CN212558399U

CN212558399U - Article take-out mechanism and transfer robot

Info

Publication number: CN212558399U
Application number: CN202020780272.9U
Authority: CN
Inventors: 詹庆鑫; 孔哲
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2021-02-19
Anticipated expiration: 2030-05-12

Abstract

The utility model provides an article taking-out mechanism and a transfer robot, belonging to the technical field of robots and aiming at solving the problems of low utilization rate of storage space and poor universality of the existing transfer robot; the carrying robot comprises a moving base, a robot shelf, a supporting beam and an article taking-out mechanism, wherein the supporting beam is installed on the robot shelf, the article taking-out mechanism is installed on the supporting beam and located below the supporting beam, and when the article taking-out mechanism moves to the height of an article to be transferred along with the lifting of the supporting beam, the article taking-out mechanism is connected with the front face of the article to be transferred so as to transfer the article to be transferred. By adopting the technical scheme, the utilization rate of the storage space and the universality of the transfer robot can be improved.

Description

Article take-out mechanism and transfer robot

Technical Field

The present disclosure relates to the field of robot technology, and in particular, to an article take-out mechanism and a transfer robot.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is continuously improved, an intelligent logistics terminal is the inevitable trend of terminal logistics development, and a transfer robot is one of main devices capable of realizing automatic transfer operation of the intelligent logistics terminal, so that heavy physical labor of human is reduced through the transfer robot.

The existing transfer robot comprises a movable base, a robot shelf positioned on the movable base and a grabbing mechanism arranged on the robot shelf, wherein the movable base can move on the ground of a storage area, a cross beam is arranged on the robot shelf and can move up and down on the robot shelf, and the grabbing mechanism is arranged on the cross beam.

However, the existing grabbing mode of the transfer robot can cause the utilization rate of the storage space in the storage area to be low, and the grabbing mechanism cannot grab the articles placed on the movable base, so that the universality is poor.

SUMMERY OF THE UTILITY MODEL

The embodiment of the present disclosure provides an article taking-out mechanism and a transfer robot for improving the utilization rate of a storage space, and an article placed at a position lower than the upper surface of a movable base can be taken out, and the versatility is high.

In order to achieve the above object, in a first aspect, a transfer robot provided by an embodiment of the present disclosure includes a moving base, a robot rack, a support beam, and an article takeout mechanism, wherein the moving base is configured to move on a floor of a storage area; the robot shelf is arranged on the movable base; the supporting beam is arranged on the robot goods shelf and can move up and down relative to the robot goods shelf; the article taking-out mechanism comprises a mounting frame, a rotary assembly, a transmission assembly and a taking-out assembly; the taking-out assembly, the transmission assembly and the rotary assembly are sequentially arranged on the mounting frame along the lifting direction of the supporting beam from bottom to top, the mounting frame is arranged on the supporting beam, and the rotary assembly is used for driving the transmission assembly and the taking-out assembly to rotate in a plane perpendicular to the lifting direction of the supporting beam; the transmission assembly is used for driving the taking-out assembly to move towards or away from the front face of the article to be transferred, and the taking-out assembly is used for being connected with the front face of the article to be transferred so as to transfer the article to be transferred.

In an alternative embodiment, the extraction assembly comprises a fixed support and a plurality of suction cups; the fixed bolster is installed on the transmission assembly, the several sucking disc is installed on the front of fixed bolster.

In an alternative embodiment, a vacuum extractor is mounted on the back surface of the fixing bracket, and the vacuum extractor is respectively communicated with the suckers through air pipes.

In an optional embodiment, the handling robot further comprises a fault diagnosis system, the fault diagnosis system comprises a gas pressure sensor and a processor, the gas pressure sensor is in signal connection with the processor, the gas pressure sensor is arranged in a gas pipe, and the processor determines that the suction cup is out of gas according to the actual pressure of the gas in the gas pipe detected by the gas pressure sensor when the actual pressure is equal to the atmospheric pressure.

In an alternative embodiment, the extraction assembly comprises a fixed bracket and a magnet mounted on the fixed bracket; the fixed bracket is arranged on the transmission assembly; the article to be transferred is a metal article or an article with magnetism.

In an alternative embodiment, the extraction assembly comprises a fixed bracket and a buckle mounted on the fixed bracket; the fixed bracket is arranged on the transmission assembly; the article to be transferred is provided with a clamping groove matched with the buckle.

In an alternative embodiment, the mounting bracket comprises two oppositely disposed mounting plates, two of which are mounted on the support beam.

In an alternative embodiment, the mounting bracket further comprises a load beam connecting the two mounting plates, the slewing assembly being mounted on the load beam.

In an alternative embodiment, the swivel assembly comprises: the bearing plate is arranged on the bearing beam; the rotating plate is opposite to the bearing plate and arranged at intervals, a second chain wheel is arranged on the surface of the rotating plate facing the bearing plate, a motor and the transmission assembly are arranged on the surface of the rotating plate opposite to the bearing plate, and an output shaft of the motor is connected with the second chain wheel; and the crossed bearing is used for connecting the bearing plate and the rotating plate, a first chain wheel is connected to the crossed bearing, the first chain wheel is connected with a second chain wheel through a chain, when the motor drives the second chain wheel to rotate, the second chain wheel drives the first chain wheel to rotate through the chain, and when the first chain wheel rotates, the transmission assembly on the rotating plate is driven to rotate around the axis of the first chain wheel.

