CN220131782U - Transfer robot - Google Patents

Abstract

The utility model is suitable for the field of transportation equipment, and discloses a transfer robot which comprises a movable chassis, a lifting mechanism and a conveying mechanism, wherein the lifting mechanism is arranged on the movable chassis and is in driving connection with the conveying mechanism so as to drive the conveying mechanism to lift; the conveying mechanism comprises at least two conveying structures with adjustable intervals and is at least used for bearing and conveying materials. The transfer robot provided by the embodiment of the utility model can replace manual work to move among different station positions so as to finish automatic feeding and discharging, thereby improving the working efficiency. In addition, the transfer robot provided by the embodiment of the utility model can adjust the height of the conveying mechanism through the lifting mechanism according to the height of the station, so that station butt joint with different heights can be realized.

Description

Transfer robot

Technical Field

The utility model relates to the field of transportation equipment, in particular to a transfer robot.

Background

In an SMT (surface mount technology) production line, generally, a worker transports materials between a plurality of production areas such as a raw material area, a feeding area, a finished product area, etc., and in this process, a moving route is long, which easily results in lower working efficiency of the worker. Moreover, more equipment is arranged in the SMT production line, so that workers can easily misplace materials to corresponding stations; meanwhile, the heavy materials have a certain personal safety risk.

Disclosure of Invention

The first object of the present utility model is to provide a transfer robot, which aims to solve the technical problem of low working efficiency caused by a mode of manually conveying materials between different production areas.

In order to achieve the above purpose, the utility model provides the following scheme:

a transfer robot comprises a movable chassis, a lifting mechanism and a conveying mechanism, wherein the lifting mechanism is arranged on the movable chassis and is in driving connection with the conveying mechanism so as to drive the conveying mechanism to lift; the conveying mechanism comprises at least two conveying structures with adjustable intervals and is at least used for bearing and conveying materials.

In some embodiments, the transport mechanism further comprises a spacing adjustment assembly that drives the at least two transport structures to move the at least two transport structures toward or away from each other.

In some embodiments, the pitch adjustment assembly includes a first drive, a first transmission member, and a second transmission member, the first drive drivingly connected to the second transmission member through the first transmission member; the first driving piece and the first transmission part are arranged between the two conveying structures; the second transmission part is respectively connected with the two conveying structures in a transmission way.

In some embodiments, the first transmission part comprises a first transmission wheel, a second transmission wheel and a first annular transmission part, the first transmission part is in driving connection with the first transmission wheel to drive the first transmission wheel to rotate, and the first annular transmission part is wound on the first transmission wheel and the second transmission wheel so that the first transmission wheel drives the second transmission wheel to rotate, and the second transmission wheel is in driving connection with the two conveying structures through the second transmission part respectively; and/or the number of the groups of groups,

the second transmission part comprises a transmission component and two transmission sleeves, the first transmission part is connected with the transmission component in a transmission way so as to drive the transmission component to rotate, the two transmission sleeves are sleeved on the transmission component and move in opposite directions or in opposite directions under the action of the transmission component, and the two transmission structures are penetrated by the transmission component and are respectively connected with the two transmission sleeves so as to respectively follow the two transmission sleeves to move.

In some embodiments, the transfer robot further comprises a first sensing element and a second sensing element, the first sensing element and the second sensing element are respectively positioned at two sides of at least one of the two transport structures, the distance from the first sensing element to the first driving element is smaller than the distance from the second sensing element to the first driving element,

the first sensing element is used for sending out a first sensing signal when the distance between the two conveying structures is minimum, and simultaneously, the first driving element stops driving,

The second sensing piece is used for sending a second sensing signal when the distance between the two conveying structures is maximum, and meanwhile, the first driving piece stops driving; and/or the number of the groups of groups,

at least one of the two transport structures is provided with a third sensing member for sensing an initial distance between the two transport structures.

In some embodiments, the conveying mechanism further comprises a bearing table and a first driving assembly, wherein the bearing table is connected with the lifting mechanism and driven by the lifting mechanism to perform lifting movement; the first driving assembly is arranged on the bearing table and is in driving connection with at least two conveying structures so as to drive the conveying structures to convey materials.

In some embodiments, the first driving assembly comprises a second driving piece, a third transmission part and a first transmission shaft, wherein the second driving piece is in transmission connection with the first transmission shaft through the third transmission part so as to drive the first transmission shaft to rotate; the first transmission shaft penetrates through at least two conveying structures and is in transmission connection with the at least two conveying structures.

In some embodiments, the third transmission member includes a third transmission wheel, a fourth transmission wheel, and a second endless transmission member, the second drive member drivingly connected to the third transmission wheel to drive the third transmission wheel to rotate; the second annular transmission piece is wound on the third transmission wheel and the fourth transmission wheel, so that the third transmission wheel drives the fourth transmission wheel to rotate, and the first transmission shaft penetrates through the fourth transmission wheel and rotates under the drive of the fourth transmission wheel.

In some embodiments, each transport structure comprises a driving wheel, a tensioning wheel and a conveying piece, wherein the driving wheel is penetrated by the first transmission shaft and is driven by the first transmission shaft to rotate, and the conveying piece is wound on the driving wheel and the tensioning wheel so that the driving wheel drives the tensioning wheel to rotate; the driving wheel and the tensioning wheel are matched to enable the conveying piece to be tensioned, and the conveying piece is used for bearing and conveying materials.

In some embodiments, each transport structure further comprises at least two first bearing members, wherein the at least two first bearing members are positioned in a space surrounded by the conveying members, and are attached to one surface of the conveying members away from the material; and/or the number of the groups of groups,

each transport structure further comprises at least two second bearing pieces, wherein the at least two second bearing pieces are positioned on the outer sides of the conveying pieces and are attached to one surface, far away from materials, of the conveying pieces.

In some embodiments, each transporting structure is provided with a clamping wall, a clamping space for accommodating materials is formed between two adjacent clamping walls, and each clamping wall moves along with one transporting structure so as to adjust the distance between the two adjacent clamping walls; and/or the number of the groups of groups,

the conveying mechanism further comprises at least two first guide parts, the extending directions of the at least two first guide parts are perpendicular to the conveying direction of the materials, at least two second guide parts are arranged on each first guide part, at least two second guide parts on the same first guide part are arranged at intervals, the second guide parts are connected to the first guide parts in a sliding mode, and each conveying structure is connected to at least one second guide part so as to slide on the first guide parts together with the second guide parts.

In some embodiments, the lifting mechanism includes a second drive assembly and a lifting assembly, the second drive assembly drivingly coupled to the transport mechanism through the lifting assembly.

In some embodiments, the number of lifting assemblies is two, and the second driving assembly and the conveying mechanism are arranged between the two lifting assemblies; the second driving component is respectively connected with the two lifting components in a driving way and drives the two lifting components to simultaneously perform lifting movement; two lifting components are respectively connected to two opposite sides of the conveying mechanism so as to follow lifting motions of the two lifting components.

