Warehousing robot walking guide structure

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a walking guide structure of a storage robot, which comprises a guide wheel, an eccentric wheel shaft connected with the guide wheel and a combined wheel seat for mounting the eccentric wheel shaft, the combined wheel seat comprises a fixed seat fixed on the walking trolley and an adjusting seat capable of being close to or far away from the fixed seat, and the fixed seat and the adjusting seat are enclosed to form a mounting cavity for mounting an eccentric wheel shaft; the guide wheels are used for guiding the walking trolley when the walking trolley moves, guarantee is provided for walking of the walking wheels, the risk of derailing is reduced, real-time adjustment of the guide wheels is achieved through the eccentric wheel shafts, and safe walking of the walking trolley is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, specifically relating to a walking guide structure for a warehouse robot. Background Technology

[0002] Chinese patent CN110919636B discloses a rigid lifting shaft heavy-duty truss robot, which has a pair of trusses supported by columns and arranged at a distance. The trusses are provided with a transverse track, and a large frame that moves laterally along the trusses is provided on the transverse track. Large wheels that roll and cooperate with the transverse track are respectively installed at the four corners of the large frame. The large frame is provided with a longitudinal track, and a small frame that moves longitudinally along the large frame is provided on the longitudinal track. Small wheels that roll and cooperate with the longitudinal track are respectively installed at the four corners of the small frame. In this application, both the large wheels and the small wheels are drive wheels. When they roll on the transverse track and the longitudinal track respectively, there is a risk of derailment, which poses a great safety hazard. Utility Model Content

[0003] The technical problem to be solved by this utility model is: in order to solve the problem that the robot's main frame and auxiliary frame have a risk of derailment when they roll on the transverse and longitudinal tracks by the large wheels and small wheels respectively, which poses a great safety hazard, a walking guide structure for a warehouse robot is provided.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a walking guide structure for a warehouse robot, which is installed on a walking trolley and cooperates with the roller groove of the wheel rail, including a guide wheel, an eccentric wheel axle connected to the guide wheel, and a combined wheel seat for mounting the eccentric wheel axle. The combined wheel seat includes a fixed seat fixed on the walking trolley and an adjustable seat that can approach or move away from the fixed seat. The fixed seat and the adjustable seat enclose and form an installation cavity for mounting the eccentric wheel axle.

[0005] Furthermore, the upper end of the eccentric wheel shaft contracts radially to form a limiting groove, and a limiting plate is fixed on the adjusting seat to engage with the limiting groove to axially limit the eccentric wheel shaft.

[0006] Furthermore, the top of the eccentric wheel shaft is formed with an irregularly shaped portion for the rotating tool to grip.

[0007] Furthermore, the guide wheel includes a roller sleeved outside the eccentric wheel shaft and a bearing located between the eccentric wheel shaft and the roller.

[0008] Furthermore, the eccentric wheel shaft has an axial oil passage and a radial oil passage connected to the axial oil passage.

[0009] Furthermore, the traveling trolley is equipped with hooks for engaging with the chute to confine itself to the wheel rail.

[0010] Furthermore, the walking guide structures are arranged in pairs, and a fixing sleeve is provided between the two walking guide structures to fix them together, and the wheel rail is formed with a through hole for the fixing sleeve to pass through.

[0011] Furthermore, the guide wheel also includes a rubber-coated wheel covering the outside of the roller. The rubber-coated wheel has a limiting part protruding from its upper inner wall along its axial direction to limit the upper limit position of the roller. The rubber-coated wheel has a groove recessed from its lower inner wall along its axial direction, and an elastic retaining ring is installed in the groove to limit the lower limit position of the roller.

[0012] The beneficial effects of this utility model are: this utility model uses guide wheels to provide guidance for the movement of the traveling trolley and to ensure the movement of the traveling wheels, reducing the risk of derailment, and uses eccentric wheel shafts to realize real-time adjustment of the guide wheels, ensuring the safe movement of the traveling trolley.

[0013] 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

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a three-dimensional schematic diagram of the present invention in conjunction with a wheel and rail system;

[0016] Figure 2 This is a top view of the present invention in conjunction with a wheel and rail system;

[0017] Figure 3 yes Figure 2 A cross-sectional view along the AA direction;

[0018] Figure 4 This is a three-dimensional schematic diagram of the present invention;

[0019] Figure 5 This is a three-dimensional schematic diagram of the eccentric wheel shaft in this utility model;

[0020] Figure 6 This is a cross-sectional view of the guide wheel;

[0021] Figure 7 This is a 3D schematic diagram of a warehouse robot;

[0022] In the picture:

[0023] 1. Walking trolley; 101. Frame; 102. Walking wheels; 103. Drive motor;

[0024] 2. Wheel and rail; 201. Groove;

[0025] 3. Guide wheel; 301. Roller; 302. Bearing; 303. Rubber-coated wheel; 3031. Limiting part; 3032. Slot; 304. Elastic retaining ring;

[0026] 4. Eccentric wheel shaft; 401. Limiting groove; 402. Irregularly shaped part; 403. Axial oil passage; 404. Radial oil passage; 405. Pressure plate;

[0027] 5. Combined wheel seat; 501. Fixed seat; 502. Adjustable seat; 503. Mounting cavity; 504. Limiting plate;

[0028] 6. Hook;

[0029] 7. Fixing sleeve. Detailed Implementation

[0030] 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.