In an alternative embodiment, the transmission assembly comprises a fixed wheel assembly, a movable wheel assembly, a transmission belt and a base mounted on the rotating assembly; the fixed wheel assembly comprises a first fixed wheel, a second fixed wheel and a third fixed wheel; the first fixed wheel is arranged at the front end of the base, and the second fixed wheel and the third fixed wheel are arranged at the rear end of the base at intervals along a first direction; an installation space of the driving wheel assembly is formed among the second fixed wheel, the third fixed wheel and the first fixed wheel; the driving wheel assembly comprises a sliding seat arranged on the base, a first driving wheel and a second driving wheel, the first driving wheel is arranged at the front end of the sliding seat, and the second driving wheel is arranged at the rear end of the sliding seat; the front end of the sliding seat is provided with a limiting structure, and the rear end of the sliding seat is connected with a resetting mechanism; the driving belt is sequentially wound on the second fixed wheel, the first driving wheel, the second driving wheel, the first fixed wheel and the third fixed wheel, when the taking-out assembly moves to the limiting structure along a second direction under the driving of the driving belt, the driving belt drives the taking-out assembly and the driving wheel assembly to move together along the second direction, when the driving belt drives in the opposite direction, the reset mechanism is used for resetting the driving wheel assembly, and after the driving wheel assembly resets, the driving belt drives the taking-out assembly to reset; the second direction is a moving direction of the taking-out assembly towards or away from the front face of the article to be transferred, and the first direction is perpendicular to the second direction.

In an alternative embodiment, the base comprises two support plates arranged oppositely, and a bottom connecting plate arranged between the two support plates and respectively connected with the two support plates; the sliding seat comprises two sliding plates which are oppositely arranged and a fixed connecting plate which is connected with the two sliding plates; at least one of the two sliding plates is provided with a sliding rail, the sliding rail is positioned on one side of the sliding plate, which faces the supporting plate, and the supporting plate is provided with a guide block matched with the sliding rail.

In an alternative embodiment, a buffer is arranged at the rear end of the sliding plate, and a collision block opposite to the buffer is arranged at the rear end of the supporting plate.

In an alternative embodiment, the return mechanism is a spring; one end of the spring is connected to a wheel shaft of the second driving wheel positioned at the rear end of the sliding seat, and the other end of the spring is connected to a wheel shaft of the second fixed wheel positioned at the rear end of the base.

In an alternative embodiment, the article takeout mechanism further includes a tray mounted on the base, the tray being located below the takeout assembly for carrying the articles to be transferred that are taken out by the takeout assembly.

In an alternative embodiment, the tray comprises a tray body, and the two sides of the tray body are provided with extension parts respectively connected with the bases.

In an alternative embodiment, the front end of the tray body and the surface facing away from the base are provided with guide surfaces extending obliquely downwards towards the floor surface.

In an alternative embodiment, the transfer robot further includes a first camera mounted on a side of the article take-out mechanism facing the article to be transferred, the first camera being configured to acquire an identification code on the article to be transferred.

In an optional implementation manner, the transfer robot further includes a second camera, the second camera is mounted on the base through a column, and the second camera is used for acquiring physical information and position information of the article to be transferred.

In a second aspect, the present disclosure provides an article retrieving mechanism disposed on a support beam of a shelf, the article retrieving mechanism including a mounting frame, a swiveling component, a transmission component, and a retrieving component; the taking-out assembly, the transmission assembly, the rotary assembly and the mounting frame are sequentially mounted on the mounting frame from bottom to top along the lifting direction of the supporting beam, the mounting frame is mounted on the supporting beam, and the rotary assembly is used for driving the transmission assembly and the taking-out assembly to rotate in a plane perpendicular to the lifting direction of the supporting beam; the transmission assembly is used for driving the taking-out assembly to move towards or away from the front surface of the article to be transferred, and the taking-out assembly is used for being connected with the front surface of the article to be transferred so as to transfer the article to be transferred; the transmission assembly is provided with a base, and the base is installed on the rotary assembly; the article taking-out mechanism further comprises a tray arranged on the base, and the tray is located below the taking-out assembly and used for bearing the articles to be transferred taken out by the taking-out assembly.

In an alternative embodiment, the front end of the tray body and the surface facing away from the base are provided with a guiding surface.

The embodiment of the disclosure provides an article taking-out mechanism and a transfer robot, the transfer robot comprises a movable base, a robot goods shelf, a supporting beam and an article taking-out mechanism, the supporting beam is installed on the robot goods shelf, the article taking-out mechanism is installed on the supporting beam and located below the supporting beam, and when the article taking-out mechanism moves to the height of an article to be transferred along with the lifting of the supporting beam, the article taking-out mechanism is connected with the front face of the article to be transferred so as to transfer the article to be transferred. The utility model provides a transfer robot can improve the utilization ratio in storage space and transfer robot's commonality.

Drawings

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

fig. 2 is a working state diagram of a transfer robot according to a first embodiment of the present disclosure;

fig. 3 is a first schematic structural view of an article takeout mechanism in a transfer robot according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of the exploded structure of FIG. 3;

FIG. 5 is a schematic view of a first configuration of a take-out assembly of an article take-out mechanism according to one embodiment of the present disclosure;

FIG. 6 is a second schematic view of a take-out assembly of an article take-out mechanism according to one embodiment of the present disclosure;

FIG. 7 is a schematic view of a third configuration of a take-out assembly of an article take-out mechanism according to an embodiment of the disclosure;

fig. 8 is a schematic structural view of a mounting bracket in the article takeout mechanism according to the first embodiment of the present invention;

FIG. 9 is a schematic view of a rotary assembly in an article takeout mechanism according to an embodiment of the present disclosure;

FIG. 10 is a schematic illustration of the exploded structure of FIG. 9;

FIG. 11 is a schematic structural view of a drive assembly in an article takeout mechanism according to a first aspect of the present disclosure;

FIG. 12 is a schematic diagram of the exploded structure of FIG. 11;

fig. 13 is a schematic structural diagram of a base in a transmission assembly according to a first embodiment of the disclosure;

FIG. 14 is a schematic view of a first structure of a carriage in a transmission assembly according to an embodiment of the present disclosure;

FIG. 15 is a second structural diagram of a carriage in a transmission assembly according to an embodiment of the disclosure;

FIG. 16 is a schematic view of an assembly structure of a carriage mounted on a base according to a first embodiment of the disclosure;

FIG. 17 is a schematic diagram of a second configuration of an article takeout mechanism according to an embodiment of the present disclosure;

fig. 18 is a schematic view of a third structure of an article takeout mechanism according to an embodiment of the present disclosure.

