Jacking reversing device and three-dimensional storage robot

Abstract

The utility model discloses a jacking and reversing device and a three-dimensional storage robot. The jacking and reversing device comprises a rack, a jacking mechanism and a reversing mechanism, the two jacking driving mechanisms are arranged on the machine frame, and the two jacking driving mechanisms are arranged on the machine frame; the two jacking transmission mechanisms are arranged at the two opposite ends of the rack respectively, the input ends of the two jacking transmission mechanisms are connected with the jacking driving mechanisms respectively, and the jacking driving mechanisms drive the jacking transmission mechanisms to rotate; the output end of each jacking transmission mechanism is connected with the input end of the corresponding jacking reversing execution mechanism, and the jacking reversing execution mechanisms are used for converting rotation of the jacking transmission mechanisms into lifting motion; and the jacking component is connected with the output end of the jacking reversing execution mechanism, and the output end of the jacking reversing execution mechanism ascends and descends to drive the jacking component to ascend and descend. According to the utility model, the mechanical efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robot transportation, and more specifically, to a jacking and reversing device and a three-dimensional storage robot. Background Art

[0002] With the development of intelligent technology and automation, high-definition storage robots are widely used in high-definition warehouses. High-definition warehouses are composed of storage racks that can be several, dozens, or even dozens of stories high. Each shelf contains multiple storage units, and adjacent storage units are connected by a cross-shaped main and sub-tracks. High-definition storage robots travel on these main and sub-tracks, automatically storing and dispatching goods.

[0003] A three-dimensional storage robot has two independent gear trains. The first gear train drives the robot in the X direction, while the second gear train drives the robot in the Y direction, which is perpendicular to the X direction. When the direction needs to be changed, the gear trains are switched. Generally, the gear train switching and the lifting and lowering of the cargo pallet are achieved by the same mechanism called the lifting and reversing device.

[0004] The existing jacking and reversing device includes a jacking drive mechanism, a jacking synchronous coupling, two jacking gear boxes, a jacking and reversing executing crank and a jacking connecting rod. The jacking drive mechanism drives the jacking synchronous coupling to rotate. The jacking synchronous coupling is a long axis that spans the two opposite sides of the three-dimensional storage robot and is approximately the same length or width as the three-dimensional storage robot. The two jacking gear boxes are arranged on the inner sides of the two opposite ends of the three-dimensional storage robot and are respectively connected to the two ends of the jacking synchronous coupling. The output shaft of the jacking gear box is connected to the jacking and reversing executing crank, and the output end of the jacking and reversing executing crank is connected to the jacking connecting rod. The rotation of the output shaft of the jacking gear box is converted into the up and down movement of the jacking connecting rod through the jacking and reversing executing crank. The jacking connecting rod is connected to the first wheel system and the cargo pallet at the same time. Therefore, when the jacking connecting rod moves up and down, it drives the up and down movement of the first wheel system and the cargo pallet.

[0005] In existing technology, the lifting drive mechanism consists of a high-power motor and its matching reducer, mounted near one end of a synchronous lifting coupling. The length of the coupling is approximately equal to the length or width of the three-dimensional storage robot. This results in excessive deflection at both ends of the coupling, increasing friction and, consequently, a loss in mechanical efficiency of the lifting drive mechanism. Alternatively, when carrying the same weight of cargo, the increased power required by the lifting drive mechanism requires a larger size, making it difficult to compress the thickness of the three-dimensional storage robot. Utility Model Content

[0006] The purpose of the present utility model is to overcome the above-mentioned defects of the prior art, to provide a jacking and reversing device and a three-dimensional storage robot, to reduce the mechanical efficiency loss of the jacking drive mechanism, to achieve the same weight of cargo, to reduce the size of the jacking drive mechanism, to facilitate the compression of the body thickness of the three-dimensional storage robot, or to achieve the same body thickness of the three-dimensional storage robot, to be able to carry heavier cargo.

