Drive assembly and shelf robot

Abstract

The utility model discloses a drive assembly and goods shelf robot relates to goods shelf robot technical field, drive assembly includes drive motor and load output piece, load output piece is linked with the main shaft drive of drive motor, load output piece is used for with the actuating mechanism drive of goods shelf robot links, the rotation of main shaft can drive load output piece rotates, the rotation of load output piece is used to drive actuating mechanism elevates, drive assembly still includes spacing module, spacing module sets up one side at load output piece, at least one part of spacing module can selectivity with load output piece spacing cooperation to limit the rotation of load output piece, and then limit actuating mechanism elevates. The utility model can improve the security of goods shelf robot in the use process.

Description

Technical Field

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

[0002] When the shelf robot is being maintained, the actuators that slide on the gantry need to remain stationary for extended periods to improve maintenance efficiency.

[0003] In related technologies, shelf robots typically maintain a stationary state during maintenance by using the braking effect of the drive components within the lifting mechanism. However, relying solely on the braking effect of the drive components during actual operation carries the risk of brake failure. In the event of brake failure, the actuator may experience unpredictable drops, potentially leading to safety hazards. 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 component and a shelf robot with enhanced safety.

[0005] To achieve the above objectives, the first aspect of this utility model discloses a drive assembly for driving the lifting and lowering of the actuator of a shelf robot. The drive assembly includes a drive motor and a load output component. The load output component is drivenly connected to the main shaft of the drive motor and is drivenly connected to the actuator of the shelf robot. The rotation of the main shaft can drive the load output component to rotate, and the rotation of the load output component is used to drive the lifting and lowering of the actuator. The drive assembly also includes a limiting module, which is disposed on one side of the load output component. At least a portion of the limiting module can selectively engage with the load output component to limit the rotation of the load output component, thereby limiting the lifting and lowering of the actuator.

[0006] The drive component in this technical solution has a limit module, which can mechanically limit the rotation of the load output component of the drive component according to actual usage requirements. This, together with the braking function of the drive motor itself, forms a dual braking effect, improving the effectiveness and safety of braking.

[0007] Furthermore, the limiting module includes a driving component and a limiting component. The driving component is used to drive the limiting component to switch between a locked position and an unlocked position. A plug-in hole is formed on the side wall of the load output component. In the locked position, the first end of the limiting member is inserted into the insertion hole to restrict the rotation of the load output member, thereby restricting the lifting and lowering of the actuator; In the unlocked position, the limiting member is located on one side of the load output member, and the load output member can rotate with the main shaft and drive the actuator to rise and fall.

[0008] Furthermore, the limiting module also includes a support cylinder, which is fixedly connected to the housing of the drive motor. The support cylinder is aligned with the axial direction of the load output component, and the first end of the load output component extends into the support cylinder. The limiting module is disposed on the support cylinder, and the first end of the limiting component is opposite to the insertion hole.

[0009] Furthermore, a radially penetrating mounting hole is formed on the side wall of the support cylinder, and the limiting member is slidably disposed in the mounting hole. The first end of the limiting member is placed inside the support cylinder, and the second end of the limiting member extends out of the support cylinder through the mounting hole. The driving member is disposed on the outside of the support cylinder and connected to the limiting member. The driving member is used to drive the limiting member to slide and switch between the locked position and the unlocked position along the radial direction of the support cylinder under the action of external force.

[0010] Furthermore, the driving component includes an operating part and a driving part, the driving part being pivotally connected to the second end of the limiting member, the driving part including a first positioning surface and a second positioning surface connected together, the outer wall of the support cylinder forming a limiting surface, in the locked position, the first positioning surface abutting against the limiting surface, in the unlocked position, the second positioning surface abutting against the limiting surface, the operating part being adapted to drive the driving part to rotate under the action of external force, so that the first positioning surface and the second positioning surface switch to abutting against the limiting surface, the distance between the pivotally connected part of the driving part and the limiting member and the first positioning surface is less than the distance between the pivotally connected part of the driving part and the limiting member and the second positioning surface.