Description of reference numerals:

1-moving the base; 2-robotic shelves; 3-a support beam;

4-an article take-out mechanism; 40-a mounting frame; 401-mounting a plate;

402-a load beam; 41-a rotating assembly; 411-a carrier plate;

412-rotating the plate; 413-crossed bearings; 414 — a first sprocket;

415-a second sprocket; 416-a chain; 417-a motor;

42-a transmission assembly; 421-fixed wheel assembly; 4211-first fixed wheel;

4212-second fixed wheel; 4213-third fixed wheel; 422-driving wheel assembly;

4221-first driving wheel; 4222-second driving wheel; 423-driving belt;

424-a reset mechanism; 43-a take-out assembly; 431-a fixed bracket;

432-suction cup; 433-a vacuum-pumping device; 434-trachea;

435-magnet; 436-buckle; 44-a base;

441-a support plate; 442-a bottom web; 443-a guide block;

444-bump block; 45-a slide; 451-a skateboard;

452-a fixed connection plate; 453-a slide rail; 454-a buffer;

455-a limit structure; 5-a tray; 51-a tray body;

52-an extension; 53-a guide surface; 6-a first camera;

7-a second camera; 8-storage shelves; 9-the article to be transferred;

10-upright post.

Detailed Description

The transfer robot generally comprises a movable base, a robot shelf positioned on the movable base and a grabbing mechanism arranged on the robot shelf, wherein the movable base can move on the ground of a storage area, a cross beam is arranged on the robot shelf and can move up and down on the robot shelf, and the grabbing mechanism is arranged on the cross beam. The grabbing mechanism comprises clamping arms and clamping and embracing parts which are located at the front ends of the clamping arms and used for grabbing articles, the clamping arms can stretch back and forth, and the clamping arms drive the clamping and embracing parts to move the articles by clamping the left side and the right side or the upper side and the lower side of the articles. Moreover, in order to avoid the interference between the robot shelf and the top surface of the storage area, a certain safety distance is reserved between the robot shelf and the top surface of the storage area. However, the existing gripping manner of the transfer robot results in low utilization rate of the storage space in the storage area, and the gripping mechanism cannot grip the object to be transferred placed at a position lower than the upper surface of the movable base, which is poor in universality.

To this end, the disclosed embodiments provide a transfer robot capable of transferring an article to be transferred by connecting a take-out assembly with a front surface of the article to be transferred. Thus, the utilization rate of the storage space can be improved. In addition, the article taking-out assembly is arranged below the mounting frame, so that articles to be transferred placed on the position lower than the upper surface of the movable base can be taken out by the article taking-out assembly, and the universality of the transfer robot is improved.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Example one

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure; fig. 2 is a working state diagram of a transfer robot according to a first embodiment of the present disclosure; fig. 3 is a first schematic structural view of an article takeout mechanism in a transfer robot according to an embodiment of the present disclosure; fig. 4 is a schematic diagram of the exploded structure of fig. 3. Referring to fig. 1 to 4, a transfer robot provided by the embodiment of the present disclosure includes a moving base 1, a robot shelf 2, a supporting beam 3, and an article taking-out mechanism 4, where the moving base 1 is a supporting structure of the transfer robot and is used for supporting and carrying other components and/or devices of the transfer robot to travel; robot goods shelves 2 are installed on moving base 1, like this, move base 1 alright carry robot goods shelves 2 and install the device removal on robot goods shelves 2, or move base 1 and carry the article of placing on robot goods shelves 2 and move in the warehouse area.

The supporting beam 3 is installed on the robot shelf 2, the supporting beam 3 can be installed on a cross beam or a transverse plate and other structures on the robot shelf 2 in a sliding mode, the supporting beam 3 can move on the robot shelf 2 in a lifting mode, and the article taking-out mechanism 4 is installed on the supporting beam 3, so that the article taking-out mechanism 4 can move along with the supporting beam 3 in the lifting mode on the robot shelf 2.

The article taking-out mechanism 4 comprises an installation frame 40, a rotary component 41, a transmission component 42 and a taking-out component 43, the transmission component 42, the rotary component 41 and the installation frame 40 are sequentially installed on the installation frame 40 from bottom to top along the lifting direction of the supporting beam 3, the installation frame 40 is fixedly installed on the supporting beam 3, and the rotary component 41 can drive the transmission component 42 and the taking-out component 43 to rotate in a plane perpendicular to the lifting direction of the supporting beam 3; the driving assembly 42 is used for driving the taking-out assembly 43 to move towards or away from the front surface of the article 9 to be transferred, and the taking-out assembly 43 is connected with the front surface of the article 9 to be transferred so as to transfer the article 9 to be transferred.

It should be noted that the article 9 to be transferred may be an article with a packing box or a packing box, or an article without a packing box or a packing box, wherein the front side of the article 9 to be transferred refers to a side of the article 9 to be transferred, which faces the outside of the storage rack 8 when placed on the storage rack 8, or a side exposed outside the storage rack 8, and the front side is only used for convenience of description and is not limited to the front side of the article. The take-out assembly 43 is connected to the front surface of the article 9 to be transferred, and therefore, there is no need to reserve an operation space on the left and right sides and/or the upper and lower sides of the article 9 to be transferred, thereby improving the utilization rate of the storage space.

