CN218260153U

CN218260153U - Transfer robot

Info

Publication number: CN218260153U
Application number: CN202122301263.4U
Authority: CN
Inventors: 杨成龙; 詹庆鑫
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2023-01-10
Anticipated expiration: 2031-09-18

Abstract

The utility model provides a transfer robot relates to intelligent storage technical field for solve the problem that transfer robot can't get and put low department's goods. The carrying robot comprises a movable chassis, a goods shelf and a carrying device, wherein the goods shelf is arranged on the movable chassis; the carrying device comprises a connecting piece and a fork assembly, wherein the first end of the connecting piece is connected to one side of the goods shelf, the second end of the connecting piece extends towards the direction far away from the goods shelf along the horizontal direction, and the connecting piece moves up and down relative to the goods shelf; the fork assembly is mounted at the second end of the connecting member and rotates in a vertical plane about the connecting member. So that the fork subassembly can rotate to the one end that is close to the removal chassis, make the connecting piece isotructure all be located the one end of keeping away from the removal chassis of fork subassembly to can avoid the connecting piece isotructure to influence the minimum height that the fork subassembly descends, and then make the fork subassembly can get the goods of putting lower position, be favorable to increasing the fork subassembly along the scope of getting of direction of height.

Description

Transfer robot

Technical Field

The utility model relates to an intelligent storage technical field, in particular to transfer robot.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is also continuously improved, and intelligent warehousing is an important link in the logistics process. In the intelligent storage, the transfer robot is the main equipment capable of realizing automatic transfer operation, different end effectors can be mounted on the transfer robot to complete the transfer work of workpieces in different shapes and states, and heavy manual labor of human is greatly reduced.

In the related art, transfer robot is including removing base, goods shelves and fork subassembly, and goods shelves are installed on removing the chassis, and the bottom of fork subassembly has bearing structure, and the fork subassembly passes through bearing structure and is connected with goods shelves, and bearing structure can take the fork subassembly to go up and down to move along goods shelves to get at the different height of storage goods shelves and put the goods.

However, the lowest pick height of the fork assembly of the transfer robot is relatively high, so that the transfer robot cannot pick and place lower goods.

SUMMERY OF THE UTILITY MODEL

The utility model provides a transfer robot can reduce transfer robot's the minimum height of getting goods, is favorable to increasing transfer robot's the scope of getting goods.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

the embodiment of the disclosure provides a carrying robot, which comprises a mobile chassis, a goods shelf and a carrying device, wherein the goods shelf is arranged on the mobile chassis; the carrying device comprises a connecting piece and a fork assembly, wherein a first end of the connecting piece is connected to one side of the goods shelf, a second end of the connecting piece extends towards a direction far away from the goods shelf along the horizontal direction, and the connecting piece moves up and down relative to the goods shelf; the fork assembly is mounted at the second end of the link and rotates in a vertical plane about the link.

The transfer robot as described above, optionally, the rotation range of the fork assembly is 0 ° to 180 °; the starting position of the rotation of the fork assembly is a position far away from the movable chassis, and the ending position of the rotation of the fork assembly is a position close to the movable chassis, or the starting position of the rotation of the fork assembly is a position close to the movable chassis, and the ending position of the rotation of the fork assembly is a position far away from the movable chassis.

The transfer robot as described above, optionally, the fork assembly includes a mounting seat and two side plates, the mounting seat is rotatably connected to the second end of the connecting member, and the mounting seat rotates around the second end of the connecting member; the two side plates are oppositely arranged on two sides of the mounting seat, and extend towards the direction deviating from the connecting piece.

Optionally, the mounting seat includes a flat plate supporting portion and a rotating connection portion, the rotating connection portion is connected to one surface of the flat plate supporting portion facing the connecting member, and the two side plates are located on one surface of the flat plate supporting portion facing away from the connecting member; the two rotating connecting parts are respectively arranged at two ends of the flat plate supporting part along the extending direction of the connecting piece, and the two rotating connecting parts are rotatably sleeved on the connecting piece; the mounting seat is provided with a vertical rotating mechanism, and the vertical rotating mechanism drives the mounting seat to rotate around the connecting piece.

The transfer robot as described above, optionally, the vertical rotation mechanism is provided between the two rotation connecting portions; vertical slewing mechanism includes driving motor, first gear and second gear, driving motor install in the orientation of dull and stereotyped supporting part the one side of connecting piece, the fixed cover of first gear is established on driving motor's the output shaft, the fixed cover of second gear is established on the connecting piece, first gear with second gear intermeshing.

As above, optionally, the orientation of the flat plate supporting portion the one side of the connecting piece is provided with a motor mounting seat, the position of the motor mounting seat corresponding to the first gear is provided with an avoiding groove, the driving motor is installed on the motor mounting seat, and the first gear is located in the avoiding groove.

Optionally, the connecting member is further provided with a rotation limiting member, and the rotation limiting member is located between the two rotation connecting portions; the rotation limiting part is provided with a first limiting surface and a second limiting surface, the first limiting surface is arranged at one end of the rotation limiting part, which is far away from the moving chassis, and the second limiting surface is arranged at one end of the rotation limiting part, which is far towards the moving chassis; when the pallet fork assembly rotates to a position far away from the movable chassis, the flat plate supporting part is abutted to the first limiting surface; when the fork assembly rotates to a position close to the movable chassis, the flat plate supporting part is abutted to the second limiting surface.

