Lifting device and bin handling robot

Abstract

The utility model discloses a kind of lifting device and material box carrying robot, lifting mechanism includes portal and lifting assembly, portal includes column being set along height direction, guide slot is provided on column, guide slot includes oppositely arranged first guide surface and second guide surface;Lifting assembly includes two support seats moving along column height direction, support seat is provided with several wheel groups in guide slot within along guide slot rolling, wheel group includes first rolling wheel and second rolling wheel, first rolling wheel includes first wheel body and first wheel shaft, first wheel shaft is fixedly connected support seat, second rolling wheel includes second wheel body and second wheel shaft, the position of second wheel shaft on support seat can be adjusted along guide slot width direction.This utility model eliminates the gap between wheel group guide slot by adjusting the position of second rolling wheel on support seat, prevent material box taking and placing mechanism from being shaken and inclined during horizontal movement on lifting mechanism.

Description

Technical Field

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

[0002] Tote box handling robots are typically used to move tote boxes on shelves. Their structure usually includes: a gantry that moves horizontally along the shelf guide rails, and a lifting device that moves along the height of the gantry. The lifting device is equipped with a tote box picking and placing mechanism. Through the combined movement of the gantry and the lifting device, the tote box picking and placing mechanism can pick up and place tote boxes at any storage location on the shelf.

[0003] In related technologies, the lifting device includes a support base that moves up and down along the height direction of the gantry. Rolling wheels are provided on the support base and roll in the guide groove of the column. The diameter of the rolling wheels is smaller than the width of the guide groove. Therefore, the rolling wheels can only roll along one side of the guide groove and there is a gap between them and the opposite side of the guide groove. The support base is used to support the bin picking and placing mechanism. When the bin picking and placing mechanism moves horizontally from one side of the gantry to the opposite side, the direction of the torque on the guide wheel changes. Due to the gap between the rolling wheels and the guide groove, the bin picking and placing mechanism will shake and tilt during the movement, and may even cause the bin or material to slip or overturn from the bin picking and placing mechanism. Utility Model Content

[0004] The present invention aims to solve, to a certain extent, one of the technical problems in the prior art. Therefore, the present invention provides a lifting device and a bin-handling robot.

[0005] Firstly, in order to achieve the above objectives, this application provides a lifting device, comprising: A gantry, the gantry including columns arranged along the height direction, the columns being provided with guide grooves, the guide grooves including a first guide surface and a second guide surface arranged opposite to each other; The lifting assembly includes a support base that moves along the height direction of the column. The support base is provided with a plurality of wheel sets that roll along the guide groove. Each wheel set includes a first rolling wheel and a second rolling wheel. The first rolling wheel includes a first wheel body and a first wheel axle. The first wheel axle is fixedly connected to the support base. The second rolling wheel includes a second wheel body and a second wheel axle. The position of the second wheel axle on the support base can be adjusted along the width direction of the guide groove, so that one of the first rolling wheel and the second rolling wheel abuts against a first guide surface and rolls along the first guide surface, and the other abuts against a second guide surface and rolls along the second guide surface.

[0006] In this technical solution, by setting a first rolling wheel and a second rolling wheel that roll along a first guide surface and a second guide surface respectively in the guide groove, and by adjusting the position of the second rolling wheel on the support base along the width direction of the guide groove, the first rolling wheel and the second rolling wheel are clamped in the guide groove, thus eliminating the gap between the rolling wheel and the guide groove in the prior art. This solves the problem of shaking and tilting of the material box picking and placing mechanism during movement due to the gap between the rolling wheel and the guide groove, and prevents the material box or material from slipping or tipping over from the material box picking and placing mechanism. Preferably, the second rolling wheel also includes an adjusting handle, and the second wheel axle is fixedly connected to the adjusting handle. The adjusting handle is provided with a rotating shaft and an adjusting shaft. The rotating shaft is rotatably connected to the support base. The adjusting shaft and the second wheel axle are arranged on both sides of the radial direction of the rotating shaft. When the adjusting shaft rotates around the rotating shaft in a clockwise or counterclockwise direction, the second wheel axle rotates in the corresponding direction, so that the first rolling wheel and the second rolling wheel are clamped between the first guide surface and the second guide surface.

