Mobile device

Abstract

The utility model provides a moving device, and relates to the technical field of stacking equipment. The moving device comprises two beam bodies and a rotating assembly. The two beam bodies are arranged in a spaced mode in the first direction, and each beam body comprises a hollow profile. The rotating assembly comprises a supporting part and a rotating part, the supporting part is connected to the two beam bodies, in the second direction, the supporting part comprises a first face opposite to the beam bodies, the first face is provided with a protrusion, the protrusion is provided with a through hole penetrating through the supporting part in the second direction, and the rotating part is used for being connected with the mechanical arm and penetrates through the through hole. The beam body comprises the hollow profile, the weight of the beam body is reduced, and then the weight of the moving device is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of palletizing equipment, and in particular to a mobile device. Background Art

[0002] The automated warehousing system (Stocker) is a common intelligent storage system. In production activities, the automated warehousing system plays the role of transferring and caching materials. It has a great impact on the process layout, material transmission and production line arrangement of the production process, and directly affects the optimization of production efficiency, cost control and product quality.

[0003] Generally, an automated warehousing system includes a main frame and a stacking component. The main frame is provided with a plurality of storage locations, and the stacking component has multi-axis motion capabilities, including functions such as walking, lifting, telescoping and rotating. The stacking component is provided with a robotic arm (fork), and when the stacking component moves to a specified position, the robotic arm can pick up and place materials at the corresponding storage location. Generally, the robotic arm includes a base and an arm. The inventor of the utility model has found that the existing base has the disadvantages of a complex structure and a large mass, which reduces the operating efficiency of the stacking component.

[0004] For example, the prior art (CN109202955 A) discloses a box transfer arm and a transport system equipped with the same. The transport system has a complex structure and includes many components, which results in the disadvantage of a large mass of the transport system. Utility Model Content

[0005] A technical problem to be solved by the present application is to reduce the weight of a moving device for mounting an arm.

[0006] In order to solve the above technical problems, an embodiment of the present application provides a mobile device, including two beams and a rotating assembly. The two beams are arranged at intervals along a first direction, and the beams include a hollow profile. The rotating assembly includes a support portion and a rotating component, the support portion is connected to the two beams, along the second direction, the support portion includes a first surface facing away from the beams, the first surface is provided with a protrusion, the protrusion is provided with a through hole that penetrates the support portion along the second direction, the rotating component is used to connect a mechanical arm, and the rotating component is penetrated by the through hole.

[0007] In some embodiments, the protrusion is in the shape of a frustum of a cone.

[0008] In some embodiments, a bearing is disposed between the rotating component and the inner wall of the through hole.

[0009] In some embodiments, the rotating component includes a main body portion and a driving portion, and the main body portion and the driving portion are detachably connected.

[0010] In some embodiments, the rotating assembly further comprises a driving component, the driving component comprises a gear and a gear ring. The gear is rotatably connected to the support portion, the rotation axis of the gear extends along the second direction, the gear ring is disposed on the rotating component, and the gear and the gear ring are meshed.

[0011] In some embodiments, the toothed ring includes a plurality of arc-shaped tooth segments that are connected to each other in sequence.

[0012] In some embodiments, a connecting assembly is further included, the connecting assembly includes a matching portion and a connecting component. The matching portion is connected to the beam body, the connecting component includes a connecting seat and two limiting portions spaced apart from the connecting seat, the matching portion is disposed between the two limiting portions, and the limiting portion and the matching portion are respectively provided with shaft holes. The rotating shaft is passed through the shaft hole.

[0013] In some embodiments, the rotating component is rotatably provided with an arm support seat, and the arm support seat is used to connect the robot arm.

[0014] In some embodiments, the rotating component further includes a supporting portion, and the supporting portion and the arm support seat are spaced apart.

[0015] In some embodiments, the rotating assembly further includes a mounting portion and a position sensor. The mounting portion includes a first portion, a second portion, and a third portion connected in sequence, the first portion is connected to the supporting portion, the second portion extends along the second direction, and the third portion is disposed on a side of the second portion away from the rotating component. The position sensor is disposed on the third portion.

