CN215905806U

CN215905806U - Conveying device and conveying robot

Info

Publication number: CN215905806U
Application number: CN202121014335.0U
Authority: CN
Inventors: 孔哲
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2022-02-25
Anticipated expiration: 2031-05-12
Also published as: TWM629662U; WO2022237220A1

Abstract

The carrying device comprises a base, a driving part, a speed reducing component, a gear transmission component and a lifting component capable of lifting goods, wherein the lifting component is positioned on the base and can rotate around a vertical rotating shaft relative to the base; the driving part is arranged on the base, a first output shaft of the driving part extends along the horizontal direction, and the first output shaft of the driving part is connected with the gear transmission assembly through the speed reduction assembly; the speed reducing assembly can drive at least part of gears in the gear transmission assembly to rotate around the rotating shaft, so that the gear transmission assembly drives the lifting assembly to rotate relative to the base. The utility model provides a handling device and transfer robot, not only can satisfy handling device and get the limit size of height at the packing box, the suitability is wider moreover.

Description

Conveying device and conveying robot

Technical Field

The disclosure relates to the technical field of logistics, in particular to a carrying device and a carrying robot.

Background

With the rapid development of electronic commerce and online shopping, the requirement of the transportation device for the maximum size of the pick-and-place height of the container is higher, which means that the requirement for the layout size of the transportation device is higher and higher.

At present, a fork device is taken as one of the carrying devices, and is mainly divided into a clamping fork device or a lifting fork device, and a transmission assembly in the existing clamping fork device or the lifting fork device generally adopts a transmission form that a chain or a conveyor belt is matched with a motor to drive the fork device to rotate.

However, the existing transmission assembly occupies a relatively large space in the fork device, so that the structure of the fork device is not compact enough, and the compression of the fork device, particularly the lifting type fork device, on the height space is difficult, so that the lifting type fork is difficult to meet the limit size of the height of a container to be taken and placed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a handling device and transfer robot, not only can satisfy handling device and get the limit size of height at the packing box, the suitability is wider moreover.

In a first aspect, the present disclosure provides a carrying device, including a base, a driving member, a decelerating assembly, a gear transmission set, and a lifting assembly capable of lifting a cargo, where the lifting assembly is located above the base and can rotate around a vertical rotating shaft relative to the base;

the driving part is arranged on the base, a first output shaft of the driving part extends along the horizontal direction, and the first output shaft is connected with the gear transmission assembly through the speed reduction assembly; the speed reduction assembly can drive at least part of gears in the gear transmission assembly to rotate around the rotating shaft, so that the gear transmission assembly drives the lifting assembly to rotate relative to the base.

The carrying device as described above, optionally, the gear transmission assembly includes a driven gear, the driven gear and the lifting assembly are coaxially disposed, the driven gear is connected to the base or the lifting assembly, and the speed reduction assembly can drive the driven gear to rotate around the rotation shaft, so that the gear transmission assembly drives the lifting assembly to rotate relative to the base.

In the carrying device, optionally, the gear transmission assembly further includes a driving gear, the driving gear is connected to the second output shaft of the speed reduction assembly and is engaged with the driven gear, and the driving gear is disposed on one of the base and the lifting assembly that is not connected to the driven gear.

In the carrying device, optionally, the driving gear is connected to the lifting assembly, and the driven gear is connected to the base.

The carrying device as described above, optionally, further comprising a mounting plate connected to the lifting assembly, the mounting plate being located between the base and the lifting assembly; the driving gear passes through the mounting panel connect in lift the subassembly, the driving gear can drive lift the subassembly with the mounting panel for the base synchronous revolution.

In the carrying device as described above, optionally, the decelerating assembly and the driving member are both disposed on the mounting plate.

The carrying device as described above, optionally, the lifting assembly includes a support frame and a telescopic assembly capable of lifting the cargo, the telescopic assembly is located above the support frame and connected to the support frame, and the telescopic assembly is supported by the support frame and connected to the mounting plate.

In the carrying device, optionally, the speed reduction assembly, the driving member and the gear transmission assembly are all disposed on the same side of the supporting frame, wherein the speed reduction assembly and the driving member are both located in the middle of the supporting frame.

In the carrying device, the driven gear is optionally located on a side of the driving gear close to the driving member.

