Rotating structure of transfer robot

Abstract

The utility model discloses a rotating structure of a transfer robot, which comprises a base and a rotating seat, a rotating shaft is arranged on a stand column of the base, a rotating hole is arranged on a mounting portion of the rotating seat, the rotating shaft is rotatably arranged in the rotating hole, the rotating structure further comprises a rotating assembly, the rotating assembly comprises a stabilizing ring, and end ring portions are arranged at two ends of the stabilizing ring. And the end ring parts are respectively arranged in a first mounting ring groove and a second mounting ring groove formed in the upright post and the mounting part. According to the rotating structure of the transfer robot, the end ring parts at the two ends of the stabilizing ring are located in the first mounting ring groove and the second mounting ring groove formed in the stand column and the mounting part respectively to form abutting and supporting, the end ring parts can be located on the circumferential side of the rotating shaft to annularly abut and support the rotating base, and then the rotating coaxiality between the rotating shaft and the rotating hole is improved; therefore, the problem that the rotating shaft is abnormally abraded and shaken due to the fact that the rotating shaft and the rotating hole deviate relatively is solved, and the overall clamping and carrying stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a rotating structure of a transport robot. Background Art

[0002] The handling robot is a high-tech technology in the field of modern automatic control, involving mechanics, mechanics, electrical hydraulic and pneumatic technology, automatic control technology, sensor technology, single-chip microcomputer technology and computer technology, and has become an important part of the modern mechanical manufacturing production system. Its advantage is that it can complete various expected tasks through programming, and it has the respective advantages of humans and machines in its own structure and performance, especially embodying artificial intelligence and adaptability.

[0003] According to publication number CN212653440U, publication (announcement) date: 2021.03.05, a handling robot is disclosed, including a frame, a battery assembly, a drive assembly, a rotating mechanism, a lifting mechanism and a gripper installed on the lifting mechanism, the frame is connected to the drive assembly, the battery assembly is installed on the frame, and is electrically connected to the drive assembly, the rotating mechanism and the lifting mechanism respectively, the drive assembly is used to drive the frame to move, the rotating mechanism is installed on the frame, the lifting mechanism is connected to the rotating mechanism, the rotating mechanism is used to drive the gripper to rotate, after the gripper is used to grab the goods, the lifting mechanism controls the picking and placing height of the gripper, the rotating mechanism drives the lifting mechanism to rotate, the gripper drives the items to rotate, the items can be driven to move by the driving device, the items can be placed on the frame or directly placed at the storage point, and the goods are transported by the handling robot, which reduces the cost of cargo handling, improves the efficiency of cargo handling, and reduces the intensity of cargo handling.

[0004] In the prior art including the above-mentioned patent, a rotating mechanism is provided on the frame to drive the lifting mechanism to perform axial rotation. However, the lifting mechanism is provided with a gripper extending out of the outside of the rotating cabinet. When the gripper clamps and moves the product, the center of gravity is biased toward the outer end of the gripper, and the rotating mechanism is subjected to the bias force on one side of the outer end of the gripper, resulting in poor rotation of the rotating mechanism. As a result, the rotating mechanism causes the lifting mechanism to rotate and generates shaking, thereby reducing the stability of the clamping. Utility Model Content

[0005] The utility model aims to provide a rotating structure of a handling robot, which is used to solve the problem that the rotating mechanism is easily compressed by the gravity of the workpiece on the extended clamping end, resulting in poor rotation of the rotating mechanism and further causing shaking.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a rotating structure of a handling robot, comprising a base and a rotating seat, a rotating shaft is arranged on the column of the base, a rotating hole is arranged on the mounting portion of the rotating seat, the rotating shaft is rotatably arranged in the rotating hole, and also comprises a rotating assembly, which comprises a stabilizing ring coaxially arranged on the outside of the rotating hole, end ring portions are arranged at both ends of the stabilizing ring, and the end ring portions are respectively arranged in a first mounting ring groove and a second mounting ring groove opened in the column and the mounting portion.

[0007] Preferably, the first mounting ring groove and the second mounting ring groove are respectively provided with a first bearing and a second bearing abutting against the end ring portion, and the first bearing and the second bearing are located on the inner side of the end ring portion, and an abutment ring is axially slidingly arranged in the column, and the abutment ring is driven to slide axially to push the end ring portion to abut against the first bearing.

[0008] Preferably, it also includes an airbag ring fixedly connected to the peripheral side of the mounting portion to form a cover, a surface bearing is rotatably arranged on the mounting surface of the column, and the airbag ring is located to abut against the surface bearing to separate the end face of the mounting portion from the mounting surface.

