Lifting device for a transport robot

Abstract

The utility model discloses a hoisting device of carrying robot specifically relates to hoisting device technical field, including stand, be equipped with the hoisting assembly for realizing the lifting and angle adjustment of goods on the stand, the hoisting assembly contains the sliding seat of sliding assembly in the middle part of stand, the sliding seat and stand constitute the linear sliding fit along the axial direction of stand. The utility model discloses the collaborative structure of sliding seat, reinforcing plate, slide rod and sliding slot, and the lifting and angle adjustment function of goods is integrated in the same hoisting assembly: when the servo motor drive screw rod drives the sliding seat to lift along the stand, the reinforcing plate moves with the sliding seat synchronously, and the sliding of slide rod in the sliding slot will produce the deflection force of action to the reinforcing plate, and then drive the synchronous adjustment inclination angle of cross -bracing, limit frame and discharge cylinder, the automatic inclination of discharge cylinder realizes dumping unloading in the ascending process of sliding seat, and the discharge cylinder is automatically reset to the horizontal bearing state in the descending process of sliding seat, realizes the integrated operation of lifting, transfer and dumping.

Description

Technical Field

[0001] This utility model relates to the field of lifting device technology, and more specifically, to a lifting device for a handling robot. Background Technology

[0002] In a multi-vision intelligent handling robot, the lifting device is the core execution unit responsible for realizing the "vertical displacement of goods". Its core function is to lift (or lower) the target goods from the ground, shelf layer, conveyor belt, etc. to a specified height. In conjunction with the robot's vision positioning system, walking mechanism and gripping mechanism, it completes the entire process of intelligent operation of "positioning-grabbing-lifting-handling-placement".

[0003] Among them, the patent with publication number CN219839421U discloses a lifting device for a handling robot, including a placement plate. Two support plates are fixedly connected to the top of the placement plate. The same fixing block is fixedly connected to the top of the two support plates. A first bearing is snapped into the top of the placement plate and the bottom of the fixing block. The same threaded column is rotatably connected to the two first bearings. A threaded block is threadedly connected to the outside of the threaded column. A storage box is fixedly connected to the front of the threaded block. In use, the structure uses two second connecting rods to move the toothed plate downwards until it meshes with two gears. This causes the two gears to rotate the threaded rods, so that the two threaded sleeves connected to the two threaded rods can move the connecting plates closer together. This allows the two positioning plates to fix the robot in place. This device can position and protect the robot, preventing it from shaking and falling during lifting. However, this structure cannot achieve simultaneous transfer and tilting during handling, making material handling inconvenient. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a lifting device for a handling robot, which aims to solve the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a lifting device for a handling robot, including a column, on which a lifting component for realizing the lifting and angle adjustment of goods is configured; The lifting assembly includes a slide block slidably mounted in the middle of the column. The slide block and the column form a linear sliding fit along the column axis. An angle-adjustable crossbeam is hinged to each end of the slide block, and a limit frame is fixedly installed on the side of each crossbeam away from the slide block. The limiting frame has an arc-shaped cross-section. A material feeding cylinder for carrying goods is detachably connected to the limiting frame by bolts. A support plate for lifting goods is fixedly installed at the bottom of the material feeding cylinder. A mounting plate is fixedly welded to the side of the column, and a sliding rod is horizontally inserted into the mounting plate. A reinforcing plate is integrally formed at one end of the limiting frame near the column. A sliding groove extending along the length of the reinforcing plate is formed, and the sliding rod passes through the sliding groove and forms a sliding fit with the sliding groove.

