Drive assembly and shelf robot

Abstract

The utility model discloses a drive assembly and goods shelf robot, drive assembly includes power output piece and driving wheel, the driving wheel is connected in the output shaft of power output piece, the output shaft is linked with driving wheel drive, drive assembly still includes axle end anti -loose structure, axle end anti -loose structure includes first locking piece and limiting assembly, first locking piece is locked together with the output shaft, and can with limiting assembly fixed on the output shaft, one end of limiting assembly is with the end face of driving wheel and is in abutment, to restrict driving wheel and the relative position of output shaft's axial direction, limiting assembly includes first limiting unit and second limiting unit, first limiting unit is used for limiting limiting assembly and the relative rotation of output shaft's circumference, second limiting unit is used for limiting the movement of first locking piece relative to output shaft, the utility model discloses can prevent the output shaft and the disengagement of output shaft along the axial direction, has improved the security of operation.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to drive components and shelf robots. Background Technology

[0002] The actuator of the shelf robot needs to be raised and lowered through the lifting mechanism during operation. In the lifting mechanism, the output shaft of the reducer of the lifting device usually needs to be connected to the drive wheel to cooperate with the transmission components (synchronous belt, chain or rope) to perform the lifting operation.

[0003] In related technologies, there is a risk that the output shaft and drive wheel of the reducer may detach during use. Utility Model Content

[0004] This invention aims to address one of the technical problems in related technologies to a certain extent. To this end, this invention provides a drive assembly and a shelf robot that can prevent the output shaft and drive wheel from disengaging along the axial direction, thereby improving operational safety.

[0005] To achieve the above objectives, the first aspect of this utility model discloses a drive assembly, which includes a power output component and a drive wheel. The drive wheel is sleeved on the output shaft of the power output component, and the output shaft is connected to the drive wheel via a transmission. The drive assembly also includes a shaft end anti-loosening structure, which includes a first locking component and a limiting component. The first locking component is locked to the output shaft and can fix the limiting component on the output shaft. One end of the limiting component abuts against the end face of the drive wheel to limit the axial relative position of the drive wheel and the output shaft. The limiting component includes a first limiting unit and a second limiting unit. The first limiting unit is used to limit the relative rotation of the limiting component and the output shaft in the circumferential direction. The second limiting unit is used to limit the movement of the first locking member relative to the output shaft.

[0006] In this technical solution, the first limiting unit can restrict the relative rotation of the limiting component and the output shaft, keeping them in a relatively fixed position. This avoids the loosening of the first locking member indirectly caused by the rotation of the limiting component during use. In addition, the second limiting unit can directly restrict the rotation of the first locking member relative to the output shaft. This avoids the loosening of the first locking member from multiple aspects, both directly and indirectly, thereby preventing the drive wheel from disengaging from the output shaft during operation and improving the safety of the operation.

[0007] Furthermore, the limiting component includes a first limiting plate and a second limiting plate, the first limiting plate and the second limiting plate are opposite to each other and fixedly connected, one end of the first limiting plate abuts against the end face of the drive wheel, the first limiting plate is provided with a first limiting unit, and the second limiting plate is provided with a second limiting unit.

[0008] Furthermore, the second limiting unit includes a limiting hole disposed on the second limiting plate, the first locking member includes a first threaded connection part and a first nut part, the output shaft is provided with a threaded hole that mates with the first threaded connection part, the first threaded connection part is threadedly connected to the threaded hole, the first nut part is disposed in the limiting hole, and the inner wall of the limiting hole and the outer wall of the first nut part form a circumferential limiting structure to restrict the rotation of the first locking member.

[0009] Furthermore, the second limiting unit includes an axial limiting member, which is disposed on the side of the first locking member away from the output shaft and is opposite to the first locking member along the axial direction. The axial limiting member is used to block the first locking member from axial displacement.

[0010] Furthermore, the axial limiting member includes an axial limiting part and two connecting ends, the two connecting ends being disposed on opposite sides of the axial limiting part, and the axial limiting part and the end of the first locking member being opposite each other along the axial direction of the output shaft. The limiting assembly includes a plurality of second locking members, which are used to connect the first limiting plate and the second limiting plate. At least two second locking members are disposed on opposite sides of the first locking member and are respectively connected to two connecting ends.