In some embodiments, the second driving assembly includes a third driving member, a speed reducer, a fourth transmission member and a fifth transmission member, the fourth transmission member and the fifth transmission member being disposed on opposite sides of the speed reducer along the same axis, respectively; the third driving piece is in driving connection with a speed reducer, one end of the speed reducer is in transmission connection with one lifting assembly through a fourth transmission part, and the other end of the speed reducer is in transmission connection with the other lifting assembly through a fifth transmission part.

In some embodiments, the fourth transmission part comprises a first connecting shaft component and a second transmission shaft, the second transmission shaft is connected to one end of the speed reducer through the first connecting shaft component in a transmission way so as to rotate under the transmission action of the speed reducer, and one end of the second transmission shaft away from the first connecting shaft component is connected to one lifting assembly in a transmission way; and/or the number of the groups of groups,

The fifth transmission part comprises a second connecting shaft component and a third transmission shaft, the third transmission shaft is connected to the other end of the speed reducer through the second connecting shaft component in a transmission mode so as to rotate under the transmission effect of the speed reducer, and one end, far away from the second connecting shaft component, of the third transmission shaft is connected to the other lifting assembly in a transmission mode.

In some embodiments, each lifting assembly comprises a first lifting wheel, a second lifting wheel and a lifting member, and the second driving assembly is in driving connection with the first lifting wheel to drive the first lifting wheel to rotate; the lifting piece is wound on the first lifting wheel and the second lifting wheel so that the first lifting wheel drives the second lifting wheel to rotate; the conveying mechanism is connected to the lifting piece and performs lifting movement under the action of the lifting piece.

In some embodiments, each lifting assembly further comprises a first guide and sliding part and a second guide and sliding part, the first guide and sliding part is arranged on two sides of the lifting member, and the second guide and sliding part is connected with the first guide and sliding part in a sliding manner; the conveying mechanism is also connected to the second guide and slide part so as to slide on the first guide and slide part together with the second guide and slide part.

In some embodiments, the center of the conveying mechanism is provided with a material reaching position, and a fourth sensing piece is arranged beside the material reaching position and used for judging whether the material is at the material reaching position; and/or the number of the groups of groups,

The conveying mechanism is further provided with an in-place sensing part and a speed reduction sensing part, the speed reduction sensing part is used for sending a third sensing signal when sensing that the material moves towards the direction of the in-place sensing part, and meanwhile the conveying mechanism changes the speed of conveying the material.

A second object of the present utility model is to provide a control method of a transfer robot, the control method being applied to the transfer robot, the control method including:

driving a transfer robot to move to a first station where materials are placed, acquiring first height information of the first station, driving a lifting mechanism to adjust the height of a conveying mechanism according to the first height information, and controlling the conveying mechanism to accept the materials; acquiring width information of the material, and adjusting the interval between at least two conveying structures according to the width information so as to control the conveying mechanism to adapt to the size of the material; and

the transfer robot is driven to move to the second station, second height information of the second station is obtained, and according to the second height information, the lifting mechanism is driven to adjust the height of the conveying mechanism, and the conveying mechanism is controlled to convey materials to the second station.

The transfer robot provided by the utility model has the following beneficial effects:

according to the transfer robot disclosed by the embodiment of the utility model, the lifting mechanism arranged on the movable chassis can be driven to travel on the supporting surface by arranging the movable chassis, so that the transfer robot can shuttle between different production intervals in an SMT production line to replace manual movement between different station positions. The lifting mechanism is arranged to drive the conveying mechanism to lift, and the lifting mechanism can drive the conveying mechanism to ascend and descend along the vertical direction, so that when the transfer robot moves to stations with different heights, the height of the conveying mechanism can be adjusted through the lifting mechanism according to the height of the stations, and station butt joint with different heights is realized. It can be understood that the transfer robot of the embodiment of the utility model can move among different stations to put materials into corresponding stations and receive the materials on the transportation stations, so that automatic feeding and discharging are realized, and the whole process replaces manpower with a machine, thereby being beneficial to improving the working efficiency. In addition, at least two conveying structures with adjustable intervals are arranged on the conveying mechanism, so that the intervals among the conveying structures can be adjusted, the intervals among the conveying structures can be properly increased or reduced according to the sizes of materials, the space formed by the upper end faces of the conveying structures can be increased or reduced, and materials with different sizes can be adaptively conveyed.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a transfer robot carrying materials according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a transfer robot according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of the transfer robot according to the embodiment of the present utility model at a view angle after the transfer mechanism is removed;

FIG. 4 is an enlarged schematic view of the structure shown at A in FIG. 3;

fig. 5 is a schematic structural view of the transfer robot according to the embodiment of the present utility model at another view angle after the transfer mechanism is removed;

FIG. 6 is an enlarged schematic view of the structure at B in FIG. 5;

fig. 7 is a schematic structural diagram of a conveying mechanism in a transfer robot according to an embodiment of the present utility model at a single view;

Fig. 8 is a schematic structural view of a conveying mechanism in a transfer robot according to another embodiment of the present utility model;

FIG. 9 is an enlarged schematic view of the structure of FIG. 8C provided by an embodiment of the present utility model;

fig. 10 is a schematic view of a part of a structure of a conveying mechanism in a transfer robot according to an embodiment of the present utility model;

fig. 11 is an enlarged schematic view of the structure shown at D in fig. 10 according to an embodiment of the present utility model.

Reference numerals illustrate:

10. a transfer robot; 20. a material;

100. a mobile chassis; 110. a chassis body; 120. a moving wheel assembly; 121. a moving wheel;

200. a lifting mechanism; 210. a second drive assembly; 211. a third driving member; 212. a speed reducer; 213. a fourth transmission member; 2131. a first coupling member; 2132. a second drive shaft; 214. a fifth transmission member; 2141. a second coupling member; 2142. a third drive shaft; 220. a lifting assembly; 221. a first lifting wheel; 222. a second lifting wheel; 223. a lifting member; 224. a first slide guide portion; 225. a second slide guide portion; 230. a first frame; 240. a second frame;

300. a conveying mechanism; 310. a transport structure; 310a, a first transport structure; 310b, a second transport structure; 311. a driving wheel; 312. a tensioning wheel; 313. a conveying member; 314. a first carrier; 315. a second carrier; 316. wall clamping; 317. a second plate body; 320. a spacing adjustment assembly; 321. a first driving member; 322. a first transmission member; 3221. a first driving wheel; 3222. a second driving wheel; 3223. a first endless transmission member; 323. a second transmission member; 3231. a transmission member; 3232. a transmission sleeve; 324. a bearing seat; 325. a carrying plate; 330. a carrying platform; 331. a mounting base; 332. connecting the side walls; 333. a load-bearing bottom wall; 334. a fixing part; 3341. a first fixing plate; 3342. a second fixing plate; 340. a first drive assembly; 341. a second driving member; 342. a third transmission member; 3421. a third driving wheel; 3422. a fourth driving wheel; 3423. a second endless transmission member; 343. a first drive shaft; 350. a first guide portion; 360. a guide plate; 370. a support column;

400. A fourth sensing member; 500. an in-place sensing member; 600. and a deceleration sensing member.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship between the components, the movement condition, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

As shown in fig. 1 to 11, the transfer robot 10 provided by the embodiment of the utility model can be applied to an SMT production line to replace manual work to carry and transport the material 20, so as to save labor cost and improve working efficiency. The transfer robot 10 can transfer a bin containing a finished or semi-finished PCB product.