Optionally, the mounting base further includes a column-shaped connecting portion and a mounting plate, a first end of the column-shaped connecting portion is connected to a surface of the flat plate supporting portion, the surface of the flat plate supporting portion is away from the rotating connecting portion, the mounting plate is rotatably connected to a second end of the column-shaped connecting portion, and the two side plates are connected to the mounting plate; the mounting plate is provided with a horizontal rotating mechanism, and the horizontal rotating mechanism drives the mounting plate to rotate in the horizontal plane relative to the columnar connecting part.

The transfer robot as described above, optionally, the horizontal rotation mechanism includes a rotation motor, a planetary gear, a central gear, and a flexible member; the rotating motor is arranged on one side of the mounting plate, which is far away from the columnar connecting part, an output shaft of the rotating motor penetrates through the mounting plate and extends into a gap between the mounting plate and the flat plate supporting part, and the planet wheel is in transmission connection with the output shaft of the rotating motor; the central wheel is fixedly sleeved on the columnar connecting part or is formed by the peripheral surface of the columnar connecting part; the flexible part surrounds the periphery of the planet wheel and the central wheel.

In the transfer robot as described above, optionally, the planet wheels and the central wheel are both chain wheels, and the flexible member is a chain; or the planet wheel and the central wheel are belt wheels, and the flexible part is a transmission belt.

The transfer robot as described above, optionally, the fork assembly further includes a width adjusting mechanism, the width adjusting mechanism includes a width motor and at least one bidirectional screw, and the width motor is mounted on the mounting plate; two ends of the bidirectional spiral screw rod are respectively in threaded connection with the two side plates, and the middle of the bidirectional spiral screw rod is rotationally connected with the mounting plate; the width motor is in transmission connection with the at least one bidirectional spiral screw rod, drives the bidirectional spiral screw rod to rotate and drives the two side plates to be close to or far away from each other.

Optionally, the number of the bidirectional screw rods is two, and the two bidirectional screw rods are arranged in parallel and at intervals; the width motor is arranged between the two bidirectional spiral screw rods, and the width motor drives the two bidirectional spiral screw rods to rotate simultaneously through the synchronous belt and the belt wheel.

Optionally, the mounting plate and the second end of the columnar connecting portion together form an accommodating groove, and the width motor is accommodated in the accommodating groove.

Optionally, at least two screw supports are arranged on one surface of the mounting plate, which is away from the columnar connecting portion, at intervals along the extending direction of the bidirectional screw, and the bidirectional screw is rotatably connected with the screw supports.

Optionally, the two side plates are both provided with a yoke assembly, and the yoke assembly comprises a telescopic motor and a yoke; the telescopic motor is arranged on one side of the side plate, which is far away from the mounting plate, and the fork arm is arranged on one side of the side plate, which is far towards the mounting plate; the telescopic motor is in transmission connection with the fork arm, and the telescopic motor drives the fork arm to stretch along the length direction of the fork assembly.

Optionally, at least two movable fingers are arranged at the front end of the fork arm in the extending direction, and the at least two movable fingers are arranged at intervals from one end close to the mounting seat to one end far away from the mounting seat; the first end of the movable finger is rotatably connected with the fork arms, and the second end of the movable finger can rotate to a position between the two fork arms.

Optionally, one end of each of the two side plates, which is close to the mounting plate, is provided with a first cargo pallet, and the two first cargo pallets are located on the same plane and extend between the two side plates relatively; the width adjustment mechanism is positioned between the first cargo pallet and the mounting plate; the sum of the widths of the two first cargo pallets is less than or equal to the width of the mounting plate in the width direction of the fork assembly.

Optionally, one end of each of the two side plates, which is far away from the mounting plate, is provided with a second cargo pallet, and the two second cargo pallets are located on the same plane and extend between the two side plates oppositely; the sum of the widths of the two second cargo pallets is less than or equal to the width of the mounting plate in the width direction of the fork assembly.

Optionally, a lifting mechanism is disposed on one side of the rack connected to the connecting member, the lifting mechanism includes a slider that moves up and down along the rack, and the connecting member is fixedly connected to the slider.

The transfer robot provided by the embodiment of the disclosure has the following advantages:

the transfer robot that this disclosed embodiment provided is including removing chassis, goods shelves and handling device, and the goods shelves set up on removing the chassis. Include connecting piece and fork subassembly through setting up handling device, the first end of connecting piece is connected in one side of goods shelves, and the second end of connecting piece extends along the direction that the goods shelves were kept away from to the horizontal direction orientation, and the fork unit mount is held at the second of connecting piece, and the connecting piece can move for goods shelves lift to the fork subassembly that the messenger installed on the connecting piece can move up and down, in order to get the goods of putting co-altitude.

Meanwhile, the pallet fork assembly rotates around the connecting piece in the vertical plane, so that on one hand, the pallet fork assembly can rotate to one end far away from the movable chassis, and goods at a higher position can be taken and placed conveniently; on the other hand, make the fork subassembly can rotate to the one end that is close to the removal chassis, at this moment, the connection structure who is connected with the connecting piece on connecting piece and the fork subassembly all is located the one end of keeping away from the removal chassis of fork subassembly to can avoid the connection structure who is connected with the connecting piece on connecting piece and the fork subassembly to influence the minimum height that the fork subassembly descends, and then make the fork subassembly can get the goods of putting lower position, be favorable to increasing the fork subassembly along the scope of getting goods of direction of height.

In addition to the technical problems, technical features constituting technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantages brought by the technical features that can be solved by a transfer robot provided by the embodiments of the present disclosure will be described in further detail in the detailed description of embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and those skilled in the art can obtain other drawings without inventive labor.