[0011] Furthermore, the second limiting plate is provided with a groove corresponding to the second locking member, the length of the groove being greater than the diameter of the second locking member, and the second locking member passing through the groove.

[0012] Furthermore, the first locking member is coaxial with the output shaft, while the second locking member is offset from the axis of the output shaft.

[0013] Furthermore, the first limiting unit includes a limiting protrusion protruding from the surface of the limiting component. The limiting protrusion is inserted and connected to either the output shaft or the drive wheel along the axial direction of the output shaft to limit the relative rotation of the limiting component and the output shaft.

[0014] Furthermore, the output shaft includes a spline shaft segment, and the center hole of the drive wheel forms a spline hole segment that mates with the spline shaft segment. The spline shaft segment and the spline hole segment are connected in a driving manner. A limiting structure is formed between the first limiting unit and the drive wheel. The first limiting unit includes a limiting protrusion that protrudes from the surface of the limiting component. The drive wheel is provided with a limiting groove corresponding to the limiting protrusion. The limiting protrusion and the limiting groove are inserted and connected along the axial direction of the output shaft.

[0015] Furthermore, one end of the drive wheel is provided with a receiving groove, the limiting component is disposed in the receiving groove, one end of the limiting component abuts against the bottom wall of the receiving groove, and the limiting groove is provided on the side wall of the receiving groove.

[0016] The second aspect of this utility model discloses a shelf robot, including an actuator, a drive mechanism, and a gantry. The drive mechanism is used to drive the actuator to move along the height direction of the gantry. The drive mechanism includes a drive component and a transmission component as described in the first aspect. The drive wheel is connected to the transmission component. The drive component drives the actuator to move along the height direction of the gantry through the transmission component.

[0017] The shelf robot disclosed in the second aspect of this application has similar beneficial effects to the drive component disclosed in the first aspect, and will not be described in detail here.

[0018] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but this is not intended to limit the technical solution of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the output shaft and drive wheel assembly structure according to one embodiment of the present invention; Figure 2 This is a schematic diagram of the output shaft and drive wheel assembly structure according to one embodiment of the present invention. Figure 3 This is an exploded view of the output shaft, drive wheel, and shaft end anti-loosening structure of one embodiment of the present invention.

[0020] in, 10. Drive wheel; 11. Receiving groove; 111. Limiting groove; 20. Power output component; 21. Output shaft; 30. First locking element; 31. First nut portion; 32. First threaded connection portion; 40. Limiting component; 41. First limiting plate; 411. Limiting protrusion; 42. Second limiting plate; 421. Limiting hole; 422. Groove; 43. Axial limiting component; 431. Axial limiting part; 432. Connecting end; 44. Second locking element. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0022] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this utility model. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0023] In the industrial field, shaft mating is one of the most commonly used structures. Shafts can be used as components for transmitting power or as base components for rotating other components. In order to ensure stable mating of various components, it is generally necessary to ensure the stability of the connection between the output shaft and its mating component (defined as the driving wheel in this application). In order to ensure stable torque output, the output shaft and the driving wheel need to be stably mated. The relative axial positions of the two are generally relatively fixed to avoid the risk of separation caused by relative axial displacement, which could result in the inability to transmit torque or even safety risks.

[0024] In related technologies, to ensure a stable fit between the output shaft and the drive wheel, a tight fit (interference fit or transition fit) is generally used. While this ensures reliable connection, it can easily damage the drive wheel when disassembly is required. Other technologies use a loose fit (such as a spline and spline groove fit) to facilitate easy and non-destructive disassembly of the output shaft and drive wheel, with a locking bolt at the end of the output shaft to secure the drive wheel. However, during operation, vibrations can cause the locking bolt to loosen (high-frequency, low-amplitude vibrations can disrupt the friction required to maintain bolt tightness), potentially leading to the loosely fitted output shaft and drive wheel separating axially.

[0025] See appendix Figures 1 to 3One embodiment of this utility model discloses a drive assembly, which includes a power output component 20 and a drive wheel 10. The drive wheel 10 is sleeved on the output shaft 21 of the power output component 20. The output shaft 21 is pulsatorically connected to the drive wheel 10. The drive assembly also includes a shaft end anti-loosening structure, which includes a first locking component 30 and a limiting component 40. The first locking component 30 is locked to the output shaft 21 and can fix the limiting component on the output shaft 21. One end of the limiting component 40 abuts against the end face of the drive wheel 10 to limit the axial relative position of the drive wheel 10 and the output shaft 21. The limiting component 40 includes a first limiting unit and a second limiting unit. The first limiting unit is used to limit the relative rotation of the limiting component 40 and the output shaft 21 in the circumferential direction. The second limiting unit is used to limit the movement of the first locking member 30 relative to the output shaft 21.

