Transportation device

Abstract

The utility model relates to a transportation device, which comprises a base unit, a supporting unit, a supporting unit, a supporting unit and a driving unit, and is characterized in that the base unit is provided with a rotatably supported rotating piece; the first motor is provided with a first controller; the first motor is provided with a driving gear meshed with the outer tooth part and is configured to be suitable for driving the rotating piece of the base unit to rotate; the middle bearing plate is fixedly arranged on the rotating part and can rotate along with the rotating part; the conveying unit is fixedly arranged on the middle bearing plate and is configured to be suitable for enabling the articles placed on the conveying unit to move in a translation mode; and the second motor is provided with a second controller, the second motor is configured to be suitable for driving the conveying unit, and the first controller and the second controller are configured to be suitable for enabling the first motor and the second motor to controllably decelerate and stop respectively. And the transportation precision and the transportation stability can be effectively improved, so that the transported product is accurately and stably stopped at an expected position.

Description

A transport device Technical Field

[0001] This utility model relates to the field of transportation, and in particular to a transportation device. Background Technology

[0002] In the fields of logistics sorting or machining, composite transport devices that integrate rotary and linear motion are commonly used. These composite transport devices have a lower rotating module that provides horizontal rotation capability and an upper conveyor belt module that provides linear conveying function, in order to achieve multi-degree-of-freedom and highly flexible logistics transport.

[0003] In existing composite transport devices, the lower rotating module is driven by a pneumatic motor or a three-phase asynchronous motor and is rigidly stopped at a specified angle position by a hard limit block, while the upper conveyor belt module is also stopped at a specified straight position by a hard stop. This will generate a large impact force and vibration and cause the transported products to be unstable. In severe cases, it may even cause the transported products to fall. Summary of the Invention

[0004] Therefore, the purpose of this utility model is to propose an improved transportation device that can effectively improve transportation accuracy and stability, so that the transported products can stop precisely and smoothly at the desired position.

[0005] According to the present invention, a transport device is provided, wherein the transport device comprises at least:

[0006] - A base unit having a rotatable supporting rotating member, the rotating member being provided with external teeth;

[0007] - A first motor with a first controller, the first motor having a drive gear that meshes with the external teeth and being configured to drive the rotating part of the base unit to rotate;

[0008] - An intermediate support plate, which is fixedly arranged on the rotating component and can rotate with the rotating component;

[0009] - A conveying unit, which is fixedly arranged on the intermediate support plate and configured to move an item placed on the conveying unit in a translational manner; and

[0010] - A second motor with a second controller, the second motor being configured to drive the conveying unit.

[0011] The first controller and the second controller are configured to controllably decelerate and stop the first motor and the second motor, respectively.

[0012] Compared to existing technologies, in the transportation device according to this invention, the rotating component of the base unit meshes with the drive gear of the first motor via its external teeth, enabling the first motor to drive the rotating component to rotate. The conveying unit, via an intermediate support plate fixedly arranged on the rotating component, rotates with the rotating component. This conveying unit is driven by a second motor to cause the item placed on the conveying unit to translate. A first controller for the first motor and a second controller for the second motor controllably decelerate and stop both motors, allowing the rotating component to softly stop at a specified angular position and the item placed on the conveying unit to softly stop at a specified linear position. Within the framework of this application, "hard stop" should be understood as a braking method that forces a moving object to stop instantly through physical intervention, while "soft stop" should be understood as a braking method that achieves gradual deceleration through electronic control or algorithms, allowing the moving object to gradually reduce its speed before reaching the target position until it finally stops smoothly. The transportation device according to this invention can effectively avoid mechanical impacts caused by hard stops, reduce fatigue damage to transmission components, improve dynamic adaptability, positional accuracy, and transportation stability, and also reduce vibration noise and improve the working environment.

[0013] According to one exemplary embodiment, the first motor is a permanent magnet synchronous motor, and the first controller is a servo driver; and / or, the second controller is selected from the group consisting of: frequency converter, servo driver, soft starter; and / or, the second motor is selected from the group consisting of: AC asynchronous motor, permanent magnet synchronous motor, stepper motor, brushless DC motor, brushed DC motor.

[0014] According to an exemplary embodiment, the first controller and the second controller are constructed in the same or different ways, and the first motor and the second motor are constructed in the same or different ways; and / or, the first controller and the first motor are constructed integratedly or separately, and the second controller and the second motor are constructed integratedly or separately.