[0009] Preferably, a protruding portion is provided in a circumferential array in the middle of the stabilizing ring, a protruding groove is provided in the mounting portion, the protruding portion extends out of the mounting portion through the protruding groove provided on the mounting portion, and an embedding groove is provided in a circumferential array on the inner ring surface of the airbag ring, and the protruding portion extends into the embedding groove.

[0010] Preferably, the protruding portion is symmetrically provided with inner grooves whose bottoms are inclined away from the stabilizing ring.

[0011] Preferably, the stabilizing ring is made of wear-resistant material.

[0012] Preferably, the abutment ring is made of wear-resistant material.

[0013] In the above technical scheme, the utility model provides a rotating structure of a handling robot, which has the following beneficial effects: the end ring parts at both ends of the stabilizing ring are respectively located in the first mounting ring groove and the second mounting ring groove opened in the column and the mounting part to form a support, and the end ring part coaxially arranged with the rotating hole can be located on the circumferential side of the rotating shaft to form a ring-shaped support for the rotating seat, thereby improving the rotational coaxiality between the rotating shaft and the rotating hole, and the support of the stabilizing ring can reduce the influence of the coaxiality between the rotating shaft and the rotating hole when the workpiece is transported on the rotating seat, thereby avoiding the problem of abnormal wear and shaking of the rotating shaft caused by the relative offset of the rotating shaft and the rotating hole, and improving the overall clamping and handling stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0015] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the utility model;

[0016] Figure 2 A schematic diagram of the structure of the base, rotating assembly and rotating seat provided in an embodiment of the utility model;

[0017] Figure 3 A schematic cross-sectional view of the overall structure provided for an embodiment of the utility model;

[0018] Figure 4 A schematic diagram of the structure of a base provided in an embodiment of the utility model;

[0019] Figure 5 A schematic diagram of the structure of a rotating seat provided in an embodiment of the utility model;

[0020] Figure 6 A schematic diagram of the exploded structure of the rotating assembly provided in an embodiment of the utility model;

[0021] Figure 7 A schematic diagram of the structure of a rotating seat provided in an embodiment of the utility model;

[0022] Figure 8 This is a partial enlarged schematic diagram of point A provided in an embodiment of the utility model.

[0023] Description of reference numerals:

[0024] 1. Base; 11. Column; 111. Rotating shaft; 112. Mounting surface; 113. First mounting ring groove; 2. Rotating seat; 21. Mounting portion; 211. Rotating hole; 212. Second mounting ring groove; 213. Extending groove; 3. Rotating assembly; 31. Stabilizing ring; 311. End ring portion; 312. Extending portion; 313. Inner groove; 32. First bearing; 33. Second bearing; 34. Resistance ring; 35. Elastic member; 36. Airbag ring; 361. Fitting groove; 37. Driving motor; 4. Surface bearing; 91. Mounting seat; 92. Clamping claw. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0026] like Figure 1-8 As shown, a rotating structure of a handling robot includes a base 1 and a rotating base 2, a rotating shaft 111 is arranged on the column 11 of the base 1, a rotating hole 211 is arranged on the mounting portion 21 of the rotating base 2, the rotating shaft 111 is rotatably arranged in the rotating hole 211, and also includes a rotating component 3, which includes a stabilizing ring 31 coaxially arranged on the outer side of the rotating hole 211, end ring portions 311 are arranged at both ends of the stabilizing ring 31, and the end ring portions 311 are respectively arranged in the first mounting ring groove 113 and the second mounting ring groove 212 opened in the column 11 and the mounting portion 21.

[0027] Specifically, Figure 1 As shown, the base 1 is provided with a rotating seat 2 which is rotatably arranged through a rotating assembly 3, and a mounting seat 91 is vertically slidably arranged on the rotating seat 2, and a clamping claw 92 which is relatively slidable for clamping is arranged on the mounting seat 91, and the rotating assembly 3 also includes a driving motor 37, as shown in FIG. Figure 3 As shown, the rotating shaft 111 is rotatably disposed in the rotating hole 211 of the rotating seat 2, and a driving motor 37 is disposed on the rotating seat 2. The output end of the driving motor 37 is connected to the rotating shaft 111. The driving motor 37 can be used to drive the rotating shaft 111 to rotate in the rotating hole 211, thereby driving the rotating seat 2 to rotate.

