CN112720429B - Carrying manipulator and freight transport system - Google Patents

Abstract

The utility model relates to a transport manipulator and freight transportation system, transport manipulator includes base and manipulator main part, the manipulator main part is including transport mechanism and the telescopic machanism that can follow the first direction flexible, transport mechanism is including carrying base member and handling device, handling device is including the terminal actuating mechanism who is used for carrying the goods, handling device is along the movably setting in the transport base member of second direction, the flexible end at telescopic machanism is connected to the transport base member, the manipulator main part is around rotationally setting up in the base along the pivot of third direction extension, first direction and second direction are crossing, the third direction is crossing with the plane at first direction and second direction place. But this transport manipulator's operating range is great, and the flexibility is higher, can move about in narrow and small space. The carrying manipulator can also carry the goods under the condition of smaller degree of freedom, has simple structure, simple control and low cost, and is favorable for being applied to the logistics field on a large scale.

Description

Carrying manipulator and freight transport system

Technical Field

The disclosure relates to the technical field of manipulators, in particular to a carrying manipulator and a freight transport system.

Background

Along with the continuous development of logistics technology, because the goods volume is great, adopt the manual work to sort or transport the goods, staff's work load is big, and efficiency is lower moreover, makes mistakes easily. Therefore, the use of industrial robots and manipulators for handling goods is increasing. However, most of the conventional carrying manipulators adopt six-axis robots, the six-axis robots can move freely in six directions, the motion control is complex, the space required by work is large, the price is high, and the six-axis robots are not suitable for large-scale application in the logistics industry.

Disclosure of Invention

The purpose of this disclosure is to provide a transport manipulator and freight transportation system, this transport manipulator simple structure, it is with low costs.

In order to achieve the above object, according to an aspect of the present disclosure, a carrying manipulator is provided, which includes a base and a manipulator main body, the manipulator main body includes a carrying mechanism and a telescopic mechanism capable of extending and retracting along a first direction, the carrying mechanism includes a carrying base and a carrying device, the carrying device includes an end actuator for carrying goods, the carrying device is movably disposed on the carrying base along a second direction, the carrying base is connected to a telescopic end of the telescopic mechanism, the manipulator main body is rotatably disposed on the base around a rotating shaft extending along a third direction, the first direction intersects the second direction, and the third direction intersects a plane where the first direction and the second direction are located.

Optionally, the manipulator main part still includes the support frame, the support frame wind the pivot is rotatable set up in the base, telescopic machanism includes two sets of flexible subassemblies and is first flexible subassembly and the flexible subassembly of second respectively, first flexible subassembly is followed first direction telescopically set up in the support frame, the flexible subassembly of second is followed first direction telescopically set up in the flexible end of first flexible subassembly, the transport base member is connected the flexible end of the flexible subassembly of second.

Optionally, each telescopic assembly comprises a driving device, a guide rail and a sliding block, the guide rail extends along the first direction and comprises a bottom plate and a pair of single rails arranged on the bottom plate, the sliding block is arranged on each single rail in a sliding mode, the single rails are arranged at intervals to form a containing cavity, the driving device extends along the first direction and is arranged in the containing cavity to drive the sliding block to move along the guide rail,

the bottom plate in the first telescopic assembly is fixed on the supporting frame, the bottom plate in the second telescopic assembly spans the pair of single rails in the first telescopic assembly and is fixedly connected with the sliding block in the first telescopic assembly, and the sliding block in the second telescopic assembly is in transmission connection with the carrying base body.

Optionally, each drive arrangement all includes hold-in range straight line module, hold-in range straight line module follows first direction extends and includes the drive slider, in the first telescopic component the drive slider with in the second telescopic component bottom plate fixed connection, in the second telescopic component the drive slider is connected with the transport mechanism transmission.

Optionally, the carrying mechanism further includes a third driving device, a third guide rail, and a third sliding block, the third guide rail is fixedly disposed on the carrying base and extends along the second direction, the third guide rail includes a pair of third monorail that is disposed at an interval and forms a third accommodating cavity, the third sliding block is slidably disposed on each third monorail, the carrying device is in transmission connection with the third sliding block, and the third driving device extends along the second direction and is disposed in the third accommodating cavity, so as to drive the carrying device to move along the third guide rail.