[0015] According to one exemplary embodiment, the base unit has an adjusting bolt configured to adjust the clearance between the drive gear and the external teeth.

[0016] According to an exemplary embodiment, the intermediate support plate is provided with an observation window, which overlaps with the meshing portion of the drive gear and the external teeth in a projection plane perpendicular to the height direction.

[0017] According to one exemplary embodiment, the transport device additionally includes a lubrication gear that meshes with the drive gear and is configured to provide lubricant to the drive gear.

[0018] According to an exemplary embodiment, a plurality of first mounting holes are uniformly arranged in the intermediate support plate in a manner surrounding the rotating member, and the intermediate support plate is fixedly arranged on the rotating member through the first mounting holes; and / or, a plurality of rows of second mounting holes are respectively provided on opposite sides of the intermediate support plate, and the conveying unit is fixedly arranged on the intermediate support plate on the corresponding side through the rows of second mounting holes.

[0019] According to an exemplary embodiment, the conveying unit has at least two rows of rollers and a tray supported on the rollers. The second motor converts the rotational motion of the output shaft into the rotational motion of the rollers through the motion conversion mechanism of the conveying unit. The rotational motion of the rollers causes the tray to translate. And / or, the conveying unit has a first conveying component extending along a first conveying direction and a second conveying component extending along a second conveying direction, the first conveying direction being perpendicular to the second conveying direction. The first conveying component and the second conveying component are constructed identically, such that the conveying unit is constructed in a four-fold rotational symmetry about a center.

[0020] According to one exemplary embodiment, the conveying unit has at least one position sensor configured to detect the position of the tray, wherein the second controller is configured to control the second motor to decelerate and stop based on the detection signal from the position sensor.

[0021] According to one exemplary embodiment, the conveying unit has at least one stopper that restricts the translational movement of the tray when the tray reaches a target straight position.

[0022] According to one exemplary embodiment, the conveying unit has a plurality of position sensors arranged at intervals along the conveying direction, wherein the second controller is configured to adjust the deceleration of the second motor according to the detection signals of the different position sensors.

[0023] According to one exemplary embodiment, the conveying unit has at least two stops arranged spaced apart along the conveying direction, wherein when the tray reaches a target straight position, at least a portion of the tray is engaged between the stops. Attached Figure Description

[0024] The present invention will now be described in more detail with reference to the accompanying drawings, which will provide a better understanding of its principles, features, and advantages. The drawings include:

[0025] Figures 1a and 1b show an exploded view and an assembled view of a transport device according to an exemplary embodiment of the present invention, respectively;

[0026] Figure 2 shows a top view of the concealed conveying unit of a transport device according to an exemplary embodiment of the present invention;

[0027] Figure 3 shows a perspective view of the intermediate support plate of a transport device according to an exemplary embodiment of the present invention;

[0028] Figure 4 shows a perspective view of the pallet of the conveying unit of a transport device according to an exemplary embodiment of the present invention. Detailed Implementation

[0029] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model. Here, for the sake of brevity, elements with the same reference numerals are indicated only once in the drawings.

[0030] In this specification, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection, an indirect connection via an intermediate support plate, or a connection within two components. Those skilled in the art will understand the meaning of these terms in this disclosure as appropriate.

[0031] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0032] Figures 1a and 1b show an exploded view and an assembled view of a transport device 100 according to an exemplary embodiment of the present invention, respectively. Here, the transport device 100 can be used, for example, in the fields of logistics sorting or machining, and can be used in conjunction with other transport devices.

[0033] As shown in Figures 1a and 1b, the transport device 100 includes a base unit 10, which has a rotatable supporting rotating member 11 and a fixed base 12 for supporting the rotating member 11. The rotating member has a bearing, through which the rotating member 11 can rotate independently of the fixed base 12. The rotating member 11 is provided with an external toothed portion 13.

