CN214360028U

CN214360028U - Connecting rod formula elevating system and transfer robot

Info

Publication number: CN214360028U
Application number: CN202120187776.4U
Authority: CN
Inventors: 赵广志; 李学志; 孙玉童; 钟芳明
Original assignee: Suzhou Mushiny Intelligence Technology Co ltd
Current assignee: Suzhou Mushiny Intelligence Technology Co ltd
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2021-10-08
Anticipated expiration: 2031-01-22

Abstract

The utility model discloses a connecting rod type lifting mechanism, which comprises a machine base, a lifting base and at least three groups of jacking rod groups, wherein all the jacking rod groups are arranged between the machine base and the lifting base; each jacking rod group comprises a first connecting rod and a second connecting rod which are respectively and rotatably connected to the base and the lifting seat, and the first connecting rod and the second connecting rod are hinged with each other; in the above structure, the reference axes of at least two sets of the jacking rod sets are not parallel to each other, wherein the reference axes are the hinge shafts of the first connecting rod and the second connecting rod in the same jacking rod set. The utility model discloses a connecting rod formula elevating system and transfer robot are organized through setting up at least two sets of jacking poles that reference axis is nonparallel each other, form between these jacking pole group and hold back each other for synchronous motion is organized to all jacking poles, thereby the translation of drive lift seat goes up and down, and the lift seat can not produce crooked, simple structure, stability height.

Description

Connecting rod formula elevating system and transfer robot

Technical Field

The utility model relates to a storage logistics equips technical field, especially relates to a connecting rod formula elevating system and transfer robot.

Background

The storage robot belongs to the category of industrial robots, and is a machine device which is applied to a storage link and can automatically execute operations such as cargo transfer, transportation and the like through receiving instructions or a program preset by a system. The storage robot is used as an important component of intelligent logistics, conforms to the development requirements of a new era, and becomes a breakthrough for solving the bottleneck problems of high dependence on manual work, limited sorting capacity in a business rush hour and the like in the logistics industry.

Climbing mechanism is the core part of storage robot, in order to keep storage robot operation stable, reasonable climbing mechanism has played crucial effect, current storage robot's climbing mechanism has one kind to carry out climbing mechanism through parallelogram linkage, when this kind of climbing mechanism jacks, because parallelogram's structure principle, need add in addition and hold the pole in order to keep its stable, make overall structure comparatively complicated, and the lift seat can produce horizontal short distance motion during the jacking, can cause goods shelves to rock.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the utility model provides a simple structure, stable connecting rod type lifting mechanism and transfer robot goes up and down.

The technical scheme is as follows: in order to achieve the above object, the utility model discloses a connecting rod formula elevating system, it includes:

a frame;

the lifting seat can do lifting motion relative to the machine base; and

at least three jacking rod groups arranged between the machine base and the lifting base; each jacking rod group comprises a first connecting rod and a second connecting rod which are respectively and rotatably connected to the base and the lifting seat, and the first connecting rod and the second connecting rod are hinged with each other;

in the above structure, the reference axes of at least two sets of the jacking rod sets are not parallel to each other, wherein the reference axes are the hinge shafts of the first connecting rod and the second connecting rod in the same jacking rod set.

Furthermore, at least two groups of the jacking rod groups are contained in the same jacking assembly, and the first connecting rods and the second connecting rods of all the jacking rod groups contained in the same jacking assembly are respectively parallel to each other; the jacking assembly further comprises a connecting rod; the connecting rods are connected with at least two groups of the jacking rod groups and are coaxially hinged with two connecting rods contained in the jacking rod groups.

Furthermore, the connecting rod type lifting mechanism comprises two groups of jacking components, and each group of jacking components comprises two groups of jacking rod groups and one connecting rod; the reference shafts of the jacking rod groups in the two groups of jacking assemblies are mutually vertical.

Further, in the top view direction, the two groups of jacking assemblies are arranged in a crossed manner, and two connecting rods contained in the two groups of jacking assemblies are vertically crossed.

Furthermore, the connecting rod is a bent rod of which the middle part deviates relative to the connecting line of the two ends of the connecting rod; in the two connecting rods, the middle part of one connecting rod deviates upwards relative to the connecting line of the two ends of the connecting rod, and the middle part of the other connecting rod deviates downwards relative to the connecting line of the two ends of the connecting rod.

A transfer robot comprises the connecting rod type lifting mechanism, a driving mechanism, a movable chassis and a tray; the driving mechanism is used for driving the jacking rod group to operate; the tray is installed on the lifting seat.

Further, a rotary driving assembly is arranged between the tray and the lifting seat.

Has the advantages that: the utility model discloses a connecting rod formula elevating system and transfer robot are organized through setting up at least two sets of jacking poles that reference axis is nonparallel each other, form between these jacking pole group and hold back each other for synchronous motion is organized to all jacking poles, thereby the translation of drive lift seat goes up and down, and the lift seat can not produce crooked, simple structure, stability height.

