Large-stroke storage space robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a large-stroke storage space robot which comprises walking trolleys, a first cross beam, a second cross beam and a portal assembly, and the first cross beam is fixed between the two oppositely-arranged walking trolleys; the second cross beam reciprocates between the two walking trolleys in the X-axis direction so as to be close to or away from the first cross beam. The portal frame assembly comprises a first portal frame and a second portal frame which do reciprocating motion above the first cross beam and the second cross beam in the Y-axis direction respectively, and the first portal frame and the second portal frame can stretch out and draw back in the Z-axis direction; according to the utility model, a suspension structure in the prior art is replaced by the supporting structure, so that the stability of the whole structure is improved, and the lifting space of goods is increased; meanwhile, the walking trolleys arranged at the ends of the first cross beam and the second cross beam are used for replacing displacement structures arranged at the bottoms of the first cross beam and the second cross beam to enable the first cross beam and the second cross beam to be close to or away from each other, and the cargo lifting space is further increased.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, specifically relating to a long-stroke warehouse space robot. Background Technology

[0002] Chinese patent CN218138095U discloses a turnover frame grasping robot, which includes a main frame, a first frame, a first drive module for driving the first frame to slide along the X-axis direction and disposed at the bottom of the main frame, a truss body, and a second drive module for driving the second body to slide along the Y-axis direction and disposed at the bottom of the first frame. However, the first frame is suspended at the bottom of the main frame and the truss body is suspended at the bottom of the first frame. The suspension structure is not very stable, and the sequential suspension will result in limited space for lifting the storage frame. Utility Model Content

[0003] The technical problem to be solved by this utility model is: in order to solve the problem that the robot adopts a suspension structure in the prior art, which has low stability and the sequential suspension will lead to limited space for lifting the storage frame, a large stroke storage space robot is provided.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a long-stroke warehouse space robot, comprising:

[0005] The traveling trolley moves back and forth above the rail along the X-axis.

[0006] The first crossbeam is fixed between two opposing traveling trolleys;

[0007] The second crossbeam moves back and forth between the two traveling trolleys along the X-axis to approach or move away from the first crossbeam.

[0008] The gantry assembly includes a first gantry and a second gantry that reciprocate above a first crossbeam and a second crossbeam respectively along the Y-axis, and both the first gantry and the second gantry can extend and retract along the Z-axis.

[0009] Furthermore, an X-axis drive mechanism is provided between the second crossbeam and the traveling trolley, which includes an X-axis motor, an X-axis gear connected to the output end of the X-axis motor, and an X-axis rack meshing with the X-axis gear.

[0010] Furthermore, a Y-axis drive mechanism is provided between the first crossbeam and the first gantry and between the second crossbeam and the second gantry. The mechanism includes a Y-axis motor, a Y-axis gear connected to the output end of the Y-axis motor, and a Y-axis rack meshing with the Y-axis gear.

[0011] Furthermore, the X-axis rack is fixed to the top surface of the traveling trolley, and the X-axis racks on the two traveling trolleys are arranged opposite to each other;

[0012] The Y-axis rack is fixed to the top surface of the first and second crossbeams, and the two Y-axis racks are arranged opposite each other.

[0013] Furthermore, the first gantry extends toward the first crossbeam to form a first mounting section, and the second gantry extends toward the second crossbeam to form a second mounting section. Both the first mounting section and the second mounting section include a transverse section and a longitudinal section formed by bending downward from the end of the transverse section.

[0014] Furthermore, the first and second crossbeams protrude towards the two traveling trolleys respectively to form a first support portion and a second support portion, and both the first and second support portions are mounted on the top of the traveling trolleys.

[0015] Furthermore, an X-axis guide mechanism is provided between the second crossbeam and the side of the traveling trolley, and a Y-axis guide mechanism is provided between the first gantry and the side of the first crossbeam, and between the second gantry and the side of the second crossbeam.

[0016] Furthermore, the bottom of the traveling trolley is equipped with rollers, and the rails form a track that cooperates with the rollers.

[0017] Furthermore, the traveling trolley is equipped with limit plates at both ends for limiting the travel of the second crossbeam, and the limit plates are equipped with anti-tipping hooks for cooperating with the raceway.

[0018] Furthermore, both the X-axis gear and the Y-axis gear are helical gears, and both the X-axis rack and the Y-axis rack are helical racks.