[0034] As shown in Figures 1a and 1b, the transport device 100 includes a first motor 20 with a first controller. The first motor has a drive gear 21 that meshes with the external teeth 13 of the rotating member 11 and is configured to drive the rotating member 11 of the base unit 10 to rotate via the drive gear 21. The first controller is configured to controllably decelerate and stop the first motor 20, allowing the rotating member 11 to reach a desired angular position with a soft stop. Here, for example, a bevel gear pair can be provided between the output shaft of the first motor 20 and the drive gear 21 so that the rotation direction of the drive gear 21 is perpendicular to the rotation direction of the output shaft, which enables flexible arrangement of the first motor 20.

[0035] As shown in Figure 1a, the transport device 100 includes an intermediate support plate 30, which is fixedly arranged on the rotating member 11 and can rotate with the rotating member 11. In particular, a plurality of first mounting holes 31 are evenly arranged in the intermediate support plate 30 around the rotating member 11, and mounting holes are also arranged at corresponding positions on the rotating member 11. The intermediate support plate 30 can be fixedly arranged on the rotating member 11 by screwing bolts into these first mounting holes 31.

[0036] As shown in Figures 1a and 1b, the transport device 100 includes a conveying unit 40, which is fixedly arranged on an intermediate support plate 30 and configured to move items placed on the conveying unit 40 in a translational manner. In this configuration, when the rotating member 11 rotates, it causes the intermediate support plate 30 and the conveying unit 40 to rotate together. Specifically, the conveying unit 40 has at least two rows of rollers 41 and trays 42 supported on the rollers 41, which are shown separately in Figure 4. When the rollers 41 rotate, for example, under the action of friction between the rollers 41 and the trays 42, the trays 42 translate in the conveying direction, thereby translating the items placed on the trays 42. Other configurations that are of interest to those skilled in the art are also possible, such as a conveyor belt spread between the rollers or a conveyor roller conveyor formed by a plurality of sequentially arranged conveyor rollers.

[0037] As shown in Figures 1a and 1b, the transport device 100 includes a second motor 50 with a second controller. The second motor is configured to drive the conveying unit 40, particularly the rollers 41, to translate a pallet 42 supported on the rollers 41 and items placed on the pallet 42 along the conveying direction. The second controller is configured to controllably decelerate and stop the second motor 50, allowing the pallet 42, or the items to be conveyed, to reach a desired linear position with a soft stop. Specifically, the second motor 50 converts the rotational motion of its output shaft into the rotational motion of the rollers 41 via a motion conversion mechanism 43 of the conveying unit 40. This motion conversion mechanism, for example, has a connecting rod and multiple bevel gear pairs, where one bevel gear is fixedly connected to the connecting rod and the other bevel gear is fixedly connected to the rollers 41. This allows the rotational motion of the output shaft of the second motor 50 to be simultaneously transmitted to each roller 41, thereby achieving synchronous rotation of the rollers 41. Furthermore, it is possible to consider that the conveying unit 40 has a first conveying component extending along a first conveying direction and a second conveying component extending along a second conveying direction, the first conveying direction being perpendicular to the second conveying direction. The first and second conveying components are constructed identically, such that the conveying unit 40 is constructed with four rotational symmetries around a center, i.e., the conveying unit 40 has a periodic symmetric structure with a minimum repeating unit of 90°. This allows for flexible arrangement of the conveying unit 40 and adaptation to complex logistics paths.

[0038] For example, the first motor 20 is constructed as a permanent magnet synchronous motor, and the first controller is constructed as a servo driver. The servo driver, for example, achieves soft stopping of the first motor 20 through closed-loop feedback regulation, so that the first motor 20 operates as a servo motor to accurately and quickly stop the rotating part 11 of the base unit 10 at a designated position. Here, the second motor 50 can be selected from the following group: AC asynchronous motor, permanent magnet synchronous motor, stepper motor, brushless DC motor, brushed DC motor; and the second controller can be selected from the following group: frequency converter, servo driver, soft starter. Different types of controller and motor combinations are selected for the second motor 50 according to actual needs. For example, the second motor 50 is constructed as an AC asynchronous motor, and the second controller is constructed as a frequency converter, which achieves soft stopping of the second motor 50 by changing the power supply frequency and voltage. Of course, other configurations of the motor and controller that are considered meaningful by those skilled in the art can also be considered. In particular, the first controller and the second controller can be constructed the same or different, and the first motor 20 and the second motor 50 can also be constructed the same or different.