In addition, since the support beam 3 can only reach the upper surface of the moving base 1 at the lowest when the support beam 3 moves up and down on the robot shelf 2, in the embodiment, the taking-out assembly 43 is located below the mounting frame 40, and when the support beam 3 moves to the lowest position of the robot shelf 2, the height of the taking-out assembly 43 is lower than the height of the upper surface of the moving base 1, so that the taking-out assembly 43 can take out the article 9 to be transferred placed at a position lower than the upper surface of the moving base 1, and the universality of the transfer robot is improved.

Fig. 5 is a schematic view of a first structure of a removing assembly 43 of the article removing mechanism 4 according to an embodiment of the present disclosure. In an alternative embodiment, as shown in fig. 5, the removing assembly 43 comprises a fixing bracket 431 disposed on the driving assembly 42 and a plurality of suction cups 432 mounted on a front surface of the fixing bracket 431.

It should be noted that the front surface of the fixing bracket 431 refers to the surface of the fixing bracket 431 facing the article 9 to be transferred when the taking-out assembly 43 is connected to the front surface of the article 9 to be transferred.

Specifically, several suckers 432 can be arranged on the front surface of the fixing support 431, the suckers 432 are connected with the front surface of the article 9 to be transferred through the suckers 432, negative pressure is generated between the suckers 432 and the front surface of the article 9 to be transferred, the suckers 432 form adsorption force through the negative pressure between the suckers 432 and the front surface of the article 9 to be transferred, the article 9 to be transferred is adsorbed through the adsorption force so as to achieve the purpose of moving the article 9 to be transferred, and the suckers 432 are arranged in a matrix mode on the front surface of the fixing support 431, so that the adsorption force formed by the suckers 432 on the front surface of the article 9 to be transferred is uniform, the working reliability of the suckers 432 is improved, and the article 9 to be transferred is prevented from falling off the.

As shown in fig. 5, in order to make the suction cups 432 have a larger suction force, a vacuum extractor 433 may be installed on the back surface of the fixing bracket 431, the vacuum extractor 433 is respectively communicated between the suction cups 432 through an air pipe 434, a vacuum-extracting operation is performed between the suction cups 432 and the front surface of the article 9 to be transferred through the vacuum extractor 433, the vacuum extractor 433 extracts air in the suction cups 432, so that the pressure in the suction cups 432 is smaller than the atmospheric pressure to generate a negative pressure, and the article 9 to be transferred can be stably adsorbed on the front surface of the article 9 to be transferred under the action of the negative pressure, so as to fix the article 9 to be transferred, thereby achieving the purpose of transferring the article 9 to be transferred, and improving the reliability of the operation of the suction cups 432.

Further, the transfer robot further includes a fault diagnosis system, the fault diagnosis system includes a gas pressure sensor and a processor, the gas pressure sensor is in signal connection with the processor, the gas pressure sensor is disposed in the gas pipe 434, the processor can determine whether the suction cup 432 leaks gas according to the detection result through the actual pressure of the gas in the gas pipe 434 detected by the gas pressure sensor, and when the detection result is that the actual pressure is equal to the atmospheric pressure, it is determined that the suction cup 432 leaks gas. The fault diagnosis system is not limited to this configuration, and includes all related, equivalent, and similar structures that can sense whether the suction cup 432 is leaking.

Fig. 6 is a schematic diagram of a second structure of the removing assembly 43 of the article removing mechanism 4 according to the first embodiment of the disclosure. In another alternative embodiment, referring to fig. 6, the removing assembly 43 includes a fixing bracket 431 provided on the driving assembly 42 and a magnet 435 mounted on the fixing bracket 431, the article 9 to be transferred is a metal article or an article having magnetism, and the article 9 to be transferred is attracted by the magnetic attraction force of the magnet 435. Or only part of the structure of the article 9 to be transferred is made of metal or magnetic material; or the outer packing box or the packing box of the article 9 to be transferred is made of metal material and magnetic material; or the outer packing case of the article 9 to be transferred or the frame of the packing case, etc., is made of a metal material or a magnetic material, as long as the article 9 to be transferred can be adsorbed on the magnet 435 by the magnetic adsorption force with the magnet 435. The magnet 435 may be an electromagnet 435, which has magnetism when it is energized, and attracts the article 9 to be transferred by magnetism, and when it is de-energized, the magnetism disappears, and the magnet 435 falls off from the article 9 to be transferred.

Fig. 7 is a schematic view of a third structure of the removing assembly 43 of the article removing mechanism 4 according to the first embodiment of the disclosure. In yet another alternative embodiment, referring to fig. 7, the removing assembly 43 comprises a fixing bracket 431 arranged on the transmission assembly 42 and a buckle 436 arranged on the fixing bracket 431, the front surface of the article 9 to be transferred is provided with a clamping groove matched with the buckle 436, and the removing assembly 43 is used for fixing the article 9 to be transferred by clamping the buckle 436 with the clamping groove on the article 9 to be transferred. In this embodiment, the article 9 to be transferred refers to an article having an outer packaging case or box with a catch groove on the front face that mates with the catch 436.

Fig. 8 is a schematic structural view of the mounting frame 40 in the article takeout mechanism 4 according to the first embodiment of the present invention. On the basis of the above-mentioned embodiment, referring to fig. 8, the mounting frame 40 includes two opposite mounting plates 401, and the mounting frame 40 is mounted on the supporting beam 3 through the two mounting plates 401, so that the article take-out mechanism 4 can move along with the supporting beam 3 up and down on the robotic shelf 2, so that the article take-out mechanism 4 can take out the articles 9 to be transferred placed on the storage shelves 8 at different heights.