As shown in fig. 1, a transfer robot 10 according to an embodiment of the present utility model includes a mobile chassis 100, a lifting mechanism 200 and a conveying mechanism 300, where the lifting mechanism 200 is disposed on the mobile chassis 100, and the lifting mechanism 200 is connected to the conveying mechanism 300 in a driving manner so as to drive the conveying mechanism 300 to lift. The mobile chassis 100 can carry the lifting mechanism 200 and the conveying mechanism 300, and move on a supporting surface (such as the ground) with the lifting mechanism 200 and the conveying mechanism 300, thereby realizing the travelling function of the transfer robot 10. The conveying mechanism 300 comprises at least two conveying structures 310 with adjustable intervals, and the conveying mechanism 300 is at least used for bearing and conveying materials 20.

It can be appreciated that, by arranging the mobile chassis 100, the transfer robot 10 of the embodiment of the present utility model can drive the lifting mechanism 200 arranged on the mobile chassis 100 to travel on the supporting surface, so that the transfer robot 10 can shuttle between different production intervals in the SMT production line, instead of manually moving between different station positions. The transfer robot 10 according to the embodiment of the utility model is further provided with the lifting mechanism 200 to drive the conveying mechanism 300 to lift, so that the lifting mechanism 200 can drive the conveying mechanism 300 to lift and descend along the vertical direction, and when the transfer robot 10 moves to stations with different heights, the height of the conveying mechanism 300 can be adjusted by the lifting mechanism 200 according to the height of the stations, so that the station butt joint with different heights can be realized. In addition, the transfer robot 10 according to the embodiment of the present utility model further includes at least two transport structures 310 with adjustable space between the transport structures 310, so that the space between the transport structures 310 can be properly increased or decreased according to the size of the material 20, so as to increase or decrease the space formed by the upper end surfaces of the transport structures 310, and thereby adapt to transport of the material 20 with different sizes. It will be appreciated that the spacing between the transport structures 310 may be adjusted using a tool such as a robotic arm or manually, thereby enabling the spacing between the transport structures 310 to be adjustable.

It should be appreciated that the transfer robot 10 of the present embodiment moves between different stations by moving the chassis 100, when one of the stations is reached, adjusts the height of the conveying mechanism 300 according to the height of the station, and adjusts the interval between the conveying structures 310 according to the information of the material 20, so that the conveying mechanism 300 adapts to the material 20, receives the material 20 from the station, and allows the received material 20 to reach the conveying mechanism 300. After the conveying mechanism 300 receives the material 20, the transfer robot 10 starts to move to the next station, the height of the conveying mechanism 300 is adjusted according to the height of the next station, and then the conveying mechanism 300 is utilized to convey the material 20 borne on the conveying mechanism 300 to the next station, and the whole process replaces manpower with a machine, so that the work efficiency is improved.

As shown in fig. 1 and 8, as an embodiment, the conveying mechanism 300 further includes a spacing adjustment assembly 320, and the spacing adjustment assembly 320 drives at least two conveying structures 310 to move the at least two conveying structures 310 toward or away from each other. Embodiments of the present application use the spacing adjustment assembly 320 to adjust the spacing of the plurality of transport structures 310 to facilitate improved work efficiency. It is understood that the spacing adjustment assembly 320 may adjust the spacing between two adjacent transport structures 310 and may also adjust the spacing between two transport structures 310 that are spaced apart. In one embodiment, the number of the transporting structures 310 is two, and the spacing adjustment assembly 320 is disposed between the two transporting structures 310 and drives the two transporting structures 310 to move toward or away from each other, so as to simplify the structure and reduce the manufacturing cost.

As shown in fig. 1, 8 and 9, as one embodiment, the interval adjustment assembly 320 includes a first driving part 321, a first transmission part 322 and a second transmission part 323, and the first driving part 321 is drivingly connected to the second transmission part 323 through the first transmission part 322, so that power of the first driving part 321 can be transmitted to the second transmission part 323. The first driving part 321 and the first transmission part 322 are both arranged between the two conveying structures 310, so that the space between the two conveying structures 310 is reasonably used, the space occupied by the conveying mechanism 300 by the transfer robot 10 is reduced, and the structural compactness between the space adjusting assembly 320 and the two conveying structures 310 is improved. The second transmission part 323 is respectively connected with the two transport structures 310 in a transmission manner to transmit power from the first driving part 321 to the two transport structures 310, thereby driving the two transport structures 310 to move and further adjusting the interval between the two transport structures 310. Illustratively, the first driver 321 is a pitch adjustment motor.

As shown in fig. 10 and 11, as an embodiment, the first transmission part 322 includes a first transmission wheel 3221, a second transmission wheel 3222 and a first endless transmission member 3223, the first transmission member 321 is drivingly connected to the first transmission wheel 3221 to drive the first transmission wheel 3221 to rotate, and the first endless transmission member 3223 is wound around the first transmission wheel 3221 and the second transmission wheel 3222 to drive the first transmission wheel 3221 to rotate, and the second transmission wheel 3222 is drivingly connected to the two transport structures 310 through the second transmission part 323, respectively. The embodiment of the present application transmits the power of the first driving part 321 to the second driving part 323 by providing the first driving wheel 3221, the second driving wheel 3222 and the first endless transmission part 3223, thereby simplifying the structure and the transmission mode. First endless drive 3223 is an endless drive belt, for example.

