CN221252592U - Transfer robot - Google Patents

Abstract

The embodiment of the application provides a transfer robot which comprises a walking chassis, a portal frame and a box taking mechanism. The walking chassis comprises a frame and at least one differential steering wheel assembly arranged at the bottom of the frame, the differential steering wheel assembly comprises a mounting frame and two driving wheels arranged on two opposite sides of the mounting frame, and the mounting frame is rotatably connected with the frame. The portal is installed on the walking chassis and comprises two stand columns which are oppositely arranged. The box taking mechanism is arranged on the portal and is in sliding connection with the upright post in the height direction. The box taking mechanism comprises a bearing part and a telescopic fork assembly, wherein the telescopic fork assembly comprises telescopic forks arranged on two opposite sides of the bearing part, and the telescopic forks are used for clamping a box from outside and placing the box on the bearing part after stretching or placing the box on the bearing part outside. Through setting up differential steering wheel subassembly, can carry out the position fine setting to transfer robot, improve the accuracy of secondary location to improve butt joint efficiency and reliability.

Description

Transfer robot

Technical Field

The application relates to the technical field of logistics storage, in particular to a transfer robot.

Background

The cargo handling is an important link of the logistics storage system, and with the development of logistics storage technology, the cargo handling is generally completed by a handling robot at present.

In the related art, a transfer robot generally includes a traveling chassis through which the transfer robot moves to a docking station to pick and place a bin. Specifically, in the moving process, the transfer robot first reaches the target machine station by identifying the ground two-dimensional code coordinates, so that one-time positioning is realized. Then, since there may be a deviation in the distance or angle between the different machine stations and the moving rail of the transfer robot, the transfer robot needs to perform secondary positioning by fine adjustment such as horizontal movement, so as to be accurately docked with the machine stations.

In the related art, a differential chassis is generally adopted as a walking chassis of the transfer robot, the differential chassis comprises a frame and two driving wheels arranged in the middle of the frame, the two driving wheels are oppositely arranged and fixedly connected with the frame, the transfer robot can move along the front and back directions by controlling the two driving wheels to rotate at the same speed, and the transfer robot can turn or rotate in situ by controlling the two driving wheels to rotate in a differential manner. That is, only the transfer robot can move, turn to and rotate in place along the front and back direction through the differential chassis, and the transfer robot can not directly perform lateral translation along other directions under the condition that the frame does not rotate, so that the transfer robot is difficult to perform fine adjustment on the position under the condition that the space is narrow, the accuracy of secondary positioning of the transfer robot is poor, and the docking efficiency and reliability are low.

Disclosure of utility model

The embodiment of the application aims to provide a transfer robot so as to improve the butt joint efficiency and reliability of the transfer robot. The specific technical scheme is as follows:

The embodiment of the application provides a transfer robot which comprises a walking chassis, a portal frame and a box taking mechanism. The walking chassis comprises a frame and at least one differential steering wheel assembly arranged at the bottom of the frame, the differential steering wheel assembly comprises a mounting frame and two driving wheels arranged on two opposite sides of the mounting frame, and the mounting frame is rotatably connected with the frame. The portal is installed on the walking chassis, the portal includes two stand that set up relatively. The box taking mechanism is arranged on the portal frame and is in sliding connection with the upright post in the height direction. The box taking mechanism comprises a bearing part and telescopic fork assemblies, wherein the telescopic fork assemblies comprise telescopic forks arranged on two opposite sides of the bearing part, and the telescopic forks are used for clamping a box from outside after telescopic operation and placing the box on the bearing part or placing the box on the bearing part outside.

In some embodiments of the present application, the differential steering wheel assembly further includes two first driving motors, the two first driving motors are located inside the mounting frame and fixedly connected with the mounting frame, and the two driving wheels are located at opposite sides outside the mounting frame and are connected with the two first driving motors in a one-to-one correspondence.

In some embodiments of the application, the mounting frame is rotatably coupled to the frame by a slew bearing comprising a bearing inner race coupled to the frame and a bearing outer race coupled to the mounting frame.

In some embodiments of the application, the frame has four corners; the differential steering wheel assemblies are arranged in two, and are positioned on two corner parts which are diagonally arranged in the four corner parts; the bottom of the frame is also provided with two universal wheels, and the two universal wheels are positioned on the other two corner parts of the four corner parts.

In some embodiments of the application, one of the two universal wheels is floatingly connected to the frame via an elastic member.

In some embodiments of the application, the two uprights of the portal are aligned along the length of the frame.

In some embodiments of the present application, a receiving groove is formed at the top of the frame, and the bottom of the box taking mechanism is received in the receiving groove when the box taking mechanism slides to the lowest position relative to the upright post; in the height direction, a plane at the lowest position of the accommodating groove is lower than the connecting surface of the upright post and the frame.

In some embodiments of the present application, a lifting mechanism is further provided on the gantry, the lifting mechanism is used for driving the box taking mechanism to lift or descend relative to the gantry, and the lifting mechanism includes a second driving motor; the portal frame further comprises a top cross beam for connecting the two upright posts; the second driving motor is fixed on the top cross beam.

In some embodiments of the application, the telescopic fork comprises a fixed plate and at least one stage of fork plate which is connected with the fixed plate in a sliding way in the horizontal direction, and the fixed plate is also connected with the upright in a sliding way in the height direction.