[0006] Optionally, in one possible implementation, the reinforcing plate is inclined upward, and the top of the reinforcing plate extends to the bottom of the slide rod. The length and width of the slide groove are adapted to the outer diameter of the slide rod so that the reinforcing plate can deflect around the axis of the slide rod, thereby driving the cross frame and the feeding cylinder to adjust their angles synchronously. The two ends of the slide block are respectively fixedly embedded with rotating shafts. The end of each rotating shaft away from the slide block extends into the interior of the corresponding end of the cross frame near the slide block. The rotating shaft and the cross frame are rotatably connected by bearings to realize the angle adjustment of the cross frame around the rotating shaft. Optionally, in one possible implementation, the slide has an internally threaded hole in the middle, and a lead screw for driving the slide to rise and fall is internally threaded into the internally threaded hole. The bottom end of the lead screw extends to the bottom of the inner cavity of the column, and the lead screw and the column are rotatably connected by a deep groove ball bearing. The axis of the lead screw is parallel to the axis of the column. A servo motor for driving the lead screw to rotate is fixedly installed on the top of the column by bolts. The output end of the servo motor is fixedly connected to the top end of the lead screw by a coupling. The axis of the output shaft of the servo motor coincides with the axis of the lead screw. An anti-slip rubber pad is pasted on the upper surface of the support plate, and the surface of the anti-slip rubber pad is provided with a diamond-shaped anti-slip pattern. The technical effects and advantages of this utility model are as follows: Through the coordinated structure of the slide block, reinforcing plate, sliding rod, and chute, the lifting and angle adjustment functions of the goods are integrated into the same lifting component: when the servo motor drives the lead screw to lift the slide block along the column, the reinforcing plate moves synchronously with the slide block. The sliding of the sliding rod in the chute will generate a deflection force on the reinforcing plate, which in turn drives the cross frame, limit frame, and discharge cylinder to adjust the tilt angle synchronously. During the lifting of the slide block, the discharge cylinder automatically tilts to achieve dumping and unloading. During the lowering of the slide block, the discharge cylinder automatically resets to the horizontal bearing state, realizing the integrated operation of lifting, transfer, and dumping.

[0007] The limiting frame has an arc-shaped cross-section that fits the outer wall of the feeding cylinder. The arc length covers half of the circumference of the feeding cylinder. It can be detachably connected with bolts, which can not only form a full-round encircling limit for the feeding cylinder to prevent radial displacement of the feeding cylinder during lifting and tilting, but also facilitate the replacement of feeding cylinders of different specifications according to the size of the goods. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this disclosure.

[0009] Figure 1 This is a front view of the overall structure of this utility model.

[0010] Figure 2 This is a side view of the overall structure of this utility model.

[0011] Figure 3 This is a schematic diagram of the material feeding cylinder, tray, slide, rotating shaft, reinforcing plate, and lead screw of this utility model.

[0012] Figure 4 This is a schematic diagram of the cross frame, limiting frame, and reinforcing plate of this utility model.

[0013] The attached diagram is labeled as follows: 1. Column; 2. Slide block; 3. Horizontal frame; 4. Limiting frame; 5. Feeding cylinder; 6. Support plate; 7. Reinforcing plate; 8. Slide groove; 9. Mounting plate; 10. Slide rod; 11. Lead screw; 12. Servo motor; 13. Rotating shaft. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] This embodiment discloses a lifting device for a handling robot, which aims to solve the problems in the prior art where the lifting device for handling robots cannot simultaneously realize the functions of transfer and dumping, and the material handling convenience is poor.

[0016] As attached Figure 1 As shown, the core supporting component of this device is column 1, and the height of column 1 is set according to the working height requirements of the handling robot.

[0017] As attached Figure 2As shown, the two ends of the slide 2 are respectively hinged to the cross frame 3 by the rotating shaft 13. The rotating shaft 13 is inserted into the mounting holes at both ends of the slide 2 by interference fit. The end of the cross frame 3 near the slide 2 has a bearing hole that matches the rotating shaft 13. A deep groove ball bearing is installed in the bearing hole. The end of the rotating shaft 13 away from the slide 2 is inserted into the inner ring of the bearing and is interference fitted with the inner ring, so that the cross frame 3 can rotate smoothly around the rotating shaft 13. The cross frame 3 adopts a hollow rectangular steel tube structure, which reduces the overall weight while ensuring strength.

[0018] Each crossbeam 3 is fixedly mounted with a limit frame 4 by welding on the side away from the slide block 2, as shown in the attached figure. Figure 4 As shown, the limiting frame 4 is formed by bending steel plate, and its cross-section is arc-shaped. The radius of the arc matches the radius of the outer wall of the feeding cylinder 5. The arc length of the limiting frame 4 covers half of the circumference of the outer wall of the feeding cylinder 5, ensuring stable limiting of the feeding cylinder 5. The feeding cylinder 5 is detachably fixed to the limiting frame 4 by bolts, which facilitates the replacement and maintenance of the feeding cylinder 5.

