A rotary assembly and robot

Abstract

The utility model discloses a kind of rotating assembly and robot, it is related to robot technical field.The utility model includes mounting plate, first gear, slewing bearing and adjusting structure.First gear is rotatably connected relative to mounting plate, the outer ring of slewing bearing is engaged with first gear, the outer ring of slewing bearing is rotated by first gear drive, wherein, the outer ring of slewing bearing is connected with the tray of robot, to drive tray rotation.Adjusting structure is connected with mounting plate, the inner ring of slewing bearing respectively, the center distance between first gear and slewing bearing is adjusted by adjusting structure driving slewing bearing to move, to adjust.By this, the gear clearance of robot can be within the setting gear clearance by adjusting structure action without affecting pick-and-place docking accuracy, avoid the situation that the tray slewing gap becomes larger by the long-time wear of rotating assembly, thereby improve the docking accuracy of the pick-and-place of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a rotating component and a robot. Background Technology

[0002] An AMR (Autonomous Mobile Robot) is an intelligent mobile device that can autonomously sense, decide, and control goods in unstructured or semi-structured environments without relying on fixed tracks or preset paths. For example, a lurking lifting AMR robot moves under a shelf by rotating, then lifts the pallet using a lifting mechanism, raising the shelf off the ground, and carrying the shelf to move and transport goods. The pallet rotation clearance is a crucial parameter affecting the accuracy of its picking and placing of goods.

[0003] Currently, the method to reduce pallet slewing clearance is usually to improve the machining accuracy of the rotating components that control pallet slewing. However, the rotating components are prone to wear during long-term use, which causes the pallet slewing clearance to gradually increase and greatly reduces the picking and placing accuracy of AMR robots. Utility Model Content

[0004] This invention addresses the problem that wear and tear on rotating components over long periods of use leads to a gradual increase in the tray rotation clearance of autonomous mobile robots, reducing the accuracy of picking up and placing goods. The aim is to provide a rotating component and robot that overcomes or at least partially solves these problems.

[0005] Based on a first aspect of the present invention, a rotating assembly is provided, the rotating assembly comprising:

[0006] Mounting plate;

[0007] A first gear is rotatably connected relative to the mounting plate;

[0008] A slewing bearing, wherein the outer ring of the slewing bearing meshes with the first gear, and the outer ring of the slewing bearing is driven to rotate by the first gear, wherein the outer ring of the slewing bearing is connected to the robot's pallet to drive the pallet to rotate;

[0009] An adjustment structure is provided, which is connected to the mounting plate and the inner ring of the slewing bearing respectively. The adjustment structure drives the slewing bearing to move, thereby adjusting the center distance between the first gear and the slewing bearing.

[0010] In one optional utility model, the diameter of the first gear is smaller than the outer ring diameter of the slewing bearing.

[0011] In one optional utility model, the rotating assembly further includes a first rotating power source, which is mounted on the mounting plate, and the output shaft of the first rotating power source is coaxially fixed with the first gear to drive the first gear to rotate.

[0012] An optional utility model embodiment, wherein the adjustment structure includes:

[0013] A lead screw, the central axis of which coincides with the central axis of the first gear and is rotatably connected to the inner ring of the slewing bearing;

[0014] A nut, which is rotatably connected to the lead screw and fixedly connected to the mounting plate;

[0015] Synchronous pulley assembly, wherein the power output end of the synchronous pulley assembly is sleeved on the lead screw;

[0016] The second rotary power source has its output shaft connected to the power input end of the synchronous pulley set. When the second rotary power source is working, it drives the lead screw to rotate, so that the slewing bearing makes a linear motion that moves closer to or away from the first gear.

[0017] An optional utility model embodiment states that both ends of the lead screw are fixedly connected to the inner ring of the slewing bearing, respectively.

[0018] The adjustment structure also includes a connector, which is fixedly connected to the nut and fixed to the mounting plate at least in two places, wherein the second rotational power source is located on the connector.

[0019] An optional utility model embodiment includes a first connecting portion and a second connecting portion, wherein the first connecting portion is L-shaped and fixedly connected to the nut;

[0020] The second connecting part is located between the first connecting part and the mounting plate, and is fixedly connected to the mounting plate.