In some embodiments of the application, the box taking mechanism further comprises a first telescopic assembly, wherein the first telescopic assembly is arranged on the telescopic fork and is used for driving the primary fork plate to bidirectionally telescopic in the horizontal direction relative to the fixed plate.

In some embodiments of the application, the load bearing portion is a powered belt assembly or a roller assembly.

In some embodiments of the present application, an anti-collision mechanism is further disposed at the bottom of the carrying portion, and the anti-collision mechanism is configured to detect whether an obstacle exists between the carrying portion and the walking chassis during the descent process of the box taking mechanism, and send a trigger signal after detecting the obstacle, so as to control the transfer robot to stop working.

In some embodiments of the present application, the anti-collision mechanism includes a rubber strip, the rubber strip is wound around the bottom circumference of the bearing portion, an air pipe is encapsulated in the rubber strip, one end of the air pipe is connected with the rubber strip and is blocked by the rubber strip, and the other end of the air pipe is connected with a trigger, and the trigger is used for sending the trigger signal when the air pipe is extruded.

In the embodiment of the application, the transfer robot comprises a walking chassis, and the transfer robot moves to the docking station through the walking chassis; the transfer robot further comprises a portal and a box taking mechanism arranged on the portal, the box taking mechanism can ascend or descend relative to the portal, the box taking mechanism comprises a bearing part and a telescopic fork, a box can be taken from a docking machine and placed on the bearing part through telescopic fork stretching, and the box placed on the bearing part can be moved to the docking machine. Different from the related art, in the embodiment of the application, the bottom of the walking chassis is provided with the differential steering wheel assembly, the differential steering wheel assembly comprises the mounting frame and the driving wheels arranged on two sides of the mounting frame, the mounting frame is rotatably connected with the frame, and the mounting frame can rotate around the vertical direction relative to the frame by controlling the differential rotation of the two driving wheels in the walking process, so that the walking angle of the differential steering wheel assembly can be changed under the condition that the frame does not rotate, the walking direction of the frame is adjusted, and the carrying robot can linearly move or move in an arc line along any direction, thereby being beneficial to carrying the position fine adjustment of the carrying robot under the condition of narrow space, improving the accuracy of secondary positioning and further improving the butting efficiency and reliability.

Of course, it is not necessary for any one product to practice the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used 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 application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

FIG. 1 is a schematic view of an arrangement of a moving track and a machine of a transfer robot;

FIG. 2 is a simplified schematic diagram of a walking chassis of a transfer robot in the related art;

fig. 3 is a schematic structural view of a transfer robot according to an embodiment of the present application;

Fig. 4 is a bottom view of the walking chassis of the transfer robot shown in fig. 3;

FIG. 5 is a schematic view of the differential steering wheel assembly of the chassis shown in FIG. 4;

Fig. 6 is a schematic structural view of the box taking mechanism of the transfer robot shown in fig. 3 in a lifted state;

FIG. 7 is a schematic view of the transfer robot of FIG. 3 at another angle (the housing at the top beam is not shown)

FIG. 8 is a schematic view of a telescopic fork assembly of the box handling mechanism of the transfer robot of FIG. 3;

FIG. 9 is a schematic view of the transfer robot of FIG. 3 pulling a pick-up bin through a telescoping fork;

FIG. 10 is a schematic view of the transfer robot of FIG. 3 acquiring a bin through a carrier;

In fig. 1 and 2: a transfer robot 90; a frame 901; a drive wheel 902; a machine 91; a moving rail 92;

In fig. 3 to 10: a transfer robot 10; a walking chassis 100; a frame 110; a corner 111; a receiving groove 112; a connection surface 113; a step structure 114; differential steering wheel assembly 120; a mounting frame 121; a drive wheel 122; a slewing bearing 123; bearing inner race 1231; bearing outer race 1232; a universal wheel 124; a gantry 200; a column 211; a top beam 212; a housing 213; a control panel 214; a lifting mechanism 300; a second driving motor 310; a lifting drive assembly 320; a sprocket 321; a drive chain 322; a lift plate 330; a box taking mechanism 400; a carrying portion 410; a roller assembly 411; a roller shaft 4111; a telescoping fork assembly 420; a housing 421; a chute 4211; a telescopic fork 430; a fixing plate 431; a first guide groove 4311; a primary yoke plate 432; a connection plate 4321; a rack 4322; a mounting groove 4323; a second guide groove 4324; a first rail 4325; a secondary fork plate 433; a second rail 4331; a first telescoping assembly 440; a third driving motor 441; a synchronizing wheel drive assembly 442; a synchronizing wheel 4421; a timing belt 4422; a drive shaft 443; a second telescoping assembly 450; a first transmission wheel 451; a second drive wheel 452; a first belt 453; a second belt 454; a fork 460; a first fork 461; a second fork 462; a bump guard 470; a glue strip 471; a machine 20; a bin 30; and a length direction Y.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

Referring to fig. 1 and 2, fig. 1 is a schematic diagram illustrating an arrangement of a moving track 92 and a machine 91 of a transfer robot 90; fig. 2 is a simplified schematic diagram of a walking chassis of a transfer robot 90 in the related art.

