CN109941652A - A kind of transfer robot - Google Patents

A kind of transfer robot Download PDF

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Publication number
CN109941652A
CN109941652A CN201910319709.0A CN201910319709A CN109941652A CN 109941652 A CN109941652 A CN 109941652A CN 201910319709 A CN201910319709 A CN 201910319709A CN 109941652 A CN109941652 A CN 109941652A
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CN
China
Prior art keywords
fork
transferred
transfer robot
reversal means
driving lever
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Pending
Application number
CN201910319709.0A
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Chinese (zh)
Inventor
肖玉辉
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Beijing Geekplus Technology Co Ltd
Beijing Jizhijia Technology Co Ltd
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Beijing Jizhijia Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Beijing Jizhijia Technology Co Ltd filed Critical Beijing Jizhijia Technology Co Ltd
Priority to CN201910319709.0A priority Critical patent/CN109941652A/en
Publication of CN109941652A publication Critical patent/CN109941652A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a kind of transfer robots, belong to storage robotic technology field.Transfer robot provided by the present invention includes mobile base, rack, telescopic component and reversal means, one end of telescopic component is connect with rack, the other end is connect with reversal means, reversal means is configured with the first position not higher than upper fork upper surface and the second position higher than upper fork upper surface, under the action of telescopic component, the lower section that reversal means can pass through part to be transferred is abutted with the back side of part to be transferred, and is dragged in part disengaging rack to be transferred.The transfer robot only needs to overcome when shifting part to be transferred the friction working that part to be transferred is subject in dragging process, reduces the rigidity requirement to telescopic component, advantageously reduces design difficulty and manufacturing cost.And reversal means abuts behind the lower section of part to be transferred with the back side of part to be transferred, is conducive to improve stability when dragging part to be transferred.

Description

A kind of transfer robot
Technical field
The present invention relates to storage robotic technology field more particularly to a kind of transfer robots.
Background technique
Intelligent storage is a link of materials handling process, and the application of intelligent storage can guarantee that merchandise warehouse management is each The speed and accuracy of a link data input, it is ensured that enterprise accurately grasps the truthful data of inventory.In intelligent storage field, The carrying of cargo is most important link, is at present to utilize transfer robot by entire goods using more goods to people's mode of transport Shelf for conveying is selected to target position, then by sorting personnel.But this kind carries the mode of entire shelf, not only to carrying implement The bearing capacity of device people is more demanding, and will cause the decline of the unnecessary waste of robot energy and carrying flexibility.This Outside, for cargo biggish for weight, this mode of transport is even more not to be available.
In addition to other than carrying by the way of entire shelf, further including being turned in existing mode of transport using transfer robot Telephone-moving structure lifts target goods from bottom or two sides are lifted on the load carrier for being transferred to transfer robot, then again Overall movement is carried to target position.But this kind of method for carrying is in the process that cargo is transferred to load carrier by transfer device In, need transfer device whole process to bear the gravity of cargo, it is higher to the rigidity requirement of transfer device, to increase the mechanism Design difficulty and manufacturing cost.
Summary of the invention
The purpose of the present invention is to provide a kind of transfer robots, and the transfer robot versatility is high, and flexibility is good, and When shifting cargo transfer robot need not bearing goods total weight, the requirement to bearing capacity and rigidity is lower.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of transfer robot, including mobile base and rack, the rack are arranged in the mobile base, also wrap It includes:
Telescopic component, the telescopic component include the lower fork and upper fork being telescopically connected to, and the lower fork is connect with the rack, The upper fork end is provided with reversal means;
The reversal means is configured to turn to the first position not higher than the upper fork upper surface so that the upper fork It can extend into below part to be transferred;
The reversal means be additionally configured to can to turn to the second position higher than the upper fork upper surface with described wait turn It moves part rear and catches on the part to be transferred.
Preferably, the reversal means includes reversal means motor and driving lever component, the driving lever component is rotatably connected on described It on the broadside of fork, and is connect with the reversal means motor drive, the reversal means motor can drive the driving lever component to turn to institute State first position and the second position.
Preferably, the driving lever component includes the first driving lever and the second driving lever, one end of first driving lever and described One end interval of second driving lever is rotatably connected on the broadside of the upper fork;
The reversal means motor and first driving lever or second driving lever are sequentially connected, for driving described first group Bar or the rotation of the second driving lever;
The other end of first driving lever is provided with traveller, and second driving lever is provided with slideway along its length, described Traveller is located in the slideway and can slide along the slideway.
Preferably, the quantity of the reversal means is two, two reversal meanss are set respectively along the glide direction of the upper fork It sets at the both ends of the upper fork.