[0021] An optional utility model embodiment, wherein the adjustment structure includes:

[0022] A lead screw, the central axis of which coincides with the central axis of the first gear and is rotatably connected to the inner ring of the slewing bearing;

[0023] A nut, which is rotatably connected to the lead screw and fixedly connected to the mounting plate;

[0024] The second gear is fixed coaxially with the lead screw;

[0025] A third gear, which meshes with the second gear;

[0026] A flexible sleeve pin coupling is provided, which is connected to the gear shaft of the third gear.

[0027] The second rotary power source has its output shaft connected to the elastic sleeve pin coupling. When the second rotary power source is working, it drives the lead screw to rotate, so that the slewing bearing makes a linear motion that moves closer to or away from the first gear.

[0028] Based on a second aspect of this utility model, a robot is also provided, the robot comprising a rotating component as described in any of the above utility model contents.

[0029] In one optional utility model, the robot further includes an image acquisition device mounted on the adjustment structure.

[0030] In one optional utility model, the robot further includes a lifting assembly, with the mounting plate located on the lifting assembly to lift the tray.

[0031] Compared with existing technologies, this utility model includes a mounting plate, a first gear, a slewing bearing, and an adjustment structure. The first gear is rotatably connected to the mounting plate, and the outer ring of the slewing bearing meshes with the first gear, driving the outer ring of the slewing bearing to rotate. The outer ring of the slewing bearing is connected to the robot's pallet to rotate the pallet. The adjustment structure is connected to both the mounting plate and the inner ring of the slewing bearing, moving the slewing bearing to adjust the center distance between the first gear and the slewing bearing. Thus, by adjusting the structure, the gear clearance of the robot can be kept within a set gear clearance that does not affect the loading and unloading accuracy. Adjusting the center distance avoids the situation where long-term wear of rotating components leads to increased pallet slewing clearance, thereby improving the robot's loading and unloading accuracy.

[0032] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0034] In the attached diagram:

[0035] Figure 1 This is a three-dimensional structural diagram of a rotating component provided in an embodiment of the present utility model;

[0036] Figure 2 This is a top view of a rotating component provided in an embodiment of the present invention;

[0037] Figure 3 This is a first three-dimensional structural schematic diagram of a robot provided in an embodiment of the present utility model;

[0038] Figure 4 This is a schematic diagram of the second three-dimensional structure of a robot provided in an embodiment of the present invention;

[0039] Reference numerals: 1. Mounting plate; 2. First gear; 3. Slewing bearing; 31. Outer ring; 32. Inner ring; 4. Adjustment structure; 41. Lead screw; 42. Nut; 43. Synchronous pulley set; 44. Second rotary power source; 45. Connecting part; 451. First connecting part; 452. Second connecting part; 5. First rotary power source; 6. Image acquisition device; 7. Lifting assembly. Detailed Implementation

[0040] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0041] An AMR (Autonomous Mobile Robot) is an intelligent mobile device that can autonomously sense, decide, and control goods in unstructured or semi-structured environments without relying on fixed tracks or preset paths. For example, a lurking lifting AMR robot moves under a shelf by rotating, then lifts the pallet using a lifting mechanism, raising the shelf off the ground, and carrying the shelf to move and transport goods. The pallet rotation clearance is a crucial parameter affecting the accuracy of its picking and placing of goods.

[0042] Currently, the method to reduce pallet slewing clearance is usually to improve the machining accuracy of the rotating components that control pallet slewing. However, the rotating components are prone to wear during long-term use, which causes the pallet slewing clearance to gradually increase and greatly reduces the picking and placing accuracy of AMR robots.

[0043] Based on the aforementioned technical problems, this utility model is proposed. An embodiment of this utility model may include a mounting plate 1, a first gear 2, a slewing bearing 3, and an adjustment structure 4. The first gear 2 is rotatably connected to the mounting plate 1. The outer ring 31 of the slewing bearing 3 meshes with the first gear 2, driving the outer ring 31 of the slewing bearing 3 to rotate. The outer ring 31 of the slewing bearing 3 is connected to the robot's pallet to rotate the pallet. The adjustment structure 4 is connected to both the mounting plate 1 and the inner ring 32 of the slewing bearing 3. The adjustment structure 4 moves the slewing bearing 3 to adjust the center distance between the first gear 2 and the slewing bearing 3. Thus, by adjusting the structure 4, the gear clearance of the robot can be kept within a set gear clearance that does not affect the loading and unloading accuracy. By adjusting the center distance, the long-term wear of the rotating components that leads to increased pallet slewing clearance is avoided, thereby improving the robot's loading and unloading accuracy.

