A guide wheel assembly for a stacking robot

Abstract

This application relates to the technical field of stacking machinery, and discloses a guide wheel assembly for a stacking robot. In order to solve the problem that the installation spacing is fixed, resulting in the improvement of processing accuracy, the axis lines of the two ends of the eccentric shaft are not on the same straight line. Therefore, during installation, only by rotating the eccentric shaft can the spacing between the guide wheels be adjusted, which is convenient for installation and can also reduce the processing accuracy of the side weldments, reduce the processing cost, and achieve the effects of adjustable installation spacing and reduced processing accuracy.

Description

Technical Field

[0001] This application relates to the technical field of stacking machinery, and particularly to a guide wheel assembly for a stacking robot. Background Art

[0002] A stacking robot is a robot that can automatically, quickly, and accurately stack goods in a warehouse.

[0003] The stacking robot can automatically find the storage location according to the instructions, and through operations such as carrying and stacking the goods, stack the goods on the shelf according to the specified requirements. Such robots are widely used in the fields of logistics, e-commerce, medicine, tobacco, etc., which can greatly improve the storage efficiency and management level of the warehouse, while reducing the labor intensity and cost.

[0004] At present, when the stacking robot moves vertically, it relies on the guide wheels to move on the column, and the guide wheels are directly fixed on the load-carrying platform by bolts. During the long-term handling process, the guide wheels on the load-carrying platform are prone to looseness, resulting in the inability of the load-carrying platform to move vertically normally. At the same time, for the guide wheels fixed by bolts, the requirement for the machining accuracy of their positions is high, which increases the machining cost. Summary of the Invention

[0005] This application proposes a guide wheel assembly for a stacking robot, which has the advantages of adjustable installation spacing and reduced machining accuracy, to solve the problem of improving the machining accuracy caused by the fixed installation spacing proposed in the above background art.

[0006] To achieve the above object, this application adopts the following technical solution: A guide wheel assembly for a stacking robot, including: a load-carrying platform, with side weldments fixed on both sides of the load-carrying platform, and the side weldments are attached to the column through the guide wheels fixed on the outside; a hollow shaft, fixedly arranged on the side weldment; an eccentric shaft, one end of the eccentric shaft installs and fixes the guide wheel through a bearing; the eccentric shaft is fixed in the hollow shaft through a connecting component; the midlines of the hollow shaft and the guide wheel are not on the same straight line, and by rotating the eccentric shaft, the spacing between the guide wheels can be adjusted.

[0007] Further, four guide wheels are distributed on the side weldment, and the column is clamped by two in a group.

[0008] Further, the apertures at both ends of the hollow shaft are small and the aperture in the middle is large.

[0009] Further, the connecting component is that the eccentric shaft is welded on the hollow shaft.

[0010] Further, the connecting component is an eccentric bushing on the hollow shaft; one end of the eccentric shaft is sleeved with an expansion sleeve, which is composed of a collar and a conical top block; the end of the eccentric shaft is threadedly connected with a bolt, and a pressing plate sleeved outside the bolt presses the conical top block on the expansion sleeve; the conical top block is pressed to cause the collar to expand outwards, and the extrusion of the collar locks the eccentric shaft in the hollow shaft.

[0011] Further, the end of the eccentric shaft is provided with a square boss, and the tail is provided with a threaded hole.

[0012] Further, the connecting component is: a guide ball is arranged on one side inside the hollow shaft; a tightening sleeve is sleeved on the end of the eccentric shaft, the bolt screwed into the end of the eccentric shaft will press the pressing plate sleeved outside the bolt, and a spring is arranged between the tightening sleeve and the pressing plate; a tightening channel is arranged on the outside of the tightening sleeve, the bottom of the tightening channel is vertical, and the top is inclined upwards closely against the outside of the tightening sleeve.

[0013] Further, an oval groove is opened on the inner side of the tightening sleeve.

[0014] Further, a top-out push block is movably installed at the end of the eccentric shaft, and a tension spring is arranged between the top-out push block and the eccentric shaft; the surface of the top-out push block is an inclined surface, and a limiting rod is movably arranged on the surface of the top-out push block; locking teeth adapted to the limiting rod are opened on the inner side of the tightening sleeve; the bearing is composed of a ball and a retaining seat; a pull rope is connected to the end of the retaining seat, and the other end of the pull rope is fixedly connected to the end of the top-out push block after being redirected by a fixed pulley.

