CN219407905U - Support stabilizing device and transfer robot - Google Patents

Abstract

The application provides a support stabilizing device and a transfer robot, wherein the support stabilizing device comprises a driving piece, a transmission assembly, a supporting arm and a base; the transmission assembly is connected with the driving piece, a connecting part is arranged on the transmission assembly, and the transmission assembly drives the connecting part to rotate in a set circumferential angle range through the control of the driving piece; one end of the supporting arm is rotationally connected with the connecting part, the other end of the supporting arm is used for being abutted with the goods shelf, and the sliding part is arranged on the supporting arm; the driving piece and the transmission assembly are arranged on the base, the base is provided with a positioning part, and the positioning part is in sliding connection with the sliding part. The application provides a support stabilising arrangement and transfer robot to through the cooperation of support arm and drive assembly to and the cooperation of the location portion of base, make the support arm can rotate and fix a position in certain angle range, thereby can be through the butt of support arm and goods shelves, guaranteed transfer robot and got the stability of putting the goods.

Description

Support stabilizing device and transfer robot

Technical Field

The application relates to the technical field of logistics transportation, in particular to a support stabilizing device and a transfer robot.

Background

In the intelligent storage field, the robot gets and puts goods height and promotes constantly, and the problem that follows is, because the robot body exists spare part manufacturing assembly error and motion clearance, leads to the fork to get and put goods in-process rocking range ratio great, causes the goods to drop and the potential safety hazard on one's body easily.

Disclosure of Invention

An object of the present application is to provide a support stabilising arrangement to solve the problem that the fork rocked in getting and putting goods in-process among the above-mentioned prior art.

The first aspect of the present application provides a support stabilization device, wherein comprising:

a driving member;

the transmission assembly is connected with the driving piece, a connecting part is arranged on the transmission assembly, and the transmission assembly drives the connecting part to rotate within a set circumferential angle range under the control of the driving piece;

one end of the supporting arm is rotationally connected with the connecting part, the other end of the supporting arm is used for being abutted with the goods shelf, and the sliding part is arranged on the supporting arm;

the base, the driving piece with drive assembly install in the base, the base is provided with location portion, location portion with sliding connection of sliding part.

In one possible design, the transmission assembly comprises a worm and a worm wheel, the worm being connected to the drive member, the worm being in driving connection with the worm wheel;

the connecting portion is arranged on the worm gear.

In one possible design, the support stabilization device further comprises a mounting plate, the mounting plate being connected to the worm gear;

the mounting plate is provided with a connecting hole, one end of the supporting arm is provided with a protrusion, and the protrusion is rotationally connected with the connecting hole.

In one possible design, the sliding part is a sliding groove, the sliding groove extends in the length direction of the supporting arm, and the positioning part is in sliding connection with the sliding groove.

In one possible design, the positioning part comprises a sliding shaft and a pressing plate, wherein the sliding shaft is in sliding connection with the sliding groove;

one end of the sliding shaft is fixedly connected with the base, the other end of the sliding shaft is detachably connected with the pressing plate, and the pressing plate and the base are respectively located on two sides of the supporting arm.

In one possible design, the end of the support arm remote from the transmission assembly is provided with a support portion which protrudes from the surface of the support arm in the thickness direction of the support arm.

In one possible design, the support is provided with a mounting groove for mounting the detection device, the side wall of the mounting groove being provided with a detection hole.

In one possible design, the support is integrally formed with the support or is detachably connected.

In one possible design, the set circumferential angle range value is 0 to 270 °.

The second aspect of the present application also provides a transfer robot comprising a fork assembly and the support stabilizer provided in the first aspect of the present application, the support stabilizer being mounted to the fork assembly.