In the above-described carrying device, optionally, the number of teeth of the driven gear is greater than the number of teeth of the driving gear.

In the carrying device, optionally, the driving gear and the driven gear are both spur gears, and a central shaft of the driving gear and the rotating shaft are arranged in parallel.

The handling device according to any of the preceding claims, wherein the drive member is a rotary motor.

The carrying device as claimed in any one of the above claims, optionally, the reduction assembly includes a gear reduction box, the gear reduction box has an input shaft and a second output shaft, the input shaft is connected with the first output shaft, the second output shaft is connected with a driving gear of the gear transmission assembly, and the input shaft and the second output shaft are crossed with each other.

According to the carrying device, optionally, a first bevel gear and a second bevel gear engaged with the first bevel gear are arranged in the gear reduction box, axial directions of the first bevel gear and the second bevel gear are mutually crossed, a transmission shaft of one of the first bevel gear and the second bevel gear is the input shaft, and a transmission shaft of the other of the first bevel gear and the second bevel gear is the second output shaft.

The carrying device as claimed in any one of the above claims, wherein the speed reduction assembly includes a planetary speed reducer and a right-angle speed reducer; the planetary reduction gear is connected with the first output shaft and is connected with a driving gear of the gear transmission assembly through the right-angle reduction gear.

The handling device of any preceding claim, optionally wherein the lifting assembly comprises lifting forks.

In a second aspect, the present disclosure provides a transfer robot, including a robot base shelf and a transfer device as described in any one of the above, the shelf being provided on the robot base, and the transfer device being connected to one end of the shelf and being movable in a vertical direction along the shelf.

The utility model provides a handling device and transfer robot, through establishing the driving piece on the base, and the first output shaft of driving piece extends along the horizontal direction, can be convenient for like this the compression of handling device on high space to reduce handling device's height, thereby can satisfy handling device and get the limit size of putting the height at the packing box. Meanwhile, the first output shaft of the driving piece is connected with the gear transmission assembly through the speed reduction assembly, the speed reduction assembly can drive at least part of gears in the gear transmission assembly to rotate around the rotating shaft, so that the gear transmission assembly drives the lifting assembly to rotate relative to the base, the carrying device can be used for achieving goods taking in different directions, meanwhile, the structure of the carrying device is more compact through the gear transmission assembly, on the other hand, the rotation angle of the lifting assembly can be accurately controlled, and the carrying device is wider in applicability. Therefore, the carrying device and the carrying robot provided by the embodiment can meet the limit size of the height of the carrying device for taking and placing the cargo box, and have wider applicability.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure 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 disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

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

FIG. 2 is an enlarged schematic view of a portion A of the transfer robot of FIG. 1 according to an exemplary embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a carrying device provided in an embodiment of the present disclosure;

fig. 4 is a perspective view of a carrying device provided in an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a carrying device with a base removed according to an embodiment of the disclosure;

FIG. 6 is a schematic view of the handling device of FIG. 5 with the mounting plate removed according to an embodiment of the disclosure;

figure 7 is a schematic view of a reduction assembly coupled to a gear assembly and a drive member according to an embodiment of the present disclosure.

Description of reference numerals:

100-a handling device; 10-a base; 20-a drive member; 21-a first output shaft; 30-a speed reduction assembly; 31-a gear reduction box; 32-a first bevel gear; 33-a second bevel gear; 34-an input shaft; 35-a second output shaft; 36-planetary stage reduction gear; 37-right angle reducer;

40-a gear assembly; 41-a drive gear; 42-a driven gear; 50-a lift assembly; 51-a support frame; 52-a telescoping assembly; 60-mounting a plate;

200-a transfer robot; 210-a robot base; 220-shelf.

Detailed Description

With the development of the logistics industry, the limit size requirement of the container-to-person carrying device on the container pick-and-place height is higher, which means that the layout size requirement of the carrying device such as a lifting fork device is higher.

At present, be equipped with drive assembly among the formula of lifting fork device, drive assembly mainly includes the motor and the drive unit who has chain or conveyer belt be connected with the motor, and drive unit drives the partial structure rotation of lifting fork device under the drive of motor to the realization is lifted and is got and put goods in the formula of lifting fork device equidirectional. The motor sets up perpendicularly in lifting formula fork device, and the output shaft of motor extends along vertical direction and is connected with the transmission unit.