Preferably, the telescopic component further include:
Middle fork, the middle fork are arranged between the lower fork and the upper fork, the lower fork, the middle fork and the upper fork Successively it is slidably connected.
Preferably, the transfer robot further include:
Driving mechanism, the driving mechanism include driving motor and gear band component, and the gear band component includes first Driving wheel, the first driven wheel, gear band and rack gear, first driving wheel and the driving motor are sequentially connected, and described first Driving wheel and first driven wheel are arranged on the lower fork along the length direction of the lower fork;
The gear band is set on first driving wheel and first driven wheel, and in the periphery of the gear band Gear teeth structure is provided on face;
The rack gear setting is engaged on the middle fork, and with the gear teeth structure.
Preferably, the driving mechanism further include:
Differential band component, the differential band component includes pulley and differential belt, is provided with pulley groove on the middle fork, institute It states pulley rotation to be connected in the pulley groove, the differential belt passes through the pulley groove and is arranged around the pulley, institute The one end and the upper fork for stating differential belt connect, and the other end is connect with the lower fork.
Preferably, quantity of the differential with component is two groups, the band component of differential described in two groups is located in described The two sides of the central axes of fork along its length.
Preferably, the transfer robot further include:
Elevating mechanism, the elevating mechanism are arranged in the rack, and the telescopic component is arranged in the elevating mechanism On, the elevating mechanism can drive the telescopic component to move back and forth along the short transverse of the rack.
Preferably, the transfer robot further include:
Pallet is carried, the carrying pallet setting is fixedly connected inside the rack, and with the elevating mechanism, described Telescopic component is fixedly connected on the carrying pallet.
Preferably, being provided with guide groove on the carrying pallet, the telescopic component is arranged in the guide groove.
Preferably, the transfer robot further include:
Guiding mechanism, the guiding mechanism include third sliding rail and third sliding block, and the third sliding rail is set along the vertical direction It sets in the rack, the side of the lower fork is arranged in the third sliding block, and the third sliding block and the third sliding rail are sliding Dynamic connection.
Beneficial effects of the present invention:
The present invention provides a kind of transfer robot, the transfer robot is by setting telescopic component and has reversal means First position not higher than upper fork upper surface and the second position higher than upper fork upper surface, can utilize the elongation of telescopic component Reversal means is moved to rear of the part to be transferred on shift direction below part to be transferred, makes the back side of reversal means Yu part to be transferred It abuts, then controls telescopic component and shrink for part to be transferred to be dragged in rack.Due to the transfer robot transfer to It is to catch on part to be transferred from the back side of part to be transferred and drag part movement to be transferred when transfer member, is moved without lifting part to be transferred It moves, therefore the gravity acting of part to be transferred need not be overcome when shifting part to be transferred, it is only necessary to overcome part to be transferred in dragging process It is difficult to advantageously reduce design to largely reduce the rigidity requirement to telescopic component for the friction working being subject to Degree and manufacturing cost.And abutted behind lower section of the transfer robot by the way that reversal means to be passed through to part to be transferred with the back side of part to be transferred, To catch on part to be transferred in hook formation, is conducive to improve the stability of part to be transferred in dragging process, part to be transferred is avoided to send out Life is toppled over.
In addition, the transfer robot is when shifting part to be transferred, it is only necessary to shift single part to be transferred, it is not necessary to shoulder rounding Shelf largely reduce the bearing capacity requirement to transfer robot, expand the scope of application of transfer robot With carrying flexibility, capacity usage ratio is improved.
Detailed description of the invention
Fig. 1 is transfer robot and shelf collaborative work schematic diagram provided by the present invention;
Fig. 2 is the schematic diagram of the transfer robot docking shelf provided by the present invention in light condition;
Fig. 3 is the schematic diagram of the transfer robot provided by the present invention for being loaded with part to be transferred;
Fig. 4 is the schematic diagram when telescopic component of transfer robot provided by the present invention is in extended state;
Fig. 5 is main view of the transfer robot provided by the present invention after telescopic component is stretched out;
Fig. 6 is the perspective view one of telescopic component provided by the present invention;
Fig. 7 is the perspective view two of telescopic component provided by the present invention;
Fig. 8 is the side view of telescopic component provided by the present invention;
Fig. 9 is middle fork and perspective view of the differential with component provided by the present invention.
