CN112357441A

CN112357441A - Transfer robot

Info

Publication number: CN112357441A
Application number: CN202011205346.7A
Authority: CN
Inventors: 高明; 孔哲; 李再金
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2021-02-12

Abstract

The application provides a transfer robot, which comprises a mobile chassis, a driving structure, an upright post structure, a transfer device and at least one guide structure; the upright post structure extends along the vertical direction, the upright post structure is in rolling connection with the movable chassis through the guide structure, the movable chassis is connected with the driving structure, and the driving structure is used for driving the carrying device to ascend or descend along the vertical direction; and/or the upright post structure comprises a fixed upright post component and a movable upright post component which are connected through a guide structure in a rolling way, and the driving structure is used for driving the movable upright post component to ascend or descend relative to the fixed upright post component along the vertical direction. The application provides a transfer robot can reduce the shake that transfer robot rises or the decline in-process produced, improves transfer robot's stability.

Description

Transfer robot

Technical Field

The application relates to the field of intelligent warehousing, in particular to a transfer robot.

Background

Intelligent warehousing is an important link in the logistics process. The transfer robot can replace manual goods transfer and plays an important role in intelligent warehouse logistics.

The transfer robot may include a moving chassis, a support, a transfer device, and a plurality of storage racks, wherein the support is disposed on the moving chassis, the transfer device is connected to the support, and the transfer device may move up and down in a height direction of the support, and the storage racks are disposed at intervals in the height direction of the support. Realize that transfer robot removes in the warehouse through the chassis, the storage goods shelves are used for the storage goods, and handling device is used for unloading from the storage goods shelves, perhaps places the goods on the storage goods shelves.

However, the transfer robot is poor in stability and is likely to shake during the process of ascending or descending.

Disclosure of Invention

The application provides a transfer robot, can reduce the shake that transfer robot rises or the decline in-process produced, improves transfer robot's stability.

The application provides a transfer robot, which comprises a mobile chassis, a driving structure, an upright post structure, a transfer device and at least one guide structure;

the upright post structure extends along the vertical direction, the upright post structure is in rolling connection with the movable chassis through the guide structure, the movable chassis is connected with the driving structure, and the driving structure is used for driving the carrying device to ascend or descend along the vertical direction;

and/or the upright post structure comprises a fixed upright post component and a movable upright post component which are connected through a guide structure in a rolling way, and the driving structure is used for driving the movable upright post component to ascend or descend relative to the fixed upright post component along the vertical direction.

Optionally, the guide structure of the transfer robot provided by the application includes a first guide assembly, the first guide assembly includes a first sliding groove and a first guide wheel set inserted into the first sliding groove, and the first sliding groove is located on the upright structure and extends in the vertical direction;

the first guide wheel set is connected with the carrying device and rolls along the extending direction of the first sliding groove.

Optionally, the carrying robot provided by the application, the guide wheel set includes a guide rod and at least one first guide wheel, the guide rod is connected with the carrying device, and the first guide wheel is connected with the guide rod and rotates relative to the guide rod; the first guide wheel is positioned in the first sliding groove, and the wheel surface of at least one first guide wheel is abutted against the inner wall of the first sliding groove.

Optionally, the transfer robot that this application provided, the leading wheel group still includes at least a pair of second leading wheel, and the second leading wheel is connected with the guide bar, and the second leading wheel is located first spout, and the wheel face of at least one second leading wheel and the inner wall butt of first spout, the wheel face of first leading wheel and the wheel face of second leading wheel respectively with the different inner wall butt of first spout.

Optionally, the transfer robot that this application provided, guide structure includes second direction subassembly, and the second direction subassembly includes second spout and second direction wheelset, and the second spout extends along vertical direction, and the second direction wheelset is located the second spout and moves along the extending direction of second spout, and the second spout is located one of fixed stand subassembly and activity stand subassembly, and the second direction wheelset is located another one.

Optionally, the transfer robot provided by the present application, the second guiding assembly further includes at least one third guiding wheel set, and the third guiding wheel set abuts against different side walls of the movable upright assembly.

Optionally, the transfer robot that this application provided, handling device include at least one connecting piece, and the connecting piece sets up with first direction subassembly one-to-one, and the guide bar includes the guide bar main part and sets up at least one extension in the guide bar main part, and the rotatable connection of second leading wheel is on the extension, and the rotatable connection of first leading wheel is in the guide bar main part, and the guide bar main part is connected with the connecting piece.

Optionally, the transfer robot provided in this application, the upper portion of the column structure has at least one limiting part, the connecting piece has at least one notch, the notch and the limiting part are arranged in a one-to-one correspondence manner, and when the transfer device moves to the second end of the column structure, the notch abuts against the limiting part.

Optionally, the transfer robot that this application provided, structural at least one first shock attenuation piece that has of stand, when breach and locating part butt, the connecting piece and the butt of first shock attenuation piece.

Optionally, according to the transfer robot provided by the application, the first shock absorbing member is located in the first sliding groove, and the limiting members are located on two opposite sides of the first sliding groove respectively.