The technical scheme that this application provided can reach following beneficial effect:

the application provides a support stabilising arrangement and transfer robot to through the cooperation of support arm and drive assembly to and the cooperation of the location portion of base, make the support arm can rotate and fix a position in certain angle range, thereby can be through the butt of support arm and goods shelves, guaranteed transfer robot and got the stability of putting the goods.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

Fig. 1 is a schematic structural view of a support stabilizer according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a support stabilization device provided in an embodiment of the present application in a storage state;

FIG. 3 is a schematic view of a support stabilization device provided in an embodiment of the present application when rotated 90 degrees;

FIG. 4 is a schematic view of a support stabilization device provided in an embodiment of the present application when rotated 180 degrees;

FIG. 5 is a schematic view of a support stabilization device provided in an embodiment of the present application when rotated 270 degrees;

FIG. 6 is a schematic structural view of a support arm according to an embodiment of the present disclosure;

fig. 7 is a schematic structural view of a support arm according to another embodiment of the present application.

Reference numerals:

1-a driving member;

2-a transmission assembly;

21-a worm;

22-worm wheel;

3-a support arm;

31-a sliding part;

32-a support;

321-mounting grooves;

322-detection hole;

33-bump;

4-a base;

41-pressing plates;

42-sliding shaft;

5-mounting plate.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In the description of the present application, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified or limited otherwise; the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, it should be understood that the terms "upper," "lower," and the like in the embodiments of the present application are described in terms of angles shown in the accompanying drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.

The application provides a support stabilising arrangement, it is applied to transfer robot, and transfer robot can walk on goods shelves and get and put goods. Specifically, the transfer robot comprises a fork assembly, and the transfer robot can pick and place goods on a goods shelf through the fork assembly. In order to ensure the stability of the fork assembly when picking and placing goods, the support stabilizing device can be arranged on the base of the fork assembly, and when the goods are required to be picked and placed, the support stabilizing device can be supported on a goods shelf, so that the overall stability of the fork assembly can be ensured.

Specifically, fig. 1 is a schematic structural diagram of a support stabilizer provided in an embodiment of the present application, and referring to fig. 1, the support stabilizer includes a driving member 1, a transmission assembly 2, a support arm 3, and a base 4; the transmission assembly 2 is connected with the driving piece 1, a connecting part is arranged on the transmission assembly 2, and the transmission assembly 2 drives the connecting part to rotate in a set circumferential angle range through the control of the driving piece 1; one end of the supporting arm 3 is rotatably connected with the connecting part, the other end of the supporting arm 3 is used for being abutted with the goods shelf, and the supporting arm 3 is provided with a sliding part 31; the driving element 1 and the transmission assembly 2 are mounted on the base 4, the base 4 is provided with a positioning portion, and the positioning portion is slidably connected with the sliding portion 31. Wherein, for easy disassembly and control, the driving member 1 may be a motor.

The connecting part can be a part on the transmission assembly 2 or an independent structural part in the transmission assembly 2, and the position of the connecting part is kept unchanged relative to the whole transmission assembly 2 and can synchronously move along with the movement of the transmission assembly 2. Because the supporting arm 3 is connected with the connecting part, when the connecting part synchronously rotates along with the transmission component 2, the part connected with the connecting part on the supporting arm 3 can be driven to synchronously rotate.

In addition, the base 4 is used for bearing a plurality of parts such as the driving element 1 and the transmission assembly 2, and the positioning part on the base 4 can be a part of the structure of the base 4, or can be a part fixed on the base 4, and the positioning part and the base 4 are kept relatively stationary integrally, i.e. the positioning part is fixed relative to the base 4. The sliding part 31 on the supporting arm 3 is slidably connected with the positioning part on the base 4, when the supporting arm 3 rotates under the driving of the connecting part on the transmission assembly 2, the positioning part and the sliding part 31 also slide relatively, so that the whole movement track of the supporting arm 3 is limited by the cooperation of the positioning part and the sliding part 31, the whole supporting arm 3 can be rotationally adjusted within the range of 0-90 degrees, and the supporting arm 3 is positioned at any angle position within the range of 0-90 degrees, so that the end, far away from the transmission assembly 2, on the supporting arm 3 is supported on a goods shelf, and the stability of the carrying robot when picking and placing goods is ensured.