[0019] The beneficial effects of this utility model are: This utility model adopts a support structure to replace the suspension structure in the prior art, which improves the stability of the overall structure and increases the lifting space of the goods. At the same time, it uses a traveling trolley set at the ends of the first crossbeam and the second crossbeam to replace the displacement structure set at the bottom of the first crossbeam and the second crossbeam to make the two move closer or further apart, which further increases the lifting space of the goods.

[0020] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0023] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0024] Figure 3 This is a schematic diagram showing the cooperation between the traveling trolley, the first crossbeam, and the second crossbeam in this utility model;

[0025] Figure 4 This is a top view of the present invention;

[0026] Figure 5 This is a side view of the present invention;

[0027] In the picture:

[0028] 1. Steel rail; 101. Roller track;

[0029] 2. Trolley; 201. Rollers; 202. Limiting plate; 203. Anti-tipping hook;

[0030] 3. First crossbeam; 301. First support section;

[0031] 4. Second crossbeam; 401. Second support section;

[0032] 5. First gantry; 501. First erection section;

[0033] 6. Second gantry; 601. Second erection section; 6011. Transverse section; 6012. Longitudinal section;

[0034] 7. X-axis drive mechanism; 701. X-axis motor; 702. X-axis rack;

[0035] 8. Y-axis drive mechanism; 801. Y-axis motor; 802. Y-axis rack;

[0036] 9. X-axis guide mechanism;

[0037] 10. Y-axis guiding mechanism; Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention. Therefore, they only show the components relevant to the present invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0039] like Figures 1-5 As shown, a long-stroke warehouse space robot includes:

[0040] Two traveling trolleys 2 are arranged opposite each other and move back and forth above rail 1 along the X-axis.

[0041] The first crossbeam 3 extends along the Y-axis and is fixed between two opposing traveling trolleys 2.

[0042] The second crossbeam 4 also extends along the Y-axis and moves back and forth between the two traveling trolleys 2 along the X-axis to approach or move away from the first crossbeam 3. The first crossbeam 3, the second crossbeam 4 and the two traveling trolleys 2 form a movable truss structure. The two traveling trolleys 2 can drive the first crossbeam 3 and the second crossbeam 4 on them to move synchronously, while the second crossbeam 4 can move independently.

[0043] The gantry assembly includes a first gantry 5 and a second gantry 6 that reciprocate above the first crossbeam 3 and the second crossbeam 4 respectively along the Y-axis, and both the first gantry 5 and the second gantry 6 can extend and retract along the Z-axis and are equipped with forks at the bottom for gripping goods.

[0044] First, the traveling trolley 2 moves the first crossbeam 3 and the second crossbeam 4 along the X-axis to the vicinity of the gripping position. The first mast 5 and the second mast 6 move along the Y-axis to the gripping position. Then, the second crossbeam 4 moves along the X-axis to adjust the distance between the first mast 5 and the second mast 6 according to the size of the goods, thereby gripping the goods. In this application, the traveling trolley 2 is installed above the rail 1, and the mounting points of the mast assembly and the first crossbeam 3 and the second crossbeam 4 are also located at the top of the first crossbeam 3 and the second crossbeam 4. The support structure is used instead of the suspension structure in the prior art, which improves the stability of the overall structure and increases the lifting space of the goods. At the same time, the traveling trolley 2 set at the ends of the first crossbeam 3 and the second crossbeam 4 replaces the displacement structure set at the bottom of the first crossbeam 3 and the second crossbeam 4 to make them move closer or further apart, which further increases the lifting space of the goods and expands the scope of application of this application.

[0045] In some examples, an X-axis drive mechanism 7 is provided between the second crossbeam 4 and the traveling trolley 2. The mechanism includes an X-axis motor 701, an X-axis gear connected to the output end of the X-axis motor 701, and an X-axis rack 702 meshing with the X-axis gear. The X-axis motor 701 is mounted on the second crossbeam 4, and the X-axis rack 702 is mounted on the traveling trolley 2. The X-axis motor 701 drives the X-axis gear to rotate, and the meshing of the X-axis gear and the X-axis rack 702 drives the second crossbeam 4 to reciprocate along the X-axis direction. A felt gear is installed at the end of the second crossbeam 4.

[0046] In some examples, a Y-axis drive mechanism 8 is provided between the first crossbeam 3 and the first gantry 5, and between the second crossbeam 4 and the second gantry 6. The mechanism includes a Y-axis motor 801, a Y-axis gear connected to the output end of the Y-axis motor 801, and a Y-axis rack 802 meshing with the Y-axis gear. The Y-axis motor 801 is mounted on the first gantry 5 or the second gantry 6, and the Y-axis rack 802 is mounted on the first crossbeam 3 or the second gantry 4. The Y-axis motor 801 drives the Y-axis gear to rotate, and the meshing of the Y-axis gear and the Y-axis rack 802 drives the first gantry 5 and the second gantry 6 to reciprocate along the Y-axis direction. Both the first gantry 5 and the second gantry 6 are equipped with felt gears.