The application provides a transfer robot, through guide structure roll connection stand structure and handling device, and/or, through guide structure roll connection activity stand subassembly and fixed stand subassembly. Therefore, the shaking generated in the ascending or descending process of the carrying device and/or the movable upright post assembly is reduced, the stability of the carrying device and/or the movable upright post assembly in the moving process is improved, the stability of the carrying robot is improved, and abnormal sound generated in the using process of the carrying robot is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural view of a transfer robot according to another angle provided in the embodiment of the present disclosure;

fig. 3 is a schematic structural view of a vertical support in a transfer robot according to an embodiment of the present disclosure;

fig. 4 is a schematic structural view of a first fixing column in the transfer robot according to the embodiment of the present disclosure;

fig. 5 is a schematic structural view of a first movable column in the transfer robot according to the embodiment of the present disclosure;

FIG. 6 is a schematic view of the internal structure of the section A-A in FIG. 2 along the Z-axis direction;

FIG. 7 is a schematic view of the internal structure of the cross-section B-B taken along the Z-axis in FIG. 2;

FIG. 8 is a schematic view of the internal structure of the cross-section C-C in FIG. 2 taken along the Z-axis;

fig. 9 is a schematic structural view of a first guide wheel set in the transfer robot according to the embodiment of the present disclosure;

fig. 10 is a schematic structural view of a first guide wheel set and a carrying device in a carrying robot according to an embodiment of the present disclosure;

FIG. 11 is a partial schematic view of FIG. 1 at D;

FIG. 12 is a partial schematic view I of FIG. 1 at E;

FIG. 13 is a second partial schematic view of FIG. 1 at E;

FIG. 14 is a schematic view of the internal structure of the cross-section F-F taken along the Z-axis in FIG. 3;

FIG. 15 is a schematic view of the internal structure of the section G-G in FIG. 3 taken along the Z-axis direction;

FIG. 16 is a partial schematic view of another angle in FIG. 5;

FIG. 17 is a schematic view of the internal structure of the cross-section H-H in FIG. 3 taken along the Z-axis;

FIG. 18 is a schematic view of the internal structure of the section I-I in FIG. 3 taken along the Z-axis direction;

fig. 19 is a schematic structural view of a third guide wheel set in the transfer robot according to the embodiment of the present disclosure;

fig. 20 is a schematic structural view of a column structure and a driving mechanism in the transfer robot according to the embodiment of the present disclosure;

fig. 21 is a schematic structural view of a drive mechanism in a transfer robot according to an embodiment of the present application.

Description of reference numerals:

100-moving the chassis; 110-a base plate; 120-a drive wheel assembly; 130-a driven wheel assembly;

200-column structure; 210-securing the column assembly; 210 a-securing a first end of a column assembly; 210 b-securing the second end of the post assembly; 211-first fixed column; 212-second fixed column; 213-fixed cross beam; 214-a support base; 220-a movable upright post assembly; 221-a first movable column; 222-a second movable column; 223-a movable beam; 230-a body; 231-a guide groove; 2311-inner side wall; 2312-bottom wall; 240-a first damping member; 250-a stop;

300-a handling device; 300 a-handling device first side; 310-a connector; 311-notch;

400-a drive structure; 410-retraction assembly; 411-motor; 412-a bobbin; 413-a drive shaft; 414-a drive wheel set; 4141-driving wheel; 4142-driven wheel; 420-a traction assembly; 421-a hauling cable; 421 a-a first end of the pull cord; 421 b-a second end of the pull cord; 422-guide wheel group; 4221-top pulley; 4222-bottom pulley; 4223-a main pulley;

50-a first guide assembly; 51-a first runner; 5101-a first containment section; 5102-a second containment section; 52-a first guide wheel set; 5201-a guide bar; 5202-a first guide wheel; 5203-a second guide wheel; 5204-a guide bar body; 5205-a first extension; 5206-a first side; 5207-a second side;

500-a second guide assembly; 510-a second runner; 511-a third containment section; 5111-first chute sidewall; 5112-a second chute side wall; 512-a fourth containment section; 520-a second guide wheel set; 521-a guide base; 5211-a support portion; 5212-a second extension; 5213-an abutment; 522-a third guide wheel; 523-a fourth guide wheel; 530-a third guide wheel set; 531-fifth leading wheel; 532-sixth leading wheel; 533-fixed plate;

600-storage shelves;

800-a second damping member;

700-a detection module;

900-indicator light;

1000-wireless module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. 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 the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure; fig. 2 is a schematic structural view of a transfer robot according to another angle provided in the embodiment of the present disclosure; fig. 3 is a schematic structural view of a vertical support in a transfer robot according to an embodiment of the present disclosure; fig. 4 is a schematic structural view of a first fixing column in the transfer robot according to the embodiment of the present disclosure; fig. 5 is a schematic structural view of a first movable column in the transfer robot according to the embodiment of the present disclosure; FIG. 6 is a schematic view of the internal structure of the section A-A in FIG. 2 along the Z-axis direction; FIG. 7 is a schematic view of the internal structure of the cross-section B-B taken along the Z-axis in FIG. 2; FIG. 8 is a schematic view of the internal structure of the cross-section C-C in FIG. 2 taken along the Z-axis; fig. 9 is a schematic structural view of a first guide wheel set in the transfer robot according to the embodiment of the present disclosure; fig. 10 is a schematic structural view of a first guide wheel set and a carrying device in a carrying robot according to an embodiment of the present disclosure; fig. 11 is a partial schematic view at D in fig. 1. Referring to fig. 1 to 11, the present application provides a transfer robot including a moving chassis 100, a driving structure 400, a column structure 200, a transfer device 300, and at least one guide structure.

The upright post structure 200 extends along the vertical direction, the upright post structure 200 is connected with the movable chassis 100 in a rolling manner through a guide structure, the movable chassis 100 is connected with the driving structure 400, and the driving structure 400 is used for driving the carrying device 300 to ascend or descend along the vertical direction;

and/or, the mast structure 200 includes a fixed mast assembly 210 and a movable mast assembly 220 that roll by a guide structure, and the driving structure 400 is used to drive the movable mast assembly 220 to ascend or descend in a vertical direction with respect to the fixed mast assembly 210.

In particular implementations, the mobile chassis 100 may include a base plate 110, a drive wheel assembly 120, and a driven wheel assembly 130, and the upright structure 200 and the drive structure 400 may be connected to the base plate 110, or the drive structure 400 and the handling device 300 may be connected to the upright structure 200, and the upright structure 200 may be connected to the base plate 110. The pillar structure 200 extends upward of the base plate 110 in a vertical direction, wherein the vertical direction of the extension direction of the pillar structure 200 may also be referred to as a height direction of the transfer robot (i.e., a Z direction in fig. 3). The column structure 200, the carrying device 300 and the driving structure 400 are supported by the base plate 110, and the base plate 110 is driven by the driving wheel assembly 120 to move, so that the carrying robot moves on the ground.

