CN213567912U - Vertical support and transfer robot - Google Patents

Abstract

The application provides a vertical support and transfer robot, vertical support includes: the device comprises a stand column structure, a driving structure and a guide assembly; the upright post structure comprises a fixed upright post component and a movable upright post component, the movable upright post component is used for installing a carrying device of the carrying robot, the fixed upright post component is used for being connected with a moving chassis of the carrying robot and extends along the vertical direction, and the driving structure is used for driving the movable upright post component to move along the extending direction of the fixed upright post component; the guide assembly comprises a sliding groove and a first guide wheel assembly, the first guide wheel assembly is located in the sliding groove and moves along the extending direction of the sliding groove, the sliding groove is located on one of the fixed upright post assembly or the movable upright post assembly, and the first guide wheel assembly is located on the other one of the fixed upright post assembly or the movable upright post assembly. The application provides a vertical support can reduce movable stand subassembly and produce and rock, improves stand subassembly's stability.

Description

Vertical support and transfer robot

Technical Field

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

Background

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

The transfer robot may include a moving chassis, a support, a transfer device, and a plurality of storage racks, wherein the support is disposed on the moving chassis, the transfer device is connected to the support, and the transfer device may move up and down in a height direction of the support, and the storage racks are disposed at intervals in the height direction of the support. The support can include first support body and the second support body of pegging graft in first support body, and the second support body slides for first support body to increase the height of support.

However, the second frame body is easy to shake and has poor stability in the sliding process relative to the first frame body.

SUMMERY OF THE UTILITY MODEL

The application provides a vertical support and transfer robot can reduce movable stand subassembly and produce and rock, improves stand subassembly's stability.

In a first aspect, the present application provides a vertical stand for a transfer robot, the transfer robot including a mobile chassis and a transfer device, the vertical stand comprising: the device comprises a stand column structure, a driving structure and a guide assembly;

the upright post structure comprises a fixed upright post assembly and a movable upright post assembly, the movable upright post assembly is used for mounting the carrying device, the fixed upright post assembly is used for being connected with the movable chassis and extends along the vertical direction, and the driving structure is used for driving the movable upright post assembly to move along the extending direction of the fixed upright post assembly;

the guide assembly comprises a sliding groove and a first guide wheel set, the sliding groove extends along the vertical direction, the first guide wheel set is located in the sliding groove and moves along the extending direction of the sliding groove, the sliding groove is located on one of the fixed stand column assembly and the movable stand column assembly, and the first guide wheel set is located on the other one of the fixed stand column assembly and the movable stand column assembly.

Optionally, the vertical support that this application provided, the different inner walls butt of first direction wheelset and spout.

Optionally, the vertical support that this application provided, first direction wheelset includes guide base and at least a pair of first leading wheel, and guide base is connected with fixed stand subassembly or activity stand subassembly, and the rotatable setting of first leading wheel is on guide base, and the wheel face of at least one first leading wheel and the inner wall butt of spout.

Optionally, the vertical support that this application provided, first leading wheel group still include at least a pair of second leading wheel, and the rotatable setting of second leading wheel is on the direction base, and the wheel face of at least one second leading wheel and the inner wall butt of spout, the wheel face of first leading wheel and the wheel face of second leading wheel respectively with the different inner wall butt of spout.

Optionally, according to the vertical support provided by the application, an included angle is formed between the axis of the first guide wheel and the axis of the second guide wheel, and an included angle is formed between the axis of the first guide wheel and the axis of the second guide wheel and the extending direction of the sliding groove.

Optionally, in the vertical bracket provided by the application, the opposite edges of the guide base are respectively provided with at least one supporting portion, and the first guide wheel is arranged outside the supporting portions; and/or the presence of a gas in the gas,

the guide base is provided with at least two extending parts which respectively extend towards the opposite outer sides of the guide base, the second guide wheels are arranged on the extending parts, and the plane where the second guide wheels are located is parallel to the plane where the guide base is located.

