CN218087460U - Transfer robot and transfer system - Google Patents

Abstract

The present disclosure relates to a transfer robot and transfer system, including: the container lifting device comprises a chassis assembly, a bearing assembly, a lifting assembly and a moving assembly, wherein the bearing assembly is used for bearing a container, and the lifting assembly is used for driving the bearing assembly to ascend or descend; the moving component is configured to drive the bearing component to extend towards the outer side of the carrying robot so as to complete the transfer of the container between the bearing component and the carrier, or is configured to drive the bearing component to reset. According to the transfer robot, the motion assembly can drive the bearing assembly to extend out of the transfer robot, and the containers can be transferred between the bearing assembly and the carriers. In the transferring process, the transfer robot does not need to move, so that the occupied space of the passage is small, and the dense arrangement of the carriers can be realized.

Description

Transfer robot and transfer system

Technical Field

The disclosure relates to the field of logistics equipment, in particular to a carrying robot; the present disclosure also relates to a transfer system to which the transfer robot is applied.

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 robots are divided according to the transfer mode and can comprise an upper robot and a robot capable of passing through the bottom layer of the goods shelf. The robot passing through the bottom layer of the shelf usually jacks up the containers on the shelf in a jacking manner, and the containers are taken down from the shelf by the movement of the robot. Since the container is removed from the rack by the movement of the robot on the ground, the transfer robot needs a large moving space and a large goods taking space, which is not favorable for modern intensive storage.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a transfer robot and a transfer system for solving the problems in the prior art.

According to a first aspect of the present disclosure, there is provided a transfer robot including:

a chassis assembly;

a carrier assembly configured to carry a container;

a lifting assembly configured to lift or lower the carrier assembly;

a moving component configured to drive the bearing component to extend towards the outer side of the transfer robot so as to complete the transfer of the container between the bearing component and the carrier, or configured to drive the bearing component to reset.

In one embodiment of the present disclosure, the lifting assembly includes:

a link mechanism;

the first driving mechanism is configured to drive the first end of the link mechanism to rotate relative to the chassis component so as to enable the bearing component at the second end of the link mechanism to ascend or descend;

a second transmission mechanism configured to rotate the carrier assembly relative to the second end of the linkage mechanism to maintain the carrier assembly in a horizontal state.

In one embodiment of the present disclosure, the link structure includes a first link and a second link which are oppositely arranged, and the first link and the second link are respectively and rotatably connected to two opposite sides of the bearing component; the motion assembly is connected with the first connecting rod and the second connecting rod and is configured to drive the first connecting rod and the second connecting rod to move.

In one embodiment of the present disclosure, the first transmission mechanism includes a sliding seat, the first ends of the first and second connecting rods are respectively and rotatably connected to the sliding seat, and the lifting assembly further includes a first driving mechanism for driving the first and second connecting rods to rotate relative to the sliding seat;

the second transmission mechanism comprises a first rotating piece fixed on the bearing assembly, a second rotating piece fixed on the sliding seat and a transmission piece in transmission fit with the second rotating piece.

In one embodiment of the present disclosure, the first ends of the first and second connecting rods are fixedly connected together through a transmission shaft, and the second rotating member is disposed coaxially with the transmission shaft.

In one embodiment of the present disclosure, the moving assembly includes an X-axis moving mechanism configured to drive the sliding seat to move in the X-axis direction to drive the carrying assembly to extend outside the transfer robot in the X-axis direction.

In one embodiment of the present disclosure, the carrier assembly includes a first support bracket connected to the first link, and a second support bracket connected to the second link; the motion assembly comprises a Y-axis motion mechanism which is configured to drive the first connecting rod and the second connecting rod to move away from or close to each other in the Y-axis direction so as to adjust the distance between the first supporting frame and the second supporting frame.

In one embodiment of the present disclosure, the bearing assembly includes a base, a first support frame and a second support frame, the base is configured to be rotatably connected with the second end of the first connecting rod and the second end of the second connecting rod; the first support frame and the second support frame are in sliding fit on the base, and the moving assembly comprises a Y-axis moving mechanism which is configured to drive the first support frame and the second support frame to move away from or close to each other on the base so as to adjust the distance between the first support frame and the second support frame.

In one embodiment of the present disclosure, after the lifting assembly is configured to drive the carrying assembly to ascend to a first predetermined height, the X-axis moving mechanism is configured to drive the carrying assembly to extend out along the X-axis toward the carrier so as to extend out to the bottom of the container; the lifting assembly is configured to drive the bearing assembly to ascend to a second preset height, and then the bearing assembly jacks up a container on the carrier;

after the lifting assembly is configured to drive the container on the bearing assembly to rise to a first preset height, the X-axis movement mechanism is configured to drive the bearing assembly to extend out to a position corresponding to the carrier along the direction of the X axis towards the carrier; the lifting assembly is configured to drive the bearing assembly to descend to a second preset height, and then the bearing assembly places a container on the carrier.

