CN110626991A - Clamping type telescopic device and transfer robot with same - Google Patents
Clamping type telescopic device and transfer robot with same Download PDFInfo
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- CN110626991A CN110626991A CN201911014146.0A CN201911014146A CN110626991A CN 110626991 A CN110626991 A CN 110626991A CN 201911014146 A CN201911014146 A CN 201911014146A CN 110626991 A CN110626991 A CN 110626991A
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- arm
- sliding
- bottom plate
- driving
- cargo
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/183—Coplanar side clamps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
- B66F9/195—Additional means for facilitating unloading for pushing the load
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the application provides a press from both sides formula telescoping device and transfer robot who has it, wherein, presss from both sides formula telescoping device and includes: a cargo bed; the two telescopic arm assemblies are oppositely arranged in the width direction of the cargo carrying bottom plate, each telescopic arm assembly comprises a fixed arm and a first sliding arm, the fixed arm is arranged on the cargo carrying bottom plate, and the first sliding arm is slidably arranged on the inner side of the fixed arm; and the driving mechanism is used for driving the first sliding arm to slide along the length direction of the loading base plate relative to the fixed arm so as to convey the goods to or from the loading base plate. According to the clamp embracing type telescopic device provided by the embodiment of the application, the first sliding arm of the telescopic arm component can be extended out from any one side of the length direction of the cargo carrying bottom plate, so that the cargo on any side of the length direction of the cargo carrying bottom plate can be directly carried, the telescopic arm component does not need to be controlled to turn to the corresponding one side, and the carrying efficiency and the convenience of the clamp embracing type telescopic device can be improved.
Description
Technical Field
The application relates to the technical field of warehouse storage, in particular to a clamping type telescopic decoration and carrying robot with the same.
Background
A transfer robot provided with a transfer device for transferring a load by controlling the extension and retraction of a pusher assembly of the transfer device has been proposed in the related art. But because the motion direction of this push rod subassembly is comparatively single to lead to the efficiency of transport goods lower, convenient inadequately.
Disclosure of Invention
The embodiment of the application provides a clamp holding type telescopic decoration and a carrying robot with the same, and aims to solve or relieve one or more technical problems in the prior art.
As an aspect of an embodiment of the present application, an embodiment of the present application provides a clip type expansion device, including: a cargo bed; the two telescopic arm assemblies are oppositely arranged in the width direction of the cargo carrying bottom plate, each telescopic arm assembly comprises a fixed arm and a first sliding arm, the fixed arm is arranged on the cargo carrying bottom plate, and the first sliding arm is slidably arranged on the inner side of the fixed arm; and the driving mechanism is used for driving the first sliding arm to slide along the length direction of the loading base plate relative to the fixed arm so as to convey the goods to or from the loading base plate.
In one embodiment, the driving mechanism comprises two belt wheel assemblies arranged corresponding to the two telescopic arm assemblies, each belt wheel assembly comprises a wheel assembly and a synchronous belt, the synchronous belt is sleeved on the wheel assembly, and the wheel assembly is used for driving the synchronous belt to run; the lower surface of the first sliding arm is provided with a rack, and the outer surface of the synchronous belt is in transmission connection with the rack so as to drive the rack to slide relative to the fixed arm along the length direction of the cargo carrying bottom plate.
In one embodiment, the inner and outer surfaces of the timing belt are each provided with a plurality of synchronizing teeth, the plurality of synchronizing teeth on the inner surface of the timing belt being in driving engagement with the wheel assembly, and the plurality of synchronizing teeth on the outer surface of the timing belt being in driving engagement with the rack.
In one embodiment, the drive mechanism further comprises a drive motor for driving the drive wheels of the two wheel assemblies to run synchronously.
In one embodiment, each wheel assembly includes a drive wheel, at least one driven wheel running under drive of a synchronous belt, and a plurality of tension wheels spaced to tension the synchronous belt.