Optionally, in the vertical bracket provided by the application, the extension portion and the support portion are both located on the same opposite two sides of the guide base, and the extension portion is located between the support portions on the same side of the guide base.

Optionally, in the vertical bracket provided by the present application, the sliding groove includes a first accommodating section extending along the extending direction thereof, and the first accommodating section has two opposite sliding groove side walls and two opposite second sliding groove side walls;

the first guide wheel set is located the first section of holding, and each first leading wheel is located between two first spout lateral walls, and the wheel face of each second leading wheel respectively with two second spout lateral walls butt.

Optionally, in the vertical bracket provided by the application, the fixed upright post assembly includes a first fixed post and a second fixed post, both the first fixed post and the second fixed post are connected with the moving chassis, and both the first fixed post and the second fixed post are provided with sliding chutes;

the movable upright post assembly comprises a first movable post and a second movable post, and a first guide wheel set is arranged on the first fixed post and/or the second fixed post.

Optionally, in the vertical bracket provided by the application, the sliding groove further includes a second accommodating section extending along the extending direction of the sliding groove, the width of the second accommodating section is smaller than that of the first accommodating section, and the second accommodating section is communicated with the first accommodating section;

first activity post and second activity post all include the body, and the body is located the second and holds the section, and partial body extends to first holding in the section and be connected with the direction base.

Optionally, the vertical support that this application provided, the guide assembly still includes at least one second direction wheelset, and the second direction wheelset includes at least one third leading wheel, and the equal rotatable setting of each third leading wheel is on fixed stand subassembly, and part third leading wheel extends to the second and holds in the section, and the wheel face of at least one third leading wheel and the lateral wall butt of body.

Optionally, the vertical support that this application provided, second leading wheel group still include at least one fourth leading wheel, and the equal rotatable setting of each fourth leading wheel is on fixed stand subassembly, and partial fourth leading wheel extends to the second and holds in the section, and the wheel face of at least one fourth leading wheel and the lateral wall butt of body.

Optionally, the vertical support that this application provided, the body has the guide way that extends along vertical direction, and the fourth leading wheel is located the guide way, and the inside wall butt that fourth leading wheel and guide way are relative and/or third leading wheel and the diapire butt of guide way.

Optionally, the vertical support that this application provided, second leading wheel group still include two at least fixed plates, and third leading wheel and fourth leading wheel are connected on the fixed plate, fixed plate and fixed stand subassembly rigid coupling.

Optionally, in the vertical bracket provided by the present application, each second guide wheel group is located at the upper portion of the fixed pillar assembly, and/or the guide base is fixed at the lower portion of the body.

Optionally, the vertical support that this application provided still includes the damper, damper and fixed stand subassembly or removal chassis rigid coupling, when the body moves towards removing the chassis, first direction wheelset and damper butt.

Optionally, the vertical support that this application provided has butt portion on the guide base, and the damping piece is located first holding section, butt portion and damping piece butt.

Optionally, the application provides a vertical support, the damper is at least one in spring, shock absorber, silica gel piece or the rubber slab.

In a second aspect, the present application provides a transfer robot, including a mobile chassis, a transfer device, and the above-mentioned vertical stand, the vertical stand is connected with the mobile chassis, and the transfer device is installed on the vertical stand.

The application provides a vertical support and transfer robot, vertical support is through setting up the direction subassembly, fixed stand subassembly and activity stand subassembly pass through the direction subassembly and connect, the direction subassembly includes spout and first direction wheelset, the inner wall butt of first direction wheelset and spout, the in-process that the activity stand subassembly removed, first direction wheelset rolls along the inner wall of spout, thereby it rocks to reduce the production of activity stand subassembly, the stability of stand subassembly is improved, reduce the abnormal sound that produces in the transfer robot use.