In one embodiment of the present disclosure, in a process that the lifting assembly drives the bearing assembly to ascend to a first predetermined height, the X-axis moving mechanism is configured to drive the bearing assembly to move along an X-axis in a direction away from the carrier.

In one embodiment of the disclosure, a slot is provided at a top end of the chassis assembly, the carrier assembly is located in the slot when in the initial position, and a height of the slot is configured to accommodate at least a portion of the container, so that the slot limits the container located on the carrier assembly.

In one embodiment of the present disclosure, the transfer robot is configured to move the container through the bottom of the carrier.

According to a second aspect of the present disclosure, there is also provided a handling system, including the handling robot in the above embodiment, further including a carrier on which at least one container is carried; the lifting assembly is configured to drive the bearing assembly to ascend or descend, and the moving assembly is configured to drive the bearing assembly to extend to a corresponding position of the carrier, so that the container is transferred between the bearing assembly and the carrier.

In one embodiment of the present disclosure, a space for the carrying assembly to extend into is provided at the bottom of the container or at a position corresponding to the container on the carrier.

In one embodiment of the present disclosure, the bottom of the carrier has a space for the transfer robot to travel through.

According to the transfer robot, the motion assembly can drive the bearing assembly to extend out of the transfer robot, and the containers can be transferred between the bearing assembly and the carriers. In the transferring process, the transfer robot does not need to move, so that the occupied space of the aisle is small, and the dense arrangement of the carriers can be realized.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a transfer robot of the present disclosure;

fig. 2 is a schematic structural view of another angle of the transfer robot of the present disclosure;

fig. 3 is a schematic structural view of a carrier assembly in the transfer robot of the present disclosure;

FIG. 4 is a schematic structural view of an embodiment of the transfer robot of the present disclosure;

fig. 5 is a schematic structural view of a slide base in the transfer robot of the present disclosure;

fig. 6 is a schematic sectional structure view of the transfer robot of the present disclosure;

fig. 7 is a block diagram of the structure of the handling system of the present disclosure.

Reference numerals:

1. the structure of the automobile chassis assembly comprises a chassis assembly, 11 grooves, 12 first transmission belts, 2 bearing assemblies, 21 first supporting frames, 22 second supporting frames, 23 first fixing portions, 3 first connecting rods, 4 second connecting rods, 5 sliding seats, 51 first sliding rails, 52 connecting portions, 53 bottom plates, 54 second fixing portions, 6 first rotating members, 7 second rotating members, 8 transmission members, 9 transmission shafts, 10 bases, 101 second sliding rails and 102 second transmission belts.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The carrying robot comprises a chassis assembly for bearing parts in the carrying robot, such as a walking mechanism and a power mechanism of the carrying robot, and further comprises a bearing assembly, a lifting assembly and a moving assembly which are positioned on the chassis assembly, wherein the bearing assembly is used for bearing a container in the process of collecting carrier goods, and can be a bearing platform or a bearing seat and the like. The lifting mechanism is used for driving the bearing component to move up and down, so that the bearing component can reach a proper height to collect the containers. The moving assembly can drive the bearing assembly to move towards the outside of the transfer robot after the bearing assembly is lifted to a proper height by the lifting assembly, so that the bearing assembly can extend out of the outer side of the transfer robot to finish the collection of the container or store the container on the carrier, and the moving assembly can also drive the bearing assembly to reset into the transfer robot after the collection or storage of the container is finished.

According to the transfer robot, the motion assembly can drive the bearing assembly to extend out of the transfer robot, and the containers can be transferred between the bearing assembly and the carriers. In the transferring process, the transfer robot does not need to move, so that the occupied space of the passage is small, and the dense arrangement of the carriers can be realized.

For the purpose of facilitating understanding, the detailed description and the working principle of the present disclosure are provided in connection with the accompanying drawings.

Example one

In one embodiment of the present disclosure, as shown in fig. 1, the transfer robot includes a chassis assembly 1, the chassis assembly 1 is rectangular overall and is used for bearing various components on the transfer robot, and a traveling mechanism, such as a traveling wheel, is disposed below the chassis assembly 1, so that the transfer robot can be driven to move on the ground to complete the collection and storage of containers between different carriers. The chassis component 1 is also provided with a bearing component 2, a lifting component and a moving component, wherein the bearing component 2 is used for bearing a container in the process of taking and placing the container, so that the container is temporarily stored on the bearing component 2. The carrying component 2 may be a flat plate disposed on the chassis component 1, or may be a carrying seat for accommodating a container, such as a groove, etc., which is known to those skilled in the art and has a carrying function, and will not be described herein in detail.