[0007] Preferably, the support base is provided with an arc-shaped groove, and the adjusting shaft is slidably connected in the arc-shaped groove. When the adjusting shaft moves in the arc-shaped groove around the rotating shaft in a clockwise or counterclockwise direction, the second wheel shaft rotates synchronously around the rotating shaft, and the second wheel body can abut against the second guide surface when the adjusting shaft moves to a preset position.

[0008] Preferably, the adjusting shaft is provided with a locking member, which is used to lock the position of the adjusting shaft in the arc-shaped groove, so as to lock the position of the second rolling wheel in the guide groove.

[0009] Preferably, the locking element is a locking nut.

[0010] Preferably, the rotating shaft and the adjusting shaft are integrated with the adjusting handle.

[0011] Preferably, the rotating shaft and the adjusting shaft are threadedly connected to the adjusting handle.

[0012] Preferably, each of the support seats is provided with at least two sets of the wheel sets, and any two adjacent sets of the wheel sets are arranged in a centrally symmetrical manner on the support seat.

[0013] Preferably, a crossbeam is fixedly connected between the two support seats, and a material box picking and placing mechanism is provided on the crossbeam. The material box picking and placing mechanism can move horizontally and pass through the gantry.

[0014] Furthermore, to achieve the above objectives, this application also provides a bin-handling robot for transporting bins on a shelf. The bin-handling robot includes a lifting device and a transverse guide rail. The transverse guide rail is fixedly connected to the shelf. The lifting device is configured as described in any of the above technical solutions. The gantry is slidably connected to the transverse guide rail and moves horizontally along the transverse guide rail. The beneficial effects of the bin-handling robot and lifting device provided in this application are explained in a similar manner, and will not be repeated here.

[0015] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the lifting device in this embodiment; Figure 2 This is a schematic diagram of the connection structure between the support base and the column in this embodiment; Figure 3 This is a cross-sectional view of the connection structure between the support base and the column in this embodiment; Figure 4 This is a schematic diagram of the structure of the second rolling wheel in this embodiment; Figure 5 This is a cross-sectional view of the second rolling wheel in this embodiment; Figure 6 This is a structural schematic diagram of the bin handling robot in this embodiment.

[0017] Explanation of reference numerals in the attached figures: Among them, 100 is the gantry; 110 is the column; 111 is the guide groove; 1111 is the first guide surface; 1112 is the second guide surface; 200 is the support base; 210 is the first rolling wheel; 211 is the first wheel body; 212 is the first wheel axle; 220 is the second rolling wheel; 221 is the second wheel body; 222 is the second wheel axle; 223 is the adjusting handle; 224 is the rotating shaft; 225 is the adjusting shaft; 226 is the locking element; 230 is the arc groove; 240 is the crossbeam; 300 is the material box picking and placing mechanism; and 400 is the transverse guide rail. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0019] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this patent. The phrase "in some embodiments" appearing in various places in the specification does not necessarily refer to the same embodiment.