[0047] In some examples, the X-axis rack 702 is fixed to the top surface of the traveling trolley 2 and the X-axis racks 702 on the two traveling trolleys 2 are arranged opposite to each other. The two X-axis gears are located outside the two X-axis racks 702. When the X-axis gears mesh with the X-axis racks 702, a hook relationship is formed between the X-axis gears and the X-axis racks 702, thereby having an anti-tipping effect and effectively preventing the second crossbeam 4 from detaching from the traveling trolley 2.

[0048] The Y-axis rack 802 is fixed to the top surface of the first crossbeam 3 and the second crossbeam 4, and the two Y-axis racks 802 are arranged opposite to each other. The two Y-axis gears are located on the outside of the two Y-axis racks 802, and the first gantry 5 and the second gantry 6 are located on the inside of the two Y-axis racks 802. When the Y-axis gears mesh with the Y-axis racks 802, a hook relationship is formed between the Y-axis gears and the Y-axis racks 802, thereby having an anti-overturning effect and effectively preventing the first gantry 5 from detaching from the first crossbeam 3 or the second gantry 6 from detaching from the second crossbeam 4.

[0049] In some examples, the first gantry 5 extends toward the first crossbeam 3 to form a first support portion 501, and the second gantry 6 extends toward the second crossbeam 4 to form a second support portion 601. Both the first support portion 501 and the second support portion 601 include a transverse section 6011 and a longitudinal section 6012 formed by bending downward from the end of the transverse section 6011 to form a hook-like structure. The transverse section 6011 of the first support portion 501 is mounted above the first crossbeam 3, and the first crossbeam 3 supports the first gantry 5. The longitudinal section 6012 of the first support portion 501 is clamped on the outside of the first crossbeam 3 to prevent the first gantry 5 from overturning. The transverse section 6011 of the second support portion 601 is mounted above the second crossbeam 4, and the second crossbeam 4 supports the second gantry 6. The longitudinal section 6012 of the second support portion 601 is clamped on the outside of the second crossbeam 4 to prevent the second gantry 6 from overturning.

[0050] In some examples, the first crossbeam 3 and the second crossbeam 4 protrude towards the two traveling trolleys 2 respectively to form a first support 301 and a second support 401. The first support 301 and the second support 401 are both mounted on the top of the traveling trolleys 2, so that the traveling trolleys 2 can support the first crossbeam 3 and the second crossbeam 4 to improve the stability of the overall structure.

[0051] In some examples, an X-axis guide mechanism 9 is provided between the second crossbeam 4 and the inner side of the traveling trolley 2, and a Y-axis guide mechanism 10 is provided between the first gantry 5 and the inner side of the first crossbeam 3 and between the second gantry 6 and the inner side of the second crossbeam 4. Both the X-axis guide mechanism 9 and the Y-axis guide mechanism 10 are slide rail slider combinations.

[0052] In some examples, the bottom of the traveling trolley 2 is equipped with rollers 201, and the rail 1 is in the shape of an "I" with a raceway 101 that cooperates with the rollers 201. The rollers 201 and the raceway 101 cooperate to drive the traveling trolley 2 to move back and forth along the X-axis.

[0053] In some examples, the traveling trolley 2 is equipped with limit plates 202 at both ends for limiting the travel of the second crossbeam 4, and the limit plates 202 are equipped with anti-tipping hooks 203 for cooperating with the raceway 101. The anti-tipping hooks 203 extend into the raceway 101 to clamp the rail 1, and the limit plates 202 are equipped with brush strips for cleaning the rail 1.

[0054] In some examples, the X-axis gear and the Y-axis gear are both helical gears, and the X-axis rack 702 and the Y-axis rack 802 are both helical racks. The gears and racks with helical tooth structures improve the load-bearing capacity and operate smoothly with low noise.