However, in consideration of the transmission efficiency and reliability of the transmission assembly, the transmission center distance of the transmission assembly is large, so that the transmission assembly is not compact enough, and occupies a large space layout of the lifting type fork device. In addition, the motor is vertically arranged in the lifting type fork device, so that the transmission assembly occupies a large space in the lifting type fork device particularly in the height direction, the compression of the lifting type fork device on the height space is not facilitated, and the limit size of the lifting type fork device for taking and placing the height of a container is difficult to meet.

In view of this, the present disclosure provides a conveying device and a conveying robot, in which a driving member is disposed on a base, and a first output shaft of the driving member extends in a horizontal direction, so that the conveying device can be compressed in a height space conveniently, the height of the conveying device is reduced, and a limit size of the conveying device for taking and placing the height of a cargo box can be satisfied. Meanwhile, the first output shaft of the driving piece is connected with the gear transmission assembly through the speed reduction assembly, the speed reduction assembly can drive at least part of gears in the gear transmission assembly to rotate around the rotating shaft, so that the gear transmission assembly drives the lifting assembly to rotate relative to the base, the carrying device can be used for achieving goods taking in different directions, meanwhile, the structure of the carrying device is more compact through the gear transmission assembly, on the other hand, the rotation angle of the lifting assembly can be accurately controlled, and the carrying device is wider in applicability.

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.

Examples

Fig. 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure, fig. 2 is an enlarged schematic layout diagram of a portion a of the transfer robot in fig. 1 according to the embodiment of the present disclosure, fig. 3 is a schematic structural diagram of a transfer device according to the embodiment of the present disclosure, fig. 4 is a perspective view of a transfer device according to the embodiment of the present disclosure, fig. 5 is a schematic structural diagram of the transfer device according to the embodiment of the present disclosure with a base removed, fig. 6 is a schematic structural diagram of the transfer device according to fig. 5 with a mounting plate removed, and fig. 7 is a schematic connection diagram of a deceleration assembly, a gear transmission assembly, and a driving member according to the embodiment of the present disclosure.

Referring to fig. 1 and 2, an embodiment of the present disclosure provides a schematic structural diagram and an enlarged layout view of a transfer robot. As can be seen from fig. 1 and 2, the transfer robot 200 includes a robot base 210, a rack 220, and a transfer device 100, the rack 220 being provided on the robot base 210, the transfer device 100 being connected to one end of the rack 220 and being movable in a vertical direction along the rack 220. This allows the handling device 100 to pick up or store goods, such as containers, from different heights of the pallet 220. Since the transfer robot 200 includes the transfer device 100 in the embodiment of the present disclosure, the transfer robot 200 provided in this embodiment can not only meet the limit size of the height of the transfer device 100 in the loading and unloading of the cargo box, but also have wider applicability.

Wherein, the carrying device 100 can be slidably connected with one end of the shelf 220, so that the carrying device 100 can move along the shelf 220 in the vertical direction to the target layer of the shelf 220 for taking or storing the goods.

It is to be understood that the illustrated structure of the embodiment of the present disclosure does not constitute a specific limitation to the transfer robot 200. In other embodiments of the present application, the transfer robot 200 may include more or fewer components than those shown, or combine certain components, or split certain components, or a different arrangement of components.

Alternatively, another transfer robot 200 may be provided in the embodiment of the present disclosure, in which the transfer device 100 of the transfer robot 200 is directly connected to and disposed on the robot base 210, and the transfer of goods, such as bins, is achieved through the transfer device 100. That is, the transfer robot 200 of the present embodiment may or may not include the rack 220. The structure of the transfer robot 200 is not further limited in this embodiment.

The carrying device 100 in this embodiment will be further described below.

Referring to fig. 3 to 6, an embodiment of the present disclosure further provides a structural schematic diagram of a carrying device 100. As can be seen from fig. 3 to 6, the carrying device 100 may include a base 10, a driving member 20, a decelerating member 30, a gear assembly 40, and a lifting member 50 capable of lifting goods, wherein the lifting member 50 is located above the base 10 and can rotate relative to the base 10 around a vertical rotation axis (not shown). This allows the lifting assembly 50 to lift cargo, such as bins, from different directions for the handling of the cargo by the lifting assembly 50 and the handling device 100.