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

FIG. 2 is a schematic illustration of the fork assembly of the transfer robot of FIG. 1 rotated 90;

FIG. 3 is a schematic illustration of the fork assembly of the transfer robot of FIG. 1 rotated 180;

fig. 4 is a schematic structural view of a carrying device of the carrying robot in fig. 1;

FIG. 5 is a front view of the handling device of FIG. 4;

FIG. 6 is a schematic view of the carrying device of FIG. 4 from another perspective;

fig. 7 is a schematic view of the carrying device of fig. 4 with the mounting plate removed.

Description of the reference numerals:

100-a handling robot; 10-moving the chassis; 20-a shelf; 21-a column frame; 22-placing the plate; 23-a storage unit; 24-a slide block; 30-a handling device;

31-a fork assembly; 311-a mounting seat; 3111-a plate support; 3112-a rotation connection; 3113-column connection; 3114-mounting the plate; 312-side plate; 3121-a first cargo pallet; 3122-a second cargo pallet; 313-width motor; 314-bidirectional screw rod; 315-synchronous belt; 316-a receiving groove; 317-screw rod support; 318-a telescopic motor; 319-yoke; 3191-moving fingers; 3192-fixing the push plate;

321-a drive motor; 3211-motor mount; 322-a first gear; 323-a second gear;

33-a connector; 331-rotation limiting member;

342-a rotating motor; 343-planet wheels; 344-a centre wheel; 345-flexure.

Detailed Description

Because the bottom of the fork subassembly of transfer robot among the correlation technique has bearing structure, bearing structure can lead to the fork subassembly to descend along goods shelves minimum height than higher to lead to the fork subassembly can't get the goods of putting lower department, and then influence the fork subassembly along the scope of getting goods of direction of height.

In order to solve the above problem, an embodiment of the present disclosure provides a transfer robot, including a moving chassis, a rack, and a transfer device, where the rack is disposed on the moving chassis. Include connecting piece and fork subassembly through setting up handling device, the first end of connecting piece is connected in one side of goods shelves, and the second end of connecting piece extends along the direction that the goods shelves were kept away from to the horizontal direction orientation, and the fork unit mount is held at the second of connecting piece, and the connecting piece can move for goods shelves lift to the fork subassembly that the messenger installed on the connecting piece can move up and down, in order to get the goods of putting co-altitude.

Simultaneously, rotate around the connecting piece in vertical face through setting up the fork subassembly, thereby make the fork subassembly can rotate to the one end that is close to the removal chassis, at this moment, the connection structure of being connected with the connecting piece on connecting piece and the fork subassembly all is located the one end of keeping away from the removal chassis of fork subassembly, thereby can avoid the connection structure of being connected with the connecting piece on connecting piece and the fork subassembly to influence the minimum height that the fork subassembly descends, and then make the fork subassembly can get the goods of putting lower position, be favorable to increasing the fork subassembly along direction of height's the scope of getting goods.

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.

Fig. 1 is a schematic structural view of a transfer robot provided in an embodiment of the present disclosure; FIG. 2 is a schematic illustration of the fork assembly of the transfer robot of FIG. 1 rotated 90; FIG. 3 is a schematic illustration of the fork assembly of the transfer robot of FIG. 1 rotated 180; fig. 4 is a schematic structural view of a carrying device of the carrying robot in fig. 1; FIG. 5 is a front view of the handling device of FIG. 4; FIG. 6 is a schematic structural view of another perspective of the handling device of FIG. 4; fig. 7 is a schematic view of the carrying device of fig. 4 with the mounting plate removed.

Referring to fig. 1 to 7, the present disclosure provides a transfer robot 100, where the transfer robot 100 includes a moving chassis 10, a rack 20, and a transfer device 30, the rack 20 is disposed on the moving chassis 10, and the transfer device 30 is disposed on the rack 20.

A plurality of rollers may be disposed at the bottom of the mobile chassis 10, for example, the rollers may be universal wheels, the rollers may drive the mobile chassis 10 to move, a roller driving mechanism may be further disposed inside the mobile chassis 10, and the roller driving mechanism may drive the rollers to rotate and drive the mobile chassis 10 to move. The mobile chassis 10 may move with the racks 20, the handling device 30, and other structures disposed on the mobile chassis 10.

The shelf 20 may include one or more layers of storage units 23 arranged in the elevation direction (as shown in fig. 1), and the storage unit 23 at the lowermost portion of the shelf 20 may be provided on the moving chassis 10. The shelf 20 may include a column frame 21 and a plurality of placing plates 22, for example, the column frame 21 may include two columns, three columns, four columns or more; a plurality of placing plates 22 are fixed at different heights of the column frame 21, and the placing plates 22 and the column frame 21 constitute a plurality of storage units 23 on the shelf 20. Among them, the moving chassis 10 can be regarded as a placing plate 22 constituting the bottommost storage unit 23 of the shelf 20.

The carrying device 30 includes a connecting member 33 and a fork assembly 31, wherein a first end of the connecting member 33 is connected to one side of the shelf 20, and illustratively, the connecting member 33 may be directly connected to the pillar of the shelf 20, or may be connected to the pillar of the shelf 20 through other components. The second end of the link member 33 extends in a horizontal direction away from the shelf 20, the fork assembly 31 is mounted at the second end of the link member 33, and the fork assembly 31 rotates about the link member 33 in a vertical plane. Illustratively, the main structure of the connecting member 33 may be cylindrical, and the fork assembly 31 may be sleeved on the cylindrical connecting member 33, so that the fork assembly 31 rotates around the connecting member 33. The link 33 is movable up and down relative to the shelf 20 and moves the fork assembly 31 up and down relative to the shelf 20.