[0007] To achieve the above purpose, a technical solution of the present utility model is as follows:

[0008] A lifting and reversing device, comprising:

[0009] frame;

[0010] Two jacking drive mechanisms, both of which are arranged on the frame, and each of which includes a drive output end;

[0011] Two lifting transmission mechanisms, the two lifting transmission mechanisms are respectively arranged at two opposite ends of the frame, the lifting transmission mechanism includes a transmission input end and a transmission output end, the two transmission input ends are respectively connected to one of the lifting drive mechanisms, and the lifting drive mechanism drives the lifting transmission mechanism to rotate;

[0012] A lifting reversing actuator, comprising a reversing input end and a reversing output end, each transmission output end being connected to a lifting reversing actuator, the transmission output end being connected to the reversing input end, the lifting reversing actuator being used to convert the rotation of the lifting transmission mechanism into a lifting motion; and

[0013] A lifting component is connected to the reversing output end, and the lifting movement of the reversing output end drives the lifting component to move up and down.

[0014] The utility model also discloses a three-dimensional storage robot, which comprises the above-mentioned jacking and reversing device.

[0015] The implementation of the present invention will have the following beneficial effects:

[0016] The embodiment of the present invention avoids the use of long synchronous couplings by connecting the lifting transmission mechanisms at the two opposite ends of the frame to a lifting drive mechanism, thereby not only improving the mechanical efficiency of the lifting drive mechanism, but also avoiding the problem of high strength requirements for the lifting transmission mechanism caused by excessive deflection at both ends of the long synchronous coupling and increased friction between the lifting transmission mechanism and the lifting transmission mechanism. Reducing the strength requirements of the lifting transmission mechanism can reduce the size of the lifting transmission mechanism, which also facilitates reducing the size and thickness of the three-dimensional storage robot. In addition, avoiding the use of long synchronous couplings can avoid destroying the integrity of the internal space of the frame, which is conducive to making the layout of internal components more compact, further reducing the size and thickness of the three-dimensional storage robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] in:

[0019] Figure 1 This is a schematic diagram of the three-dimensional storage robot provided by the utility model.

[0020] Figure 2 This is another schematic diagram of the three-dimensional storage robot provided by the present utility model.

[0021] Figure 3 It is a schematic diagram of the jacking and reversing device provided by the utility model.

[0022] Figure 4 The utility model is a schematic diagram of a jacking and reversing actuator in a jacking and reversing device provided by the utility model.

[0023] 100-three-dimensional storage robot, 1-frame, 2-jacking drive mechanism, 20-first rotating shaft, 21-drive output end, 22-jacking motor, 23-jacking reducer, 3-jacking transmission mechanism, 30-jacking gearbox, 31-transmission input end, 32-transmission output end, 33-gear, 34-second rotating shaft, 4-jacking reversing actuator, 41-reversing input end, 42-reversing output end, 43-crank, 431-rotating part, 432-connecting rod, 44-executor, 45-protrusion, 451-rotating shaft, 452-sleeve, 453-oil-free bushing, 5-jacking member, 51-notch, 6-first gear train, 7-second gear train, 8-guide device, 81-slider, 82-slide rail, 9-battery. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Combine Figure 1-Figure 3 The utility model discloses a jacking and reversing device, which includes a frame 1, two jacking drive mechanisms 2, two jacking transmission mechanisms 3, a jacking and reversing actuator 4, and a jacking component 5.

[0026] The two lifting drive mechanisms 2 are both arranged on the frame 1. The lifting drive mechanisms 2 include a drive output terminal 21. The lifting drive mechanisms 2 provide the necessary power to drive the operation of the lifting reversing device. It should be noted that the drive output terminal can be a shaft or a shaft hole.

[0027] Two lifting transmission mechanisms 3 are disposed at opposite ends of the frame 1. Each of the lifting transmission mechanisms 3 includes a transmission input 31 and a transmission output 32. Each transmission input 31 is connected to a lifting drive mechanism 2. The lifting drive mechanism 2 drives the lifting transmission mechanism 3 to rotate. The primary function of the lifting transmission mechanism 3 is to reduce speed and increase torque to facilitate carrying heavy cargo. It should be noted that the transmission input 31 or the transmission output 32 can be a shaft or a shaft hole.

[0028] The lifting reversing actuator 4 includes a reversing input terminal 41 and a reversing output terminal 42. Each transmission output terminal 32 is connected to a lifting reversing actuator 4, and the transmission output terminal 32 is connected to the reversing input terminal 41. The lifting reversing actuator 4 is used to convert the rotation of the lifting transmission mechanism 3 into lifting motion. It should be noted that the reversing input terminal 41 or the reversing output terminal 42 can be a shaft or a shaft hole.