The lifting component can drive the bearing component 2 to ascend or descend, so that the bearing component 2 can reach a proper height to take and place the container. The lifting assembly may be a cylinder, a motor screw structure, etc., which are well known to those skilled in the art and will not be described herein in detail. The moving assembly can drive the bearing assembly 2 to move towards the direction of the carrier after the bearing assembly 2 is lifted to a proper height by the lifting assembly, so that the bearing assembly 2 extends out of the robot. The bearing component 2 can move to the position corresponding to the container on the carrier through the matching of the moving component and the lifting component so as to take and place the container. After taking off the container from the carrier, motion subassembly, lifting unit can also drive carrier assembly 2 and reset, make carrier assembly 2 and be located the container on carrier assembly 2 and can regain transfer robot, accomplish subsequent transportation and deposit. When the container is stored, the movement mode of the movement component driving the bearing component 2 is consistent with the movement mode when the container is collected, and redundant description is omitted here.

In one embodiment of the present disclosure, during the process of the lifting assembly driving the carrying assembly 2 to ascend or descend, the carrying assembly 2 ascends and descends along a straight line. This linear motion maintains the stability of the container when it is on the carrier assembly 2 so that it does not easily fall off the carrier assembly 2. The moving assembly can be a pneumatic cylinder or an electric cylinder, and the output end of the moving assembly is connected to the bearing assembly 2 to be lifted and lowered along a straight line. The lifting component can also be a scissor-type structure, the extension and retraction of the scissor-type structure can drive the bearing component 2 to ascend and descend along a straight line, so that the bearing component 2 can reach a proper height under the action of the lifting component, and the matching movement component can collect and store containers.

In one embodiment of the present disclosure, the lifting mechanism may further include a link mechanism, a first transmission mechanism, and a second transmission mechanism, in addition to the structures in the above embodiments, the first end of the link mechanism is connected to the first transmission mechanism, and the second end of the link mechanism is connected to the bearing component 2. The first transmission mechanism can drive the connecting rod mechanism to rotate relative to the chassis component 1, and in the rotating process, the bearing component 2 positioned at one end of the connecting rod mechanism is lifted or lowered, so that the purpose of adjusting the height of the bearing component 2 is achieved. The second transmission mechanism can be located on the link mechanism, the driving end of the second transmission mechanism is connected with the bearing component 2, and the bearing component 2 can be driven to rotate relative to the second end of the link mechanism, so that the bearing component 2 can be kept in a horizontal state in the rotation process of the link mechanism. In the process of collecting the containers, when the containers are temporarily stored on the bearing component 2, the second transmission mechanism can keep the bearing component 2 in a horizontal state in the process of adjusting the height of the bearing component 2 through the rotating connecting rod assembly by the first transmission mechanism, so that the containers can be stably temporarily stored on the bearing component 2 in the process of descending the height of the bearing component 2, and the containers cannot fall off.

In one embodiment of the present disclosure, as shown in fig. 1, the link mechanism includes a first link 3 and a second link 4, and the first link 3 and the second link 4 are disposed at an interval and located at two opposite sides of the bearing component 2, respectively. The moving assembly is connected with the first connecting rod 3 and the second connecting rod 4, and can drive the first connecting rod 3 and the second connecting rod 4 to move, so that the first connecting rod 3 and the second connecting rod 4 can drive the bearing assembly 2 to move towards the direction of the outer side of the transfer robot, and in the embodiment of the disclosure, move towards the direction of the carrier.

Drive carrier assembly 2 through two connecting rods and move, can make carrier assembly more stable at the in-process of motion, difficult emergence is rocked, causes to be located dropping of its container. First drive mechanism can set up two, drives first connecting rod 3 and second connecting rod 4 respectively and rotates in step, can make first connecting rod 3 and second connecting rod 4 can be more stable at the pivoted in-process, and difficult emergence is rocked, is collecting and is depositing the stability of container on bearing assembly's in-process maintenance container.