[0044] Reference Figure 1-4 This utility model provides a rotating assembly, which may include a mounting plate 1, a first gear 2, a slewing bearing 3, and an adjustment structure 4. The first gear 2 is rotatably connected to the mounting plate 1. The outer ring 31 of the slewing bearing 3 meshes with the first gear 2, driving the outer ring 31 of the slewing bearing 3 to rotate. The outer ring 31 of the slewing bearing 3 is connected to a robot's tray to rotate the tray. The adjustment structure 4 is connected to both the mounting plate 1 and the inner ring 32 of the slewing bearing 3, moving the slewing bearing 3 to adjust the center distance between the first gear 2 and the slewing bearing 3.

[0045] In this embodiment of the invention, the robot may be a lurking lifting type, which may include a rotating assembly for driving the tray to rotate. The rotating assembly may include a mounting plate 1, a first gear 2, a slewing bearing 3, and an adjustment structure 4.

[0046] The first gear 2 is rotatably connected relative to the mounting plate 1. For example, the first gear 2 is located on one side of the mounting plate 1. The slewing bearing 3 may include an inner ring 32 and an outer ring 31, which are rotatable relative to each other. The outer ring 31 of the slewing bearing 3 is provided with slewing teeth that mesh with the first gear 2. The first gear 2 drives the outer ring 31 of the slewing bearing 3 to rotate. The outer ring 31 of the slewing bearing 3 is used for fixed connection with the tray, thereby enabling the tray to rotate via the first gear 2.

[0047] The adjustment structure 4 is disposed between the mounting plate 1 and the inner ring 32 of the slewing bearing 3. That is, the inner ring 32 of the slewing bearing 3 is connected to the adjustment structure 4, and the adjustment structure 4 is connected to the mounting plate 1. Thus, the adjustment structure 4 can drive the slewing bearing 3 to move linearly closer to or away from the first gear 2, thereby adjusting the center distance between the first gear 2 and the slewing bearing 3 (i.e., the distance between the center of the first gear 2 and the center of the slewing bearing 3). Therefore, adjusting the center distance reduces the gear backlash between the first gear 2 and the outer ring 31 of the slewing bearing 3. The gear backlash refers to the clearance between the non-working tooth surfaces when the first gear 2 and the outer ring 31 of the slewing bearing 3 are meshing; it can also be called tooth flank clearance, which is the main factor causing excessive gear slewing backlash. Gear slewing backlash also refers to the free travel clearance generated by the slewing bearing 3 during rotation due to its fitting relationship with the first gear 2.

[0048] Therefore, when the gear backlash is too large, the adjustment structure 4 can be activated to move the slewing bearing 3 closer to the first gear 2, thereby reducing the center distance and ensuring that the robot's gear backlash is within the set gear backlash range that does not affect the loading and unloading docking accuracy. By adjusting the center distance, the situation where the pallet backlash increases due to long-term wear of the rotating components is avoided, thus improving the robot's loading and unloading docking accuracy.

[0049] In one optional embodiment of the utility model, the diameter of the first gear 2 is smaller than the diameter of the outer ring 31 of the slewing bearing 3.

[0050] In this embodiment of the present invention, the diameter of the first gear 2 is smaller than the diameter of the outer ring 31 of the slewing bearing 3, which can play the role of speed reduction and torque increase. This can reduce the output accuracy requirements of the power source driving the first gear 2 and provide a larger torque to drive the shelf loaded with goods on the pallet to rotate.

[0051] In one optional embodiment of the utility model, referring to Figure 1 and Figure 2 As shown, the rotating assembly also includes a first rotating power source 5, which is mounted on the mounting plate 1, and the output shaft of the first rotating power source 5 is coaxially fixed with the first gear 2 to drive the first gear 2 to rotate.

[0052] In this embodiment of the invention, the first rotary power source 5 is mounted on the first side of the mounting plate 1, and the output shaft of the first rotary power source 5 passes through the mounting plate 1 and is coaxially fixed with the first gear 2. For example, the first gear 2 is located on the second side of the mounting plate 1. Coaxial fixing means that the central axis of the output shaft of the first rotary power source 5 coincides with the central axis of the first gear 2, and the central axis of the first rotary power source 5 is fixed with the first gear 2. Thus, the first rotary power source 5 can serve as the power source for the first gear 2, and when the first rotary power source 5 rotates, it can drive the first gear 2 to rotate synchronously. The first rotary power source 5 includes at least a motor.

