Wheel lifting mechanism and flat transport robot thereof

Abstract

The utility model discloses a wheel lifting mechanism and plane carrying robot thereof, wheel lifting mechanism includes: drive unit includes drive motor, and the biaxial speed reducer of drive motor power output end connection, and the two cam components of two axle parts connection of biaxial speed reducer and the drive arm cooperation of every cam component, and drive arm lower part is connected with the frame slidingly, two support wheel units include: first transmission assembly is L type and is rotatedly connected with the fork unit in the middle, and one end is rotatedly connected with drive arm and the other end is rotatedly connected with one end of second transmission assembly, and the other end is drivingly connected with one end of connecting rod, and the other end is rotatedly connected with one end of third transmission assembly, and the other end is rotatedly connected with the fork unit of third transmission assembly, and support wheel subassembly is fixedly connected with third transmission assembly. The utility model provides wheel lifting mechanism and plane carrying robot thereof, can improve the lifting precision, and the maintenance is convenient.

Description

Technical Field

[0001] This utility model belongs to the field of mobile robot technology, and specifically relates to a wheel-lifting mechanism and its planar transport robot. Background Technology

[0002] Currently, factories are developing rapidly towards intelligent automation, and automated transportation in logistics is becoming increasingly common. The automation of pallet-based flat handling is becoming more and more mature.

[0003] The applicant previously developed a planar handling robot product. It uses hydraulic cylinders to lift the support wheel assembly beneath the forks. When picking up goods, the lifting assembly lowers the fork unit, while the extension rod of the lifting cylinder retracts upwards, lifting the support wheel assembly until it is off the ground. This allows the fork unit to automatically pick up various types of pallets. After picking up the goods, the lifting assembly raises the fork unit, while the lifting cylinder lowers the support wheel assembly to support the fork unit. However, the hydraulic drive suffers from leakage and low lifting accuracy. Utility Model Content

[0004] Based on the above problems, the purpose of this utility model is to provide a lifting wheel mechanism and its planar handling robot, which improves the lifting control accuracy and facilitates maintenance.

[0005] To overcome the shortcomings of the existing technology, one of the technical solutions provided by this utility model is:

[0006] The lifting mechanism includes:

[0007] The drive unit, which is mounted on the frame, includes a drive motor, a dual-shaft reducer connected to the power output end of the drive motor, two cam components connected to the two shafts of the dual-shaft reducer, and a drive arm cooperating with each cam component. The cam components extend horizontally, the drive arm extends vertically and has an oblong hole at the top that mates with the cam components, and the lower part of the drive arm is slidably connected to the frame.

[0008] Two support wheel units are mounted on the fork unit and connected to the two drive arms respectively. Each support wheel unit includes a first transmission assembly, a second transmission assembly, a connecting rod, a third transmission assembly, and a support wheel assembly connected in sequence. The first transmission assembly is L-shaped and rotatably connected to the fork unit in the middle. One end of the first transmission assembly is rotatably connected to the drive arm, and the other end is rotatably connected to one end of the second transmission assembly. The other end of the second transmission assembly is rotatably connected to one end of the connecting rod. The other end of the connecting rod is rotatably connected to one end of the third transmission assembly. The other end of the third transmission assembly is rotatably connected to the fork unit. The support wheel assembly is fixedly connected to the third transmission assembly.

[0009] In some embodiments, the cam component includes a camshaft and a cam portion eccentrically fixed to one axial end of the camshaft, and the oblong bore cooperates with the cam portion.

[0010] In some embodiments, the frame is provided with bearing housings corresponding to each cam component, and the camshaft is supported on the bearing housings via bearings.

[0011] In some embodiments, the dual-shaft reducer is connected to the camshaft via a coupling.

[0012] In some of these embodiments, the dual-shaft reducer is mounted on the frame via a support.

[0013] In some embodiments, the frame is provided with a slide rail arranged in a vertical direction, the lower part of the drive arm is fixedly connected to a slider, and the slider slides in cooperation with the slide rail.

[0014] In some embodiments, the first transmission assembly includes two first transmission members arranged in parallel, and a first mounting shaft is fixed to the lower end of the drive arm, with the first transmission members rotatably connected to the first mounting shaft.