[0026] In this embodiment, the power output component can be a motor, a reducer, or any other component capable of outputting power.

[0027] The anti-loosening structure at the shaft end in this embodiment is used to limit the displacement of the drive wheel 10 relative to the output shaft 21 in the axial direction.

[0028] The drive wheel 10 mentioned in this embodiment is actually set as a synchronization wheel, sprocket, drive wheel or other similar load component in the actual working scenario.

[0029] The anti-loosening principle of this application will be described in detail below with reference to the specific structure of the limiting component of one embodiment of this utility model: In one embodiment of this utility model, the limiting component 40 includes a first limiting plate 41 and a second limiting plate 42 fixedly connected. The first limiting plate 41 and the second limiting plate 42 are opposite to each other along the axial direction of the output shaft 21. The first limiting plate 41 abuts against the drive wheel 10. A first limiting unit is provided between the first limiting plate 41 and the output shaft 21, and a second limiting unit is provided between the second limiting plate 42 and the first locking member 30.

[0030] In this embodiment, the anti-loosening structure at the shaft end has a threaded connection between the first locking member 30 and the output shaft 21. The locking force of the thread fixes the limiting component 40 on the output shaft 21. The limiting component 40 includes a first limiting plate 41 and a second limiting plate 42. The first limiting plate 41 and the driving wheel 10 abut against each other axially to limit the axial position of the driving wheel 10. In this way, in conjunction with other limiting structures (limiting platform or limiting sleeve on the output shaft 21), the axial position of the driving wheel 10 can be limited.

[0031] In this embodiment, the first locking element 30 can generally be set as a screw.

[0032] To prevent the first locking member 30 from loosening during operation, the shaft end anti-loosening structure of this embodiment is designed from two aspects. Firstly, a first limiting unit is provided between the first limiting plate 41 and the output shaft 21. The first limiting unit is used to limit the relative circumferential position of the first limiting plate 41 and the output shaft 21, fixing them relatively in the circumferential direction. This embodiment does not specifically limit the specific structure of the first limiting unit; for example, it can be configured as a key fit, pin fit, connecting piece fit (arranged radially), or a combination of one or more of the following: a convex-concave interlocking structure, as long as the relative circumferential position of the first limiting plate 41 and the output shaft 21 is fixed. In this configuration, since the first limiting plate 41 is locked and fixed to the output shaft 21 by the first locking member 30, without the setting of the first limiting unit, the vibration during use would cause the first limiting plate 41 and the output shaft 21 to rotate relative to each other. The relative rotation of the two would increase the probability of the first locking member 30 loosening. By setting the first limiting unit, the probability of the first locking member 30 loosening can be reduced, which is equivalent to indirectly avoiding the loosening of the first locking member 30.

[0033] Secondly, in this embodiment, the anti-loosening structure at the shaft end also includes a second limiting unit disposed between the second limiting plate 42 and the first locking member 30. The second limiting unit acts directly on the first locking member 30 to prevent the first locking member 30 from rotating relative to the output shaft 21. This embodiment does not specifically limit the specific structure and form of the second limiting unit. Since the first locking member 30 and the output shaft 21 are threaded together, any relative circumferential rotation and axial displacement (rotation and axial movement are simultaneous) between the first locking member 30 and the output shaft 21 will cause the connection between the first locking member 30 and the output shaft 21 to loosen. Therefore, in order to avoid the loosening of the first locking member 30, the second limiting unit can address at least one aspect of limiting the rotation of the first locking member 30 and the axial displacement of the second locking member 44.

[0034] This embodiment, through the setting of the first limiting unit and the second limiting unit, avoids the loosening of the first locking member 30 from both direct and indirect aspects, which is equivalent to forming a multi-level anti-loosening mechanism, which can more effectively prevent the loosening of the first locking member 30.