[0015] Further, the limiting rod is composed of two cylindrical rods with different diameters.

[0016] The present invention has the following beneficial effects:

[0017] A guide wheel assembly of a stacking robot provided by the present application has the axes of the two ends of the eccentric shaft not on the same straight line. Thus, during installation, only by rotating the eccentric shaft, the distance between the guide wheels can be adjusted, which is convenient for installation and can also reduce the machining accuracy of the side weldments, reduce the processing cost, and achieve the effects of adjustable installation distance and reduced machining accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings forming a part of the specification depict the embodiments disclosed in the present application and, together with the specification, are used to explain the principles disclosed in the present application.

[0019] Referring to the drawings, the present application can be more clearly understood according to the following detailed description, wherein:

[0020] Figure 1 is a three-dimensional schematic diagram of the overall external structure;

[0021] Figure 2 is a three-dimensional external view of the cargo platform;

[0022] Figure 3 It is a schematic side structure diagram of the loading platform;

[0023] Figure 4 It is Figure 3 the sectional structure diagram at A-A in

[0024] Figure 5 a schematic end face structure diagram of the hollow shaft;

[0025] Figure 6 It is Figure 5 the sectional structure diagram at C-C in

[0026] Figure 7 a schematic overall diagram of the assembled eccentric shaft;

[0027] Figure 8 a schematic sectional structure diagram of the eccentric shaft;

[0028] Figure 9 an external shape diagram of the eccentric shaft;

[0029] Figure 10 a schematic diagram of another fixing structure of the eccentric shaft;

[0030] Figure 11 an external shape diagram of the tightening sleeve;

[0031] Figure 12 a schematic diagram of the guiding ball arrangement.

[0032] In the figure: 1. Loading platform; 2. Side welding part; 3. Eccentric shaft; 4. Column; 5. Guide wheel; 6. Hollow shaft; 600. Guiding ball; 7. Bearing; 700. Retaining seat; 8. Expansion sleeve; 9. Pressure plate; 10. Bolt; 11. Pulling rope; 12. Pulling spring; 13. Ejecting push block; 14. Tightening sleeve; 140. Locking tooth; 141. Tightening channel; 15. Limiting rod; 16. Spring. Specific implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0034] Embodiment 1

[0035] Please refer to Figures 1 - 3 It can be seen that side welding parts 2 are respectively fixed on both sides of the loading platform 1. The side welding parts 2 are attached to the column 4 through the externally fixed guide wheels 5, so that when the side welding parts 2 move vertically along the column 4, the guide wheels 5 are used to perform one-way reciprocating motion on the column 4. Figure 2It can be known that four guide wheels 5 are distributed on a side welding part 2, and the two guide wheels are grouped in pairs to clamp the column 4, so that the two groups of guide wheels 5 ensure that the loading platform 1 can move up and down stably.

[0036] Combined with Figures 4 - 6 It can be seen that a hollow shaft 6 is fixedly arranged on the side welding part 2. The hollow shaft 6 is designed with a smaller aperture at both ends and a larger aperture in the middle, so as to facilitate the insertion of the eccentric shaft 3 into the hollow shaft 6. Combined with Figure 9 It can be seen that the center lines at both ends of the eccentric shaft 3 are not on the same straight line. Therefore, in the actual use process, according to one end of the eccentric shaft 3, the guide wheel 5 is installed and fixed through a bearing 7, and then the eccentric shaft 3 is fixed on the hollow shaft 6. At this time, the center lines of the hollow shaft 6 and the guide wheel 5 are not on the same straight line. By rotating the eccentric shaft 3, the distance between the guide wheels 5 can be adjusted. This not only facilitates installation, but also can reduce the machining accuracy on the side welding part 2, increase the machining tolerance, and reduce the machining cost.

[0037] Embodiment 2

[0038] On the basis of Embodiment 1, please refer to Figure 4 , in order to facilitate the fixing of the eccentric shaft 3 on the hollow shaft 6, the eccentric shaft 3 after position adjustment is welded on the hollow shaft 6. This method is simple to operate and can greatly reduce the assembly cost.