[0015] The second transmission assembly includes two parallel second transmission components, with a second mounting shaft fixed between the two first transmission components, and the second transmission components are rotatably connected to the second mounting shaft;

[0016] The third transmission assembly includes two parallel third transmission components. One end of the connecting rod is fixed with a third mounting shaft, and the third transmission component is rotatably connected to the third mounting shaft.

[0017] In some embodiments, the support wheel assembly includes a support wheel seat and a support wheel rotatably mounted on the support wheel seat.

[0018] In some embodiments, the fork unit includes a fork arm mounting plate arranged vertically, a fork arm fixedly connected to the lower end of the fork arm mounting plate and extending horizontally, and an auxiliary support wheel mounted at the bottom of the fork arm. The first transmission assembly is rotatably connected to the fork arm mounting plate, the third transmission assembly is rotatably connected to the fork arm, and the support wheel assembly is arranged at the rear end bottom of the fork arm.

[0019] To overcome the shortcomings of the existing technology, the second technical solution provided by this utility model is:

[0020] A planar transport robot, including the wheel-lifting mechanism described in any one of the above.

[0021] Compared with the prior art, the advantages of this utility model are:

[0022] The lifting and lowering of the support wheel assembly is achieved through the cooperation of a drive motor, a dual-axis reducer, and a cam component, which facilitates the forklifting of various types of pallets by the planar handling robot. It has a simple structure, high control precision, is easy to maintain, and has good safety. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is one of the structural schematic diagrams of an embodiment of the lifting wheel mechanism of this utility model;

[0025] Figure 2 This is a second structural schematic diagram of an embodiment of the present utility model;

[0026] Figure 3 This is the third structural schematic diagram of an embodiment of the present utility model;

[0027] Figure 4 This is one of the structural schematic diagrams of the drive unit in the embodiments of this utility model;

[0028] Figure 5 This is the second schematic diagram of the drive unit in the embodiment of this utility model;

[0029] Figure 6 This is a schematic diagram of the planar handling robot in an embodiment of the present invention;

[0030] in:

[0031] 100. Drive unit; 101. Drive motor; 102. Dual-shaft reducer; 103. Coupling; 104. Bearing housing; 105. Cam assembly; 105a. Camshaft; 105b. Cam; 106. Drive arm; 107. Support base; 108. Slide rail; 109. Slider; 110. First limit switch; 111. Second limit switch; 112. First sensing element; 113. Second sensing element;

[0032] 200, Support wheel unit; 201, First transmission assembly; 201a, First transmission component; 202, Second transmission assembly; 202a, Second transmission component; 203, Connecting rod; 204, Third transmission assembly; 204a, Third transmission component; 205, Support wheel assembly; 205a, Support wheel seat; 205b, Support wheel; 206, First mounting shaft; 207, Second mounting shaft; 208, Third mounting shaft;

[0033] 300. Fork unit; 301. Fork arm mounting plate; 302. Fork arm; 303. Auxiliary support wheel. Detailed Implementation

[0034] The above solution will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrating the present invention and are not intended to limit the scope of the present invention. The implementation conditions used in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually the conditions in conventional experiments.

[0035] like Figures 1 to 3 The diagram shown is a structural schematic of an embodiment of the present invention, which provides a lifting wheel mechanism for a planar handling robot, used to drive the lifting and lowering of the support wheel unit 200 that cooperates with the fork unit 300, including a drive unit 100 and two support wheel units 200 that are drively connected to the drive unit 100.

[0036] The fork unit 300 includes a fork arm mounting plate 301 arranged vertically, a fork arm 302 fixedly connected to the lower end of the fork arm mounting plate 301 and extending horizontally, and an auxiliary support wheel 303 installed at the bottom of the fork arm 302. A lifting drive component is provided on the frame to drive the fork arm mounting plate 301 to rise and fall. The lifting drive component can be a hydraulic cylinder. The hydraulic cylinder drives the fork arm mounting plate 301 to rise and fall to realize the lifting of the fork unit 300. This is the prior art, and will not be described in detail in this utility model.

[0037] like Figure 4 and Figure 5 As shown, the drive unit 100, which is mounted on the frame, includes a drive motor 101, a dual-shaft reducer 102 connected to the power output end of the drive motor 101, two cam components 105 connected to the two shafts of the dual-shaft reducer 102, and a drive arm 106 cooperating with each cam component 105. The cam components 105 extend horizontally, and the drive arm 106 extends vertically and has an oblong hole at its upper part that mates with the cam component 105. The lower part of the drive arm 106 is slidably connected to the frame. The drive motor 101 drives the cam components 105 to rotate, thereby driving the drive arm 106 to move up and down to achieve lifting.