[0039] For example, the first controller and the first motor 20 can be constructed integratedly, and the second controller and the second motor 50 can also be constructed integratedly to achieve a compact structure of the transport device 100. However, it is also conceivable that the first controller and the first motor 20 are constructed separately, and the second controller and the second motor 50 are also constructed separately, which is beneficial for heat dissipation performance. Here, the first controller and the second controller are not shown for summary reasons.

[0040] Exemplarily, as shown in Figures 1a and 1b, the conveying unit 40 has at least one position sensor 44 configured to detect the position of the tray 42 and electrically connected to a second controller for the second motor 50 to send a detection signal to the second controller, which can control the second motor 50 to decelerate and stop based on the detection signal from the position sensor 44. Here, the position sensor 44 is configured, for example, as a Hall sensor and arranged between two rows of rollers 41. In particular, the conveying unit 40 has a plurality of, for example, two position sensors 44 spaced apart along the conveying direction, wherein the second controller can determine the conveying direction of the tray 42 based on the detection signals from different position sensors 44 and adjust the deceleration of the second motor 50 accordingly. For example, when the first position sensor 44 on the right sends a detection signal first, the second controller can determine that the tray 42 is conveyed from right to left and control the second motor 50 to decelerate at the desired deceleration first, while when the second position sensor 44 sends a detection signal, the second controller can determine that the tray 42 has reached the target straight position and control the second motor 50 to stop. This allows the tray 42 to stop more smoothly and accurately at the target straight position.

[0041] For example, as shown in Figures 1a and 1b, the conveying unit 40 has at least two stops 45 spaced apart along the conveying direction. The stops are arranged between two rows of rollers 41 and operate by means of a pneumatic spring. When the tray 42 reaches the target straight position, the stops 45 rise and restrict the translational movement of the tray 42, thereby ensuring that the tray 42 stops precisely at the desired position. When the tray 42 reaches the target straight position, at least a portion of the tray 42, especially the protrusion 46 relative to the lower side, is engaged between the two stops 45, which reliably prevents the tray 42 from shaking.

[0042] Figure 2 shows a top view of the concealed conveying unit 40 of a transport device 100 according to an exemplary embodiment of the present invention. Figure 3 shows a perspective view of the intermediate support plate 30 of the transport device 100 according to an exemplary embodiment of the present invention.

[0043] As shown in Figures 2 and 3, second mounting holes 32 are provided on opposite sides of the intermediate support plate 30. The conveying unit 40 is fixedly arranged on the intermediate support plate 30 on the corresponding side through these second mounting holes 32, so as to rotate with the intermediate support plate 30. In particular, as shown in Figure 3, multiple rows, such as two rows, of second mounting holes 32 are provided on opposite sides of the intermediate support plate 30, thereby allowing flexible adaptation to conveying units 40 and trays 42 with different widths and the same bottom structure.

[0044] For example, as shown in FIG2, the base unit 10 has an adjusting bolt 14 configured to adjust the position of the drive gear 21, thereby adjusting the gap between the drive gear 21 and the external tooth 13 of the rotating member 11, so as to ensure good meshing between the drive gear 21 and the external tooth 13 and avoid undesirable damage to the drive gear 21.

[0045] For example, as shown in Figures 2 and 3, the intermediate support plate 30 is provided with an observation window 33. In the projection plane perpendicular to the height direction, the observation window 33 overlaps with the meshing part of the drive gear 21 and the external gear 13, allowing the user to directly observe the meshing of the drive gear 21 and the external gear 13 from above through the observation window 33. By adjusting the cooperation between the bolt 14 and the observation window 33, the maintenance process of the transport device 100, especially the drive gear 21, can be significantly simplified.

[0046] Exemplarily, the transport device 100 additionally includes a lubrication gear (not shown for simplicity), which meshes with the drive gear 21 and is configured to provide lubricant to the drive gear 21. The lubrication gear allows for automatic lubrication of the drive gear 21 and the external gear 13 during operation, thereby significantly simplifying the maintenance process of the transport device 100 and reducing maintenance costs.

[0047] The foregoing description of the embodiments is limited to the framework of the examples described herein. Of course, the various features of the embodiments can be freely combined with each other without departing from the framework of this invention, as long as it is technically meaningful.

[0048] Other advantages and alternative embodiments of this invention will be apparent to those skilled in the art. Therefore, this invention is not, in its broader sense, limited to the specific details, representative structures, and exemplary embodiments shown and described. Rather, those skilled in the art can make various modifications and substitutions without departing from the basic spirit and scope of this invention.