In combination with the background art and as shown in fig. 1, in practical application, there may be a deviation in the distance or angle between the different machine table 91 and the moving rail 92 of the transfer robot 90, so after performing the primary positioning, the transfer robot 90 needs to perform the secondary positioning through fine position adjustment, so as to ensure the precise docking with the machine table 91.

As shown in fig. 2, in the related art, a differential chassis is generally used as a walking chassis of the transfer robot 90, and the differential chassis includes a frame 901 and two driving wheels 902 disposed in the middle of the frame 901, where the two driving wheels 902 are disposed opposite to each other and are fixedly connected to the frame 901, that is, the driving wheels 902 cannot rotate relative to the frame 901, so that the transfer robot 90 can only move in the front-back direction, turn and rotate in place, and cannot move laterally in other directions without rotating the frame 901, for example, move laterally in the X direction in fig. 2, which results in difficulty in fine adjustment of the position of the transfer robot 90 under the condition of narrow space, resulting in poor accuracy of secondary positioning and lower docking efficiency and reliability.

In view of this, an embodiment of the present application provides a transfer robot 10, referring to fig. 3 to 5, wherein fig. 3 is a schematic structural diagram of the transfer robot 10 according to the embodiment of the present application; fig. 4 is a bottom view of the traveling chassis 100 of the transfer robot 10 shown in fig. 3; fig. 5 is a schematic structural view of the differential steering wheel assembly 120 of the traveling chassis 100 shown in fig. 4.

As shown in fig. 3 to 5, the transfer robot 10 includes a traveling chassis 100, a gantry 200, and a box taking mechanism 400. The walking chassis 100 comprises a frame 110 and at least one differential steering wheel assembly 120 arranged at the bottom of the frame 110, the differential steering wheel assembly 120 comprises a mounting frame 121 and two driving wheels 122 arranged on two opposite sides of the mounting frame 121, and the mounting frame 121 is rotatably connected with the frame 110. A mast 200 is mounted on the walking chassis 100, the mast 200 comprising two uprights 211 arranged opposite each other. The box taking mechanism 400 is provided on the gantry 200 and is slidably connected to the upright 211 in the height direction. The picking mechanism 400 includes a carrying portion 410 and a telescopic fork assembly 420, the telescopic fork assembly 420 includes telescopic forks 430 disposed at opposite sides of the carrying portion 410, and the telescopic forks 430 are used to clamp the picking box 30 from outside and place it on the carrying portion 410 after telescopic operation, or place the box 30 on the carrying portion 410 outside.

In the embodiment of the present application, the transfer robot 10 includes a walking chassis 100, and the transfer robot 10 moves to the docking station 20 through the walking chassis 100; the transfer robot 10 further includes a gantry 200 and a box taking mechanism 400 provided on the gantry 200, the box taking mechanism 400 being capable of ascending or descending with respect to the gantry 200, the box taking mechanism 400 including a carrying portion 410 and a telescopic fork 430, and being capable of gripping and placing a box from a docking station to the carrying portion 410 by telescopic fork 430, and also being capable of moving the box placed on the carrying portion 410 to the docking station. Unlike the related art, in the embodiment of the present application, the bottom of the chassis 100 is provided with the differential steering wheel assembly 120, the differential steering wheel assembly 120 includes the mounting frame 121 and the driving wheels 122 disposed at both sides of the mounting frame 121, the mounting frame 121 is rotatably connected with the frame 110, during the traveling process, the mounting frame 121 can rotate around the vertical direction relative to the frame 110 by controlling the differential rotation of the two driving wheels 122, thereby, the traveling angle of the differential steering wheel assembly 120 can be changed without rotating the frame 110, the traveling direction of the frame 110 can be adjusted, and the transfer robot 10 can linearly move or move in an arc along any direction, which is beneficial to fine-adjusting the position of the transfer robot 10 under the condition of narrow space, improving the accuracy of secondary positioning, and further improving the docking efficiency and reliability.

In the embodiment of the present application, the differential steering wheel assembly 120 further includes two first driving motors (not shown in the drawings), which are located inside the installation frame 121 and fixedly connected to the installation frame 121, and as shown in fig. 5, two driving wheels 122 are located at opposite sides of the outside of the installation frame 121 and are connected to the two first driving motors in a one-to-one correspondence. By fixing the first driving motor on the inner side of the mounting frame 121 and correspondingly connecting the first driving motor with the driving wheels 122 in a transmission manner, differential rotation of the two driving wheels 122 can be controlled, and rotation of the mounting frame 121 relative to the frame 110 around the vertical direction can be realized, so that the traveling angle of the traveling chassis 100 can be adjusted, and the transfer robot 10 can move linearly or in an arc in any direction.

The mounting frame 121 may be rotatably coupled to the vehicle frame 110 by a swivel bearing 123. The slew bearing 123 includes a bearing inner race 1231 and a bearing outer race 1232, where the bearing inner race 1231 may be coupled to the frame 110 and the bearing outer race 1232 may be coupled to the mounting frame 121. Therefore, when the two driving wheels 122 rotate in a differential speed, the mounting frame 121 can drive the bearing outer ring 1232 to rotate relative to the bearing inner ring 1231, so as to realize the rotation of the differential steering wheel assembly 120 relative to the frame 110, change the traveling angle of the differential steering wheel assembly 120, and adjust the traveling direction of the traveling chassis 100. In practical application, the connection between the bearing inner ring 1231 and the frame 110 and the connection between the bearing outer ring 1232 and the mounting frame 121 can be realized through threaded fasteners, so that the connection mode of the differential steering wheel assembly 120 and the frame 110 is simple.