[0055] Working principle:

[0056] First, the traveling trolley 2 moves the first crossbeam 3 and the second crossbeam 4 along the X-axis to near the gripping position. The Y-axis motor 801 drives the Y-axis gear to rotate, and the Y-axis gear meshes with the Y-axis rack 802, moving the first mast 5 and the second mast 6 along the Y-axis to the gripping position. Then, the X-axis motor 701 drives the X-axis gear to rotate, and the X-axis gear meshes with the X-axis rack 702, moving the second crossbeam 4 along the X-axis to adjust the distance between the first mast 5 and the second mast 6 according to the cargo size, thereby gripping the cargo. In this application, the traveling trolley 2 is installed above the rail 1, and the first crossbeam 3 and the second crossbeam 4 are... The first gantry 5 is mounted on the traveling trolley 2 via the first support part 301 and the second support part 401, and the second gantry 6 is mounted on the top of the second crossbeam 4 via the first mounting part 501. Therefore, this application adopts a supporting structure to replace the suspension structure in the prior art, which improves the overall structural stability and increases the lifting space of the goods. At the same time, the traveling trolley 2 set at the ends of the first crossbeam 3 and the second crossbeam 4 replaces the displacement structure set at the bottom of the first crossbeam 3 and the second crossbeam 4 to make the two move closer or further apart, which further increases the lifting space of the goods.

[0057] The above description, based on the preferred embodiments of this utility model, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. A long-stroke warehouse space robot, characterized in that: include: The traveling trolley (2) moves back and forth above the rail (1) along the X-axis. The first crossbeam (3) is fixed between two opposing traveling trolleys (2); The second crossbeam (4) moves back and forth between the two traveling trolleys (2) along the X-axis to approach or move away from the first crossbeam (3); The gantry assembly includes a first gantry (5) and a second gantry (6) that reciprocate above a first crossbeam (3) and a second crossbeam (4) respectively along the Y-axis, and both the first gantry (5) and the second gantry (6) can extend and retract along the Z-axis.

2. The long-stroke warehouse space robot according to claim 1, characterized in that: An X-axis drive mechanism (7) is provided between the second crossbeam (4) and the traveling trolley (2), which includes an X-axis motor (701), an X-axis gear connected to the output end of the X-axis motor (701), and an X-axis rack (702) meshing with the X-axis gear.

3. The long-stroke warehouse space robot according to claim 2, characterized in that: A Y-axis drive mechanism (8) is provided between the first crossbeam (3) and the first gantry (5) and between the second crossbeam (4) and the second gantry (6). The mechanism includes a Y-axis motor (801), a Y-axis gear connected to the output end of the Y-axis motor (801), and a Y-axis rack (802) meshing with the Y-axis gear.

4. A long-stroke warehouse space robot according to claim 3, characterized in that: The X-axis rack (702) is fixed to the top surface of the traveling trolley (2) and the X-axis racks (702) on the two traveling trolleys (2) are arranged opposite to each other; The Y-axis rack (802) is fixed on the top surface of the first crossbeam (3) and the second crossbeam (4), and the two Y-axis racks (802) are arranged opposite to each other.

5. A long-stroke warehouse space robot according to claim 1, characterized in that: The first gantry (5) extends toward the first crossbeam (3) to form a first mounting section (501), and the second gantry (6) extends toward the second crossbeam (4) to form a second mounting section (601). Both the first mounting section (501) and the second mounting section (601) include a transverse section (6011) and a longitudinal section (6012) formed by bending downward from the end of the transverse section (6011).

6. A long-stroke warehouse space robot according to claim 1, characterized in that: The first crossbeam (3) and the second crossbeam (4) protrude toward the two traveling trolleys (2) respectively to form a first support part (301) and a second support part (401), and the first support part (301) and the second support part (401) are both mounted on the top of the traveling trolley (2).

7. A long-stroke warehouse space robot according to claim 1, characterized in that: An X-axis guide mechanism (9) is provided between the second crossbeam (4) and the side of the traveling trolley (2), and a Y-axis guide mechanism (10) is provided between the first gantry (5) and the side of the first crossbeam (3) and between the second gantry (6) and the side of the second crossbeam (4).

8. A long-stroke warehouse space robot according to claim 1, characterized in that: The bottom of the trolley (2) is equipped with rollers (201), and the rail (1) forms a raceway (101) that cooperates with the rollers (201).

9. A long-stroke warehouse space robot according to claim 8, characterized in that: The traveling trolley (2) is equipped with limit plates (202) at both ends for limiting the travel of the second crossbeam (4), and the limit plates (202) are equipped with anti-overturning hooks (203) for cooperating with the raceway (101).

10. A long-stroke warehouse space robot according to claim 3, characterized in that: Both the X-axis gear and the Y-axis gear are helical gears, and both the X-axis rack (702) and the Y-axis rack (802) are helical racks.

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