RGV rail robot

Abstract

The utility model relates to the field of machining auxiliary equipment, in particular to an RGV rail robot which comprises a frame, a moving mechanism and a lifting mechanism, the moving mechanism is arranged in the frame and comprises a driving motor, a speed reducer, an advancing and retreating driving module and a transverse moving driving module, and the driving motor is matched with the speed reducer through an output shaft to output power. The speed reducer is a double-output-shaft speed reducer, two output shafts of the speed reducer drive wheels of the advancing and retreating driving module and wheels of the transverse movement driving module respectively, the transverse movement driving module comprises a lifter, and the lifter adjusts the height of the wheels of the transverse movement driving module to be higher or lower than the height of the wheels of the advancing and retreating driving module. And the vehicle body can alternately move in the longitudinal direction or the transverse direction and finally arrives at the set target position. The driving mechanism is arranged to adjust the height of the wheels in the fixed advancing direction, the wheels in different advancing directions make contact with the track or the ground, and advancing, retreating or transverse moving operation is achieved according to needs.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of machining auxiliary equipment, and specifically relates to an RGV track robot. BACKGROUND

[0002] The RGV equipment used in factories generally cooperates with machining equipment, and the workpiece is transported or carried away from the machining station without the assistance of a forklift during operation, so as to realize the feeding and discharging operation of the workpiece. The commonly used RGV equipment usually includes a vehicle body, a motor, a driving device, a jacking device and a controller, and further has a communication device and a safety protection device and the like.

[0003] The existing RGV equipment needs to be driven by the motors and the matched driving devices arranged respectively for longitudinal and transverse movement of the wheel set, the motors occupy space, and the driving mechanisms need to be arranged correspondingly, which causes repeated arrangement of the mechanisms, higher cost and more occupied space. Therefore, a track robot with compact structure and avoiding repeated arrangement of multiple driving motors is needed. SUMMARY

[0004] The utility model discloses a kind of RGV track robots to the deficiency in prior art, including frame, moving mechanism and lifting mechanism, the frame is provided with moving mechanism, the moving mechanism includes drive motor, speed reducer, advance and retreat drive module and transverse drive module, the drive motor is cooperated with the power output of the speed reducer by output shaft, the speed reducer is double-output shaft speed reducer, two output shafts of the speed reducer drive the wheel of the advance and retreat drive module and the wheel of the transverse drive module respectively, the transverse drive module includes lifter, the lifter adjusts the wheel height of the transverse drive module higher or lower than the wheel of the advance and retreat drive module, so that vehicle body can be alternately moved along longitudinal direction or transverse direction, finally reach the target position set.

[0005] Preferably, the advance and retreat drive module includes advance and retreat output shaft, advance and retreat transmission belt and advance and retreat drive shaft, the advance and retreat output shaft is transmissionally connected with the speed reducer, the advance and retreat transmission belt is arranged on the advance and retreat output shaft, and the output end of the advance and retreat transmission belt is transmissionally connected with the advance and retreat drive shaft.

[0006] Preferably, the wheel is a traveling wheel, and the traveling wheels are symmetrically arranged on both sides of the bottom of the frame, and the traveling wheels transmissionally arranged with the advance and retreat drive shaft are advance and retreat drive wheels.

[0007] Preferably, the transverse movement driving module further comprises a transverse movement output shaft, a transverse movement transmission belt and a transverse movement driving shaft, the transverse movement output shaft is in transmission connection with the speed reducer, the transverse movement output shaft is provided with the transverse movement transmission belt in a sleeving mode, and the transverse movement transmission belt output end is in transmission connection with the transverse movement driving shaft.

[0008] Preferably, the wheels are transverse movement wheels which are symmetrically arranged at two sides of the bottom of the vehicle frame, the rotation direction of the transverse movement wheels is horizontally perpendicular to the front-rear line direction of the vehicle frame, and the transverse movement wheels which are in transmission connection with the transverse movement driving shaft are transverse movement driving wheels.