[0035] In this embodiment, the cooperation structure between the drive wheel 10 and the output shaft 21 can be configured in a way that allows relative rotation in the circumferential direction or a way that is relatively fixed in the circumferential direction. The structure of the first limiting unit can be specifically configured for different cooperation forms between the drive wheel 10 and the output shaft 21.

[0036] In this embodiment, the connection structure between the first limiting plate 41 and the second limiting plate 42 can be configured as a detachable connection structure. The two can be connected by a connector, or they can be configured as a snap-fit ​​or other connection structure.

[0037] As one embodiment of this utility model, see the appendix. Figure 3 The output shaft 21 includes a spline shaft section, and the center hole of the drive wheel 10 forms a spline hole section that mates with the spline shaft section. The spline shaft section and the spline hole section are connected by insertion and form a structure in which the output shaft 21 and the drive wheel 10 are relatively fixed in the circumference. At least one of the drive wheel 10 and the output shaft 21 and the first limiting plate 41 are provided with the first limiting unit.

[0038] In this embodiment, the output shaft 21 and the drive wheel 10 adopt a spline fit structure. At this time, the rotation of the output shaft 21 can drive the rotation of the drive wheel 10, which can realize the transmission of torque. It is generally used on power shafts, such as the output shaft 21 of a motor and the output shaft 21 of a reducer. The output shaft 21 and the drive wheel 10 are loosely fitted, which facilitates the assembly and disassembly of the drive wheel 10 and the output shaft 21, and can reduce the damage to the drive wheel 10 during disassembly.

[0039] In this embodiment, the circumferential positions of the drive wheel 10 and the output shaft 21 are relatively fixed. Therefore, when setting the first limiting unit, in order to fix the circumferential positions of the first limiting plate 41 and the output shaft 21, the first limiting unit can be set between the drive wheel 10 and the first limiting plate 41 or between the output shaft 21 and the first limiting plate 41. Both can fix the relative position between the first limiting plate 41 and the output shaft 21.

[0040] Of course, in actual settings, the drive wheel 10 and the output shaft 21 can also be configured to rotate relative to each other in the circumferential direction. In this case, the first limiting unit is set between the output shaft 21 and the first limiting plate 41, but cannot be set between the drive wheel 10 and the first limiting plate 41.

[0041] As one embodiment of this utility model, see the appendix. Figure 3 The first limiting unit includes a limiting protrusion 411 and a limiting groove 111 that cooperate with each other. The limiting protrusion 411 and the limiting groove 111 are connected by insertion along the axial direction of the output shaft 21. One of the limiting protrusion 411 and the limiting groove 111 is disposed on the first limiting plate 41, and the other of the limiting protrusion 411 and the limiting groove 111 is disposed on the drive wheel 10 or the output shaft 21.

[0042] In this embodiment, the first limiting unit is set as a concave-convex interlocking structure of limiting protrusion 411 and limiting groove 111. The structure is simple and easy to manufacture. Through the insertion and cooperation of limiting protrusion 411 and limiting groove 111, the circumferential position of output shaft 21 and first limiting plate 41 can be fixed.

[0043] In actual setup, the specific positions of the limiting protrusion 411 and the limiting groove 111 are not specifically limited. For example, one of the limiting protrusion 411 and the limiting groove 111 can be set on the end face or outer wall of the first limiting plate 41, and the other can be set at the corresponding position on the drive wheel 10 or the output shaft 21.

[0044] As one embodiment of this utility model, see the appendix. Figure 3 One end of the drive wheel 10 is provided with a receiving groove 11, the limiting component 40 is disposed in the receiving groove 11, the first limiting plate 41 abuts against the bottom wall of the receiving groove 11, the limiting protrusion 411 is provided on the outer side wall of the first limiting plate 41, and the limiting groove 111 is provided on the side wall of the receiving groove 11.

[0045] In this embodiment, the end of the drive wheel 10 is provided with a receiving groove 11. During assembly, the limiting component 40 is placed in the receiving groove 11. This embodiment provides a special installation space for the limiting component 40, so that the combination of the limiting component 40 with the drive wheel 10 and the output shaft 21 is more compact, avoiding interference to other components that may be caused by the protruding structure.

[0046] Since the first limiting plate 41 abuts against the drive wheel 10 during use, and the first limiting plate 41 and the drive wheel 10 are in direct contact, the first limiting unit is set between the first limiting plate 41 and the drive wheel 10, which is easier to implement in terms of space, can simplify the structure of the component, and reduce production costs.

