Jacking and reversing mechanism of three-dimensional storage robot

Abstract

The utility model discloses a three-dimensional storage robot jacking reversing mechanism which comprises a motor, a speed reducer, a main transmission shaft, a first inner fixing plate, a second inner fixing plate, a jacking frame, a first gear set and a second gear set. The first transmission gear is in meshing transmission connection with a first gear set, the first gear set is fixedly in transmission connection with a second gear set through a main transmission shaft, and the main transmission shaft penetrates through the first inner fixing plate and the second inner fixing plate to be connected with first cam assemblies respectively. The output end of the first gear set and the output end of the second gear set are connected with a second cam assembly, and the first cam assembly and the second cam assembly are movably connected with the jacking frame. Synchronous transmission of the two cam assemblies is achieved through mutual meshing of the multiple gears, the transmission synchronization effect is improved, and meanwhile the transmission stabilization effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to an automatic mechanical field, especially a kind of three-dimensional warehousing robot jacking reversing mechanism. BACKGROUND

[0002] The lifting mechanism of conventional carrying robot is mostly connecting rod mechanism, sliding table mechanism or hydraulic mechanism, the structure of connecting rod mechanism is too complex, installation precision is difficult to guarantee, it is big to occupy space, and reliability is low;The sliding friction of sliding table mechanism is big, and the parts contacted are easy to wear, need to be fully lubricated, and maintenance is difficult;Hydraulic mechanism is easy to leak, pollute customer product, and need to maintain hydraulic oil periodically.Some carrying robots use chain to transmit power.The chain is flexible, and it is easy to loosen in long-term use, and it is easy to loosen between chain and sprocket, and even chain can slip off from sprocket.The chain and sprocket are adopted long-distance non-tight cooperation, when heavy goods need to be carried, the power to be transmitted is large, and the greater the power to be transmitted, the greater the traction between chain and sprocket.The chain and sprocket are adopted non-tight cooperation, and the size of chain is long and flexible, and it is easy to deform or fall off from sprocket under the action of large traction, so that transmission effect is poor. SUMMARY

[0003] The utility model discloses a kind of three-dimensional warehousing robot jacking reversing mechanism.

[0004] To achieve the above object, the technical scheme that the utility model adopts is as follows:

[0005] A kind of three-dimensional warehousing robot jacking reversing mechanism, including motor, speed reducer, main drive shaft, first inner fixed plate and second inner fixed plate, jacking frame, first gear set and second gear set, the motor is fixedly installed on speed reducer, and the output end of motor is fixedly connected with the input end of speed reducer, the speed reducer is fixedly installed on first inner fixed plate, the output end of the speed reducer is fixedly connected with first drive gear, the first drive gear is meshed with first gear set and is connected, the first gear set and second gear set are fixedly connected by main drive shaft, the first gear set is also fixedly installed on first inner fixed plate, the second gear set is fixedly installed on second inner fixed plate, first inner fixed plate and second inner fixed plate are fixedly installed in the shell of robot, the main drive shaft passes through first inner fixed plate and second inner fixed plate and is connected with first cam assembly respectively, the output end of first gear set and second gear set is connected with second cam assembly, first cam assembly and second cam assembly are movably connected with jacking frame.

[0006] Further, the structure of first cam assembly and second cam assembly is same, and first cam assembly and second cam assembly are symmetrically set up.

[0007] Further, the first cam assembly comprises a first cam piece, one side of the first cam piece is fixedly connected with the main transmission shaft or the output end of the first gear set or the second gear set, the other end of the first cam piece is rotatably connected with a jacking rod through a bearing, the other end of the jacking rod is rotatably connected with a second cam piece, and the other end of the second cam piece is rotatably connected with the outer shell of the robot.

[0008] Further, a horizontal jacking connecting groove is fixedly arranged on the jacking frame, and the jacking connecting groove is slidably connected with the first cam assembly or the second cam assembly.

[0009] Further, a vertical lifting guide hole is further fixedly arranged on the jacking frame, and a lifting guide rod is fixedly installed in the outer shell of the robot, and the lifting guide rod is slidably connected with the lifting guide hole.