[0011] Furthermore, the limiting module also includes a guide cylinder and an elastic element. The guide cylinder is disposed inside the support cylinder, with one end inserted into the mounting hole. The limiting element is slidably disposed inside the support cylinder. The elastic element is disposed inside the guide cylinder and sleeved on the limiting element. One end of the elastic element is connected to the limiting element, and the other end is connected to the inner wall of the guide cylinder. The elastic element is configured to provide an elastic force to the limiting element toward the unlocking position.

[0012] Furthermore, the limiting module also includes a detection component, which includes a photoelectric sensor and a photoelectric baffle. The photoelectric sensor includes a light emitting surface and a light receiving surface arranged opposite to each other. The photoelectric sensor is disposed on one side of the driving member, and the photoelectric baffle is disposed on the driving member. In the unlocked position, the photoelectric baffle is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor, and the photoelectric sensor emits an unlocking signal.

[0013] Furthermore, the load output component includes a drive wheel and a limiting cylinder. The drive wheel is sleeved on the main shaft and is circumferentially fixed relative to the main shaft. The drive wheel is used to be connected to the drive belt. The limiting cylinder is connected to the drive wheel. The limiting cylinder has a plurality of insertion holes circumferentially distributed around the axis of the limiting cylinder. At least a portion of the limiting module can be selectively inserted into one of the insertion holes to limit the rotation of the load output component, thereby limiting the lifting and lowering of the actuator.

[0014] The second aspect of this application discloses a shelf robot, including a gantry, an actuator, and a lifting mechanism. The lifting mechanism is used to drive the actuator to move up and down along the height direction of the gantry. The lifting mechanism includes a transmission belt and at least one drive component as described in the first aspect. The drive component is disposed on the gantry. The transmission belt is connected to the actuator. The load output component is driven by the transmission belt. The main shaft of the drive motor rotates and drives the actuator to rise and fall through the load output component. When the limit module cooperates with the load output component to limit the rise and fall of the actuator, the rise and fall of the actuator is restricted.

[0015] Furthermore, the lifting mechanism includes two drive components, which are respectively disposed on opposite sides of the gantry and are respectively connected to the opposite sides of the actuator via a transmission belt.

[0016] The reasoning process for the beneficial effects of the shelf robot provided by this utility model and the aforementioned drive components is similar, and will not be repeated here.

[0017] 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

[0018] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a three-dimensional structural diagram of the drive component (locking position) according to one embodiment of the present utility model. Figure 2 This is a top view (locking position) of a drive component according to one embodiment of the present invention. Figure 3 This is a side view (locking position) of the drive component according to one embodiment of the present invention. Figure 4 This is a front sectional view (locking position) of the drive component according to one embodiment of the present invention. Figure 5 This is a three-dimensional structural diagram of the drive component (unlocking position) according to one embodiment of the present utility model. Figure 6 This is a side view (unlocking position) of the drive component according to one embodiment of the present invention. Figure 7 This is a front cross-sectional view of the drive component (unlocking position) according to one embodiment of the present utility model. Figure 8 This is a structural diagram of the load output component according to one embodiment of the present invention; Figure 9 This is a structural diagram of a shelf robot according to one embodiment of the present invention.

[0019] in, 10. Drive assembly; 11. Drive motor; 111. Spindle; 12. Load output component; 121. Drive wheel; 122. Limiting cylinder; 123. Insertion hole; 13. Limiting module; 131. Drive component; 1311. Operating part; 1312. Drive part; 1313. First positioning surface; 1314. Second positioning surface; 132. Limiting component; 133. Elastic component; 134. Support cylinder; 1341. Threading port; 135. Guide cylinder; 136. Detection assembly; 1361. Photoelectric sensor; 1362. Photoelectric baffle; 21. Gantry; 22. Actuator; 23. Drive belt. Detailed Implementation

[0020] 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.

[0021] The terms "an embodiment," "example," or "trademark" 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.