[0031] like Figures 1-7 As shown, a walking guide structure for a warehouse robot is installed on a walking trolley 1 and arranged in pairs for cooperating with the groove 201 of the wheel rail 2. The wheel rail 2 has an "I" shaped structure. The walking trolley 1 also includes a frame 101, a walking wheel 102 that cooperates with the groove 201, and a drive motor 103 for driving the walking wheel 102 to roll.

[0032] The walking guide structure includes a guide wheel 3, an eccentric wheel shaft 4 connected to the guide wheel 3, and a combined wheel seat 5 for mounting the eccentric wheel shaft 4. The combined wheel seat 5 includes a fixed seat 501 fixed on the walking trolley 1 and an adjusting seat 502 that can be close to or away from the fixed seat 501. The fixed seat 501 and the adjusting seat 502 form a mounting cavity 503 for mounting the eccentric wheel shaft 4. The fixed seat 501 and the adjusting seat 502 are fixed by bolts. The number of bolts can be, but is not limited to, one, two, or three.

[0033] In the initial state, the fixed seat 501 and the adjusting seat 502 are fixed by tightening the bolts. The eccentric wheel shaft 4 is confined within the mounting cavity 503, thereby fixing the distance between the guide wheel 3 and the bottom of the trough 201. That is, the wheel distance of the two guide wheels 3 used in pairs is fixed. The guide wheel 3 provides guidance for the movement of the traveling trolley 1 and ensures the movement of the traveling wheels, reducing the risk of derailment. When it is necessary to adjust the wheel distance of the two guide wheels 3, the bolts are loosened. At this time, the position of the adjusting seat 502 is adjustable, and the eccentric wheel shaft 4 can rotate freely within the mounting cavity 503. It can drive the guide wheel 3 to move closer to or away from the bottom of the trough 201. After the adjustment is completed, the bolts are tightened to fix the guide wheel 3 again, thereby realizing the real-time adjustment of the guide wheel 3 and ensuring the safe movement of the traveling trolley 1.

[0034] In some examples, the upper end of the eccentric wheel shaft 4 contracts radially to form a limiting groove 401, which is an annular structure. A limiting plate 504 is fixed on the adjusting seat 502 to engage with the limiting groove 401 and axially limit the eccentric wheel shaft 4. The limiting plate 504 is integrally formed with the adjusting seat 502 or bolted to it. The limiting groove 401 has an upper groove wall and a lower groove wall. The upper groove wall abuts against the limiting plate 504 to restrict the degree of freedom of the eccentric wheel shaft 4 to move downward, and the lower groove wall abuts against the limiting plate 504 to restrict the degree of freedom of the eccentric wheel shaft 4 to move upward.

[0035] In some examples, the top end of the eccentric wheel shaft 4 is formed with an irregularly shaped part 402 for a rotating tool to grip. The irregularly shaped part 402 can be a rectangle, hexagon, or other regular or irregular shapes. The rotating tool, such as a wrench, can easily drive the eccentric wheel shaft 4 to rotate by gripping the irregularly shaped part 402.

[0036] In some examples, the guide wheel 3 includes a roller 301 sleeved on the outside of the eccentric wheel shaft 4 and a bearing 302 located between the eccentric wheel shaft 4 and the roller 301. The outer peripheral wall of the bottom end of the eccentric wheel shaft 4 is recessed to form a groove, and a pressure plate 405 is fixed at the bottom of the eccentric wheel shaft 4. The pressure plate 405 seals the groove to form an installation cavity 503 for the bearing 302 to be installed.

[0037] In some examples, the eccentric wheel shaft 4 has an axial oil passage 403 and a radial oil passage 404 connected to the axial oil passage 403. The axial oil passage 403 passes through the top of the eccentric wheel shaft 4 axially to form an oil inlet. The radial oil passages 404 are located at the lower end of the eccentric wheel shaft 4. The number of radial oil passages 404 can be, but is not limited to, one, two or three, and they are distributed circumferentially along the axial oil passage 403. The lubricating oil enters the axial oil passage 403 from the oil inlet and flows downward, and then enters the bearing 302 through several radial oil passages 404 to lubricate it.

[0038] In some examples, the traveling trolley 1 is equipped with hooks 6 for engaging with the grooves 201 to confine itself to the wheel rails 2. The hooks 6 are arranged in pairs, and the number of hooks 6 pairs corresponding to each wheel rail 2 can be, but is not limited to, two, three, or four pairs. The cooperation between the hooks 6 and the grooves 201 can further prevent the traveling trolley 1 from detaching from the wheel rails 2.

