CN215950315U

CN215950315U - Reduction gearbox for transfer robot

Info

Publication number: CN215950315U
Application number: CN202121763283.7U
Authority: CN
Inventors: 郑会楚; 陈永峰
Original assignee: Dongyang Linix Machine Electricity Co Ltd
Current assignee: Dongyang Linix Machine Electricity Co Ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2022-03-04
Anticipated expiration: 2031-07-30

Abstract

The utility model relates to a transfer robot, in particular to a reduction gearbox for the transfer robot. A reduction gearbox for a transfer robot is characterized by comprising a reduction gearbox input shaft, wherein two gears are coaxially sleeved on the reduction gearbox input shaft and are respectively used for being linked with a reduction gearbox output shaft, a movable rod is sleeved in the reduction gearbox input shaft, a linkage part is fixed at one end of the movable rod and is coaxially linked with the reduction gearbox input shaft, the other end of the movable rod extends out of the reduction gearbox and is linked with a linear driver, and the movable rod can axially move along the linear driver under the action of the linear driver and enables the linkage part to be linked with one of the two gears. The utility model has the advantages that two functions can be realized only by arranging one driving motor, the using quantity of the reduction gearbox can be reduced, the occupied space of the driving motor and the reduction gearbox can be smaller, and the structure is more compact.

Description

Reduction gearbox for transfer robot

Technical Field

The utility model relates to a transfer robot, in particular to a reduction gearbox for the transfer robot.

Background

In order to reduce the labor cost and improve the production efficiency, a transfer robot is often adopted in a storehouse to carry goods. The transfer robot has multiple motion functions, and each motion function is powered by one speed reducing motor.

The intelligent transfer robot disclosed in chinese patent application No. 201610373214.2 includes a lifting motor and a driving motor, and realizes a lifting function by the lifting motor and a walking function by the driving motor. The two motors and the two reduction boxes are arranged to realize different functions, so that the defects of large occupied space and high cost exist.

Disclosure of Invention

The utility model aims to provide a reduction gearbox for a transfer robot, which can realize two functions of walking and lifting only by one driving motor.

In order to achieve the purpose, the utility model adopts the following technical scheme: a reduction gearbox for a transfer robot is characterized by comprising a reduction gearbox input shaft arranged in a box and used for receiving torque of a driving motor, wherein two gears are coaxially sleeved on the reduction gearbox input shaft, the two gears are all in sliding fit on the reduction gearbox input shaft and are respectively used for being linked with a reduction gearbox output shaft, a movable rod is sleeved in the reduction gearbox input shaft and is coaxially arranged with the reduction gearbox input shaft, a linkage part is fixed at one end of the movable rod and coaxially linked with the reduction gearbox input shaft, the other end of the movable rod extends out of the box and is linked with a linear driver, the linear driver is located outside the box and is fixed with the box, and the movable rod can axially move along the self under the action of the linear driver and enables the linkage part to be linked with one of the two gears.

One of the two gearbox output shafts on the box body is used for realizing the lifting function, and the other gearbox output shaft is used for realizing the walking function of the robot. When the robot only needs to walk, the linear driver drives the movable rod to move along the axis of the linear driver, and a linkage part at the end part of the movable rod is matched with one of the two gears, so that the linkage of the input shaft of the reduction gearbox and the gear is realized, and the output shaft of the reduction gearbox corresponding to the gear is driven to rotate; when the robot needs to drive the goods to jack up, the linear driver drives the movable rod to move along the axis direction of the linear driver, so that the linkage part is separated from one gear and is linked with the other gear, and the output shaft of the other reduction gearbox rotates.

The utility model can realize the selective use of the output shafts of the two reduction boxes only by arranging one driving motor, and the switching use of the two functions can reduce the use number of the reduction boxes, and can ensure that the space occupied by the driving motor and the reduction boxes is smaller, so that the carrying robot can be smaller. The linear driver of the utility model is only used for the linear motion of the movable rod, and any existing driving mechanism with smaller power and smaller volume can be adopted.