In one embodiment, each telescopic arm assembly further comprises: a second sliding arm slidably fitted to an inner side of the first sliding arm; and the transmission mechanism is used for driving the second sliding arm to slide relative to the first sliding arm in the process that the first sliding arm slides relative to the fixed arm, and the sliding direction of the second sliding arm relative to the first sliding arm is the same as the sliding direction of the first sliding arm relative to the fixed arm.
In one embodiment, the transmission mechanism comprises at least one group of pulleys and a sliding cable, the sliding cable is in sliding fit with the pulleys, the pulleys are rotatably arranged on the first sliding arm, two ends of the sliding cable are positioned on the same side of the pulleys, one end of the sliding cable is fixed on the fixed arm, and the other end of the sliding cable is fixed on the second sliding arm.
In one embodiment, the transmission mechanism comprises two sets of pulleys and sliding cables, the opening directions of the two sliding cables are opposite to each other in the length direction of the loading base, and the two pulleys are arranged at intervals in the length direction of the loading base.
In one embodiment, the two ends of the second sliding arm in the length direction are respectively provided with a material shifting mechanism, the material shifting mechanism comprises a blocking arm and a material shifting motor, the blocking arm comprises a first straight arm and a second straight arm, the first straight arm is arranged along the length direction of the second sliding arm, the second straight arm and the first straight arm form an included angle, and the output end of the material shifting motor is in transmission connection with the first straight arm.
In one embodiment, the clip-on retractor device further comprises: the mounting bottom plate is arranged below the cargo carrying bottom plate; and the rotating device is arranged between the mounting bottom plate and the cargo carrying bottom plate and is used for driving the cargo carrying bottom plate to rotate relative to the mounting bottom plate.
In a second aspect, an embodiment of the present application provides a transfer robot, including: moving the chassis; the goods shelf is arranged on the movable chassis and provided with a plurality of trays arranged at intervals in the vertical direction, and the goods shelf is provided with a lifting device; according to the clamping and embracing type telescopic device, the clamping and embracing type telescopic device is installed on the lifting device, and the lifting device is used for driving the clamping and embracing type telescopic device to ascend and descend in the vertical direction.
This application embodiment adopts above-mentioned technical scheme can make telescopic arm subassembly's first slide arm stretch out by the arbitrary one side on the length direction of the bottom plate that carries cargo to can directly carry the goods of arbitrary side of the bottom plate length direction that carries cargo, need not to control telescopic arm subassembly and turn to corresponding one side, thereby can improve the transport efficiency and the convenience of pressing from both sides embracing formula telescoping device.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a schematic structural view of a clasping type telescopic device according to an embodiment of the present application;
FIG. 2 illustrates a schematic structural diagram of a clasping retractor according to an embodiment of the present application;
FIG. 3 illustrates a side view of a clip-on retractor according to an embodiment of the present application;
fig. 4 is a schematic structural view showing a transfer robot according to an embodiment of the present application.
Description of reference numerals:
a transfer robot 1000;
a clasping type retractor 100;
a cargo bed 10;
a telescopic arm assembly 20; a fixed arm 21; a first slide arm 22; a rack 221; a second slide arm 23;
a drive mechanism 30; a pulley assembly 31; a wheel assembly 311; a driving wheel 3111; a driven wheel 3112; a tension pulley 3113; a timing belt 312;
a transmission mechanism 40; a pulley 41; a strop 42;
a material-shifting mechanism 50; a stopper arm 51; a first straight arm 511; a second straight arm 512; a kick-off motor 52;
a mounting base plate 60;
a rotating device 70;
a mobile chassis 200; a shelf 300; a tray 310; and a lifting device 320.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
A clip-on retractor device 100 according to an embodiment of the present application is described below with reference to fig. 1-4. The clamping type telescopic device 100 of the embodiment of the application can be used for the transfer robot 1000 to temporarily store goods in a warehouse to the transfer robot 1000, so that the purpose of transferring the goods by the transfer robot 1000 is achieved.
As shown in fig. 1-4, a pinch-grip extension and retraction device 100 according to an embodiment of the present application includes a cargo floor 10, a telescoping arm assembly 20, and a drive mechanism 30.