Further, with continued reference to FIG. 8, mount 40 further includes a load beam 402 connecting the two mounting plates 401, with a slewing assembly 41 mounted on load beam 402.

Fig. 9 is a schematic structural view of a rotating assembly 41 in the article takeout mechanism 4 according to the first embodiment of the present disclosure; fig. 10 is a schematic diagram of the exploded structure of fig. 9. Referring to fig. 9 and 10, optionally, the rotating assembly 41 includes a bearing plate 411 mounted on the bearing beam 402, a rotating plate 412 spaced apart from the bearing plate 411, and a cross bearing 413 for connecting the bearing plate 411 and the rotating plate 412, a first chain wheel 414 is connected to the cross bearing 413, a second chain wheel 415 is provided on the rotating plate 412, a motor 417 for driving the second chain wheel 415 to rotate, and the transmission assembly 42, the first chain wheel 414 and the second chain wheel 415 are connected by a chain 416, when the motor 417 drives the second chain wheel 415 to rotate, the second chain wheel 415 drives the first chain wheel 414 to rotate by the chain 416, and when the first chain wheel 414 rotates, the transmission assembly 42 on the rotating plate 412 is driven to rotate around the axis of the first chain wheel 414.

Illustratively, the bearing plate 411 has a through hole matching with the cross bearing 413, one end of the cross bearing 413 is located in the through hole of the bearing plate 411 to position the rotating assembly 41, the other end of the cross bearing 413 is provided with a first chain wheel 414, an output shaft of the motor 417 is connected with a second chain wheel 415, after the motor 417 is started, the motor 417 drives the second chain wheel 415 to rotate, the second chain wheel 415 drives the chain 416 to rotate, the chain 416 drives the first chain wheel 414 to rotate, so that the whole rotating assembly 41 rotates around an axis of the second chain wheel 415, and the rotating assembly 41 drives the transmission assembly 42 and the taking-out assembly 43 to rotate in a plane perpendicular to the lifting direction of the supporting beam 3.

Fig. 11 is a schematic structural view of the driving assembly 42 in the article takeout mechanism 4 according to the first embodiment of the present disclosure; FIG. 12 is a schematic diagram of the exploded structure of FIG. 11; fig. 13 is a schematic structural diagram of a base 44 of a transmission assembly 42 according to a first embodiment of the disclosure; fig. 14 is a schematic view illustrating a first structure of a sliding seat 45 in the transmission assembly 42 according to an embodiment of the disclosure; fig. 15 is a second structural schematic diagram of a sliding seat 45 in the transmission assembly 42 according to the first embodiment of the disclosure; fig. 16 is a schematic view of an assembly structure of a slider 45 mounted on a base 44 according to an embodiment of the disclosure. On the basis of the above-described embodiment, with reference to fig. 11 to 16, in order to achieve that the drive assembly 42 drives the takeout assembly 43 towards or away from the front side of the article 9 to be transferred. Wherein, the transmission assembly 42 comprises a base 44 mounted on the revolving assembly 41, a fixed wheel assembly 421, a movable wheel assembly 422 and a transmission belt 423.

It should be noted that the first direction is perpendicular to the second direction, the second direction refers to a moving direction of the taking-out assembly 43 toward or away from the front surface of the article 9 to be transferred, the front end of the base 44 refers to an end which is consistent with the second direction and is close to the front surface of the article 9 to be transferred, and the end which is far away from the front surface of the article 9 to be transferred is the rear end of the base 44. The front end of the slider 45 coincides with the front end of the base 44, and the rear end of the slider 45 coincides with the rear end of the base 44.

The fixed wheel assembly 421 includes a first fixed wheel 4211, a second fixed wheel 4212 and a third fixed wheel 4213, the first fixed wheel 4211 is mounted at the front end of the base 44, and the second fixed wheel 4212 and the third fixed wheel 4213 are spaced in the first direction and mounted at the rear end of the base 44, that is, the first fixed wheel 4211, the second fixed wheel 4212 and the third fixed wheel 4213 form a triangular shape, so that a mounting space of the driving wheel assembly 422 is formed among the second fixed wheel 4212, the third fixed wheel 4213 and the first fixed wheel 4211.

The front end of the base 44 may be provided with a wheel axle, the first fixed wheel 4211 is mounted on the wheel axle, the first fixed wheel 4211 may rotate on the wheel axle, the rear end of the base 44 is provided with two wheel axles at an interval in the first direction, the second fixed wheel 4212 and the third fixed wheel 4213 are respectively mounted on the upper and lower wheel axles, and the second fixed wheel 4212 and the third fixed wheel 4213 may also rotate relative to the respective wheel axles.

The traction wheel assembly 422 comprises a slide carriage 45 mounted on a base 44, and a first traction wheel 4221 and a second traction wheel 4222, the first traction wheel 4221 being mounted on a front end of the slide carriage 45, and the second traction wheel 4222 being mounted on a rear end of the slide carriage 45, wherein the front end of the slide carriage 45 refers to an end facing the article 9 to be transferred, and the rear end of the slide carriage 45 refers to an end opposite to the front end of the slide carriage 45.