[0029] The lifting member 5 is connected to the reversing output end 42 , and the lifting movement of the reversing output end 42 drives the lifting member 5 to move up and down.

[0030] The lifting and reversing device also includes a lifting plate (not shown in the figure), a first wheel train 6, and a second wheel train 7. The lifting plate is arranged above the frame 1. The lifting plate and the first wheel train 6 are respectively connected to the lifting member 5. The second wheel train 7 is connected to the frame 1. The first wheel train 6 moves in the X direction, and the second wheel train 7 moves in the Y direction perpendicular to the X direction. Specifically, the first wheel train 6 is fixedly connected to the lifting member 5 and moves with the lifting member 5. The lifting plate is movably connected to the lifting member 5. When the lifting member 5 is in the upper part of its travel, the lifting member 5 contacts the lifting plate and lifts it. When the lifting member 5 is in the lower part of its travel, the lifting plate is parked on the frame.

[0031] It should be noted that the jacking drive mechanism 2 drives the jacking transmission mechanism 3 to rotate, the rotation of the jacking transmission mechanism 3 drives the reversing input end 41 to rotate, the rotation of the reversing input end 41 drives the reversing output end 42 to rise or fall, the rising or falling of the reversing output end 42 drives the jacking component 5 to rise or fall, the rising or falling movement of the jacking component 5 drives the first wheel system 6 to move synchronously, and at the same time, the jacking component 5 is movably connected to the jacking pallet, and during the rising process, the jacking pallet is lifted, thereby realizing the jacking and loading of the goods and the reversing drive.

[0032] The positions of the lifting member 5 include a first position, an intermediate position and a second position, the first position is higher than the intermediate position, and the second position is lower than the intermediate position; when the lifting member 5 is in the intermediate position, the first wheel system 6 has been separated from the mother rail, and at this time, the three-dimensional storage robot can move along the sub-rail; when the lifting member 5 rises, the lifting member 5 is in the first position, and the lifting member 5 has contacted the lifting pallet, and at this time, the three-dimensional storage robot is in a lifting state, and it can still move along the sub-rail through the lifting pallet to support the cargo pallet; when the lifting member 5 descends, the lifting member 5 is in the second position, and the second wheel system 7 has been separated from the sub-rail, and the three-dimensional storage robot can move along the mother rail.

[0033] It is understandable that in the above technical solution, by connecting the jacking transmission mechanism 3 provided at the two opposite ends of the frame 1 to a jacking drive mechanism 2 respectively, the use of a long synchronous coupling is avoided, which not only improves the mechanical efficiency of the jacking drive mechanism 2, but also avoids the problem of high strength requirements of the jacking drive mechanism 3 caused by excessive deflection at both ends of the long synchronous coupling and the friction between the jacking transmission mechanism 3. Reducing the strength requirements of the jacking transmission mechanism 3 can reduce the size of the jacking transmission mechanism 3, which also facilitates reducing the size and body thickness of the three-dimensional storage robot. In addition, avoiding the use of a long synchronous coupling can avoid destroying the integrity of the internal space of the frame 1, which is conducive to making the layout of internal components more compact and further reducing the size and thickness of the three-dimensional storage robot.

[0034] In one embodiment, referring to Figure 1The lifting drive mechanism 2 includes a lifting motor 22 and a lifting reducer 23 connected to the output shaft of the lifting motor 22. The lifting reducer 23 is connected to the transmission input end 31 of the lifting transmission mechanism 3. In other embodiments, the lifting drive mechanism 2 can also be driven by other driving modes such as hydraulic drive and pneumatic drive.

[0035] It can be understood that the jacking motor 22 usually outputs high-speed but low-torque rotational power, and the jacking reducer 23 converts the high-speed rotation of the motor into low-speed rotation to meet the equipment's demand for speed. While reducing the speed, the jacking reducer 23 increases the output torque, reduces the wear of transmission components, reduces the maintenance cost of the equipment, and extends its service life.

[0036] In a specific embodiment, the lifting transmission mechanism 3 can be a gear transmission mechanism, a sprocket chain transmission mechanism, or a synchronous pulley and synchronous belt transmission mechanism.