Taking the transfer robot 100 to take the goods from the bottom layer of the storage rack as an example, the fork assembly 31 can rotate around the connecting member 33 to a side close to the moving chassis 10, and at the same time, the connecting member 33 can drive the fork assembly 31 to descend to a height level with the bottom layer of the storage rack, so as to take the goods from the bottom layer of the storage rack.

Referring to fig. 1 to 3, the rotation range of the fork assembly 31 may be 0 ° to 180 °, the rotation start position of the fork assembly 31 is a position far from the mobile chassis 10, i.e., a 0 ° position, and the rotation end position of the fork assembly 31 is a position close to the mobile chassis 10, i.e., a 180 ° position. Alternatively, the rotation start position of the fork assembly 31 is a position close to the moving chassis 10, i.e., a 0 ° position, and the rotation end position of the fork assembly 31 is a position away from the moving chassis 10, i.e., a 180 ° position. Moreover, the fork assembly 31 can be stopped at any position within the rotation range, such as 90 ° position, 60 ° position, 120 ° position, etc., according to actual needs.

Referring to fig. 4-7, the fork assembly 31 may include a mount 311 and two side plates 312. The mounting seat 311 is rotatably connected to the second end of the connecting member 33, and the mounting seat 311 rotates around the second end of the connecting member 33. For example, the mounting seat 311 may be directly sleeved on the second end of the connecting element 33 and rotate around the second end of the connecting element 33, and a bearing may be disposed between the mounting seat 311 and the second end of the connecting element 33 to improve the smoothness of the rotation of the mounting seat 311 around the connecting element 33. The two side plates 312 are oppositely arranged at two sides of the mounting seat 311, the two side plates 312 extend towards a direction away from the connecting piece 33, and an accommodating cavity for accommodating goods is formed between the two side plates 312.

For example, the mounting seat 311 may include a plate support portion 3111 and a rotation connection portion 3112, the plate support portion 3111 may be horizontally disposed, the rotation connection portion 3112 may be connected to a surface of the plate support portion 3111 facing the connection member 33, and the rotation connection portion 3112 and the plate support portion 3111 may be integrally formed. The two side plates 312 are located on a side of the plate support portion 3111 facing away from the connection member 33.

Wherein, rotate connecting portion 3112 and can include two, two rotate connecting portion 3112 and set up respectively at dull and stereotyped supporting portion 3111's both ends along the extending direction of connecting piece 33, and two rotate connecting portion 3112 and rotate the cover and establish on connecting piece 33 to be favorable to guaranteeing stationarity and reliability that mount pad 311 and connecting piece 33 are connected, and then be favorable to guaranteeing stationarity and reliability of fork subassembly 31 for connecting piece 33. Of course, the rotation coupling portion 3112 may include three, four or more, and a plurality of the rotation coupling portions 3112 are disposed on the connection member 33 at intervals.

A vertical rotating mechanism may be disposed on the mounting seat 311, and the vertical rotating mechanism drives the mounting seat 311 to rotate around the connecting member 33. For example, a vertical rotation mechanism may be disposed between the two rotation connection portions 3112 to fully utilize a space between the two rotation connection portions 3112, thereby improving compactness. Of course, the vertical rotation mechanism may also be disposed at other positions of the mounting base 311 according to actual needs, as long as the mounting base 311 can be driven to rotate relative to the connecting member 33, and details are not described herein again.

Referring to fig. 6, the vertical rotation mechanism may include a driving motor 321, a first gear 322, and a second gear 323, the driving motor 321 being mounted to a surface of the flat plate support portion 3111 facing the connection member 33. The first gear 322 is fixedly sleeved on the output shaft of the driving motor 321, the second gear 323 is fixedly sleeved on the connecting member 33, and the first gear 322 and the second gear 323 are engaged with each other. In particular, the output shaft of the driving motor 321 drives the first gear 322 to rotate, and the first gear 322 rotates around the second gear 323, so as to drive the fork assembly 31 to rotate around the connecting member 33 through the flat plate support portion 3111.

For example, a motor mounting seat 3211 may be disposed on a surface of the flat plate support portion 3111 facing the connection member 33, an avoiding groove is disposed at a position of the motor mounting seat 3211 corresponding to the first gear 322, the driving motor 321 is mounted on the motor mounting seat 3211, and the first gear 322 is located in the avoiding groove. Of course, the driving motor 321 may be directly mounted on the flat plate support portion 3111.

The connecting member 33 may further include a rotation limiting member 331, and the rotation limiting member 331 may be located between the two rotation connecting portions 3112, or the rotation limiting member 331 may be disposed at another position according to actual needs. The rotation limiting member 331 has a first limiting surface and a second limiting surface, the first limiting surface is disposed at an end of the rotation limiting member 331 away from the moving chassis 10, and the second limiting surface is disposed at an end of the rotation limiting member 331 facing the moving chassis 10.

In a specific implementation, when the fork assembly 31 rotates to a position far away from the moving chassis 10, the flat plate support portion 3111 abuts against the first limiting surface; when fork subassembly 31 rotates to the position that is close to remove chassis 10, dull and stereotyped supporting part 3111 and the spacing face butt of second to not only can carry on spacingly to fork subassembly 31's rotation range, be favorable to guaranteeing moreover that fork subassembly 31 stops the stability when keeping away from the position that removes chassis 10 and being close to the position that removes chassis 10, and then be favorable to guaranteeing fork subassembly 31 and get the stability when putting the goods.