[0053] In one optional embodiment of the utility model, refer to 1. Figure 2 as well as Figure 3 As shown, the adjustment structure 4 may include a lead screw 41, a nut 42, a synchronous pulley set 43, and a second rotary power source 44. The central axis of the lead screw 41 coincides with the central axis of the first gear 2 and is rotatably connected to the inner ring 32 of the slewing bearing 3. The nut 42 is rotatably connected to the lead screw 41 and fixedly connected to the mounting plate 1. The power output end of the synchronous pulley set 43 is sleeved on the lead screw 41. The output shaft of the second rotary power source 44 is connected to the power input end of the synchronous pulley set 43. When the second rotary power source 44 is working, it drives the lead screw 41 to rotate, so that the slewing bearing 3 makes linear motion toward or away from the first gear 2.

[0054] In this embodiment of the invention, the adjusting structure 4 may include a lead screw 41, a nut 42, a synchronous pulley set 43, and a second rotary power source 44. The lead screw 41 and the nut 42 can form a lead screw-nut pair, with the nut 42 sleeved on the lead screw 41 and rotatably connected to it. During mutual rotation, the lead screw 41 and the nut 42 can generate axial displacement, thereby converting rotational motion into linear motion. For example, when the lead screw 41 is in a fixed position, rotation of the lead screw 41 can cause the nut 42 to move linearly along the axial direction of the lead screw 41. When the nut 42 is in a fixed position, rotation of the lead screw 41 can cause the lead screw 41 to move linearly relative to the nut 42.

[0055] The central axis of the lead screw 41 coincides with the central axis of the first gear 2 and is rotatably connected to the inner ring 32 of the slewing bearing 3. That is, the lead screw 41 passes through the center point of the inner ring 32 of the slewing bearing 3, and the slewing bearing 3 and the lead screw 41 can be fixed together by means of threaded connection, welding or other methods.

[0056] The nut 42 is fixedly connected to the mounting plate 1, thus defining the position of the nut 42. Therefore, when the lead screw 41 rotates under driving force, it can move linearly relative to the nut 42. Furthermore, the forward and reverse rotation of the lead screw 41 can be used to drive the slewing bearing 3 to move linearly closer to or away from the first gear 2.

[0057] The synchronous pulley set 43 is a component that connects at least two synchronous pulleys via a synchronous belt to achieve precise transmission. It may include a power output end and a power input end. For example, the synchronous pulley directly connected to the power source serves as the power input end of the synchronous pulley set 43, and the synchronous pulley directly connected to the driven component serves as the power output end of the synchronous pulley set 43. Thus, the power output end of the synchronous pulley set 43 is connected to the lead screw 41, and the power input end of the synchronous pulley set 43 is connected to the second rotating power source component 44.

[0058] The second rotary power source 44 provides the power source for the rotation of the lead screw 41. The output shaft of the second rotary power source 44 is coaxially fixed to the synchronous pulley corresponding to the power input end of the synchronous pulley set 43, and the lead screw 41 is coaxially fixed to the synchronous pulley corresponding to the power output end of the synchronous pulley set 43. The synchronous pulley and the synchronous belt mesh with each other.

[0059] When the output shaft of the second rotary power source 44 rotates, it drives the lead screw 41 to rotate via the wheel set, causing it to move linearly towards the first gear 2. This, in turn, drives the slewing bearing 3, which is fixedly connected to the lead screw 41, to move linearly towards the first gear 2. Because the timing belt of the timing wheel set 43 has a certain degree of elasticity, or considering the length redundancy of the timing belt, a certain range of axial displacement is allowed. Therefore, even with a small range of displacement adjustment of the center distance of the lead screw 41, the transmission performance of the timing wheel set 43 can still be guaranteed.

[0060] In one optional embodiment of the utility model, referring to Figure 1 and Figure 2 As shown, both ends of the lead screw 41 are fixedly connected to the inner ring 32 of the slewing bearing 3. The adjustment structure 4 also includes a connecting member 45, which is fixedly connected to the nut 42 and fixed to the mounting plate 1 at least in two places, wherein the second rotary power source 44 is located on the connecting member 45.

