bottom, the diameter of the first shaft body is smaller than the diameter of the second shaft body, a step portion is formed at the diameter change position of the first shaft body and the second shaft body, and the lifting gear abuts against the step portion; the bottom end of the second shaft body is provided with a limit member for limiting the rising position of the lifting shaft in the threaded sleeve.

[0013] In one embodiment of the utility model, the driving mechanism includes a mounting plate arranged between the bottom plate and the top plate, a plurality of supporting sleeves arranged between the top plate and the mounting plate, a reducer fixed to the mounting plate, a motor connected to the input end of the reducer, and a driving gear connected to the output end of the reducer; the two ends of the supporting sleeve are respectively connected to the top plate and the bottom plate; and the driving gear is transmission-connected to the lifting gear.

[0014] In one embodiment of the utility model, the driving mechanism also includes a transmission gear meshing with the driving gear for transmission, and a supporting inner ring rotating with the transmission gear and providing axial support; the transmission gear meshes with the lifting gear for transmission; the supporting inner ring is fixed to the top plate.

[0015] In one embodiment of the present invention, the lifting mechanisms include at least two, and are distributed along the circumference of the transmission gear.

[0016] In an embodiment of the present invention, the lifting mechanisms are evenly distributed along the transmission gear.

[0017] In another aspect, a transport robot is provided, comprising:

[0018] Mobile chassis;

[0019] The lifting assembly provided in the first aspect is arranged in the mobile chassis.

[0020] In one embodiment of the utility model, it also includes a lifting platform arranged on the lifting assembly.

[0021] In one embodiment of the utility model, it also includes a support pad arranged on the lifting platform.

[0022] The above technical solution of the utility model has the following advantages compared with the prior art:

[0023] The driving mechanism in the lifting assembly of the utility model drives the lifting mechanism to lift and lower to realize the lifting and lowering of the top plate, thereby realizing the lifting and lowering of the material. The control of the lifting stroke is relatively accurate, and the lifting process can maintain a uniform speed, realizing the smoothness and stability of the lifting.

[0024] The transport robot of the utility model improves the stability of materials when they are lifted or lowered, and maintains the smoothness of the lifting and lowering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0026] Figure 1 It is a structural schematic diagram of the lifting assembly and the lifting platform in the utility model.

[0027] Figure 2 It is a structural schematic diagram of the lifting component (excluding the bottom plate) in the utility model.

[0028] Figure 3 It is a structural schematic diagram of the lifting mechanism in the utility model.

[0029] Figure 4 It is a front view of the lifting mechanism in the utility model.

[0030] Figure 5 yes Figure 4 Cross-section view at AA in the middle.

[0031] Figure 6 It is a structural schematic diagram of the driving mechanism in the utility model.

[0032] Figure 7 It is a structural schematic diagram of the transport robot in the utility model.

[0033] Explanation of the reference numerals in the specification: 10. lifting assembly; 20. mobile chassis; 30. bottom plate; 40. lifting platform; 401. support pad; 50. lifting mechanism; 501. base sleeve; 502. threaded sleeve; 503. lifting gear; 504. bearing sleeve; 505. bearing; 506. lifting shaft; 5061. step portion; 5062. limit member; 60. driving mechanism; 601. motor; 602. reducer; 603. mounting plate; 604. support sleeve; 605. driving gear; 606. transmission gear; 607. support inner ring; 70. top plate; 80. support member. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0035] The applicant has found that the existing transport robots with lifting mechanisms usually use a multi-link structure. Although this method is simple in structure, it is difficult to maintain a uniform speed during the lifting process, resulting in an unstable material lifting process and certain safety hazards. In addition, due to the complexity of the speed process, the material lifting stroke control is also complicated, and the multi-link structure needs to be cumbersomely designed to achieve the control of the preset stroke.

[0036] In order to solve the above problems, this embodiment discloses a lifting assembly and a transport robot.

[0037] Combination Figure 1 and Figure 7 The present embodiment provides a transport robot, including a mobile chassis 20 , a lifting component 10 disposed in the mobile chassis 20 , and a lifting platform 40 disposed on the lifting component 10 .