Specifically, the telescopic arm assemblies 20 are two and are arranged oppositely in the width direction of the cargo floor 10, each telescopic arm assembly 20 comprises a fixed arm 21 and a first sliding arm 22, the fixed arm 21 is installed on the cargo floor 10, and the first sliding arm 22 is slidably arranged on the inner side of the fixed arm 21. The driving mechanism 30 is used for driving the first sliding arm 22 to slide along the length direction of the loading base 10 relative to the fixed arm 21 so as to move the goods to or from the loading base 10.
It is understood that the length of the bed 10 may be in the left-right direction as shown, and the width of the bed 10 may be in a direction perpendicular to the left-right direction in the horizontal plane as shown. The length direction of the fixed arm 21 and the length direction of the first sliding arm 22 are both parallel to the left-right direction in the figure. The drive mechanism 30 drives the two telescopic arm assemblies 20 to extend from one side of the cargo floor 10 to carry cargo onto the cargo floor 10 or to carry cargo off the cargo floor 10.
In one example, the inner side surface of the fixed arm 21 may be provided with a sliding rail extending along the length direction thereof, and the outer side surface of the first sliding arm 22 facing the fixed arm 21 may be provided with a sliding fitting portion fitted with the sliding rail to ensure the sliding stability of the first sliding arm 22 and the fixed arm 21. In addition, in other examples of the present application, a slide rail may be provided on an outer side surface of the first slide arm 22, and a slide-fit portion may be provided on an inner side surface of the fixed arm 21.
The driving mechanism 30 is adapted to drive the first sliding arm 22 to slide in the left-right direction in the drawing with respect to the fixed arm 21. As shown in fig. 1, the drive mechanism 30 may drive the first sliding arm 22 to slide to the left relative to the fixed arm 21 to slide the first sliding arm 22 out of the left side of the cargo bed 10. As shown in fig. 2, the drive mechanism 30 may also drive the first sliding arm 22 to slide to the right relative to the fixed arm 21 to slide the first sliding arm 22 off the right side of the cargo bed 10. Preferably, when the first sliding arm 22 is not slid out of the cargo floor 10, the first sliding arm 22 is located at a position overlapping the fixed arm 21 to reduce the outer size of the clip-on expansion device 100, thereby reducing the space occupied by the clip-on expansion device 100.
According to the clamp embracing type telescopic device 100 of the embodiment of the application, the first sliding arm 22 is driven to slide along the length direction of the cargo carrying bottom plate 10 relative to the fixed arm 21 by arranging the driving mechanism 30, so that the first sliding arm 22 can be extended out from any one side of the length direction of the cargo carrying bottom plate 10, compared with a carrying device of a carrying robot in the related art, the carrying device can only be extended from one side, the telescopic device of the embodiment of the application can directly carry the cargoes on any side of the length direction of the cargo carrying bottom plate 10, the telescopic device does not need to be controlled to turn to the corresponding one side, and the carrying efficiency and the convenience of the clamp embracing type telescopic device 100 can be improved.
In one embodiment, as shown in fig. 1-3, the driving mechanism 30 includes two pulley assemblies 31 corresponding to the two telescopic arm assemblies 20, each pulley assembly 31 includes a wheel assembly 311 and a timing belt 312, the timing belt 312 is sleeved on the wheel assembly 311, and the wheel assembly 311 is used for driving the timing belt 312 to rotate; the lower surface of the first sliding arm 22 is provided with a rack 221, and the outer surface of the timing belt 312 is in transmission connection with the rack 221 so as to drive the rack 221 to slide relative to the fixing arm 21 along the length direction of the cargo floor 10.
In one example, two pulley assemblies 31 are located on either side of the cargo floor 10 in the width direction. The timing belt 312 is sleeved on the wheel assembly 311 and tensioned by the wheel assembly 311, and the wheel assembly 311 drives the timing belt 312 to rotate in a clockwise direction or a counterclockwise direction. A portion of the outer surface of the timing belt 312 is in transmission connection with the rack 221, and can drive the rack 221 to move left or right along the length direction of the cargo floor 10, so that the rack 221 drives the first sliding arm 22 to slide left or right relative to the fixed arm 21.
