Reversing device of climbing robot

Abstract

The utility model discloses a climbing robot reversing device which comprises a reversing unit and a driving mechanism, and the reversing unit is arranged at the intersection of a transverse guide rail and a vertical guide rail of a goods shelf guide rail and is configured to be of a rotating structure. The driving mechanism comprises a mounting frame, a reversing disc, a reversing frame and a reversing driving part, the mounting frame is arranged on the climbing robot vehicle body, the reversing disc is fixedly connected with the mounting frame, the reversing frame is connected with the reversing disc through a reversing bearing, and a guide wheel set is arranged at the bottom of the reversing frame and makes contact with the side wall of the goods shelf guide rail. The guide rail is used for guiding the reversing frame to move along a goods shelf guide rail; the reversing driving part is arranged on the reversing frame, is in transmission connection with the reversing disc and is used for driving the reversing frame to move along the outer edge of the reversing disc so as to drive the reversing unit to rotate. According to the reversing device, transverse and longitudinal climbing and walking of the climbing robot on the goods shelf are achieved, and the goods storing and taking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a climbing robot technical field, concretely relates to a climbing robot reversing device. BACKGROUND

[0002] In the field of automatic storage, using a climbing robot to realize the storage and transfer of goods on high-level stereoscopic shelves has become a common means. For the existing climbing robot, generally, horizontal and vertical movement is realized by following the rack rail attached to the shelf, and then reversing and rail changing walking in horizontal and vertical directions is realized by a rotatable reversing block.

[0003] However, due to the lack of flexible reversing or in-place locking during the reversing process of the rotatable reversing block, it cannot guarantee that the climbing robot can stably and reliably complete the reversing rail changing walking, resulting in that the climbing robot cannot place the goods to the specified position, and the efficiency of the robot in storing and taking goods is seriously reduced. UTILITY MODEL CONTENTS

[0004] In view of the above problems, the utility model provides a climbing robot reversing device, which can realize the switching of the climbing robot on the horizontal guide rail and the vertical guide rail, realize horizontal and vertical climbing walking on the shelf, and improve the efficiency of storing and taking goods.

[0005] Specifically, the utility model is realized as follows:

[0006] A climbing robot reversing device, comprising:

[0007] A reversing unit is arranged at the intersection of the horizontal guide rail and the vertical guide rail of the shelf guide rail and is configured as a rotating structure;

[0008] A driving mechanism is arranged on the climbing robot vehicle body and is used to drive the reversing unit to rotate to realize horizontal / vertical switching;

[0009] The driving mechanism comprises:

[0010] A mounting frame is arranged on the climbing robot vehicle body;

[0011] A reversing disc is fixedly connected with the mounting frame;

[0012] A reversing frame is connected with the reversing disc through a reversing bearing, the bottom of the reversing frame is provided with a guide wheel set, the guide wheel set is in contact with the side wall of the shelf guide rail, and is used to guide the movement of the reversing frame along the shelf guide rail;

[0013] A reversing driving piece is arranged on the reversing frame and is in transmission connection with the reversing disc, and is used to drive the reversing frame to move along the outer edge of the reversing disc to drive the reversing unit to rotate.

[0014] Further, the guide wheel set comprises:

[0015] The first guide wheels are installed at the two ends of the reversing frame bottom;

[0016] The second guide wheels are arranged on the reversing frame bottom and between the first guide wheels at the two ends of the reversing frame, the second guide wheels are in sliding fit with the side walls of the shelf guide rail, and the first guide wheels and the second guide wheels are perpendicular to each other.

[0017] Further, the reversing frame is internally provided with a walking gear, the walking gear is in mesh with a rack on the shelf guide rail, so as to drive the climbing robot to walk on the shelf guide rail.

[0018] Further, the reversing unit comprises a reversing guide rail and a connecting disc, the reversing guide rail is rotationally connected with the center of the connecting disc through a reversing bearing, a shaft sleeve and a connecting shaft, and the connecting disc is installed at the intersection of the horizontal guide rail and the vertical guide rail.

[0019] Further, four first limiting blocks are arranged on the connecting disc, the first limiting blocks are in pairs, and the two first limiting blocks of each pair are installed on the two sides of the reversing guide rail and used for limiting the rotation angle of the reversing guide rail.

[0020] Further, four positioning beads in cross shape are arranged on the connecting disc, and the bottom surface of the reversing guide rail is in contact with the two coaxial positioning beads.

[0021] Further, the driving mechanism is arranged in two groups, the mounting frame is in U shape, the two arms of the mounting frame are rotationally connected with the climbing robot vehicle body, and the climbing robot vehicle body is provided with a limiting assembly for limiting the rotation angle of the mounting frame.