Optionally, the carrying manipulator further comprises a rotating mechanism, the rotating mechanism comprises a fourth driving device, a transmission assembly and a rotating shaft, the rotating shaft is connected between the manipulator main body and the base, and the fourth driving device is used for driving the manipulator main body to rotate around the axis of the rotating shaft through the transmission assembly.

Optionally, the fourth drive device is fixed in the base, the transmission assembly includes engaged with external gear and internal gear, the internal gear with the transmission of fourth drive device is connected, the external gear is fixed in the bottom of manipulator main part, in order to drive the manipulator main part rotates, the pivot is worn to locate the external gear, and the one end of pivot with manipulator main part circumference locking ground is connected, the other end with the base rotates to be connected, or the one end of pivot with the manipulator main part rotates to be connected, the other end with base circumference locking ground is connected.

Optionally, the carrying manipulator further comprises a support frame, the support frame comprises a support plate and a plurality of supporting legs, the telescopic mechanism is arranged on the support plate, the rotating shaft penetrates through the support plate, each supporting leg is connected to one side of the support plate, facing towards the base, the supporting legs are wound around the rotating shaft at intervals, each supporting leg is provided with a roller at the bottom, the base comprises a base plate, the base plate is arranged opposite to the support plate, and the rollers can roll along the base plate.

Optionally, the first direction, the second direction and the third direction are perpendicular to each other.

According to another aspect of the present disclosure, there is also provided a freight transportation system comprising a drone airport, a drone trolley and the transfer robot described above, the transfer robot being adapted to transfer goods between the drone airport and the drone trolley.

According to the technical scheme, the carrying manipulator only has the degrees of freedom in the three directions of the first direction, the second direction and the third direction, and the first direction is intersected with the second direction, so that the carrying device can reach any position in a movable range in a plane formed by the intersection of the first direction and the second direction by controlling the telescopic mechanism to expand and contract along the first direction and controlling the carrying device to move along the second direction, and the telescopic mechanism and the carrying device can integrally rotate around the third direction, so that the working range of the carrying manipulator is large. And because the manipulator main part can rotate around the third direction, can make handling device fix a position the position that needs to wait to carry the goods like this for first flexible subassembly and handling device are close to the route of waiting to carry the goods directly, and the distance that the required removal of minimizing handling device has increased the flexibility of carrying the manipulator, helps carrying the manipulator to move about in narrow and small space. Compare in six axis robot, transport manipulator in this disclosure can also accomplish the transport to the goods under the condition that the degree of freedom reduces, simple structure, and control procedure is simple, and is with low costs, is favorable to being applied to this transport manipulator in the commodity circulation field on a large scale.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a perspective view of an exemplary handling robot;

FIG. 2 is a side view of an exemplary handling robot;

FIG. 3 is a front view of an exemplary handling robot;

fig. 4 is a perspective view of an exemplary handling robot telescoping mechanism;

fig. 5 is a perspective view of an exemplary second retraction assembly and handling mechanism of the handling robot.

Description of the reference numerals

100-a handling robot; 10-a base; 11-a substrate; 12-a leg; 20-a manipulator body; 30-a telescoping mechanism; 31-a first telescoping assembly; 311-first drive means; 3111-a first drive slide; 312 — a first guide rail; 3121-a first bottom panel; 3122-a first monorail; 313-a first slider; 314-a first receiving chamber; 32-a second retraction assembly; 321-a second drive device; 3211-a second drive slide; 322-a second guide rail; 3221-a second bottom panel; 3222-a second monorail; 323-a second slider; 324-a second receiving cavity; 40-a handling mechanism; 41-handling the substrate; 42-a handling device; 421-end actuator; 43-a third drive; 44-a third guide rail; 45-a third slider; 46-a third receiving chamber; 50-a support frame; 51-a support plate; 52-supporting feet; 53-a roller; 60-a rotating mechanism; 61-a fourth drive; 62-a transmission assembly; 621-an outer gear; 622 — internal gear; 63-a rotating shaft; 64-a bearing; x-a first direction; y-a second direction; z-a third direction.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Unless otherwise stated, the terms of orientation such as "upper, lower, bottom, top" and the like are used to refer to the orientation or positional relationship that the handling robot is conventionally placed when placed on a horizontal plane, and it is understood that the upper and lower directions along the gravity direction also correspond to the "upper and lower" directions on the drawing plane of fig. 1, and are parallel to the Z direction in fig. 3 and 5; "inner and outer" refers to "inner and outer" relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first", "second", and the like are used for distinguishing one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