In one embodiment, the inner and outer surfaces of the timing belt 312 are each provided with a plurality of timing teeth, the plurality of timing teeth on the inner surface of the timing belt 312 drivingly engage the wheel assembly 311, and the plurality of timing teeth on the outer surface of the timing belt 312 drivingly engage the gear rack 221. Therefore, the transmission effect of the timing belt 312, the wheel assembly 311 and the rack 221 is good, and a stable transmission ratio can be provided between the wheel assembly 311 and the rack 221, so that the stability of the first sliding arm 22 sliding relative to the fixed arm 21 is improved.
In addition, in other examples of the present application, the timing belt 312 may be a chain having chain sockets on both the inner surface and the outer surface, the wheel assembly 311 may include a plurality of timing wheels, each timing wheel has chain teeth for engaging with the chain sockets on the inner surface of the chain, and the rack 221 has timing teeth for engaging with the chain sockets on the outer surface of the chain.
In one embodiment, the driving mechanism 30 further includes a driving motor (not shown) for driving the driving wheels 3111 of the two wheel assemblies 311 to synchronously operate.
In one example, a synchronizing rod is connected between the synchronizing wheels of the two wheel assemblies 311, and the output end of the driving motor is in transmission connection with the synchronizing rod, so that the driving motor drives the driving wheels 3111 of the two wheel assemblies 311 to run synchronously. Thus, synchronism can be ensured during operation of the pulley assemblies 31 of the two drive mechanisms 30 to maintain consistent motion of the two telescopic arm assemblies 20.
In one embodiment, as shown in fig. 3, each wheel assembly 311 includes a driving wheel 3111, at least one driven wheel 3112, and a plurality of tension wheels 3113, the driven wheel 3112 is driven by a timing belt 312, and the plurality of tension wheels 3113 are spaced to tension the timing belt 312.
In one example, two driven wheels 3112 are arranged at intervals along the length direction of the cargo floor 10, the portion of the timing belt 312 between the two apexes of the driven wheels 3112 is in transmission connection with the rack 221, and by arranging a plurality of tension wheels 3113, the portion of the timing belt 312 between the two apexes of the driven wheels 3112 can be ensured to run along the length direction of the cargo floor 10, so that the stability of the transmission connection between the timing belt 312 and the rack 221 is improved, and the stability of the telescopic arm assembly 20 is improved.
In one embodiment, as shown in fig. 1-3, each of the telescoping arm assemblies 20 further includes a second sliding arm 23 and a drive mechanism 40. The second sliding arm 23 is slidably fitted inside the first sliding arm 22, in other words, the first sliding arm 22 is located between the second sliding arm 23 and the fixed arm 21, and the second sliding arm 23 is slidable to the left or to the right with respect to the first sliding arm 22 in the length direction of the cargo floor 10. The transmission mechanism 40 is used for driving the second sliding arm 23 to slide relative to the first sliding arm 22 in the process that the first sliding arm 22 slides relative to the fixed arm 21, and the sliding direction of the second sliding arm 23 relative to the first sliding arm 22 is the same as the sliding direction of the first sliding arm 22 relative to the fixed arm 21. The length direction of the second sliding arm 23 may be parallel to the left-right direction in the figure. Preferably, the second sliding arm 23, the first sliding arm 22 and the fixed arm 21 overlap when the telescopic arm assembly 20 is in the retracted state, thereby reducing the outer dimensions of the telescopic arm assembly 20 and thus the volume of the clip-on telescopic device 100.
In one example, the transmission mechanism 40 may be an electric push rod. Specifically, an electric push rod is mounted to the fixed arm 21, and an end of a telescopic rod of the electric push rod is connected to the second sliding arm 23. When the first sliding arm 22 slides relative to the fixed arm 21, the electric push rod pushes the second sliding arm 23 to slide synchronously relative to the first sliding arm 22. In order to keep the sliding direction of the second sliding arm 23 relative to the first sliding arm 22 consistent with the sliding direction of the first sliding arm 22 relative to the fixed arm 21, two electric push rods may be provided, and the two electric push rods are arranged in opposite directions, wherein one electric push rod is used for pushing the second sliding arm 23 to slide leftwards relative to the first sliding arm 22, and the other electric push rod is used for pushing the second sliding arm 23 to slide rightwards relative to the first sliding arm 22.