It should be noted that, when goods such as a bin is being handled, the goods are lifted by the lifting assembly 50, so that the handling of the goods by the handling device 100 is realized. Therefore, the handling device 100 in the embodiment of the present disclosure may be regarded as a lift-type handling device 100.

In order to facilitate the rotation of the lifting assembly 50 relative to the base 10, the lifting assembly 50 may be connected to the base 10 through a vertical rotation shaft, so that the lifting assembly 50 may rotate around the rotation shaft relative to the base 10, and at the same time, the rotation shaft may support and fix the lifting assembly 50.

Wherein, the driving member 20 is disposed on the base 10, and the first output shaft 21 of the driving member 20 extends along the horizontal direction, and the first output shaft 21 is connected with the gear transmission assembly 40 through the speed reduction assembly 30; the reduction assembly 30 can drive at least a portion of the gears of the gear assembly 40 to rotate around the rotation axis, so that the gear assembly 40 drives the lift assembly 50 to rotate relative to the base 10. That is, the first output shaft 21 of the driving member 20 is parallel to the surface of the base 10, i.e., the driving member 20 is horizontally disposed on the base 10 as shown in fig. 3 and 4. Compared with the prior art in which the motor is vertically arranged in the lifting type fork device, the lifting type fork device can reduce the occupied space of the driving part 20 in the height direction of the carrying device 100, is convenient for the carrying device 100 to be compressed in the height space, reduces the height of the carrying device 100, and can meet the limit size of the carrying device 100 for taking and placing the height of a container. Here, the height direction may be understood as a Z-axis direction as shown in fig. 3 and 4.

Meanwhile, compared with a transmission assembly with a chain or a conveyor belt adopted in the prior art, the gear transmission assembly 40 adopted in the embodiment of the disclosure does not need to consider the problem of wrap angle under the condition of having the same transmission ratio, so that the gear transmission assembly 40 has a smaller transmission center distance, and thus, when the carrying device 100 takes goods in different directions, the space occupied by the gear transmission assembly 40 in the carrying device 100 can be greatly reduced, the structure of the carrying device 100 is more compact, the space utilization rate of the carrying device 100 is improved, and the rotation angle of the lifting assembly 50 can be accurately controlled, so that the carrying device 100 and the carrying robot 200 can be suitable for occasions with higher requirements on the control accuracy of the rotation angle, and the applicability of the carrying device 100 is wider. Therefore, the carrying device 100 and the carrying robot 200 provided in this embodiment not only can satisfy the limit size of the height of the carrying device 100 taken in and put out the cargo box, but also have wider applicability.

The transmission center distance can be understood as the distance between two transmission gears in the gear transmission assembly 40, or the distance between two pulleys or chains in the existing transmission assembly.

It should be noted that the wrap angle is understood to be the portion of the belt or chain that engages the pulley in a pulley or sprocket drive. Because the gear assembly 40 is used in the disclosed embodiment, the wrap angle problem need not be considered in this embodiment.

In addition, since the transmission assembly having a chain or a conveyor belt is adopted in the prior art, the tension of the conveyor belt and the chain needs to be considered in the transmission design, which results in the structure of the transmission assembly in the prior art being relatively complex, and the structure of the transmission assembly and the carrying device 100 can be simplified by adopting the gear transmission assembly 40 in the embodiment of the present disclosure.

It should be noted that the horizontal direction is understood to be a direction parallel to the surface of the base 10 or the lift assembly 50 of the handling device 100 when the handling device 100 is normally placed on the robot base 210. Accordingly, the vertical direction may be understood as a direction perpendicular to the horizontal direction.

In order to control the rotation angle of the lifting assembly 50 relative to the base 10, corresponding limiting structures (not shown) may be disposed on the lifting assembly 50 and the base 10 to limit the rotation angle of the lifting assembly 50 within a predetermined range. It should be understood that the position limiting structure is configured to be associated with a predetermined range of rotation angles of the lift assembly 50. In the present embodiment, the rotation angle ranges of the limiting structure and the lifting assembly 50 are not further limited.