[0022] In practical use, the shelving robots in related technologies inevitably require maintenance of the actuators. Currently, during maintenance, the actuators are generally held at a convenient height for maintenance only by the braking effect of the drive motor. The actuators are generally raised and lowered vertically. Thus, during maintenance, the drive motor must overcome the weight of the actuator itself to maintain the maintenance position. However, the actuators are generally quite heavy. Over time, the drive motor is easily damaged, and braking failure can easily occur, posing a risk of safety accidents.

[0023] Based on this, the first aspect of this utility model discloses a driving component, see attached document. Figures 1 to 8 The drive assembly 10 includes a drive motor 11 and a load output component 12. The load output component 12 is connected to the main shaft 111 of the drive motor 11. The drive assembly 10 also includes a limiting module 13. The limiting module 13 is disposed on one side of the load output component 12. At least a portion of the limiting module 13 can selectively engage with the load output component 12 to limit the rotation of the load output component 12.

[0024] The drive component 10 in this embodiment can be applied in different work scenarios, such as lifting operations, material transportation, and transportation.

[0025] In practical use, the load output component 12 in this embodiment is used to be connected to the external load drive to output the driving force to the external load. Taking the shelf robot in this utility model as an example, the load output component 12 in this application is generally a pulley, and the pulley is connected to the actuator 22 (external load) through the drive belt 23.

[0026] The limiting module 13 mentioned in this embodiment is a mechanical braking structure that is distinct from the braking effect of the drive motor 11 itself. It is not part of the drive motor 11, and in actual installation, the limiting module 13 is structurally independent of the drive motor 11. It should be noted that the drive motor 11 in this embodiment may include a reducer in actual use.

[0027] In this embodiment, the limiting module 13 can form a limiting engagement structure with the load output component 12 according to the actual operating conditions, thereby creating a mechanical braking effect on the load output component 12. This, combined with the braking function of the drive motor 11 itself, creates a dual braking effect, improving braking stability and safety.

[0028] In this embodiment, there is no limitation on how the limit module 13 forms a limit engagement with the load output component 12 when braking is required. In actual settings, it can be achieved through manual or automatic operation.

[0029] In this embodiment, the limiting cooperation structure between the limiting module 13 and the load output component 12 is not specifically limited. In actual settings, the two can be configured as plug-in cooperation, snap-fit ​​cooperation, or other structures that can limit the rotation of the load output component 12.

[0030] As one embodiment of this utility model, see the appendix. Figure 1 , 3 5, 6, The limiting module 13 includes a driving component 131 and a limiting component 132. The driving component 131 is used to drive the limiting component 132 to switch between a locked position and an unlocked position. In the locked position, the first end of the limiting member 132 is plugged into the load output member 12 to restrict the rotation of the load output member 12; In the unlocked position, the limiting member 132 is located on one side of the load output member 12.

[0031] In this embodiment, the limiting fit structure is set as a plug-in fit structure. In actual setting, this embodiment does not specifically limit the plug-in form. For example, the limiting member 132 can be inserted into the load output member 12, or a part of the load output member 12 can be inserted into the limiting member 132. In addition, the plug-in direction is not specifically limited. For example, it can be set to radial, axial or other directions, as long as the limiting member 132 can restrict the rotation of the load output member 12 and the limiting member 132.

[0032] In this embodiment, the limiting member 132 can be in the unlocked position under the action of the driving member 131. In the unlocked position, the limiting member 132 cannot restrict the load output member 12 from rotating with the drive motor 11, that is, the braking effect on the load driving member 131 is released.

[0033] This embodiment does not specifically limit how the limiting member 132 switches between the locked position and the unlocked position. For example, the limiting member 132 can switch by sliding, rotating or other movement methods.

[0034] As one embodiment of this utility model, see the appendix. Figure 1 The limiting module 13 further includes a support cylinder 134, which is fixedly connected to the housing of the drive motor 11. The support cylinder 134 is aligned with the axial direction of the load output component 12, and one end of the load output component 12 extends into the support cylinder 134. The limiting module 13 is disposed in the support cylinder 134, and one end of the limiting component 132 is placed in the support cylinder 134 at a position corresponding to the load output component 12.

