CN219297094U - Transfer robot - Google Patents

Abstract

The present disclosure relates to a transfer robot including a chassis assembly, a gantry assembly, a pick-and-place assembly, and a drive device. The door frame assembly comprises a fixed door frame and a movable door frame, the fixed door frame is arranged on the chassis assembly, and the movable door frame is movably arranged on the fixed door frame; the picking and placing assembly is arranged on the movable door frame through a transmission mechanism; the driving device is configured to drive the movable door frame to move along the fixed door frame in the height direction, and the movable door frame synchronously moves relative to the movable door frame in the height direction by driving the picking and placing assembly in the moving process. The movable door frame is driven to move through the driving device, the movable door frame can drive the taking and placing assembly to synchronously move relative to the movable door frame through the transmission mechanism, namely, the taking and placing assembly can be lifted or lowered to the corresponding height to store the container by setting a single power source, and compared with the prior art, the structure of the movable door frame is simpler in that the door frame is driven by a plurality of power sources, the taking and placing assembly is lifted, and the cost can be saved.

Description

Transfer robot

Technical Field

The present disclosure relates to the field of warehouse logistics technology, and in particular, the present disclosure relates to a transfer robot.

Background

At present, in a warehouse system, a plurality of carriers for storing containers are generally arranged in a warehouse area, and a carrying robot for carrying the containers is arranged in the warehouse area, and can move to the corresponding position of the carrier corresponding to the container according to a carrying instruction issued by a control server, and then the container carrying work is completed.

In order to increase the storage density of the storage area, the storage system can flexibly adjust the height of the carrier according to the height of the storage area, for example, in some storage areas with higher space heights, the storage density of the container can be increased by arranging the high-position carrier, and correspondingly, the high-position carrying robot is also required to be arranged, but the high-position carrying robot in the prior art has a complex structure and higher cost.

Disclosure of Invention

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

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

a chassis assembly;

the door frame assembly comprises a fixed door frame and a movable door frame, the fixed door frame is arranged on the chassis assembly, and the movable door frame is movably arranged on the fixed door frame;

the picking and placing assembly is arranged on the movable door frame through a transmission mechanism;

the driving device is configured to drive the movable door frame to move along the fixed door frame in the height direction, and the movable door frame drives the picking and placing assembly to synchronously move relative to the movable door frame in the height direction through the transmission mechanism in the moving process.

In one embodiment of the present disclosure, the transmission mechanism is configured to drive the pick-and-place assembly to ascend along the movable door frame when the movable door frame ascends along the fixed door frame; the transmission mechanism is configured to drive the picking and placing assembly to descend along the movable door frame when the movable door frame descends along the fixed door frame.

In one embodiment of the present disclosure, the height of the pick-and-place assembly raised or lowered relative to the fixed mast is twice the height of the movable mast raised or lowered relative to the fixed mast.

In one embodiment of the present disclosure, the transmission mechanism includes:

the pulley block is connected to the top of the movable door frame;

and one end of the flexible transmission part is fixedly connected to the picking and placing assembly, and the other end of the flexible transmission part bypasses the pulley block and is fixedly connected to the fixed portal frame.

In one embodiment of the present disclosure, the pick-and-place assembly is configured to be guided in engagement with the moveable mast, the pick-and-place assembly being configured to hang from the flexible drive under its own weight.

In one embodiment of the disclosure, the pulley block at least comprises a fixed pulley rotatably connected to the top of the movable door frame, one end of the flexible transmission part is fixedly connected to the picking and placing assembly, and the other end of the flexible transmission part bypasses the fixed pulley and is fixedly connected to the fixed door frame; the moving height of the movable door frame relative to the fixed door frame is half of the moving height of the picking and placing assembly relative to the movable door frame.

In one embodiment of the disclosure, the pulley block further comprises a movable pulley in sliding fit with the fixed pulley, one end of the flexible transmission part is fixedly connected to the picking and placing assembly, and the other end of the flexible transmission part bypasses the fixed pulley and the movable pulley and is fixedly connected to the fixed portal frame.