In order to enable the transportation of goods to be accomplished with a simple structure, in the present disclosure, as shown in fig. 1 to 5, a transporting robot 100 is provided. The transfer robot 100 includes a base 10 and a robot main body 20. The robot main body 20 includes a conveyance mechanism 40 and a telescopic mechanism 30 which is telescopic in the first direction X. The carrying mechanism 40 includes a carrying base 41 and a carrying device 42 for carrying a load. The handling device 42 comprises an end effector 421 for handling goods. The conveying device 42 is movably disposed on the conveying base 41 in the second direction Y. The conveyance base 41 is connected to the telescopic end of the telescopic mechanism 30. The entire robot main body 20 is provided to the base 10 rotatably about a rotation shaft 63 extending in the third direction Z. The first direction X intersects with the second direction Y, and the third direction Z intersects with a plane where the first direction X and the second direction Y are located.

The end effector 421 can grasp goods or release goods. The end effector 421 may be one or more of a pneumatic chuck, an electric gripper, a pneumatic gripper, or the like, and the disclosure is not limited thereto.

The process of carrying the goods by the carrying manipulator 100 in the above technical solution is as follows: when goods need to be transported between two positions, the manipulator main body 20 can be rotated around the third direction Z to enable the transporting device 42 to face the goods to be transported, then the telescopic mechanism 30 is extended along the first direction X, or the telescopic mechanism 30 is extended while the manipulator main body 20 is rotated, so that the transporting device 42 connected to the telescopic end of the telescopic mechanism 30 is driven to be close to the goods to be transported, and then the transporting device 42 can be moved along the second direction Y to enable the transporting device 42 to be aligned with the goods to be transported so as to capture the goods to be transported; after the cargo to be handled is grabbed, the handling device 42 may be moved in the second direction Y and the telescopic mechanism 30 may be retracted in the first direction X, so that the handling device 42 is retracted in the first direction X and the second direction Y, then the robot main body 20 is rotated so that the cargo to be handled on the handling device 42 is directed toward the cargo transporting point, and then the telescopic mechanism 30 is extended to transport the cargo to be handled to the cargo transporting point.

As can be seen from the above-described process of transporting goods, since the transporting robot 100 has degrees of freedom only in three directions of the first direction X, the second direction Y, and the third direction Z, since the first direction X intersects with the second direction Y, by controlling the telescopic mechanism 30 to be telescopic in the first direction X and controlling the transporting device 42 to be movable in the second direction Y, the transporting device 42 can reach any position within a movable range within a plane formed by the intersection of the first direction X and the second direction Y, and the telescopic mechanism 30 and the transporting device 42 as a whole can also be rotated about the third direction Z, and thus the working range of the transporting robot 100 is large. Moreover, since the robot body 20 can rotate around the third direction Z, the carrying device 42 can be positioned to the position of the goods to be carried, so that the first telescopic assembly 31 and the carrying device 42 are directly close to the path of the goods to be carried, the distance required to be moved by the carrying device 42 is minimized, the flexibility of the carrying robot 100 is increased, and the movement of the carrying robot 100 in a narrow space is facilitated. Compare in six axis robot, transport manipulator 100 in this disclosure can also accomplish the transport to the goods under the condition that the degree of freedom reduces, simple structure, and control procedure is simple, and is with low costs, is favorable to being applied to this transport manipulator 100 on a large scale in the commodity circulation field.

Alternatively, in one embodiment, as shown in fig. 3, a plane formed by the intersection of the first direction X and the second direction Y is a horizontal plane, and the third direction Z extends along a vertical direction. In this embodiment, the carrying device 42 is movable mainly in the horizontal plane. This embodiment will be described below as an example.