[0010] Further, the first cam piece and the second cam piece are structurally same, and each comprises a first rotating connecting part, a second rotating connecting part and a cam body, one side of the cam body is fixedly provided with the first rotating connecting part, and the end face of the other side of the cam body is rotatably provided with the second rotating connecting part.

[0011] Further, roller grooves are arranged at two ends of the jacking frame, and roller bodies are rotatably installed in the roller grooves, respectively.

[0012] Further, the first gear set and the second gear set are structurally same, and each comprises main transmission gears arranged at two sides and auxiliary transmission gears arranged between the main transmission gears, the main transmission gears and the auxiliary transmission gears are meshedly connected, the number of the main transmission gears is 2, and the number of the auxiliary transmission gears is an even number.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] In the application, the power transmission structures are completely meshed and transmit power through spur gears, power transmission is reliable, and even if a great traction force is needed, stable power transmission can be maintained between the gears, and problems such as loosening of chain transmission and transmission failure do not occur. Therefore, in the application, power is transmitted through the gear set, and the stability of power transmission can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a perspective view of the utility model;

[0016] Fig. 2 It is a perspective view of the first cam piece or the second cam piece of the utility model.

[0017] REFERENCE NUMERALS

[0018] 1. motor; 2. speed reducer; 3. main transmission shaft; 4. second inner fixed plate; 5. jacking frame; 6. first gear set; 7. second gear set; 8. first transmission gear; 9. first cam assembly; 90. second cam assembly; 91. first cam piece; 92. second cam piece; 51. lifting guide hole; 93. first rotary connection part; 94. second rotary connection part; 95. cam body; 52. roller groove; 53. roller body; 61. main transmission gear; 62. auxiliary transmission gear. DETAILED DESCRIPTION

[0019] The advantages and features of the present application will be more clearly understood from the following detailed description of the preferred embodiments, given by way of example only, with reference to the accompanying drawings, in which:

[0020] Referring to Figs. 1-2 A three-dimensional storage robot jacking reversing mechanism is shown, comprising a motor 1, a speed reducer 2, a main transmission shaft 3, a first inner fixed plate and a second inner fixed plate 4, a jacking frame 5, a first gear set 6 and a second gear set 7, the motor 1 is fixedly installed on the speed reducer 2, and the output end of the motor 1 is fixedly connected with the input end of the speed reducer 2, the speed reducer 2 is fixedly installed on the first inner fixed plate, the output end of the speed reducer 2 is fixedly connected with a first transmission gear 8, the first transmission gear 8 is in meshing transmission connection with the first gear set 6, the first gear set 6 and the second gear set 7 are fixedly transmission connected through the main transmission shaft 3, the first gear set 6 is also fixedly installed on the first inner fixed plate, the second gear set 7 is fixedly installed on the second inner fixed plate 4, the first inner fixed plate and the second inner fixed plate 4 are fixedly installed in the outer shell of the robot, the main transmission shaft 3 passes through the first inner fixed plate and the second inner fixed plate 4 and is respectively connected with a first cam assembly 9, the output end of the first gear set 6 and the second gear set 7 is connected with a second cam assembly 90, the first cam assembly 9 and the second cam assembly 90 are movably connected with the jacking frame 5.

[0021] The first cam assembly 9 and the second cam assembly 90 are the same structure, and the first cam assembly 9 and the second cam assembly 90 are symmetrically arranged.

[0022] The first cam assembly 9 comprises a first cam piece 91, one side of the first cam piece 91 is fixedly connected with the output end of the main transmission shaft 3 or the first gear set 6 or the second gear set 7, the other end of the first cam piece 91 is rotatably connected with a jacking rod through a bearing, the other end of the jacking rod is rotatably connected with a second cam piece 92, the other end of the second cam piece 92 is rotatably connected with the outer shell of the robot.

[0023] The jacking frame 5 is fixed with a transverse jacking connecting groove, and the jacking rod passes through the jacking connecting groove, so that the jacking connecting groove is in sliding connection with the first cam assembly 9 or the second cam assembly 90.

[0024] The jacking frame 5 is further fixed with a vertical lifting guide hole 51, and a lifting guide rod is fixedly installed in the outer shell of the robot and in sliding connection with the lifting guide hole 51.