In one embodiment of the present disclosure, as shown in fig. 3, 4 and 5, the first transmission mechanism includes a sliding seat 5, and the first ends of the first link 3 and the second link 4 are rotatably connected to the sliding seat 5. The sliding seat 5 comprises a bottom plate 53 and a connecting portion 52, two connecting portions 52 are arranged at two ends of the bottom plate 53 and protrude out of the bottom plate 53, a through hole is arranged on the connecting portion 52, and the first connecting rod 3 and the second connecting rod 4 are rotatably connected to the sliding seat 5 through the through hole of the connecting portion 52. A guide rail groove is arranged at the bottom of the bottom plate 53, a first slide rail 51 is arranged on the surface of the chassis assembly 1 contacting with the sliding seat 5, and the first slide rail 51 is in guide fit with the guide rail groove on the sliding seat 5, so that the moving assembly can drive the sliding seat 5 to move along the first slide rail 51.

In an embodiment of the present disclosure, as shown in fig. 2, the lifting assembly includes a first driving mechanism for driving the first connecting rod 3 and the second connecting rod 4 to rotate, and the first driving mechanism may be a motor, or other devices capable of providing power, and will not be described in detail herein. In order to simultaneously drive the two connecting rods to rotate through a first driving mechanism, the first connecting rod 3 and the second connecting rod 4 can be fixedly connected together through a transmission shaft 9. Referring to fig. 1, the propeller shaft passes through the connection portion 52 and is fixedly connected to the first end of the first link 3 and the first end of the second link 4. The transmission shaft 9 can be connected to the drive end of the first drive mechanism, so that the two connecting rods can be driven to rotate simultaneously by the drive force of the first drive mechanism.

In an embodiment of the present disclosure, as shown in fig. 6, the second transmission mechanism includes a first rotating member 6 and a second rotating member 7, and the first rotating member 6 and the second rotating member 7 may be rotating members known to those skilled in the art, such as pulleys or sprockets, and will not be described in detail herein. The first rotating member 6 is fixedly connected to the carrier assembly 2, and the second rotating member 7 is fixedly connected to the sliding base 5. When the first driving mechanism drives the transmission shaft 9 to rotate, the transmission shaft 9 drives the first connection rod 3 and the second connection rod 4 to rotate, the first connection rod 3 and the second connection rod 4 drive the bearing component 2 to rotate relative to the sliding seat 5, and the first rotating part 6 also synchronously rotates along with the rotation. A transmission member 8 is further disposed between the first rotating member 6 and the second rotating member 7, and the transmission member 8 may be a transmission member known to those skilled in the art, such as a belt, a chain, etc., and will not be described in detail herein. The transmission member 8 is in transmission fit with the second rotating member 7 and the first rotating member 6.

For example, in one embodiment of the present disclosure, the first rotating member 6 is a first chain wheel fixed on the carrying component 2, the second rotating member 7 is a second chain wheel fixed on the sliding seat 5, and the transmission member 8 is a chain respectively connected with the first chain wheel and the second chain wheel. When the first driving mechanism drives the transmission shaft 9, the first connecting rod 3 and the second connecting rod 4 to rotate relative to the sliding seat 5, the bearing assembly 2 located at the end positions of the first connecting rod 3 and the second connecting rod 4 also swings relative to the sliding seat 5. Because the end of carrier assembly 2 and first connecting rod 3, second connecting rod 4 rotate to link together, and through chain and first sprocket meshing, this makes the chain also can take place to swing for first sprocket, can drive the second sprocket rotation under the effect of chain from this, and the direction of rotation of second sprocket is opposite with the direction of rotation of first connecting rod 3, second connecting rod 4, can guarantee that carrier assembly 2 can keep at the horizontality along with the swing process of first connecting rod 3, second connecting rod 4 from this.

Through reasonable configuration of the transmission ratio between the first transmission piece 6 and the second transmission piece 7, the rotation angle of the second transmission piece 7 can be consistent with that of the first transmission piece 6, namely, the rotation angle of the bearing component 2 is the same as that of the link mechanism, and the rotation directions are opposite, so that the bearing component 2 can be kept horizontal in the rotation process of the link mechanism. It is of course also possible to arrange the second rotation element 7 coaxially with the transmission shaft 9, ensuring that the carrier assembly 2 remains horizontal during rotation of the linkage.

In the embodiment of the present disclosure, since the first end of the link mechanism is rotatably connected to the sliding seat 5, the first driving mechanism drives the link mechanism to perform a swinging motion, so that the second end of the link mechanism ascends or descends. The bearing component 2 is rotatably connected with the second end of the connecting rod mechanism, so that the bearing component 2 can swing by the same angle in the opposite direction relative to the connecting rod mechanism in the swinging process of the connecting rod mechanism, and the bearing component 2 can be ensured to be always in a horizontal state.