[0020] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0021] like Figures 1 to 5 As shown, this embodiment provides a lifting device, including: The gantry 100 includes columns 110 arranged along the height direction. Each column 110 is provided with a guide groove 111. The guide groove 111 includes a first guide surface 1111 and a second guide surface 1112 arranged opposite to each other. Specifically, the gantry 100 includes two parallel columns 110. The guide groove 111 can be provided on the inner side of the two columns 110 facing each other (the groove openings are opposite), or it can be provided on the outer side of the two columns 110 facing away from each other. The lifting assembly includes support seats 200 that move along the height direction of the columns 110. Since the gantry 100 includes two parallel and opposite columns 110, two support seats 200 are correspondingly provided. The two support seats 200 move up and down along the height direction of the two columns 110. Each support seat 200 is provided with several sets of wheels that roll along the guide groove 111. Each set of wheels includes a first rolling wheel 210 and a second rolling wheel 220. The first rolling wheel 210 includes a first wheel... The support base 200 comprises a body 211 and a first axle 212, the first axle 212 being fixedly connected to the support base 200. The second rolling wheel 220 includes a second wheel body 221 and a second axle 222. The position of the second axle 222 on the support base 200 can be adjusted along the width direction of the guide groove 111, so that the first rolling wheel 210 and the second rolling wheel 220 can respectively abut against the first guide surface 1111 and the second guide surface 1112 of the guide groove 111 and roll along the first guide surface 1111 and the second guide surface 1112. The support base 200 is provided with a mounting hole, and the first axle 212 is disposed in the mounting hole and fixedly connected to the support base 200. In other embodiments, when the gantry 100 is configured as a double-column structure, the support base 200 can be configured as an integral structure that is slidably connected to the two side columns 110 respectively; in addition, the gantry 100 can also be configured as a single-column structure, and the support base 200 is correspondingly configured as a single support base. In this embodiment, the number of columns 110 and support bases 200 is not limited.

[0022] In this embodiment, by providing a first rolling wheel 210 and a second rolling wheel 220 that roll along the first guide surface 1111 and the second guide surface 1112 respectively in the guide groove 111, and by adjusting the position of the second rolling wheel 220 on the support seat 200 along the width direction of the guide groove 111, the first rolling wheel 210 and the second rolling wheel 220 are clamped in the guide groove 111, thereby eliminating the gap between the rolling wheel and the guide groove 111 in the prior art. This solves the problem of the material box picking and placing mechanism 300 shaking and tilting during movement due to the gap between the rolling wheel and the guide groove 111, and prevents the material box or material from slipping or overturning from the material box picking and placing mechanism 300.

[0023] In some embodiments, such as Figures 2 to 5As shown, the second rolling wheel 220 further includes an adjusting handle 223, and the second wheel axle 222 is fixedly connected to the adjusting handle 223. The adjusting handle 223 is provided with a rotating shaft 224 and an adjusting shaft 225. The rotating shaft 224 is rotatably connected to the support base 200. The adjusting shaft 225 and the second wheel axle 222 are located on opposite radial sides of the rotating shaft 224. When the adjusting shaft 225 rotates clockwise or counterclockwise around the rotating shaft 224, the second wheel axle 222 rotates in the corresponding direction, so that the first rolling wheel 210 and the second rolling wheel 220 are clamped between the first guide surface 1111 and the second guide surface 1112. Figure 2 As shown, the support base 200 is provided with a mounting hole, the rotating shaft 224 is disposed in the mounting hole and can rotate in the mounting hole, the support base 200 is also provided with an arc groove 230, the adjusting shaft 225 is slidably connected in the arc groove 230, when the adjusting shaft 225 rotates clockwise or counterclockwise around the rotating shaft 224 in the arc groove 230, the second wheel shaft 222 rotates synchronously around the rotating shaft 224. By adjusting the position of the adjusting shaft 225 within the arc-shaped groove 230, the rotating shaft 224 can move within the mounting hole. When the adjusting handle 223 rotates around the rotating shaft 224, the second wheel shaft 222, which is fixedly connected to the adjusting handle 223, rotates with the adjusting handle 223. This allows the position of the second wheel shaft 222 within the guide groove 111 to be adjusted along the width direction of the guide groove 111, so that the first rolling wheel 210 and the second rolling wheel 220 respectively abut against the first guide surface 1111 and the second guide surface 1112 to eliminate the gap between the wheel assembly and the guide groove 111.