[0016] Through the above technical solution, 1. The beam body includes a hollow profile, which reduces the weight of the beam body, thereby reducing the weight of the mobile device. 2. The two beam bodies are arranged at intervals, so that the beam body can stably support the rotating component, and a space for accommodating other components of the mobile device can be formed between the two beam bodies, thereby improving space utilization. 3. The protrusion increases the thickness of the support part along the second direction, thereby ensuring the matching strength between the support part and the rotating component. Furthermore, the thickness of other parts of the support part along the second direction can be set to be smaller, so that the weight of the support part can be reduced, thereby reducing the weight of the mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a schematic diagram of the structure of a mobile device disclosed in an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the coordination of the main body and the driving part disclosed in the embodiment of the present application;

[0020] Figure 3 is a schematic structural diagram of a moving device (showing a gear ring) disclosed in an embodiment of the present application;

[0021] Figure 4 yes Figure 1 A magnified image of point A;

[0022] Figure 5 yes Figure 1 Enlarged view of point B.

[0023] Description of reference numerals:

[0024] 1. Beam body; 2. Rotating assembly; 21. Supporting part; 211. First surface; 212. Protrusion; 22. Rotating component; 221. Abutting part; 2211. Second hole section; 2212. First hole section; 222. Arm supporting seat; 223. Main body; 224. Driving part; 23. Mounting part; 231. First part; 232. Second part; 233. Third part; 24. Position sensor; 25. Bearing; 26. Driving component; 261. Gear; 262. Gear ring; 27. Rotating motor; 28. Arm motor; 3. Connecting assembly; 31. Connecting component; 311. Connecting seat; 312. Limiting part; 32. Matching part. DETAILED DESCRIPTION

[0025] The following is a further detailed description of the implementation methods of the present application in conjunction with the accompanying drawings and examples. The detailed descriptions of the following examples and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0026] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0027] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0028] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0029] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0030] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0031] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0032] See also Figure 1 and Figure 2The embodiment of the present application provides a mobile device, including two beam bodies 1 and a rotating assembly 2. The two beam bodies 1 are spaced apart along a first direction, and the beam bodies 1 include a hollow profile. The rotating assembly 2 includes a support portion 21 and a rotating component 22, the support portion 21 is connected to the two beam bodies 1, along the second direction, the support portion 21 includes a first surface 211 facing away from the beam body 1, the first surface 211 is provided with a protrusion 212, the protrusion 212 is provided with a through hole penetrating the support portion 21 along the second direction, the rotating component 22 is used to connect a robot arm, and the rotating component 22 is penetrated in the through hole.

[0033] The mobile device of the embodiment of the present application can be used to connect with the palletizing component of the automated warehousing system, and the position of the mobile device can be moved by the palletizing component, thereby adjusting the position of the robotic arm provided on the mobile device.

[0034] The first direction may be the direction shown by the X axis in the figure, the second direction may be the direction shown by the Z axis in the figure, the first direction may be parallel to the horizontal direction, the second direction may be parallel to the vertical direction, or the first direction and the second direction may be perpendicular to each other.

[0035] The beam body 1 is used to support the rotating assembly 2. The beam body 1 includes a hollow profile, which reduces the weight of the beam body 1 and further reduces the weight of the moving device.

[0036] The beam body 1 may be made of aluminum alloy, which has the advantage of being lightweight, further reducing the weight of the beam body 1 .

[0037] The two beam bodies 1 are arranged at an interval, so that the beam bodies 1 can stably support the rotating assembly 2, and a space for accommodating other components of the mobile device can be formed between the two beam bodies 1, thereby improving space utilization.

[0038] The mechanical arm is disposed on the rotating component 22 , so that the mechanical arm can rotate relative to the supporting portion 21 , thereby enabling the storage position corresponding to the mechanical arm to be adjusted.