[0038] Among them, the mobile chassis 20 can adopt a chassis structure of the following types: IGV (Intelligent Guided Vehicle), AGV (Automated Guided Vehicles) or AMR (Autonomous Mobile Robot) to realize the movement of the transport robot between different locations.

[0039] Combination Figure 1 and Figure 2As shown, the lifting assembly 10 includes a base plate 30, a top plate 70, a lifting mechanism 50 and a driving mechanism 60. The base plate 30 is fixedly installed in the mobile chassis 20. Specifically, the base plate 30 can be fixed on the bottom frame of the mobile chassis 20. The top plate 70 is arranged above the base plate 30. The lifting mechanism 50 and the driving mechanism 60 are arranged between the base plate 30 and the top plate 70. The driving mechanism 60 is connected to the lifting mechanism 50 by transmission. The lifting mechanism 50 is driven by the driving mechanism 60 to move so as to realize the lifting and lowering of the top plate 70. In this embodiment, at least one lifting mechanism 50 is provided. If a plurality of lifting mechanisms 50 are provided, each lifting mechanism 50 is connected to the driving mechanism 60 by transmission.

[0040] Among them, at least some parts of the lifting mechanism 50 and at least some parts of the driving mechanism 60 are connected to the top plate 70, and a support member 80 is provided on the top plate 70, and the support member 80 and the top plate 70 are detachably fixedly connected. The lifting platform 40 is installed on the support member 80, so that the driving mechanism 60 drives the lifting mechanism 50 to move so that the top plate 70 and the lifting platform 40 are synchronously lifted and lowered. Specifically, the support member 80 is in the shape of a ring, and a first through hole is provided in the middle of the top plate 70 to avoid the driving mechanism 60, so as to reduce the size of the lifting assembly 10 in the height direction of the mobile chassis 20 while ensuring the lifting and lowering of the top plate 70, so as to reduce the size of the mobile chassis 20 as much as possible, maintain the compactness of the structure, and reduce the equipment cost.

[0041] It should be noted that “detachably fixedly connected” means that the support member 80 and the top plate 70 can be fixedly connected by a fastening element such as a bolt, and when the support member 80 and the top plate 70 need to be separated, the fastening element can be loosened to remove the support member 80 from the top plate 70. Accordingly, the lifting platform 40 and the support member 80 are also detachably fixedly connected.

[0042] Combination Figures 3 to 5 As shown, the lifting mechanism 50 includes a base sleeve 501 fixed to the bottom plate 30, a threaded sleeve 502 coaxially fixedly connected to the base sleeve 501, a lifting shaft 506 coaxially penetrating the threaded sleeve 502 and threadedly matched with the threaded sleeve 502, and a lifting gear 503 coaxially fixed to the lifting shaft 506. The base sleeve 501 and the bottom plate 30 can be connected by bolts.

[0043] In a further embodiment, the lifting mechanism 50 further includes a bearing sleeve 504 fixed to the top plate 70, and at least one bearing 505 disposed in the bearing sleeve 504 and capable of bearing an axial force. The bearing sleeve 504 is fixedly connected to the top plate 70. The bearing 505 is coaxially connected to the lifting shaft 506.

[0044] Specifically, the top plate 70 is also provided with a second through hole that matches the sleeve portion (not marked in the figure) of the bearing sleeve 504. The bearing sleeve 504 includes a sleeve portion and a support portion (not marked in the figure) for fixing the sleeve portion. The outer diameter of the support portion is larger than the outer diameter of the sleeve portion. A threaded hole is provided on the support portion to fix the bearing sleeve 504 and the top plate 70 by setting a threaded fastener. An annular support step (not marked in the figure) is formed in the bearing sleeve 504. The bearing sleeve 504 is inserted from the bottom of the second through hole so that the support portion of the bearing sleeve 504 can support the top plate 70. Accordingly, the bearing sleeve 504 is made of a wear-resistant material, such as wear-resistant steel, etc., which will not be listed in detail here. In actual application, it is set according to one's own needs. Two bearings 505 are provided, and the two bearings 505 are respectively provided above and below the support step. The bearing 505 abuts against the support step. Specifically, the outer ring of the bearing 505 is interference fit with the inner wall of the bearing sleeve 504. The inner ring of the bearing 505 is interference fit with the lifting shaft 506. In this embodiment, the bearing 505 is preferably a thrust roller bearing so as to be able to withstand a larger axial force.