In other embodiments of the present application, bearing inner race 1231 may be coupled to mounting frame 121 and bearing outer race 1232 may be coupled to frame 110. The application is not limited in this regard.

Further, as shown in fig. 4, the frame 110 has four corners 111; the differential steering wheel assemblies 120 are arranged in two, and the two differential steering wheel assemblies 120 are positioned on two corner parts 111 which are diagonally arranged in the four corner parts 111; the bottom of the frame 110 is also provided with two universal wheels 124, the two universal wheels 124 being located on the other two corners 111 of the four corners 111. By providing two differential steering wheel assemblies 120 diagonally and two outward wheels diagonally, the four corners 111 of the frame 110 can be supported, and the running chassis 100 can be more stable during operation.

Preferably, one of the two universal wheels 124 is floatingly connected to the frame 110 by an elastic member. Through floating connection with a universal wheel 124 and frame 110, can make this universal wheel 124 float in the direction of height for frame 110 when the uneven road surface marcing to make two differential steering wheel subassembly 120 and two universal wheels 124 keep as far as possible with ground contact, avoid one of them differential steering wheel subassembly 120 or universal wheel 124 unsettled, guarantee the four-point support to frame 110, improve the better adaptation to the uneven road surface. In one particular embodiment, the resilient member is a spring and the universal wheel 124 may be floatingly coupled to the frame 110 via the spring.

Referring to fig. 6, fig. 6 is a schematic view illustrating a structure of the box picking mechanism 400 of the transfer robot 10 shown in fig. 3 in a lifted state;

As shown in fig. 3 and 6, the two uprights 211 of the mast 200 are aligned along the length direction Y of the carriage 110. Through arranging two stand columns 211 along the length direction Y of the frame 110, the distance between the two stand columns 211 can be larger, so that a feed box with larger size can be accommodated between the two stand columns 211 under the condition that the whole size of the frame 110 is smaller, and the application range of the transfer robot 10 is wider.

Specifically, the two upright posts 211 are respectively connected to two ends of the top of the frame 110 along the length direction Y. The top of the frame 110 is also provided with a containing groove 112, and when the box taking mechanism 400 slides to the lowest position relative to the upright post 211, the bottom of the box taking mechanism 400 is contained in the containing groove 112; in the height direction, the lowest plane of the receiving groove 112 is lower than the connection surface 113 of the pillar 211 and the frame 110.

When the box taking mechanism 400 slides to the lowest position, for example, the carrying part 410 at the lowest position of the box taking mechanism 400 contacts with the plane at the lowest position of the accommodating groove 112, and by making the plane at the lowest position of the accommodating groove 112 lower than the connecting surface 113 of the upright post 211 and the frame 110, when the box taking mechanism 400 slides to the lowest position, the plane at the lowest position of the box taking mechanism 400 is lower than the connecting surface 113 of the upright post 211 and the frame 110, thereby not only making the box taking mechanism 400 reach a lower goods taking height, but also increasing the space of the box taking mechanism 400 in the height direction under the condition that the whole height of the carrying robot 10 is unchanged, so that the carrying robot 10 can carry a box with a higher size, and the effective utilization of the space is realized.

In the embodiment of the present application, as shown in fig. 6, the side wall of the accommodating groove 112 may be provided with a step structure 114, so that the accommodating groove 112 is shaped to match the bottom structure of the box taking mechanism 400, and the two upright posts 211 may be connected with the step structure 114, so that the connection surface 113 of the two upright posts 211 and the frame 110 may be higher than the lowest plane of the accommodating groove 112. The present application does not limit the shape of the receiving groove 112, as long as a plane at which the receiving groove 112 is located at the lowest is lower than the connection surface 113 of the pillar 211 and the frame 110.

Referring to fig. 7, fig. 7 is a schematic view of another angle of the transfer robot 10 shown in fig. 3.

As shown in fig. 7, the gantry 200 is further provided with a lifting mechanism 300, the lifting mechanism 300 is used for driving the box taking mechanism 400 to lift or descend relative to the gantry 200, and the lifting mechanism 300 includes a second driving motor 310; the mast 200 also comprises a top cross beam 212 connecting the two uprights 211; a second drive motor 310 is fixed to the top rail 212. In the related art, the driving motor of the lifting mechanism 300 is generally disposed below the gantry 200, unlike the related art, in the embodiment of the present application, by fixing the second driving motor 310 on the top beam 212, not only the height space can be saved, but also the box taking mechanism 400 can be lowered to a lower position, so as to achieve a lower picking height.

In the embodiment of the present application, the gantry 200 further includes a housing 213, wherein the housing 213 covers the top beam 212 and the outer portions of the two uprights 211, and the housing at the top beam 212 is not shown in fig. 7 for convenience of illustration. The second driving motor 310 is fixed to the top beam 212 and is located within the housing range of the housing 213, thereby protecting the second driving motor 310 and other components and improving the safety in use. The surface of the housing 213 of one of the upright posts 211 is also provided with a control panel 214, and buttons such as emergency stop and reset are arranged in the control panel 214, so that the transfer robot 10 can be controlled manually.