Drawings

FIG. 1 is a structural view of a link type elevating mechanism;

FIG. 2 is a structural diagram of a link type elevating mechanism according to another embodiment;

fig. 3 is a structural view of the transfer robot.

In the figure: 1-a machine base; 2-a lifting seat; 3-jacking rod group; 31-a first link; 32-a second link; 33-a connecting rod; 4-a drive mechanism; 41-driving motor; 42-eccentric wheel; 43-a drive rod; 5-moving the chassis; 51-a driving wheel; 52-driven wheel; 53-chassis base; 54-a shock absorbing mechanism; 6-a tray; 7-a rotary drive assembly.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The connecting rod type lifting mechanism of the utility model comprises a frame 1, a lifting seat 2 and at least three jacking rod sets 3; the lifting seat 2 can move up and down relative to the machine base 1;

all the jacking rod groups 3 are arranged between the machine base 1 and the lifting base 2; each jacking rod group 3 comprises a first connecting rod 31 and a second connecting rod 32 which are respectively and rotatably connected to the machine base 1 and the lifting base 2, and the first connecting rod 31 and the second connecting rod 32 are hinged to each other;

in the above structure, the reference axes of at least two sets of the jacking rod sets 3 are not parallel to each other, wherein the reference axes are the hinge axes of the first connecting rod 31 and the second connecting rod 32 in the same jacking rod set 3. So, because the reference shaft that has at least two sets of jacking rod group 3 is mutually not parallel, form the effect of holding back each other between these jacking rod group 3 of group that the reference shaft is nonparallel each other, make these jacking rod group 3's operation synchronous, thereby drive other jacking rod group 3 also synchronous operation, make 2 translation lifts of lift seat, 2 lift in-process of lift seat can not produce the slope, and need not to add guiding mechanism or support mechanism in addition between frame 1 and the lift seat 2, also can not produce the slip when lift seat 2 goes up and down, the stability of goods shelves when can guaranteeing its jacking goods shelves.

In a first embodiment, as shown in fig. 1, at least two sets of the jacking rod sets 3 are included in the same jacking assembly, and the first connecting rods 31 and the second connecting rods 32 of all the jacking rod sets 3 included in the same jacking assembly are respectively parallel to each other; the jacking assembly further comprises a connecting rod 33; the connecting rod 33 is connected to at least two sets of the jacking rod sets 3, and is coaxially hinged to two connecting rods (i.e., the first connecting rod 31 and the second connecting rod 32) included in the connected jacking rod sets 3.

In the embodiment shown in fig. 1, the link-type lifting mechanism includes four sets of the jacking rod sets 3, and the link-type lifting mechanism includes two sets of the jacking assemblies, each set of the jacking assemblies includes two sets of the jacking rod sets 3 and one connecting rod 33; the reference axes of the jacking rod groups 3 in the two groups of jacking assemblies are mutually vertical. Four connecting positions of the four groups of the jacking rod groups 3 and the lifting seat 2 are in circumferential array layout, and similarly, four connecting positions of the four groups of the jacking rod groups 3 and the machine seat 1 are also in circumferential array layout; in a top view, the two sets of the jacking assemblies are arranged in a crossed manner, and two connecting rods 33 included in the two sets of the jacking assemblies are vertically crossed. Through this overall arrangement mode, one of them group jacking subassembly supports the horizontal both ends of seat 2 that goes up and down, and another group jacking subassembly supports the vertical both ends of seat 2 that goes up and down, has realized the steady support to seat 2 that goes up and down.

Since the two link levers 33 are vertically crossed as viewed in a plan view, the link levers 33 are bent levers whose middle portions are deviated from the line connecting both ends thereof in order to prevent the two link levers 33 from interfering with each other; of the two link levers 33, the middle portion of one link lever 33 is deviated upward with respect to the line connecting both ends thereof, and the middle portion of the other link lever 33 is deviated downward with respect to the line connecting both ends thereof.

In a second embodiment, as shown in fig. 2, the link-type lifting mechanism includes more than three sets of lift rod sets 3 (five sets in the figure), and all the lift rod sets 3 are arranged in a circumferential array.

The invention also provides a transfer robot, which comprises the connecting rod type lifting mechanism, a driving mechanism 4, a movable chassis 5 and a tray 6, as shown in figure 3; the driving mechanism 4 is used for driving the jacking rod group 3 to operate, and the driving mechanism 4 and the jacking rod group 3 are both arranged on the movable chassis 5; the tray 6 is mounted on the lifting base 2.