[0045] Specifically, the lifting shaft 506 includes a first shaft body (not marked in the figure) and a second shaft body (not marked in the figure) that are coaxially arranged, and the diameter of the first shaft body is smaller than the diameter of the second shaft body. A step portion 5061 is formed at the diameter change portion of the first shaft body and the second shaft body, and the lifting gear 503 abuts against the step portion 5061. The bottom end of the second shaft body is provided with a limiter 5062 for limiting the rising position of the lifting shaft 506 in the threaded sleeve 502, and the limiter 5062 can be fixed to the bottom of the second shaft body by a pin. In order to make the limiter 5062 limit the rising position of the lifting shaft 506 in the threaded sleeve 502. In this embodiment, the limiter 5062 adopts a circular structural member with a diameter greater than the diameter of the second shaft body and the inner diameter of the base sleeve 501.

[0046] like Figure 6 As shown, the driving mechanism 60 includes a mounting plate 603 disposed between the bottom plate 30 and the top plate 70, a plurality of supporting sleeves 604 disposed between the top plate 70 and the mounting plate 603, a reducer 602 fixed to the mounting plate 603, a motor 601 connected to the input end of the reducer 602, and a driving gear 605 connected to the output end of the reducer 602. Among them, the two ends of the supporting sleeve 604 are respectively connected to the top plate 70 and the mounting plate 603. Thus, a gap is left between the top plate 70 and the mounting plate 603 to place the driving gear 605. The reducer 602 is installed at the bottom of the mounting plate 603, and the output shaft of the reducer 602 extends through the mounting plate 603 and is coaxially fixed with the driving gear 605. The driving gear 605 is connected to the lifting gear 503 in a transmission manner.

[0047] In a further embodiment, reverse threads are respectively provided at both ends of the support sleeve 604, one end of the support sleeve 604 is threadedly connected to the top plate 70, and the other end of the support sleeve 604 is threadedly connected to the bottom plate 30, thereby enabling the upper and lower bolts to be quickly installed when the support sleeve 604 is screwed, that is, the support sleeve 604 is respectively bolted to the top plate 70 and the mounting plate 603, thereby improving the installation and disassembly efficiency.

[0048] The driving mechanism 60 also includes a transmission gear 606 and a support inner ring 607. The transmission gear 606 is meshed with the driving gear 605 and the lifting gear 503. The support inner ring 607 is coaxially arranged with the transmission gear 606 and is arranged on the inner ring of the transmission gear 606. The transmission gear 606 and the support inner ring 607 are rotationally matched. The support inner ring 607 is fixedly mounted on the inner ring of the top plate 70 and can provide axial support for the transmission gear 606. A possible embodiment is that the bottom of the support inner ring 607 radially extends to form a support portion having a diameter greater than the diameter of the inner ring of the transmission gear 606.

[0049] In a further embodiment, in order to ensure that the lifting mechanism 50 provides multiple supporting points for the top plate 70, the lifting mechanism 50 includes at least two lifting mechanisms 50, which are distributed along the circumference of the transmission gear 606. Thus, the stability of the lifting mechanism 50 in supporting the top plate 70 is improved.

[0050] In a further embodiment, the lifting mechanism 50 is evenly distributed along the circumference of the transmission gear 606, so that the lifting speed of the top plate 70 can be uniform and various parts of the top plate 70 can be lifted synchronously.

[0051] Furthermore, a support pad 401 is provided on the lifting platform 40. When there is material on the lifting platform 40, the support pad 401 can evenly disperse the load borne by the lifting platform 40, thereby reducing the local stress concentration of the material on the lifting platform 40 and improving the load-bearing capacity and stability of the lifting platform 40.

[0052] The working principle of the utility model is as follows:

[0053] The driving mechanism 60 drives the lifting mechanism 50 to move up and down to realize the lifting and down of the top plate 70, thereby enabling the lifting platform 40 thereon to lift and down the carried materials.