[0039] The protrusion 212 is used to increase the structural strength of the matching portion between the rotating component 22 and the supporting portion 21 .

[0040] The rotating member 22 rotates relative to the support portion 21 to adjust the orientation of the robot arm provided on the support portion 21 .

[0041] The rotating component 22 is inserted into the through hole so that the rotating component 22 can be rotatably connected to the support part 21. In addition, other components connected to the rotating component 22 can be respectively arranged on both sides of the support part 21 along the second direction, which is convenient for reasonably arranging the positions of various components of the mobile device, saving installation space, and improving space utilization.

[0042] The protrusion 212 increases the thickness of the support portion 21 in the second direction, thereby ensuring the matching strength between the support portion 21 and the rotating component 22. Furthermore, the thickness of other parts of the support portion 21 in the second direction can be set to be smaller, so that the weight of the support portion 21 can be reduced, and thus the weight of the mobile device can also be reduced.

[0043] The structure for limiting the rotating component 22 in the through hole can be selected from existing structures and will not be described in detail here.

[0044] In the embodiment of the present application, the robotic arm can be selected from existing products, and its structure and working principle are well known to those skilled in the art and will not be described in detail here.

[0045] See also Figure 1 and Figure 2 In some embodiments, the protrusion 212 is in the shape of a frustum.

[0046] The large-diameter side of the protrusion 212 is connected to the first surface 211 , and the small-diameter side of the protrusion 212 is disposed away from the first surface 211 .

[0047] The protrusion 212 is in a frustum shape. On the one hand, the curved sidewall of the protrusion 212 increases the structural strength of the protrusion 212 in a direction perpendicular to the second direction. On the other hand, the curved sidewall of the protrusion 212 reduces the amount of material required to form the protrusion 212, so that the protrusion 212 can reduce the weight of the support portion 21.

[0048] See also Figure 2 In some embodiments, a bearing 25 is disposed between the rotating component 22 and the inner wall of the through hole.

[0049] The bearing 25 can reduce the friction between the rotating component 22 and the through hole, so that the rotating component 22 rotates more smoothly.

[0050] For example, the outer ring of the bearing 25 may be connected to the inner wall of the through hole, and the rotating component 22 may be inserted into the inner ring of the bearing 25 .

[0051] See also Figure 2 In some embodiments, the rotating component 22 includes a main body 223 and a driving portion 224 , and the main body 223 and the driving portion 224 are detachably connected.

[0052] The main body 223 is used to be connected to the robot arm, and the driving part 224 is used to be connected to the driving component 26, so that the driving component 26 can drive the main body 223 to rotate.

[0053] The main body 223 and the driving part 224 are detachably connected, so that the main body 223 and the driving part 224 can be separated, which is convenient for disassembling and assembling the rotating component 22 .

[0054] Furthermore, in an embodiment in which a bearing 25 is provided in the through hole, the main body 223 and the driving part 224 are detachably connected, and the bearing 25 can be provided between the main body 223 and the driving part 224. When the main body 223 and the driving part 224 are connected, the main body 223 and the driving part 224 can respectively abut against the axial sides of the inner ring of the bearing 25, thereby reducing the risk of the rotating component 22 escaping from the through hole.

[0055] See also Figure 2 and Figure 3 In some embodiments, the rotating assembly 2 further includes a driving component 26, and the driving component 26 includes a gear 261 and a gear ring 262. The gear 261 is rotatably connected to the support portion 21, and the rotation axis of the gear 261 extends along the second direction. The gear ring 262 is disposed on the rotating component 22, and the gear 261 and the gear ring 262 are meshed.

[0056] The gear 261 may be driven to rotate by the rotary motor 27 .

[0057] The gear 261 is meshed with the gear ring 262 , so that when the gear 261 rotates, the gear ring 262 can rotate together, thereby achieving the purpose of driving the rotating component 22 to rotate.