Wherein the above-mentioned set circumferential angle range value is 0-270 °, i.e. when the transmission assembly 2 drives the connection part to rotate 270 ° from the initial position, the support arm 3 can rotate 90 °. The control of the opening angle of the supporting arm 3 can be realized by controlling the rotation angle of the transmission assembly 2, so that the supporting and stabilizing device can realize supporting under the condition that different distances exist between the fork assembly and the goods shelf, and has universality.

Fig. 2 is a schematic view of the support stabilizer provided in the embodiment of the present application in a storage state, referring to fig. 2, in this state, the transmission assembly 2 is not rotated, that is, the connection portion on the transmission assembly 2 is located at the 0 ° position, so that the transfer robot can walk in this state, and the support arm 3 is prevented from being opened to interfere with surrounding structures or cargoes. The position of the support arm 3 shown in fig. 2 may be an initial position, and for convenience of explanation, the position of the support arm 3 in the horizontal state shown in fig. 2 will be described as an initial position. Of course, in practical use, the support stabilizer may have different setting postures, which is not limited to this embodiment.

Fig. 3 is a schematic diagram of the support stabilizer provided in the embodiment of the present application when rotating 90 °, referring to fig. 3, in this state, the transmission assembly 2 drives the connection portion to rotate 90 °, so that one end of the support arm 3 connected with the connection portion rotates 90 ° synchronously around the center of the transmission assembly 2, meanwhile, the sliding portion 31 slides relative to the positioning portion, so that the whole rotation posture of the support arm 3 can be restrained, and the support arm 3 can be integrally rotated to open a certain first angle, so that one end of the support arm 3 far away from the transmission assembly 2 can be used for being supported on a shelf.

Fig. 4 is a schematic diagram of the support stabilizer provided in the embodiment of the present application when rotating 180 °, referring to fig. 4, in this state, the transmission assembly 2 drives the connection portion to rotate 180 ° so that one end of the support arm 3 connected with the connection portion rotates 180 ° synchronously around the center of the transmission assembly 2, meanwhile, the sliding portion 31 slides relative to the positioning portion, so that the whole rotation posture of the support arm 3 can be restrained, and the whole rotation of the support arm 3 is opened by a certain second angle, so that one end of the support arm 3 far away from the transmission assembly 2 can be used for being supported on a shelf. The second angle is larger than the first angle, that is, the opening angle of the supporting arm 3 is further increased, so that the method can be applied to a scene with larger gap between the fork assembly and the goods shelf.

Fig. 5 is a schematic diagram of the support stabilizer provided in the embodiment of the present application when rotating 270 °, referring to fig. 5, in this state, the transmission assembly 2 drives the connection portion to rotate 270 °, so that one end of the support arm 3 connected with the connection portion rotates 270 ° synchronously around the center of the transmission assembly 2, meanwhile, the sliding portion 31 slides relative to the positioning portion, so that the whole rotation posture of the support arm 3 can be restrained, and the whole rotation of the support arm 3 is opened by a certain third angle, so that one end of the support arm 3 far away from the transmission assembly 2 can be used for being supported on a shelf. The third angle is greater than the second angle, i.e. the opening angle of the support arm 3 can be increased even further, which third angle can be 90 °, i.e. the support arm 3 reaches a maximum opening angle. When the transmission assembly 2 rotates to be close to 270 degrees, the movement of the support arm 3 is close to a straight line, so that the support arm 3 can be abutted against the goods shelf in the direction close to the vertical goods shelf, sliding friction generated when the support arm 3 contacts with the goods shelf in the rotation process of the support arm 3 in a large angle range can be avoided, abrasion of the support arm 3 or the goods shelf is caused, and the service life is shortened.

As a specific implementation manner, the transmission assembly 2 includes a worm 21 and a worm wheel 22, the worm 21 is connected with the driving member 1, the worm 21 is in transmission connection with the worm wheel 22, and the connection part is disposed on the worm wheel 22.