The transfer robot may further include a plurality of storage racks 600, and the storage racks 600 are located on the column structure 200 and spaced apart in the height direction of the column structure 200. The distance between adjacent storage shelves 600 may be the same, or the distance between adjacent storage shelves 600 is different, and the positions of the storage shelves 600 may be set according to requirements, which is not limited herein.

In which the storage shelf 600 is used for storing goods, and the carrying device 300 can store or take goods on the storage shelf 600 or other shelves for placing goods. The handling device 300 may be a robot arm, a clamp fork, a claw, or other devices for accessing the goods, which are well known to those skilled in the art. For example, the carrying device 300 may include a fork carriage (not shown), a fork (not shown), and a rotation driving device (not shown). Wherein, fork and rotary drive all install on the fork bracket.

In the present application, the driving structure 400 is connected to the carrying device 300, and the carrying device 300 is driven to ascend or descend in the vertical direction with respect to the mast structure 200 by the driving structure 400, or the driving structure 400 drives the movable mast assembly 220 to ascend or descend in the vertical direction with respect to the fixed mast assembly 210. However, the stability is poor and the movement of the carrying device 300 or the movable column assembly 220 is likely to cause shaking. Accordingly, the present application contemplates roll-coupling mast structure 200 and handling apparatus 300 via guide structures and/or roll-coupling movable mast assembly 220 and fixed mast assembly 210 via guide structures. Therefore, the shaking generated in the ascending or descending process of the carrying device 300 and/or the movable upright post assembly 220 is reduced, the stability of the carrying device 300 and/or the movable upright post assembly 220 in the moving process is improved, the stability of the carrying robot is improved, and the abnormal sound generated in the using process of the carrying robot is reduced.

Next, the rolling connection between the upright structure 200 and the moving chassis 100 through the guiding structure will be described with reference to the drawings.

With continued reference to fig. 2, fig. 3, and fig. 5 to fig. 11, in the present application, the guiding structure includes a first guiding assembly 50, the first guiding assembly 50 includes a first sliding groove 51 and a first guiding wheel set 52 inserted into the first sliding groove 51, the first sliding groove 51 is located on the upright structure 200, and the first sliding groove 51 extends in the vertical direction; the first guide roller set 52 is connected to the carrying device 300, and the first guide roller set 52 rolls along the extending direction of the first slide groove 51.

Specifically, the guide wheel set 52 includes a guide bar 5201 and at least one first guide wheel 5202, the guide wheel set 52 may further include at least one pair of second guide wheels 5203, the guide bar 5201 is connected to the carrying device 300, the first guide wheel 5202 and the second guide wheel 5203 are both connected to the guide bar 5201, and the first guide wheel 5202 and the second guide wheel 5203 both rotate relative to the guide bar 5201; first leading wheel 5202 and second leading wheel 5203 are located first spout 51, and at least one first leading wheel 5202 and/or at least one second leading wheel 5203 are supported on the inner wall of first spout 51, and each first leading wheel 5202 can be supported on the same inner wall of first spout 51 or different inner walls, and each second leading wheel 5203 can be supported on the same inner wall of first spout 51 or different inner walls, and first leading wheel 5202 and second leading wheel 5203 can be supported on different inner walls of first spout 51.

The guide bar 5201 is used to support the first guide wheel 5202 and the second guide wheel 5203, and the wheel surface of the first guide wheel 5202 and/or the wheel surface of the second guide wheel 5203 are respectively abutted against different inner walls of the first sliding groove 51, so as to reduce the shake generated during the movement of the carrying device 300.

In the present application, an angle is formed between the axis of the first guide wheel 5202 and the axis of the second guide wheel 5203, and an angle is formed between the axis of the first guide wheel 5202 and the axis of the second guide wheel 5203 and the extending direction of the first sliding chute 51. This ensures that the tread surface of each first guide wheel 5202 and the tread surface of each second guide wheel 5203 are in contact with different inner walls of the first slide groove 51.

Alternatively, the axis of the first guide wheel 5202 and the axis of the second guide wheel 5203 may be perpendicular to each other, and both the axis of the first guide wheel 5202 and the axis of the second guide wheel 5203 are perpendicular to the extending direction of the first sliding groove 51, thereby preventing the wheel surface of each first guide wheel 5202 and each second guide wheel 5203 from affecting each other. Here, the axis of the first guide wheel 5202 is along the X direction in fig. 7, the axis of the second guide wheel 5203 is along the Y direction in fig. 8, and the extending direction of the first sliding chute 51 is along the Z direction in fig. 6.

The carrying device 300 comprises at least one connecting piece 310, the connecting piece 310 is arranged corresponding to the first guide assembly one by one, the guide rod 5201 comprises a guide rod main body 5204 and at least one first extending part 5205 arranged on the guide rod main body 5204, the second guide wheel 5203 is rotatably connected on the first extending part 5205, the first guide wheel 5202 is rotatably connected on the guide rod main body 5204, and the guide rod 5204 main body is connected with the connecting piece 310.

Specifically, the guide bar body 5204 extends in a vertical direction, the first extension portion 5205 is perpendicular to the guide bar body 5204, and the second guide wheel 5203 is connected to both opposite sides of the first extension portion 5205.

Next, the positions of the first guide pulley 5202 and the second guide pulley 5203 in the first guide pulley group 52 will be described with reference to the pillar structure 200.