Further, the lifting mechanism 300 further includes a lifting transmission assembly 320, and the lifting transmission assemblies 320 are respectively disposed on the two upright posts 211. The lifting transmission assembly 320 may be a sprocket chain assembly including two sprockets 321 disposed at the top and bottom of the upright 211, respectively, and a transmission chain 322 wound between the two sprockets 321. The second driving motor 310 may be in driving connection with a sprocket 321 provided at the top of the upright post 211, and two telescopic forks 430 of the box taking mechanism 400 may be connected with driving chains 322 at both sides through lifting plates 330. Thus, the sprocket 321 can be driven to rotate by the second driving motor 310, so as to drive the transmission chain 322 to rotate between the two sprockets 321, and further drive the box taking mechanism 400 to ascend or descend along the upright post 211 of the gantry 200. Further, the outer surface of the telescopic fork 430 may be further provided with a sliding groove 4211 slidably engaged with the upright post 211. Thereby, guiding of the vertical lifting of the box taking mechanism 400 can be provided.

In other embodiments of the present application, the lifting transmission assembly 320 may use other transmission modes, such as a gear-rack transmission, a pulley transmission, a screw nut, etc., and the present application is not limited to the specific structure and form of the lifting transmission assembly 320, as long as the vertical lifting of the box taking mechanism 400 along the gantry 200 can be achieved.

Referring to fig. 8 and 9, fig. 8 is a schematic structural view of a telescopic fork assembly 420 of the box taking mechanism 400 of the transfer robot 10 shown in fig. 3; fig. 9 is a schematic view of the transfer robot 10 of fig. 3 pulling the take out bin 30 via the telescopic fork 430.

As shown in fig. 8 and 9, the telescopic fork 430 may have a two-stage telescopic structure, so that the telescopic fork 430 has a larger length after being extended and a smaller size when being retracted, thereby not only enabling the box taking mechanism 400 to obtain a box in a larger distance range, but also reducing the overall size of the box taking mechanism 400.

Specifically, as shown in fig. 8, the telescopic fork 430 includes a fixed plate 431, a primary fork plate 432 slidably connected to the fixed plate 431 in a horizontal direction, and a secondary fork plate 433 slidably connected to the primary fork plate 432.

As shown in fig. 9, the outer side of the fixing plate 431 is connected to the housing 421, and the chute 4211 is provided on the outer surface of the housing 421, so that the fixing plate 431 can be slidably connected to the upright post 211 in the height direction by providing the housing 421.

As shown in fig. 8, the box taking mechanism 400 further includes a first telescopic assembly 440, the first telescopic assembly 440 is disposed on the telescopic fork 430, and the first telescopic assembly 440 is used for driving the primary fork plate 432 to bidirectionally telescopic in a horizontal direction relative to the fixed plate 431.

The first telescopic assembly 440 may include a third driving motor 441 and a synchronous wheel transmission assembly 442, the synchronous wheel transmission assembly 442 includes three synchronous wheels 4421 and a synchronous belt 4422, wherein one synchronous wheel 4421 is in transmission connection with the third driving motor 441, the other two synchronous wheels 4421 are respectively disposed at two ends of the fixing plate 431 in the length direction, the synchronous belt 4422 is wound on the three synchronous wheels 4421, and one synchronous wheel 4421 can be driven to rotate by the third driving motor 441, so as to drive the synchronous belt 4422 to rotate around the plurality of synchronous wheels 4421.

In the embodiment of the application, the synchronous belt 4422 may be of a double-sided tooth structure, the bottom of the primary fork plate 432 is fixed with the connecting plate 4321, the bottom of the connecting plate 4321 is provided with the rack 4322, the rack 4322 can be meshed with the synchronous belt 4422, and the primary fork plate 432 can be driven to stretch in the horizontal direction relative to the fixed plate 431 through meshing transmission when the synchronous belt 4422 rotates.

Further, two connection plates 4321 are provided, and the two connection plates 4321 are respectively disposed near two ends of the primary fork plate 432 in the length direction, so that when the synchronous belt 4422 rotates clockwise and anticlockwise, the synchronous belt 4422 can keep engaged transmission with different connection plates 4321, so that the primary fork plate 432 can move in different directions, and the primary fork plate 432 can extend and retract bidirectionally relative to the fixing plate 431. Therefore, the carrying robot 10 can acquire the material box from the machine tables at the two sides or place the material box under the condition that the carrying robot 10 does not rotate, which is beneficial to simplifying the carrying process and improving the carrying efficiency.

In the embodiment of the present application, the synchronizing wheel transmission assembly 442 of the two telescopic forks 430 may be driven by a third driving motor 441, and the two synchronizing wheel transmission assemblies 442 are connected by a transmission shaft 443 disposed between the two telescopic forks 430. In other embodiments of the present application, two synchronous wheel drive assemblies 442 may also be driven by two second drive motors 310, respectively.

In other embodiments of the present application, the synchronizing wheel transmission assembly 442 may be provided with only two synchronizing wheels 4421, the two synchronizing wheels 4421 are respectively disposed at two ends of the fixing plate 431 along the length direction, and the synchronous belt 4422 is wound around the two synchronizing wheels 4421. The arrangement of the synchronizing wheel drive assembly 442 is not limited in this embodiment, as long as the primary fork plate 432 can be driven to extend and retract bi-directionally with respect to the fixed plate 431.