[0038] The cam component 105 includes a camshaft 105a and a cam portion 105b eccentrically fixed to one axial end of the camshaft 105a. The oblong hole and the cam portion 105b cooperate with each other, that is, the cam portion 105b extends into the oblong hole. When the drive motor 101 drives the cam component 105 to rotate, the cam portion 105b can drive the drive arm 106 to move up and down.

[0039] To facilitate the installation of the cam assembly 105, a bearing housing 104 corresponding to each cam assembly 105 is provided on the frame. The camshaft 105a is supported on the bearing housing 104 by bearings. The dual-shaft reducer 102 is connected to the camshaft 105a via a coupling 103. A limit switch is installed on the bearing housing 104 to detect the sensing plate on the camshaft 105a, thereby controlling the vertical lifting distance of the drive arm 106. The drive motor and the internal switch are respectively connected to the control unit signal.

[0040] Specifically, a first limit switch 110 and a second limit switch 111 are respectively provided on the two bearing seats 104. A first sensing plate 112 is provided on the radial side of one camshaft 105a away from the cam 105b, and a second sensing plate 113 is provided on the radial side of the other camshaft 105a close to the cam 10b. When the first limit switch 110 detects the first sensing plate 112, it indicates that the drive arm 106 is in the lowest position. When the second limit switch 111 detects the second sensing plate 113, it indicates that the drive arm 106 is in the highest position.

[0041] To facilitate the installation of the dual-shaft reducer 102, a support base 107 is provided on the frame, and the dual-shaft reducer 102 is fixedly connected to the support base 107 for installation on the frame.

[0042] To facilitate the smooth lifting and lowering of the drive arm 106, a slide rail arranged vertically is provided on the frame. At the same time, the lower part of the drive arm 106 is fixedly connected to the slider 109. The slider 109 slides in cooperation with the slide rail 108. The smooth lifting and lowering of the drive arm 106 is achieved through the cooperation of the slider 108 and the slide rail 109.

[0043] Two support wheel units 200 are mounted on the fork unit and connected to the two drive arms 106 respectively. Each support wheel unit 200 includes a first transmission assembly 201, a second transmission assembly 202, a connecting rod 203, a third transmission assembly 204, and a support wheel assembly 205 connected in sequence. The first transmission assembly 201 is L-shaped and its middle part is rotatably connected to the fork mounting plate 301. One end of the first transmission assembly 201 is rotatably connected to the drive arm 106 and the other end is rotatably connected to one end of the second transmission assembly 202. The other end of the second transmission assembly 202 is drively connected to one end of the connecting rod 203. The other end of the connecting rod 203 is rotatably connected to one end of the third transmission assembly 204. The other end of the third transmission assembly 204 is rotatably connected to the fork arm 302. The support wheel assembly 205 is fixedly connected to the third transmission assembly 204.

[0044] Specifically, the first transmission assembly 201 includes two parallel first transmission members 201a, with a first mounting shaft 206 fixed to the lower end of the drive arm 106, and the first transmission members 201a are rotatably connected to the first mounting shaft 206. The second transmission assembly 202 includes two parallel second transmission members 202a, with a second mounting shaft 207 fixed between the two first transmission members 201a, and the second transmission members 202a are rotatably connected to the second mounting shaft 207. The third transmission assembly 204 includes two parallel third transmission members 204a, with a third mounting shaft 208 fixed to one end of the connecting rod 203, and the third rotating member 204a is rotatably connected to the third mounting shaft 208.

[0045] The support wheel assembly 205 includes a support wheel seat 205a fixedly connected to the third transmission assembly 204 and a support wheel 205b rotatably mounted on the support wheel seat 205a.

[0046] like Figure 6 As shown, this utility model also discloses a planar transport robot, which includes the aforementioned wheel-lifting mechanism.