Drawings

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

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

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

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

FIG. 4 is a schematic view of the internal structure of the section A-A in FIG. 3 along the Z-axis direction;

FIG. 5 is a schematic view of the internal structure of the cross-section B-B taken along the Z-axis in FIG. 3;

fig. 6 is a schematic structural view of a first fixing column in the transfer robot according to the embodiment of the present disclosure;

fig. 7 is a schematic structural view of a first movable column in the transfer robot according to the embodiment of the present disclosure;

FIG. 8 is a partial schematic view in another orientation of FIG. 7;

FIG. 9 is a schematic view of the internal structure of the cross-section C-C in FIG. 3 taken along the Z-axis;

FIG. 10 is a schematic view of the internal structure of the cross-section D-D in FIG. 3 taken along the Z-axis;

fig. 11 is a schematic structural view of a second guide wheel set in the transfer robot according to the embodiment of the present disclosure;

fig. 12 is a schematic structural view of a column structure and a driving structure in a transfer robot according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of a driving structure in a transfer robot according to an embodiment of the present application.

Description of reference numerals:

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

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

300-a handling device;

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

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

600-storage shelves;

700-a detection module;

800-a shock absorbing member;

900-indicator light;

1000-wireless module.

Detailed Description

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

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

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

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

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure; fig. 2 is a schematic structural view of a transfer robot according to another angle provided in the embodiment of the present disclosure; fig. 3 is a schematic structural view of a vertical support in a transfer robot according to an embodiment of the present disclosure; FIG. 4 is a schematic view of the internal structure of the section A-A in FIG. 3 along the Z-axis direction; FIG. 5 is a schematic view of the internal structure of the section B-B in FIG. 3 taken along the Z-axis. Referring to fig. 1 to 5, the transfer robot provided by the present application includes a moving chassis 100, a vertical stand, and a transfer device 300; the vertical stand includes a column structure 200, a driving structure 400, and a guide assembly 500.

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

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

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

The mast structure 200 may be telescopic in order to facilitate the handling apparatus 300 to access or store cargo at an elevated location. Specifically, the column structure 200 may include a fixed column assembly 210 and a movable column assembly 220, the fixed column assembly 210 extends toward the upper side of the moving chassis 100 along the vertical direction, the first end 210a of the fixed column assembly is connected to the moving chassis 100, the handling device 300 is connected to the movable column assembly 220, and the driving structure 400 drives the movable column assembly 220 to move along the extending direction of the fixed column assembly 210, that is, the movable column assembly 220 may move up and down along the vertical direction relative to the fixed column assembly 210, thereby achieving the extension and retraction of the column structure 200.

However, in the process of moving the movable column assembly 220 up and down (which may also be referred to as ascending or descending) along the fixed column assembly 210, the movable column assembly 220 is easily shaken, which results in poor stability of the column assembly 220 and abnormal noise of the transfer robot. Based on this, this application still includes guide assembly 500, and fixed stand subassembly 210 and movable stand subassembly 220 pass through guide assembly 500 to be connected, and drive structure 400 drives movable stand subassembly 220 and moves along the extending direction of fixed stand subassembly 210, and guide assembly 500 guides for the in-process that movable stand subassembly 220 moved.

Specifically, the guide assembly 500 includes a sliding slot 510 and a first guide wheel set 520, the sliding slot 510 extends along a vertical direction, the first guide wheel set 520 is located in the sliding slot 510 and moves along an extending direction of the sliding slot 510, the sliding slot 510 is located on one of the fixed pillar assembly 210 and the movable pillar assembly 220, and the first guide wheel set 520 is located on the other of the fixed pillar assembly 210 or the movable pillar assembly 220.

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

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

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

Fig. 6 is a schematic structural view of a first fixing column in the transfer robot according to the embodiment of the present disclosure; fig. 7 is a schematic structural view of a first movable column in the transfer robot according to the embodiment of the present disclosure; fig. 8 is a partial schematic view in another direction of fig. 7. Referring to fig. 1 to 8, the fixed column assembly 210 includes a first fixed column 211 and a second fixed column 212, both the first fixed column 211 and the second fixed column 212 are connected to the moving chassis 100, and both the first fixed column 211 and the second fixed column 212 have a sliding slot 510 thereon. The movable upright assembly 220 includes a first movable column 221 and a second movable column 222, and the first movable column 221 and the second movable column 222 are respectively provided with a first guide wheel set 520.