Referring to fig. 4 and 5, the mount 311 may further include a column-shaped coupling portion 3113 and a mounting plate 3114, and the mounting plate 3114 may be horizontally disposed. The first end of the pillar-shaped coupling portion 3113 is coupled to a surface of the flat plate support portion 3111 away from the rotation coupling portion 3112, and illustratively, the pillar-shaped coupling portion 3113 and the flat plate support portion 3111 may be integrally formed. The mounting plate 3114 is rotatably connected to a second end of the cylindrical connecting portion 3113. For example, the mounting plate 3114 can be directly sleeved on the cylindrical connecting portion 3113 and can rotate around the cylindrical connecting portion 3113, or a bearing can be disposed between the mounting plate 3114 and the cylindrical connecting portion 3113, so that the mounting plate 3114 can rotate around the cylindrical connecting portion 3113. Two side plates 312 may be coupled to the mounting plate 3114.

The mounting plate 3114 may be provided with a horizontal rotation mechanism, and the horizontal rotation mechanism may drive the mounting plate 3114 to rotate in a horizontal plane relative to the pillar-shaped connecting portion 3113, so that the fork assembly 31 may rotate in the horizontal plane relative to the pillar-shaped connecting portion 3113, so as to take and place goods from different directions.

Referring to fig. 5 and 7, the horizontal rotation mechanism illustratively includes a rotary motor 342, a planetary gear 343, a center gear 344, and a flexure 345. The rotation motor 342 is mounted on a side of the mounting plate 3114 facing away from the column-shaped connecting portion 3113, and an output shaft of the rotation motor 342 passes through the mounting plate 3114 and extends into a gap between the mounting plate 3114 and the plate support portion 3111. The planet wheel 343 is connected with the output shaft transmission of rotating motor 342, and exemplarily, the planet wheel 343 can directly fix the cover and establish on the output shaft of rotating motor 342 to realize the transmission and connect, or, be connected through the reduction gear transmission between the output shaft of planet wheel 343 and rotating motor 342. The center wheel 344 is fixedly fitted to the columnar coupling portion 3113 or is formed by the outer peripheral surface of the columnar coupling portion 3113; a flexure 345 surrounds the planet 343 and the center wheel 344.

In a specific implementation, the output shaft of the rotating motor 342 drives the planet wheel 343 to rotate, and the planet wheel 343 rotates around the central wheel 344 under the traction of the flexible member while rotating, so as to drive the mounting plate 3114 to rotate, and the mounting plate 3114 drives the two side plates 312 to rotate, thereby rotating the fork assembly 31 in a horizontal plane.

Illustratively, the planet wheel 343 and the center wheel 344 can both be sprockets, and the flexure 345 is a chain; alternatively, the planet 343 and center wheel 344 can each be a pulley and the flexure 345 can be a belt.

Referring to fig. 4 and 7, the fork assembly 31 may further include a width adjustment mechanism including a width motor 313 and at least one bidirectional screw 314. Width motor 313 is mounted to mounting plate 3114. For example, width motor 313 may be mounted directly to mounting plate 3114 or may be mounted to mounting plate 3114 via a coupling socket. Two ends of the bidirectional screw rod 314 are respectively in threaded connection with the two side plates 312, and the middle part of the bidirectional screw rod 314 is rotatably connected with the mounting plate 3114. The width motor 313 is in transmission connection with at least one bidirectional screw 314, and in concrete implementation, the width motor 313 drives the bidirectional screw 314 to rotate and drives the two side plates 312 to approach to or separate from each other.

In one possible implementation, there may be two bidirectional screws 314, and the two bidirectional screws 314 are arranged in parallel and at intervals. The width motor 313 is disposed between the two bidirectional screws 314, and the width motor 313 simultaneously drives the two bidirectional screws 314 to rotate through a timing belt 315 and a pulley. Through setting up two-way screw rod 314 parallelly and interval, be favorable to guaranteeing stability and reliability that two curb plates 312 are close to each other or are kept away from each other. In other implementations, the number of the bidirectional screw rods 314 can be increased according to actual needs, and will not be described herein.

Illustratively, a synchronous pulley is sleeved on each of the two bidirectional screw rods 314, or a synchronous pulley is formed on the outer peripheral surface of each of the two bidirectional screw rods 314, a driving pulley is sleeved on the output shaft of the width motor 313, or the output shaft of the width motor 313 is in transmission connection with the driving pulley through a reducer, a synchronous belt 315 is wound on the synchronous pulleys of the two bidirectional screw rods 314 and the driving pulley of the width motor 313, so that width motor 313 drives the driving pulley and rotates, and the driving pulley drives the synchronous pulley rotation of two-way screw rod 314 through hold-in range 315 to make two-way screw rod 314 synchronous rotation, and then drive two curb plates 312 and be close to each other or keep away from each other, so that make fork subassembly 31 can press from both sides tight goods or loosen the goods.

With continued reference to fig. 4 and 7, the mounting plate 3114 and the second end of the pillar-shaped connecting portion 3113 may jointly form a receiving groove 316, and the width motor 313 is received in the receiving groove 316, so as to reduce interference and improve the compactness.

Referring to fig. 4, at least two screw supports 317 are spaced apart from one surface of the mounting plate 3114 facing away from the pillar-shaped connecting portion 3113 in the extending direction of the bidirectional screw 314, and the bidirectional screw 314 is rotatably connected to the screw supports 317. Illustratively, a through hole may be provided on the screw support 317, and the bidirectional screw 314 is rotatably inserted into the through hole, or a clamping groove may be provided on the screw support 317, and the bidirectional screw 314 is rotatably accommodated in the clamping groove.