In one embodiment of the present disclosure, an X axis and a Y axis which are located in the same horizontal plane and perpendicular to each other are defined, and the X axis and the Y axis constitute two coordinate axes perpendicular to each other in a planar coordinate system. The moving assembly comprises an X-axis moving mechanism, the X-axis moving mechanism can drive the sliding seat to move in the X-axis direction, namely, the direction extending out of the carrying robot, so that the bearing assembly 2 can extend out along the carrying robot in the X-axis direction to collect containers on the carriers.

In one embodiment of the present disclosure, as shown in fig. 2, the X-axis moving mechanism includes a driving device and a transmission assembly, the driving device may be a driving device known to those skilled in the art, such as a motor, the transmission assembly includes two transmission wheels and a first transmission belt 12 between the two transmission wheels, the first transmission belt 12 extends along the X-axis, as shown in fig. 5, and a second fixing portion 54 is disposed on the sliding seat 5 for being fixedly connected to the first transmission belt 12 in the transmission assembly. When the driving device drives the transmission wheel to start rotating, the transmission wheel drives the first transmission belt 12 to rotate, the first transmission belt 12 can drive the sliding seat 5 to move in the X-axis direction, and the reciprocating motion of the sliding seat 5 in the X-axis direction is realized through the forward and reverse rotation of the driving device.

In an embodiment of the present disclosure, as shown in fig. 1, the bearing assembly includes a first support frame 21 and a second support frame 22, the first support frame 21 is connected to the first connecting rod 3, the second support frame 22 is connected to the second connecting rod 4, the second transmission mechanism can also be set to two, which are respectively connected to the two support frames, and respectively drive the two support frames to rotate, so that the two support frames can be kept horizontal when the first connecting rod 3 and the second connecting rod 4 rotate, and respectively drive the two support frames to rotate through the two second transmission mechanisms, so that the two support frames are more stable in the rotating process, thereby ensuring the stability of the container on the two support frames in the process of collecting and storing the container.

The first support frame 21 and the second support frame 22 can move together with the first connecting rod 3 and the second connecting rod 4, when the first transmission mechanism drives the first connecting rod 3 and the second connecting rod 4 to rotate to adjust the heights of the first support frame 21 and the second support frame 22, the first support frame 21 and the second support frame 22 can relatively have the first connecting rod 3 and the second connecting rod 4 to rotate under the action of the two second transmission mechanisms, so that the first support frame 21 and the second support frame 22 are kept horizontal, when the first support frame 21 and the second support frame reach a proper height under the driving of the first connecting rod 3 and the second connecting rod 4, the X-axis movement mechanism can drive the sliding seat to move along the X-axis, and the first connecting rod 3 and the second connecting rod 4 drive the first support frame 21 and the second support frame 22 to extend out of the conveying robot along the X-axis direction to collect containers.

In the process of collecting the container on the carrier, the first support frame 21 and the second support frame 22 move to the bottom of the container to be collected along the X axis, and then the first transmission mechanism drives the first connecting rod 3 and the second connecting rod 4 to continue rotating, so that the first support frame 21 and the second support frame 22 continue to ascend, at this time, the first support frame 21 and the second support frame 22 still keep horizontal under the action of the second transmission mechanism, and the container can be lifted together, so that the container is separated from the carrier and temporarily stored on the first support frame 21 and the second support frame. Then the bearing seat 10 is driven by the X-axis motion mechanism to move along the X axis, so that the first support frame 21 and the second support frame 22 move along the X axis to the transfer robot under the drive of the first connecting rod 3 and the second connecting rod 4, the container also moves towards the transfer robot until the container is completely separated from the carrier and positioned on the transfer robot, and the container is collected.

In practical application, the containers on different carriers may have different sizes, and when the containers are collected, the containers with different sizes can be collected by different carrying robots, so that the carrying robot resources are greatly wasted. In order to solve the above problem, in an embodiment of the present disclosure, the moving assembly further includes a Y-axis moving mechanism, the Y-axis moving mechanism can drive the first support frame 21 and the second support frame 22 to move toward a direction approaching to or away from each other, and adjust a distance between the two support frames, when a size of a container to be collected becomes larger, the Y-axis moving mechanism can control the two support frames to move toward a direction away from each other, so that the distance between the two support frames becomes larger, so as to better bear the container on the carrier, and a situation that the container drops in a transferring process due to unstable bearing is not caused. When the size of the container needing to be collected is reduced, the Y-axis movement mechanism can control the two support frames to move towards the direction of approaching each other, so that the distance between the two support frames is reduced, and the container with the reduced size can be better loaded.