[0022] Further, the two arms of the mounting frame are connected with the climbing robot vehicle body through a hole bearing seat, the hole bearing seat is internally provided with a hinge shaft and a hinge bearing, so as to realize the rotation of the mounting frame.

[0023] Further, the limiting assembly comprises second limiting blocks arranged on the two sides of the arm, and an inclination sensor is arranged in the middle of the climbing robot vehicle body and used for acquiring the inclination degree of the climbing robot vehicle body.

[0024] Further, the end of the horizontal guide rail and the end of the vertical guide rail are provided with safety baffle plates, so as to prevent the climbing robot from rushing out of the shelf guide rail.

[0025] The working principle of the utility model is as follows:

[0026] The walking motor 46 on the reversing frame 45 of the climbing robot 2 drives the walking gear 461 to rotate on the rack of the shelf guide rail 1, converts the circular motion into linear motion, and drives the climbing robot 2 to walk on the shelf. When the climbing robot 2 drives to the specified reversing position, the walking gear 461 is engaged with the rack on the reversing guide rail 32, the guide wheel set at the bottom of the reversing frame 45 is in sliding fit with the sidewall of the reversing guide rail 32, then the small gear 441 at the driving output end of the reversing driving member moves along the outer edge of the reversing disc 42, drives the reversing frame 45 to rotate, and simultaneously, under the constraint of the guide wheel set at the bottom of the reversing frame 45, drives the reversing guide rail 32 to rotate, and after rotating 90° and aligning with the guide rail in the moving direction, the reversing driving member stops, and the walking gear 461 moves along the guide rail again, thereby realizing the reversing of the climbing robot 2.

[0027] Compared with the prior art, the climbing robot reversing device has the following beneficial effects:

[0028] (1) The climbing robot reversing device provided by the utility model realizes the horizontal and vertical climbing and walking of the climbing robot on the shelf, and improves the storage and taking efficiency of goods.

[0029] (2) The first limiting block and the positioning bead arranged on the connecting disc can ensure the butt joint accuracy of the reversing guide rail and the horizontal guide rail and the vertical guide rail, and improve the reliability. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a schematic view of the climbing robot and the shelf in example 1.

[0031] Figure 2 It is a structural schematic view of the reversing unit in example 1.

[0032] Figure 3 It is a front view of the reversing unit in example 1.

[0033] Figure 4 It is a side view of the reversing unit in example 1.

[0034] Figure 5 It is a structural schematic view of the climbing robot in example 1.

[0035] Figure 6 It is a structural schematic view of the climbing robot at the installation driving mechanism in example 1.

[0036] Figure 7 It is a structural schematic view of the driving mechanism in example 1.

[0037] Figure 8 It is a driving part schematic view of the driving mechanism in example 1.

[0038] Figure 9 It is a structural schematic view of the reversing frame in example 1.

[0039] Figure 10 Figure 1 is a schematic view of the reversing action of the driving mechanism in Example 1.

[0040] Reference signs:

[0041] 1 - shelf guide rail; 11 - horizontal guide rail; 12 - vertical guide rail; 13 - safety baffle; 2 - climbing robot; 21 - inclination sensor; 22 - mounting portion; 23 - load carrying portion; 24 - bearing seat with hole; 25 - hinge shaft; 26 - hinge bearing; 27 - second limit block; 3 - reversing unit; 31 - connecting disc; 32 - reversing guide rail; 33 - reversing bearing; 34 - shaft sleeve; 35 - connecting shaft; 36 - first limit block; 37 - positioning bead; 4 - driving mechanism; 41 - mounting frame; 42 - reversing disc; 43 - reversing bearing; 44 - reversing motor; 441 - pinion; 45 - reversing frame; 451 - reversing motor mounting hole; 452 - flange plate; 46 - walking motor; 461 - walking gear; 471 - first guide wheel; 472 - second guide wheel. DETAILED DESCRIPTION

[0042] The utility model will be further described in detail through specific embodiments in combination with the drawings.

[0043] Example 1

[0044] This embodiment discloses a three-dimensional warehouse, which is composed of a shelf, a shelf guide rail 1 and a climbing robot 2, as shown in the figure. Figure 1 The shelf guide rail 1 is composed of horizontal guide rails 11, vertical guide rails 12 and a reversing unit 3, the horizontal guide rails 11 and the vertical guide rails 12 cross to form a basic track for the movement of the climbing robot 2, allowing the climbing robot 2 to walk horizontally and vertically; the reversing unit 3 is arranged at the intersection of the horizontal guide rails 11 and the vertical guide rails 12, and can switch the moving direction of the climbing robot 2. The ends of the horizontal guide rails 11 and the vertical guide rails 12 (i.e. the edge positions of the shelf guide rail 1) are each provided with a safety baffle 13 to block the climbing robot 2 and prevent the climbing robot 2 from rushing out of the shelf guide rail 1.