In other embodiments of the present application, the bottom of the primary fork plate 432 may be directly provided with a rack, and the rack may extend to both ends of the primary fork plate 432, and may drive the primary fork plate 432 to extend and retract in a horizontal direction with respect to the fixing plate 431 through the engagement and transmission of the rack and the timing belt 4422. The application is not limited to the specific transmission structure of the primary fork plate 432 and the synchronous belt 4422, as long as the transmission connection of the primary fork plate 432 and the synchronous belt 4422 can be realized.

In the embodiment of the present application, when the primary fork plate 432 is extended and contracted with respect to the fixing plate 431, the secondary fork plate 433 can be synchronously extended and contracted with respect to the primary fork plate 432.

As shown in fig. 8, the box-taking mechanism 400 further includes a second telescoping assembly 450, and the secondary fork plate 433 can be moved in synchrony with the primary fork plate 432 by the second telescoping assembly 450. Specifically, the primary fork plate 432 is provided with mounting grooves 4323 at both ends in the length direction, respectively, and the second telescopic assembly 450 may include a first driving wheel 451 and a second driving wheel 452, and the first driving wheel 451 and the second driving wheel 452 are fixed in the mounting grooves 4323, respectively, with axes being vertically disposed. The second telescopic assembly 450 further comprises a first driving belt 453 and a second driving belt 454, one end of the first driving belt 453 is connected with the fixed plate 431, the other end of the first driving belt 453 bypasses the first driving wheel 451 and then is connected with the second-stage fork plate 433, one end of the second driving belt 454 is connected with the first-stage fork plate 432, and the other end of the second driving belt 454 bypasses the second driving wheel 452 and then is connected with the second-stage fork plate 433.

As shown in fig. 8, in the extended state of the telescopic fork 430, the first driving wheel 451 may be located at a side of the primary fork plate 432 adjacent to the fixing plate 431, and the second driving wheel 452 may be located at a side of the primary fork plate 432 adjacent to the secondary fork plate 433. When the primary fork plate 432 is retracted relative to the fixed plate 431, that is, when the primary fork plate 432 moves rightward, the first driving wheel 451 translates rightward along with the primary fork plate 432, the first driving wheel 451 rotates relative to the first driving belt 453, and as the length of the first driving belt 453 is constant, the portion between the end of the first driving belt 453 connected to the fixed plate 431 and the first driving wheel 451 increases, and the portion between the end of the first driving belt 453 connected to the secondary fork plate 433 and the first driving wheel 451 decreases accordingly, thereby pulling the secondary fork plate 433 to retract relative to the primary fork plate 432. Similarly, when the primary fork 432 is extended relative to the fixing plate 431, the secondary fork 433 is extended relative to the primary fork 432 by the first belt 453. Therefore, when the primary fork plate 432 performs telescopic movement relative to the fixed plate 431, the secondary fork plate 433 can move in the same direction relative to the primary fork plate 432, so that two-stage synchronous telescopic movement of the telescopic fork 430 is realized, and further, the telescopic efficiency of the telescopic fork 430 can be improved, and the picking and placing efficiency of the transfer robot 10 is improved.

Further, when the first transmission belt 453 drives the second-stage fork plate 433 to move telescopically relative to the first-stage fork plate 432, two ends of the second transmission belt 454 are close to or far away from each other under the rotation action of the second transmission wheel 452, the second-stage fork plate 433 is assisted to move telescopically relative to the first-stage fork plate 432, stability of the second-stage fork plate 433 in telescopic movement relative to the first-stage fork plate 432 is improved, stable stress of the telescopic fork 430 in a telescopic movement process is ensured, and stable and reliable operation is ensured.

Alternatively, the first belt 453 and the second belt 454 may be belts, flat belts, chains, or the like, and the first transmission wheel 451 and the second transmission wheel 452 are configured to cooperate with the first belt 453 or the second belt 454.

As shown in fig. 8 and 9, in the embodiment of the present application, the inner surface of the fixing plate 431 is further provided with a first guide groove 4311, and the inner surface of the primary fork plate 432 is further provided with a second guide groove 4324; the outer surface of the primary fork plate 432 is provided with a first guide rail 4325, the outer surface of the secondary fork plate 433 is provided with a second guide rail 4331, the first guide groove 4311 is in sliding fit with the first guide rail 4325, and the second guide groove 4324 is in sliding fit with the second guide rail 4331, so that guiding can be provided for the telescopic movement of the telescopic fork 430, and the stability of the telescopic movement of the telescopic fork 430 is further improved.

In the embodiment of the present application, the telescopic fork 430 may be provided with only the primary fork plate 432 or may be provided with more than two stages of fork plates, which is not limited in the present application.