In one embodiment of the present disclosure, as shown in fig. 1 and 3, the carriage assembly 2 includes a base 10, and the base 10 is pivotally connected to the second ends of the first link 3 and the second link 4. For example, the base 10 may be rotatably coupled to the second ends of the first link 3 and the second link 4 by a rotating shaft. The first support frame 21 and the second support frame 22 are located on the base 10. The base 10 is rectangular as a whole, two second slide rails 101 are arranged on the upper surface of the base 10, and the second slide rails 101 extend along the Y-axis direction. The rear ends of the first support frame 21 and the second support frame 22 are located on the upper surface of the base 10, and the front ends are in a suspended state. Guide rail grooves are formed at the rear ends of the two support frames, and the guide rail grooves are matched with the second slide rail 101 on the upper surface of the base, so that the two support frames can slide on the base 10 along the Y axis. The Y-axis moving mechanism is also located on the base 10, and the Y-axis moving mechanism includes a driving device and a transmission component, and the driving device may be a motor or other driving devices known to those skilled in the art, and will not be described herein in detail. The transmission assembly comprises two transmission wheels and a second transmission belt 102 matched with the two transmission wheels, and the second transmission belt 102 can rotate on the transmission wheels under the driving of the driving device. The second transmission belt 102 extends along the Y-axis direction, the rear ends of the two support frames are further provided with first fixing portions 23, and the two first fixing portions 23 are respectively fixed on the second transmission belt 102 on the two sides of the transmission wheel. When the driving device starts to operate, the transmission wheel and the second transmission belt 102 are driven to move, and the two support frames move towards the direction close to or away from each other through the forward and reverse rotation of the driving device.

In one embodiment of the present disclosure, as shown in fig. 4, a slot 11 is provided on the chassis assembly 1, and the container is received on the top of the slot 11 before the carrying assembly 2 collects the container and after the collection container is completely reset, and then the container on the carrying assembly 2 enters the slot 11 of the chassis assembly 1. The container is arranged in the slot 11, so that the slot 11 can limit the container, and the container is prevented from shaking and falling off from the chassis component 1 in the process of moving along with the chassis component 1. The slot 11 may be shaped as an opening through the opposite ends of the tray assembly 1, or may be shaped as a slot 11 having other shapes, the depth of the slot 11 being determined by the size of the collection container, and the disclosure is not limited thereto. When the container is located in the slot 11, the container can be located in the slot 11 completely, or can be located in the slot 11 partially, so that the container is prevented from interfering with the bottom of the carrier when the chassis assembly 1 drives the container to move between the carriers, and the container is prevented from falling from the chassis assembly 1.

In one embodiment of the present disclosure, as shown in fig. 1, the transfer robot is configured to move the container through the bottom of the carrier. That is, the transfer robot of the present disclosure is a robot that can travel through the bottom of a carrier. The transfer robot has a size capable of passing through the bottom of the carrier, and can take the container on the carrier to pass through the bottom of the carrier after the container on the carrier is taken down by the transfer robot and is accommodated in the slot 11 of the chassis component 1. On one hand, the space can be better utilized, the space at the bottom of the carrier can also be utilized, and on the other hand, the container carrying efficiency is also improved. This is because the transfer robot can travel along a shorter route, for example, the movement of other transfer robots between two carriers needs to be completed through a plurality of turns, and the transfer robot of the present disclosure can directly travel on the bottom of the carrier, greatly improving the efficiency of container transfer.

In one embodiment of the present disclosure, as shown in fig. 1 and 4, the traveling direction of the transfer robot may be the same as or perpendicular to the direction in which the container is taken and placed. The container can be collected by selecting different carrying robots according to the position to which the container needs to be delivered, and after the container is collected, the container is conveyed through the shortest route, so that the container can reach a target place more quickly for storage or use, and the container carrying efficiency is greatly improved.

In the process of collecting the containers, the first two transmission mechanisms drive the first connecting rod 3 and the second connecting rod 4 to rotate, so that the base 10, the first support frame 21 and the second support frame 22 are driven to ascend, and the second two transmission mechanisms drive the base 10 to rotate relative to the first connecting rod 3 and the second connecting rod 4 in the ascending process, so that the base 10 can be kept horizontal.

In the process that the two connecting rods drive the base 10 to ascend, the two support frames move towards the direction of the carrier along with the increase of the rotating angle of the two connecting rods, and because the support frames do not ascend in place in the process, the support frames can occupy extra space towards the direction of the carrier. In an embodiment of the present disclosure, in the process that the two connecting rods drive the base 10 to ascend, the X-axis moving mechanism is selected to drive the two connecting rods and the two supporting frames to move along the X-axis toward the direction away from the carrier, so as to avoid interference between the two supporting frames and the carrier in the ascending process to affect the ascending.