As shown in fig. 10 and 11, as an embodiment, the second transmission part 323 includes a transmission member 3231 and two transmission sleeves 3232 corresponding to the two transport structures 310, respectively, and the first transmission part 322 is drivingly connected to the transmission member 3231 to transmit power of the first driver 321 to the transmission member 3231, thereby driving the transmission member 3231 to rotate. The two transmission sleeves 3232 are sleeved on the transmission member 3231 and move towards or away from each other under the action of the transmission member 3231, and it can be understood that the two transmission sleeves 3232 are sleeved on the outer surface of the transmission member 3231, and when the transmission member 3231 is driven to rotate by the first transmission component 322, the two transmission sleeves 3232 horizontally move along the extending direction of the transmission member 3231 in a trend of being away from or approaching each other. The two transport structures 310 are each penetrated by the transmission member 3231 and are respectively connected to the two transmission sleeves 3232, and the transmission sleeves 3232 change the rotation power of the transmission member 3231 into the power for driving the transmission sleeves 3232 to translate on the surface of the transmission member 3231, so that the two transport structures 310 can respectively follow the two transmission sleeves 3232 to adjust the distance between the two transport structures 310. Illustratively, the drive member 3231 is a lead screw and the drive sleeve 3232 is a lead screw nut. By using the combined transmission mode of the screw and the screw nut, when the screw is driven to rotate by the first transmission component 322, the screw nut can be driven to horizontally move along the screw, so as to drive the transportation structure 310 to horizontally move. In one embodiment, the transmission member 3231 is inserted through the second driving wheel 3222 and is rotated by the second driving wheel 3222 to simplify connection. In another embodiment, the spacing adjustment assembly 320 further includes a carrier 324, the carrier 324 is disposed between the two transportation structures 310, the first driving element 321 is installed on a side surface of the carrier 324, and the transmission member 3231 penetrates the carrier 324 and is connected to the carrier 324 through a bearing (not shown). The provision of the carrier 324 improves both the mounting stability of the first driver 321 and the connection stability between the first transmission member 322 and the second transmission member 323. Illustratively, the drive member 3231 is a lead screw and the drive sleeve 3232 is a lead screw nut. In connection with fig. 7, in one embodiment, a carrier plate 325 is disposed above the spacing adjustment assembly 320 to prevent the spacing adjustment assembly 320 from being damaged or contaminated by dust, which may affect its normal operation.

As shown in fig. 1, 7 and 8, and in combination with fig. 11, as an embodiment, the transfer robot 10 further includes a first sensing element (not labeled) and a second sensing element (not labeled), where the first sensing element and the second sensing element are respectively located on two sides of at least one of the two transport structures 310. It can be appreciated that defining two transport structures 310 as a first transport structure 310a and a second transport structure 310b, respectively, during manufacturing, a first sensing element and a second sensing element may be disposed on two sides of the first transport structure 310a, respectively; or the first sensing piece and the second sensing piece are respectively arranged at two sides of the second transportation structure 310 b; or the first sensing piece and the second sensing piece are respectively arranged at two sides of the first conveying structure 310a, and the first sensing piece and the second sensing piece are respectively arranged at two sides of the second conveying structure 310 b. In one embodiment, since the two transport structures 310 are simultaneously moved apart from or close to each other by the interval adjustment assembly 320, the first sensing member and the second sensing member are respectively provided at both sides of one of the two transport structures 310 to simplify the structure and save the manufacturing cost. The distance from the first sensing piece to the first driving piece 321 is smaller than the distance from the second sensing piece to the first driving piece 321. The first sensing element is used for sending out a first sensing signal when the distance between the two transport structures 310 is minimum, and at the same time, the first driving element 321 stops driving. The second sensing element is used for sending out a second sensing signal when the distance between the two transport structures 310 is maximum, and at the same time, the first driving element 321 stops driving.

It can be appreciated that, in the process of moving the two transport structures 310 in opposite directions, when the first sensing element senses that the transport structures 310 reach the position of the first sensing element, the first sensing element sends a first sensing signal to a controller (not shown) built in the transfer robot 10, and the controller controls the first driving element 321 to stop moving, so as to control the two transport structures 310 to stop moving simultaneously, and at this time, the distance between the two transport structures 310 is the smallest. Moreover, the first sensing member can also limit the two conveying structures 310 that move in opposite directions, so as to prevent the two conveying structures 310 from colliding with the spacing adjustment assembly 320 during the opposite movement. In the process of moving the two transport structures 310 away from each other, when the second sensing element senses that the transport structures 310 reach the position of the second sensing element, the second sensing element sends a second sensing signal to a controller built in the transfer robot 10, and the controller controls the first driving element 321 to stop moving, so that the two transport structures 310 are controlled to stop moving at the same time, and at the moment, the distance between the two transport structures 310 is the largest. The first sensing element and the second sensing element are illustratively limited to a limited sensor.

As shown in fig. 1, as an embodiment, at least one of the two transport structures 310 is provided with a third sensing element (not shown) for sensing an initial distance between the two transport structures 310. It will be appreciated that a third sensing element is provided in one or both of the two transport structures 310. In one embodiment, since the two transport structures 310 are moved away from or toward each other at the same time, the initial distance between the two transport structures 310 can be known by providing the third sensing member at one of the transport structures 310, and the structure can be simplified and the manufacturing cost can be saved. The third sensing element is illustratively an origin sensor.

As shown in fig. 1, 7 and 8, as an embodiment, the conveying mechanism 300 further includes a carrying table 330 and a first driving assembly 340, and the carrying table 330 is connected to the lifting mechanism 200 and performs lifting movement under the driving of the lifting mechanism 200. The loading platform 330 is capable of loading the transport structure 310, the material 20 and the first driving assembly 340, the first driving assembly 340 is disposed on the loading platform 330, the first driving assembly 340 is in driving connection with at least two transport structures 310, and the first driving assembly 340 provides driving force to the transport structure 310, thereby driving the transport structure 310 to convey the material 20. In embodiments where the transport mechanism 300 further includes a spacing adjustment assembly 320, the spacing adjustment assembly 320 is mounted to the carrier 330, and the carrier 330 is capable of carrying the spacing adjustment assembly 320 and improving the mounting stability of the spacing adjustment assembly 320.

As shown in fig. 8, as an embodiment, the first driving assembly 340 includes a second driving part 341, a third transmission part 342, and a first transmission shaft 343, and the second driving part 341 is drivingly connected to the first transmission shaft 343 through the third transmission part 342 to transmit rotational power to the first transmission shaft 343, thereby driving the first transmission shaft 343 to rotate. The first transmission shaft 343 penetrates at least two transporting structures 310 and is in transmission connection with at least two transporting structures 310, so that the two transporting structures 310 are driven to transport the material 20. Illustratively, the second driving member 341 is a conveying motor, and the first driving shaft 343 may be a square driving shaft, so that the probability of the displacement of the conveying structure 310 along the radial direction of the first driving shaft 343 may be reduced, thereby improving the power transmission stability.

As shown in fig. 8 and 9, as an embodiment, the third transmission part 342 includes a third transmission wheel 3421, a fourth transmission wheel 3422, and a second endless transmission member 3423, and the second driving member 341 is drivingly connected to the third transmission wheel 3421, and the second driving member 341 outputs rotational power to drive the third transmission wheel 3421 to rotate. The second annular transmission member 3423 is wound around the third transmission wheel 3421 and the fourth transmission wheel 3422, so that the third transmission wheel 3421 drives the fourth transmission wheel 3422 to rotate, and the first transmission shaft 343 penetrates through the fourth transmission wheel 3422 and is driven by the fourth transmission wheel 3422 to rotate, thereby realizing the driving of the first transmission shaft 343 on the two conveying structures 310. The second endless transmission member 3423 is an endless transmission belt, for example. In one embodiment, the mounting seat 331 is disposed on the outer side of the carrying platform 330, the first driving member 321 is mounted on the mounting seat 331, which is beneficial to improving the mounting stability of the first driving member 321, and the third driving wheel 3421 and the fourth driving wheel 3422 are rotatably connected to the outer side of the carrying platform 330. The second driving member 341 and the third transmission member 342 are disposed outside the carrier 330, so as to prevent the first driving assembly 340 from occupying too much space on the carrier 330.