The front end of the sliding seat 45 is provided with a limiting structure 455, the rear end of the sliding seat 45 is connected with a reset mechanism 424, the transmission belt 423 is sequentially wound on the second fixed wheel 4212, the first driving wheel 4221, the second driving wheel 4222, the first fixed wheel 4211 and the third fixed wheel 4213, when the taking-out assembly 43 moves to the limiting structure 455 along the second direction under the driving of the transmission belt 423, the taking-out assembly 43 abuts against the limiting structure 455, the transmission belt 423 drives the taking-out assembly 43 to continue to move forwards, the taking-out assembly 43 pushes the limiting structure 455 on the sliding seat 45, so that the limiting structure 455 drives the driving wheel assembly 422 to move together with the taking-out assembly 43 along the second direction, and thus, the path along which the taking-out assembly 43 can move along the second direction is longer, so as to avoid the problem that the article 9 to be transferred cannot; when the transmission belt 423 is driven in the reverse direction, the reset mechanism 424 is used for resetting the movable pulley assembly 422, and after the movable pulley assembly 422 is reset, the transmission belt 423 drives the taking-out assembly 43 to reset.

For example, the limiting structure 455 may be a limiting plate, two ends of the limiting plate are respectively and fixedly mounted at the rear end of the base 44, the return mechanism 424 may be a spring, one end of the spring is connected to the axle of the second driving wheel 4222 at the rear end of the sliding seat 45, and the other end of the spring is connected to the axle of the second fixed wheel 4212 at the rear end of the base 44.

The second fixed wheel 4212 may be used as a driving wheel of the transmission assembly 42, the transmission assembly 42 further includes a motor 417, an output shaft of the motor 417 is connected to the second fixed wheel 4212, the second fixed wheel 4212 rotates to drive a transmission belt 423 wound around the second fixed wheel 4212 to move, and the transmission belt 423 drives the first driving wheel 4221, the second driving wheel 4222, the first fixed wheel 4211, and the third fixed wheel 4213 to rotate.

In a specific implementation, the taking-out assembly 43 is mounted on the belt 423, the taking-out assembly 43 moves towards the front of the article 9 to be transferred in the second direction under the driving of the belt 423, when the taking-out assembly 43 moves to the limit structure 455 at the front end of the slide 45, the taking-out assembly 43 abuts against the limit structure 455, the belt 423 drives the taking-out assembly 43 to continue moving towards the front of the article 9 to be transferred, the taking-out assembly 43 pushes the limit structure 455 to drive the driving wheel assembly 422 to move forward together, at this time, the spring connected to the second driving wheel 4222 and the second fixed wheel 4212 starts to stretch, when the taking-out assembly 43 moves to the front of the article 9 to be transferred and is connected with the front of the article 9 to be transferred, the motor 417 starts to reverse rotation, the driving belt 423 drives the taking-out assembly 43 to drive the article 9 to be transferred to move along with the belt 423 in the reverse, when the spring is in the free tension state, the moving wheel assembly 422 stops moving after being reset, and the driving belt 423 drives the taking-out assembly 43 to continue moving in the reverse direction until the taking-out assembly 43 is reset.

Referring to fig. 13, in particular, the base 44 includes two support plates 441 disposed opposite to each other and a bottom connection plate 442 disposed between the two support plates 441 and connected to the two support plates 441, respectively, wherein a first fixed wheel 4211 is mounted at a front end of the bottom connection plate 442, and a second fixed wheel 4212 and a third fixed wheel 4213 are mounted at a rear end of the bottom connection plate 442 at an interval in the first direction.

Referring to fig. 13, the slider 45 includes two sliding plates 451 provided oppositely and a fixed connection plate 452 connecting the two sliding plates 451; first wheel 4221 is attached to the front end of fixed link plate 452, and second wheel 4222 is attached to the rear end of fixed link plate 452.

As shown in fig. 13 and 14, optionally, the two sliding plates 451 are provided with a sliding rail 453 on one side facing the two supporting plates 441, and the two supporting plates 441 are provided with a guide block 443 matching with the sliding rail 453, wherein the guide block 443 is provided with a sliding slot, so that the sliding base 45 can move in the sliding slot by the sliding rail 453 on the two sliding plates 451.

Referring to fig. 15 and 16, further, to reduce the impact of the carriage 45 striking the base 44 during reset, in this embodiment, a buffer 454 may be provided at the rear ends of the two sliding plates 451 of the sliding base 45, at the rear ends of the two support plates 441 of the base 44 are provided striking blocks 444 facing the dampers 454, when the slide carriage 45 moves to the rear end position of the base 44 in the second direction, the buffer 454 of the slide plate 451 first collides with the collision block 444 of the support plate 441, because of the cushioning ability of the bumper 454, the bumper 454 reduces the impact force between the slide 45 and the base 44, thereby reducing the shock of the article removing mechanism 4, and at the same time, the bump 444 is arranged on the base 44, and can limit the position of the sliding seat 45, so as to prevent the sliding seat 45 from continuously moving backwards along with the transmission belt 423 when the sliding seat 45 moves to the rear end of the base 44, thereby causing the problem that the sliding seat 45 slips off from the base 44.

Fig. 17 is a schematic view of a second structure of the article takeout mechanism 4 according to the first embodiment of the present disclosure. Referring to fig. 17, the article takeout mechanism 4 further includes a tray 5 mounted on the base 44, the tray 5 being located below the takeout assembly 43, the tray 5 serving to carry the articles 9 to be transferred taken out by the takeout assembly 43.

The tray 5 includes a tray body 51, and extension portions 52 respectively connected to the bases 44 are disposed on two sides of the tray body 51, that is, the tray body 51 is mounted on the bases 44 through the extension portions 52 disposed on two sides of the tray body 51, and the tray body 51 disposed between the two extension portions 52 carries the articles 9 to be transferred taken out by the take-out assembly 43.

In an alternative embodiment, the front end of the tray body 51, the surface facing away from the base 44, is provided with a guide surface 53, the guide surface 53 extending obliquely downward toward the floor surface.