In figure:
1, mobile base;2, rack;
3, telescopic component;31, lower fork;32, middle fork;33, upper fork;
34, reversal means;341, the first driving lever;342, the second driving lever;343, traveller;344, slideway;
35, the first sliding rail;36, the second sliding rail;37, driving motor;38, gear band component;39, rack gear;310, first is sliding Wheel;311, the first belt;312, reversal means motor;313, second pulley;314, the second belt;315, the first sliding block;316, second Sliding block;
4, part to be transferred;41, groove;
5, shelf;
6, elevating mechanism;61, lifting motor;62, the second driving wheel;63, third belt;64, the second driven wheel;65, even Extension bar;
7, guiding mechanism;71, third sliding rail;72, third sliding block;
8, pallet is carried;81, guide groove;82, guiding surface;
9, bindiny mechanism.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ", only For descriptive purposes, it is not understood to indicate or imply relative importance.Wherein, term " first position " and " second position " For two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection;It can be mechanical connection, It is also possible to be electrically connected;It can be directly connected, can also can be inside two elements indirectly connected through an intermediary Connection.For the ordinary skill in the art, can be understood with concrete condition above-mentioned term in the present invention specifically contain Justice.
A kind of transfer robot is present embodiments provided, which can take part 4 to be transferred from shelf 5 It walks, and part 4 to be transferred is transferred to target position, for operator's use.As shown in Figures 1 to 5, which has Body includes mobile base 1, rack 2, telescopic component 3 and reversal means 34, and rack 2 is arranged in mobile base 1, and telescopic component 3 is arranged In rack 2.
Shelf 5 are for storing multiple parts to be transferred 4.Specifically, as depicted in figs. 1 and 2, shelf 5 are using bar and plate The frame structure that material assembly is formed, the cost of manufacture of frame structure is lower, and convenient for picking and placing part 4 to be transferred.In the present embodiment, Shelf 5 include four columns and five pieces of support plates, and in cube shaped, five pieces of support plates are fixedly connected with four for four columns arrangement On the inside of root post, and along the spaced and parallel setting of the short transverse of column, to form five accommodating spaces, part 4 to be transferred is arranged In accommodating space, and it can be picked and placed between adjacent columns.Certainly in other embodiments, the quantity of column and support plate can With specific setting according to actual needs, it is not limited here.
Mobile base 1 is the action component of entire transfer robot, when mobile base 1 is mobile, rack 2 and telescopic component 3 being capable of synchronizing moving.Specifically, mobile base 1 includes bearing seat and the idler wheel that bearing seat bottom is arranged in, and is set inside bearing seat It is equipped with power part and transmission parts, transmission parts are sequentially connected with power part and idler wheel simultaneously, in the driving of power part Under, idler wheel can rotate, to realize the movement of mobile base 1.The quantity of idler wheel is not specifically limited, and user can root Specifically it is arranged according to demand.Power part preferably uses servo motor, servo motor have be swift in response, control precision height etc. it is excellent Point.Transmission parts preferably use gear, the small volume of gear, and are driven bigger.In order to realize the automatic shifting of mobile base 1 It is dynamic, position positioning element and navigation component can also be set inside mobile base 1, position positioning element and navigation component with External control devices communication connection, position positioning element can obtain the location coordinate at present of mobile base 1, navigation component The coordinate of target position can be received, and can be realized path planning.Further, it is also provided with and keeps away in mobile base 1 Hinder component, avoidance component is able to detect that the barrier in 1 movement routine of mobile base, keeps away automatically to control mobile base 1 It allows.
Rack 2 is the main installing component of entire transfer robot, is mainly used for installing each component of telescopic component 3. Specifically, as shown in Figures 1 to 5, rack 2 includes frame structure made of multiple bars.In the present embodiment, the use of bar Quantity is 12, and 12 bars are spliced to form cube shaped, and specific connecting method with no restrictions, can use connector Connection, can also be with grafting or welding etc..It is fixedly connected in mobile base 1, is fixedly connected in the frame bottom end of cube Mode is preferably detachably connected using connector, easy to repair and replacement.
Telescopic component 3 is the main execution unit of entire transfer robot, as shown in Figure 6 to 8, under telescopic component includes Fork 31, middle fork 32 and 33 3 expansion plates of upper fork, lower fork 31, middle fork 32 and upper fork 33 are cascading from the bottom to top, lower fork 31 are arranged in rack 2, it is preferable that the inside of rack 2 is arranged in lower fork 31.Middle fork 32 can be slided relative to lower fork 31 Dynamic, upper fork 33 can be slided relative to middle fork 32, and middle fork 32 is identical with the glide direction of lower fork 31, be stretched so as to realize The elongation and contraction of contracting component.Certainly in other embodiments, the quantity of expansion plate can also increase or reduce according to demand, Such as lower fork 31 and upper fork 33 are only set, or setting lower fork 31, upper fork 33 and multiple middle forks 32.