Referring to fig. 1 to 11, the column structure 200 includes a fixed column assembly 210 and a movable column assembly 220, the first sliding slot 51 is located on the movable column assembly 220, a first end 210a of the fixed column assembly is fixedly connected to the movable chassis 100, the fixed column assembly 210 extends in a vertical direction, the movable column assembly 220 is connected to the fixed column assembly 210, and the carrying device 300 is connected to the movable column assembly 220 and moves in the vertical direction relative to the movable column assembly 220.

Optionally, the movable mast assembly 220 moves in a vertical direction relative to the fixed mast assembly 210. Thereby, the extension and contraction of the pillar structure 200 is achieved, which facilitates the carrying device 300 to take or store goods at a higher position.

In some embodiments, the driving structure 400 may be connected to the movable shaft assembly 220, and the driving structure 400 drives the movable shaft assembly 220 to move along the extending direction of the fixed shaft assembly 210, i.e., the movable shaft assembly 220 can move up and down in the vertical direction relative to the fixed shaft assembly 210, thereby achieving the extension and retraction of the shaft structure 200. In other embodiments, the driving structure 400 drives the carrying device 300 to move relative to the movable upright assembly 220, and when the carrying device 300 moves to the top end of the movable upright assembly 220, the driving structure 400 drives the movable upright assembly 220 to move along the extending direction of the fixed upright assembly 210 through the carrying device 300.

In this application, the fixed column assembly 210 includes a first fixed column 211 and a second fixed column 212, and both the first fixed column 211 and the second fixed column 212 are fixedly connected to the mobile chassis 100.

The movable upright assembly 220 includes a first movable column 221 and a second movable column 222, the first movable column 221 is connected with the first fixed column 211, and the second movable column 222 is connected with the second fixed column 212. The first movable column 221 and the second movable column 222 each have a first slide groove 51.

The first movable column 221 and the first fixed column 211 can be slidably connected through a first sliding chute and a sliding block, and the first movable column 221 and the first fixed column 211 can also be connected in a rolling manner through the first guide wheel set 52. Second movable column 222 and second fixed column 212 may be slidably connected through a first sliding slot and a sliding block, and second movable column 222 and second fixed column 212 may also be connected in a rolling manner through first guiding wheel set 52. The embodiment is not limited herein.

In this embodiment, the carrying device 300 is located between the first movable column 221 and the second movable column 222, and two opposite sides of the carrying device 300 are respectively connected with the first movable column 221 and the second movable column 222 in a rolling manner through different first guide assemblies 50.

Specifically, the opposite sides of the carrying device 300 each have at least one connecting member 310, and the connecting member 310 of the first side 300a of the carrying device is connected to the guide rod main body 5204 of the first guide wheel group 52 in the first sliding slot 51 of the first movable column 221. Accordingly, the connecting member 310 of the second side of the carrying device is connected to the guide bar body 5204 of the first guide wheel group 52 in the first sliding slot 51 of the second movable column 222. Thereby, the handling device 300 is stably connected, and the stability of the handling device 300 moving relative to the movable upright assembly 220 is maintained.

The structure of the rolling connection between the carrying device 300 and the first movable column 221 is the same as the structure of the rolling connection between the carrying device 300 and the second movable column 222, and for convenience of description, the connecting member 310 of the first side 300a of the carrying device is connected to the guide rod main body 5204 of the first guide wheel set 52 in the first sliding slot 51 of the first movable column 221 in the embodiment and the drawings as an illustration.

In the present application, the first chute 51 may include a first containing section 5101 and a second containing section 5102 extending in the extending direction of the first chute 51, the first containing section 5101 communicates with the second containing section 5102, and the width of the second containing section 5102 (i.e., the length in the Y direction in fig. 8) is smaller than the width of the first containing section 5101, i.e., the cross-sectional shape of the first chute 51 is a letter-convex shape. The first guide wheel 5202 and the second guide wheel 5203 are located in the first containing section 5101, the guide bar body 5204 is located in the second containing section 5102, and the first extension 5205 extends into the first containing section 5101. Thereby confining the first guide wheel 5202 and the second guide wheel 5203 within the first containing segment 5101.

The tread surfaces of the first guide wheels 5202 abut two first side surfaces 5206 of the first accommodation section 5101, respectively; and/or the tread of the second guide wheel 5203 abuts two second side faces 5207 opposite to the first containing section 5101, respectively.

FIG. 12 is a partial schematic view I of FIG. 1 at E; fig. 13 is a partial schematic view two of fig. 1 at E. Referring to fig. 1 to 13, in some embodiments, the upper portion of the column structure 200 has at least one limiting member 250, the connecting member 310 has at least one notch 311, the notches 311 and the limiting members 250 are disposed in a one-to-one correspondence, and when the handling device 300 moves to the second end of the column structure 200, the notches 311 abut against the limiting members 250.

In a specific implementation, the notch 311 may be matched with the limiting member 250, and for example, when the limiting member 250 is rectangular, the notch 311 is a rectangular notch matched with the limiting member 250. When the carrying device 300 moves to the upper portion of the column structure 200, the notch 311 abuts against the stopper 250 to prevent the carrying device 300 from moving out of the column structure 200. The limiting member 250 may also be one of a spring, a silicon sheet, or a rubber sheet.

In order to avoid the impact of the carrying device 300 on the upright structure 200, in some embodiments, at least one first damping member 240 is disposed on the upright structure 200, and when the notch 311 abuts against the limiting member 250, the connecting member 310 abuts against the first damping member 240, so that the impact of the carrying device 300 on the upright structure 200 is damped by the first damping member 240.

In a specific implementation, the first shock-absorbing member 240 may be located at an upper portion of the pillar structure 200, or the first shock-absorbing member 240 may be located at a second end of the pillar structure 200. Wherein the first shock absorbing member 240 is a shock absorber. It is understood that the first damping member 240 may also be one of a spring, a silicon sheet or a rubber sheet, and the embodiment is not limited thereto.