Wherein the lifting assembly 50 includes a lifting fork or other lifting structure. Accordingly, the handling device 100 may be a lift fork device or other lift devices. That is, the handling device 100 in the disclosed embodiment may include, but is not limited to, a lift fork device.

Illustratively, the driving member 20 may be a rotary motor such as a rotary servo motor or other driving device that can rotate the speed reduction assembly 30 and the gear transmission assembly 40.

Specifically, referring to fig. 3 to 6, the gear assembly 40 includes a driven gear 42, the driven gear 42 and the lifting assembly 50 are coaxially disposed, and the driven gear 42 is connected to the base 10 or the lifting assembly 50, and the speed reducing assembly 30 can drive the driven gear 42 to rotate around the rotation axis, so that the gear assembly 40 drives the lifting assembly 50 to rotate relative to the base 10. This allows the driven gear 42 to rotate one of the lift assembly 50 and the base 10 about the other about the axis of rotation.

Further, the gear transmission assembly 40 further includes a driving gear 41, the driving gear 41 is connected to the second output shaft 35 of the speed reduction assembly 30 and is engaged with the driven gear 42, and the driving gear 41 is disposed on one of the base 10 and the lifting assembly 50 that is not connected to the driven gear 42. This allows the gear assembly 40 to be connected in a more versatile manner while driving the lift assembly 50 to rotate relative to the base 10.

It should be noted that the driving gear 41 and the driven gear 42 may constitute a primary gear assembly 40. As a possible example, as shown in FIGS. 3 and 4, the driving gear 41 is connected to the lift assembly 50 and the driven gear 42 is connected to the base 10. The lifting assembly 50 can be driven by the driving gear 41 to rotate around the rotation axis relative to the base 10 and the driven gear 42, so that the lifting assembly 50 can carry goods such as bins from multiple directions.

The driving gear 41 may be fixedly connected or detachably connected to the lifting assembly 50, and the driven gear 42 may also be fixedly connected or detachably connected to the base 10. Illustratively, a fixed connection includes, but is not limited to, welding, and a removable connection includes, but is not limited to, a snap connection, a fastener connection, or a threaded connection.

Alternatively, in this embodiment, the driving gear 41 may be connected to the base 10, and the driven gear 42 may be connected to the lifting assembly 50. In the present embodiment, the connection manner of the gear assembly 40 with the base 10 and the lifting assembly 50 is not further limited.

The carrying device 100 in this embodiment will be further described by taking the driving gear 41 connected to the lifting assembly 50 and the driven gear 42 connected to the base 10 as an example.

Referring to fig. 3 to 5, the handling apparatus 100 further includes a mounting plate 60 connected to the lifting assembly 50, the mounting plate 60 being located between the base 10 and the lifting assembly 50; the driving gear 41 is connected to the lifting assembly 50 through the mounting plate 60, and the driving gear 41 can drive the lifting assembly 50 and the mounting plate 60 to rotate synchronously relative to the base 10. This facilitates the connection of the drive gear 41 to the mounting plate 60 via the mounting plate 60.

Wherein the speed reduction assembly 30 and the driving member 20 are both disposed on the mounting plate 60. This can support and fix the reduction assembly 30 and the driving member 20 by the mounting plate 60.

In particular, the reduction assembly 30 and the driving member 20 may be detachably coupled to the mounting plate 60. This prevents relative movement between the speed reduction assembly 30 and the drive member 20 and the mounting plate 60, which enhances the stability of the handling device 100.

To facilitate the coupling of the reduction assembly 30 and the drive member 20, the reduction assembly 30 and the drive member 20 may be disposed on the same face of the mounting plate 60 as shown in fig. 3 and 4.

Further, referring to fig. 3 to 6, the lifting assembly 50 includes a support frame 51 and a telescopic assembly 52 capable of lifting goods, the telescopic assembly 52 is located above the support frame 51 and connected to the support frame 51, and the telescopic assembly 52 is supported by the support frame 51 and connected to the mounting plate 60. The telescoping assembly 52 may thus be supported on the base 10 by the mounting plate 60 so that goods, such as bins, may be lifted by the telescoping assembly 52 for handling of the goods.