After the two support frames rise to the first preset height, the X-axis movement mechanism drives the first connecting rod 3 and the second connecting rod 4 to move along the X-axis direction, so that the two connecting rods can drive the two support frames to extend out towards the carrier until the two support frames are inserted into the bottom of a container to be collected. Then, the first transmission mechanism drives the first connecting rod 3 and the second connecting rod 4 to rotate, the two connecting rods continue to drive the first supporting frame 21 and the second supporting frame 22 to ascend, and when the two supporting frames ascend to a second preset height, the two supporting frames stop, so that the two supporting frames can lift the carrier to be separated from the bearing surface of the carrier.

The X-axis movement mechanism drives the two connecting rods to move towards the direction far away from the carrier, so that the container is separated from the carrier. And then the two support frames are reset under the action of the first transmission mechanism and the second transmission mechanism, and after the two support frames are reset, the two support frames are attached to the two connecting rods together, so that the collected container is temporarily positioned in the slot 11 of the chassis component 1, and the collection of the container positioned on the carrier is completed. The chassis assembly 1 can then carry the containers across the bottom of different carriers to transport the containers to different stations for processing, for example, to move the containers to a workstation and place the containers at the workstation.

The transfer robot of the present disclosure may also place a container on a carrier. In the process of storing the container, the first transmission mechanism drives the first connecting rod 3 and the second connecting rod 4 to rotate, the two connecting rods drive the first supporting frame 21 and the second supporting frame 22 to ascend, and the second transmission mechanism drives the base to rotate relative to the first connecting rod 3 and the second connecting rod 4 in the ascending process, so that the two supporting frames can be kept horizontal, and the container on the two supporting frames is prevented from falling. When the two support frames are lifted to the first preset height, the movement is stopped.

At the moment, the X-axis movement mechanism drives the first connecting rod 3 and the second connecting rod 4 to move along the X-axis direction, so that the two connecting rods can drive the two support frames to extend out of the outer side of the transfer robot until the two support frames move to the top of the carrier storage container position. And then, the first transmission mechanism drives the first connecting rod 3 and the second connecting rod 4 to rotate, the two connecting rods drive the first supporting frame 21 and the second supporting frame 22 to descend, and when the two supporting frames descend to a second preset height, the two supporting frames stop, so that the two supporting frames can place the carrier on the bearing surface of the carrier, and the placement of the container is completed. Then the X-axis motion mechanism drives the two connecting rods to move along the X-axis direction, the two connecting rods drive the two support frames to move towards the direction of the transfer robot, and then the two support frames are reset under the action of the first transmission mechanism and the second transmission mechanism so as to take or place the next container.

Example two

The present disclosure also provides a carrying system, as shown in fig. 7, including the carrying robot and the carrier in the above embodiments, where the carrier is used for storing containers, and stores at least one container. The lifting component drives the bearing component 2 to ascend or descend to move to the corresponding height position of the container on the carrier, and the bearing component 2 is driven by the moving component to move between the carrier and the chassis component, so that the container is collected and stored. The specific receiving and storing steps are the same as those described in the above embodiments, and are not described in detail herein.

In an embodiment of the present disclosure, a space for the carrying element 2 to extend into is provided on the carrier, for example, the carrying element 2 is a flat plate, the space on the carrier may be a rectangular notch for the carrying element 2 to extend into, so as to complete the collection and storage of the container, and the shape of the carrying element 2 may also be other shapes known to those skilled in the art, and will not be described herein in detail. The notch on the carrier may be adapted to the shape of the carrying component, which is not limited in this disclosure. Of course, a groove matched with the bearing component 2 can be arranged at the bottom of the container, so that the bearing component 2 can extend into the groove, and the container can be collected and stored.

In one embodiment of the present disclosure, in order to facilitate the transfer robot to pass through the bottom of the carrier, the space at the bottom of the carrier may be set to a size that the transfer robot can pass through smoothly when the container is loaded on the chassis assembly 1, so as to facilitate the transfer robot to pass through, and improve the efficiency of transferring and carrying the container.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (15)

1. A transfer robot, characterized by comprising:

a chassis assembly (1);

a carrier assembly (2), the carrier assembly (2) being configured for carrying a container;

a lifting assembly configured to bring the carrying assembly (2) up or down;

a motion component configured to drive the carrying component (2) to extend towards the outside of the transfer robot to complete the transfer of containers between the carrying component (2) and the carrier, or configured to drive the carrying component (2) to reset.

2. The transfer robot of claim 1, wherein the lift assembly comprises:

a link mechanism;

the first transmission mechanism is configured to drive the first end of the link mechanism to rotate relative to the chassis component (1) so as to lift or lower the bearing component (2) at the second end of the link mechanism;

a second transmission mechanism configured to rotate the carrying assembly (2) relative to the second end of the link mechanism to maintain the carrying assembly (2) in a horizontal state.