It is understood that in other embodiments, the plane formed by the intersection of the first direction X and the second direction Y may be a vertical plane, and the third direction Z may be along a horizontal direction. In this embodiment, the handling robot 100 is applicable for transferring goods between different compartments of a rack.

Further, in one embodiment of the present disclosure, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other. For the goods to be transported located at different positions, the moving distance required by the transporting device 42 to move to the goods to be transported located at different positions can be reduced, and the working efficiency of the transporting manipulator 100 can be improved.

The handling robot 100 is not limited in what scenarios it is specifically used in the present disclosure, and may be used, for example, in a cargo sorting system to sort, transfer, or palletize cargo, or in an unmanned distribution system to transfer cargo between a cargo handling system and an unmanned distribution cart at an unmanned airport.

In order to increase the working range of the transfer robot 100 in a narrow space, as shown in fig. 1 to 3, the robot main body 20 further includes a support frame 50, and the support frame 50 is rotatably disposed on the base 10 around a rotating shaft 63. As shown in fig. 4, the telescopic mechanism 30 includes two sets of telescopic components, which are a first telescopic component 31 and a second telescopic component 32, respectively, the first telescopic component 31 is telescopically disposed on the supporting frame 50 along the first direction X, and the second telescopic component 32 is telescopically disposed on the telescopic end of the first telescopic component 31 along the first direction X. As shown in fig. 5, the carrying base 41 is connected to the telescopic end of the second telescopic assembly 32, and the carrying device 42 is movably disposed at the telescopic end of the second telescopic assembly 32 along the second direction Y.

By arranging two sets of telescopic assemblies, the telescopic range of the telescopic mechanism 30 is expanded by superposing the telescopic assemblies. When the maximum distance that can be reached by the handling device 42 in the first direction X is the same, the space occupied by the telescopic mechanism 30 in at least the first direction X when the two sets of telescopic assemblies are fully retracted is smaller than when only one set of telescopic assemblies is provided, which facilitates the movement of the handling robot 100 in a small space.

To further reduce the space occupied by the telescopic mechanism 30, as shown in fig. 1-4, each telescopic assembly comprises a drive means 311, 321, a guide rail 312, 321 and a slider 313, 323. The guide rails 312, 321 extend in the first direction X and include a base plate 3121, 3221 and a pair of monorail 3122, 3222 disposed on the base plate 3121, 3221. Each monorail 3122, 3222 has a slider 313, 323 slidably disposed thereon, and a pair of monorail 3122, 3222 are spaced apart to form a receiving cavity 314, 324. The driving means 311, 321 extend along the first direction X and are arranged within the receiving cavities 314, 324 for driving the sliding blocks 313, 323 to move along the guiding rails 312, 321.

The base plate 3121 of the first telescoping assembly 31 is fixed to the support frame 50, and the base plate 3221 of the second telescoping assembly 32 spans the pair of monorail 3122 of the first telescoping assembly 31 and is fixedly connected to the slide 313 of the first telescoping assembly 31. The slide 323 of the second telescoping assembly 32 is drivingly connected to the handling mechanism 40. The carrying base plate 11 of the carrying mechanism 40 straddles the pair of monorail 3222 of the second telescopic assembly 32 and the slide block 323 of the second telescopic assembly 32 is fixedly connected.

As shown in fig. 2-4, the driving device, the guide rail and the slider in the first telescopic assembly 31 are a first driving device 311, a first guide rail 312 and a first slider 313, respectively. The single track of the first guide track 312 is the first single track 3122. The housing between the first monorail 3122 is the first housing cavity 314. The drive, guide and slide of second retraction assembly 32 are a second drive 321, a second guide 322 and a second slide 323, respectively. The monorail in the second guide track 322 is a second monorail 3222. The receiving cavity between the second monorail 3222 is a second receiving cavity 324. The first bottom plate 3121 is fixed on the upper surface of the supporting frame 50, the second bottom plate 3221 spans over the two first monorail 3122 and is fixedly connected with the first slide block 313, and the second slide block 323 is in transmission connection with the carrying mechanism 40.