As shown in fig. 8, 10 and 11, and in combination with fig. 1, as an embodiment, each transport structure 310 includes a driving wheel 311, a tensioning wheel 312 and a conveying member 313, where the driving wheel 311 is penetrated by a first transmission shaft 343 and connected to the first transmission shaft 343, so as to rotate under the driving of the first transmission shaft 343, and the conveying member 313 is wound around the driving wheel 311 and the tensioning wheel 312, so that the rotation power of the driving wheel 311 is transmitted to the tensioning wheel 312, and the driving wheel 311 drives the tensioning wheel 312 to rotate. The driving wheel 311 and the tensioning wheel 312 cooperate to tension the conveying member 313 so as to carry the material 20 and improve the carrying stability, and the conveying member 313 is used for carrying and conveying the material 20. Illustratively, the transport 313 is an endless conveyor belt. In one embodiment, the driving wheel 311 is a conical driving wheel, and the tensioning wheel 312 is a conical tensioning wheel, so that the conveying member 313 can be prevented from being deviated, and the installation stability of the conveying member 313 can be improved.

As shown in fig. 1, 8 and 10, and in conjunction with fig. 11, as an embodiment, each transporting structure 310 further includes at least two first carriers 314, where at least two first carriers 314 are located in a space surrounded by the transporting member 313, and are attached to a side of the transporting member 313 away from the material 20. The provision of a plurality of first carriers 314 may increase the tension of the conveying members 313 and the load carrying capacity of the material 20 and make the transportation smoother. Illustratively, the first carrier 314 is a load bearing roller.

As shown in fig. 1, 8 and 10, and in conjunction with fig. 11, as an embodiment, each transporting structure 310 further includes at least two second carrying members 315, where at least two second carrying members 315 are located on the outer sides of the conveying members 313 and are attached to a side of the conveying members 313 away from the material 20. The provision of a plurality of second carriers 315 may increase the tension of the conveying members 313 and the load carrying capacity of the material 20 and make the transportation smoother. Illustratively, the second carrier 315 is a load bearing roller.

In one embodiment, each of the conveying structures 310 includes at least two first carriers 314 and at least two second carriers 315, where the first carriers 314 are arranged at intervals along the conveying direction of the material 20, and are located in a space surrounded by the conveying member 313, and are attached to a surface of the conveying member 313 away from the material 20. The second carrying members 315 are at least two, and the plurality of first carrying members 314 are arranged at intervals along the transporting direction of the material 20, are located at the outer side of the conveying member 313, and are attached to one side of the conveying member 313 away from the material 20. The first bearing members 314 and the second bearing members 315 are staggered and cooperate with the clamping portion conveying members 313 to keep the conveying members 313 flat, thereby improving the tension and flatness of the conveying members 313 and the transportation stability of the material 20 conveyed by the transportation structure 310. Because the first bearing member 314 and the second bearing member 315 are bearing rollers and are both attached to the lower surface of the conveying member 313 and can roll in situ under the action of the conveying member 313, the loading capacity of the conveying structure 310 can be improved, and the friction between the conveying member 313 and the material 20 can be reduced.

As shown in fig. 1 and 11, as an embodiment, each transporting structure 310 is provided with a clamping wall 316, and a clamping space for accommodating the material 20 is formed between two adjacent clamping walls 316 to clamp the material 20, thereby reducing the probability of occurrence of dumping of the material 20 during transportation, and further improving the transportation stability of the material 20. Each of the chuck walls 316 moves with one of the transport structures 310 to adjust the spacing between adjacent chuck walls 316 to accommodate gripping of different sized materials 20. In one embodiment, the chuck wall 316 may be a first plate connected to a side of the transport structure 310 away from the spacing adjustment assembly 320, and a second plate 317 is connected to a side of the transport structure 310 near the spacing adjustment assembly 320, where the first plate 317 has a height greater than the second plate 317. A clamping space for accommodating the material 20 is formed between the two first plate bodies and the upper end surfaces of the two conveying structures 310. Both ends of the first bearing member 314 and both ends of the second bearing member 315 are respectively connected to the first plate body and the second plate body 317, and the first plate body and the second plate body 317 support the first bearing member 314 and the second bearing member 315 in a matched manner, so that the structural stability of the transportation structure 310 is improved.

As shown in fig. 1, 7 and 11, as an embodiment, the conveying mechanism 300 further includes at least two first guiding portions 350, such as two or three, and the present embodiment does not limit the number of the first guiding portions 350, and the extending direction of the at least two first guiding portions 350 is perpendicular to the conveying direction of the material 20, so as to guide the conveying structure 310 to translate along a straight line direction. At least two second guide portions (not labeled) are disposed on each first guide portion 350, at least two second guide portions on the same first guide portion 350 are disposed at intervals, and the second guide portions are slidably connected to the first guide portions 350, so that the second guide portions can slide on the first guide portions 350. Each transport structure 310 is connected to at least one second guide to slide on the first guide 350 in concert with the second guide.

In one embodiment, the number of the first guiding portions 350 is two, the two first guiding portions 350 are disposed in parallel along the conveying direction of the material 20, each first guiding portion 350 corresponds to two second guiding portions, and the two conveying structures 310 are respectively connected to the two second guiding portions, and the two second guiding portions are disposed in parallel along the conveying direction of the material 20. In this way, the transport structure 310 can move in a straight line under the straight line guide of the first guide portion 350 and the second guide portion, thereby improving the moving smoothness of the transport structure 310. Illustratively, the first guide 350 is a linear rail and the second guide is a slider.

As shown in fig. 1, 7 and 10, and in combination with fig. 11, in one embodiment, the first guide portion 350 is mounted to the carrying stage 330 to be carried by the carrying stage 330. In another embodiment, the conveying mechanism 300 further includes a guide plate 360 and a support column 370, the carrying platform 330 has two connecting side walls 332 disposed opposite to each other, and a carrying bottom wall 333 connected to the bottom of the two connecting side walls 332, and the support column 370 is connected to the carrying bottom wall 333 and located between the two conveying structures 310. One end of the guide plate 360 is fixedly connected to the connection side wall 332, the other end is fixedly connected to the support column 370, the guide plate 360 penetrates through the transport structure 310, and the extending direction of the guide plate 360 is perpendicular to the conveying direction of the material 20, so that the guide plate 360 plays a role in linear guiding the transport structure 310, and thus, when the distance between the two transport structures 310 is adjusted, the transport structure 310 can move along the guide plate 360. In some embodiments, the carrier plate 325 is disposed on the upper surface of the guide plate 360 and is supported by the support columns 370.