The gear and the movable rod are arranged on the input shaft of the reduction gearbox directly linked with the motor output shaft of the driving motor, so that the arrangement of other parts in the box body is facilitated, and the installation of the parts such as the movable rod is facilitated. The gear and the output shaft of the reduction gearbox can be linked by adopting the existing structure of any reduction gearbox.

Preferably, the reduction gearbox input shaft is provided with a through hole penetrating through the axial surface of one side, a guide groove communicated with the through hole is formed in the outer wall of the reduction gearbox input shaft, the guide groove extends axially along the reduction gearbox input shaft, one end, fixed with the linkage piece, of the movable rod extends into the through hole, the linkage piece is slidably matched with the guide groove, the end portion of the linkage piece extends out of the guide groove, and the gears are provided with a plurality of matching grooves used for being matched with the end portion of the linkage piece. The input shaft of the reduction box and the movable rod are sleeved with each other, so that the structure of the utility model is more compact. The guide groove is used for limiting the linkage part to rotate relative to the input shaft of the reduction gearbox.

Preferably, the plurality of matching grooves are uniformly arranged on the gear at intervals in an annular shape with the gear axis as the center. The matching groove is communicated with the central hole of the gear. Through setting up a plurality of cooperation grooves to the linkage stretches into in the cooperation groove.

Preferably, the opening of each matching groove is of an open structure, and the openings of two adjacent matching grooves are connected through an arc surface. The opening of the matching groove is arranged to be of an open structure, so that the end part of the linkage part can enter the matching groove conveniently. The opening parts of the two adjacent matching grooves are connected through the cambered surface without right angles, and the axial surface of the gear, which is used for being in contact with the linkage piece, is smoother, so that the linkage piece can move into the matching grooves conveniently.

Preferably, the linkage part is of a cylindrical pin-shaped structure, and the axial surface of the linkage part is of a conical surface structure with a high middle part and a low periphery. Namely, the distance between the end face of the end part of the linkage part and the outer wall of the input shaft of the reduction box from the axis of the end part to the gear side is smaller and smaller. The arrangement is convenient for the part of the linkage piece close to the gear to be matched with the gear in a linkage way.

Preferably, the gear is fixed with the input shaft of the reduction gearbox through a first bearing. The friction between the gear and the input shaft of the reduction box is reduced by arranging the first bearing.

Preferably, the output end of the linear driver is provided with a driving piece capable of moving along the linear direction, the driving piece is arranged in parallel with the movable rod, a connecting plate is arranged between the driving piece and the movable rod, and the movable rod is fixed with the connecting plate through a second bearing. The movable rod can synchronously rotate along with the linkage and the input shaft of the reduction box, so that the structure of the utility model can be simpler to arrange, and the utility model has smaller volume. And the linear driver and the movable rod are arranged side by side, so that the structure of the utility model is more compact.

Preferably, the connecting plate is equipped with the fixed slot that is used for fixed second bearing, the movable rod passes through second bearing and connecting plate rotate fixedly, movable rod axial end face is equipped with the fixed orifices, fixed orifices department is fixed with the mounting, the mounting has the mounting inner segment that stretches into the fixed orifices and lies in the mounting outer segment outside the fixed orifices all the time, the movable rod includes thick section and thin section, the thin section of movable rod is fixed with the second bearing inner circle, the second bearing by the restriction at the thick section of movable rod with between the mounting outer segment. The movable rod is connected and fixed with the connecting plate through the matching of the movable rod, the fixed piece and the second bearing, so that the connecting device is simple in structure and convenient to assemble.

Preferably, one end of the movable rod, which is far away from the linkage piece, extends out of the box body, an oil seal is arranged between the box body and the movable rod, and the linear driver is arranged outside the box body. The linear actuator sets up outside the box, need not consider the sealed problem between lubricating oil and the linear actuator in the box, enables littleer that the box set up simultaneously, and the required lubricated oil mass that adds toward the box still less. Wherein, an oil seal is arranged between the movable rod and the box body, which can prevent foreign matters from entering the box body, so as to ensure the smoothness of the movable rod during axial movement.