It can be understood that the rotation center of the worm wheel 22 is perpendicular to the rotation center of the worm 21, the worm 21 and the worm wheel 22 can realize transmission through a tooth structure, when the worm 21 is driven to rotate by the driving piece 1, the worm 21 can drive the worm wheel 22 to rotate, and then the supporting arm 3 can be driven to rotate through the connecting part on the worm wheel 22. When the support arm 3 rotates to the target position, the driving piece 1 stops running, and the worm 21 and the worm wheel 22 can realize self-locking, so that the position of the support arm 3 is positioned, and the stability of the support arm 3 is ensured.

As a specific implementation, the support stabilization device further comprises a mounting plate 5, the mounting plate 5 being connected to the worm wheel 22. The mounting plate 5 is provided with a connecting hole, one end of the supporting arm 3 is provided with a protrusion 33, and the protrusion 33 is rotationally connected with the connecting hole.

The mounting plate 5 is a separate component, and may be fixed to the worm wheel 22 by a connecting member such as a screw, so that the mounting plate 5 serves as a connecting portion on the worm wheel 22 for connecting the support arm 3. Specifically, the support arm 3 and the mounting plate 5 can be rotationally connected through the cooperation of the protrusion 33 and the connecting hole, on one hand, the protrusion 33 is arranged in the connecting hole in a penetrating manner, so that the part of the support arm 3 with the protrusion 33 can synchronously rotate along with the worm wheel 22, on the other hand, relative rotation can be realized between the protrusion 33 and the connecting hole under the sliding constraint of the sliding part 31 on the support arm 3 and the positioning part on the base 4, so that the clamping stagnation of the support arm 3 in movement is avoided, and meanwhile, the movement path of the support arm 3 can be constrained, and the support arm 3 can rotate within the range of 0-90 degrees.

As a specific implementation manner, the sliding portion 31 is a sliding groove, the sliding groove extends in the length direction of the supporting arm 3, and the positioning portion is slidably connected with the sliding groove. The sliding groove has a certain length, the length of the sliding groove is consistent with that of the supporting arm 3, the positioning part can be arranged in the sliding groove in a penetrating mode, the sliding groove can provide a larger sliding space, and when one end of the supporting arm 3 with the protrusion 33 rotates in an angle range of 0-270 degrees along with the connecting part, enough space is reserved between the positioning part and the sliding groove for relative sliding, so that the supporting arm 3 is prevented from moving and clamping stagnation.

As a specific implementation manner, the positioning part comprises a sliding shaft 42 and a pressing plate 41, and the sliding shaft 42 is in sliding connection with the chute; one end of the sliding shaft 42 is fixedly connected with the base 4, the other end of the sliding shaft 42 is detachably connected with the pressing plate 41, and the pressing plate 41 and the base 4 are respectively positioned on two sides of the supporting arm 3.

The sliding shaft 42 can be integrally formed in the process of processing and manufacturing the base 4, so that the reliability of the whole structure of the base 4 can be ensured, and the production and the manufacturing are facilitated. In addition, the assembly of the sliding shaft 42 and the sliding groove can be facilitated. Specifically, in the process of assembling the support arm 3 to the base 4, one end of the support arm 3 may be connected to the connection portion of the transmission assembly 2, and meanwhile, the sliding groove is sleeved on the sliding shaft 42, one end of the sliding shaft 42 may pass through the sliding groove, and then the pressing plate 41 is fixed to the sliding shaft 42, so that the limit of the support arm 3 is realized through the pressing plate 41, and the support arm 3 is prevented from falling off from the sliding shaft 42. Wherein, the pressing plate 41 and the sliding shaft 42 can be connected by screw threads, bolts, etc. to ensure the reliability of the connection of the pressing plate 41 and the sliding shaft 42.

As a specific implementation manner, fig. 6 is a schematic structural diagram of the support arm 3 provided in one embodiment of the present application, fig. 7 is a schematic structural diagram of the support arm 3 provided in another embodiment of the present application, and referring to fig. 6 and fig. 7, one end of the support arm 3 away from the transmission assembly 2 is provided with a support portion 32, and the support portion 32 protrudes from the surface of the support arm 3 in the thickness direction of the support arm 3.