[0035] In this embodiment, the support cylinder 134 serves as the mounting base for the limiting module 13, facilitating the limiting engagement between the limiting component 132 and the load output component 12. In this embodiment, the limiting component 132 and the limiting engagement structure of the load output component 12 are set inside the support cylinder 134, forming a similar hidden structure, which can further improve safety.

[0036] As one embodiment of this utility model, see the appendix. Figure 4 , 7 A radially penetrating mounting hole is formed on the side wall of the support cylinder 134. The limiting member 132 is slidably disposed in the mounting hole. The first end of the limiting member 132 is placed inside the support cylinder 134, and the second end of the limiting member 132 extends out of the support cylinder 134 through the mounting hole. The driving member 131 is disposed on the outside of the support cylinder 134 and connected to the limiting member 132. The driving member 131 is used to drive the limiting member 132 to slide and switch between the locked position and the unlocked position along the radial direction of the support cylinder 134 under the action of external force.

[0037] In this embodiment, the limiting member 132 switches between the locked and unlocked positions by sliding. In this embodiment, the driving member 131 is located on the outside of the support cylinder 134 for easy operation by the operator.

[0038] As one embodiment of this utility model, see the appendix. Figure 3 The driving member 131 includes an operating part 1311 and a driving part 1312. The driving part 1312 is pivotally connected to the second end of the limiting member 132. The driving part 1312 includes a first positioning surface 1313 and a second positioning surface 1314. The first positioning surface 1313 and the second positioning surface 1314 are connected. The outer wall of the support cylinder 134 forms a limiting surface. In the locked position, the first positioning surface 1313 abuts against the limiting surface. In the unlocked position, the second positioning surface 1314 abuts against the limiting surface. The operating part 1311 is adapted to drive the driving part 1312 to rotate under the action of external force, so that the first positioning surface 1313 and the second positioning surface 1314 switch to abut against the limiting surface. The distance between the pivotally connected part of the driving part 1312 and the limiting member 132 and the first positioning surface 1313 is less than the distance between the pivotally connected part of the driving part 1312 and the limiting member 132 and the second positioning surface 1314.

[0039] In this embodiment, the operating part 1311 is suitable for operator control. In actual design, the operating part 1311 can be configured as a structure suitable for operation, such as having a long lever arm or a structure that is convenient to cooperate with external accessories.

[0040] In this embodiment, the rotational motion of the driving member 131 is converted into the linear motion of the limiting member 132. In actual installation, the driving member 131 can be configured with a cam-like structure (the distance between the first positioning surface 1313 and the pivotal connection between the driving part 1312 and the second end of the limiting member 132 is less than the distance between the second positioning surface 1314 and the pivotal connection between the driving part 1312 and the second end of the limiting member 132). In actual installation, the first positioning surface 1313 and the second positioning surface 1314 can be configured as planes, as shown in the attached figure. Figure 3 As shown, the limiting surface can also be set as a planar structure. When the first positioning surface 1313, the second positioning surface 1314 and the limiting surface abut against each other, the mutual contact of the two planes will naturally limit the position of the driving member 131, so that the driving member 131 is stably held in the corresponding position, and thus the limiting member 132 can be stably held in the locked position or the unlocked position.

[0041] In one embodiment of this utility model, the limiting module 13 further includes a guide cylinder 135 and an elastic element 133. The guide cylinder 135 is disposed inside the support cylinder 134, with one end of the guide cylinder 135 inserted into the mounting hole. The limiting element 132 is slidably disposed inside the support cylinder 134. The elastic element 133 is disposed inside the guide cylinder 135 and sleeved on the limiting element 132. One end of the elastic element 133 is connected to the limiting element 132, and the other end is connected to the inner wall of the guide cylinder 135. The elastic element 133 is configured to provide an elastic force to the limiting element 132 toward the unlocking position.