[0037] It's clear that gear transmissions ensure a constant instantaneous transmission ratio, delivering smooth, accurate, and reliable transmission. Gear transmissions are compact, reliable, and have a long service life. Sprocket and chain transmissions utilize chain drive, eliminating slippage and ensuring accurate transmission ratios and reliable operation. Chain drives exert minimal force on shafts and bearings, extending their service life. Synchronous pulley and belt transmissions utilize synchronous belt drive, ensuring accurate transmission ratios, zero slip, and a constant speed ratio. They are also easy to maintain, require no lubrication, and have low maintenance costs.

[0038] Preferably, in a specific embodiment, the jacking transmission mechanism 3 includes a jacking gear box 30, the jacking gear box 30 includes a transmission input end 31 and two transmission output ends 32, the transmission input end 31 is connected to the jacking drive mechanism 2, the two transmission output ends 32 have opposite rotation directions, the two transmission output ends 32 are respectively connected to a jacking reversing actuator 4, the two jacking reversing actuators 4 are mirror images of each other, and the two jacking reversing actuators 4 are connected to a jacking component 5.

[0039] Specific, combined Figure 2 、 Figure 3 The first rotating shaft 20 of the jacking drive mechanism 2 rotates, driving the gear 33 in the jacking gear box 30 to rotate, driving the second rotating shaft 34 in the jacking gear box 30 connected to the reversing input end 41 to rotate, thereby driving the reversing input end 41 to rotate, and the rotation of the reversing input end 41 drives the reversing output end 42 to rise or fall, and the rising or falling of the reversing output end 42 drives the jacking component 5 to rise or fall, and the rising or falling movement of the jacking component 5 drives the first wheel system 6 to move synchronously. At the same time, the jacking component 5 is movably connected to the jacking pallet. During the rising process, the jacking pallet is lifted, thereby realizing the jacking and loading of the goods and the reversing drive.

[0040] It is understood that the lifting gearbox 30 with two transmission outputs 32 can provide double the lifting power. In addition, in this embodiment, all lifting transmissions are concentrated in the lifting gearbox 30. This not only makes the transmission structure more compact, saves installation space in the frame 1, and provides the possibility of placing larger batteries 9, but also facilitates assembly and improves the reliability of the transmission structure.

[0041] In one embodiment, referring to Figure 4 The lifting and reversing actuator 4 includes a crank 43 and an actuator 44. The crank 43 includes a rotating portion 431 and a connecting rod 432, which are connected in sequence. The actuator 44 is disposed at the end of the connecting rod 432 away from the rotating portion 431. The rotating portion 431 is connected to the output end of the lifting transmission mechanism 3. The actuator 44 is connected to the lifting member 5. The lifting transmission mechanism 3 drives the crank 43 to rotate. The rotation of the crank 43 drives the actuator 44 to rotate. The actuator 44 drives the lifting member 5 to move up and down, thereby converting the rotational motion into a lifting motion. This embodiment uses a lifting and reversing actuator 4 with a crank 43, which is simpler, more effective, and more reliable.

[0042] Furthermore, in a specific embodiment, in combination Figure 2 、 Figure 4 The actuator 44 is a protrusion 45 provided on the connecting rod 432, and the lifting member 5 is provided with a notch 51, which accommodates the protrusion 45. Alternatively, in another specific embodiment, the actuator 44 is a notch 51 provided on the connecting rod 432 (not shown), and the lifting member 5 is provided with a protrusion 45, which is accommodated in the notch 51. The actuator 44 of this embodiment has a simpler, more effective, and more reliable structure.

[0043] Better, refer to Figure 4 The protrusion 45 includes a rotating shaft 451 and a sleeve 452 sleeved on the rotating shaft 451, and the sleeve 452 is accommodated in the notch 51. The protrusion 45 adopts the sleeve 452. During the movement, the sleeve 452 can rotate around the rotating shaft 451, reducing the torque in the lateral direction and improving the stability of the transmission.

[0044] Furthermore, in this embodiment, an oil-free bushing 453 is provided between the shaft sleeve 452 and the rotating shaft 451 to further reduce the friction between the shaft sleeve 452 and the rotating shaft 451 and improve the stability of the structure.