[0028] The rotating assembly 3 also includes a stabilizing ring 31, such as Figure 3 As shown, the end ring portions 311 at both ends of the stabilizing ring 31 are respectively located in the first mounting ring groove 113 and the second mounting ring groove 212 opened in the column 11 and the mounting portion 21 to form a support, and the end ring portion 311 coaxially arranged with the rotating hole 211 can be located on the circumferential side of the rotating shaft 111 to form a ring-shaped support for the rotating seat 2, thereby improving the rotational coaxiality between the rotating shaft 111 and the rotating hole 211, and the support of the stabilizing ring 31 can reduce the influence of the coaxiality between the rotating shaft 111 and the rotating hole 211 when the workpiece is transported on the rotating seat 2, thereby avoiding the problem of abnormal wear and shaking of the rotating shaft 111 caused by relative offset between the rotating shaft 111 and the rotating hole 211, thereby improving the overall clamping and transportation stability.

[0029] In the above technical scheme, the end ring portions 311 at both ends of the stabilizing ring 31 are respectively located in the first mounting ring groove 113 and the second mounting ring groove 212 opened in the column 11 and the mounting portion 21 to form a support, and the end ring portion 311 coaxially arranged with the rotating hole 211 can be located on the circumferential side of the rotating shaft 111 to form a ring-shaped support for the rotating seat 2, thereby improving the rotational coaxiality between the rotating shaft 111 and the rotating hole 211, and the support of the stabilizing ring 31 can reduce the influence of the coaxiality between the rotating shaft 111 and the rotating hole 211 when transporting the workpiece on the rotating seat 2, thereby avoiding the problem of abnormal wear and shaking of the rotating shaft 111 caused by relative offset between the rotating shaft 111 and the rotating hole 211, thereby improving the overall clamping and transportation stability.

[0030] As an embodiment further provided by the present invention, the first mounting ring groove 113 and the second mounting ring groove 212 are respectively provided with a first bearing 32 and a second bearing 33 that abut against the end ring portion 311, and the first bearing 32 and the second bearing 33 are located on the inner side of the end ring portion 311, and a resistance ring 34 is axially slidingly provided in the column 11, and the resistance ring 34 is driven to slide axially to push the end ring portion 311 to abut against the first bearing 32.

[0031] Specifically, Figure 8 As shown, the abutment ring 34 is axially slidably arranged in the column 11, and an elastic member 35 for driving the abutment ring 34 to slide close to the stabilizing ring 31 is also arranged in the column 11. The elastic member 35 drives the abutment ring 34 to slide close to the end ring portion 311 of the stabilizing ring 31, and the end ring portion 311 of the stabilizing ring 31 is pushed by the abutment ring 34 to stably contact the first bearing 32, thereby reducing the wear between the stabilizing ring 31 and the column 11, and improving the stability in use. In addition, since the elastic member 35 and the abutment ring 34 are located below the stabilizing ring 31 to form an elastic support, the problem of impact damage caused by the sudden vertical pressure applied to the stabilizing ring 31 by the vertical movement of the mounting seat 91 is avoided.

[0032] As a further embodiment of the present invention, it also includes an airbag ring 36 fixedly connected to the peripheral side of the mounting portion 21 to form a cover, and a surface bearing 4 is rotatably arranged on the mounting surface 112 of the column 11. The airbag ring 36 is located in contact with the surface bearing 4 to separate the end face of the mounting portion 21 from the mounting surface 112.

[0033] Specifically, Figure 3As shown, the airbag ring 36 is arranged on the peripheral side of the mounting portion 21 to form a shield, thereby preventing dust or debris from falling into the rotating shaft 111 and the rotating hole 211 to cause blockage and unsmooth rotation. Secondly, since the airbag ring 36 is used to abut against the surface bearing 4 to realize the elastic support of the column 11 on the rotating seat 2, the end face of the mounting portion 21 is separated from the mounting surface 112 of the column 11, thereby absorbing the vertical jitter generated by the vertical movement of the mounting seat 91 on the rotating seat 2, thereby improving the clamping stability of the clamping claw 92, and secondly, it can also avoid the problem of the rotating seat 2 being hard-collided with the column 11 due to the vertical jitter to cause bump damage.

[0034] As an embodiment further provided by the present invention, a protruding portion 312 is provided in a circumferential array in the middle of the stabilizing ring 31, and a protruding groove 213 is provided in the mounting portion 21. The protruding portion 312 extends out of the mounting portion 21 through the protruding groove 213 provided on the mounting portion 21, and an embedding groove 361 is provided in a circumferential array on the inner ring surface of the airbag ring 36, and the protruding portion 312 extends into the embedding groove 361.