Specifically, due to the possible error between the tray body 51 and the storage rack 8 in the first direction, the problem that the taking-out assembly 43 is jammed between the to-be-transferred article 9 and the tray 5 when transferring the to-be-transferred article 9 may occur, therefore, a guide surface 53 may be provided at the front end of the tray body 51 and a surface facing away from the base 44, and the guide surface 53 extends obliquely downward toward the ground, so that when taking out the to-be-transferred article 9, the taking-out assembly 43 can smoothly move the to-be-transferred article 9 onto the tray body 51 through the guide surface 53, and the jamming phenomenon occurring when moving the to-be-transferred article 9 to the tray body 51 is avoided.

Fig. 18 is a schematic view of a third structure of the article takeout mechanism 4 according to the first embodiment of the present disclosure.

On the basis of the above-described embodiment, referring to fig. 18, in order to realize full automation and multi-functionalization of the transfer robot, the transfer robot further includes a first camera stand, a first camera 6 is mounted on a side of the article takeout mechanism 4 facing the article 9 to be transferred, and the first camera 6 is used for acquiring an identification code on the article 9 to be transferred.

Specifically, in order to enable the first camera 6 to conveniently acquire the identification code on the article 9 to be transferred, the first camera 6 may be disposed at the front end of the base 44, so that when the article taking-out mechanism 4 is close to the article 9 to be transferred, the first camera 6 may directly scan the identification code on the article 9 to be transferred, where the identification code may be a barcode or a two-dimensional code or the like recording information related to the article 9 to be transferred, and there is no need to manually register information of the article 9 to be transferred, thereby improving the carrying efficiency of the carrying robot.

With continued reference to fig. 18, further, in order to enable the transfer robot to rapidly transfer and sort the articles, the second camera 7 may be further disposed on the transfer robot, and the second camera 7 is mounted on the base 44 through the pillar 10, so that the second camera 7 may be located at a higher position, thereby omnidirectionally acquiring three-dimensional shape information such as the volume, the appearance and the like of the articles 9 to be transferred, and acquiring position information of the articles 9 to be transferred on the storage rack 8, thereby achieving rapid sorting and grabbing positioning, and improving the transfer efficiency.

The embodiment of the disclosure provides a transfer robot, which comprises a movable base, a robot shelf, a supporting beam and an article taking-out mechanism, wherein the supporting beam is installed on the robot shelf, the article taking-out mechanism is installed on the supporting beam and located below the supporting beam, and when the article taking-out mechanism moves to the height of an article to be transferred along with the supporting beam in a lifting mode, the article taking-out mechanism is connected with the front face of the article to be transferred so as to transfer the article to be transferred. The utility model provides a transfer robot can improve the utilization ratio in storage space and transfer robot's commonality.

Example two

The embodiment of the disclosure also provides an article taking-out mechanism, which comprises a mounting rack, a rotary component, a transmission component and a taking-out component; the taking-out component, the transmission component, the rotary component and the mounting frame are sequentially mounted on the mounting frame from bottom to top along the lifting direction of the supporting beam, the mounting frame is mounted on the supporting beam, and the rotary component is used for driving the transmission component and the taking-out component to rotate in a plane perpendicular to the lifting direction of the supporting beam; the transmission assembly is used for driving the taking-out assembly to move towards or away from the front surface of the article to be transferred, and the taking-out assembly is used for being connected with the front surface of the article to be transferred so as to transfer the article to be transferred; and the tray is arranged on the base, is positioned below the taking-out assembly and is used for bearing the articles to be transferred taken out by the taking-out assembly.

The article taking-out mechanism provided in the embodiment of the present disclosure is the article taking-out mechanism provided in the first embodiment, and the structure and the operating principle of the article taking-out mechanism have been described in detail in the first embodiment, and thus, detailed description is not repeated in this embodiment.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure.

In the description of the present disclosure, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus 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 apparatus.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; either directly or indirectly through intervening media, such as through internal communication or through an interaction between two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand 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 such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A transfer robot, characterized by comprising:

moving the base;

a robotic shelf mounted on the mobile base;

the supporting beam is arranged on the robot goods shelf and can move up and down relative to the robot goods shelf;

the article taking-out mechanism comprises a mounting frame, a rotary component, a transmission component and a taking-out component;

the take out the subassembly the transmission subassembly the gyration subassembly with the mounting bracket is followed supporting beam's direction of rise is followed supreme installing in proper order down on the mounting bracket, the mounting bracket is installed supporting beam is last, the gyration subassembly is used for driving the transmission subassembly with take out the subassembly at the perpendicular to the in-plane internal rotation of supporting beam's direction of rise, the transmission subassembly is used for the drive take out the subassembly orientation or deviate from the positive removal of waiting to shift article, take out the subassembly be used for with the front of waiting to shift article is connected in order to shift wait to shift article.

2. The transfer robot of claim 1, wherein the take-out assembly comprises a fixed bracket and a plurality of suction cups;

the fixed bolster is installed on the transmission assembly, the several sucking disc is installed on the front of fixed bolster.

3. The transfer robot as claimed in claim 2, wherein a vacuum evacuation device is installed on a rear surface of the fixed frame, and the vacuum evacuation device is respectively communicated with the suction cups through air pipes.

4. The transfer robot of claim 3, further comprising a fault diagnosis system including a gas pressure sensor in signal connection with the processor, the gas pressure sensor being disposed in a gas pipe, and a processor that determines the suction cup leakage when the actual pressure is equal to atmospheric pressure based on an actual pressure of gas in the gas pipe detected by the gas pressure sensor.

5. The transfer robot of claim 1, wherein the take-out assembly includes a fixed bracket and a magnet mounted on the fixed bracket;

the fixed bracket is arranged on the transmission assembly; the article to be transferred is a metal article or an article with magnetism.

6. The transfer robot of claim 1, wherein the take-out assembly comprises a fixed bracket and a catch mounted on the fixed bracket;

the fixed bracket is arranged on the transmission assembly; the article to be transferred is provided with a clamping groove matched with the buckle.