The driving mechanism 4 comprises a driving motor 41, an eccentric wheel 42 and a driving rod 43; the driving motor 41 is arranged on the seat body 1; the eccentric wheel 42 is fixed on an output shaft of the driving motor 41; two ends of the driving rod 43 are respectively rotatably connected to the eccentric wheel 42 and the jacking rod set 3, and one end of the driving rod 43 connected to the jacking rod set is coaxially hinged to the first connecting rod 31 and the second connecting rod 32 included in the jacking rod set 3.

The movable chassis 5 is of a six-wheel structure and comprises a chassis base body 53; two driving wheels 51 are arranged on two sides of the middle part of the chassis base body 53, and four driven wheels 52 are arranged at the four corners of the chassis base body; each driving wheel 51 is connected with the chassis base body 53 through a damping mechanism 54, so that the contact force between the driving wheel 51 and the ground can be maintained, the driving wheel is prevented from being overhead, and the walking precision of the warehousing robot is ensured.

Preferably, a rotation driving assembly 7 is arranged between the tray 6 and the lifting seat 2, and the rotation driving assembly 7 can drive the tray 6 to rotate relative to the lifting seat 2.

When the storage robot executes a goods shelf carrying task, firstly, the storage robot drills into the bottom of a goods shelf, then, the driving mechanism operates to enable the jacking assembly 3 to operate to drive the lifting seat 2 to ascend, and when the lifting seat 2 ascends to the highest point, the pallet 6 lifts up the goods shelf; then, the moving chassis 5 operates to drive the goods shelf to move, when the moving chassis 5 turns, the two driving wheels 61 are driven to reversely operate at a constant speed to make the moving chassis 5 rotate on the spot, meanwhile, the rotary driving component 7 is driven to operate to make the tray 6 rotate relative to the moving chassis 5, the rotating direction of the tray 6 relative to the moving chassis 5 is opposite to the rotating direction of the moving chassis 5 relative to the ground, and the rotating speeds of the tray 6 and the moving chassis are equal, so that the tray 6 can be kept stationary relative to the ground to keep the goods shelf stationary relative to the ground, and the goods shelf can be effectively prevented from shaking and even collapsing when the goods shelf is excessively rotated along with the tray 6.

The utility model discloses a connecting rod formula elevating system and transfer robot are organized through setting up at least two sets of jacking poles that reference axis is nonparallel each other, form between these jacking pole group and hold back each other for synchronous motion is organized to all jacking poles, thereby the translation of drive lift seat goes up and down, and the lift seat can not produce crooked, simple structure, stability height.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. The utility model provides a connecting rod formula elevating system which characterized in that, it includes:

a frame (1);

the lifting seat (2) can do lifting motion relative to the machine base (1); and

at least three jacking rod groups (3) which are arranged between the machine base (1) and the lifting base (2); each jacking rod group (3) comprises a first connecting rod (31) and a second connecting rod (32) which are respectively and rotatably connected to the base (1) and the lifting seat (2), and the first connecting rod (31) and the second connecting rod (32) are hinged to each other;

in the structure, reference axes of at least two groups of the jacking rod groups (3) are not parallel to each other, wherein the reference axes are hinged shafts of the first connecting rod (31) and the second connecting rod (32) in the same jacking rod group (3).

2. The link type lifting mechanism according to claim 1, wherein at least two sets of the jacking rod sets (3) are included in the same jacking assembly, and the first connecting rod (31) and the second connecting rod (32) of all the jacking rod sets (3) included in the same jacking assembly are respectively parallel to each other; the jacking assembly further comprises a connecting rod (33); the connecting rod (33) is at least connected with the two jacking rod sets (3) and is coaxially hinged with the two connecting rods contained in the jacking rod set (3).

3. The link-type lifting mechanism according to claim 2, wherein the link-type lifting mechanism comprises two sets of the jacking assemblies, each set of the jacking assemblies comprising two sets of the jacking rod (3) and one connecting rod (33); the reference axes of the jacking rod groups (3) in the two groups of jacking assemblies are vertical to each other.

4. The link-type lifting mechanism as claimed in claim 3, wherein the two sets of jacking assemblies are arranged in a cross manner in a top view, and the two sets of jacking assemblies comprise two connecting rods (33) which are vertically crossed.

5. The link type elevating mechanism according to claim 4, wherein the connecting rod (33) is a bent rod whose middle portion is deviated from a line connecting both ends thereof; of the two connecting rods (33), the middle part of one connecting rod (33) deviates upwards relative to the connecting line of the two ends of the connecting rod, and the middle part of the other connecting rod (33) deviates downwards relative to the connecting line of the two ends of the connecting rod.

6. A handling robot, characterized in that it comprises a link-type lifting mechanism according to any of claims 1-5, further comprising a drive mechanism (4), a moving chassis (5) and a pallet (6); the driving mechanism (4) is used for driving the jacking rod group (3) to operate; the tray (6) is arranged on the lifting seat (2).

7. A handling robot as claimed in claim 6, characterised in that a rotary drive assembly (7) is arranged between the pallet (6) and the lifting seat (2).