[0047] In this embodiment, the limiting protrusion 411 is disposed on the outer wall of the first limiting plate 41, and the limiting groove 111 is disposed on the side wall of the receiving groove 11. In this way, when in use, the end face of the first limiting plate 41 and the bottom wall of the receiving groove 11 cooperate, and the limiting protrusion 411 on the outer wall cooperates with the side wall of the receiving groove 11. This makes reasonable use of the various parts of the structure of the first limiting plate 41, and the structure is more compact.

[0048] It should be noted that, in actual installation, a limiting groove 111 can also be provided on the first limiting plate 41, and a limiting protrusion 411 can be provided on the side wall of the receiving groove 11.

[0049] In this embodiment, the number of limiting protrusions 411 and limiting grooves 111 is not specifically limited. In actual installation, the number of limiting protrusions 411 and limiting grooves 111 can be set to one pair or multiple pairs, as shown in the attached figure. Figure 3As shown, multiple limiting protrusions 411 are circumferentially distributed around the axis of the first limiting plate 41.

[0050] It should be noted that in this embodiment, the limiting protrusion 411 and the limiting groove 111 are designed to be mutually compatible. In actual installation, the limiting protrusion 411 and the limiting groove 111 can be set as rectangular, arc-shaped, V-shaped or other shapes.

[0051] In one embodiment of this utility model, the second limiting unit includes a limiting hole 421 disposed in the second limiting plate 42, and the first locking member 30 includes a first threaded connection portion 32 and a first nut portion 31. The first threaded connection portion 32 is threadedly connected to the output shaft 21, and the first nut portion 31 is disposed in the limiting hole 421. The inner wall of the limiting hole 421 and the outer wall of the first nut portion 31 form a circumferentially mating limiting structure to restrict the rotation of the first locking member 30.

[0052] The second limiting unit in this embodiment includes a limiting hole 421, which is fitted with a first nut portion 31. The first nut portion 31 is disposed inside the limiting hole 421. Since the first nut portion 31 is generally hexagonal, in actual installation, it is only necessary to set the inner wall of the limiting hole 421 to fit with the outer wall of the first nut portion 31, and restrict the rotation of the first nut portion 31 by the structure of the limiting hole 421 itself.

[0053] In actual setup, for ease of assembly, the first limiting plate 41 is usually fixed to the output shaft 21 by the first locking member 30. After the first locking member 30 is locked, the second limiting plate 42 is connected to the first limiting plate 41, and the limiting hole 421 and the first nut part 31 are made to cooperate with each other.

[0054] In this embodiment, the engagement between the limiting hole 421 and the first nut portion 31 prevents the first locking member 30 from loosening by restricting the rotation of the first locking member 30.

[0055] As one embodiment of the present invention, the limiting component 40 includes an axial limiting member 43, which is disposed on the side of the first locking member 30 away from the output shaft 21 and is axially opposite to the first nut portion 31. The axial limiting member 43 is used to limit the displacement of the first locking member 30 in the axial direction toward the direction of loosening the threaded connection with the output shaft 21.

[0056] In this embodiment, the axial limiting member 43 prevents the first locking member 30 from loosening by restricting the axial displacement of the first locking member 30. In actual installation, the axial limiting member 43 abuts against the first nut portion 31 along the axial direction of the output shaft 21, so that the first locking member 30 cannot move axially under the blocking action of the axial limiting member 43.

[0057] This embodiment does not specifically limit the specific setting form of the axial limiting member 43. In actual setting, the axial limiting member 43 can be directly set on the second limiting plate 42, or it can be set on a component that cooperates with the second limiting plate 42.

[0058] As one embodiment of this utility model, see the appendix. Figure 3 The axial limiting member 43 includes an axial limiting part 431 and two connecting ends 432. The two connecting ends 432 are disposed on opposite sides of the axial limiting part 431. The axial limiting part 431 is axially opposite to the first nut part 31. The shaft end anti-loosening structure includes a plurality of second locking members 44. The second locking members 44 are used to connect the first limiting plate 41 and the second limiting plate 42. At least two second locking members 44 are disposed on opposite sides of the first nut portion 31 and are respectively connected to two connecting ends 432.