[0047] The working principle of this utility model is as follows:

[0048] When picking up goods, the lifting drive component of the planar robot drives the fork mounting plate 301 of the fork unit 300 to descend, while the drive motor 101 drives the drive arm 106 to rise. The drive arm 106 drives one end of the first transmission component 201 to rotate. The first transmission component 201 drives the third transmission component 204 to rotate via the second transmission component 202 and the connecting rod 203, thereby driving the support wheel assembly 205 to rise and retract until it is off the ground. At this time, the auxiliary support wheel 303 touches the ground to support the fork unit 300, and the fork arm 302 can extend into various types of pallets for picking up goods. After the goods are picked up, the lifting drive component drives the fork unit 300 to rise, while the drive motor 101 drives the drive arm 106 to descend. Then, via the first transmission component 201, the second transmission component 202, the connecting rod 203, and the third transmission component 204, the support wheel assembly 205 is driven to descend to support the fork unit 300. When the fork unit 300 rises to its highest point, the auxiliary support wheel 303 has lifted off the ground, and the support wheel 204b is supported at the rear end of the fork unit 300 to ensure the stability of the transport.

[0049] In summary, this wheel-lifting mechanism and planar transport robot can achieve precise control of the lifting of the support wheels, with a simple structure, convenient maintenance, and good safety.

[0050] The above examples are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A wheel-lifting mechanism, characterized in that, include: The drive unit, which is mounted on the frame, includes a drive motor, a dual-shaft reducer connected to the power output end of the drive motor, two cam components connected to the two shafts of the dual-shaft reducer, and a drive arm cooperating with each cam component. The cam components extend horizontally, the drive arm extends vertically and has an oblong hole at the top that mates with the cam components, and the lower part of the drive arm is slidably connected to the frame. Two support wheel units are mounted on the fork unit and connected to the two drive arms respectively. Each support wheel unit includes a first transmission assembly, a second transmission assembly, a connecting rod, a third transmission assembly, and a support wheel assembly connected in sequence. The first transmission assembly is L-shaped and rotatably connected to the fork unit in the middle. One end of the first transmission assembly is rotatably connected to the drive arm, and the other end is rotatably connected to one end of the second transmission assembly. The other end of the second transmission assembly is rotatably connected to one end of the connecting rod. The other end of the connecting rod is rotatably connected to one end of the third transmission assembly. The other end of the third transmission assembly is rotatably connected to the fork unit. The support wheel assembly is fixedly connected to the third transmission assembly.

2. The lifting wheel mechanism according to claim 1, characterized in that: The cam component includes a camshaft and a cam portion eccentrically fixed to one axial end of the camshaft, and the waist-shaped hole cooperates with the cam portion.

3. The lifting wheel mechanism according to claim 2, characterized in that: The frame is provided with bearing housings corresponding to each cam component, and the camshaft is supported on the bearing housings via bearings.

4. The lifting wheel mechanism according to claim 2, characterized in that: The dual-shaft reducer is connected to the camshaft via a coupling.

5. The lifting wheel mechanism according to claim 1, characterized in that: The dual-shaft reducer is mounted on the vehicle frame via a support base.

6. The lifting wheel mechanism according to claim 1, characterized in that: The frame is provided with a slide rail arranged in a vertical direction, the lower part of the drive arm is fixedly connected to the slider, and the slider slides in cooperation with the slide rail.

7. The lifting wheel mechanism according to claim 1, characterized in that: The first transmission assembly includes two first transmission components arranged in parallel, and a first mounting shaft is fixed to the lower end of the drive arm. The first transmission components are rotatably connected to the first mounting shaft. The second transmission assembly includes two parallel second transmission components, with a second mounting shaft fixed between the two first transmission components, and the second transmission components are rotatably connected to the second mounting shaft; The third transmission assembly includes two parallel third transmission components. One end of the connecting rod is fixed with a third mounting shaft, and the third transmission component is rotatably connected to the third mounting shaft.

8. The lifting wheel mechanism according to claim 1, characterized in that: The support wheel assembly includes a support wheel seat and a support wheel rotatably mounted on the support wheel seat.

9. The lifting wheel mechanism according to claim 1, characterized in that: The fork unit includes a fork arm mounting plate arranged vertically, a fork arm fixedly connected to the lower end of the fork arm mounting plate and extending horizontally, and an auxiliary support wheel installed at the bottom of the fork arm. The first transmission assembly is rotatably connected to the fork arm mounting plate, the third transmission assembly is rotatably connected to the fork arm, and the support wheel assembly is arranged at the bottom of the rear end of the fork arm.

10. A planar transport robot, characterized in that: Includes the wheel-lifting mechanism as described in any one of claims 1 to 9.

Images