[0024] In some embodiments, such as Figure 2 , 4As shown in Figure 5, a locking member 226 is provided on the adjusting shaft 225. The locking member 226 is used to lock the position of the adjusting shaft 225 in the arc-shaped groove 230, thereby locking the position of the second rolling wheel 220 in the guide groove 111. Specifically, the adjusting shaft 225 is a screw, which rotates around the rotating shaft 224 in the arc-shaped groove 230, and the locking member 226 is a locking nut. During adjustment, loosen the locking nut to allow the adjusting shaft 225 to adjust freely within the arc groove 230. After adjusting the adjusting shaft to the ideal or preset position, tighten the locking nut to lock the position of the adjusting shaft 225 within the arc groove 230. By locking the position of the adjusting shaft 225 with the locking nut, the position of the second wheel shaft 222 on the support seat 200 is also locked, preventing the position of the second wheel on the support seat 200 from moving during the movement of the support seat 200 on the column 110. This ensures that the first rolling wheel 210 and the second rolling wheel 220 are always tightly clamped within the guide groove 111 when rolling, preventing the support seat 200 from shaking during movement.

[0025] In some embodiments, the rotating shaft 224 and the adjusting shaft 225 are integrated with the adjusting handle 223. Integrating the rotating shaft 224, the adjusting shaft 225 and the adjusting handle 223 into an integrated structure can improve the connection stability among the three and prevent the rotating shaft 224 and the adjusting shaft 225 from becoming loose on the adjusting handle 223.

[0026] In some embodiments, such as Figure 5 As shown, the rotating shaft 224 and the adjusting shaft 225 are threadedly connected to the adjusting handle 223. Figure 5 Only the installation positions of the rotating shaft 224 and the adjusting shaft 225 are shown. To illustrate the rotating shaft and the adjusting shaft, specifically, the rotating shaft 224 can be a screw with threads, and the adjusting handle 223 has a corresponding threaded hole. The rotating shaft 224 and the adjusting handle 223 are connected by threads. The adjusting shaft 225 can be a bolt, and the locking element is a nut. The adjusting handle 223 has a through hole, and the adjusting shaft 225 is placed in the through hole. During adjustment, the nut is loosened, pushing the adjusting shaft 225 to move in the arc groove 230, so that the wheel bodies of the first rolling wheel 210 and the second rolling wheel 220 abut and press against the first guide surface 1111 and the second guide surface 1112 of the guide groove 111, respectively. Then the nut is tightened to lock the positions of the first rolling wheel 210 and the second rolling wheel 220 in the guide groove 111.

[0027] In some embodiments, such as Figure 2 , 3As shown, each support 200 is provided with at least two sets of wheels, and any two adjacent sets of wheels are arranged in a centrally symmetrical manner on the support 200. The centrally symmetrical arrangement means that the two adjacent sets of wheels are symmetrically arranged with respect to a point on the central axis within the guide groove. The multiple sets of wheels arranged in a centrally symmetrical manner can form a multi-point stable support between the support 200 and the column 110, preventing the support 200 from shaking when sliding within the guide groove 111.

[0028] In some embodiments, such as Figure 1 , 6 As shown, a crossbeam 240 is fixedly connected between the two support seats 200. A material box picking and placing mechanism 300 is provided on the crossbeam 240. The material box picking and placing mechanism 300 can move horizontally and pass through the gantry 100. In this embodiment, the material box picking and placing mechanism 300 can move horizontally and pass through the gantry 100, that is, the material box picking and placing mechanism 300 can move from one side of the gantry 100 to the other side. During the movement of the material box picking and placing mechanism 300, the direction of the torque of the pressure on the wheel assembly will change.

[0029] In addition, such as Figure 6 As shown, this embodiment also provides a bin-handling robot for moving bins on a shelf. The bin-handling robot includes a lifting device and a transverse guide rail. The transverse guide rail is fixedly connected to the shelf. The lifting device is configured as described in any one of the above embodiments. The gantry 100 is slidably connected to the transverse guide rail and moves horizontally along the transverse guide rail. The reasoning process for the beneficial effects of the bin-handling robot and lifting device provided in this embodiment is similar and will not be repeated here.

[0030] In summary, this embodiment sets up an adjustable first rolling wheel and adjusts the position of the second rolling wheel 220 on the support base 200, so that the wheel set composed of the first rolling wheel 210 and the second rolling wheel 220 is tightened in the guide groove 111 of the column 110, preventing gaps between the wheel set guide grooves 111, and preventing the material box picking and placing mechanism 300 from shaking and tilting during horizontal movement on the lifting mechanism.