Reversal means 34 is rotatably connected on the end of fork 33, and lower fork 31, middle fork 32 and upper fork 33 can turn along part 4 to be transferred It moves direction successively to stretch, to drive reversal means 34 mobile towards the direction close to or far from shelf 5.In the present embodiment, reversal means It is being stretched when reversal means 34 is located at first position 34 first positions for being configured to turn to not higher than 33 upper surfaces of upper fork Under the driving of contracting component 3, upper fork 33 can extend into 4 lower section of part to be transferred.Also, reversal means 34 is additionally configured to rotate supreme In the second position of 33 upper surfaces of upper fork, rotational angle is preferably 90 °, when reversal means 34 turns to the second position by first position When, reversal means 34 can catch on part 4 to be transferred from 4 rear of part to be transferred, and drag under the contraction of telescopic component to be transferred Part 4 enters in rack 2.
Need to shoulder rounding shelf 5 in compared to the prior art, which only needs to turn when shifting part 4 to be transferred Single part to be transferred 4 is moved, the bearing capacity requirement to transfer robot is largely reduced, expands conveying robot The scope of application and carrying flexibility of people, improves capacity usage ratio.And since the transfer robot is when shifting part 4 to be transferred The gravity acting of part 4 to be transferred need not be overcome, it is only necessary to overcome the friction working that part 4 to be transferred is subject in dragging process, due to Frictional force will be much smaller than gravity, therefore can largely reduce the rigidity requirement to telescopic component 3, to reduce flexible The design difficulty and manufacturing cost of component 3.
In order to realize successively stretching for lower fork 31, middle fork 32 and upper fork 33, which further includes driving mechanism.Tool Body, as shown in Figure 6 and Figure 7, driving mechanism includes driving motor 37, gear band component 38 and differential band component.Wherein, gear Band component 38 is moved for fork 32 in driving relative to lower fork 31.Specifically, gear band component 38 include the first driving wheel, First driven wheel, gear band and rack gear 39, the first driving wheel and driving motor 37 are sequentially connected, the first driving wheel and first driven The length direction taken turns along lower fork 31 is arranged on lower fork 31.Gear band is set on the first driving wheel and the first driven wheel, gear It is provided with tooth-shape structure on the outer peripheral surface of band, which can engage with the rack gear 39 being arranged on middle fork 32.Work as driving When motor 37 works, the first driving wheel rotates, so that gear band be driven to occur to turn around the first driving wheel and the first driven wheel Dynamic, when gear band rotation, the rack gear 39 engaged with gear band is moved, and then fork 32 occurs relative to lower fork 31 in driving It is mobile.
As shown in figure 9, differential band component includes two pulleys and two differential belts, two pulleys include first pulley 310 and second pulley 313, the both ends of middle fork 32 are each provided with a pulley groove, and two pulley grooves are located at middle fork 32 along length side To the two sides of central axes, first pulley 310 is rotatably connected in one of pulley groove, and second pulley 313 is rotatably connected on separately In one pulley groove.Two differential belts include the first belt 311 and the second belt 314, and the first belt 311 passes through first pulley Slot is simultaneously arranged around first pulley 310, and the both ends of the first belt 311 are divided into positioned at the two sides of middle fork 32, close to upper fork 33 1 The end of side is fixedly connected with upper fork 33, and the end close to 31 side of lower fork is fixedly connected with lower fork 31.Second belt 314 passes through Second pulley slot is simultaneously arranged around second pulley 313, and the both ends of the second belt 314 are similarly positioned in the two sides of middle fork 32, close The end of 33 sides of upper fork is fixedly connected with upper fork 33, and the end close to 31 side of lower fork is fixedly connected with lower fork 31.Work as gear When fork 32 occurs mobile in the band driving of component 38, under the draw of the first belt 311 and the second belt 314, upper 33 hair of fork It is raw mobile in the same direction, it is reference with the different lower fork 31 of fixation, the movement speed of upper fork 33 is twice of 32 movement speeds of middle fork.
Further, for the mobile accuracy of fork 32 in improving, the first sliding rail is provided between lower fork 31 and middle fork 32 Component, the first slide track component include the first sliding rail 35 and the first sliding block 315, and the first sliding rail 35 is arranged along the length direction of lower fork 31 On the top surface of lower fork 31, the first sliding block 315 is arranged on the bottom surface of middle fork 32, and the first sliding block 315 is arranged in the first sliding rail 35 Sliding slot in, and can move along the chute.Similarly, in order to improve it is upper fork 33 mobile accuracy, it is middle fork 32 and it is upper fork 33 between It is provided with the second slide track component, the second slide track component includes the second sliding rail 36 and the second sliding block 316, and the second sliding rail 36 is along middle fork 32 Length direction be arranged in it is middle fork 32 top surface on, the second sliding block 316 be arranged in it is upper fork 33 bottom surface on, the second sliding block 316 is set It sets in the sliding slot of the second sliding rail 36, and can move along the chute.Certainly in other embodiments, the first sliding rail also can be interchanged 35 and first sliding block 315, the second sliding rail 36 and the second sliding block 316 position, by the setting of the first sliding rail 35 on middle fork 32, by the One sliding block 315 is arranged on lower fork 31, by the setting of the second sliding rail 36 on upper fork 33, by the setting of the second sliding block 316 in middle fork 32 On.