As shown in fig. 1 and 2, as an embodiment, the lifting mechanism 200 includes a second driving component 210 and a lifting component 220, where the second driving component 210 is in transmission connection with the conveying mechanism 300 through the lifting component 220, and the second driving component 210 provides lifting driving force to drive the lifting component 220 to drive the conveying mechanism 300 to perform lifting and lowering movements.

As shown in fig. 1 and 2, as an embodiment, the number of lifting assemblies 220 is two, and the second driving assembly 210 and the conveying mechanism 300 are both disposed between the two lifting assemblies 220, so that a space enclosed by the two lifting assemblies 220 and the mobile chassis 100 is reasonably used, thereby reducing the volume of the transfer robot 10. The second driving assembly 210 is respectively connected with the two lifting assemblies 220 in a driving manner, and drives the two lifting assemblies 220 to simultaneously perform lifting motion so as to improve lifting stability. Two lifting assemblies 220 are respectively connected to opposite sides of the conveying mechanism 300 to follow the lifting movement of the two lifting assemblies 220. In one embodiment, the two sidewalls of the carrying platform 330 are respectively connected to the two lifting assemblies 220, so that the carrying platform 330 can ascend or descend under the combined action of the two lifting assemblies 220.

As shown in fig. 2, 3 and 4, as an embodiment, the second driving assembly 210 includes a third driving part 211, a speed reducer 212, a fourth transmission part 213 and a fifth transmission part 214, and the fourth transmission part 213 and the fifth transmission part 214 are respectively disposed at opposite sides of the speed reducer 212 along the same axis. The third driving piece 211 is in driving connection with the speed reducer 212, one end of the speed reducer 212 is in driving connection with one lifting assembly 220 through the fourth transmission part 213, and the other end of the speed reducer 212 is in driving connection with the other lifting assembly 220 through the fifth transmission part 214. In the embodiment of the present application, the third driving member 211 provides a lifting driving force, the speed reducer 212 is used for changing the power output direction of the third driving member 211, and transmitting the power of the third driving member 211 to the fourth transmission member 213 and the fifth transmission member 214 respectively, and further transmitting the power to the two lifting assemblies 220 located at two sides of the second driving assembly 210 respectively, so that the lifting assemblies 220 can drive the conveying mechanism 300 to perform lifting movement. The fourth transmission member 213 and the fifth transmission member 214 are disposed along the same axis to ensure that the fourth transmission member 213 and the fifth transmission member 214 can perform coaxial movement under the action of the speed reducer 212. The third driving member 211 is an elevating motor, for example.

As shown in fig. 2, 3 and 4, and in combination with fig. 5, in one embodiment, the lifting mechanism 200 further includes a first frame 230 and a second frame 240, each of the first frame 230 and the second frame 240 is mounted on the mobile chassis 100 and located at opposite sides of the second driving assembly 210, each of the first frame 230 and the second frame 240 is disposed along a direction perpendicular to the transporting direction of the material 20, each of the first frame 230 and the second frame 240 is mounted with one lifting assembly 220, and each of the first frame 230 and the second frame 240 is used for mounting and supporting the lifting assembly 220, thereby improving the mounting stability of the lifting assembly 220. In the embodiment of fig. 7, in which the mounting seat 331 is disposed on the outer side of the carrying platform 330, the second driving member 341 extends into the first frame 230 and occupies a part of the space of the first frame 230, and the second driving member 341 and the lifting assembly 220 mounted on the first frame 230 are disposed side by side along the transporting direction of the material 20, so that the space of the first frame 230 is reasonably used, and the structural compactness is improved.

As shown in fig. 2, 3 and 4, as an embodiment, the fourth transmission part 213 includes a first shaft member 2131 and a second transmission shaft 2132, the second transmission shaft 2132 is drivingly connected to one end of the speed reducer 212 through the first shaft member 2131 to rotate under the driving action of the speed reducer 212, and one end of the second transmission shaft 2132 remote from the first shaft member 2131 is drivingly connected to one of the lifting assemblies 220 to thereby drive one of the lifting assemblies 220. Illustratively, the first connecting member 2131 is a coupling.

As shown in fig. 2, 3 and 4, as an embodiment, the fifth transmission component 214 includes a second coupling member 2141 and a third transmission shaft 2142, where the third transmission shaft 2142 is drivingly connected to the other end of the speed reducer 212 through the second coupling member 2141, so as to rotate under the drive of the speed reducer 212, and one end of the third transmission shaft 2142 away from the second coupling member 2141 is drivingly connected to the other lifting assembly 220, so as to drive the other lifting assembly 220. Illustratively, the second coupling member 2141 is a coupling.

In one embodiment, the third driving piece 211 drives the first connecting shaft member 2131 and the second connecting shaft member 2141 simultaneously through the speed reducer 212, so as to drive the second driving shaft 2132 and the third driving shaft 2142 to rotate respectively, and further drive the two lifting assemblies 220 to move simultaneously, so as to effectively ensure stable lifting.

As shown in fig. 2, 3 and 6, as one embodiment, each of the elevating assemblies 220 includes a first elevating wheel 221, a second elevating wheel 222 and an elevating piece 223, and the second driving assembly 210 is drivingly connected to the first elevating wheel 221 to provide a driving force to drive the first elevating wheel 221 to rotate. The lifter 223 is wound around the first lifter 221 and the second lifter 222, and the lifter 223 transmits the rotation power of the first lifter 221 to the second lifter 222, so that the first lifter 221 drives the second lifter 222 to rotate. The conveying mechanism 300 is connected to the lifter 223, and performs a lifting motion by the lifter 223. Illustratively, the lifter 223 is an endless lifter belt.

In one embodiment, an end of the second transmission shaft 2132 away from the first connecting shaft component 2131 is in transmission connection with one of the first lifting wheels 221, and an end of the third transmission shaft 2142 away from the second connecting shaft component 2141 is in transmission connection with the other first lifting wheel 221, so as to drive the two first lifting wheels 221 to rotate simultaneously under the action of the speed reducer 212. Referring to fig. 1, 7 and 8, both connecting sidewalls 332 of the carrying platform 330 are provided with fixing portions 334, and the fixing portions 334 are fixedly connected to the lifting member 223 to follow the lifting member 223 to lift the carrying platform 330. Specifically, the fixing portion 334 includes a first fixing plate 3341 and a second fixing plate 3342, the first fixing plate 3341 extends from the outer side of the carrying platform 330 toward a direction away from the material 20, the second fixing plate 3342 is fixedly connected to the first fixing plate 3341, and forms a gap for accommodating the lifter 223, and the second fixing plate 3342 and the first fixing plate 3341 are clamped and fixed on the lifter 223 in a matching manner.