[0042] See appendix Figure 4 , 7 The guide cylinder 135 disclosed in this embodiment has a certain axial length, which provides a more stable installation space for the limiting member 132, making the movement of the limiting member 132 more stable. The elastic member 133 (generally a spring) in this embodiment can be preset with a certain elastic force during installation. This preset elastic force keeps the first end of the limiting member 132 away from the load output member 12, preventing unexpected limiting contact between the limiting module 13 and the load output member 12 due to malfunction during the operation of the drive assembly 10. In actual installation, the preset elastic force of the elastic member 133 can be set to tension or thrust depending on the installation structure.

[0043] As one embodiment of this utility model, see the appendix. Figure 2 , 5The limiting module 13 further includes a detection component 136, which includes a photoelectric sensor 1361 and a photoelectric baffle 1362. The photoelectric sensor 1361 includes a light emitting surface and a light receiving surface arranged opposite to each other. The photoelectric sensor 1361 is disposed on one side of the driving member 131, and the photoelectric baffle 1362 is disposed on the driving member 131. In the unlocked position, the photoelectric baffle is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor 1361, and the photoelectric sensor 1361 emits an unlocking signal.

[0044] In this embodiment, the detection component 136 is used to detect the position of the limiting member 132. The position of the limiting member 132 can be used to determine whether the drive component 10 is in a locked or unlocked state. In actual operation, the working state of the drive motor 11 can be controlled according to the position of the limiting member 132. For example, when the limiting member 132 is not in the unlocked position, the drive motor 11 cannot be started. The unlocking signal emitted by the photoelectric sensor 1361 mentioned in this embodiment will be received by the control module during operation. After receiving the unlocking signal, the control module can control the drive motor 11 to start and perform lifting operations. This can avoid the dangerous problem of the drive motor 11 being accidentally started in the locked state.

[0045] In this embodiment, the photoelectric sensor 1361 is fixed to the outside of the support cylinder 134 during actual installation.

[0046] As one embodiment of this utility model, see the appendix. Figure 8 The load output component 12 includes a drive wheel 121 and a limiting cylinder 122 (in the configuration, the drive wheel 121 and the limiting cylinder 122 can be an integral structure or a separate assembly structure). The drive wheel 121 is sleeved on the main shaft 111 and is circumferentially fixed to the main shaft 111. The drive wheel 121 is used to drive and connect with the transmission belt 23. The limiting cylinder 122 is connected to the drive wheel 121. The limiting cylinder 122 has a plurality of insertion holes 123 circumferentially distributed around the axis of the limiting cylinder 122. At least a portion of the limiting module 13 can be selectively inserted into one of the insertion holes 123 to limit the rotation of the load output component 12.

[0047] In this embodiment, the load output component 12 is an integral cylindrical structure, wherein the drive wheel 121 and the main shaft 111 form a spline fit structure, and the load output component 12 and the main shaft 111 are relatively fixed in the circumferential direction.

[0048] In this embodiment, the drive wheel 121 is used to drive the transmission belt 23, thereby transmitting the driving force to the actuator 22. The drive wheel 121 is installed inside the support cylinder 134. In order to facilitate the connection with the transmission belt 23, an outlet corresponding to the drive wheel 121 can be provided on the side wall of the support cylinder 134. The transmission belt 23 is connected to the drive wheel 121 through the outlet.

[0049] In this embodiment, the side wall of the limiting cylinder 122 is formed with a plug hole 123, which corresponds to the position of the limiting member 132. This makes it convenient for the first end of the limiting member 132 to be inserted into the plug hole 123. In actual installation, by using multiple plug holes 123, the limiting member 132 can be more easily inserted into the corresponding plug hole 123, avoiding the problem that the limiting module 13 cannot brake because the main shaft 111 does not rotate to the correct position, thus improving the reliability and accuracy of braking.

[0050] A second aspect of this application discloses a shelf robot, see appendix. Figure 9 The system includes a gantry 21, an actuator 22, and a lifting mechanism. The lifting mechanism is used to drive the actuator 22 to move along the height direction of the gantry 21. The lifting mechanism includes a transmission belt 23 and at least one drive assembly 10 as described in the first aspect. The drive assembly 10 is disposed on the gantry 21. The transmission belt 23 is connected to the actuator 22. The load output member 12 is connected to the transmission belt 23.