Further, in order to realize " push away, draw " part to be transferred 4 two movements, in the present embodiment, there are two reversal meanss for setting 34, two reversal meanss 34 are located at the both ends of 33 glide directions of fork, and the distance between two reversal meanss 34 are greater than upper fork 33 Length, two reversal meanss 34 33 can rotate relative to upper fork, the angle of rotation with no restrictions, so that reversal means 34 be made to have First position and the second position.
Specifically, as shown in Figure 7 and Figure 8, reversal means 34 includes reversal means motor 312 and driving lever component.In the present embodiment, it dials Bar assembly includes the first driving lever 341 and the second driving lever 342, and 341 one end of the first driving lever is rotationally connected on fork 33, and the other end is set It is equipped with traveller 343,342 one end of the second driving lever is rotatably connected on fork 33, and is provided with slideway 344 along its length.Slideway 344 be in kidney-shaped, and traveller 343 is arranged in slideway 344, the broadside composition three of the first driving lever 341, the second driving lever 342 and upper fork 33 It is angular.It is provided with reversal means motor 312 at the first driving lever 341 and 33 rotation connections of upper fork, reversal means motor 312 can drive first Driving lever 341 rotates clockwise, certainly in other embodiments, can also by reversal means motor 312 be arranged the second driving lever 342 with it is upper At the rotation of fork 33.Driving lever component also may include three or more driving levers, as long as reversal means 34 can be made to have first It sets and the second position.
When the rotation of the first driving lever 341, traveller 343 slides in slideway 344, and the second driving lever 342 occurs counterclockwise therewith The height of rotation, the first driving lever 341 and the second driving lever 342 gradually decreases, until the first driving lever 341 and the second driving lever 342 with The broadside of upper fork 33 is parallel, and part 4 to be transferred can be realized and pitch 33 in disengaging at this time, is moved to part 4 to be transferred convenient for reversal means 34 Behind.Specifically, reversal means 34 can be moved to the behind of part 4 to be transferred from the bottom of part 4 to be transferred or top, in order to make to dial Refer to 34 bottoms for passing through part 4 to be transferred, as shown in Figure 1, the bottom of part to be transferred 4 is provided with convenient for the recessed of the entrance of reversal means 34 Slot 41 is dragged compared to exerting a force from the top of part 4 to be transferred, is exerted a force and is dragged from 4 bottom of part to be transferred, and part 4 to be transferred is not easy to send out Life is toppled, and stability is preferable.
When needing to recommend part 4 to be transferred using reversal means 34, reversal means motor 312 is rotated backward, by the first driving lever 341 and Two driving levers 342 turn to triangular in shape with the broadside of upper fork 33 again.At this point, reversal means 34 can be from the back of part 4 to be transferred After hook part 4 to be transferred, to realize dragging part 4 to be transferred.In addition, the use occasion of two reversal meanss 34 is different, one of them Reversal means 34 for rising to the bait part 4 to be transferred from shelf 5 to transfer robot, another reversal means 34 be used for by part 4 to be transferred from It is pushed on transfer robot on shelf 5.One reversal means 34 can certainly be only set, but executing above two difference at this time When operation, need to adjust direction of the transfer robot relative to shelf 5, it is more time-consuming, therefore in the present embodiment, preferably Using two reversal meanss 34.
Certainly in other embodiments, reversal means motor 312 can also be saved, reversal means 34 is directly fixedly connected with upper fork 33 Hook formation is formed, telescopic component 4 need to be only vertically arranged, then from side or top close to part 4 to be transferred, then be dragged at this time Part 4 to be transferred is moved, but the setting position that this kind of method treats transfer member 4 has very big limitation, part 4 to be transferred can only be arranged On the shelf 5 of top or side mouth, therefore still it is preferable to use reversal means motors 312 to drive reversal means 34 in the present embodiment The method of rotation.