It is understood that the telescopic end of the telescopic mechanism 30 is a sliding block (i.e. the second sliding block 323) in the second telescopic member 32, the telescopic end of the first telescopic member 31 is a sliding block (i.e. the first sliding block 313) in the first telescopic member 31, and the telescopic end of the second telescopic member 32 is a sliding block (i.e. the first sliding block 313) in the second telescopic member 32.

When the telescopic mechanism 30 is extended or retracted, the first driving device 311 drives the second bottom plate 3221 to extend or retract along the first direction X, so that the whole second telescopic assembly 32 extends or retracts along the first direction X, the second driving device 321 drives the carrying mechanism 40 to extend or retract along the first direction X, and the extension or retraction of the two telescopic assemblies are overlapped to increase the extension range of the carrying mechanism 40 in the first direction X. Moreover, as the driving device is arranged in the accommodating cavity between the two single rails, the structure is compact, no extra space is occupied, and the size of the two telescopic assemblies in the height direction is not excessively increased after the two telescopic assemblies are overlapped, and is only approximately the height of the two single rails. The superposition between the two telescopic assemblies is achieved by directly superposing the second bottom plate 3221 on the first slider 313 of the first telescopic assembly 31, without additionally increasing the size in the first direction X when the telescopic mechanism 30 is in the fully retracted state, thereby facilitating the movement of the carrying robot 100 in a narrow space.

Specific configurations of the driving devices are not limited in the present disclosure, and in one embodiment, as shown in fig. 4 and 5, each driving device includes a timing belt linear module, in other words, the first driving device 311 and the second driving device 321 include a timing belt linear module, respectively. The synchronous belt linear module extends along a first direction X and comprises a driving slide block, the driving slide block in the first telescopic assembly 31 is fixedly connected with a bottom plate in the second telescopic assembly 32, and the driving slide block in the second telescopic assembly 32 is in transmission connection with the carrying mechanism 40. The motor in the synchronous belt line module drives the slider to move along the first direction X, so as to drive the second telescopic assembly 32 and the carrying mechanism 40 to stretch along the first direction X. The synchronous belt linear module can be just placed in the accommodating cavity between the single rails, and extra space cannot be occupied, so that the whole structure of the telescopic mechanism 30 is compact.

In other embodiments, the drive device may further comprise a motor and a lead screw nut, the lead screw extending in the first direction X, the lead screw nut being arranged in the receiving cavity. The motor drives the lead screw to rotate, the nut in the first telescopic assembly 31 is fixedly connected with the bottom plate in the second telescopic assembly 32, and the nut in the second telescopic assembly 32 is fixedly connected with the carrying mechanism 40, so that the carrying mechanism 40 is driven to stretch.

The specific structure of the conveying mechanism 40 is not limited in this disclosure, and as shown in fig. 5, the conveying mechanism 40 further includes a third driving device 43, a third guide rail 44, and a third slider 45. The carrying device 42 comprises an end actuator 421 for carrying goods, and the third rail 44 is fixedly arranged on the carrying base 41 and extends in the second direction Y. The third rail 44 includes a pair of third monorail disposed at spaced intervals and defining a third receiving cavity 46. Each third monorail is provided with a third sliding block 45 in a sliding mode, and the carrying device 42 is in transmission connection with the third sliding block 45. The third driving device 43 extends along the second direction Y and is disposed in the third accommodating cavity 46 for driving the carrying device 42 to move along the third guiding rail 44. The handling device 42 is arranged on a third slide 45 astride two third monorail.

By providing the third drive means 43 in the third containing chamber 46 between the third monorail, the third drive means 43 do not take up additional space, contributing to making the overall structure more compact, and by superimposing the handling mechanism 40 directly on the second telescopic assembly 32 and superimposing the second telescopic assembly 32 directly on the first telescopic assembly 31, by arranging so that the stacking in the height direction (i.e. the third direction Z) is such that the handling robot 100 as a whole is increased in size only in the height direction, while being smaller in size in other directions, contributing to applying the handling robot 100 in a space where the size in the height direction is sufficient and the size in the horizontal plane is smaller.