In one embodiment of the present disclosure, the movable mast comprises at least a first movable mast, a second movable mast; the second movable door frame is connected to the first movable door frame through a first transmission mechanism; the picking and placing assembly is connected to the second movable door frame through a second transmission mechanism;

the first movable door frame drives the second movable door frame to synchronously move in the height direction relative to the first movable door frame through a first transmission mechanism in the process of moving the first movable door frame in the height direction, and the second movable door frame drives the picking and placing assembly to synchronously move in the height direction relative to the second movable door frame through the second transmission mechanism in the process of moving the second movable door frame. In one embodiment of the present disclosure, the first transmission mechanism includes:

the first pulley block is rotationally connected to the top of the first movable door frame;

and one end of the first flexible transmission part is fixedly connected to the second movable door frame, and the other end of the first flexible transmission part bypasses the first pulley block and is fixedly connected to the fixed door frame.

In one embodiment of the present disclosure, the second transmission mechanism includes:

the second pulley block is rotationally connected to the top of the second movable door frame;

and one end of the second flexible transmission part is fixedly connected to the picking and placing assembly, and the other end of the second flexible transmission part bypasses the second pulley block and is fixedly connected to the first movable door frame.

In one embodiment of the present disclosure, the movable mast is configured to be disposed on the fixed mast by a motion assembly; the output end of the driving device is in transmission connection with a moving assembly arranged between the fixed door frame and the movable door frame, and the moving assembly is configured to be controlled by the driving device to drive the movable door frame to move along the fixed door frame in the height direction.

In one embodiment of the present disclosure, the motion assembly is one of a chain drive, a gear drive, a roller screw drive.

The movable door frame drives the movable door frame to synchronously move relative to the movable door frame through the driving device and the fixed door frame, namely, the movable door frame can drive the taking and placing assembly to synchronously ascend or descend as a single power source by arranging the single driving device, so that the task of taking and placing the container can be carried out by rapidly reaching the position to be taken and placed by using the movable door frame and the taking and placing assembly to synchronously ascend or descend, and compared with the prior art, the movable door frame and the taking and placing assembly are respectively driven by a plurality of power sources to independently ascend and descend, the movable door frame and the taking and placing assembly are simple in structure and low in manufacturing cost.

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

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this 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 in the first embodiment;

FIG. 2 is an enlarged view of a portion of FIG. 1;

fig. 3 is a schematic structural view of a driving device of the present disclosure in the first embodiment;

FIG. 4 is a schematic view of the motion assembly and stationary gantry assembly of FIG. 3;

FIG. 5 is a schematic illustration of the structure of the mast assembly and transmission assembly of the present disclosure in a second embodiment;

fig. 6 is a partial enlarged view of fig. 5.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 6 is as follows:

1. a chassis assembly;

21. fixing a portal frame; 211. a first upright; 212. a first cross beam; 22. a movable door frame; 221. a second upright; 222. a second cross beam; 23. a first movable door frame; 24. a second movable door frame;

3. a pick-and-place assembly; 31. a lifting platform; 32. a picking and placing mechanism;

41. a flexible transmission part; 42. a fixed pulley; 43. a first flexible transmission portion; 44. a second flexible transmission portion;

51. a driving device; 52. a transmission belt; 53. a transmission rod; 54. a gear; 55. a chain; 56. and a fixed block.

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, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is 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 one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a transfer robot including a chassis assembly, a gantry assembly, a pick-and-place assembly, and a drive device. The chassis assembly can support the transfer robot on the working surface and drive the transfer robot to walk to the corresponding position, for example, the chassis assembly can be provided with driving wheels and/or universal wheels matched with the driving wheels, and the driving wheels and the universal wheels are matched to drive the transfer robot to integrally walk and steer on the working surface so as to facilitate subsequent picking and placing actions.

Containers are primarily containers used in the logistics field to load goods, including but not limited to bins, trays, packing boxes, and the like.

The door frame assembly comprises a fixed door frame and a movable door frame, the fixed door frame is arranged on the chassis assembly, the movable door frame is movably arranged on the fixed door frame, the movable door frame can be matched with the fixed door frame in a guiding manner, and for example, the movable door frame can move in the height direction along the extending direction of the fixed door frame. The movable door frame moves along the fixed door frame in the height direction, so that the taking and placing height of the taking and placing component can be flexibly adjusted, for example, when a transfer robot takes and places a low-level stored container, the movable door frame descends by a corresponding height, and the taking and placing component can take and place the low-level stored container; the transfer robot gets to put the container of high-order storage, and the activity portal rises corresponding height, makes to get and puts the subassembly and can get to put the container of high-order storage, from this the adaptation is different gets and puts the height.