[0031] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A lifting device, characterized in that, include: A gantry (100) includes a column (110) arranged along the height direction, and a guide groove (111) is provided on the column (110). The guide groove (111) includes a first guide surface (1111) and a second guide surface (1112) arranged opposite to each other. The lifting assembly includes a support base (200) that moves along the height direction of the column (110). The support base (200) is provided with a plurality of wheel sets that roll along the guide groove (111) within the guide groove (111). Each wheel set includes a first rolling wheel (210) and a second rolling wheel (220). The first rolling wheel (210) includes a first wheel body (211) and a first wheel axle (212). The first wheel axle (212) is fixedly connected to the support base (200). The two rolling wheels (220) include a second wheel body (221) and a second wheel axle (222). The position of the second wheel axle (222) on the support (200) can be adjusted along the width direction of the guide groove (111) so that one of the first rolling wheel (210) and the second rolling wheel (220) abuts against the first guide surface (1111) and rolls along the first guide surface (1111), and the other abuts against the second guide surface (1112) and rolls along the second guide surface (1112).

2. The lifting device according to claim 1, characterized in that, The second rolling wheel (220) also includes an adjusting handle (223), and the second wheel axle (222) is fixedly connected to the adjusting handle (223). The adjusting handle (223) is provided with a rotating shaft (224) and an adjusting shaft (225). The rotating shaft (224) is rotatably connected to the support base (200). The adjusting shaft (225) and the second wheel axle (222) are arranged on both sides of the rotating shaft (224) in the radial direction. When the adjusting shaft (225) rotates around the rotating shaft (224) in a clockwise or counterclockwise direction, the second wheel axle (222) rotates in the corresponding direction so that the first rolling wheel (210) and the second rolling wheel (220) are clamped between the first guide surface (1111) and the second guide surface (1112).

3. The lifting device according to claim 2, characterized in that, The support base (200) is provided with an arc-shaped groove (230), and the adjusting shaft (225) is slidably connected in the arc-shaped groove (230). When the adjusting shaft (225) moves in the arc-shaped groove (230) around the rotating shaft (224) in a clockwise or counterclockwise direction, the second wheel axle (222) rotates synchronously around the rotating shaft (224), and the second wheel body (221) can abut against the second guide surface (1112) when the adjusting shaft (225) moves to a preset position.

4. The lifting device according to claim 3, characterized in that, The adjusting shaft (225) is provided with a locking member (226), which is used to lock the position of the adjusting shaft (225) in the arc groove (230) to lock the position of the second rolling wheel (220) in the guide groove (111).

5. The lifting device according to claim 4, characterized in that, The locking element (226) is a locking nut.

6. The lifting device according to claim 2, characterized in that, The rotating shaft (224), the adjusting shaft (225), and the adjusting handle (223) are designed as an integral structure.

7. The lifting device according to claim 2, characterized in that, The rotating shaft (224) and the adjusting shaft (225) are threadedly connected to the adjusting handle (223).

8. The lifting device according to any one of claims 1 to 7, characterized in that, Each of the support bases (200) is provided with at least two sets of the wheel sets, and any two adjacent sets of the wheel sets are arranged in a centrally symmetrical manner on the support base (200).

9. The lifting device according to any one of claims 1 to 7, characterized in that, A crossbeam (240) is fixedly connected between the two support seats (200). A material box picking and placing mechanism (300) is provided on the crossbeam (240). The material box picking and placing mechanism (300) can move horizontally and pass through the gantry (100).

10. A bin-handling robot for moving bins on a shelf, the bin-handling robot comprising a lifting device and a transverse guide rail, the transverse guide rail being fixedly connected to the shelf, characterized in that... The lifting device is configured as described in any one of claims 1 to 9, wherein the gantry (100) is slidably connected to the transverse guide rail and moves horizontally along the transverse guide rail.

Images