The specific drive arrangement of the third drive arrangement 43 is not limiting in this disclosure, and in one embodiment, the third drive arrangement 43 includes a motor and a lead screw-nut mechanism disposed between the two third monorail. This lead screw extends along second direction Y, and the motor is connected with the one end transmission of lead screw to drive the lead screw and rotate, nut and handling device 42 fixed connection, thereby drive handling device 42 along second direction Y round trip movement.

The present disclosure is not limited as to how the robot body 20 is driven to rotate, and may be designed as desired, and in one embodiment, the handling robot 100 further includes a rotating mechanism 60, as shown in fig. 1 to 3. The rotating mechanism 60 includes a fourth driving device 61, a transmission assembly 62 and the rotating shaft 63. The rotation shaft 63 is connected between the robot main body 20 and the base 10 and extends in the third direction Z. Further, the rotation shaft 63 is connected between the bottom of the support frame 50 of the robot main body 20 and the base 10. The fourth driving device 61 is configured to drive the robot main body 20 to rotate about the axis of the rotating shaft 63 through the transmission assembly 62, so that the carrying mechanism 40 and the telescoping mechanism 30 rotate about the third direction Z.

The rotation mechanism 60 is integrally provided at the bottom of the robot main body 20, and increases the size of the transfer robot 100 only in the third direction Z without increasing the size in the remaining directions, which facilitates the application of the transfer robot 100 in a space where the size in the height direction is sufficient and the size in the horizontal plane is small.

In the present disclosure, the specific configurations of the fourth driving device 61 and the transmission assembly 62 are not limited as long as the robot main body 20 can be driven to rotate. In one embodiment of the present disclosure, as shown in fig. 3, the fourth driving device 61 is fixed to the base 10, and the transmission assembly 62 includes an external gear 621 and an internal gear 622 that are meshed with each other. The internal gear 622 is in driving connection with the fourth drive 61. The external gear 621 is fixed to the bottom of the robot main body 20 to rotate the robot main body 20. The rotation shaft 63 is inserted into the external gear 621, one end of the rotation shaft 63 is connected to the robot main body 20 in a circumferential direction in a locking manner, the other end is rotatably connected to the base 10, the rotation shaft 63 is connected to the base 10 through the bearing 64, and at this time, the rotation shaft 63 and the robot main body 20 rotate together. Alternatively, one end of the rotating shaft 63 is rotatably connected to the robot main body 20, the rotating shaft 63 is rotatably connected to the robot main body 20 through the bearing 64, and the other end of the rotating shaft 63 is circumferentially locked to the base 10, so that the robot main body 20 rotates around the rotating shaft 63 without rotating the rotating shaft 63.

The fourth driving device 61 drives the inner gear 622 to rotate, and drives the outer gear 621 to rotate through the engagement between the inner gear 622 and the outer gear 621, and the outer gear 621 drives the entire manipulator main body 20 to rotate when rotating. Compared with the direct driving of the rotating shaft 63, the fourth driving device 61 drives the inner gear 622 and the outer gear 621 to rotate so as to drive the manipulator main body 20 to rotate, and the meshing position of the inner gear 621 and the outer gear 621 has a certain distance with the rotating shaft 63, so that the driving force is not directly applied to the rotating shaft 63, the driving torque can be generated on the manipulator main body 20, the output rotating speed is reduced and the output torque is increased due to the cooperation between the inner gear 621 and the outer gear 621, and the power requirement on the fourth driving device 61 can be reduced. Moreover, compared with the use of two external gears 621 with the same transmission ratio, the internal gear 622 is arranged in the external gear 621 through the matching between the internal gear 621 and the external gear 621, so that the occupied space of the transmission assembly 62 can be reduced, and the structure is compact.

Further, as shown in fig. 3, an external gear 621 having a large diameter is fixed to the bottom of the robot main body 20, the rotation shaft 63 is inserted through the external gear 621, an internal gear 622 is disposed between the rotation shaft 63 and the ring gear of the external gear 621, the fourth drive device 61 is fixed to the base 10, and the drive shaft of the fourth drive device 61 is inserted through the internal gear 622 and is locked to the circumferential direction thereof.

Alternatively, the fourth driving device 61 may be a driving source such as a servo motor or a stepping motor.