The picking and placing assembly is arranged on the movable door frame through a transmission mechanism, the transmission mechanism is configured to drive the picking and placing assembly to synchronously move in the height direction relative to the movable door frame when the movable door frame moves along the fixed door frame, and the movable door frame can drive the picking and placing assembly to synchronously move through the transmission mechanism along the movement of the fixed door frame.

The driving device is configured to drive the movable door frame to move along the fixed door frame in the height direction, and can be arranged on a chassis assembly of the transfer robot and drive the movable door frame to move relative to the fixed door frame through the output end. In the process of driving the movable door frame to move by the driving device, the movable door frame can drive the picking and placing assembly to synchronously move in the height direction through the transmission mechanism, so that the power sources of the picking and placing assembly and the movable door frame are the same.

Based on the above, the gantry assembly and the picking and placing assembly can realize synchronous movement through the same power source, for example, the picking and placing assembly needs to pick and place a container stored in a high position, and in the process that the driving device drives the movable gantry to ascend along the fixed gantry, the displacement generated by the movable gantry drives the picking and placing assembly to ascend to the corresponding high position of the container through the transmission mechanism so as to finish picking and placing the container stored in the high position; when the picking and placing component needs to pick and place the container stored in the low position, the driving device drives the movable portal to descend along the fixed portal, and the movable portal drives the picking and placing component to descend to the corresponding low position of the container through the transmission mechanism so as to finish picking and placing the container stored in the low position.

Therefore, when the transfer robot disclosed by the utility model drives the movable door frame to lift relative to the fixed door frame through the driving device, the transmission mechanism synchronously transmits the movement of the movable door frame to the picking and placing assembly, so that the picking and placing assembly synchronously moves along with the movable door frame relative to the fixed door frame. Therefore, the transfer robot of this disclosure can make the movable portal, get and put the subassembly and move to the carrier for fixed portal simultaneously and get and put the container as single power supply through drive arrangement, compare in prior art a plurality of power supplies respectively drive movable portal, get and put the subassembly and go up and down for fixed portal, the transfer robot of this disclosure has simple structure, low in manufacturing cost, advantage that conveying efficiency is high.

For ease of understanding, the present disclosure will be described in detail in connection with fig. 1-6, as well as specific embodiments.

Example 1

Referring to fig. 1, in one embodiment of the present disclosure, a transfer robot includes a chassis assembly 1, a mast assembly, and a pick-and-place assembly 3.

The chassis assembly 1 can support the transfer robot on the working surface and drive the transfer robot to walk to a corresponding position, for example, a driving wheel and/or a universal wheel matched with the driving wheel can be arranged on the chassis assembly, the driving wheel and the universal wheel can jointly support the transfer robot on the working surface, and the driving wheel and the universal wheel can be matched to drive the transfer robot to integrally walk and steer on the working surface, so that the follow-up picking and placing actions are convenient.

The mast assembly comprises a stationary mast 21 and a movable mast 22, the stationary mast 21 being arranged on the chassis assembly 1, for example the bottom of the stationary mast 21 being connected to the chassis assembly 1 and extending in the height direction. The movable door frame 22 is movably arranged on the fixed door frame 21, the movable door frame 22 can be constructed to be in a structure matched with the fixed door frame 21, the movable door frame 22 can be arranged on the inner side of the fixed door frame 21, the fixed door frame 21 can guide the movement of the movable door frame 22, and the driving device 51 is constructed to drive the movable door frame 22 to move along the fixed door frame 21 in the height direction.

Referring to fig. 2 and 3, in this embodiment, the fixed gantry 21 includes two parallel first upright posts 211 disposed at intervals, and a first cross beam 212 with two ends respectively connected to the first upright posts 211. Similarly, the movable mast 22 may include two parallel second columns 221 disposed at intervals, and a second beam 222 with two ends respectively connected to the tops of the two second columns 221.

The movable door frame 22 is in guiding fit on the fixed door frame 21 through a guiding mechanism, for example, the guiding mechanism is a linear guide rail, a track of the linear guide rail is arranged on a first upright post 211 of the fixed door frame 21, and a sliding block of the linear guide rail is arranged on a second upright post 221 of the movable door frame 22.

In contrast, the two second uprights 222 of the movable mast 22 may be located between the two second uprights 211 of the fixed mast 21, or the two second uprights 222 of the movable mast 22 may be located outside the two second uprights 211 of the fixed mast 21, or one second upright 222 of the movable mast 22 may be located between the two second uprights 211 of the fixed mast 21, while the other second upright 222 is located outside the two second uprights 211 of the fixed mast 21, or the two second uprights 222 of the movable mast 22 may be parallel to the two second uprights 211 of the fixed mast 21. The specific structure of the two portals is not limited as long as the movable portal is lifted and lowered relative to the fixed portal by the driving device 51.