[0051] In this embodiment, the gantry 21 is generally slidably mounted on the shelf along the length of the shelf, and the height direction of the gantry 21 is consistent with the height direction of the shelf. The actuator 22 is slidably mounted on the gantry 21 along the height direction of the gantry 21. The lifting mechanism is used to drive the actuator 22 to slide back and forth on the gantry 21 along the height direction of the gantry 21. In this way, the actuator 22 moves along the length of the shelf with the gantry 21 on one hand, and moves along the height direction of the shelf on the other hand, thereby allowing materials at different positions on the shelf to be retrieved.

[0052] In this embodiment, the drive component 10 includes a limit module 13. When the actuator 22 is stopped for maintenance on the gantry 21, the operator can switch the limit component 132 to the locked position to achieve mechanical limit on the main shaft 111 of the drive motor 11. This can prevent the actuator 22 from falling in the event of brake failure of the drive motor 11, thus achieving a good anti-fall effect and improving safety.

[0053] As one embodiment of this utility model, see Appendix 9, the lifting mechanism includes two drive components 10, which are respectively disposed on opposite sides of the gantry 21 and are respectively used to drive the actuator 22 on opposite sides via a transmission belt 23.

[0054] In this embodiment, the two sides of the actuator 22 are connected to the drive assembly 10 via the transmission belt 23, respectively. In this way, when the actuator 22 is raised or lowered, the two drive assemblies 10 move synchronously, which can improve the stability of the actuator 22. When it is necessary to keep the actuator 22 in a fixed position, the limit module 13 in the two drive assemblies 10 locks the load output component 12 together, which can better keep the actuator 22 in the corresponding position and avoid the tilting of the actuator 22 that may be caused by locking only one side.

[0055] 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 for a shelf robot, the drive assembly (10) comprising a drive motor (11) and a load output component (12), the load output component (12) being driveably connected to the main shaft (111) of the drive motor (11), the load output component (12) being driveably connected to the actuator (22) of the shelf robot, the rotation of the main shaft (111) driving the load output component (12) to rotate, the rotation of the load output component (12) driving the actuator (22) to lift and lower, characterized in that, The drive assembly (10) further includes a limiting module (13), which is disposed on one side of the load output component (12). At least a portion of the limiting module (13) can selectively engage with the load output component (12) to limit the rotation of the load output component (12) and thereby limit the lifting and lowering of the actuator (22).

2. The driving component according to claim 1, characterized in that, The limiting module (13) includes a driving member (131) and a limiting member (132). The driving member (131) is used to drive the limiting member (132) to switch between a locked position and an unlocked position. A plug hole (123) is formed on the side wall of the load output member (12). In the locked position, the first end of the limiting member (132) is inserted into the insertion hole (123) to restrict the rotation of the load output member (12), thereby restricting the lifting and lowering of the actuator (22); In the unlocked position, the limiting member (132) is located on one side of the load output member (12), and the load output member (12) can rotate with the main shaft (111) and drive the actuator (22) to rise and fall.

3. The driving component according to claim 2, characterized in that, The limiting module (13) further includes a support cylinder (134), which is fixedly connected to the housing of the drive motor (11). The support cylinder (134) is aligned with the axial direction of the load output component (12), and the first end of the load output component (12) extends into the support cylinder (134). The limiting module (13) is disposed on the support cylinder (134), and the first end of the limiting component (132) is opposite to the insertion hole (123).

4. The driving component according to claim 3, characterized in that, A radially penetrating mounting hole is formed on the side wall of the support cylinder (134). The limiting member (132) is slidably disposed in the mounting hole. The first end of the limiting member (132) is placed inside the support cylinder (134), and the second end of the limiting member (132) extends out of the support cylinder (134) through the mounting hole. The driving member (131) is disposed on the outside of the support cylinder (134) and connected to the limiting member (132). The driving member (131) is used to drive the limiting member (132) to slide and switch between the locked position and the unlocked position along the radial direction of the support cylinder (134) under the action of external force.