In one embodiment, the transmission mechanism 40 includes at least one set of pulley 41 and sliding cable 42, the sliding cable 42 is slidably engaged with the pulley 41, the pulley 41 is rotatably disposed on the first sliding arm 22, two ends of the sliding cable 42 are located on the same side of the pulley 41, one end of the sliding cable 42 is fixed to the fixed arm 21, and the other end of the sliding cable 42 is fixed to the second sliding arm 23.
Specifically, the middle portion of the strop 42 is bent such that both ends of the strop 42 are disposed opposite to each other, so that the strop 42 is formed in a U-shape, and the pulley 41 is drivingly connected to the bent portion of the strop 42. Since the pulley 41 is fixed to the first slide arm 22, and one end of the slide cable 42 is fixed to the fixed arm 21, the other end of the slide cable 42 is fixed to the second fixed arm 21, so that the pulley 41 and the slide cable 42 form a movable pulley structure. When the first sliding arm 22 slides relative to the fixed arm 21, the first sliding arm 22 drives the pulley to move relative to the end of the sliding cable 42 fixed on the fixed arm 21, so that the other end of the sliding cable 42 drives the second fixed arm 21 to move.
It is understood that the sliding direction of the second fixing arm 21 with respect to the first fixing arm 21 is the same as the sliding direction of the first fixing arm 21 with respect to the fixing arm 21, and the speed of sliding the second fixing arm 21 with respect to the fixing arm 21 is twice as fast as the speed of sliding the first fixing arm 21 with respect to the fixing arm 21. Therefore, when the driving mechanism 30 drives the first sliding arm 22 to slide relative to the fixed arm 21, the second fixed arm 21 can synchronously slide relative to the first sliding arm 22, so that the telescopic length of the sliding arm assembly is increased, and the effective distance for carrying goods by the telescopic arm assembly 20 is increased.
Preferably, as shown in fig. 3, the transmission mechanism 40 includes two sets of pulleys 41 and sliding cables 42, the opening directions of the two sliding cables 42 are opposite to each other in the longitudinal direction of the cargo floor 10, and the two pulleys 41 are spaced apart from each other in the longitudinal direction of the cargo floor 10. Specifically, the two sets of pulleys 41 and the slide cable 42 constitute two sets of movable pulleys, respectively, and the two sets of movable pulleys are disposed at intervals in the up-down direction. The opening directions of the two slide cables 42 are arranged to face each other, wherein the opening direction of the slide cable 42 corresponding to the left pulley 41 is rightward, and the opening direction of the slide cable 41 corresponding to the right pulley is leftward. Thus, by providing two sets of pulleys 41 and slide cables 42, the driving efficiency of transmission mechanism 40 for second slide arm 23 can be improved, and the stability of second slide arm 23 sliding with respect to first slide arm 22 can be improved.
In one embodiment, as shown in fig. 1 to fig. 3, the two ends of the second sliding arm 23 in the length direction are respectively provided with a material shifting mechanism 50, the material shifting mechanism 50 includes a blocking arm 51 and a material shifting motor 52, the blocking arm 51 includes a first straight arm 511 and a second straight arm 512, the first straight arm 511 is disposed along the length direction of the second sliding arm 23, the second straight arm 512 forms an included angle with the first straight arm 511, and an output end of the material shifting motor 52 is in transmission connection with the first straight arm 511.
In one example, as shown in fig. 1, the kick-out mechanism 50 is provided on a side surface of the second sliding arm 23 facing the first sliding arm 22, and in order to avoid interference of the kick-out mechanism 50 with relative movement between the second sliding arm 23 and the first sliding arm 22, the side surface of the first sliding arm 22 facing the second sliding arm 23 is provided with an avoiding groove for accommodating the kick-out mechanism 50. Further, the first straight arm 511 may be disposed along the left-right direction in the circumferential direction, the second straight arm 512 is connected to the end of the first straight arm 511, an included angle between the second straight arm 512 and the first straight arm 511 is a right angle, and the material shifting motor 52 drives the first straight arm 511 to rotate around the axial direction thereof, so as to drive the second straight arm 512 to rotate. It will be appreciated that the arm assembly 20 is controlled by the kick-out motor 52 to rotate the arm 51 such that the second straight arm 512 of the arm 51 can push or pull the cargo to and from the load floor 10 when the cargo is being transported.