In order to facilitate the rotation of the robot main body 20, as shown in fig. 1 to 3, the carrying robot 100 further includes a support frame 50, and the support frame 50 includes a support plate 51 and a plurality of support legs 52. The telescopic mechanism 30 is disposed on the support plate 51, and the rotating shaft 63 penetrates the support plate 51. A plurality of support feet 52 are spaced about the pivot axis 63. Each of the supporting feet 52 is connected to a side of the supporting plate 51 facing the base 10, and a roller 53 is provided at the bottom of each of the supporting feet 52. The base 10 includes a base plate 11 and spaced apart legs 12 attached to the bottom of the base plate 11. The base plate 11 is disposed opposite to the support plate 51, and the roller 53 is rollable along the base plate 11. The external gear 621 is fixed to the bottom of the support plate 51. When the fourth driving device 61 drives the external gear 621 to rotate, the supporting plate 51 is driven to rotate, so that the telescopic mechanism 30 fixed on the supporting plate 51 and the carrying mechanism 40 rotate together. By providing the support bracket 50 between the telescopic mechanism 30 and the base 10, the support leg 52 rotatably supports between the support plate 51 and the base plate 11, which contributes to more smooth rotation of the robot main body 20 about the rotation shaft 63.

In order to further increase the working range of the carrying manipulator 100, in an embodiment of the present disclosure, the base 10 is configured as a liftable base 10, specifically, the support leg 12 is configured as a liftable support leg 12 along the third direction Z, and the support leg 12 drives the manipulator to ascend and descend integrally when ascending and descending, or a lifting device is disposed between the support leg 12 and the substrate 11 to ascend and descend the substrate 11, so as to increase the working range of the carrying manipulator 100 in the third direction Z, and facilitate the use of the carrying manipulator 100 in carrying occasions with height drop.

According to another aspect of the present disclosure, there is also provided a freight transportation system comprising a drone airport, an unmanned vehicle and the transfer robot 100 described above, the transfer robot 100 being for transferring goods between the drone airport and the unmanned vehicle.

After the unmanned aerial vehicle transports the goods to the building, the goods are transported to the position of the carrying manipulator 100 through a goods handling system in the unmanned aerial vehicle automatic airport, the carrying manipulator 100 takes out the goods to be transported to the unmanned trolley, and the unmanned trolley can deliver the goods to a delivery point. Or, the carrying manipulator 100 takes the goods out of the unmanned vehicle and places the goods on the goods handling system, and transports the goods to the unmanned vehicle through the goods handling system. Since the carrying robot 100 has a simple structure and low cost, it is useful to reduce the cost of the cargo transportation system when applied to the cargo transportation system.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (9)

1. A transfer robot, comprising a base (10) and a robot main body (20), wherein the robot main body (20) comprises a transfer mechanism (40) and a telescopic mechanism (30) which can be extended and retracted along a first direction (X), the transfer mechanism (40) comprises a transfer base (41) and a transfer device (42), the transfer device (42) comprises an end actuator (421) for transferring goods, the transfer device (42) is movably arranged on the transfer base (41) along a second direction (Y), the transfer base (41) is connected to a telescopic end of the telescopic mechanism (30), the robot main body (20) is rotatably arranged on the base (10) around a rotating shaft (63) extending along a third direction (Z), the first direction (X) intersects with the second direction (Y), and the third direction (Z) intersects with a plane in which the first direction (X) and the second direction (Y) are arranged;

the carrying manipulator (100) further comprises a rotating mechanism (60), the rotating mechanism (60) is used for driving a manipulator main body (20) to rotate around the axis of the rotating shaft (63), the carrying manipulator (100) further comprises a supporting frame (50), the supporting frame (50) comprises a supporting plate (51) and a plurality of supporting legs (52), a telescopic mechanism (30) is arranged on the supporting plate (51), the rotating shaft (63) penetrates through the supporting plate (51), each supporting leg (52) is connected to one side, facing the base (10), of the supporting plate (51), the supporting legs (52) are arranged around the rotating shaft (63) at intervals, rollers (53) are arranged at the bottom of each supporting leg (52), the base (10) comprises a base plate (11), and the base plate (11) and the supporting plate (51) are arranged oppositely, the roller (53) can roll along the substrate (11).