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

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

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

In the present application, an axis of the first guide wheel 522 and an axis of the second guide wheel 523 form an included angle, and both the axis of the first guide wheel 522 and the axis of the second guide wheel 523 form an included angle with the extending direction of the sliding chute 510. This ensures that the tread of each first guide wheel 522 and the tread of each second guide wheel 523 come into contact with different inner walls of the chute 510.

Alternatively, the axes of the first guide wheels 522 and the second guide wheels 523 may be perpendicular to each other, and the axes of the first guide wheels 522 and the second guide wheels 523 are perpendicular to the extending direction of the sliding chute 510, thereby preventing the wheel surfaces of the first guide wheels 522 and the second guide wheels 523 from affecting each other. The axis of the first guide wheel 522 is along the Y direction in fig. 8, the axis of the second guide wheel 523 is along the X direction in fig. 8, and the extending direction of the sliding chute 510 is along the Z direction in fig. 6.

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

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

In the vertical bracket provided by the application, the extension part 5212 and the support part 5211 are both located on the same relative two sides of the guide base 521, and the extension part 5212 is located between the support parts 5211 on the same side of the guide base 521, so that the first guide wheel 522 and the second guide wheel 523 are dispersedly arranged, and therefore, the stability of the upright post assembly 220 is improved. In the drawings of the present embodiment, two pairs of first guide wheels 522 and one pair of second guide wheels 523 are illustrated.

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

In the present application, the chute 510 includes a first accommodation section 511 extending in an extending direction of the chute 510, the first accommodation section 511 having two first chute sidewalls 5111 opposite and two second chute sidewalls 5112 opposite.

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

In some embodiments, the sliding chute 510 further includes a second accommodating section 512 extending along the extending direction of the sliding chute 510, the width (i.e., the length in the Y direction in fig. 4) of the second accommodating section 512 is smaller than the width (i.e., the length in the Y direction in fig. 4) of the first accommodating section 511, and the second accommodating section 512 is communicated with the first accommodating section 511. Each of the first movable column 221 and the second movable column 222 includes a body 230, the body 230 is located in the second accommodating section 512, and a portion of the body 230 extends into the first accommodating section 511 and is connected to the guide base 521. When mounting, first movable post 221 is inserted into sliding slot 510 of first fixed post 211 from the top of first fixed post 211, and second movable post 222 is inserted into sliding slot 510 of second fixed post 212 from the top of second fixed post 212. The first guide wheel group 520 is confined in the first accommodation section 511 by setting the width of the second accommodation section 512 to be smaller than the width of the first accommodation section 511.

FIG. 9 is a schematic view of the internal structure of the cross-section C-C in FIG. 3 taken along the Z-axis; FIG. 10 is a schematic view of the internal structure of the cross-section D-D in FIG. 3 taken along the Z-axis; fig. 11 is a schematic structural view of a second guide wheel set in the transfer robot according to the embodiment of the present disclosure. Referring to fig. 1 to 11, in the present application, the guide assembly 500 further includes at least one second guide wheel set 530, the second guide wheel set 530 includes at least one third guide wheel 531, the second guide wheel set 530 further includes at least one fourth guide wheel 532, each third guide wheel 531 is rotatably disposed on two opposite sides of the fixed pillar assembly 210, each fourth guide wheel 532 is rotatably disposed on two opposite sides of the fixed pillar assembly 210, and the third guide wheel 531 and the fourth guide wheel 532 are located on the same two opposite sides of the fixed pillar assembly 210. Part of the third guide wheels 531 extend into the second accommodating section 512, and the wheel surfaces of at least one third guide wheel 531 are respectively abutted with two opposite sides of the body 230, and/or part of the fourth guide wheels 532 extend into the second accommodating section 512, and the wheel surfaces of at least one fourth guide wheel 532 are respectively abutted with two opposite sides of the body 230.