[0039] Embodiment 3

[0040] On the basis of Embodiment 1, please refer to Figure 7 and Figure 8 , after the eccentric shaft 3 is sleeved on the hollow shaft 6, a expansion sleeve 8 is sleeved on one end of the eccentric shaft 3. Combined with Figure 8 It can be seen that the expansion sleeve 8 is composed of a collar and a conical top block. A bolt 10 is threadedly connected to the end of the eccentric shaft 3. By screwing the bolt 10, the pressing plate sleeved outside the bolt 10 presses the conical top block on the expansion sleeve 8, so that the collar is forced to expand outwards under the pushing of the conical top block, and the eccentric shaft 3 is locked in the hollow shaft 6 through the extrusion of the collar.

[0041] During actual use, after the eccentric shaft 3 is inserted into the hollow shaft 6, the entire loading platform 1 is placed in the middle of the column 4. Use a wrench to turn the square boss arranged at the end of the eccentric shaft 3. After rotating the eccentric shaft 3 to adjust the guide wheel 5 to the appropriate position, use a wrench to clamp the square boss to ensure that the eccentric shaft 3 will not rotate. Finally, use another wrench to screw the bolt 10, and the bolt 10 presses the pressing plate 9. According to the pressing plate 9 pressing the expansion sleeve 8, the eccentric shaft 3 is fixed on the hollow shaft 6.

[0042] In this application, by designing a square boss at the end of the eccentric shaft 3 and a threaded hole at the tail, it is more convenient to disassemble, assemble and adjust the eccentric shaft 3.

[0043] Example 4

[0044] As another variant fixation of Example 3, please refer to Figures 10 - 12 It can be seen that guide balls 600 are arranged inside the hollow shaft 6 and on one side close to the pressing plate 9. The shape is hemispherical, and there are multiple guide balls, which are arranged in an annular and equiangular manner. The tightening sleeve 14 is sleeved on the end of the eccentric shaft 3, and a spring 16 is arranged between the tightening sleeve 14 and the pressing plate 9. Thus, when the bolt 10 is screwed into the end of the eccentric shaft 3, the extrusion of the spring 16 will force the tightening sleeve 14 to tend to move away from the bolt 10.

[0045] From Figure 11 it can be seen that a tightening channel 141 is arranged on the outer side of the tightening sleeve 14. The bottom of the tightening channel 141 is vertical, and the top closely adheres to the outer side of the tightening sleeve 14 and slopes upward. The number of the tightening channels 141 is multiple, and the tightening channels 141 are arranged in an annular and equiangular manner. The spacing value between the tightening channels 141 is approximately equal to the ball diameter of the guide ball 600. Thus, when the tightening sleeve 14 is inserted from the end of the hollow shaft 6, the tightening sleeve 14 slides on the guide ball 600 under the influence of the tightening channel 141, and the tightening sleeve 14 can be deflected. From Figure 11 it can also be seen that a circular groove is formed on the inner side of the tightening sleeve 14, and the preferred shape is oval. Thus, when the tightening sleeve 14 rotates, it will force the eccentric shaft 3 to rotate synchronously.

[0046] In actual application, the eccentric shaft 3 is sleeved in the hollow shaft 6. Secondly, the tightening sleeve 14 is sleeved on the end of the eccentric shaft 3, and the guide balls 600 penetrate between the tightening channels 141. As the bolt 10 is screwed onto the eccentric shaft 3, the strength of the spring 16 compressed by the pressing plate 9 will be forced to increase. When the strength of the spring 16 increases, the tightening sleeve 14 will be forced to further insert into the hollow shaft 6. Furthermore, the tightening channel 141 is affected by the guide ball 600 and forces the tightening sleeve 14 to rotate. The rotating tightening sleeve 14 will drive the eccentric shaft 3 to deflect, and finally the distance between the guide wheels 5 is reduced, and the guide wheels 5 are clamped on the column 4 in pairs, realizing the clamping fixation of the guide wheels 5.

[0047] In this embodiment, since the elastic force of the spring 16 always exists, even when the distance between the guide wheels 5 and the column 4 increases due to wear or other reasons during application, the elastic force of the spring 16 will further cause the tightening sleeve 14 to drive the eccentric shaft 3 to rotate until the guide wheels 5 are again attached to the outer side of the column 4, realizing automatic distance adjustment.