In some embodiments, the first damping member 240 is located in the first sliding groove 51, and the limiting members 250 are respectively located at two opposite sides of the first sliding groove 51. Therefore, the carrying device 300 can be stably contacted with the limiting member 250, and the impact on the goods on the carrying device 300 can be avoided.

In the present application, the first sliding groove 51 of the first movable column 221 and the first sliding groove 51 of the second movable column 222 have the first shock absorbing member 240 therein. This balances the impact of the conveying device 300 on the column structure 200.

Fixed column assembly 210 may include fixed cross beam 213, and the first end of first fixed column 211 and the first end of second fixed column 212 are all with removal chassis 100 rigid coupling, and first fixed column 211 and second fixed column 212 still connect through fixed cross beam 213. The second end of the first fixing column 211 and the second end of the second fixing column 212 (i.e. the second end 210b of the fixing column assembly) may be connected by a fixing cross beam 213, or the connecting position of the fixing cross beam 213 is close to the second end of the first fixing column 211 and the second end of the second fixing column 212. First fixed column 211 and second fixed column 212 are both perpendicular to mobile chassis 100, fixed cross beam 213 is perpendicular to first fixed column 211, and fixed cross beam 213 is perpendicular to second fixed column 212. Wherein, the fixed column assembly 210 has a support base 214 thereon, and the driving mechanism 400 is connected to the support base 214.

Hereinafter, the rolling connection between the movable post assembly 220 and the fixed post assembly 210 through the guide structure will be described with reference to the drawings.

FIG. 14 is a schematic view of the internal structure of the cross-section F-F taken along the Z-axis in FIG. 3; FIG. 15 is a schematic view of the internal structure of the section G-G in FIG. 3 taken along the Z-axis direction; FIG. 16 is a partial schematic view of another angle in FIG. 5; FIG. 17 is a schematic view of the internal structure of the cross-section H-H in FIG. 3 taken along the Z-axis; FIG. 18 is a schematic view of the internal structure of the section I-I in FIG. 3 taken along the Z-axis direction; fig. 19 is a schematic structural view of a third guide wheel set in the transfer robot according to the embodiment of the present disclosure. Referring to fig. 1 to 5 and 14 to 19, in the present application, the guiding structure further includes a second guiding assembly 500, the fixed column assembly 210 and the movable column assembly 220 are connected by the second guiding assembly 500 in a rolling manner, the driving structure 400 drives the movable column assembly 220 to move in a vertical direction relative to the fixed column assembly 210, and the second guiding assembly 500 guides the movable column assembly 220 during the moving process.

Specifically, the second guiding assembly 500 includes a second sliding groove 510 and a second guiding wheel set 520, the second sliding groove 510 extends along the vertical direction, the second guiding wheel set 520 is located in the second sliding groove 510 and moves along the extending direction of the second sliding groove 510, the second sliding groove 510 is located on one of the fixed upright post assembly 210 or the movable upright post assembly 220, and the second guiding wheel set 520 is located on the other of the fixed upright post assembly 210 or the movable upright post assembly 220.

For convenience of description, in the present application, the second sliding groove 510 is located on the fixed mast assembly 210, and the second guide wheel set 520 is located on the movable mast assembly 220, it is understood that the positions of the second sliding groove 510 and the second guide wheel set 520 may be interchanged, the second sliding groove 510 is located on the movable mast assembly 220, and the second guide wheel set 520 is located on the fixed mast assembly 210.

Specifically, can set up second spout 510 on fixed stand subassembly 210, connect second direction wheelset 520 on movable stand subassembly 220, and the inner wall butt of second direction wheelset 520 and second spout 510, the in-process that movable stand subassembly 220 removed, second direction wheelset 520 rolls along the inner wall of second spout 510, thereby reduce rocking that movable stand subassembly 220 produced, improve stand subassembly 220's stability, reduce the abnormal sound that produces in the handling robot use.

In the present application, when the second sliding groove 510 is located on the fixed pillar assembly 210, the movable pillar assembly 220 is inserted into the second sliding groove 510; when the second sliding groove 510 is located on the movable post assembly 220, the fixed post assembly 210 is inserted into the second sliding groove 510. Thereby reducing the space occupied by the pillar structure 200.

The fixed upright post assembly 210 comprises a first fixed post 211 and a second fixed post 212, the first fixed post 211 and the second fixed post 212 are both connected with the moving chassis 100, and the first fixed post 211 and the second fixed post 212 are both provided with a second sliding groove 510. The movable upright assembly 220 includes a first movable column 221 and a second movable column 222, and the first movable column 221 and the second movable column 222 are respectively provided with a second guide wheel set 520.

It should be noted that the first fixing column 211 and the second fixing column 212 have the same structure, and the first movable column 221 and the second movable column 222 have the same structure, and in this embodiment, the connection manner between the upright structure 200 and the second guiding assembly 500 is described by taking the drawings of the first fixing column 211 and the first movable column 221 as an example.

In a specific implementation, the second guide wheel group 520 may include a guide base 521 and at least one pair of third guide wheels 522, the second guide wheel group 520 may further include at least one pair of fourth guide wheels 523, each of the third guide wheels 522 and each of the fourth guide wheels 523 may be rotatably disposed on the guide base 521, at least one of the third guide wheels 522 and/or at least one of the fourth guide wheels 523 may abut against an inner wall of the second sliding chute 510, each of the third guide wheels 522 may abut against the same inner wall or a different inner wall of the second sliding chute 510, each of the fourth guide wheels 523 may abut against the same inner wall or a different inner wall of the second sliding chute 510, and the third guide wheels 522 and the fourth guide wheels 523 may abut against different inner walls of the second sliding chute 510.