The utility model has the advantages that the switching use of two functions can be realized only by arranging one driving motor, the using quantity of the reduction gearbox can be reduced, the occupied space of the driving motor and the reduction gearbox can be smaller, and the structure is more compact.

Drawings

FIG. 1 is a schematic view of a reduction gearbox according to the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a schematic view of a linear actuator of the present invention in conjunction with a movable rod;

FIG. 4 is a schematic view of a gear according to the present invention;

fig. 5 is a schematic view of a structure at the second bearing of the connecting plate.

Detailed Description

The utility model is further described below with reference to the figures and specific embodiments.

As shown in fig. 1 to 3, the reduction gearbox for the transfer robot of the utility model comprises a box body 100 and a box cover 101, wherein a reduction gearbox input shaft 1 used for receiving the torque of a motor output shaft 201 of a driving motor 200 is arranged in the box body 100, two gears 2 are coaxially sleeved on the reduction gearbox input shaft 1, the two gears 2 are both arranged on the reduction gearbox input shaft 1 in a sliding way through a first bearing 24, the two gears 2 are respectively used for being linked with a reduction gearbox output shaft 11, the reduction gearbox input shaft 1 is matched with a movable rod 3, the movable rod 3 and the reduction gearbox input shaft 1 are coaxially arranged, a linkage part 4 is fixed at one end of the movable rod 3, the linkage part 4 is coaxially linked with the reduction gearbox input shaft 1, the other end of the movable rod 3 is linked with a linear driver 5, the movable rod 3 can axially move along the linear driver 5, and the linkage part 4 is linked with one of the two gears 2. The reduction gearbox input shaft 1 is provided with a step structure 19 and a first limiting piece 18 which are used for limiting the axial movement of the first bearing 24 along the reduction gearbox input shaft. Wherein, both ends of the input shaft 1 of the reduction gearbox are rotationally fixed with the box body 100 and the box cover 101 through a third bearing 17.

As shown in fig. 2, the reduction gearbox input shaft 1 is provided with a through hole 12 penetrating through an axial surface on one side, two opposite sides of the outer wall of the reduction gearbox input shaft 1 are respectively provided with a guide groove 13 communicated with the through hole 12, the guide groove 13 extends along the axial direction of the reduction gearbox input shaft 1, one end of the movable rod 3, which is fixed with the linkage piece 4, extends into the through hole 12, the linkage piece 4 is slidably matched with the guide groove 13, the end part of the linkage piece 4 extends out of the guide groove 13, and the gear 2 is provided with a matching groove 21 matched with the end part of the linkage piece 4.

As shown in fig. 2 to 4, a plurality of fitting grooves 21 are provided at regular intervals in a ring shape around the axis of the gear 2, and the fitting grooves 21 communicate with a central hole 23 penetrating in the axial direction of the gear 2. The opening of the matching groove 21 is in an open structure, and the openings of the two adjacent matching grooves 21 are connected through a cambered surface 22. Wherein said mating grooves 21 are provided in the mutual proximity of the two gears 2.

As shown in fig. 2 and 3, the linkage member 4 is a cylindrical pin-shaped structure, the distance between the end surface (axial surface) of the end of the linkage member 4 from the axis to the side of the gear 2 and the outer wall of the input shaft of the reduction gearbox is smaller and smaller, and the end surface of the linkage member 4 is a conical surface structure with a high middle part and a low periphery.

As shown in fig. 2, 3 and 5, one end of the movable rod 3 away from the linkage 4 is fixed to the connecting plate 6 in a rotating manner, and the connecting plate 6 moves axially along the movable rod 3 under the action of the linear actuator 5. Wherein the linear actuator 5 is an electric push rod. The output end of the linear driver 5 is provided with a driving piece 51 which can move along the linear direction, the linear direction is arranged in parallel with the axial direction of the movable rod 3, and the driving piece 51 is connected with the movable rod 3 through a connecting plate 6. The end of the movable rod 3 fixed with the connecting plate 6 is located outside the box body 100, an oil seal 16 is arranged between the box body 100 and the movable rod 3, the linear actuator 5 is arranged outside the box body 100, and the linear actuator 5 is fixed with the box cover 101 through the mounting plate 50.