Referring to fig. 4 and 5, a yoke assembly may be mounted to each side plate 312, the yoke assembly including a telescopic motor 318 and a yoke 319. The telescoping motor 318 is disposed on a side of the side plate 312 facing away from the mounting plate 3114 and the yoke 319 is disposed on a side of the side plate 312 facing the mounting plate 3114. The extension motor 318 is drivingly connected to the fork 319, and illustratively, the extension motor 318 and the fork 319 may be drivingly connected by a gear, a rack, a belt, or other driving mechanism known to those skilled in the art, such that the extension motor 318 drives the fork 319 to extend and retract along the length of the fork assembly 31.

Illustratively, the yoke 319 may include a plurality of sub-yokes that are sequentially connected and that may be sequentially extended or retracted, thereby facilitating an increase in the extended length of the yoke 319. The front end of the fork arm 319 may be provided with a finger structure, which may be rotated and stopped at an end of the cargo far from the fork assembly 31 when the fork arm 319 extends and takes the cargo, so as to apply a pushing force to the cargo, so that the cargo moves onto the fork assembly 31 along with the retraction of the fork arm 319.

In particular implementations, the two fork arms 319 on the two side plates 312 are extended to grip the load from both sides and retracted to move the load into the fork assembly 31; alternatively, the two prongs 319 on the two side plates 312 grip and extend from both sides of the load when in the retracted state to move the load out of the fork assembly 31.

Referring to fig. 7, at least two movable fingers 3191 may be disposed at the front end of the fork 319 in the extending direction, and the at least two movable fingers 3191 are spaced from the end close to the mounting seat 311 to the end far from the mounting seat 311. A first end of the movable finger 3191 is pivotally connected to the fork arms 319 and a second end of the movable finger 3191 is pivotally connected between the two fork arms 319. In a specific implementation, during the extension of the fork arm 319, the movable finger 3191 is kept parallel to the fork arm 319 to avoid obstructing the extension of the fork arm 319 to both sides of the cargo; the movable finger 3191 may be pivoted and blocked at an end of the load remote from the mounting seat 311 when the fork arms 319 are extended and clasped about the load, so that the movable finger 3191 may push the load to follow the fork arms 319 onto the fork assembly 31 during retraction of the fork arms 319. And at least two movable fingers 3191 can push the goods from different positions of the goods so that the goods can be smoothly transferred to the fork assembly 31.

Illustratively, the forward end of the prong 319 in the direction of extension may be provided with two movable fingers 3191, one movable finger 3191 being closer to the mounting seat 311 and the other movable finger being further from the mounting seat 311 and closer to the second cargo pallet 3122 of the side panel 312. When the fork assembly 31 is positioned at the side far away from the moving chassis 10 and takes the goods, at least the movable finger 3191 close to the mounting seat 311 can play a role of pushing the goods; the movable finger 3191 at least adjacent the second cargo pallet 3122 may act to push cargo when the fork assembly 31 is positioned adjacent a side of the moving chassis 10 and is being used to pick up cargo. The directions in which the two movable fingers 3191 rotate open may be the same or opposite.

With continued reference to fig. 7, a fixing push plate 3192 may be provided at the rear end of the yoke 319 in the protruding direction, and the fixing push plate may be rectangular in shape or may have another shape. In a specific implementation, during the process that the fork arms 319 extend and move the goods on the fork assembly 31, the fixed push plate 3192 can push the goods from the rear of the goods along the extending direction, so as to smoothly move the goods out of the fork assembly 31.

Referring to fig. 4, 5 and 7, the first cargo support plate 3121 is disposed at one end of each of the two side plates 312 near the mounting plate 3114, and the two first cargo support plates 3121 are located on the same plane and extend between the two side plates 312. The width adjustment mechanism may be located between the first cargo support panel 3121 and the mounting plate 3114. When fork subassembly 31 rotates to keeping away from the one end that removes chassis 10 and take the goods, two first goods layer boards 3121 can play the effect of accepting to the goods, not only can guarantee the stability and the reliability that the goods were taken to fork subassembly 31, can make the goods keep the distance with the mechanism that is located one side of first goods layer board 3121 towards mounting panel 3114 moreover, avoid interfering.

Optionally, the sum of the widths of the two first cargo supports 3121 in the width direction of the fork assembly 31 is less than or equal to the width of the mounting plate 3114. Thereby making the width adjustment mechanism of the fork assembly 31 can smoothly adjust the width between the two side plates 312, avoiding the two first cargo support plates 3121 from abutting each other and limiting the width adjustment range between the two side plates 312.

With continued reference to fig. 4, 5 and 7, the ends of the two side panels 312 distal from the mounting plate 3114 are each provided with a second cargo support panel 3122, the two second cargo support panels 3122 lying in the same plane and extending oppositely between the two side panels 312. When the fork assembly 31 is rotated to be close to one end of the moving chassis 10 and take the goods, the two second goods support plates 3122 may take over the goods to ensure stability and reliability of taking the goods by the fork assembly 31, and the thickness of the two second goods support plates 3122 is thin, so that the fork assembly 31 may be lowered to a lower height, for example, to the ground, and pick up the goods from the ground.

Optionally, the sum of the widths of the two second cargo pallets 3122 in the width direction of the fork assembly 31 is less than or equal to the width of the mounting plate 3114. Thereby making the width adjustment mechanism of the fork assembly 31 smoothly adjust the width between the two side plates 312 and preventing the two second cargo support plates 3122 from abutting each other and limiting the width adjustment range between the two side plates 312.