Wherein, the telescopic assembly 52 can be fixedly connected or detachably connected with the support frame 51. In this embodiment, the connection manner between the telescopic assembly 52 and the supporting frame 51 is not further limited. The structure of the telescopic assembly 52 can refer to the related structure of the existing lifting fork, and the structure of the telescopic assembly 52 is not further described in this embodiment.

To facilitate the connection of the gear assembly 40 to the driving member 20, the speed reduction assembly 30, the driving member 20 and the gear assembly 40 are all disposed on the same side of the support frame 51 as shown in fig. 3, 4 and 6. Wherein, the deceleration assembly 30 and the driving member 20 are both located at the middle of the supporting frame 51. This allows the carrier device 100 to be more compact in length while facilitating rotation of the lift assembly 50 about its center.

Here, the length direction may be understood as an X-axis direction as shown in fig. 3 and 4.

Further, the driven gear 42 is located on a side of the driving gear 41 adjacent to the driving member 20. That is, the driven gear 42 is disposed adjacent to one side of the driver 20. This makes it possible to reasonably utilize the space of the conveying device 100 in the longitudinal direction, and to make the conveying device 100 more compact in the longitudinal direction.

Specifically, the number of teeth of the driven gear 42 is greater than that of the driving gear 41. Since the driven gear 42 and the driving gear 41 are engaged with each other, the driven gear 42 and the driving gear 41 have the same pitch. Thus, when the number of teeth of the driven gear 42 is larger than that of the driving gear 41, that is, the external configuration of the driven gear 42 is larger than that of the driving gear 41. Thus, when the driving gear 41 is coupled to the lifting assembly 50 and drives the lifting assembly 50 to rotate relative to the base 10, the lifting assembly 50 can rotate with less resistance, which facilitates the rotation of the lifting assembly 50 relative to the base 10.

Specifically, the driving gear 41 and the driven gear 42 are both spur gears, and a central axis of the driving gear 41 and a rotation axis are arranged in parallel.

As a possible embodiment, as shown in fig. 3 and 4, the speed reduction assembly 30 may include a planetary reduction gear 36 and a right-angle reduction gear 37, the planetary reduction gear 36 is connected with the first output shaft 21 of the driving member 20 and is connected with the driving gear 41 of the gear transmission assembly 40 through the right-angle reduction gear 37, so that the transmission direction of the driving member 20 can be changed through the right-angle reduction gear 37 while the rotation speed of the driving member 20 is reduced through the planetary reduction gear 36 and the right-angle reduction gear 37, so that the lift assembly 50 can rotate relative to the base 10 around a vertical rotation axis.

It should be noted that, the planetary reduction gear 36 and the right-angle reduction gear 37 may refer to related structures in the prior art, and the structures of the planetary reduction gear 36 and the right-angle reduction gear 37 are not further described in this embodiment.

Alternatively, as another possible embodiment, referring to fig. 7, the reduction assembly 30 includes a gear reduction box 31, the gear reduction box 31 has an input shaft 34 and a second output shaft 35, the input shaft 34 is connected with the first output shaft 21 of the driving member 20, the second output shaft 35 is connected with the driving gear 41 of the gear transmission assembly 40, and the input shaft 34 and the second output shaft 35 are crossed with each other. The driving member 20 can be connected to the driving gear 41 through the gear reduction box 31, and the rotation direction can be switched through the gear reduction box 31, so that the gear transmission assembly 40 can drive the lifting assembly 50 to rotate around the vertical rotating shaft.

Referring to fig. 7, a first bevel gear 32 and a second bevel gear 33 which is meshed with the first bevel gear 32 are arranged in the gear reduction box 31, the axial directions of the first bevel gear 32 and the second bevel gear 33 are mutually crossed, the transmission shaft of one of the first bevel gear 32 and the second bevel gear 33 is an input shaft 34 of the gear reduction box 31, and the transmission shaft of the other of the first bevel gear 32 and the second bevel gear 33 is a second output shaft 35. Therefore, the input shaft 34 of the gear reduction box 31 can be connected with the first output shaft 21 of the driving member 20 and connected with the driving gear 41 through the second output shaft 35, so that the gear transmission assembly 40 can drive the lifting assembly 50 to rotate around the vertical rotating shaft, and simultaneously, the rotating speed of the driving member 20 can be reduced and the torque can be increased.