2. The handling robot according to claim 1, wherein the robot body (20) further comprises a support frame (50), the support frame (50) is rotatably disposed on the base (10) around the rotation shaft (63), the telescopic mechanism (30) comprises two sets of telescopic assemblies, namely a first telescopic assembly (31) and a second telescopic assembly (32), the first telescopic assembly (31) is telescopically disposed on the support frame (50) along the first direction (X), the second telescopic assembly (32) is telescopically disposed on a telescopic end of the first telescopic assembly (31) along the first direction (X), and the handling base (41) is connected to a telescopic end of the second telescopic assembly (32).

3. Handling robot according to claim 2, characterized in that each telescopic assembly (31, 32) comprises a driving device (311, 321), a guide rail (312, 321) and a slider (313, 323), the guide rail (312, 321) extending along the first direction (X) and comprising a floor (3121, 3221) and a pair of monorail (3122, 3222) provided on the floor (3121, 3221), the slider (313, 323) being slidably provided on each monorail (3122, 3222), the pair of monorail (3122, 3222) being arranged at intervals to form a housing cavity (314, 324), the driving device (311, 321) extending along the first direction (X) and being provided within the housing cavity (314, 324) for driving the slider (313, 323) to move along the guide rail (312, 321),

the bottom plate (3121) in the first telescopic assembly (31) is fixed to the supporting frame (50), the bottom plate (3221) in the second telescopic assembly (32) spans the pair of monorail (3122) in the first telescopic assembly (31) and is fixedly connected with the slide block (313) in the first telescopic assembly (31), and the slide block (323) in the second telescopic assembly (32) is in transmission connection with the carrying base body (41).

4. Handling manipulator according to claim 3, wherein each of said driving means (311, 321) comprises a timing belt linear module extending in said first direction (X) and comprising a driving slider (3111, 3211), said driving slider (3111) of said first telescopic assembly (31) being fixedly connected to said base plate (3221) of said second telescopic assembly, said driving slider (3211) of said second telescopic assembly (32) being drivingly connected to a handling mechanism (40).

5. Handling robot according to any of claims 1-4, the carrying mechanism (40) also comprises a third driving device (43), a third guide rail (44) and a third slide block (45), the third guide rail (44) is fixedly arranged on the conveying base body (41) and extends along the second direction (Y), the third guide rail (44) comprises a pair of third single rails which are arranged at intervals and form a third containing cavity (46), each third single rail is provided with a third sliding block (45) in a sliding way, the handling device (42) is in transmission connection with the third slide (45), the third driving device (43) extends along the second direction (Y) and is arranged in the third accommodating cavity (46), for driving the handling device (42) along the third guide rail (44).

6. Handling robot according to any of claims 1-4, characterized in that the turning mechanism (60) comprises a fourth drive (61), a transmission assembly (62) and the turning shaft (63), the turning shaft (63) being connected between the robot body (20) and the base (10), the fourth drive (61) being adapted to drive the robot body (20) to turn around the axis of the turning shaft (63) via the transmission assembly (62).

7. The carrying manipulator according to claim 6, wherein the fourth driving device (61) is fixed to the base (10), the transmission assembly (62) comprises an external gear (621) and an internal gear (622) which are meshed with each other, the internal gear (622) is in transmission connection with the fourth driving device (61), the external gear (621) is fixed to the bottom of the manipulator body (20) to drive the manipulator body (20) to rotate, the rotating shaft (63) penetrates through the external gear (621), one end of the rotating shaft (63) is in circumferential locking connection with the manipulator body (20), and the other end of the rotating shaft is in rotational connection with the base (10), or one end of the rotating shaft (63) is in rotational connection with the manipulator body (20) and the other end of the rotating shaft is in circumferential locking connection with the base (10).

8. Handling robot according to claim 1, characterized in that the first direction (X), the second direction (Y) and the third direction (Z) are mutually perpendicular.

9. A freight transportation system, characterized by comprising a drone airport, a drone trolley and a transfer robot (100) according to any one of claims 1 to 8, the transfer robot (100) being intended to transfer goods between the drone airport and the drone trolley.

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