[0048] Example 5

[0049] As a supplement to Example 4, in combination with Figure 10It can be seen that an ejection push block 13 is movably installed at the end of the eccentric shaft 3 on one side of the bolt 10. A tension spring 12 is arranged between the ejection push block 13 and the eccentric shaft 3. According to the pull of the tension spring 12, the ejection push block 13 can move away from the bolt 10. The surface of the ejection push block 13 is an inclined surface, and a limiting rod 15 is movably arranged on the surface of the ejection push block 13. The midline of the limiting rod 15 is perpendicular to the midline of the bolt 10. The direction reference Figure 10 , when the ejection push block 13 moves to the right, the inclined surface of the ejection push block 13 will cause the limiting rod 15 to have a tendency to move upward. Moreover, locking teeth 140 adapted to the limiting rod 15 are provided inside the tightening sleeve 14. The groove shape of the locking teeth 140 is an isosceles triangle, and the end of the limiting rod 15 corresponds to it. Thus, when the limiting rod 15 is inserted into the locking teeth 140, the movement of the tightening sleeve 14 can be restricted by the upward push of the limiting rod 15.

[0050] In this embodiment, the bearing 7 is composed of a ball and a retaining seat 700. Thus, when the guide wheel 5 is pressed, the ball will be forced to press the retaining seat 700, so that the retaining seat 700 moves away from the ball. Combining Figure 10 It can be clearly seen that a pull rope 11 is connected to the end of the retaining seat 700. The other end of the pull rope 11 is fixedly connected to the end of the ejection push block 13 after being redirected by a fixed pulley. Thus, when the retaining seat 700 moves, the pull rope 11 is pulled to force the ejection push block 13 to rotate synchronously.

[0051] Combining Figure 10 , the limiting rod 15 is composed of two cylindrical rods with different diameters. The position A outside the eccentric shaft 3 is a chute, and its width is the same as that of the small-diameter cylindrical rod of the limiting rod 15, so as to limit that only the small-diameter cylindrical rod on the limiting rod 15 can pass through the position A.

[0052] During use, the eccentric shaft 3 is placed into the hollow shaft 6. At this time, the midline of the end of the eccentric shaft 3 where the guide wheel 5 is installed is directly above the midline of the other end of the eccentric shaft 3. Then, the tightening sleeve 14 is inserted into one end of the hollow shaft 6, and the bolt 10 is tightened.

[0053] It should be noted that in this embodiment, when the guide ball 600 moves, the length of the inclined part in the tightening channel 141 is just such that the eccentric shaft 3 can deflect by 70° - 85°, so as to ensure that after the tightening sleeve 14 autonomously deflects the eccentric shaft 3 by a certain angle, the distance between the two guide wheels 5 will never increase.

[0054] Then, release the eccentric shaft 3. Under the elastic force of the spring 16, the tightening sleeve 14 will be forced to push into the hollow shaft 6, and the eccentric shaft 3 will drive the guide wheel 5 to deflect until the guide wheel 5 presses against the column 4. After the guide wheel 5 is pressed, it will force the retaining seat 700 to move to the left, and pull the ejecting push block 13 to move to the right through the pull rope 11. The limiting rod 15 is forced to push upward into the locking tooth 140, thereby restricting the continuous movement of the tightening sleeve 14 and avoiding the phenomenon that the guide wheel 5 is always under the elastic force of the spring 16, resulting in excessive load on the guide wheel 5. At the same time, the large-diameter cylinder of the limiting rod 15 is located at the end of position A. Due to the block at position A, the limiting rod 15 will not move in position A.

[0055] When the contact between the guide wheel 5 and the column 4 becomes loose, the ejecting push block 13 will be forced to pull the pull rope 11 to move to the left under the tension of the tension spring 12, and the pushing action on the limiting rod 15 will be released. The tightening sleeve 14 is pushed into the hollow shaft 6 again under the elastic force of the spring 16, and the retaining seat 700 is pressed again to pull the pull rope 11.