[0058] In the embodiment where the rotating component 22 includes a main body portion 223 and a driving portion 224 , the gear ring 262 may be disposed at the driving portion 224 .

[0059] The driving part 224 may be a hollow ring structure, and the gear ring 262 may be connected to the peripheral wall of the driving part 224 , thereby reducing the weight of the driving part 224 .

[0060] See also Figure 3 In some embodiments, the tooth ring 262 includes a plurality of arc-shaped tooth segments that are connected to each other in sequence.

[0061] A plurality of arc-shaped tooth segments are connected to form a tooth ring 262 .

[0062] The arc-shaped tooth segment can be connected to the rotating component 22 by bolts or screws.

[0063] A plurality of arc-shaped tooth segments form the gear ring 262 , so that when part of the teeth of the gear ring 262 is damaged, the corresponding arc-shaped tooth segments only need to be replaced without replacing the entire gear ring 262 , thereby reducing the use cost of the mobile device.

[0064] See also Figure 4 In some embodiments, a connecting assembly 3 is further included, and the connecting assembly 3 includes a matching portion 32 and a connecting component 31. The matching portion 32 is connected to the beam body 1, and the connecting component 31 includes a connecting seat 311 and two limiting portions 312 spaced apart from the connecting seat 311, and the matching portion 32 is disposed between the two limiting portions 312, and the limiting portion 312 and the matching portion 32 are respectively provided with shaft holes. The rotating shaft is passed through the shaft hole.

[0065] The connecting assembly 3 is used to connect the beam body 1 to the stacking component. Specifically, the connecting seat 311 can be connected to the stacking component. Under the action of the rotating shaft, the connecting component 31 and the matching portion 32 are rotatably connected, so that when the beam body 1 is fixed to the stacking component, the position of the beam body 1 can be adjusted as needed.

[0066] See also Figure 1 and Figure 2 In some embodiments, the rotating component 22 is rotatably provided with an arm support seat 222, and the arm support seat 222 is used to connect the robot arm.

[0067] The structure of the arm support seat 222 can be selected from existing structures, and its specific structure is well known to those skilled in the art and will not be described in detail here.

[0068] The mechanical arm is connected to the rotating component 22 via the arm support seat 222, so that the mechanical arm can rotate relative to the rotating component 22 to achieve the purpose of taking and placing materials.

[0069] The arm support base 222 can be driven to rotate by the arm motor 28 .

[0070] See also Figure 1 and Figure 2 In some embodiments, the rotating component 22 further includes a supporting portion 221 , and the supporting portion 221 and the arm support seat 222 are spaced apart.

[0071] The abutting portion 221 and the arm support seat 222 are arranged at intervals, so that the abutting portion 221 can limit the rotation of the mechanical arm, thereby reducing the risk of excessive rotation of the mechanical arm.

[0072] The abutting portion 221 may be structured as follows: the abutting portion 221 is hollow inside, and a first hole section 2212 and a second hole section 2211 are formed therein to communicate with each other, the inner diameter of the first hole section 2212 is larger than the inner diameter of the second hole section 2211, and the second hole section 2211 is arranged on the side of the first hole section 2212 away from the rotating component 22. The advantage of such arrangement is that the abutting portion 221 can be connected to the rotating component 22 by bolts passing through the second hole section 2211 and the first hole section 2212 in sequence, and the head of the bolt abuts against the junction of the first hole section 2212 and the second hole section 2211, so that the second hole section 2211 can form a countersunk structure.

[0073] The outer peripheral wall of the abutting portion 221 may be provided with a flexible cushion layer to reduce the risk of damage when the robot arm collides with the abutting portion 221 .

[0074] See also Figure 5In some embodiments, the rotating assembly 2 further includes a mounting portion 23 and a position sensor 24. The mounting portion 23 includes a first portion 231, a second portion 232, and a third portion 233 connected in sequence, the first portion 231 is connected to the supporting portion 21, the second portion 232 extends along the second direction, and the third portion 233 is disposed on a side of the second portion 232 away from the rotating component 22. The position sensor 24 is disposed on the third portion 233.