As shown in fig. 2, 3 and 6, as an embodiment, each lifting assembly 220 further includes a first guiding and sliding portion 224 and a second guiding and sliding portion 225, both sides of the lifting member 223 are provided with the first guiding and sliding portion 224, the first guiding and sliding portion 224 extends along the vertical direction, the second guiding and sliding portion 225 is slidably connected to the first guiding and sliding portion 224, and the conveying mechanism 300 is further connected to the second guiding and sliding portion 225, so that under the linear guiding action of the first guiding and sliding portion 224, the conveying mechanism 300 and the second guiding and sliding portion 225 slide together on the first guiding and sliding portion 224, thereby ensuring that the conveying mechanism 300 performs the linear lifting movement.

As shown in fig. 1 and 10, as an embodiment, the center of the conveying mechanism 300 is provided with a material reaching position (not labeled), and a fourth sensing member 400 is provided beside the material reaching position, and the fourth sensing member 400 is used for judging whether the material 20 is at the material reaching position, so as to facilitate the loading or unloading of the transfer robot 10. When the fourth sensing piece 400 senses that the material level does not have the material 20, the transfer robot 10 controls the moving chassis 100 to move to the station where the material 20 is placed, and then drives the lifting mechanism 200 to adjust the height of the conveying mechanism 300, so that the conveying mechanism 300 is convenient to convey the material 20 to the material level, and the loading is completed. When the fourth sensing member 400 senses that the material 20 is at the material level, the transfer robot 10 controls the moving chassis 100 to move to a station where the material 20 can be discharged, then drives the lifting mechanism 200 to adjust the height of the conveying mechanism 300, controls the conveying mechanism 300 to convey the material 20 from the material level to the conveying mechanism 300, and completes discharging. In one embodiment, referring to fig. 7, the material level is located at the center of the carrying platform 330, so that the carrying platform 330 can stably support the material 20. The fourth sensing element 400 is, for example, a laser sensor or other sensor capable of detecting whether the material 20 is present.

As shown in fig. 1 and 10, as an embodiment, the conveying mechanism 300 is further provided with an in-place sensing member 500 and a deceleration sensing member 600, and the deceleration sensing member 600 is used for sending a third sensing signal when sensing that the material 20 moves toward the in-place sensing member 500, and simultaneously the conveying mechanism 300 changes the speed of conveying the material 20. It can be understood that the in-place sensing element 500 and the deceleration sensing element 600 are arranged on the carrying table 330 in parallel, when the material 20 enters the carrying table 330 and moves under the action of the transporting structure 310, the deceleration sensing element 600 senses that the material 20 moves toward the in-place sensing element 500, and sends a third sensing signal to the built-in controller of the transferring robot 10, and the controller controls the second driving element 341 to change the rotation speed, so that the rotation speed of the second driving element 341 slowly decreases until zero, thereby enabling the material 20 to reach the material level, and enabling the material 20 to be stably placed on the transporting structure 310 in the process of moving the transferring robot 10 to the next station. And the transfer robot 10 arrives at the next station and then performs blanking. Illustratively, the in-place sensor 500 and the deceleration sensor 600 are an in-place sensor and a deceleration sensor, respectively.

As shown in fig. 3, in one embodiment, the mobile chassis 100 includes a chassis body 110 and a mobile wheel assembly 120, the mobile wheel assembly 120 is rotatably connected to the chassis body 110 to drive the chassis body 110 to travel on a supporting surface, and the lifting mechanism 200 is disposed on the chassis body 110. Illustratively, the moving wheel assembly 120 includes a plurality of moving wheels rotatably coupled to the chassis body 110.

As shown in fig. 1, the embodiment of the present utility model further provides a control method of a transfer robot 10, which is applied to the transfer robot 10, and the control method includes:

driving the transfer robot 10 to move to a first station where the material 20 is placed, acquiring first height information of the first station, driving the lifting mechanism 200 to adjust the height of the conveying mechanism 300 according to the first height information, and controlling the conveying mechanism 300 to receive the material 20; acquiring width information of the material 20, and adjusting the interval between at least two conveying structures 310 according to the width information to control the conveying mechanism 300 to adapt to the size of the material 20; and

the transfer robot 10 is driven to move to the second station, second height information of the second station is acquired, and according to the second height information, the lifting mechanism 200 is driven to adjust the height of the conveying mechanism 300, so that the conveying mechanism 300 is controlled to convey the material 20 to the second station.

It can be appreciated that, according to the control method of the transfer robot 10 provided by the embodiment of the utility model, the lifting mechanism 200 can be driven to adjust and change the height of the conveying mechanism 300 according to the height information of different stations, so that the conveying mechanism 300 can adapt to the different height docking requirements, and meanwhile, the transfer robot can also receive the materials 20 on the stations or convey the materials 20 carried on the conveying mechanism 300 to the stations, thereby realizing automatic loading and unloading. Furthermore, the spacing between at least two transport structures 310 may also be adjusted according to the width information of the material 20, so as to accommodate different sizes of the material 20.

As shown in fig. 1, in one embodiment, when the transfer robot 10 needs to be driven to dock with the equipment of the production line, a fine positioning sensor may be disposed on the transfer robot 10, so as to adjust the transfer robot 10 when the conveying mechanism 300 docks with a station on the equipment to receive the material 20, so that the transfer robot 10 can keep parallel with the equipment, and the probability that the transfer robot 10 deviates from the equipment during the process of receiving the material 20 by the conveying mechanism 300 is reduced.

As shown in fig. 1, in one embodiment, a sensor capable of communicating with equipment of a production line is disposed on the transfer robot 10, so that when the transfer robot 10 is docked with the equipment of the production line, signal communication can be performed to inform whether the equipment to be docked performs a feeding operation or a discharging operation, so that the equipment to be docked is convenient to make a reaction of outputting the material 20 or receiving the material 20.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (18)

1. A transfer robot is characterized by comprising:

a movable chassis, a lifting mechanism and a conveying mechanism,

the lifting mechanism is arranged on the movable chassis and is in driving connection with the conveying mechanism so as to drive the conveying mechanism to lift;

the conveying mechanism comprises at least two conveying structures with adjustable intervals, and the conveying mechanism is at least used for bearing and conveying materials.

2. The transfer robot of claim 1, wherein the transport mechanism further comprises a spacing adjustment assembly that drives at least two of the transport structures to move the at least two transport structures toward or away from each other.

3. The transfer robot of claim 2, wherein the pitch adjustment assembly comprises a first drive, a first transmission member, and a second transmission member, the first drive drivingly coupled to the second transmission member through the first transmission member;

the first driving piece and the first transmission part are arranged between the two conveying structures;

the second transmission part is respectively connected with the two conveying structures in a transmission way.

4. The transfer robot of claim 3, wherein the first transmission member comprises a first transmission wheel, a second transmission wheel and a first endless transmission member, the first driving member is drivingly connected to the first transmission wheel to drive the first transmission wheel to rotate,

The first annular transmission piece is wound on the first transmission wheel and the second transmission wheel so that the first transmission wheel drives the second transmission wheel to rotate, and the second transmission wheel is respectively connected with the two conveying structures in a transmission way through the second transmission part; and/or the number of the groups of groups,

the second transmission part comprises a transmission component and two transmission sleeves, the first transmission part is connected with the transmission component in a transmission way so as to drive the transmission component to rotate, the two transmission sleeves are sleeved on the transmission component and move in opposite directions or back to back under the action of the transmission component,

the two conveying structures are penetrated by the transmission members and are respectively connected with the two transmission sleeves so as to respectively follow the two transmission sleeves to move.