Further, in order to facilitate taking and placing of the bin 30, a fork 460 is further provided on the telescopic fork 430, where the fork 460 is located at two ends of a last-stage fork plate of the telescopic fork 430 along the length direction, and the last-stage fork plate refers to a fork plate of the telescopic fork 430 that is farthest from the bearing portion 410 in an extended state. In the embodiment of the present application, the telescopic fork 430 has a two-stage telescopic structure, and the two-stage fork plate 433 is a final stage fork plate. The shift fork 460 sets up at the both ends of second grade fork plate 433 along length direction, and shift fork 460 and second grade fork plate 433 rotate to be connected, and the direction of rotation is on a parallel with the length direction of second grade fork plate 433, still is provided with fourth driving motor on the second grade fork plate 433, and fourth driving motor is connected with shift fork 460 transmission, and fourth driving motor can drive shift fork 460 and rotate, makes shift fork 460 be horizontal setting or vertical setting. In the embodiment of the application, the shifting fork 460 is arranged, so that the bin is conveniently obtained from the machine or placed on the machine after the telescopic fork 430 moves in a telescopic manner.

For convenience of description, as shown in fig. 8, in the extended state of the telescopic fork 430, the fork 460 at one end far from the carrier 410 is a first fork 461, and the fork 460 at one end near the carrier 410 is a second fork 462.

As shown in fig. 9, when the box taking mechanism 400 needs to pull the box 30 from the machine 20, the first fork 461 rotates to be horizontal as the telescopic fork 430 moves to the rear side of the box 30, the second fork 462 maintains the vertical state, and when the telescopic fork 430 retracts, the first fork 461 may abut against the rear side of the box 30 and drive the box 30 to move from the machine 20 to the carrying portion 410.

Accordingly, when the box taking mechanism 400 needs to place the bin 30 on the carrying portion 410 on the machine 20, the first shifting fork 461 is kept in a vertical state, the second shifting fork 462 is rotated to a horizontal state, the telescopic fork 430 extends towards the direction approaching the machine 20, and the second shifting fork 462 can abut against the front side of the bin 30 as the telescopic fork 430 extends, so that the bin 30 can be pushed onto the machine 20 as the telescopic fork 430 extends.

Referring to fig. 10, fig. 10 is a schematic view of the transfer robot shown in fig. 3 acquiring the bin 30 through the carrying portion 410.

As shown in fig. 10, in an embodiment of the present application, the carrying portion 410 of the box-taking mechanism 400 may be a powered roller assembly 411. In view of the fact that, in the actual transportation scenario, there may be a situation that there is no picking and placing space around the bin 30, for example, as shown in fig. 10, the gap between the left and right sides of the bin 30 placed under the machine 20 and the side plates of the machine 20 is small, and the telescopic fork 430 cannot pass through. In this regard, in the embodiment of the present application, the bearing portion 410 of the box taking mechanism 400 is configured as a powered roller assembly 411, and the roller assembly 411 includes a plurality of rollers 4111 disposed side by side, and when there is no space for taking and placing goods on the peripheral side of the box 30, the box 30 can be taken from the machine 20 or placed on the machine 20 by abutting the bearing portion 410 of the box taking mechanism 400 against the machine 20 and driving the rollers 4111 to rotate by a motor. Thus, the picking and placing of the bin 30 can be completed when the space on the periphery of the bin 30 is narrow, and the picking and placing of the bin 30 by the transfer robot 10 in various space conditions can be realized.

In other embodiments of the present application, the carrying portion 410 of the box taking mechanism 400 may also be a powered belt assembly, and after the carrying portion 410 is docked with the machine 20, the box 30 is obtained or placed by belt transmission. The application is not limited in this regard.

In other embodiments of the application, the carrier 410 may also be an unpowered carrier plate, the carrier 410 being used only for placement of the bin 30.

As shown in fig. 6 and 10, in the embodiment of the present application, the bottom of the carrying portion 410 is further provided with an anti-collision mechanism 470, and the anti-collision mechanism 470 is configured to detect whether there is an obstacle between the carrying portion 410 and the walking chassis 100 during the descent of the box taking mechanism 400, and send a trigger signal after detecting the obstacle, so as to control the transfer robot 10 to stop working. Through setting up anticollision institution 470, can be at the in-process of getting out of the box mechanism 400 decline, detect whether there is the barrier at the top of walking chassis 100, for example the debris that the operating personnel placed temporarily or operating personnel carelessly place the foot on walking chassis 100, after detecting the barrier, anticollision institution 470 can send trigger signal to control transfer robot 10 stop work, avoid the carrier part 410 decline and strike the unexpected injury that causes on the barrier, be favorable to improving transfer robot 10's safety in utilization.

Specifically, the anti-collision mechanism 470 includes a rubber strip 471, the rubber strip 471 is wound around the bottom circumference of the bearing portion 410, an air pipe is encapsulated in the rubber strip 471, one end of the air pipe is connected with the rubber strip 471 and is blocked by the rubber strip 471, the other end of the air pipe is connected with a trigger, and the trigger is used for sending a trigger signal when the air pipe is extruded. In the descending process of the carrying part 410, if an obstacle is placed on the top of the walking chassis 100, the obstacle will first contact with the adhesive tape 471 arranged on the periphery of the bottom of the carrying part 410, and squeeze the air tube inside the adhesive tape 471, so that the air pressure of the air tube changes, thereby triggering the trigger connected with the air tube, and the trigger can send a trigger signal to the control system of the carrying robot 10, so that the carrying robot 10 stops working, and further accidental injury caused by the fact that the carrying part 410 continues to descend and impact on the obstacle is avoided. The anti-collision mechanism 470 of the embodiment of the application has simple structure, convenient arrangement and lower cost.