[0061] In this embodiment of the utility model, in order to improve the connection stability between the lead screw 41 and the slewing bearing 3, the lead screw 41 can be connected to the inner ring 32 of the slewing bearing 3 at both ends. That is, the length of the lead screw 41 is consistent with the diameter of the inner ring 32 of the slewing bearing 3.

[0062] The connector 45 is used to connect the nut 42 and the mounting plate 1, thereby defining the position of the nut 42. For example, the connector 45 can be fixedly connected to the nut 42 and the mounting plate 1 respectively, and the second rotary power source 44 is mounted on the connector 45. For example, the connector 45 and the nut 42 can be fixed together by welding, bolting, or other methods. The second rotary power source 44 includes at least a motor, which can be a servo motor or a stepper motor. The connector 45 is fixed to the mounting plate 1 at at least two points, which can improve the support stability of the nut 42 and the second rotary power source 44.

[0063] In one optional embodiment of the utility model, referring to Figure 3 As shown, the connector 45 includes a first connecting portion 451 and a second connecting portion 452. The first connecting portion 451 is L-shaped and is fixedly connected to the nut 42. The second connecting portion 452 is located between the first connecting portion 451 and the mounting plate 1 and is fixedly connected to the mounting plate 1.

[0064] In this embodiment of the invention, the connector 45 may include a first connecting portion 451 and a second connecting portion 452. For example, the first connecting portion 451 and the second connecting portion 452 may be an integral structure, or the first connecting portion 451 and the second connecting portion 452 may be fixed by a snap-fit, welding, or bolt connection. For example, the nut 42 may be embedded in the first connecting portion 451 and have an interference fit with it. This increases the contact area between the first connecting portion 451 and the nut 42, thereby improving the connection stability between them. The first connecting portion 451 is L-shaped; a portion of the first connecting portion 451 can be used to fix the nut 42, and a portion of the first connecting portion 451 can be used for mounting the robot's image acquisition device 6.

[0065] The second connecting portion 452 contacts the mounting plate 1, thereby increasing the contact area between the second connecting portion 452 and the mounting plate 1 and improving the connection stability between them. For example, two second connecting portions 452 may be provided.

[0066] In another optional embodiment of the utility model, the adjusting structure 4 may include a lead screw 41, a nut 42, a second gear, a third gear, a flexible sleeve pin coupling, and a second rotary power source 44. The central axis of the lead screw 41 coincides with the central axis of the first gear 2 and is rotatably connected to the inner ring 32 of the slewing bearing 3. The nut 42 is rotatably connected to the lead screw 41 and fixedly connected to the mounting plate 1. The second gear is coaxially fixed to the lead screw 41. The third gear meshes with the second gear, and the flexible sleeve pin coupling is connected to the gear shaft of the third gear. The output shaft of the second rotary power source 44 is connected to the flexible sleeve pin coupling. When the second rotary power source 44 is working, it drives the lead screw 41 to rotate, so that the slewing bearing 3 makes a linear movement closer to or away from the first gear 2.

[0067] In this embodiment of the invention, the lead screw 41 and the nut 42 can form a lead screw and nut pair. The nut 42 is sleeved on the lead screw 41 and rotatably connected to it. During mutual rotation, the lead screw 41 and the nut 42 can generate axial displacement, thereby converting rotational motion into linear motion. For example, when the lead screw 41 is in a fixed position, rotating the lead screw 41 can cause the nut 42 to move linearly along the axial direction of the lead screw 41. When the nut 42 is in a fixed position, rotating the lead screw 41 can cause the lead screw 41 to move linearly relative to the nut 42.

[0068] The central axis of the lead screw 41 coincides with the central axis of the first gear 2 and is rotatably connected to the inner ring 32 of the slewing bearing 3. That is, the lead screw 41 passes through the center point of the inner ring 32 of the slewing bearing 3, and the slewing bearing 3 and the lead screw 41 can be fixed together by means of threaded connection, welding or other methods.

[0069] The nut 42 is fixedly connected to the mounting plate 1, thus defining the position of the nut 42. Therefore, when the lead screw 41 rotates under driving force, it can move linearly relative to the nut 42. Furthermore, the forward and reverse rotation of the lead screw 41 can be used to drive the slewing bearing 3 to move linearly closer to or away from the first gear 2.