[0019] The bottom of the feeding cylinder 5 is fixedly connected to a support plate 6 by bolts. The support plate 6 is a circular steel plate with the same diameter as the inner diameter of the feeding cylinder 5. The upper surface of the support plate 6 is covered with an anti-slip rubber pad. The surface of the rubber pad is pressed with a diamond-shaped anti-slip pattern, which can effectively increase the friction between the goods and the support plate 6 and prevent the goods from sliding during lifting and tilting.

[0020] As attached Figure 1 and attached Figure 2 As shown, a mounting plate 9 is welded to the side of the column 1. The mounting plate 9 is a rectangular steel plate. The sliding rod 10 passes horizontally through the mounting plate 9 and is fixedly connected to the mounting plate 9 by welding. Both ends of the sliding rod 10 extend out of the outside of the mounting plate 9. A reinforcing plate 7 is integrally formed at one end of the limiting frame 4 near the column 1. A sliding groove 8 extending along its length is opened on the reinforcing plate 7. The sliding rod 10 passes through the sliding groove 8 and forms a sliding fit with the sliding groove 8.

[0021] The reinforcing plate 7 is inclined upwards, and the top of the reinforcing plate 7 extends to the bottom of the slide rod 10. When the slide block 2 moves up and down along the column 1, the reinforcing plate 7 will move synchronously with the slide block 2. At this time, the slide rod 10 slides in the slide groove 8. Due to the inclined angle of the reinforcing plate 7, the slide rod 10 exerts a force on the side wall of the slide groove 8, causing the reinforcing plate 7 to deflect around the axis of the slide rod 10, thereby driving the cross frame 3 and the discharge cylinder 5 to adjust their angles synchronously, so as to realize the tilting action of the goods.

[0022] As attached Figure 3As shown, the slide 2 has an internal threaded hole in the middle, and a lead screw 11 is internally threaded into the hole. The bottom end of the lead screw 11 extends to the bottom of the inner cavity of the column 1. A deep groove ball bearing is fixedly installed at the bottom of the inner cavity of the column 1. The bottom end of the lead screw 11 is inserted into the inner ring of the bearing and is interference-fitted with the inner ring to realize the rotational connection between the lead screw 11 and the column 1. The axis of the lead screw 11 is parallel to the axis of the column 1 to ensure that the slide 2 can be driven to rise and fall smoothly along the axis of the column 1 when the lead screw 11 rotates.

[0023] A servo motor 12 is bolted to the top of column 1. The servo motor 12 is a permanent magnet synchronous servo motor, model 110ST-M06030. The output end of the servo motor 12 is fixedly connected to the top of the lead screw 11 via a flexible coupling, which effectively compensates for the coaxiality error between the output shaft of the servo motor 12 and the lead screw 11, reducing vibration transmission. The output shaft axis of the servo motor 12 coincides with the axis of the lead screw 11, ensuring that the power of the servo motor 12 can be stably and efficiently transmitted to the lead screw 11.

[0024] The specific working principle is as follows: the goods to be transported are placed in the feeding cylinder 5, and the bottom of the goods contacts the anti-slip rubber pad on the pallet 6. The diamond-shaped anti-slip pattern of the anti-slip rubber pad increases the friction between the goods and the pallet 6, preventing the goods from sliding in the initial state. At this time, the slide 2 is located at the bottom of the column 1.

[0025] When the servo motor 12 is started, the output shaft of the servo motor 12 drives the lead screw 11 to rotate clockwise around its axis through the coupling. Since the lead screw 11 and the internal thread hole of the slide 2 form a threaded connection, and the slide 2 and the column 1 form a sliding fit, the rotation of the lead screw 11 is converted into the upward linear movement of the slide 2 along the axis of the column 1. The slide 2 drives the cross frame 3, the limit frame 4, the feeding cylinder 5 and the goods to be lifted upward synchronously.

[0026] By controlling the speed and rotation time of the servo motor 12, the lifting height of the slide 2 can be precisely controlled to meet the cargo height requirements in different operating scenarios. When it is necessary to lower the cargo height, the output shaft of the servo motor 12 is controlled to rotate counterclockwise, and the lead screw 11 rotates counterclockwise accordingly, driving the slide 2 to move downward along the axis of the column 1, thereby lowering the cargo.