Optionally, a lifting mechanism is disposed on a side of the shelf 20 connected to the connecting member 33, the lifting mechanism includes a sliding block 24 that moves up and down along the shelf 20, and the connecting member 33 is fixedly connected to the sliding block 24. For example, the lifting mechanism may include a lifting motor and a lifting transmission assembly, the lifting transmission assembly may be a transmission belt and a transmission belt pulley disposed on the column of the shelf 20, and the transmission belt extends along the height direction of the column of the shelf 20; the lifting transmission assembly may also be a chain wheel and a chain arranged on the column of the shelf 20, the chain extending along the height direction of the column of the shelf 20. The sliding block 24 can move up and down along the column of the shelf 20 under the driving of a transmission belt or a chain to drive the connecting seat 33 to move up and down along the column of the shelf 20, so as to achieve the purpose of driving the carrying device 30 to move up and down.

Optionally, a gap may be formed between the projection of the end of the fork assembly 31 close to the shelf 20 along the lifting direction and the projection of the end of the mobile chassis 10 close to the fork assembly 31 along the lifting direction, so that the mobile chassis 10 does not affect the descending range of the fork assembly 31, and the bottom of the fork assembly 31 may descend to the ground, thereby facilitating the reduction of the lowest picking height of the fork assembly 31, and further facilitating the expansion of the picking range of the fork assembly 31 in the height direction.

Optionally, the end of the mobile chassis 10 far away from the fork assembly 31 can be provided with a balancing weight, and the balancing weight can balance the gravity center of the transfer robot, so that the stability of the transfer robot in the working process is ensured. Exemplarily, the balancing weight can be lamellar, and lamellar balancing weight can range upon range of and place, and during specific application, can be according to actual need nimble quantity of adjusting the balancing weight to guarantee that transfer robot focus is stable.

In summary, the transfer robot 100 provided in the embodiment of the present disclosure includes a moving chassis 10, a rack 20, and a transfer device 30, wherein the rack 20 is disposed on the moving chassis 10. By arranging the carrying device 30 to comprise the connecting member 33 and the fork assembly 31, the first end of the connecting member 33 is connected to one side of the shelf 20, the second end of the connecting member 33 extends towards the direction away from the shelf 20 along the horizontal direction, the fork assembly 31 is arranged at the second end of the connecting member 33, and the connecting member 33 can move up and down relative to the shelf 20, so that the fork assembly 31 arranged on the connecting member 33 can move up and down to take and place goods with different heights.

Meanwhile, by arranging the fork assembly 31 to rotate around the connecting piece 33 in a vertical plane, on one hand, the fork assembly 31 can rotate to one end far away from the movable chassis 10 so as to take and place goods at a higher position; on the other hand, make fork subassembly 31 can rotate to the one end that is close to removal chassis 10, at this moment, the connection structure who is connected with connecting piece 33 on connecting piece 33 and the fork subassembly 31 all is located the one end of keeping away from removal chassis 10 of fork subassembly 31 to can avoid connecting piece 33 and the last connection structure who is connected with connecting piece 33 influence the minimum height that fork subassembly 31 descends on fork subassembly 31, and then make fork subassembly 31 can get and put the goods of lower position, be favorable to increasing fork subassembly 31 along the scope of getting goods of direction of height.

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 only for convenience in describing embodiments of the present disclosure and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present disclosure.

In the description of the present disclosure, it will 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 explicitly 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 encompass, for example, both fixed and removable connections, or integral combinations thereof; 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; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims

1. A transfer robot is characterized by comprising a mobile chassis, a goods shelf and a transfer device, wherein the goods shelf is arranged on the mobile chassis;

the carrying device comprises a connecting piece and a fork assembly, wherein a first end of the connecting piece is connected to one side of the goods shelf, a second end of the connecting piece extends in the horizontal direction towards the direction far away from the goods shelf, and the connecting piece moves up and down relative to the goods shelf; the fork assembly is mounted at the second end of the link and rotates about the link in a vertical plane.

2. The transfer robot of claim 1, wherein the range of rotation of the fork assembly is 0-180 °;

the starting position of the rotation of the pallet fork assembly is a position far away from the movable chassis, and the ending position of the rotation of the pallet fork assembly is a position close to the movable chassis, or the starting position of the rotation of the pallet fork assembly is a position close to the movable chassis, and the ending position of the rotation of the pallet fork assembly is a position far away from the movable chassis.

3. The transfer robot of claim 1, wherein the fork assembly includes a mount and two side plates, the mount being pivotally connected to the second end of the link and the mount being pivotal about the second end of the link;

the two side plates are oppositely arranged on two sides of the mounting seat, and extend towards the direction deviating from the connecting piece.

4. The transfer robot of claim 3, wherein the mounting seat comprises a flat plate support portion and a rotary connecting portion, the rotary connecting portion is connected to a surface of the flat plate support portion facing the connecting member, and the two side plates are located on a surface of the flat plate support portion facing away from the connecting member;

the two rotating connecting parts are respectively arranged at two ends of the flat plate supporting part along the extending direction of the connecting piece, and the two rotating connecting parts are rotatably sleeved on the connecting piece;

the mounting seat is provided with a vertical rotating mechanism, and the vertical rotating mechanism drives the mounting seat to rotate around the connecting piece.