[0070] The second gear is coaxially fixed with the lead screw 41, which can be understood as the central axis of the second gear coinciding with the central axis of the lead screw 41, and the second gear being fixed to the lead screw 41. The second gear can be sleeved on the lead screw 41.

[0071] The third gear meshes with the second gear, driving the second gear to rotate, which in turn drives the lead screw 41 to rotate. The elastic sleeve pin coupling is connected to the gear shaft of the third gear. The elastic sleeve pin coupling is a coupling that transmits torque through an elastic element (elastic sleeve), mainly used to connect two shafts and transmit rotational motion and torque, while also compensating for relative displacement between the two shafts. The output shaft of the second rotary power source 44 is connected to the elastic sleeve pin coupling. In other words, by connecting the output shaft of the second rotary power source 44 and the gear shaft of the third gear through the elastic sleeve pin coupling, the axial displacement of the second gear can be compensated through the flexible connection of the elastic sleeve pin coupling, preventing the second and third gears from disengaging during the rotation of the lead screw 41, thereby ensuring the operational stability of the adjusting structure 4.

[0072] In summary, this utility model discloses a rotating assembly, which may include a mounting plate 1, a first gear 2, a slewing bearing 3, and an adjustment structure 4. The first gear 2 is rotatably connected to the mounting plate 1. The outer ring 31 of the slewing bearing 3 meshes with the first gear 2, driving the outer ring 31 of the slewing bearing 3 to rotate. The outer ring 31 of the slewing bearing 3 is connected to the robot's pallet to rotate the pallet. The adjustment structure 4 is connected to both the mounting plate 1 and the inner ring 32 of the slewing bearing 3, moving the slewing bearing 3 to adjust the center distance between the first gear 2 and the slewing bearing 3. Thus, by adjusting the structure 4, the gear clearance of the robot can be kept within a set gear clearance that does not affect the loading and unloading accuracy. Adjusting the center distance avoids the situation where the pallet slewing clearance increases due to long-term wear of the rotating assembly, thereby improving the robot's loading and unloading accuracy.

[0073] Reference Figure 3 and Figure 4 As shown in the figure, this utility model embodiment also discloses a robot, which may include a rotating component as described in any of the above utility model embodiments.

[0074] In this embodiment of the invention, the robot can be a stealthy lifting AMR robot. This robot moves by rotating to a position under the shelf, then uses a lifting mechanism to lift the pallet, thus raising the shelf off the ground, and carries the shelf while walking to transport goods. The robot with the aforementioned rotating component can adjust the gear backlash through the adjustment structure 4 to ensure it remains within a set gap that does not affect the accuracy of picking and placing goods. By adjusting the center distance, the robot avoids the situation where prolonged wear of the rotating component leads to increased pallet rotation clearance, thereby improving the robot's accuracy in picking and placing goods.

[0075] In one optional embodiment of the utility model, referring to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the robot may also include an image acquisition device 6, which is mounted on the adjustment structure 4.

[0076] In this embodiment of the invention, the image acquisition device 6 can be mounted on the nut 42 of the adjusting structure 4. For example, the tray is mounted above the slewing bearing 3 and fixed to the outer ring 31 of the slewing bearing 3. A data acquisition through-hole is opened at the center of the tray, allowing the image acquisition device 6 to detect the QR code or other markings on the bottom of the shelf through the data acquisition through-hole, thereby realizing the positioning of the robot.

[0077] In one optional embodiment of the utility model, referring to Figure 3 and Figure 4 As shown, the robot may also include a lifting assembly 7, on which the mounting plate 1 is located to lift the tray.

[0078] In this embodiment of the invention, the lifting component 7 is used to lift the pallet, thereby lifting the shelf upwards from the bottom of the shelf using the pallet located at the bottom of the shelf, and then transporting the goods after the shelf is lifted off the ground. The rotating component then rotates the goods relative to the bottom of the robot.