Alternatively, other transmission devices may be disposed in the gear reduction box 31 to connect the driving member 20 and the driving gear 41, so that the gear transmission assembly 40 can drive the lifting assembly 50 to rotate around the vertical rotation axis. In the present embodiment, the structure of the gear reduction box 31 is not further limited.

The utility model provides a handling device and transfer robot, through establishing the driving piece on the base, and the first output shaft of driving piece extends along the horizontal direction, and first output shaft passes through the speed reduction subassembly and is connected with the gear drive subassembly, and the speed reduction subassembly can drive at least some gears in the gear drive subassembly and revolve the rotation of axis of rotation to make the gear drive subassembly drive and lift the subassembly and rotate for the base. Therefore, the carrying device and the carrying robot provided by the embodiment can meet the limit size of the height of the carrying device for taking and placing the cargo box, and have wider applicability.

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 carrying device is characterized by comprising a base, a driving part, a speed reducing component, a gear transmission component and a lifting component capable of lifting goods, wherein the lifting component is positioned on the base and can rotate relative to the base around a vertical rotating shaft;

2. The transfer apparatus of claim 1 wherein the gear assembly comprises a driven gear, the driven gear is coaxial with the lift assembly and is coupled to the base or the lift assembly, and the speed reduction assembly is configured to drive the driven gear to rotate about the pivot axis such that the gear assembly rotates the lift assembly relative to the base.

3. The transfer apparatus of claim 2 wherein the gear drive assembly further comprises a drive gear coupled to the second output shaft of the speed reduction assembly and intermeshed with the driven gear, the drive gear being disposed on one of the base and the lift assembly that is not coupled to the driven gear.

4. The transfer device of claim 3, wherein the drive gear is coupled to the lift assembly and the driven gear is coupled to the base.

5. The handling device of claim 4, further comprising a mounting plate coupled to the lift assembly, the mounting plate being positioned between the base and the lift assembly; the driving gear passes through the mounting panel connect in lift the subassembly, the driving gear can drive lift the subassembly with the mounting panel for the base synchronous revolution.

6. The transfer device of claim 5, wherein the deceleration assembly and the drive member are both disposed on the mounting plate.

7. The transfer device of claim 5, wherein the lifting assembly comprises a support frame and a telescoping assembly for lifting the cargo, the telescoping assembly being positioned above and coupled to the support frame, the telescoping assembly being supported by the support frame and coupled to the mounting plate.

8. The transfer device of claim 7, wherein the speed reduction assembly, the drive member and the gear assembly are all disposed on the same side of the support frame, and wherein the speed reduction assembly and the drive member are both located in a middle portion of the support frame.

9. The handling apparatus of claim 3 wherein the driven gear is located on a side of the drive gear adjacent the drive member.

10. The handling apparatus of claim 3 wherein the driven gear has a greater number of teeth than the drive gear.

11. The transfer apparatus as claimed in claim 3, wherein the driving gear and the driven gear are spur gears, and a central axis of the driving gear and the rotation axis are arranged in parallel.

12. Handling device according to any of claims 1-11, where the drive member is a rotating electric machine.

13. The transfer device of any one of claims 1-11 wherein the reduction assembly comprises a gear reduction box having an input shaft connected to the first output shaft and a second output shaft connected to a drive gear of the gear drive assembly, the input shaft and the second output shaft being interdigitated.

14. The conveying apparatus as claimed in claim 13, wherein a first bevel gear and a second bevel gear meshed with the first bevel gear are provided in the gear reduction box, axial directions of the first bevel gear and the second bevel gear are mutually crossed, a transmission shaft of one of the first bevel gear and the second bevel gear is the input shaft, and a transmission shaft of the other of the first bevel gear and the second bevel gear is the second output shaft.

15. The handling device of any of claims 1-11, wherein the speed reduction assembly comprises a planetary stage reducer and a right angle reducer; the planetary reduction gear is connected with the first output shaft and is connected with a driving gear of the gear transmission assembly through the right-angle reduction gear.

16. The handling device of any of claims 1 to 11, wherein the lift assembly comprises a lift fork.

17. A transfer robot comprising a robot base, a pallet provided on the robot base, and a transfer device according to any one of claims 1-16 connected to one end of the pallet and movable in a vertical direction along the pallet.