[0059] The second locking member 44 includes a second nut portion and a second threaded connection portion. The first limiting plate 41 is provided with an internal thread corresponding to the second threaded connection portion. The second locking member 44 and the first limiting plate 41 are threadedly connected. The connection end 432 is connected to the second nut portion.

[0060] In this embodiment, the first limiting plate 41 and the second limiting plate 42 are connected by a second locking member 44. The second locking member 44 can generally be set as a screw to realize the detachable connection between the first limiting plate 41 and the second limiting plate 42. In actual installation, multiple second locking members 44 are arranged around the first locking member 30, wherein the first locking member 30 is generally coaxial with the output shaft 21, and the second locking members 44 are offset from the axis of the output shaft 21.

[0061] In actual installation, the axial limiting component 43 can be made of steel wire, bent into a structure with a certain coverage area, such as an attached... Figure 2 , 3 The figure-eight shape in the figure-eight shape means that the two connecting ends 432 of the axial limiting member 43 are respectively connected to the second nut portions of the two opposing second locking members 44, and the axial limiting portion 431 is axially opposite to the first nut portion 31.

[0062] In this embodiment, the axial limiting member 43 has two functions. First, since the length of the axial limiting member 43 is fixed, its two ends are connected to two second locking members 44 respectively. The two second locking members 44 are mutually constrained by the axial limiting member 43 and cannot rotate. Second, the axial limiting part 431 is opposite to the first nut part 31 and can prevent the axial displacement of the first nut part 31.

[0063] As one embodiment of this utility model, see the appendix. Figure 3 The second limiting plate 42 is provided with a groove 422 corresponding to the second locking member 44. The length of the groove 422 is greater than the diameter of the second locking member 44, and the second locking member 44 passes through the groove 422.

[0064] In this embodiment, the second locking member 44 passes through the groove 422 and is threadedly connected to the first limiting plate 41, thus fixing the second limiting plate 42 and the first limiting plate 41 together. The groove 422 facilitates adjusting the relative position of the first limiting plate 41 during installation. In actual installation, the groove 422 can be configured as follows: Figure 3 The arc-shaped structure shown facilitates circumferential adjustment of the structure of the second limiting plate 42, so that the limiting hole 421 better corresponds to the position of the first nut part 31.

[0065] The shaft end anti-loosening structure of this utility model has multiple anti-loosening effects. On the one hand, it can indirectly prevent the first locking member 30 from loosening by restricting the rotation of the first limiting plate 41 through the first limiting unit. On the other hand, it can directly restrict the rotation of the first locking member 30 through the second limiting unit. In addition, the second limiting unit includes a limiting hole 421 that restricts the rotation of the first locking member 30, and an axial limiting member 43 that restricts the axial displacement of the first locking member 30. It avoids the loosening of the first locking member 30 from multiple dimensions, thereby preventing the axial displacement of the drive wheel 10 relative to the output shaft 21 and improving the anti-loosening effect.

[0066] The second aspect of this utility model discloses a shelf robot (not shown in the figure), which includes an actuator, a drive mechanism, and a gantry. The drive mechanism is used to drive the actuator to move along the height direction of the gantry. The drive mechanism includes a drive component from the first aspect and a transmission component (generally including a timing belt, chain, and rope, etc.). The drive wheel 10 is connected to the transmission component. The drive component drives the actuator to move along the height direction of the gantry through the transmission component.

[0067] In this embodiment, the shelf robot is installed on one side of the shelf. The mast is generally slidably installed on the shelf along its length and the height of the mast is the same as the height of the shelf. The actuator can slide along the height of the mast (i.e., the height of the shelf). During use, by moving the mast and the actuator, the actuator can pick up materials at any position on the shelf.

[0068] In the use of the shelf robot in this application, the power output component and the drive wheel are connected by a shaft end anti-loosening structure, which makes the connection structure more stable and can prevent the output shaft 21 and the drive wheel 10 from disengaging during operation, thus ensuring the reliability of the drive and the reliability and stability of the shelf robot's operation.