Further, the position for the ease of adjustment reversal means 34 relative to shelf 5 is located at the different height of shelf 5 to drag The part to be transferred 4 of degree, and the positioning accuracy for treating transfer member 4 is improved, which further includes elevating mechanism 6.Lifting Mechanism 6 is arranged in rack 2, and lower fork 31 is arranged on elevating mechanism 6, and elevating mechanism 6 can drive lower fork 31 along the height of rack 2 Direction is spent to move back and forth.Specifically, as shown in figure 4, elevating mechanism 6 includes lifting motor 61, third belt 63, the second driving wheel 62 and second driven wheel 64, the second driving wheel 62 and the second driven wheel 64 be arranged along the short transverse interval of rack 2, third belt 63 are set on the second driving wheel 62 and the second driven wheel 64, and the motor shaft of lifting motor 61 and the transmission of the second driving wheel 62 connect It connects, lower fork 31 is fixedly connected with third belt 63.The connection type of lower fork 31 and third belt 63 preferably uses bindiny mechanism 9 can Dismantling connection is convenient for later period maintenance and replacement.In the present embodiment, bindiny mechanism 9 is L-type connecting plate, and L-type connecting plate is wherein One side plate is connect with lower fork 31, another side plate is connect with third belt 63.Lifting motor 61 can drive the second driving wheel 62 rotations, the second driving wheel 62 are able to drive the rotation of third belt 63, fixed with third belt 63 when third belt 63 rotates The lower fork 31 of connection can move, to realize movement of the entire telescopic component 3 in 2 short transverse of rack.
In order to improve the stability that telescopic component 3 moves up and down, in the present embodiment, it is additionally provided with a set of auxiliary pulley Component, the auxiliary belt wheel assembly and above-mentioned elevating mechanism 6 are located at two opposite sides of lower fork 31.Specifically, the auxiliary belt Wheel assembly includes two auxiliary driven wheels and an auxiliary belt, and two auxiliary driven wheels are set along the short transverse interval of rack 2 It sets, one of auxiliary driven wheel is oppositely arranged with the second above-mentioned driving wheel 62, another auxiliary driven wheel and above-mentioned the Two driven wheels 64 are oppositely arranged, and are provided with connecting rod 65 between the auxiliary driven wheel and the second driven wheel 64, when second driven When 64 rotation of wheel, which can also be rotated synchronously.
Further, in order to improve the precision that telescopic component 3 is moved along 2 short transverse of rack, which is also wrapped Include guiding mechanism 7.As shown in figure 4, guiding mechanism 7 includes third sliding rail 71 and third sliding block 72, third sliding rail 71 is arranged in object On frame 2, and it is arranged along the short transverse of rack 2, third sliding block 72 is fixedly connected on the side of lower fork 31, third sliding block 72 and the Three sliding rails 71 are slidably connected.Guiding mechanism 7 is preferably provided with two groups, two groups of guiding mechanisms 7 be arranged in two of lower fork 31 it is opposite Side.Certainly in other embodiments, can also be using third sliding block 72 and sliding slot as guiding mechanism 7, or use other Mechanism will not enumerate herein as guiding mechanism 7.
Further, in order to improve the bearing capacity of rack 2, and lower fork 31 and rack 2 is avoided directly to be slidably connected pair Lower fork 31 damages, which further includes carrying pallet 8, and carrying pallet 8 is arranged inside rack 2, bindiny mechanism 9 The side of carrying pallet 8 is set, and is fixedly connected with the third belt 63 of elevating mechanism 6, carrying pallet 8 is horizontally disposed, under Fork 31 is fixedly connected on the upper surface of carrying pallet 8.Under the driving of elevating mechanism 6, carrying pallet 8 is able to drive lower fork 31 It synchronizes and moves up and down.Certainly in other embodiments, if carrying part 4 to be transferred merely with carrying pallet 8, telescopic component 3 is only Dragging effect is undertaken, then telescopic component 3 and carrying pallet 8 can be vertically arranged, and the setting of telescopic component 3 is held in the palm in carrying Part 4 to be transferred is hooked from side to keep telescopic component 3 flexible in the left side of part 4 to be transferred or right side in the edge of disk 8 Realize dragging, but the mode that this kind drag from side, it is easy to 4 support of part to be transferred is inclined, therefore preferably use from below or Dragging above person.
Further, it carries on pallet 8 and is provided with guide groove 81, the end of guide groove 81 is provided with what width was gradually increased Flare openings, lower fork 31 are arranged in guide groove 81, and the width at 81 middle part of guide groove is greater than the width of part 4 to be transferred.Guiding The setting of 81 flare openings of slot can be at the center of rack 2 and the centralized positioning of shelf 5 there are when some deviations, to be transferred Part 4 plays guiding role, to change the movement routine of part 4 to be transferred, part 4 to be transferred is enable smoothly to reach carrying pallet 8 Center, when avoiding transfer robot mobile and turning, since part 4 to be transferred is located at the edge of carrying pallet 8 to be easy It falls.
Further, carrying pallet 8 is provided with guiding surface 82 along the both ends of the shift direction of part 4 to be transferred, and guiding is oblique The setting in face 82 can reduce to positioning accuracy request of the support plate in short transverse of pallet 8 and shelf 5 is carried, to make to turn When mobile part 4 to be transferred, allows the bottom surface for carrying pallet 8 to be higher or lower than the upper surface of support plate in a certain range, make Carrying pallet 8 and support plate are not necessarily in same level.