5. The driving component according to claim 4, characterized in that, The driving member (131) includes an operating part (1311) and a driving part (1312). The driving part (1312) is pivotally connected to the second end of the limiting member (132). The driving part (1312) includes a first positioning surface (1313) and a second positioning surface (1314). The first positioning surface (1313) and the second positioning surface (1314) are connected. The outer wall of the support cylinder (134) forms a limiting surface. In the locked position, the first positioning surface (1313) abuts against the limiting surface. In the unlocked position, the... The second positioning surface (1314) abuts against the limiting surface. The operating part (1311) is adapted to drive the driving part (1312) to rotate under the action of external force, so that the first positioning surface (1313) and the second positioning surface (1314) switch to abut against the limiting surface. The distance between the part of the driving part (1312) and the limiting member (132) pivotally connected and the first positioning surface (1313) is less than the distance between the part of the driving part (1312) and the limiting member (132) pivotally connected and the second positioning surface (1314).

6. The driving component according to claim 4, characterized in that, The limiting module (13) further includes a guide cylinder (135) and an elastic element (133). The guide cylinder (135) is disposed inside the support cylinder (134). One end of the guide cylinder (135) is inserted into the mounting hole. The limiting element (132) is slidably disposed inside the support cylinder (134). The elastic element (133) is disposed inside the guide cylinder (135) and sleeved on the limiting element (132). One end of the elastic element (133) is connected to the limiting element (132), and the other end is connected to the inner wall of the guide cylinder (135). The elastic element (133) is configured to provide the limiting element (132) with an elastic force tending towards the unlocking position.

7. The driving component according to any one of claims 2 to 6, characterized in that, The limiting module (13) further includes a detection component (136), which includes a photoelectric sensor (1361) and a photoelectric baffle (1362). The photoelectric sensor (1361) includes a light emitting surface and a light receiving surface arranged opposite to each other. The photoelectric sensor (1361) is disposed on one side of the driving member (131), and the photoelectric baffle (1362) is disposed on the driving member (131). In the unlocked position, the photoelectric baffle (1362) is inserted between the light emitting surface and the light receiving surface of the photoelectric sensor (1361), and the photoelectric sensor (1361) emits an unlock signal.

8. The driving component according to any one of claims 1 to 6, characterized in that, The load output component (12) includes a drive wheel (121) and a limiting cylinder (122). The drive wheel (121) is sleeved on the main shaft (111) and is circumferentially fixed to the main shaft (111). The drive wheel (121) is used to drive the transmission belt (23). The limiting cylinder (122) is connected to the drive wheel (121). The limiting cylinder (122) has a plurality of insertion holes (123) circumferentially distributed around the axis of the limiting cylinder (122). At least a portion of the limiting module (13) can be selectively inserted into one of the insertion holes (123) to limit the rotation of the load output component (12) and thus limit the lifting and lowering of the actuator (22).

9. A shelf robot, comprising a mast (21), an actuator (22), and a lifting mechanism, wherein the lifting mechanism is used to drive the actuator (22) to move along the height direction of the mast (21), characterized in that, The lifting mechanism includes a transmission belt (23) and at least one drive assembly (10) as described in any one of claims 1 to 8. The drive assembly (10) is disposed on the gantry (21). The transmission belt (23) is connected to the actuator (22). The load output component (12) is connected to the transmission belt (23). The main shaft (111) of the drive motor (11) rotates and drives the actuator (22) to rise and fall through the load output component (12). When the limit module cooperates with the load output component (12) to limit the rise and fall of the actuator (22), the limit module restricts the rise and fall of the actuator (22).

10. The shelf robot according to claim 9, characterized in that, The lifting mechanism includes two drive components (10), which are respectively disposed on opposite sides of the gantry (21) and are respectively connected to the opposite sides of the actuator (22) via a transmission belt (23).

Images