[0045] Specifically, as shown in the figure, Figures 2-4As shown, the reversing unit 3 includes a reversing guide rail 32 and a connecting disk 31. The connecting disk 31 is installed at the intersection of the horizontal guide rail 11 and the vertical guide rail 12. The reversing guide rail 32 is rotatably connected to the center of the connecting disk 31 through a reversing bearing 33, a bushing 34, and a connecting shaft 35, allowing it to passively rotate 90° to enable the climbing robot 2 to change its path in both horizontal and vertical directions. The connecting disk 31 has four first limiting blocks 36, arranged in pairs on both sides of the reversing guide rail 32 to limit its rotation angle and ensure that the reversing guide rail 32 is stably and reliably positioned in either horizontal or vertical directions. The connecting disk 31 also has four positioning beads 37 arranged in a cross shape, evenly distributed around the perimeter of the connecting disk 31. The bottom surface of the reversing guide rail 32 contacts two coaxial positioning beads 37, which assist in maintaining the stability of the reversing guide rail 32 in the horizontal / vertical directions.

[0046] like Figures 5-6 As shown, the main body of the climbing robot 2 consists of an installation part 22 and a cargo-carrying part 23. The cargo-carrying part 23 is used to carry goods. The installation part 22 is connected to the drive mechanism 4 and is driven by the drive mechanism 4 to move along the shelf guide rail 1.

[0047] The mounting section 22 is U-shaped, with two sets of drive mechanisms 4 mounted along its axis. For example... Figures 7-9 As shown, the drive mechanism 4 includes: a mounting bracket 41, a steering disk 42, a commutator frame 45, a commutator motor 44, a travel motor 46, and a travel gear 461. The steering disk 42 is a gear plate, which is fixedly mounted on the lower middle side of the mounting bracket 41 and connected to the commutator frame 45 through a commutator bearing 43. The outer side of the commutator bearing 43 is fixedly connected to the steering disk 42, and the inner side is fixedly connected to the flange 452 on the top of the commutator frame 45. The commutator motor 44 is mounted in the commutator motor mounting hole 451 of the commutator frame 45, and its output end meshes with the teeth on the outer edge of the steering disk 42 through a pinion 441. Since the steering disk 42 is fixed, when the commutator motor 44 drives the pinion 441, the pinion 441 moves along the arc of the outer edge of the steering disk 42, thereby driving the commutator frame 45 to rotate.

[0048] The traveling gear 461 and the reducer are integrated into one unit, installed at the center of the reversing frame 45 and connected to the output end of the traveling motor 46. The traveling gear 461 meshes with the rack on the shelf guide rail 1, and is driven by the traveling motor 46 to move along the shelf guide rail 1. A guide wheel assembly is provided at the bottom of the reversing frame 45, including a first guide wheel 471 and a second guide wheel 472. The first guide wheel 471 is installed at both ends of the bottom of the reversing frame 45, and the second guide wheel is located in the middle of the reversing frame 45. The first guide wheel 471 and the second guide wheel 472 are perpendicular to each other and both slide against the side wall of the shelf guide rail 1, guiding and constraining the movement of the drive mechanism 4. Figure 10As shown, when the climbing robot 2 travels to the designated reversing position, the walking gear 461 is engaged with the rack on the reversing guide rail 32, the guide wheel set at the bottom of the reversing frame 45 is in sliding fit with the sidewall of the reversing guide rail 32, then the pinion 441 at the driving output end of the reversing motor 44 moves along the outer edge of the reversing disc 42, drives the reversing frame 45 to rotate, and at the same time, under the constraint of the guide wheel set at the bottom of the reversing frame 45, drives the reversing guide rail 32 to rotate, rotates 90° and aligns with the guide rail in the moving direction, then the reversing motor 44 stops, the walking gear 461 moves along the guide rail again, and the reversing of the climbing robot 2 is realized.