[0009] Preferably, the lifter is a hydraulic driving cylinder, the cylinder body of the driving cylinder is fixedly arranged on the vehicle frame, and the driving part bottom of the driving cylinder is correspondingly connected with the transverse movement wheels below.

[0010] Preferably, the vehicle frame is further provided with a pressing mechanism, the pressing mechanism comprises a pressing wheel, and the pressing wheel is matched with the transverse movement transmission belt to press the transverse movement transmission belt.

[0011] Preferably, the middle part of the vehicle frame is provided with a lifting mechanism mounting groove, the lifting mechanism comprises a lifting motor, a driving screw rod, a sliding rod, a scissor frame and a lifting platform, the lifting motor is fixed on the vehicle frame, the output shaft of the lifting motor drives the driving screw rod to rotate, the sliding rod is arranged at the movement end of the driving screw rod, the bottom supporting leg one side of the scissor frame is rotationally arranged in the lifting mechanism mounting groove, the other supporting leg is rotationally sleeved with the sliding rod, and the two side walls in the lifting mechanism mounting groove are horizontally provided with sliding grooves respectively, and the sliding rod two ends are slidably embedded in the sliding grooves through sliding bearings.

[0012] Preferably, the top of the scissor frame is slidably embedded in the bottom sliding groove of the lifting platform.

[0013] Compared with the prior art, the vehicle body running direction can be precisely controlled, the structure is simple, and the driving motor is not needed to be separately arranged. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will describe the drawings needed to be used in the embodiments or prior art description, obviously, the technical solutions described in the description of the drawings are only some embodiments of the present application, and not all embodiments for the ordinary skilled in the art. Based on the embodiments described in the present application, all other embodiments obtained by the ordinary skilled in the art without creative labor are within the scope of protection of the present application.

[0015] Figure 1 is a three-dimensional structure schematic diagram of the RGV track robot of the present application.

[0016] Figure 2 is a lifting state structure schematic diagram of the RGV track robot of the present application.

[0017] Figure 3 is a bottom structure schematic diagram of the RGV track robot of the present application.

[0018] Figure 4 is an internal structure schematic diagram of the RGV track robot of the present application.

[0019] Figure 5 is a local section structure schematic diagram of the RGV track robot of the present application.

[0020] Figure 6 is a forward and backward state schematic diagram of the RGV track robot of the present application.

[0021] Figure 7 is a transverse movement state schematic diagram of the RGV track robot of the present application.

[0022] In the figure: 1-carriage, 11-skirt board, 12-cover plate, 13-sliding groove, 2-driving motor, 21-reducer, 3-advance and retreat output shaft, 31-advance and retreat transmission belt, 32-advance and retreat driving shaft, 4-transverse movement output shaft, 41-transverse movement transmission belt, 42-pressing wheel, 43-transverse movement driving shaft, 5-traveling wheel, 6-transverse movement wheel, 61-driving cylinder, 7-lifting platform, 71-scissors frame, 72-sliding rod, 73-lifting motor, 74-driving screw. DETAILED DESCRIPTION

[0023] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings, obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments described in the present application, all other embodiments obtained by the ordinary skilled in the art without creative labor are within the scope of protection of the present application.

[0024] The embodiment of the utility model provides a kind of RGV track robot, as shown in figure Figures 1 to 5 It includes frame 1, moving mechanism and lifting mechanism, the frame 1 is wrapped with apron 11 on the outside side face.The frame 1 top is provided with cover plate 12.The moving mechanism is arranged in the frame 1, so that the car body can move alternately in longitudinal direction or transverse direction, so that the car body finally reaches the set target position.

[0025] The moving mechanism includes drive motor 2, speed reducer 21, advance and retreat drive module and transverse movement drive module, the drive motor 2 is cooperated with the speed reducer 21 and carries out power output by output shaft.The speed reducer 21 is double-output shaft speed reducer, and the two output shafts of the speed reducer 21 are horizontally and vertically arranged.