[0045] Preferably, the lifting transmission mechanism 3 is arranged on the inner side wall of the frame 1 , the lifting component 5 is arranged on the outer side of the frame 1 , and the lifting reversing actuator 4 is arranged between the frame 1 and the lifting component 5 .

[0046] Preferably, in a specific embodiment, refer to Figure 2 The lifting reversing device further includes a guide device 8 disposed between the frame 1 and the lifting member 5. The guide device 8 is configured to guide the lifting member 5 in the vertical direction, thereby improving the vertical movement stability of the lifting member 5. Specifically, in this embodiment, the guide device 8 includes a slider 81 and a slide rail 82 disposed in the vertical direction. The slider 81 slides along the slide rail 82. The slide rail 82 and the slider 81 are disposed on the frame 1 and the lifting member 5, respectively.

[0047] Reference Figure 1 The present utility model also discloses a three-dimensional storage robot 100, which includes the above-mentioned jacking and reversing device.

[0048] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A lifting and reversing device, characterized in that: include: frame; Two jacking drive mechanisms, both of which are arranged on the frame, and each of which includes a drive output end; Two lifting transmission mechanisms, the two lifting transmission mechanisms are respectively arranged at two opposite ends of the frame, the lifting transmission mechanism includes a transmission input end and a transmission output end, the two transmission input ends are respectively connected to one of the lifting drive mechanisms, and the lifting drive mechanism drives the lifting transmission mechanism to rotate; A lifting reversing actuator, comprising a reversing input end and a reversing output end, wherein each of the transmission output ends is connected to a lifting reversing actuator, the transmission output end is connected to the reversing input end, and the lifting reversing actuator is used to convert the rotation of the lifting transmission mechanism into a lifting motion; as well as A lifting component is connected to the reversing output end, and the lifting movement of the reversing output end drives the lifting component to move up and down.

2. The lifting and reversing device according to claim 1, characterized in that: The jacking drive mechanism includes a jacking motor and a jacking reducer connected to the jacking motor, and the jacking reducer is connected to the transmission input end.

3. The lifting and reversing device according to claim 1, characterized in that: The lifting transmission mechanism is a gear transmission mechanism, a sprocket chain transmission mechanism or a synchronous pulley and synchronous belt transmission mechanism.

4. The lifting and reversing device according to claim 1, characterized in that: The jacking transmission mechanism includes a jacking gearbox, and the jacking gearbox includes a transmission input end and two transmission output ends. The transmission input end is connected to the jacking drive mechanism. The rotation directions of the two transmission output ends are opposite. The two transmission output ends are respectively connected to a jacking reversing actuator. The two jacking reversing actuators are mirror images of each other. The two jacking reversing actuators are connected to one jacking component.

5. The lifting and reversing device according to claim 1, characterized in that: The lifting and reversing actuator includes a crank and an actuator component. The crank includes a rotating part and a connecting rod connected in sequence. The actuator component is arranged at an end of the connecting rod away from the rotating part. The rotating part is connected to the transmission output end. The actuator component is connected to the lifting component. The lifting transmission mechanism drives the crank to rotate. The rotation of the crank drives the actuator component to rotate. The actuator component drives the lifting component to move up and down.

6. The lifting and reversing device according to claim 5, characterized in that: The execution member is a protrusion provided on the connecting rod, and the lifting member is provided with a notch, and the notch accommodates the protrusion; Alternatively, the execution member is a notch provided on the connecting rod, and the lifting member is provided with a protrusion, which is accommodated in the notch.

7. The lifting and reversing device according to claim 6, characterized in that: The protruding portion includes a rotating shaft and a shaft sleeve sleeved outside the rotating shaft, and the shaft sleeve is accommodated in the notch.

8. The lifting and reversing device according to claim 1, characterized in that: The lifting support plate and the first wheel train are respectively connected to the lifting member, and the second wheel train is connected to the frame. The first wheel train moves along the X direction, and the second wheel train moves along the Y direction perpendicular to the X direction.

9. The lifting and reversing device according to any one of claims 1 to 8, characterized in that: It also includes a guide device arranged between the frame and the lifting member, and the guide device is used to guide the lifting member in a vertical direction.

10. A three-dimensional storage robot, characterized in that: It comprises the lifting and reversing device according to any one of claims 1 to 9.

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