5. The transfer robot of claim 3, further comprising a first sensing element and a second sensing element, the first sensing element and the second sensing element being positioned on opposite sides of at least one of the two transport structures, the first sensing element being positioned at a distance from the first driving element that is less than the distance from the second sensing element to the first driving element,

the first sensing element is used for sending out a first sensing signal when the distance between the two conveying structures is minimum, and meanwhile, the first driving element stops driving,

The second sensing piece is used for sending a second sensing signal when the distance between the two conveying structures is maximum, and meanwhile, the first driving piece stops driving; and/or the number of the groups of groups,

at least one of the two transport structures is provided with a third sensing member for sensing an initial distance between the two transport structures.

6. The transfer robot of any one of claims 1-5, wherein the transport mechanism further comprises a carrier and a first drive assembly, the carrier being coupled to the lift mechanism and being driven by the lift mechanism to perform a lifting motion;

the first driving assembly is arranged on the bearing table and is in driving connection with the at least two conveying structures so as to drive the conveying structures to convey materials.

7. The transfer robot of claim 6, wherein the first drive assembly comprises a second drive member, a third drive member, and a first drive shaft, the second drive member being drivingly coupled to the first drive shaft via the third drive member to drive the first drive shaft to rotate; the first transmission shaft penetrates through the at least two conveying structures and is in transmission connection with the at least two conveying structures.

8. The transfer robot of claim 7, wherein the third transmission member comprises a third transmission wheel, a fourth transmission wheel, and a second endless transmission member, and the second driving member is drivingly connected to the third transmission wheel to drive the third transmission wheel to rotate;

the second annular transmission piece is wound on the third transmission wheel and the fourth transmission wheel, so that the third transmission wheel drives the fourth transmission wheel to rotate, and the first transmission shaft penetrates through the fourth transmission wheel and rotates under the drive of the fourth transmission wheel.

9. The transfer robot of claim 8, wherein each of the transport structures includes a driving wheel, a tensioning wheel, and a conveying member, the driving wheel is penetrated by the first transmission shaft and is driven by the first transmission shaft to rotate, and the conveying member is wound around the driving wheel and the tensioning wheel, so that the driving wheel drives the tensioning wheel to rotate;

the driving wheel is matched with the tensioning wheel to enable the conveying piece to be tensioned, and the conveying piece is used for bearing and conveying materials.

10. The transfer robot of claim 9, wherein each transport structure further comprises at least two first carriers, the at least two first carriers being located in a space surrounded by the conveying member and attached to a surface of the conveying member away from the material; and/or the number of the groups of groups,

Each transport structure further comprises at least two second bearing pieces, wherein the at least two second bearing pieces are positioned on the outer sides of the conveying pieces and are attached to one surface, far away from materials, of the conveying pieces.

11. The transfer robot according to any one of claims 1 to 5, wherein each of the transport structures is provided with a sandwiching wall, a sandwiching space for accommodating a material is formed between two adjacent sandwiching walls, and each of the sandwiching walls moves following one of the transport structures to adjust a distance between two adjacent sandwiching walls; and/or the number of the groups of groups,

the conveying mechanism also comprises at least two first guide parts, the extending direction of the at least two first guide parts is perpendicular to the conveying direction of the materials, at least two second guide parts are arranged on each first guide part, the at least two second guide parts on the same first guide part are arranged at intervals, the second guide parts are connected with the first guide parts in a sliding way,

each of the transport structures is connected to at least one of the second guide portions to slide on the first guide portion together with the second guide portion.

12. A transfer robot as claimed in any one of claims 1 to 5, wherein the lifting mechanism comprises a second drive assembly and a lifting assembly, the second drive assembly being drivingly connected to the transport mechanism via the lifting assembly.

13. The transfer robot of claim 12, wherein the number of lifting assemblies is two, and the second drive assembly and the conveying mechanism are both disposed between the two lifting assemblies;

the second driving component is respectively connected with the two lifting components in a driving way and drives the two lifting components to simultaneously perform lifting movement;

two lifting assemblies are respectively connected to two opposite sides of the conveying mechanism so as to follow lifting motions of the two lifting assemblies.

14. The transfer robot of claim 13, wherein the second drive assembly comprises a third drive, a speed reducer, a fourth transmission member, and a fifth transmission member, the fourth transmission member and the fifth transmission member being disposed on opposite sides of the speed reducer along a common axis, respectively;

the third driving piece is in driving connection with the speed reducer, one end of the speed reducer is in transmission connection with one lifting assembly through the fourth transmission part, and the other end of the speed reducer is in transmission connection with the other lifting assembly through the fifth transmission part.

15. The transfer robot of claim 14, wherein the fourth transmission means comprises a first shaft member and a second transmission shaft, the second transmission shaft being drivingly connected to one end of the speed reducer through the first shaft member so as to rotate under the drive of the speed reducer, the end of the second transmission shaft remote from the first shaft member being drivingly connected to one of the lifting assemblies; and/or the number of the groups of groups,

The fifth transmission part comprises a second connecting shaft component and a third transmission shaft, the third transmission shaft is in transmission connection with the other end of the speed reducer through the second connecting shaft component so as to rotate under the transmission action of the speed reducer, and one end, far away from the second connecting shaft component, of the third transmission shaft is in transmission connection with the other lifting assembly.

16. The transfer robot of claim 13, wherein each of the lift assemblies comprises a first lift wheel, a second lift wheel, and a lift member, the second drive assembly drivingly coupled to the first lift wheel to drive the first lift wheel to rotate;

the lifting piece is wound on the first lifting wheel and the second lifting wheel so that the first lifting wheel drives the second lifting wheel to rotate;

the conveying mechanism is connected to the lifting piece and performs lifting movement under the action of the lifting piece.

17. The transfer robot of claim 16, wherein each lifting assembly further comprises a first guide and slide portion and a second guide and slide portion, the first guide and slide portion being disposed on both sides of the lifting member, the second guide and slide portion being slidably connected to the first guide and slide portion;

The conveying mechanism is also connected to the second guide and slide part so as to slide on the first guide and slide part together with the second guide and slide part.

18. The transfer robot according to any one of claims 1 to 5, wherein a material arrival level is provided at a center of the conveying mechanism, a fourth sensing member is provided beside the material arrival level, and the fourth sensing member is configured to determine whether the material is at the material arrival level; and/or the number of the groups of groups,

the conveying mechanism is further provided with an in-place sensing piece and a speed reduction sensing piece, the speed reduction sensing piece is used for sending a third sensing signal when sensing that the material moves towards the direction of the in-place sensing piece, and meanwhile the conveying mechanism changes the speed of conveying the material.