Wherein, the guide base 521 is connected to the fixed upright assembly 210 or the movable upright assembly 220, and the guide base 521 is used for supporting each third guide wheel 522 and each fourth guide wheel 523. The wheel surface of the third guide wheel 522 and/or the wheel surface of the fourth guide wheel 523 are respectively abutted against different inner walls of the second chute 510, so that the shaking generated by the movable stand column assembly 220 is reduced.

In the present application, an angle is formed between an axis of the third guide wheel 522 and an axis of the fourth guide wheel 523, and an angle is formed between an axis of the third guide wheel 522 and an axis of the fourth guide wheel 523 and an extending direction of the second chute 510. This ensures that the tread of each third guide wheel 522 and the tread of each fourth guide wheel 523 are in contact with different inner walls of the second chute 510, respectively

Alternatively, the axis of the third guide wheel 522 and the axis of the fourth guide wheel 523 may be perpendicular to each other, and both the axis of the third guide wheel 522 and the axis of the fourth guide wheel 523 are perpendicular to the extending direction of the second chute 510, thereby preventing the wheel surface of each third guide wheel 522 and each fourth guide wheel 523 from affecting each other. The axis of the third guide wheel 522 is along the Y direction in fig. 16, the axis of the fourth guide wheel 523 is along the X direction in fig. 16, and the extending direction of the second sliding chute 510 is along the Z direction in fig. 4.

In some embodiments, opposite edges of the guide base 521 respectively have at least one supporting portion 5211, the supporting portions 5211 are perpendicular to the guide base 521, the third guide wheels 522 are disposed in one-to-one correspondence with the supporting portions 5211, and the third guide wheels 522 are disposed at the outer sides of the supporting portions 5211. Wherein at least one support portion 5211 is respectively disposed at opposite edges of the guide base 521 (i.e., opposite side edges of the guide base 521), and the third guide wheel 522 may be connected to the outside of the support portion 5211 by a connecting shaft, thereby facilitating the installation of the third guide wheel 522. The plane of the third guide wheel 522 is perpendicular to the plane of the guide base 521. That is, the plane on which the third guide roller 522 is located is an XZ plane in the drawing, and the plane on which the guide base 521 is located is a YZ plane in fig. 16.

In other embodiments, the guide base 521 has at least two second extending portions 5212 respectively extending toward the opposite outer sides of the guide base 521, the fourth guide wheels 523 are disposed on the second extending portions 5212, the fourth guide wheels 523 are disposed in one-to-one correspondence with the second extending portions 5212, wherein the fourth guide wheels 523 can be connected to the second extending portions 5212 through a connecting shaft, thereby facilitating the installation of the fourth guide wheels 523. The plane of the fourth guide wheel 523 is parallel to the plane of the guide base 521. That is, the plane of the fourth guide wheel 523 and the plane of the guide base 521 are both XZ planes in fig. 16.

In the transfer robot provided by the present application, the second extending portions 5212 and the supporting portions 5211 are both located on the same opposite sides of the guide base 521, and the second extending portions 5212 are located between the supporting portions 5211 on the same side of the guide base 521, so that the third guide wheels 522 and the fourth guide wheels 523 are dispersedly disposed, thereby improving the stability of the column assembly 220. In the drawings of the present embodiment, two pairs of the third guide wheels 522 and one pair of the fourth guide wheels 523 are described.

The structure of the second guide wheel set 520 is described in the above embodiment, and the structure of the second sliding groove 510 is described below with reference to the structure of the second guide wheel set 520.

In the present application, the second chute 510 includes a third accommodation section 511 extending in the extending direction of the second chute 510, and the third accommodation section 511 has two opposite first chute side walls 5111 and two opposite second chute side walls 5112.

The second guide wheel group 520 is located in the third accommodating section 511, each third guide wheel 522 is located between two second chute side walls 5111, and the wheel surface of each fourth guide wheel 523 abuts against two second chute side walls 5112 respectively. From this, fourth leading wheel 523 is main leading wheel, and third leading wheel 522 is supplementary leading wheel, and when activity stand subassembly 220 produced and rocked, the wheel face of third leading wheel 522 can be with second spout lateral wall 5111 butt to reduce rocking of activity stand subassembly 220.

In some embodiments, the second chute 510 further includes a fourth accommodating section 512 extending along the extending direction of the second chute 510, the width (i.e., the length in the Y direction in fig. 14) of the fourth accommodating section 512 is smaller than the width (i.e., the length in the Y direction in fig. 14) of the third accommodating section 511, and the fourth accommodating section 512 is communicated with the third accommodating section 511. Each of the first movable column 221 and the second movable column 222 includes a body 230, the body 230 is located in the fourth accommodating section 512, and a portion of the body 230 extends into the third accommodating section 511 and is connected to the guide base 521. When the device is installed, the first movable post 221 is inserted into the second sliding slot 510 of the first fixed post 211 from the top of the first fixed post 211, and the second movable post 222 is inserted into the second sliding slot 510 of the second fixed post 212 from the top of the second fixed post 212. The second guide wheel set 520 is confined in the third accommodation section 511 by setting the width of the fourth accommodation section 512 to be smaller than the width of the third accommodation section 511.

In the present application, the second guiding assembly 500 further comprises at least one third guiding wheel set 530, and the third guiding wheel set 530 abuts against different sidewalls of the movable pillar assembly 220. Wherein the second guiding wheel set 520 and the third guiding wheel set 530 are respectively located on different sidewalls of the movable pillar assembly 220.

The third guiding wheel set 530 includes at least one fifth guiding wheel 531, the third guiding wheel set 530 may further include at least one sixth guiding wheel 532, each fifth guiding wheel 531 is rotatably disposed on two opposite sides of the fixed pillar assembly 210, each sixth guiding wheel 532 is rotatably disposed on two opposite sides of the fixed pillar assembly 210, and the fifth guiding wheel 531 and the sixth guiding wheel 532 are located on the same two opposite sides of the fixed pillar assembly 210. Part of the fifth guide wheel 531 extends into the fourth accommodating section 512, and the wheel surface of at least one fifth guide wheel 531 abuts against two opposite sides of the body 230, and/or part of the sixth guide wheel 532 extends into the fourth accommodating section 512, and the wheel surface of at least one sixth guide wheel 532 abuts against two opposite sides of the body 230.