5. The transfer robot of claim 4, wherein the vertical turning mechanism is provided between the two turning connection portions;

vertical slewing mechanism includes driving motor, first gear and second gear, driving motor install in the orientation of dull and stereotyped supporting part the one side of connecting piece, the fixed cover of first gear is established on driving motor's the output shaft, the fixed cover of second gear is established on the connecting piece, first gear with second gear intermeshing.

6. The transfer robot of claim 5, wherein a motor mounting seat is provided on a surface of the plate support portion facing the connecting member, an escape groove is provided on a position of the motor mounting seat corresponding to the first gear, the driving motor is mounted on the motor mounting seat, and the first gear is located in the escape groove.

7. The transfer robot of claim 4, wherein a rotation stopper is further provided on the connecting member, the rotation stopper being located between the two rotation connecting portions;

the rotation limiting part is provided with a first limiting surface and a second limiting surface, the first limiting surface is arranged at one end of the rotation limiting part, which is far away from the moving chassis, and the second limiting surface is arranged at one end of the rotation limiting part, which is far towards the moving chassis;

when the pallet fork assembly rotates to a position far away from the movable chassis, the flat plate supporting part is abutted to the first limiting surface; when the pallet fork assembly rotates to a position close to the movable chassis, the flat plate supporting part is abutted to the second limiting surface.

8. The transfer robot of claim 4, wherein the mounting base further comprises a column-shaped connecting portion and a mounting plate, wherein a first end of the column-shaped connecting portion is connected to a surface of the plate support portion facing away from the rotating connecting portion, the mounting plate is rotatably connected to a second end of the column-shaped connecting portion, and the two side plates are connected to the mounting plate;

the mounting plate is provided with a horizontal rotating mechanism, and the horizontal rotating mechanism drives the mounting plate to rotate in the horizontal plane relative to the columnar connecting part.

9. The transfer robot of claim 8, wherein the horizontal rotation mechanism includes a rotation motor, a planetary wheel, a center wheel, and a flexible member;

the rotating motor is arranged on one side of the mounting plate, which is far away from the columnar connecting part, an output shaft of the rotating motor penetrates through the mounting plate and extends into a gap between the mounting plate and the flat plate supporting part, and the planet wheel is in transmission connection with the output shaft of the rotating motor; the central wheel is fixedly sleeved on the columnar connecting part or is formed by the peripheral surface of the columnar connecting part; the flexible part surrounds the periphery of the planet wheel and the central wheel.

10. The transfer robot of claim 9, wherein the planetary wheels and the central wheel are both sprockets, and the flexible member is a chain;

or the planet wheel and the central wheel are belt wheels, and the flexible part is a transmission belt.

11. The transfer robot of claim 8, wherein the fork assembly further comprises a width adjustment mechanism comprising a width motor and at least one bi-directional screw, the width motor being mounted on the mounting plate; two ends of the bidirectional spiral screw rod are respectively in threaded connection with the two side plates, and the middle of the bidirectional spiral screw rod is rotationally connected with the mounting plate;

the width motor is in transmission connection with the at least one bidirectional screw rod, drives the bidirectional screw rod to rotate and drives the two side plates to mutually approach or keep away from each other.

12. The transfer robot of claim 11, wherein there are two of the bidirectional screw rods, and the two bidirectional screw rods are arranged in parallel and at intervals;

the width motor is arranged between the two bidirectional spiral screw rods, and the width motor drives the two bidirectional spiral screw rods to rotate simultaneously through the synchronous belt and the belt wheel.

13. The transfer robot of claim 12, wherein the mounting plate and the second end of the column connecting portion together define a receiving slot, the width motor being received in the receiving slot.

14. A transfer robot according to any one of claims 11 to 13, wherein at least two screw supports are provided at intervals along an extending direction of the bidirectional screw, on a surface of the mounting plate facing away from the columnar connecting portion, and the bidirectional screw is rotatably connected to the screw supports.

15. A transfer robot as claimed in any one of claims 8 to 13, wherein a yoke assembly is mounted on each of the two side plates, the yoke assembly comprising a telescopic motor and a yoke;

the telescopic motor is arranged on one side of the side plate, which is far away from the mounting plate, and the fork arm is arranged on one side of the side plate, which is far towards the mounting plate; the telescopic motor is in transmission connection with the fork arm, and the telescopic motor drives the fork arm to stretch along the length direction of the fork assembly.

16. The transfer robot of claim 15, wherein the fork arm is provided at its front end in the extending direction with at least two movable fingers arranged at intervals from an end close to the mount to an end far from the mount;

the first end of the movable finger is rotatably connected with the fork arms, and the second end of the movable finger can rotate to a position between the two fork arms.

17. A transfer robot as claimed in any one of claims 11 to 13, wherein the ends of the two side plates adjacent to the mounting plate are each provided with a first cargo pallet, the two first cargo pallets being located in the same plane and extending oppositely between the two side plates;

the width adjustment mechanism is positioned between the first cargo pallet and the mounting plate;

the sum of the widths of the two first cargo pallets is less than or equal to the width of the mounting plate in the width direction of the fork assembly.

18. A transfer robot as claimed in any one of claims 8 to 13, wherein the ends of the two side plates remote from the mounting plate are each provided with a second cargo pallet, the two second cargo pallets being located in the same plane and extending oppositely between the two side plates;

the sum of the widths of the two second cargo pallets is less than or equal to the width of the mounting plate in the width direction of the fork assembly.

19. The transfer robot of any one of claims 1 to 13, wherein a lifting mechanism is provided on a side of the rack to which the link is connected, the lifting mechanism including a slider that moves up and down along the rack, and the link is fixedly connected to the slider.