[0025] The first cam piece 91 and the second cam piece 92 are identical in structure and each include a first rotating connecting part 93, a second rotating connecting part 94 and a cam body 95, the first rotating connecting part 93 is fixed on one side of the cam body 95, and the second rotating connecting part 94 is rotatably arranged on the end face of the other side of the cam body 95.

[0026] Both ends of the jacking frame 5 are provided with roller grooves 52, and roller bodies 53 are rotatably installed in the roller grooves 52, respectively.

[0027] The first gear set 6 and the second gear set 7 are identical in structure and each include main drive gears 61 arranged on both sides and auxiliary drive gears 62 arranged between the main drive gears 61, the main drive gears 61 and the auxiliary drive gears 62 are in meshing connection, the number of the main drive gears 61 is two, and the number of the auxiliary drive gears 62 is even.

[0028] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above embodiment, but any equivalent modification or change made by those skilled in the art according to the disclosed content of the present application shall be included in the protection scope recorded in the claims.

Claims

1. A stereoscopic storage robot jacking reversing mechanism, comprising a motor (1), a speed reducer (2), a main transmission shaft (3), a first and second inner fixed plate (4), a jacking frame (5), a first and second gear set (6) and (7), the motor (1) is fixedly installed on the speed reducer (2), and the output end of the motor (1) is fixedly connected with the input end of the speed reducer (2), the speed reducer (2) is fixedly installed on the first inner fixed plate, and the output end of the speed reducer (2) is fixedly connected with a first transmission gear (8), characterized in that: The first transmission gear (8) is in meshing transmission connection with the first gear set (6), the first gear set (6) and the second gear set (7) are fixedly and transmissionally connected through the main transmission shaft (3), the first gear set (6) is also fixedly installed on the first inner fixing plate, the second gear set (7) is fixedly installed on the second inner fixing plate (4), the first inner fixing plate and the second inner fixing plate (4) are fixedly installed in the outer shell of the robot, the main transmission shaft (3) passes through the first inner fixing plate and the second inner fixing plate (4) and is respectively connected with the first cam assembly (9), the output ends of the first gear set (6) and the second gear set (7) are connected with the second cam assembly (90), and the first cam assembly (9) and the second cam assembly (90) are movably connected with the jacking frame (5).

2. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 1, characterized in that: The first cam assembly (9) and the second cam assembly (90) are the same in structure, and the first cam assembly (9) and the second cam assembly (90) are symmetrically arranged.

3. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 1, characterized in that: The first cam assembly (9) comprises a first cam piece (91), one side of the first cam piece (91) is fixedly connected with the main transmission shaft (3) or the output end of the first gear set (6) or the second gear set (7), the other end of the first cam piece (91) is rotatably connected with a jacking rod through a bearing, the other end of the jacking rod is rotatably connected with a second cam piece (92), and the other end of the second cam piece (92) is rotatably connected with the outer shell of the robot.

4. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 1, characterized in that: A horizontal jacking connecting groove is fixedly and formed on the jacking frame (5), and the jacking connecting groove is slidably connected with the first cam assembly (9) or the second cam assembly (90).

5. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 1, characterized in that: A vertical lifting guide hole (51) is also fixedly and formed on the jacking frame (5), a lifting guide rod is fixedly installed in the outer shell of the robot, and the lifting guide rod is slidably connected with the lifting guide hole (51).

6. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 3, characterized in that: The first cam piece (91) and the second cam piece (92) are the same in structure and each comprise a first rotary connecting part (93), a second rotary connecting part (94) and a cam body (95), one side of the cam body (95) is fixedly provided with the first rotary connecting part (93), and the other side of the cam body (95) is rotatably provided with the second rotary connecting part (94).

7. The jacking and reversing mechanism of a stereoscopic storage robot according to claim 1, characterized in that: Roller bodies (53) are rotatably installed in roller grooves (52) formed at two ends of the jacking frame (5).

8. The jacking and reversing mechanism of a stereoscopic warehousing robot according to claim 1, characterized in that: The first gear set (6) and the second gear set (7) are the same in structure and each comprise two main transmission gears (61) provided at two sides and a plurality of sub-transmission gears (62) provided between the main transmission gears (61), the main transmission gears (61) and the sub-transmission gears (62) are in meshing connection, the number of the main transmission gears (61) is two, and the number of the sub-transmission gears (62) is even.

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