[0026] The advance and retreat drive module includes advance and retreat output shaft 3, advance and retreat transmission belt 31, advance and retreat drive shaft 32 and travel wheel 5, the advance and retreat output shaft 3 is transmissionally connected with the speed reducer 21, the advance and retreat transmission belt 31 is arranged on the advance and retreat output shaft 3, and the advance and retreat transmission belt 31 output end is transmissionally connected with the advance and retreat drive shaft 32.

[0027] Four groups of travel wheels 5 are symmetrically arranged on the two sides of the bottom of the frame 1, and rotate in the same direction, and each group of travel wheels 5 is arranged as two wheel bodies in front and back.

[0028] The transverse movement drive module includes transverse movement output shaft 4, transverse movement transmission belt 41, transverse movement drive shaft 43, transverse movement wheel 6 and drive cylinder 61.The transverse movement output shaft 4 is transmissionally connected with the speed reducer 21, the transverse movement transmission belt 41 is arranged on the transverse movement output shaft 4, and the transverse movement transmission belt 41 output end is transmissionally connected with the transverse movement drive shaft 43.The frame 1 is also provided with a pressing mechanism, and the pressing mechanism includes pressing wheel 42, and the pressing wheel 42 cooperates with the transverse movement transmission belt 41 to press the transverse movement transmission belt 41.

[0029] Four groups of transverse movement wheels 6 are symmetrically arranged on the two sides of the bottom of the frame 1, and rotate in the same direction, and the rotation direction of the transverse movement wheel 6 is horizontally and vertically arranged with the direction of the frame 1.Each group of transverse movement wheels 6 is arranged as two wheel bodies in left and right.

[0030] The driving cylinder 61 is a hydraulic driving cylinder 61, the cylinder body of the driving cylinder 61 is fixedly arranged on the vehicle frame 1, and the bottom of the driving rod of the driving cylinder 61 is correspondingly connected with the horizontal moving wheel 6 below.

[0031] The vehicle frame 1 is further provided with a lifting mechanism, the lifting mechanism is used for lifting a workpiece to a set height. The lifting mechanism comprises a lifting motor 73, a driving screw rod 74, a sliding rod 72, a scissor frame 71 and a lifting platform 7. The lifting motor 73 is fixed on the vehicle frame 1. The output shaft of the lifting motor 73 drives the driving screw rod 74 to rotate. The driving screw rod 74 is provided with the sliding rod 72 at the moving end. The middle part of the vehicle frame 1 is provided with a lifting mechanism mounting groove, and the two side walls in the lifting mechanism mounting groove are respectively provided with sliding grooves 13 arranged in correspondence with each other. The sliding rod 72 is slidably embedded in the sliding grooves 13 through sliding bearings at both ends.

[0032] The bottom supporting leg of the scissor frame 71 is rotatably arranged in the lifting mechanism mounting groove, and the other supporting leg is rotatably sleeved on the sliding rod 72. The top of the scissor frame 71 is slidably embedded in the sliding groove arranged at the bottom of the lifting platform 7.

[0033] In the running state, the driving motor 2 outputs power, which is transmitted to the advancing and retreating output shaft 3 through the speed reducer 21, drives the advancing and retreating transmission belt 31 to rotate, drives the advancing and retreating drive shaft 32 to run, and then drives the advancing and retreating drive wheel. The other advancing wheels 5 act as driven wheels. At this time, the horizontal moving wheel 6 is in the retracted state of the driving cylinder 61 and is separated from the track contact surface, so that the advancing wheels 5 drive the vehicle frame 1 to move linearly forward and backward. Figure 6 .

[0034] When the driving cylinder 61 drives the horizontal moving wheel 6 to descend and contact the track contact surface, the vehicle frame 1 is lifted and drives the advancing wheels 5 fixed on the lower part of the vehicle frame 1 to be separated from the track contact surface. At this time, the driving motor 2 outputs power, which is transmitted to the horizontal moving output shaft 4 through the speed reducer 21, drives the horizontal moving transmission belt 41 to rotate, drives the horizontal moving drive shaft 43 to run, and then drives the vehicle frame 1 to move horizontally along the vertical forward and backward direction. Figure 7 .