[0054] Specifically, the motor 601 is started, and the reducer 602 reduces the speed and torque input by the motor 601, thereby driving or transmitting the drive gear 605 on the output end to meet the needs of the drive gear 605. The drive gear 605 and the transmission gear 606 are meshed and transmitted, and the transmission gear 606 and the lifting gear 503 are meshed and transmitted, and the lifting gear 503 drives the lifting shaft 506 to rotate in the threaded sleeve 502, thereby lifting the lifting shaft 506. As the lifting shaft 506 rises and falls, the top plate 70 rises and falls synchronously, thereby causing the lifting platform 40 to rise and fall synchronously.

[0055] It can be seen from the above that the lifting stroke of the lifting assembly 10 provided in this embodiment can be controlled more accurately, and the lifting process can maintain a uniform speed, thereby achieving smoothness and stability of the lifting.

[0056] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A lifting assembly, characterized in that: include: Bottom plate (30); A top plate (70) is disposed above the bottom plate (30); At least one lifting mechanism (50) is arranged between the bottom plate (30) and the top plate (70); the lifting mechanism (50) comprises a base sleeve (501) fixed to the bottom plate (30), a threaded sleeve (502) coaxially fixedly connected to the base sleeve (501), a lifting shaft (506) coaxially penetrating the threaded sleeve (502) and threadedly matched with the threaded sleeve (502), and a lifting gear (503) coaxially fixed to the lifting shaft (506); The driving mechanism (60) is installed on the top plate (70) and is in transmission connection with the lifting gear (503); the driving mechanism (60) drives the lifting gear (503) to rotate, thereby causing the lifting shaft (506) to rotate on the threaded sleeve (502) and rise and fall along the axial direction of the threaded sleeve (502) to lift and lower the top plate (70).

2. The lifting assembly according to claim 1, characterized in that: The lifting mechanism (50) further comprises a bearing sleeve (504) fixed to the top plate (70), and at least one bearing (505) disposed in the bearing sleeve (504) and capable of bearing axial force; the bearing (505) is coaxially connected to the lifting shaft (506).

3. The lifting assembly according to claim 1, characterized in that: The lifting shaft (506) includes a first shaft body and a second shaft body coaxially arranged from top to bottom, the diameter of the first shaft body is smaller than the diameter of the second shaft body, and a step portion (5061) is formed at the diameter change point of the first shaft body and the second shaft body, and the lifting gear (503) abuts against the step portion (5061); the bottom end of the second shaft body is provided with a limit member (5062) for limiting the rising position of the lifting shaft (506) in the threaded sleeve (502).

4. The lifting assembly according to claim 1, characterized in that: The driving mechanism (60) includes a mounting plate (603) arranged between the bottom plate (30) and the top plate (70), a plurality of supporting sleeves (604) arranged between the top plate (70) and the mounting plate (603), a reducer (602) fixed to the mounting plate (603), a motor (601) connected to the input end of the reducer (602), and a driving gear (605) connected to the output end of the reducer (602); the two ends of the supporting sleeve (604) are respectively connected to the top plate (70) and the bottom plate (30); and the driving gear (605) is drivingly connected to the lifting gear (503).

5. The lifting assembly according to claim 4, characterized in that: The driving mechanism (60) also includes a transmission gear (606) meshing with the driving gear (605) for transmission, and a supporting inner ring rotating with the transmission gear (606) and providing axial support; the transmission gear (606) meshes with the lifting gear (503) for transmission; the supporting inner ring is fixed to the top plate (70).

6. The lifting assembly according to claim 5, characterized in that The lifting mechanisms (50) include at least two and are distributed along the circumference of the transmission gear (606).

7. The lifting assembly according to claim 6, characterized in that The lifting mechanisms (50) are evenly distributed along the transmission gear (606).

8. A transport robot, characterized in that: include: Mobile chassis (20); The lifting assembly (10) according to any one of claims 1 to 7 is arranged in the mobile chassis (20).

9. The transport robot according to claim 8, characterized in that: It also includes a lifting platform (40) arranged on the lifting assembly (10).

10. The transport robot according to claim 9, characterized in that: It also includes a support pad (401) arranged on the lifting platform (40).

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