In one embodiment, the clamp-and-hold telescoping device 100 further comprises a mounting base 60 and a rotating device 70, the mounting base 60 being disposed below the cargo floor 10, and the rotating device 70 being disposed between the mounting base 60 and the cargo floor 10 for driving the cargo floor 10 to rotate relative to the mounting base 60. Therefore, the cargo floor 10 can rotate to different angles relative to the mounting floor 60 in the horizontal direction, so that the telescopic direction of the telescopic arm assembly 20 is adjusted, and the carrying range of goods carried by the clamping type telescopic device 100 is improved.
In a second aspect, as shown in fig. 4, an embodiment of the present application provides a transfer robot 1000 including a mobile chassis 200, a shelf 300, and a clasping type telescopic device 100 according to the above-described embodiment of the present application.
Specifically, the shelf 300 is installed on the mobile chassis 200, the shelf 300 has a plurality of trays 310 arranged at intervals in the vertical direction, the trays 310 are used for temporarily storing goods, the shelf 300 is provided with a lifting device 320, the clip type telescopic device 100 is installed on the lifting device 320, the lifting device 320 is used for driving the clip type telescopic device 100 to ascend and descend in the vertical direction, so that the clip type telescopic device 100 ascends and descends to the corresponding tray 310, and the telescopic arm assembly 20 is used for transporting goods between the cargo floor 10 and the tray 310.
Other configurations of the transfer robot 1000 of the above-described embodiment may be adopted by various technical solutions known to those skilled in the art now and in the future, and will not be described in detail herein.
According to the clamp embracing type telescopic device 100 of the embodiment of the application, the first sliding arm 22 is driven to slide along the length direction of the cargo carrying bottom plate 10 relative to the fixed arm 21 by arranging the driving mechanism 30, so that the first sliding arm 22 can be extended out from any one side of the length direction of the cargo carrying bottom plate 10, compared with a carrying device of a carrying robot 1000 in the related art, the carrying device can only be extended from one side, the telescopic device of the embodiment of the application can directly carry the goods on any one side of the length direction of the cargo carrying bottom plate 10, the telescopic device does not need to be controlled to turn to the corresponding one side, and the carrying efficiency of the clamp embracing type telescopic device 100 can be improved.
In the description of the present specification, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A clip type telescopic device is characterized by comprising:
a cargo bed;
the two telescopic arm assemblies are oppositely arranged in the width direction of the cargo carrying bottom plate, each telescopic arm assembly comprises a fixed arm and a first sliding arm, the fixed arm is mounted on the cargo carrying bottom plate, and the first sliding arm is slidably arranged on the inner side of the fixed arm;
and the driving mechanism is used for driving the first sliding arm to slide along the length direction of the loading base plate relative to the fixed arm so as to carry the goods to or from the loading base plate.
2. The clip type telescopic device according to claim 1, wherein the driving mechanism comprises two pulley assemblies corresponding to the two telescopic arm assemblies, each pulley assembly comprises a wheel assembly and a synchronous belt, the synchronous belt is sleeved on the wheel assembly, and the wheel assembly is used for driving the synchronous belt to run;
the lower surface of the first sliding arm is provided with a rack, and the outer surface of the synchronous belt is in transmission connection with the rack so as to drive the rack to slide relative to the fixed arm along the length direction of the cargo carrying bottom plate.
3. The clip expansion device of claim 2, wherein the inner and outer surfaces of the timing belt are each provided with a plurality of synchronizing teeth, the plurality of synchronizing teeth on the inner surface of the timing belt being in driving engagement with the wheel assembly, the plurality of synchronizing teeth on the outer surface of the timing belt being in driving engagement with the rack.