[0027] As the slide block 2 is lifted upward along the column 1, the reinforcing plate 7 moves upward synchronously with the slide block 2. At this time, the sliding rod 10 slides from the lower end to the upper end of the groove 8 within the reinforcing plate 7. Since the reinforcing plate 7 is inclined upward, the sliding rod 10 exerts an upward force on the side wall of the groove 8 near the slide block 2. This force causes the reinforcing plate 7 to deflect away from the column 1 around the axis of the sliding rod 10. The deflection of the reinforcing plate 7 causes the limiting frame 4, the crossbar 3, and the discharge cylinder 5 to deflect synchronously. The tilt angle of the discharge cylinder 5 gradually increases. When the slide block 2 is lifted to the specified height, the tilt angle of the discharge cylinder 5 reaches the preset tilting angle. At this time, the goods in the discharge cylinder 5 are tilted from the opening end of the discharge cylinder 5 to the specified position under the action of gravity, completing the integrated operation of goods transfer and tilting.

[0028] After the goods are tilted, the servo motor 12 drives the slide block 2 to move downward. The reinforcing plate 7 moves downward synchronously with the slide block 2. The slide rod 10 slides from the top to the bottom in the slide groove 8. The slide rod 10 exerts a downward force on the side wall of the slide groove 8 away from the slide block 2, causing the reinforcing plate 7 to deflect around the axis of the slide rod 10 towards the column 1, thus restoring the discharge cylinder 5 to a horizontal bearing state and preparing it for the next handling operation.

[0029] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A lifting device for a handling robot, comprising a column (1), characterized in that: The column (1) is equipped with a lifting component for lifting and adjusting the angle of the cargo; The lifting assembly includes a slide block (2) that is slidably mounted in the middle of the column (1). The slide block (2) and the column (1) form a linear sliding fit along the axial direction of the column (1). The two ends of the slide block (2) are respectively hinged with an angle-adjustable cross frame (3), and each cross frame (3) is fixedly installed on the side away from the slide block (2) with a limit frame (4). The cross-section of the limiting frame (4) is arc-shaped. A feeding cylinder (5) for carrying goods is detachably connected to the limiting frame (4) by bolts. A pallet (6) for lifting goods is fixedly provided at the bottom of the feeding cylinder (5). The side of the column (1) is fixedly welded with an installation plate (9), and a sliding rod (10) is horizontally inserted on the installation plate (9). The end of the limiting frame (4) near the column (1) is integrally formed with a reinforcing plate (7). The reinforcing plate (7) has a sliding groove (8) extending along its length direction. The sliding rod (10) passes through the sliding groove (8) and forms a sliding fit with the sliding groove (8).

2. The lifting device for a handling robot according to claim 1, characterized in that: The reinforcing plate (7) is inclined upward, and the top of the reinforcing plate (7) extends to the bottom of the slide bar (10). The length and width of the slide groove (8) are adapted to the outer diameter of the slide bar (10) so that the reinforcing plate (7) can deflect around the axis of the slide bar (10), thereby driving the cross frame (3) and the feeding cylinder (5) to adjust their angles synchronously.

3. The lifting device for a handling robot according to claim 1, characterized in that: The two ends of the slide (2) are respectively fixedly inlaid with rotating shafts (13). The end of each rotating shaft (13) away from the slide (2) extends into the interior of the corresponding cross frame (3) near the slide (2). The rotating shaft (13) and the cross frame (3) are connected by bearings to achieve the angle adjustment of the cross frame (3) around the rotating shaft (13).

4. The lifting device for a handling robot according to claim 1, characterized in that: The slide (2) has an internal threaded hole in the middle, and the internal threaded hole is connected to a lead screw (11) for driving the slide (2) to rise and fall. The bottom end of the lead screw (11) extends to the bottom of the inner cavity of the column (1), and the lead screw (11) and the column (1) are rotatably connected by a deep groove ball bearing. The axis of the lead screw (11) is parallel to the axis of the column (1).

5. The lifting device for a handling robot according to claim 4, characterized in that: The top of the column (1) is fixedly mounted with a servo motor (12) that can drive the lead screw (11) to rotate by bolts. The output end of the servo motor (12) is fixedly connected to the top end of the lead screw (11) by a coupling. The output shaft axis of the servo motor (12) coincides with the axis of the lead screw (11).

6. The lifting device for a handling robot according to claim 1, characterized in that: The upper surface of the tray (6) is covered with an anti-slip rubber pad, and the surface of the anti-slip rubber pad is provided with a diamond-shaped anti-slip pattern.

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