In some embodiments, the fifth and

sixth guide wheels

531 and 532 may be disposed in the same manner as the third and

second guide wheels

522 and 523. The tread of the fifth guide wheel 531 and the tread of the sixth guide wheel 532 may abut against different sides of the body 230, respectively, i.e., the axis of the fifth guide wheel 531 may be perpendicular to the axis of the sixth guide wheel 532.

In a specific implementation, the first fixing column 211 and the second fixing column 212 have a third guiding wheel set 530 thereon, and the third guiding wheel sets 530 on the first fixing column 211 and the second fixing column 212 are symmetrical. Similarly, the first fixing column 211 and the second fixing column 212 are respectively provided with a second guide wheel set 520, and the second guide wheel sets 520 on the first fixing column 211 and the second fixing column 212 are symmetrical.

In some embodiments, the body 230 has a guide slot 231 extending in a vertical direction, the sixth guide wheel 532 is located within the guide slot 231, an inner side wall 2311 of the sixth guide wheel 532 opposite the guide slot 231 abuts and/or the fifth guide wheel 531 abuts a bottom wall 2312 of the guide slot 231.

In the drawing of the present embodiment, the sixth guide wheel 532 is located in the guide groove 231, and the fifth guide wheel 531 abuts against the bottom wall 2312 of the guide groove 231. Like this, fifth leading wheel 531 is main leading wheel, and sixth leading wheel 532 is supplementary leading wheel, and when activity stand subassembly 220 produced and rocked, the wheel face of sixth leading wheel 532 can with the lateral wall butt of guide way 231 to reduce rocking of activity stand subassembly 220.

In order to fix the fifth guide wheel 531 and the sixth guide wheel 532 conveniently, the third guide wheel set 530 further includes at least two fixing plates 533, the fifth guide wheel 531 and the sixth guide wheel 532 are connected to the fixing plates 533, and the fixing plates 533 are fixedly connected to the fixed column assembly 210.

In the present application, each third guide wheel set 530 is located at an upper portion of the fixed mast assembly 210 and/or the guide base 521 is located at a lower portion of the movable mast assembly 220. Thus, when the second guide wheel group 520 rolls along the inner wall of the second sliding chute 510, the movable pillar assembly 220 is uniformly guided by the second guide wheel group 520 and the third guide wheel group 530.

In some embodiments, in order to reduce the impact of the movable upright post assembly 220 on the moving chassis 100, the upright bracket further comprises a second shock absorbing member 800, the second shock absorbing member 800 is fixedly connected with the fixed upright post assembly 210 or the moving chassis 100, the shock absorbing surface of the second shock absorbing member 800 faces the second guide wheel set 520, and when the body 230 moves towards the moving chassis 100, the second guide wheel set 520 abuts against the second shock absorbing member 800.

In a specific implementation, the guide base 521 has an abutting portion 5213, the second damper 800 is located in the third accommodating section 511, and when the body 230 moves toward the moving chassis 100, the abutting portion 5213 abuts against the second damper 800.

Wherein the second shock absorbing member 800 is a shock absorber. It is understood that the second shock absorbing member 800 may also be one of a spring, a silicon sheet or a rubber sheet, and the embodiment is not limited thereto.

In this application, an indicator lamp 900 and/or a wireless module 1000 are further included, the indicator lamp 900 is used for indicating the working state of the transfer robot, and the wireless module 1000 is used for communication.

Specifically, the wireless module 1000 and the indicator lamp 900 are both located on the fixed post assembly 210, and the wireless module 1000 is located on a side of the fixed post assembly 210 facing away from the mobile chassis 100. The wireless module 1000 and the indicator lamp 900 may be both located on the fixed beam 213, the wireless module 1000 may be located on the top surface of the fixed beam 213, and the indicator lamp 900 may be located on the side surface of the fixed beam 213.

In the present application, the movable pillar assembly 220 may further include a movable cross member 223, and the second end of the first movable pillar 221 and the second end of the second movable pillar 222 are connected by the movable cross member 223. Thereby, the first movable column 221 and the second movable column 222 are maintained to move synchronously.

In some embodiments, the vertical stand further includes a detection module 700 and a control module (not shown in the drawings), the detection module 700 is located on the movable cross beam 223, the driving mechanism 400 and the detection module 700 are electrically connected to the control module, the detection module 700 is configured to detect a distance between the movable upright assembly 230 and an object above the movable upright assembly, and the control module is configured to control the movable upright assembly 220 to stop moving through the driving mechanism 400 when the distance is smaller than a preset value. Therefore, the movable upright post assembly 220 can be prevented from collision caused by continuous movement towards the building above the movable upright post assembly, and the damage and safety accidents caused by the vertical bracket can be avoided. The object above the movable pillar assembly 220 may be a cross beam, a longitudinal beam or a roof of the warehouse.

In particular implementations, the detection module 700 may be located on a side of the movable cross-beam 223 facing away from the mobile chassis 100, such that the detection module 700 is facilitated to detect a distance between the movable upright assembly 220 and an object above the movable upright assembly.

Alternatively, the detection module 700 may be a ranging sensor. Specifically, the detecting module 700 may be a distance measuring sensor known to those skilled in the art, such as an ultrasonic sensor, a laser ranging sensor, or an infrared ranging sensor, which is not limited herein.