4. The clip and phone system of claim 2, wherein the drive mechanism further comprises a drive motor for driving the drive wheels of the two wheel assemblies in synchronous operation.
5. The clamp type retractor according to claim 4 wherein each of said wheel assemblies comprises said drive pulley, at least one driven pulley running under drive of said timing belt, and a plurality of tension pulleys spaced to tension said timing belt.
6. A clip and style telescopic device according to any one of claims 1 to 5, wherein each of said telescopic arm assemblies further comprises:
a second sliding arm slidably fitted to an inner side of the first sliding arm;
and the transmission mechanism is used for driving the second sliding arm to slide relative to the first sliding arm in the process that the first sliding arm slides relative to the fixed arm, and the sliding direction of the second sliding arm relative to the first sliding arm is the same as the sliding direction of the first sliding arm relative to the fixed arm.
7. The clamp type telescopic device according to claim 6, wherein the transmission mechanism comprises at least one set of pulleys and a sliding cable, the sliding cable is in sliding fit with the pulleys, the pulleys are rotatably arranged on the first sliding arm, two ends of the sliding cable are positioned on the same side of the pulleys, one end of the sliding cable is fixed on the fixed arm, and the other end of the sliding cable is fixed on the second sliding arm.
8. The clamp type retractable device according to claim 7, wherein the transmission mechanism includes two sets of the pulleys and the sliding cables, the opening directions of the two sliding cables are opposite to each other in the length direction of the cargo floor, and the two pulleys are spaced apart from each other in the length direction of the cargo floor.
9. The clip type telescopic device according to claim 6, wherein the two ends of the second sliding arm in the length direction are respectively provided with a material shifting mechanism, the material shifting mechanism comprises a blocking arm and a material shifting motor, the blocking arm comprises a first straight arm and a second straight arm, the first straight arm is arranged along the length direction of the second sliding arm, the second straight arm and the first straight arm form an included angle, and the output end of the material shifting motor is in transmission connection with the first straight arm.
10. A clip style expansion device according to any one of claims 1-5, further comprising:
the mounting bottom plate is arranged below the cargo carrying bottom plate;
the rotating device is arranged between the mounting bottom plate and the cargo carrying bottom plate and used for driving the cargo carrying bottom plate to rotate relative to the mounting bottom plate.
11. A transfer robot, characterized by comprising:
moving the chassis;
the goods shelf is arranged on the movable chassis, is provided with a plurality of trays arranged at intervals along the vertical direction and is provided with a lifting device;
a clasping retractor device according to any one of claims 1-10, wherein the clasping retractor device is mounted to the lifting device, and the lifting device is configured to lift the clasping retractor device in a vertical direction.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911014146.0A CN110626991B (en) | 2019-10-23 | 2019-10-23 | Clamping type telescopic device and transfer robot with same |
| EP20879327.3A EP4049961A4 (en) | 2019-10-23 | 2020-10-22 | Telescopic device and carrying robot |
| US17/755,209 US20230038475A1 (en) | 2019-10-23 | 2020-10-22 | Telescopic device and carrying robot |
| JP2022524053A JP7429289B2 (en) | 2019-10-23 | 2020-10-22 | Expanding/contracting device and transfer robot |
| KR1020227017235A KR20220080196A (en) | 2019-10-23 | 2020-10-22 | Telescopic devices and transport robots |
| PCT/CN2020/122781 WO2021078191A1 (en) | 2019-10-23 | 2020-10-22 | Telescopic device and carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911014146.0A CN110626991B (en) | 2019-10-23 | 2019-10-23 | Clamping type telescopic device and transfer robot with same |
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| Publication Number | Publication Date |
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| CN110626991A true CN110626991A (en) | 2019-12-31 |
| CN110626991B CN110626991B (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911014146.0A Active CN110626991B (en) | 2019-10-23 | 2019-10-23 | Clamping type telescopic device and transfer robot with same |
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| Country | Link |
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| CN (1) | CN110626991B (en) |
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| CN110626991B (en) | 2024-07-02 |
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