In some embodiments, the third and fourth guide wheels 531 and 532 may be arranged in the same manner as the first and second guide wheels 522 and 523. The tread of the third guide wheel 531 and the tread of the fourth guide wheel 532 may abut against different sides of the body 230, respectively, i.e., the axis of the third guide wheel 531 may be perpendicular to the axis of the fourth guide wheel 532.

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

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

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

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

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

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

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

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

The fixed column assembly 210 may include a fixed cross beam 213, a first end of the first fixed column 211 and a first end of the second fixed column 212 are both fixedly connected to the mobile chassis 100, and the first fixed column 211 and the second fixed column 212 (i.e., the second end 210b of the fixed column assembly) are further connected by the fixed cross beam 213. The second end of the first fixing column 211 and the second end of the second fixing column 212 may be connected by a fixing cross beam 213, or the connecting position of the fixing cross beam 213 is close to the second end of the first fixing column 211 and the second end of the second fixing column 212. First fixed column 211 and second fixed column 212 are both perpendicular to mobile chassis 100, fixed cross beam 213 is perpendicular to first fixed column 211, and fixed cross beam 213 is perpendicular to second fixed column 212. Wherein, the fixed column assembly 210 has a supporting seat 214 thereon, and the driving structure 400 is connected to the supporting seat 214.

Fig. 12 is a schematic structural view of a column structure and a driving structure in a transfer robot according to an embodiment of the present disclosure; fig. 13 is a schematic structural diagram of a driving structure in a transfer robot according to an embodiment of the present application. Referring to fig. 1 to 13, in the present application, an indicator lamp 900 and/or a wireless module 1000 are further included, the indicator lamp 900 is used to indicate the working state of the transfer robot, and the wireless module 1000 is used to communicate.

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

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

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

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

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

The application provides a transfer robot, drive structure 400 includes receiving and releasing subassembly 410 and at least a set of traction subassembly 420, and traction subassembly 420 includes haulage rope 421 and guide pulley group 422, and haulage rope 421 twines and establishes on guide pulley group 422, and the first end 421a of haulage rope is connected with handling device 300, and the second end 421b of haulage rope is connected with receiving and releasing subassembly 410, and receiving and releasing subassembly 410 draws in or releases haulage rope 421 to make handling device 300 move for movable upright post subassembly 240.

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

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

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

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

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

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

Claims (19)

1. A vertical stand for a transfer robot including a mobile chassis and a transfer device, characterized by comprising: the device comprises a stand column structure, a driving structure and a guide assembly;

the upright post structure comprises a fixed upright post assembly and a movable upright post assembly, the movable upright post assembly is used for mounting a carrying device, the fixed upright post assembly is used for being connected with the movable chassis and extending along the vertical direction, and the driving structure is used for driving the movable upright post assembly to move along the extending direction of the fixed upright post assembly;

the guide assembly comprises a sliding groove and a first guide wheel set, the sliding groove extends along the vertical direction, the first guide wheel set is located in the sliding groove and moves along the extending direction of the sliding groove, the sliding groove is located on one of the fixed stand column assembly and the movable stand column assembly, and the first guide wheel set is located on the other one of the fixed stand column assembly and the movable stand column assembly.

2. The vertical support according to claim 1, characterized in that said first set of guide wheels abuts different inner walls of said chute.

3. The vertical support according to claim 2, wherein the first guide wheel set comprises a guide base and at least one pair of first guide wheels, the guide base is connected with the fixed upright post assembly or the movable upright post assembly, the first guide wheels are rotatably arranged on the guide base, and the wheel surface of at least one first guide wheel abuts against the inner wall of the chute.

4. The vertical support according to claim 3, wherein the first guide wheel set further comprises at least one pair of second guide wheels, the second guide wheels are rotatably disposed on the guide base, a wheel surface of at least one of the second guide wheels abuts against an inner wall of the chute, and the wheel surface of the first guide wheel and the wheel surface of the second guide wheel respectively abut against different inner walls of the chute.