3. A transfer robot as claimed in claim 2, characterized in that the link mechanism comprises a first link (3) and a second link (4) which are oppositely arranged, wherein the first link (3) and the second link (4) are respectively and rotatably connected to two opposite sides of the carrying assembly (2); the moving assembly is connected with the first connecting rod (3) and the second connecting rod (4) and is configured to drive the first connecting rod (3) and the second connecting rod (4) to move.

4. A transfer robot as claimed in claim 3, wherein the first transmission mechanism comprises a sliding seat (5), the first ends of the first and second connecting rods (3, 4) are respectively and rotatably connected to the sliding seat (5), and the lifting assembly further comprises a first driving mechanism for driving the first and second connecting rods (3, 4) to rotate relative to the sliding seat (5);

the second transmission mechanism comprises a first rotating piece (6) fixed on the bearing component (2), a second rotating piece (7) fixed on the sliding seat (5), and a transmission piece (8) in transmission fit with the second rotating piece (7) and the first rotating piece (6).

5. A transfer robot as claimed in claim 4, wherein the first ends of the first and second links (3, 4) are fixedly connected together by a transmission shaft (9), and the second rotating member (7) is arranged coaxially with the transmission shaft (9).

6. A transfer robot according to claim 4, characterized in that the moving assembly comprises an X-axis moving mechanism configured to drive the sliding seat (5) to move in the X-axis direction to bring the carrier assembly (2) to protrude outside the transfer robot in the X-axis direction.

7. A handling robot as claimed in claim 6, characterized in that said carrier assembly (2) comprises a first support frame (21) connected to said first link (3) and a second support frame (22) connected to said second link (4); the motion assembly comprises a Y-axis motion mechanism which is configured to drive the first connecting rod (3) and the second connecting rod (4) to move away from or close to each other in the Y-axis direction so as to adjust the distance between the first supporting frame (21) and the second supporting frame (22).

8. A handling robot as claimed in claim 6, characterized in that said carrying assembly (2) comprises a base (10), a first support (21) and a second support (22), said base (10) being configured to be pivotally connected together with a second end of said first link (3) and a second end of said second link (4); the first support frame (21) and the second support frame (22) are in sliding fit on the base (10), the motion assembly comprises a Y-axis motion mechanism, and the Y-axis motion mechanism is configured to drive the first support frame (21) and the second support frame (22) to move on the base (10) in a mode of moving away from or approaching to each other so as to adjust the distance between the first support frame (21) and the second support frame (22).

9. The transfer robot as claimed in claim 6, wherein the lifting assembly is configured to lift the carrier assembly (2) to a first predetermined height, and the X-axis motion mechanism is configured to drive the carrier assembly (2) to extend along the X-axis in a direction toward the carrier to extend to the bottom of the container; the lifting assembly is configured to drive the bearing assembly (2) to rise to a second preset height, and then the bearing assembly (2) jacks up a container on the carrier;

or it is that,

the lifting assembly is configured to drive the container on the bearing assembly (2) to ascend to a first preset height, and the X-axis movement mechanism is configured to drive the bearing assembly (2) to extend out to a position corresponding to the carrier along the direction of the X axis towards the carrier; the lifting assembly is configured to drive the bearing assembly (2) to descend to a second preset height, and then the bearing assembly (2) places a container on a carrier.

10. A transfer robot as claimed in claim 9, wherein the X-axis motion mechanism is configured to move the carrier assembly (2) along the X-axis in a direction away from the carrier during the process of the lifting assembly lifting the carrier assembly (2) to the first predetermined height.

11. A handling robot according to any of the claims 1-10, characterized in that a slot (11) is provided at the top end of the chassis assembly (1), the carrier assembly (2) being located in the slot (11) in the initial position, the height of the slot (11) being configured to accommodate at least part of the container, such that the slot (11) limits the container located on the carrier assembly (2).

12. The transfer robot of claim 11, wherein the transfer robot is configured to move the container through the bottom of the carrier.

13. A handling system comprising a handling robot according to any one of claims 1 to 12, further comprising a carrier on which at least one container is carried; the lifting component is configured to drive the bearing component (2) to ascend or descend, and the moving component is configured to drive the bearing component (2) to extend to a corresponding position of the carrier, so that the container is transferred between the bearing component (2) and the carrier.

14. Handling system according to claim 13, where a space is provided for the carrier assembly (2) to protrude into, at the bottom of the container or at a position on the carrier corresponding to the container.

15. The transfer system of claim 13, wherein the bottom of the carrier has a space for the transfer robot to travel through.

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