Connecting plate 6 is equipped with the fixed slot that is used for fixed second bearing 61, movable rod 3 rotates fixedly with connecting plate 6 through second bearing 61, 3 axial end faces of movable rod are equipped with fixed orifices 30, fixed orifices 30 department is fixed with the mounting 31 of bolt form, mounting 31 has the mounting inner segment 311 that stretches into the fixed orifices and is located the outer section 312 of the outer mounting of fixed orifices 30 all the time, movable rod 3 includes thick section and thin section, the thin section of movable rod 3 is fixed with second bearing 61 inner circle, second bearing 61 is restricted between the thick section of movable rod 3 and the outer section 312 of mounting.

Claims

1. A reduction gearbox for a transfer robot is characterized by comprising a reduction gearbox input shaft arranged in a box and used for receiving torque of a driving motor, wherein two gears are coaxially sleeved on the reduction gearbox input shaft, the two gears are all in sliding fit on the reduction gearbox input shaft and are respectively used for being linked with a reduction gearbox output shaft, a movable rod is sleeved in the reduction gearbox input shaft and is coaxially arranged with the reduction gearbox input shaft, a linkage part is fixed at one end of the movable rod and coaxially linked with the reduction gearbox input shaft, the other end of the movable rod extends out of the box and is linked with a linear driver, the linear driver is located outside the box and is fixed with the box, and the movable rod can axially move along the self under the action of the linear driver and enables the linkage part to be linked with one of the two gears.

2. A reduction gearbox for transfer robot as recited in claim 1, wherein said reduction gearbox input shaft is provided with a through hole extending through an axial face of one side, and a guide groove communicating with said through hole is provided on an outer wall of said reduction gearbox input shaft, said guide groove extending axially along said reduction gearbox input shaft, one end of said movable rod to which said link member is fixed extends into said through hole, said link member is slidably fitted at said guide groove, and an end portion of said link member extends out of said guide groove, said gears are each provided with a plurality of fitting grooves for fitting with an end portion of said link member.

3. A reduction box according to claim 2, wherein said mating grooves are formed on the gear at regular intervals in a ring shape with the gear axis as the center.

4. A reduction gearbox for transfer robots according to claim 3, characterised in that the openings of said mating slots are open-mouthed and the openings of two adjacent mating slots are connected by an arc surface.

5. A reduction gearbox for transfer robots according to claim 2, 3 or 4, characterised in that said linkage is of a cylindrical pin-like structure and the axial plane of the linkage is of a conical structure with a high middle and a low periphery.

6. A reduction gearbox for transfer robots according to claim 1 characterised in that said gear is fixed to said reduction gearbox input shaft by means of a first bearing.

7. A reduction gearbox for a transfer robot as recited in claim 1, wherein said linear actuator has a drive member at an output end thereof movable in a linear direction, said drive member being disposed in parallel with said movable rod, a connecting plate being disposed between said drive member and said movable rod, said movable rod being fixed to said connecting plate by a second bearing.

8. The reduction gearbox for transfer robots as claimed in claim 7, wherein the connecting plate is provided with a fixing groove for fixing the second bearing, the movable rod is rotationally fixed to the connecting plate through the second bearing, a fixing hole is formed in an axial end face of the movable rod, a fixing member is fixed to the fixing hole, the fixing member has a fixing member inner section extending into the fixing hole and a fixing member outer section located outside the fixing hole all the time, the movable rod includes a thick section and a thin section, the thin section of the movable rod is fixed to the inner ring of the second bearing, and the second bearing is limited between the thick section of the movable rod and the fixing member outer section.