The course of work of the transfer robot is as follows:
When needing for part 4 to be transferred to be transferred on transfer robot from shelf 5, mobile base 1 drives rack 2 first It is moved at shelf 5, and the center for controlling rack 2 is aligned with the center of shelf 5, control elevating mechanism 6 drives 3 edge of telescopic component The short transverse of rack 2 is mobile, by the destination layer of the positioning of telescopic component 3 to shelf 5, and make to carry the upper surface of pallet 8 with to The bottom of transfer member 4 is aligned.Then, it is parallel with upper fork 33 that two reversal meanss 34 are controlled, and fork 32, upper fork 33 and reversal means 34 in control It stretches out, such as can be stretched out from the groove 41 of 4 bottom of part to be transferred or from 4 side of part to be transferred towards the direction of part 4 to be transferred It stretches out, one of reversal means 34 is made to reach rear of the part 4 to be transferred on shift direction, which is known as " the first reversal means ", Another reversal means 34 reaches front of the part 4 to be transferred on shift direction, which is known as " the second reversal means ", and control is dialled at this time Referring to that motor 312 rotates, makes the broadside triangular shape of the first reversal means and upper fork 33, the first reversal means is vertically arranged with upper fork 33, and With the rear-face contact of part 4 to be transferred, so that part 4 to be transferred be hooked.Finally, fork 33 and middle fork 32 are contracted to lower fork 31 in control On, in the case where the hook of the first reversal means is dynamic, part 4 to be transferred can be hooked to the center of carrying pallet 8.In whole process, part 4 to be transferred It is not lifted, telescopic component 3 only needs to overcome the friction working between 5 support plate of part 4 and shelf to be transferred, therefore above-mentioned entire Process is referred to as " drawing ".
When needing for part 4 to be transferred to be transferred on shelf 5 by robot, first by the reversal means electricity of the first above-mentioned reversal means Machine 312 rotates backward, and keeps the first reversal means and upper fork 33 parallel, then by the second reversal means turn to 33 vertical positions of upper fork, Then 32 sliding of fork 33 and middle fork in control, extends telescopic component 3, so that upper fork 33 and part to be transferred 4 are moved to shelf 5 Support plate on.Then, the reversal means motor 312 for controlling the second reversal means reversely rotates, and the second reversal means is arranged in parallel with upper fork 33, To be extracted out from the bottom of part 4 to be transferred.Finally, fork 33 and 32 reverse slides of middle fork in control, make fork 33 and part 4 to be transferred It is detached from, superposition reaches on lower fork 31 again for upper fork 33 and middle fork 32.In whole process, part 4 to be transferred is not lifted equally, is stretched Component 3 only needs to overcome the friction working between 5 support plate of part 4 and shelf to be transferred, therefore above-mentioned whole process is referred to as " pushing away ".
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention Protection scope within.

Claims (10)

1. a kind of transfer robot, including mobile base (1) and rack (2), the rack (2) is arranged in the mobile base (1) on, which is characterized in that further include:
Telescopic component (3), the telescopic component (3) include the lower fork (31) being telescopically connected to and upper fork (33), the lower fork (31) It is connect with the rack (2), described upper fork (33) end is provided with reversal means (34);
The reversal means (34) is configured to turn to the first position not higher than described upper fork (33) upper surface so that described Upper fork (33) can extend into below part to be transferred (4);
The reversal means (34) is additionally configured to turn to the second position higher than described upper fork (33) upper surface described Catch on the part to be transferred (4) in part (4) rear to be transferred.
2. transfer robot according to claim 1, which is characterized in that
The reversal means (34) includes reversal means motor (312) and driving lever component, and the driving lever component is rotatably connected on the upper fork (33) it on broadside, and is sequentially connected with the reversal means motor (312), the reversal means motor (312) can drive the driving lever Component turns to the first position and the second position.
3. transfer robot according to claim 2, which is characterized in that
The driving lever component includes the first driving lever (341) and the second driving lever (342), one end of first driving lever (341) and institute One end interval for stating the second driving lever (342) is rotatably connected on the broadside of the upper fork (33);
The reversal means motor (312) and first driving lever (341) or second driving lever (342) are sequentially connected, for driving Move first driving lever (341) or the second driving lever (342) rotation;
The other end of first driving lever (341) is provided with traveller (343), and second driving lever (342) is arranged along its length Have slideway (344), the traveller (343) is located in the slideway (344) and can slide along the slideway (344).