The supporting portion 32 protrudes from the surface of the supporting arm 3, so that the supporting portion 32 has a large surface area, the contact area between the supporting portion 32 and the shelf can be increased, and the supporting stability is improved.

Specifically, the supporting portion 32 may be integrally formed during the manufacturing process of the supporting arm 3, so as to ensure the reliability of the overall structure of the supporting arm 3; in addition, the supporting portion 32 may be an independently formed component, and may be connected by a detachable connection manner such as a screw connection or a threaded connection, so that the supporting portion 32 may be easily assembled and disassembled, and the supporting portion 32 may be replaced with different sizes according to the scene that needs to be supported.

As a specific implementation, referring to fig. 6 and 7, the support portion 32 is provided with a mounting groove 321 for mounting the detection device, and a side wall of the mounting groove 321 is provided with a detection hole 322.

Wherein the detection device is used for detecting the position relationship between the support part 32 and the shelf, and the detection device may be a distance sensor, for example, the detection device has a preset distance range value, and the distance between the support part 32 and the shelf can be detected through the detection hole 322 on the support part 32. Specifically, when the distance between the support 32 and the shelf is within the distance range, the detection device may send out an in-place signal, and the driving member 1 stops operating according to the in-place signal, so that the support arm 3 is positioned at the current position, so as to realize the support function.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A support stabilization device, comprising:

a driving member (1);

the transmission assembly (2) is connected with the driving piece (1), a connecting part is arranged on the transmission assembly (2), and the transmission assembly (2) drives the connecting part to rotate in a set circumferential angle range under the control of the driving piece (1);

one end of the supporting arm (3) is rotatably connected with the connecting part, the other end of the supporting arm (3) is used for being abutted with a goods shelf, and the supporting arm (3) is provided with a sliding part (31);

the base (4), driving piece (1) with transmission subassembly (2) install in base (4), base (4) are provided with location portion, location portion with sliding connection of sliding part (31).

2. Support stabilization device according to claim 1, characterized in that the transmission assembly (2) comprises a worm (21) and a worm wheel (22), the worm (21) being connected to the drive (1), the worm (21) being in transmission connection with the worm wheel (22);

the connecting portion is provided to the worm wheel (22).

3. The support stabilization device according to claim 2, characterized in that it further comprises a mounting plate (5), the mounting plate (5) being connected to the worm wheel (22);

the mounting plate (5) is provided with a connecting hole, one end of the supporting arm (3) is provided with a protrusion (33), and the protrusion (33) is rotationally connected with the connecting hole.

4. Support stabilization device according to claim 1, characterized in that the sliding part (31) is a slide groove which extends in the length direction of the support arm (3), with which the positioning part is slidingly connected.

5. The support stabilization device according to claim 4, characterized in that the positioning part comprises a sliding shaft (42) and a pressing plate (41), the sliding shaft (42) being slidingly connected with the chute;

one end of the sliding shaft (42) is fixedly connected with the base (4), the other end of the sliding shaft (42) is detachably connected with the pressing plate (41), and the pressing plate (41) and the base (4) are respectively located on two sides of the supporting arm (3).

6. Support stabilization device according to any one of claims 1 to 5, characterized in that the end of the support arm (3) remote from the transmission assembly (2) is provided with a support portion (32), which support portion (32) protrudes from the surface of the support arm (3) in the thickness direction of the support arm (3).

7. The support stabilization device according to claim 6, characterized in that the support part (32) is provided with a mounting groove (321) for mounting the detection device, the side wall of the mounting groove (321) being provided with a detection hole (322).

8. The support stabilization device according to claim 6, characterized in that the support part (32) is integrally formed with the support part (32) or is detachably connected.

9. The support stabilization device of any one of claims 1-5 wherein the set circumferential angle range value is 0-270 °.

10. A transfer robot comprising a fork assembly and the support stabilization device of any one of claims 1-9, the support stabilization device being mounted to the fork assembly.