[0075] The position sensor 24 is used to detect the position of the robot arm relative to the rotating component 22. For example, when the robot arm rotates to abut against the abutting portion 221, the position sensor 24 detects the position of the robot arm and can control the robot arm to stop rotating.

[0076] The position sensor 24 is connected to the processor. In an embodiment where the arm support base 222 is driven to rotate by the arm motor 28 , the arm motor 28 is electrically connected to the processor, so that the position sensor 24 can control the rotation of the robot arm.

[0077] The position sensor 24 can be a photoelectric sensor. The specific working principle of the position sensor 24, the specific circuits in which the position sensor 24 and the arm motor 28 are respectively connected to the processor, and the specific programming code by which the processor controls the operation of the arm motor 28 according to the information of the position sensor 24 are well known to those skilled in the art and will not be repeated here.

[0078] The second portion 232 is used to adjust the position of the third portion 233 relative to the rotating component 22 in the second direction. The third portion 233 is disposed on a side of the second portion 232 away from the rotating component 22 so that the position sensor 24 can avoid the robot arm.

[0079] So far, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0080] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A mobile device, characterized in that: include: Two beam bodies (1), the two beam bodies (1) are arranged at intervals along a first direction, and the beam bodies (1) comprise hollow profiles; A rotating assembly (2) comprises a supporting portion (21) and a rotating component (22), wherein the supporting portion (21) is connected to the two beam bodies (1), and along a second direction, the supporting portion (21) comprises a first surface (211) facing away from the beam body (1), the first surface (211) is provided with a protrusion (212), and the protrusion (212) is provided with a through hole penetrating the supporting portion (21) along the second direction, and the rotating component (22) is used for connecting a robot arm, and the rotating component (22) is penetrated through the through hole.

2. The mobile device according to claim 1, characterized in that The protrusion (212) is in the shape of a frustum.

3. The mobile device according to claim 1, characterized in that A bearing (25) is provided between the rotating component (22) and the inner wall of the through hole.

4. The mobile device according to claim 1, characterized in that The rotating component (22) comprises a main body (223) and a driving part (224), and the main body (223) and the driving part (224) are detachably connected.

5. The mobile device according to claim 1, characterized in that: The rotating assembly (2) further comprises a driving component (26), wherein the driving component (26) comprises: A gear (261) rotatably connected to the support portion (21), wherein the rotation axis of the gear (261) extends along the second direction; A gear ring (262) is provided on the rotating component (22), and the gear (261) and the gear ring (262) are meshed.

6. The mobile device according to claim 5, characterized in that The toothed ring (262) comprises a plurality of arc-shaped tooth segments which are connected to each other in sequence.

7. The mobile device according to claim 1, characterized in that It also includes a connection component (3), wherein the connection component (3) includes: A matching portion (32) connected to the beam body (1); The connecting component (31) comprises a connecting seat (311) and two limiting portions (312) arranged at intervals on the connecting seat (311); the matching portion (32) is arranged between the two limiting portions (312); and the limiting portion (312) and the matching portion (32) are respectively provided with shaft holes; The rotating shaft is penetrated through the shaft hole.

8. The mobile device according to claim 1, characterized in that: The rotating component (22) is rotatably provided with an arm support seat (222), and the arm support seat (222) is used to connect the mechanical arm.

9. The mobile device according to claim 8, characterized in that: The rotating component (22) further comprises a supporting portion (221), and the supporting portion (221) and the arm support seat (222) are arranged at an interval.

10. The mobile device according to claim 1, characterized in that The rotating assembly (2) further comprises: The mounting portion (23) comprises a first portion (231), a second portion (232) and a third portion (233) which are connected in sequence, wherein the first portion (231) is connected to the supporting portion (21), the second portion (232) extends along the second direction, and the third portion (233) is arranged on a side of the second portion (232) away from the rotating component (22); A position sensor (24) is arranged on the third part (233).

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