5. The vertical support according to claim 4, wherein an included angle is formed between the axis of the first guide wheel and the axis of the second guide wheel, and an included angle is formed between the axis of the first guide wheel and the axis of the second guide wheel and the extending direction of the sliding chute.

6. The vertical stand according to claim 4, wherein the opposite edges of the guide bases respectively have at least one support portion, the first guide wheels being disposed outside the support portions; and/or the guide base is provided with at least two extending parts which respectively extend towards the opposite outer sides of the guide base, and the second guide wheel is arranged on the extending parts.

7. The vertical stand according to claim 6, wherein the extension portion and the support portion are located on the same and opposite sides of the guide base, and the extension portion is located between the support portions on the same side of the guide base.

8. The vertical support according to any one of claims 4 to 7, wherein the chute comprises a first receiving section extending in the direction of extension thereof, the first receiving section having two opposing first chute side walls and two opposing second chute side walls;

the first guide wheel set is located in the first accommodating section, each first guide wheel is located between the two sliding groove side walls, and the wheel surface of each second guide wheel is abutted to the two second sliding groove side walls respectively.

9. The vertical support according to claim 8, wherein the fixed upright assembly comprises a first fixed column and a second fixed column, the first fixed column and the second fixed column are both connected with the moving chassis, and the first fixed column and the second fixed column are both provided with the sliding grooves;

the movable upright post assembly comprises a first movable post and a second movable post, and the first guide wheel set is arranged on the first fixed post and/or the second fixed post.

10. The vertical support according to claim 9, wherein the chute further comprises a second receiving section extending along an extending direction thereof, a width of the second receiving section being smaller than a width of the first receiving section, the second receiving section being in communication with the first receiving section;

the first movable column and the second movable column comprise bodies, the bodies are located in the second accommodating sections, and part of the bodies extend into the first accommodating sections and are connected with the guide bases.

11. The vertical support according to claim 10, wherein the guide assembly further comprises at least one second guide wheel set, the second guide wheel set comprises at least one third guide wheel, each third guide wheel is rotatably disposed on the fixed column assembly, a portion of the third guide wheels extends into the second accommodating section, and a wheel surface of at least one third guide wheel abuts against the side wall of the body.

12. The vertical support according to claim 11, wherein the second guide wheel set further comprises at least one fourth guide wheel, each fourth guide wheel is rotatably disposed on the fixed column assembly, a portion of the fourth guide wheel extends into the second accommodating section, and a wheel surface of at least one fourth guide wheel abuts against the side wall of the body.

13. The stand of claim 12, wherein the body has a guide slot extending in a vertical direction, the fourth guide wheel being located within the guide slot, the fourth guide wheel abutting an opposite inner side wall of the guide slot and/or the third guide wheel abutting a bottom wall of the guide slot.

14. The vertical support according to claim 13, wherein the second guide wheel assembly further comprises at least two fixing plates, the third guide wheel and the fourth guide wheel are connected to the fixing plates, and the fixing plates are fixedly connected to the fixed upright post assembly.

15. The vertical support according to claim 11, wherein each of the second guide wheel sets is located at an upper portion of the stationary mast assembly and/or the guide base is fixed to a lower portion of the body.

16. The vertical support according to claim 10, further comprising a shock absorber secured to the stationary mast assembly or the mobile chassis, the first guide wheel set abutting the shock absorber when the body moves toward the mobile chassis.

17. The vertical support according to claim 16, wherein the guide base has an abutment thereon, the damper being located within the first housing section, the abutment abutting the damper.

18. The vertical support according to claim 17, wherein the shock absorbing member is at least one of a spring, a shock absorber, a silicone sheet, or a rubber sheet.

19. A transfer robot comprising a moving chassis, a transfer device, and the vertical stand of any one of claims 1 to 18, the vertical stand being connected to the moving chassis, the transfer device being mounted on the vertical stand.

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