[0056] Finally, when the inclined part of the tightening channel 141 is completely inserted into the hollow shaft 6, due to the limited rotation angle of the control eccentric shaft 3, the distance between the guide wheels 5 will still not increase. As the vertical part in the tightening channel 141 is pushed into the hollow shaft 6, combined with Figure 10 It can be seen that there is an inclined surface at the end of the locking tooth 140 on the inner side of the tightening sleeve 14. This inclined surface will push the limiting rod 15 downward, making the large-diameter cylinder of the limiting rod 15 move away from part A. At this time, the tightening sleeve 14 can be pushed by the limiting rod 15 to move through part A, and the ejecting push block 13 can be pushed by the limiting rod 15 to move to the left. The ejecting push block 13 pulling the pull rope 11 will force the retaining seat 700 to move to the right, and the retaining seat 700 will squeeze the bearing 7, and the bearing 7 will push the guide wheel 5 to move outward by a larger distance, that is Figure 10 In the state given in, since the distance of the guide wheel 5 moving outward increases, the distance between the two guide wheels 5 is further shortened, ensuring that the guide wheel 5 can always stably clamp on the column 4.

[0057] In this embodiment, the balls in the bearing 7 are embedded inside the guide wheel 5 and move with the guide wheel 5, enabling the bearing 7 to stably move with the guide wheel 5.

Claims

1. A guide wheel assembly for a stacking robot, characterized in that, Comprising: A loading platform (1), with side weldments (2) fixedly arranged on both sides of the loading platform (1), and the side weldments (2) are attached to the upright column (4) through the guiding wheels (5) fixedly arranged on the outside; A hollow shaft (6), fixedly arranged on the side weldment (2); An eccentric shaft (3), one end of the eccentric shaft (3) installs and fixes the guiding wheel (5) through a bearing (7); The eccentric shaft (3) is fixed in the hollow shaft (6) through a connecting component; The center lines of the hollow shaft (6) and the guiding wheel (5) are not on the same straight line. By rotating the eccentric shaft (3), the distance adjustment between the guiding wheels (5) is realized; The connecting component is: On one side inside the hollow shaft (6), a guiding ball (600) is arranged; A tightening sleeve (14), sleeved on the end of the eccentric shaft (3), the bolt (10) screwed into the end of the eccentric shaft (3) presses the pressing plate (9) sleeved on the outside of the bolt (10), and a spring (16) is arranged between the tightening sleeve (14) and the pressing plate (9); On the outside of the tightening sleeve (14), a tightening channel (141) is arranged, the bottom of the tightening channel (141) is vertical and the top closely adheres to the outside of the tightening sleeve (14) and slopes upward; the guiding ball (600) penetrates between the tightening channels (141); The end of the eccentric shaft (3) is movably installed with an ejecting push block (13), and a tension spring (12) is arranged between the ejecting push block (13) and the eccentric shaft (3); The surface of the ejecting push block (13) is an inclined surface, and a limiting rod (15) is movably arranged on the surface of the ejecting push block (13); On the inner side of the tightening sleeve (14), a locking tooth (140) adapted to the limiting rod (15) is provided; The bearing (7) is composed of rolling balls and a retaining seat (700); One end of the retaining seat (700) is connected with a pulling rope (11), and the other end of the pulling rope (11) is fixedly connected with the end of the ejecting push block (13) after being redirected by a fixed pulley.

2. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, Four guiding wheels (5) are distributed on the side weldment (2), and the upright column (4) is clamped by two in a group.

3. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, The apertures at both ends of the hollow shaft (6) are small and the aperture in the middle is large.

4. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, The connecting component is that the eccentric shaft (3) is welded on the hollow shaft (6).

5. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, The connecting component is that the eccentric shaft (3) is sleeved on the hollow shaft (6); One end of the eccentric shaft (3) is sleeved with an expansion sleeve (8), and the expansion sleeve (8) is composed of a collar and a conical top block; The end of the eccentric shaft (3) is threadedly connected with a bolt (10), and the pressing plate (9) sleeved on the outside of the bolt (10) presses the conical top block on the expansion sleeve (8); The conical top block is pressed to cause the collar to expand outward, and the extrusion of the collar realizes the locking of the eccentric shaft (3) in the hollow shaft (6).

6. The guide wheel assembly for a stacking robot according to claim 5, characterized in that, The end of the eccentric shaft (3) is provided with a square convex platform, and the tail is provided with a threaded hole.

7. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, On the inner side of the tightening sleeve (14), an elliptical groove is provided.

8. The guide wheel assembly for a stacking robot according to claim 1, characterized in that, The limiting rod (15) is composed of two cylindrical rods with different diameters.

Images