4. transfer robot according to claim 1, which is characterized in that
The quantity of the reversal means (34) is two, and two reversal meanss (34) are respectively set along the glide direction of the upper fork (33) At the both ends of the upper fork (33).
5. transfer robot according to claim 1, which is characterized in that the telescopic component (3) further include:
Middle fork (32), the middle fork (32) are arranged between the lower fork (31) and the upper fork (33), the lower fork (31), institute It states middle fork (32) and the upper fork (33) is successively slidably connected.
6. transfer robot according to claim 5, which is characterized in that the transfer robot further include:
Driving mechanism, the driving mechanism include driving motor (37) and gear band component (38), the gear band component (38) Including the first driving wheel, the first driven wheel, gear band and rack gear (39), first driving wheel and the driving motor (37) are passed Dynamic connection, first driving wheel and first driven wheel are arranged along the length direction of the lower fork (31) in the lower fork (31) on;
The gear band is set on first driving wheel and first driven wheel, and on the outer peripheral surface of the gear band It is provided with gear teeth structure;
The rack gear (39) is arranged on the middle fork (32), and engages with the gear teeth structure.
7. transfer robot according to claim 6, which is characterized in that the driving mechanism further include:
Differential band component, the differential band component includes pulley and differential belt, is provided with pulley groove on the middle fork (32), institute It states pulley rotation to be connected in the pulley groove, the differential belt passes through the pulley groove and is arranged around the pulley, institute The one end for stating differential belt is connect with the upper fork (33), and the other end is connect with the lower fork (31).
8. transfer robot according to claim 7, which is characterized in that
Quantity of the differential with component is two groups, and the band component of differential described in two groups is located at the middle fork (32) along length side To central axes two sides.
9. transfer robot according to claim 1-8, which is characterized in that the transfer robot further include:
Elevating mechanism (6), the elevating mechanism (6) are arranged on the rack (2), and the telescopic component (3) is arranged described On elevating mechanism (6), the elevating mechanism (6) can drive the telescopic component (3) past along the short transverse of the rack (2) It is multiple mobile.
10. transfer robot according to claim 9, which is characterized in that the transfer robot further include:
It carries pallet (8), carrying pallet (8) setting is internal in the rack (2), and fixed with the elevating mechanism (6) Connection, the telescopic component (3) are fixedly connected on the carrying pallet (8).
CN201910319709.0A 2019-04-19 2019-04-19 A kind of transfer robot Pending CN109941652A (en)

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CN111523863A (en) * 2020-05-06 2020-08-11 重庆中宏建设监理有限公司 Engineering cost consultation management system and method
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CN115624486A (en) * 2022-12-20 2023-01-20 北京东华原医疗设备有限责任公司 Lifting device of full-automatic traditional Chinese medicine decocting system and traditional Chinese medicine decocting system
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Publication number Priority date Publication date Assignee Title
CN110203604A (en) * 2019-08-02 2019-09-06 湖南海纳赋能科技有限公司 A kind of storage cabinet using manipulator operation
CN110422537A (en) * 2019-09-05 2019-11-08 苏州艾隆科技股份有限公司 A kind of low temperature intellectual access second level library
CN110422536A (en) * 2019-09-05 2019-11-08 苏州艾隆科技股份有限公司 A kind of access mechanism with second lift function
WO2021043270A1 (en) * 2019-09-05 2021-03-11 苏州艾隆科技股份有限公司 Low-temperature secondary storehouse for smart storage and pickup
CN110606315A (en) * 2019-10-14 2019-12-24 南京翌星自动化系统有限公司 Air-land amphibious carrying equipment assembly
EP4049961A4 (en) * 2019-10-23 2023-11-29 Shanghai Quicktron Intelligent Technology Co., Ltd Telescopic device and carrying robot
CN111523863A (en) * 2020-05-06 2020-08-11 重庆中宏建设监理有限公司 Engineering cost consultation management system and method
CN113649993A (en) * 2020-05-12 2021-11-16 深圳市海柔创新科技有限公司 Article pickup device, transfer robot, and article pickup method
CN113649993B (en) * 2020-05-12 2022-10-14 深圳市海柔创新科技有限公司 Article pickup device, transfer robot, and article pickup method
WO2023036335A1 (en) * 2021-09-13 2023-03-16 北京极智嘉科技股份有限公司 Transport robot and method for retrieving and transporting box
CN115624486A (en) * 2022-12-20 2023-01-20 北京东华原医疗设备有限责任公司 Lifting device of full-automatic traditional Chinese medicine decocting system and traditional Chinese medicine decocting system
CN115624486B (en) * 2022-12-20 2023-04-18 北京东华原医疗设备有限责任公司 Lifting device of full-automatic traditional Chinese medicine decocting system and traditional Chinese medicine decocting system

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