[0035] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, whatever the point of view. The scope of the present application is defined by the appended claims, and not by the above description, which is therefore intended to be merely illustrative and not restrictive. No figure reference in the claims should be considered as limiting the claim concerned.

[0036] Furthermore, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and a person skilled in the art should consider the present specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by a person skilled in the art.

Claims

1. An RGV track robot, characterized in that: it comprises a vehicle frame (1), a moving mechanism and a lifting mechanism, the vehicle frame (1) is provided with a moving mechanism, the moving mechanism comprises a driving motor (2), a speed reducer (21), a forward and backward driving module and a transverse driving module, the driving motor (2) is matched with the speed reducer (21) to output power through an output shaft, the speed reducer (21) is a double-output-shaft speed reducer, two output shafts of the speed reducer (21) drive wheels of the forward and backward driving module and wheels of the transverse driving module respectively, the transverse driving module comprises a lifter, the lifter adjusts the height of the wheels of the transverse driving module to be higher or lower than the wheels of the forward and backward driving module, the lifter is a hydraulic driving cylinder (61), a cylinder body of the driving cylinder (61) is fixedly arranged on the vehicle frame (1), and a driving part of the driving cylinder (61) is correspondingly connected with a transverse wheel (6) below, so that the vehicle body can move in two directions of longitudinal direction and transverse direction alternately and finally reach a set target position. The forward and backward driving module comprises a forward and backward output shaft (3), a forward and backward transmission belt (31) and a forward and backward driving shaft (32), the forward and backward output shaft (3) is in transmission connection with the speed reducer (21), the forward and backward transmission belt (31) is arranged on the forward and backward output shaft (3) in a sleeved mode, and an output end of the forward and backward transmission belt (31) is in transmission connection with the forward and backward driving shaft (32). The wheels are travel wheels (5), the travel wheels (5) are symmetrically arranged on both sides of the bottom of the vehicle frame (1), the travel wheels (5) driven by the forward and backward driving shaft (32) are forward and backward driving wheels. The transverse driving module further comprises a transverse output shaft (4), a transverse transmission belt (41) and a transverse driving shaft (43), the transverse output shaft (4) is in transmission connection with the speed reducer (21), the transverse transmission belt (41) is arranged on the transverse output shaft (4) in a sleeved mode, and an output end of the transverse transmission belt (41) is in transmission connection with the transverse driving shaft (43). The wheels are transverse wheels (6), the transverse wheels (6) are symmetrically arranged on both sides of the bottom of the vehicle frame (1), a rotation direction of the transverse wheels (6) is horizontally perpendicular to a front-rear line direction of the vehicle frame (1), and the transverse wheels (6) driven by the transverse driving shaft (43) are transverse driving wheels. The vehicle frame (1) is further provided with a pressing mechanism, the pressing mechanism comprises a pressing wheel (42), and the pressing wheel (42) is matched with the transverse transmission belt (41) to press the transverse transmission belt (41).

2. The RGV rail robot of claim 1, wherein: ​ 3. The RGV rail robot of claim 2, wherein: ​ 4. The RGV rail robot of claim 1, wherein: ​ 5. The RGV rail robot of claim 4, wherein: ​ 6. The RGV rail robot of claim 4, wherein: ​ 7. The RGV rail robot of claim 1, wherein: The lifting mechanism installation slot is arranged in the middle of the frame (1), the lifting mechanism comprises a lifting motor (73), a driving screw rod (74), a sliding rod (72), a scissor frame (71) and a lifting platform (7), the lifting motor (73) is fixed to the frame (1), the output shaft of the lifting motor (73) drives the driving screw rod (74) to rotate, the sliding rod (72) is arranged on the moving end of the driving screw rod (74), the bottom supporting leg of the scissor frame (71) is rotatably arranged in the lifting mechanism installation slot, the other supporting leg is rotatably sleeved with the sliding rod (72), and the two side walls in the lifting mechanism installation slot are respectively provided with sliding grooves (13).

8. The RGV rail robot of claim 7, wherein: The top of the scissor frame (71) is slidably embedded in the sliding groove in the bottom of the lifting platform (7).

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