Fig. 20 is a schematic structural view of a column structure and a driving mechanism in the transfer robot according to the embodiment of the present disclosure; fig. 21 is a schematic structural view of a drive mechanism in a transfer robot according to an embodiment of the present application. Referring to fig. 1 to 21, in the transfer robot provided by the present application, the driving mechanism 400 includes a retraction assembly 410 and at least one set of traction assembly 420, the traction assembly 420 includes a traction rope 421 and a guide wheel set 422, the traction rope 421 is wound on the guide wheel set 422, a first end 421a of the traction rope is connected to the transfer device 300, a second end 421b of the traction rope is connected to the retraction assembly 410, and the retraction assembly 410 retracts or releases the traction rope 421 to move the transfer device 300 relative to the movable upright assembly 240.

In order to move the carrying device 300 relative to the movable upright assembly 220, two or more sets of the pulling assemblies 420 may be provided, and the pulling assemblies 420 are respectively connected to two opposite sides of the upright structure 200.

The hauling rope 421 may be a steel rope made of steel wire or a nylon rope. The hauling cable 421 is a steel cable so that the carrying device 300 will not break due to the over weight of the goods carried by the carrying device 300 when ascending or descending relative to the movable upright post assembly 220.

In a specific implementation, the guide pulley set 422 may include a top pulley 4221, a bottom pulley 4222 and a main pulley 4223, the top pulley 4221 is detachably mounted on a side surface of the second end of the movable upright post assembly 220, the bottom pulley 4222 is detachably mounted on a side surface of the first end of the movable upright post assembly 220 facing the fixed upright post assembly 210, the main pulley 4223 is mounted on the second end of the fixed upright post assembly 210, and the pulling rope 421 sequentially passes through the top pulley 4221, the bottom pulley 4222 and the main pulley 4223 and then is tied to the retraction assembly 410. Therefore, the whole arrangement structure of the transfer robot is simplified and compact, and the utilization rate of the upright post structure 200 is improved.

The winding and unwinding assembly 410 may include a motor 411 and a bobbin 412, a second end 421b of the pulling rope is connected to the bobbin 412, the pulling rope 421 is wound on the bobbin 412, and the motor 411 is configured to drive the bobbin 412 to rotate, so that the bobbin 412 folds or releases the pulling rope 421.

In some embodiments, the winding and unwinding assembly 410 may include a motor 411, a bobbin 412, a transmission shaft 413, and a transmission wheel set 414, wherein a second end 421b of the traction rope is connected to the bobbin 412, and the traction rope 421 is wound on the bobbin 412. The transmission wheel set 414 includes a driving wheel 4141 and a driven wheel 4142 engaged with the driving wheel 4141, an output shaft of the motor 411 is connected with the driving wheel 4141, the driven wheel 4142 is sleeved on the transmission shaft 413, at least one winding reel 412 is provided, the winding reels 412 and the traction ropes 421 are arranged in a one-to-one correspondence manner, and the winding reels 412 are sleeved on the transmission shaft 413. In use, the motor 411 drives the transmission shaft 413 to rotate through the transmission wheel set 414, and the transmission shaft 413 drives the winding reel 412 to rotate clockwise or counterclockwise to release or furl the traction 421, so as to control the carrying device 300 to ascend or descend relative to the movable upright post assembly 220 and the movable upright post assembly 220 to ascend or descend relative to the fixed upright post assembly 210.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A transfer robot is characterized by comprising a mobile chassis, a driving structure, a stand column structure, a transfer device and at least one guide structure;

and/or the upright post structure comprises a fixed upright post assembly and a movable upright post assembly which are connected through the guide structure in a rolling manner, and the driving structure is used for driving the movable upright post assembly to ascend or descend relative to the fixed upright post assembly along the vertical direction.

2. The transfer robot of claim 1, wherein the guide structure comprises a first guide assembly including a first runner and a first guide wheel set inserted into the first runner, the first runner being located on the column structure and extending in a vertical direction;

3. A handling robot as claimed in claim 2, wherein the guide wheel group comprises a guide bar connected to the handling device and at least one first guide wheel connected to the guide bar and rotating with respect to the guide bar; the first guide wheel is positioned in the first sliding groove, and the wheel surface of at least one first guide wheel is abutted to the inner wall of the first sliding groove.

4. The transfer robot of claim 3, wherein the guide wheel set further comprises at least one pair of second guide wheels, the second guide wheels are connected to the guide rod, the second guide wheels are located in the first sliding groove, a wheel surface of at least one of the second guide wheels abuts against an inner wall of the first sliding groove, and the wheel surface of the first guide wheel and the wheel surface of the second guide wheel abut against different inner walls of the first sliding groove, respectively.

5. The transfer robot of claim 1, wherein the guide structure includes a second guide assembly including a second slide groove extending in a vertical direction and a second guide wheel group located inside and moving in an extending direction of the second slide groove, the second slide groove being located on one of the fixed pillar assembly and the movable pillar assembly, the second guide wheel group being located on the other.

6. The transfer robot of claim 5, wherein the second guide assembly further comprises at least one third guide wheel set abutting a different side wall of the movable column assembly.

7. The transfer robot of claim 4, wherein the transfer device comprises at least one connecting member, the connecting member is disposed in one-to-one correspondence with the first guide member, the guide bar comprises a guide bar body and at least one extension portion disposed on the guide bar body, the second guide wheel is rotatably connected to the extension portion, the first guide wheel is rotatably connected to the guide bar body, and the guide bar body is connected to the connecting member.

8. The transfer robot of claim 7, wherein the upper portion of the column structure has at least one stopper, the connecting member has at least one notch, the notches and the stoppers are arranged in a one-to-one correspondence, and when the transfer device moves to the second end of the column structure, the notches abut against the stoppers.

9. The transfer robot of claim 8, wherein the column structure has at least one first shock absorbing member, and wherein the connecting member abuts the first shock absorbing member when the notch abuts the stopper.

10. The transfer robot of claim 9, wherein the first shock absorbing member is located in the first slide groove, and the position limiting members are respectively located on opposite sides of the first slide groove.