[0035] Specifically, Figure 3 As shown, the protruding portion 312 of the stabilizing ring 31 protrudes out of the outside of the mounting portion 21 through the protruding groove 213, and when the airbag ring 36 is wrapped around the circumference of the mounting portion 21, the protruding portion 312 extends into the engaging groove 361, and the protruding portion 312 can further limit the position of the airbag ring 36, avoid the problem of the airbag ring 36 being pressed and moving, and increase the stability of the airbag ring 36. Secondly, when the airbag ring 36 is pressed toward the middle by the pressure of the rotating seat 2, the pressure of the airbag ring 36 on the protruding portion 312 can further improve the supporting capacity of the stabilizing ring 31 on the rotating seat 2, thereby further improving the rotational stability of the rotating seat 2.

[0036] As an embodiment further provided by the present invention, the extension portion 312 is symmetrically provided with inner grooves 313 with the bottom of the groove inclined away from the stabilizing ring 31 .

[0037] Specifically, Figure 8 As shown, the bottom of the inner groove 313 of the protruding portion 312 faces away from the axial direction of the stabilizing ring 31. When the airbag ring 36 is deformed toward the middle to press the protruding portion 312 due to the pressure of the rotating seat 2, the airbag ring 36 is easily deformed and extends into the inner groove 313 of the protruding portion 312 to form a push, so that the airbag ring 36 applies a pulling force radially away from the axial direction of the stabilizing ring 31 to the protruding portion 312, thereby preventing the stabilizing ring 31 from being deformed and folded inward due to excessive pressure, and further improving the compressive resistance and support ability of the stabilizing ring 31.

[0038] As an embodiment further provided by the present invention, the stabilizing ring 31 is made of wear-resistant material.

[0039] Specifically, the stabilizing ring 31 is made of wear-resistant material to increase its service life.

[0040] As a further embodiment provided by the present invention, the abutment ring 34 is made of wear-resistant material.

[0041] Specifically, the stabilizing ring 31 is made of wear-resistant material to increase its service life.

[0042] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A rotating structure of a handling robot, characterized in that: The invention comprises a base (1) and a rotating base (2), wherein a rotating shaft (111) is arranged on a column (11) of the base (1), a rotating hole (211) is arranged on a mounting portion (21) of the rotating base (2), and the rotating shaft (111) is rotatably arranged in the rotating hole (211). The invention also comprises a rotating assembly (3), which comprises a stabilizing ring (31) coaxially arranged on the outer side of the rotating hole (211), and end ring portions (311) are arranged at both ends of the stabilizing ring (31), and the end ring portions (311) are respectively arranged in a first mounting ring groove (113) and a second mounting ring groove (212) provided in the column (11) and the mounting portion (21).

2. The rotating structure of a handling robot according to claim 1, characterized in that: A first bearing (32) and a second bearing (33) are respectively arranged in the first mounting ring groove (113) and the second mounting ring groove (212) to abut against the end ring portion (311), and the first bearing (32) and the second bearing (33) are located on the inner side of the end ring portion (311). An abutment ring (34) is axially slidably arranged in the column (11), and the abutment ring (34) is driven to slide axially to push the end ring portion (311) to abut against the first bearing (32).

3. The rotating structure of a handling robot according to claim 2, characterized in that: It also includes an airbag ring (36) fixedly connected to the peripheral side of the mounting portion (21) to form a shield, a surface bearing (4) is rotatably arranged on the mounting surface (112) of the column (11), and the airbag ring (36) is located in contact with the surface bearing (4) to separate the end surface of the mounting portion (21) from the mounting surface (112).

4. The rotating structure of a handling robot according to claim 3, characterized in that: The stabilizing ring (31) is provided with a protruding portion (312) in a circumferential array in the middle, the mounting portion (21) is provided with a protruding groove (213), the protruding portion (312) protrudes out of the mounting portion (21) through the protruding groove (213) provided on the mounting portion (21), and the inner ring surface of the airbag ring (36) is provided with an embedded groove (361) in a circumferential array, and the protruding portion (312) extends into the embedded groove (361).

5. The rotating structure of a handling robot according to claim 4, characterized in that: The protruding portion (312) is symmetrically provided with an inner groove (313) whose bottom is inclined and faces away from the stabilizing ring (31).

6. The rotating structure of a handling robot according to claim 1, characterized in that: The stabilizing ring (31) is made of wear-resistant material.

7. The rotating structure of a handling robot according to claim 3, characterized in that: The abutment ring (34) is made of wear-resistant material.

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