Claims

1. A transport device (100), characterized in that, The transport device (100) includes at least: - a base unit (10) having a rotatably supported rotating member (11) having an external toothed portion (13); - a first motor (20) with a first controller having a drive gear (21) meshing with the external toothed portion (13) and configured to drive the rotating member (11) of the base unit (10) to rotate; - an intermediate support plate (30) fixedly arranged on the rotating member (11). 1) and can rotate with the rotating member (11); - a conveying unit (40), which is fixedly arranged on the intermediate support plate (30) and configured to move an item placed on the conveying unit (40) in a translational manner; and - a second motor (50) with a second controller, which is configured to drive the conveying unit (40), wherein the first controller and the second controller are configured to controllably decelerate and stop the first motor (20) and the second motor (50) respectively.

2. The transport device (100) according to claim 1, characterized in that, The first motor (20) is a permanent magnet synchronous motor, and the first controller is a servo driver; and / or the second motor (50) is selected from the group consisting of: AC asynchronous motor, permanent magnet synchronous motor, stepper motor, DC brushless motor, brushed DC motor; and / or the second controller is selected from the group consisting of: frequency converter, servo driver, soft starter.

3. The transport device (100) according to claim 1 or 2, characterized in that, The first controller and the second controller are constructed in the same or different ways, and the first motor (20) and the second motor (50) are constructed in the same or different ways; and / or the first controller and the first motor (20) are constructed in an integrated or separate way, and the second controller and the second motor (50) are constructed in an integrated or separate way.

4. The transport device (100) according to claim 1 or 2, characterized in that, The base unit (10) has an adjusting bolt (14) configured to adjust the gap between the drive gear (21) and the external tooth (13).

5. The transport device (100) according to claim 4, characterized in that, The intermediate support plate (30) is provided with an observation window (33), which overlaps with the meshing part of the drive gear (21) and the external tooth (13) in the projection plane perpendicular to the height direction.

6. The transport device (100) according to claim 1 or 2, characterized in that, The transport device (100) additionally has a lubrication gear that meshes with the drive gear (21) and is configured to provide lubricant to the drive gear (21).

7. The transport device (100) according to claim 1 or 2, characterized in that, A plurality of first mounting holes (31) are evenly arranged in the intermediate support plate (30) in a manner surrounding the rotating member (11), and the intermediate support plate (30) is fixedly arranged on the rotating member (11) through the first mounting holes (31); and / or a plurality of rows of second mounting holes (32) are respectively provided on opposite sides of the intermediate support plate (30), and the conveying unit (40) is fixedly arranged on the intermediate support plate (30) on the corresponding side through the rows of second mounting holes (32).

8. The transport device (100) according to claim 1 or 2, characterized in that, The conveying unit (40) has at least two rows of rollers (41) and a tray (42) supported on the rollers (41). The second motor (50) converts the rotational motion of the output shaft into the rotational motion of the rollers (41) through the motion conversion mechanism (43) of the conveying unit (40). The rotational motion of the rollers (41) causes the tray (42) to translate. And / or the conveying unit (40) has a first conveying component extending along a first conveying direction and a second conveying component extending along a second conveying direction, the first conveying direction being perpendicular to the second conveying direction. The first conveying component and the second conveying component are constructed identically, such that the conveying unit (40) is constructed in a four-fold rotational symmetry around a center.

9. The transport device (100) according to claim 8, characterized in that, The conveying unit (40) has at least one position sensor (44) configured to detect the position of the tray (42), wherein the second controller is configured to control the second motor (50) to decelerate and stop according to the detection signal of the position sensor (44); and / or the conveying unit (40) has at least one stopper (45) that restricts the translational movement of the tray (42) when the tray (42) reaches the target straight position.

10. The transport device (100) according to claim 9, characterized in that, The conveying unit (40) has a plurality of position sensors (44) spaced apart along the conveying direction, wherein the second controller is configured to adjust the deceleration of the second motor (50) according to the detection signals of the different position sensors (44); and / or the conveying unit (40) has at least two stops (45) spaced apart along the conveying direction, wherein when the tray (42) reaches the target straight position, at least a portion of the tray (42) is engaged between the stops (45).

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