7. A transfer robot according to any one of claims 1-6, wherein the mounting frame comprises two oppositely arranged mounting plates, both mounting plates being mounted on the support beam.

8. The transfer robot of claim 7, wherein the mounting frame further comprises a load beam connecting the two mounting plates, the slewing assembly being mounted on the load beam.

9. The transfer robot of claim 8, wherein the swing assembly comprises:

the bearing plate is arranged on the bearing beam;

the rotating plate is opposite to the bearing plate and arranged at intervals, a second chain wheel is arranged on the surface of the rotating plate facing the bearing plate, a motor and the transmission assembly are arranged on the surface of the rotating plate opposite to the bearing plate, and an output shaft of the motor is connected with the second chain wheel;

and the crossed bearing is used for connecting the bearing plate and the rotating plate, a first chain wheel is connected to the crossed bearing, the first chain wheel is connected with a second chain wheel through a chain, when the motor drives the second chain wheel to rotate, the second chain wheel drives the first chain wheel to rotate through the chain, and when the first chain wheel rotates, the transmission assembly on the rotating plate is driven to rotate around the axis of the first chain wheel.

10. The transfer robot of any one of claims 2-6, wherein the drive assembly comprises a fixed wheel assembly, a moving wheel assembly, a drive belt, and a base mounted on the swing assembly;

the fixed wheel assembly comprises a first fixed wheel, a second fixed wheel and a third fixed wheel; the first fixed wheel is arranged at the front end of the base, and the second fixed wheel and the third fixed wheel are arranged at the rear end of the base at intervals along a first direction; an installation space of the driving wheel assembly is formed among the second fixed wheel, the third fixed wheel and the first fixed wheel;

the driving wheel assembly comprises a sliding seat arranged on the base, a first driving wheel and a second driving wheel, the first driving wheel is arranged at the front end of the sliding seat, and the second driving wheel is arranged at the rear end of the sliding seat; the front end of the sliding seat is provided with a limiting structure, and the rear end of the sliding seat is connected with a resetting mechanism;

the driving belt is sequentially wound on the second fixed wheel, the first driving wheel, the second driving wheel, the first fixed wheel and the third fixed wheel, when the taking-out assembly moves to the limiting structure along a second direction under the driving of the driving belt, the driving belt drives the taking-out assembly and the driving wheel assembly to move together along the second direction, when the driving belt drives in the opposite direction, the reset mechanism is used for resetting the driving wheel assembly, and after the driving wheel assembly resets, the driving belt drives the taking-out assembly to reset;

the first direction is perpendicular to the second direction, and the second direction is a moving direction of the taking-out assembly towards or away from the front face of the article to be transferred.

11. The transfer robot of claim 10, wherein the base includes two support plates disposed oppositely, and a bottom connection plate disposed between the two support plates and connected to the two support plates, respectively;

the sliding seat comprises two sliding plates which are oppositely arranged and a fixed connecting plate which is connected with the two sliding plates,

at least one of the two sliding plates is provided with a sliding rail, the sliding rail is positioned on one side of the sliding plate, which faces the supporting plate, and the supporting plate is provided with a guide block matched with the sliding rail.

12. The transfer robot as claimed in claim 11, wherein a bumper is provided at a rear end of the slide plate, and a collision block facing the bumper is provided at a rear end of the support plate.

13. The transfer robot of claim 10, wherein the return mechanism is a spring;

one end of the spring is connected to a wheel shaft of the second driving wheel positioned at the rear end of the sliding seat, and the other end of the spring is connected to a wheel shaft of the second fixed wheel positioned at the rear end of the base.

14. The transfer robot of claim 10, wherein the article takeout mechanism further includes a tray mounted on the base, the tray being located below the takeout assembly for carrying the article to be transferred that is taken out by the takeout assembly.

15. The transfer robot of claim 14, wherein the tray comprises a tray body, and both sides of the tray body are provided with extensions connected to the bases, respectively.

16. The transfer robot of claim 15, wherein a surface of the front end of the tray body facing away from the base is provided with a guide surface.

17. The transfer robot of claim 10, further comprising a first camera mounted on a side of the article take-out mechanism facing the article to be transferred, the first camera being configured to acquire an identification code on the article to be transferred.

18. The transfer robot of claim 17, further comprising a second camera mounted on the base by a pillar, the second camera being configured to acquire three-dimensional shape information and position information of the article to be transferred.

19. The utility model provides an article take-out mechanism, sets up on a supporting beam of goods shelves, its characterized in that includes: the device comprises a mounting frame, a rotary component, a transmission component and a taking-out component;

the taking-out assembly, the transmission assembly, the rotary assembly and the mounting frame are sequentially mounted on the mounting frame from bottom to top along the lifting direction of the supporting beam, the mounting frame is mounted on the supporting beam, and the rotary assembly is used for driving the transmission assembly and the taking-out assembly to rotate in a plane perpendicular to the lifting direction of the supporting beam; the transmission assembly is used for driving the taking-out assembly to move towards or away from the front surface of the article to be transferred, and the taking-out assembly is used for being connected with the front surface of the article to be transferred so as to transfer the article to be transferred;

the transmission assembly is provided with a base, and the base is installed on the rotary assembly;

the article taking-out mechanism further comprises a tray arranged on the base, and the tray is located below the taking-out assembly and used for bearing the articles to be transferred taken out by the taking-out assembly.

20. The article takeout mechanism according to claim 19, wherein the tray includes a tray body, and both sides of the tray body are provided with extensions that are respectively connected to the bases.

21. The article takeout mechanism of claim 20 wherein the front end of the tray body and the surface facing away from the base are provided with guide surfaces.