In addition, by winding the rubber strip 471 around the bottom circumference of the carrier portion 410, false triggering caused by contact between the bin 30 and the rubber strip 471 can be avoided, and the obstacle can be brought into contact with the rubber strip 471 first during the lowering of the carrier portion 410, so that the obstacle can be detected as soon as possible and a trigger signal can be sent.

The embodiment of the present application does not limit the structure and operation principle of the anti-collision mechanism 470, as long as it can detect an obstacle and send a touch signal during the descent of the box taking mechanism 400.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing is merely a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims (13)

1. A transfer robot, comprising:

The walking chassis (100) comprises a frame (110) and at least one differential steering wheel assembly (120) arranged at the bottom of the frame (110), wherein the differential steering wheel assembly (120) comprises a mounting frame (121) and two driving wheels (122) arranged on two opposite sides of the mounting frame (121), and the mounting frame (121) is rotatably connected with the frame (110);

A portal frame (200) mounted on the walking chassis (100), wherein the portal frame (200) comprises two upright posts (211) which are oppositely arranged;

The box taking mechanism (400) is arranged on the portal frame (200) and is in sliding connection with the upright post (211) in the height direction; the box taking mechanism (400) comprises a bearing part (410) and a telescopic fork assembly (420), the telescopic fork assembly (420) comprises telescopic forks (430) arranged on two opposite sides of the bearing part (410), and the telescopic forks (430) are used for clamping a box (30) from outside and placing the box on the bearing part (410) after telescopic operation, or placing a box (30) on the bearing part (410) outside.

2. The transfer robot according to claim 1, wherein the differential steering wheel assembly (120) further comprises two first driving motors, the two first driving motors being located inside the mounting frame (121) and fixedly connected to the mounting frame (121), and the two driving wheels (122) being located on opposite sides of the outside of the mounting frame (121) and connected to the two first driving motors in a one-to-one correspondence.

3. The transfer robot according to claim 1, characterized in that the mounting frame (121) is rotatably connected with the frame (110) by means of a swivel bearing (123), the swivel bearing (123) comprising a bearing inner ring (1231) and a bearing outer ring (1232), the bearing inner ring (1231) being connected with the frame (110), the bearing outer ring (1232) being connected with the mounting frame (121).

4. The transfer robot according to claim 1, characterized in that the frame (110) has four corners (111); the differential steering wheel assemblies (120) are arranged in two, and the two differential steering wheel assemblies (120) are positioned on two corner parts (111) which are diagonally arranged in the four corner parts (111); the bottom of the frame (110) is also provided with two universal wheels (124), and the two universal wheels (124) are positioned on the other two corner parts (111) of the four corner parts (111).

5. The transfer robot according to claim 4, characterized in that one of the two universal wheels (124) is floatingly connected to the frame (110) by means of an elastic element.

6. The transfer robot according to claim 1, characterized in that the two uprights (211) of the portal (200) are arranged along the length of the carriage (110).

7. The transfer robot according to claim 1, wherein the top of the frame (110) is provided with a receiving groove (112), and when the box taking mechanism (400) slides to a lowest position relative to the upright (211), the bottom of the box taking mechanism (400) is received in the receiving groove (112); in the height direction, a plane at which the position of the accommodating groove (112) is lowest is lower than a connecting surface (113) of the upright post (211) and the frame (110).

8. The transfer robot according to claim 1, characterized in that the gantry (200) is further provided with a lifting mechanism (300), the lifting mechanism (300) being adapted to drive the box handling mechanism (400) to be lifted or lowered relative to the gantry (200), the lifting mechanism (300) comprising a second drive motor (310); the portal (200) further comprises a top cross beam (212) connecting the two uprights (211); the second drive motor (310) is fixed to the top cross member (212).

9. The transfer robot according to claim 1, characterized in that the telescopic fork (430) comprises a fixed plate (431) and at least one stage of fork plate (432) slidingly connected to the fixed plate (431) in the horizontal direction, the fixed plate (431) being also slidingly connected to the upright (211) in the height direction.

10. The transfer robot of claim 9, wherein the box handling mechanism (400) further comprises a first telescopic assembly (440), the first telescopic assembly (440) being disposed on the telescopic fork (430), the first telescopic assembly (440) being configured to drive the primary fork plate (432) to be telescopic in a horizontal direction with respect to the fixed plate (431).

11. The transfer robot according to claim 1, characterized in that the carrier (410) is a powered belt assembly or a drum assembly (411).

12. The transfer robot according to claim 1, wherein the bottom of the carrying part (410) is further provided with an anti-collision mechanism (470), and the anti-collision mechanism (470) is configured to detect whether there is an obstacle between the carrying part (410) and the walking chassis (100) during the descent of the box taking mechanism (400), and send a trigger signal after detecting the obstacle, so as to control the transfer robot (10) to stop working.

13. The transfer robot according to claim 12, wherein the collision preventing mechanism (470) comprises a rubber strip (471), the rubber strip (471) is wound around the bottom circumference side of the carrying part (410), an air pipe is encapsulated in the rubber strip (471), one end of the air pipe is connected with the rubber strip (471) and is blocked by the rubber strip (471), the other end of the air pipe is connected with a trigger, and the trigger is used for sending the trigger signal when the air pipe is extruded.