[0079] In summary, this utility model discloses a rotating component and a robot. This utility model embodiment may include a mounting plate 1, a first gear 2, a slewing bearing 3, and an adjustment structure 4. The first gear 2 is rotatably connected to the mounting plate 1. The outer ring 31 of the slewing bearing 3 meshes with the first gear 2, driving the outer ring 31 of the slewing bearing 3 to rotate. The outer ring 31 of the slewing bearing 3 is connected to the robot's pallet to rotate the pallet. The adjustment structure 4 is connected to both the mounting plate 1 and the inner ring 32 of the slewing bearing 3. The adjustment structure 4 moves the slewing bearing 3 to adjust the center distance between the first gear 2 and the slewing bearing 3. Thus, by adjusting the structure 4, the gear clearance of the robot can be kept within a set gear clearance that does not affect the loading and unloading accuracy. By adjusting the center distance, the long-term wear of the rotating component prevents the pallet slewing clearance from increasing, thereby improving the robot's loading and unloading accuracy.

[0080] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0081] It will be readily apparent to those skilled in the art that any combination of the above embodiments is feasible. Therefore, any combination of the above embodiments is an implementation scheme of this utility model. However, due to space limitations, this specification will not describe them in detail here.

[0082] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0083] Similarly, it should be understood that, in order to simplify the present invention and aid in understanding one or more of the various aspects of the invention, in the description of exemplary embodiments of the present invention above, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof.

[0084] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

Claims

1. A rotating assembly, characterized in that, The rotating component includes: Mounting plate; A first gear is rotatably connected relative to the mounting plate; A slewing bearing, wherein the outer ring of the slewing bearing meshes with the first gear, and the outer ring of the slewing bearing is driven to rotate by the first gear, wherein the outer ring of the slewing bearing is connected to the robot's pallet to drive the pallet to rotate; An adjustment structure is provided, which is connected to the mounting plate and the inner ring of the slewing bearing respectively. The adjustment structure drives the slewing bearing to move, thereby adjusting the center distance between the first gear and the slewing bearing.

2. The rotating assembly according to claim 1, characterized in that, The diameter of the first gear is smaller than the outer ring diameter of the slewing bearing.

3. The rotating assembly according to claim 1, characterized in that, The rotating assembly further includes a first rotating power source, which is mounted on the mounting plate, and the output shaft of the first rotating power source is coaxially fixed with the first gear to drive the first gear to rotate.

4. The rotating assembly according to claim 1, characterized in that, The adjustment structure includes: A lead screw, the central axis of which coincides with the central axis of the first gear and is rotatably connected to the inner ring of the slewing bearing; A nut, which is rotatably connected to the lead screw and fixedly connected to the mounting plate; Synchronous pulley assembly, wherein the power output end of the synchronous pulley assembly is sleeved on the lead screw; The second rotary power source has its output shaft connected to the power input end of the synchronous pulley set. When the second rotary power source is working, it drives the lead screw to rotate, so that the slewing bearing makes a linear motion that moves closer to or away from the first gear.

5. The rotating assembly according to claim 4, characterized in that, The two ends of the lead screw are respectively fixedly connected to the inner ring of the slewing bearing; The adjustment structure also includes a connector, which is fixedly connected to the nut and fixed to the mounting plate at least in two places, wherein the second rotational power source is located on the connector.

6. The rotating assembly according to claim 5, characterized in that, The connector includes a first connecting part and a second connecting part, wherein the first connecting part is L-shaped and is fixedly connected to the nut; The second connecting part is located between the first connecting part and the mounting plate, and is fixedly connected to the mounting plate.

7. The rotating assembly according to claim 1, characterized in that, The adjustment structure includes: A lead screw, the central axis of which coincides with the central axis of the first gear and is rotatably connected to the inner ring of the slewing bearing; A nut, which is rotatably connected to the lead screw and fixedly connected to the mounting plate; The second gear is fixed coaxially with the lead screw; A third gear, which meshes with the second gear; A flexible sleeve pin coupling is provided, which is connected to the gear shaft of the third gear. The second rotary power source has its output shaft connected to the elastic sleeve pin coupling. When the second rotary power source is working, it drives the lead screw to rotate, so that the slewing bearing makes a linear motion that moves closer to or away from the first gear.

8. A robot, characterized in that, The robot includes a rotating component as described in any one of claims 1-7.

9. The robot according to claim 8, characterized in that, The robot also includes an image acquisition device, which is mounted on the adjustment structure.

10. The robot according to claim 8, characterized in that, The robot also includes a lifting assembly, on which the mounting plate is located to lift the tray.

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