[0069] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A drive assembly, the drive assembly comprising a power output component (20) and a drive wheel (10), the drive wheel (10) being sleeved on the output shaft (21) of the power output component, the output shaft (21) being kinetically connected to the drive wheel (10), the drive assembly further comprising a shaft end anti-loosening structure, the shaft end anti-loosening structure comprising a first locking component (30) and a limiting component (40), the first locking component (30) being locked to the output shaft (21) and capable of fixing the limiting component (40) on the output shaft (21), one end of the limiting component (40) abutting against the end face of the drive wheel (10) to limit the axial relative position of the drive wheel (10) and the output shaft (21); characterized in that, The limiting component (40) includes a first limiting unit and a second limiting unit. The first limiting unit is used to limit the relative rotation of the limiting component (40) and the output shaft (21) in the circumferential direction. The second limiting unit is used to limit the movement of the first locking member (30) relative to the output shaft (21).

2. The driving component according to claim 1, characterized in that, The limiting component (40) includes a first limiting plate (41) and a second limiting plate (42). The first limiting plate (41) and the second limiting plate (42) are opposite to each other and fixedly connected. One end of the first limiting plate (41) abuts against the end face of the drive wheel (10). The first limiting plate (41) is provided with a first limiting unit, and the second limiting plate (42) is provided with a second limiting unit.

3. The driving component according to claim 2, characterized in that, The second limiting unit includes a limiting hole (421) disposed on the second limiting plate (42). The first locking member (30) includes a first threaded connection part (32) and a first nut part (31). The output shaft is provided with a threaded hole that mates with the first threaded connection part. The first threaded connection part (32) is threadedly connected to the threaded hole. The first nut part (31) is disposed in the limiting hole (421). The inner wall of the limiting hole (421) and the outer wall of the first nut part (31) form a circumferential limiting structure to restrict the rotation of the first locking member (30).

4. The driving component according to claim 3, characterized in that, The second limiting unit includes an axial limiting member (43), which is disposed on the side of the first locking member (30) away from the output shaft (21) and opposite to the first locking member (30) along the axial direction. The axial limiting member (43) is used to block the first locking member (30) from axial displacement.

5. The driving component according to claim 4, characterized in that, The axial limiting member (43) includes an axial limiting part (431) and two connecting ends (432). The two connecting ends (432) are disposed on opposite sides of the axial limiting part (431). The axial limiting part (431) and the end of the first locking member (30) are opposite to each other along the axial direction of the output shaft (21). The limiting component (40) includes a plurality of second locking members (44), which are used to connect the first limiting plate (41) and the second limiting plate (42). At least two second locking members (44) are disposed on opposite sides of the first locking member (30) and are respectively connected to two connecting ends (432).

6. The driving component according to claim 5, characterized in that, The second limiting plate (42) is provided with a groove (422) corresponding to the second locking member (44). The length of the groove (422) is greater than the diameter of the second locking member (44), and the second locking member (44) passes through the groove (422).

7. The driving component according to any one of claims 1 to 6, characterized in that, The first limiting unit includes a limiting protrusion (411) protruding from the surface of the limiting component. The limiting protrusion (411) is inserted and connected to either the output shaft or the drive wheel along the axial direction of the output shaft to limit the relative rotation of the limiting component and the output shaft.

8. The driving component according to claim 7, characterized in that, The output shaft (21) includes a spline shaft section, and the center hole of the drive wheel (10) forms a spline hole section that mates with the spline shaft section. The spline shaft section and the spline hole section are connected in a driving manner. A limiting structure is formed between the first limiting unit and the drive wheel. The first limiting unit includes a limiting protrusion (411), which protrudes from the surface of the limiting component. The drive wheel is provided with a limiting groove (111) corresponding to the limiting protrusion. The limiting protrusion (411) and the limiting groove (111) are inserted and connected along the axial direction of the output shaft (21).

9. The driving component according to claim 8, characterized in that, One end of the drive wheel (10) is provided with a receiving groove (11), and the limiting component (40) is disposed in the receiving groove (11). One end of the limiting component abuts against the bottom wall of the receiving groove (11), and the limiting groove (111) is provided on the side wall of the receiving groove (11).

10. A shelf robot, comprising an actuator, a drive mechanism, and a gantry, wherein the drive mechanism is used to drive the actuator to move along the height direction of the gantry, characterized in that, The drive mechanism includes the drive assembly and transmission component as described in any one of claims 1 to 9, wherein the drive wheel (10) is connected to the transmission component, and the drive assembly drives the actuator to move along the height direction of the gantry through the transmission component.

Images