[0049] Each set of driving mechanism 4 is connected by mounting bracket 41 and hole bearing seat 24, specifically, the two arms of U-shaped mounting bracket 41 are connected with mounting part 22 through hole bearing seat 24, hole bearing seat 24 is built-in hinge shaft 25 and hinge bearing 26, in order to realize the whole inclination change of driving mechanism 4, the two sides of mounting bracket 41 arm are provided with second limiting block 27, under the constraint of second limiting block 27, the micro floating of driving mechanism 4 can be realized. The middle part of mounting part 22 is provided with inclination sensor 21, which is used for obtaining the posture inclination degree of climbing robot 2. Because the speed synchronization of the upper and lower walking motors is difficult to guarantee, the positions of the upper and lower driving mechanisms will appear front and back deviation, which cannot guarantee that they are on a vertical line at any time, and the driving mechanism will pull the vehicle body, causing deformation, therefore, the inclination information obtained by inclination sensor 21 is used for speed control of the upper and lower walking motors 46, so as to reduce the pulling and deformation of the vehicle body caused by the action of driving mechanism 4 as much as possible, and improve the stability of climbing robot 2.

[0050] The above application of specific examples is used to describe the utility model, which is only used to help understand the utility model, and does not limit the utility model. For the skilled in the art to which the utility model belongs, according to the idea of the utility model, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A climbing robot reversing device, characterized in that, The application relates to a vertical / horizontal switching mechanism of a climbing robot. The application comprises: a reversing unit (3) arranged at the intersection of a horizontal guide rail (11) and a vertical guide rail (12) of a shelf guide rail (1) and configured to rotate; a driving mechanism (4) arranged on a climbing robot vehicle body and used for driving the reversing unit (3) to rotate so as to realize vertical / horizontal switching; the driving mechanism (4) comprises: a mounting frame (41) arranged on the climbing robot vehicle body; a reversing disc (42) fixedly connected with the mounting frame (41); a reversing frame (45) connected with the reversing disc (42) through a reversing bearing (43), the bottom of the reversing frame (41) is provided with a guide wheel set, the guide wheel set is in contact with the side wall of the shelf guide rail (1) and is used for guiding the reversing frame (45) to move along the shelf guide rail (1); 2. The climbing robot reversing device according to claim 1, wherein a reversing driving element arranged on the reversing frame (45) and in transmission connection with the reversing disc (42) and used for driving the reversing frame (45) to move along the outer edge of the reversing disc (42) so as to drive the reversing unit (3) to rotate. the guide wheel set comprises: first guide wheels (471) mounted at both ends of the bottom of the reversing frame (45); 3. The climbing robot reversing device according to claim 2, wherein second guide wheels (472) arranged at the bottom of the reversing frame (45) and located between the first guide wheels (471) at both ends of the reversing frame (45), the second guide wheels (472) are in sliding connection with the side wall of the shelf guide rail (1), and the first guide wheels (471) and the second guide wheels (472) are perpendicular to each other.

4. The climbing robot reversing device according to claim 1, wherein the reversing frame (45) is internally provided with a walking gear (461), the walking gear (461) is in mesh with a rack on the shelf guide rail (1) so as to drive the climbing robot (2) to walk on the shelf guide rail (1).

5. The climbing robot reversing device according to claim 4, wherein the reversing unit (3) comprises a reversing guide rail (32) and a connecting disc (31), the reversing guide rail (32) is rotationally connected with the center of the connecting disc (31) through a reversing bearing (33), a shaft sleeve (34) and a connecting shaft (35), and the connecting disc (31) is arranged at the intersection of the horizontal guide rail (11) and the vertical guide rail (12).

6. A climbing robot reversing device according to claim 4 or 5, characterised in that four first limiting blocks (36) are arranged on the connecting disc (31), two first limiting blocks (36) in each group are arranged at both sides of the reversing guide rail (32) and used for limiting the rotating angle of the reversing guide rail (32).

7. The climbing robot reversing device according to claim 1, wherein four positioning beads (37) are arranged on the connecting disc (31) in a cross shape, and the bottom surface of the reversing guide rail (32) is in contact with two coaxial positioning beads (37).

8. The climbing robot reversing device according to claim 7, wherein two groups of the driving mechanism (4) are arranged, the mounting frame (41) is in U-shaped, two arms of the mounting frame (41) are rotationally connected with the climbing robot vehicle body, and a limiting assembly for limiting the rotating angle of the mounting frame (41) is arranged on the climbing robot vehicle body.

9. The climbing robot reversing device according to claim 7, wherein both arms of the mounting frame (41) are connected with the climbing robot vehicle body through a bearing seat (24) with a hole. the limiting assembly comprises second limiting blocks (27) arranged at both sides of the arm, and an inclination sensor (21) arranged at the middle part of the climbing robot vehicle body and used for acquiring the inclination degree of the climbing robot vehicle body.

10. The climbing robot reversing device according to claim 1, wherein The end of the cross rail (11) and the vertical rail (12) is provided with a safety baffle (13) for preventing the climbing robot (2) from rushing out of the shelf rail (1).

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