[0039] In some examples, the walking guide structures are arranged in pairs, and a fixing sleeve 7 is provided between the two walking guide structures to fix them. The wheel rail 2 forms a through hole for the fixing sleeve 7 to pass through. The fixing sleeve 7 is snapped and fixed to the fixing seat 501, and the fixing seat 501 protrudes in the direction of the fixing sleeve 7 to form a protrusion for snapping into the fixing sleeve 7. The two fixing seats 501 abut against the side walls of the walking trolley 1.

[0040] In some examples, the guide wheel 3 further includes a rubber-coated wheel 303 covering the outside of the roller 301. The rubber-coated wheel 303 has a limiting portion 3031 protruding from its upper inner wall along its axial direction to limit the upper limit position of the roller 301. The rubber-coated wheel 303 also has a groove 3032 recessed from its lower inner wall along its axial direction. An elastic retaining ring 304 is installed in the groove 3032 to limit the lower limit position of the roller 301. The limiting portion 3031 and... The elastic retaining ring 304 confines the roller 301 between the two. When the rubber-coated roller 303 is worn and needs to be replaced, the elastic retaining ring 304 is compressed to remove it. At this time, the old rubber-coated roller 303 can be separated from the roller 301 and replaced with a new rubber-coated roller 303. Of course, the positions of the limiting part 3031 and the elastic retaining ring 304 can be interchanged. That is, the limiting part 3031 is located below to limit the lower limit position of the roller 301, and the elastic retaining ring 304 is located above to limit the upper limit position of the roller 301.

[0041] Working principle:

[0042] In the initial state, the fixed seat 501 and the adjusting seat 502 are fixed by tightening the bolts, and the eccentric wheel shaft 4 is confined in the mounting cavity 503, thereby fixing the distance between the guide wheel 3 and the bottom of the trough 201. The guide wheel 3 provides guidance for the movement of the traveling trolley 1 and ensures the movement of the traveling wheels, reducing the risk of derailment. When it is necessary to adjust the wheel distance between the two guide wheels 3, the bolts are loosened. At this time, the position of the adjusting seat 502 is adjustable, and the eccentric wheel shaft 4 can rotate freely in the mounting cavity 503. It can drive the guide wheel 3 to move closer to or away from the bottom of the trough 201. After the adjustment is completed, the bolts are tightened to fix the guide wheel 3 again, thereby realizing the real-time adjustment of the guide wheel 3 and ensuring the safe movement of the traveling trolley 1.

[0043] 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 walking guide structure for a warehouse robot, which is mounted on a walking trolley (1) and mates with the roller groove (201) of the wheel rail (2), characterized in that: It includes a guide wheel (3), an eccentric wheel shaft (4) connected to the guide wheel (3), and a combined wheel seat (5) for mounting the eccentric wheel shaft (4). The combined wheel seat (5) includes a fixed seat (501) fixed on the traveling trolley (1) and an adjusting seat (502) that can be close to or away from the fixed seat (501). The fixed seat (501) and the adjusting seat (502) enclose and form a mounting cavity (503) for mounting the eccentric wheel shaft (4).

2. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The upper end of the eccentric wheel shaft (4) is radially contracted to form a limiting groove (401), and a limiting plate (504) is fixed on the adjusting seat (502) for engaging the limiting groove (401) to axially limit the eccentric wheel shaft (4).

3. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The top of the eccentric wheel shaft (4) has a shaped part (402) for the rotating tool to grip.

4. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The guide wheel (3) includes a roller (301) sleeved on the outside of the eccentric wheel shaft (4) and a bearing (302) located between the eccentric wheel shaft (4) and the roller (301).

5. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The eccentric wheel shaft (4) has an axial oil passage (403) and a radial oil passage (404) connected to the axial oil passage (403).

6. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The trolley (1) is equipped with a hook (6) for engaging the chute (201) to confine itself to the wheel rail (2).

7. The walking guide structure for a warehouse robot according to claim 1, characterized in that: The walking guide structures are arranged in pairs, and a fixing sleeve (7) is provided between the two walking guide structures to fix them together. The wheel rail (2) has a through hole for the fixing sleeve (7) to pass through.

8. The walking guide structure for a warehouse robot according to claim 4, characterized in that: The guide wheel (3) also includes a rubber-coated wheel (303) covering the outside of the roller (301). The rubber-coated wheel (303) has a limiting part (3031) protruding from the upper inner wall along its axial direction for limiting the upper limit position of the roller (301). The rubber-coated wheel (303) has a groove (3032) recessed from the lower inner wall along its axial direction. An elastic retaining ring (304) for limiting the lower limit position of the roller (301) is installed in the groove (3032).

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