In detail, referring to fig. 3 and 5, in one embodiment of the present disclosure, the driving device 51 is configured to move the movable mast 22 in the height direction along the fixed mast 21. Specifically, the movable door frame 22 is disposed on the fixed door frame 21 through a movement assembly, the movement assembly is in transmission connection with an output end of the driving device 51, and the movement assembly is configured to be controlled by the driving device 51 to drive the movable door frame 22 to move along the fixed door frame 21 in the height direction. Referring to fig. 5 and 6, in one embodiment of the present disclosure, the motion assembly is one of chain transmission, gear transmission and roller screw transmission, and the motion assembly includes a driving belt 52, a driving rod 53, gears 54 disposed at two ends of the driving rod, and a chain 55 matched with the gears, an output end of the driving device 51 is connected with the driving rod 53 through the driving belt 52, the driving device 51 drives the driving rod 53 to synchronously rotate through the driving belt 52, and the gears 54 at two sides of the driving rod 53 are matched with a driven gear of the tensioning chain to drive the chain 55 to move in the rotating process.

One side of the chain 55 is fixedly connected with a fixed block 56, the fixed block 56 is fixedly connected to the movable door frame 22, and the chain 55 can drive the movable door frame 22 to move relative to the fixed door frame through the fixed block 56. For example, when the chain on the side where the fixed block 56 is provided moves upward, the movable door 22 moves upward synchronously, or when the chain on the side where the fixed block 56 is provided moves downward, the movable door 22 moves downward synchronously, thereby achieving the purpose that the driving device 51 controls the movable door 22 to move relative to the fixed door 21.

The picking and placing assembly 3 is arranged on the movable door frame 22 through a transmission mechanism, and the transmission mechanism is configured to drive the picking and placing assembly 3 to synchronously move in the height direction relative to the movable door frame 22 when the movable door frame 22 moves along the fixed door frame 21. In the process that the driving device 51 drives the movable door frame 22 to move, the movable door frame 21 drives the picking and placing assembly 3 to synchronously move relative to the movable door frame 22 through the transmission mechanism.

In detail, the picking and placing component 3 is configured to be in guiding fit with the movable door frame 22, the picking and placing component 3 can move up and down along the extending direction of the movable door frame 22, the picking and placing component 3 can include a lifting platform 31 and a picking and placing mechanism 32, the lifting platform 31 is configured to be mounted on the movable door frame 22 through a transmission mechanism, the picking and placing mechanism 32 is mounted on the lifting platform 31, and the lifting platform 31 is configured to drive the picking and placing mechanism 32 to move along the extending direction of the movable door frame 22 under the drive of the transmission mechanism. It should be noted that the pick-and-place mechanism 32 may be configured to transfer the container in the storage position by clamping, pushing and pulling, sucking, etc., and is not limited herein.

With continued reference to fig. 2, the transmission mechanism includes a pulley block and flexible transmission 41, the pulley block being connected to the top of the movable gantry 22, the pulley block may be composed of a sprocket, a synchronous pulley or a steel wheel mounted on the top of the movable gantry 22, or the like, as is common in the art. One end of the flexible transmission part 41 is fixedly connected to the lifting platform 31 of the picking and placing assembly 3, and the other end of the flexible transmission part bypasses the pulley block and is fixedly connected to the fixed door frame 21, so that the fixed door frame 21, the movable door frame 22, the pulley block and the flexible transmission part 41 form a movable pulley mechanism.

The flexible drive portion 41 may be a flexible drive member of a fixed length as is common in the art, such as a chain/timing belt/wire rope. The length of the flexible transmission part 41 between the pulley block and the fixed gantry 21 and between the pulley block and the picking and placing assembly 3 can be changed according to the movement of the movable gantry 22 relative to the fixed gantry 21, with the pulley block arranged on the movable gantry 22 as the center.

Further, the lifting platform 31 of the picking and placing assembly 3 is guided and matched on the movable door frame 22 through a guiding mechanism, for example, the guiding mechanism is a linear guide rail, a track of the linear guide rail is arranged on the movable door frame 22, a sliding block of the linear guide rail is arranged on the lifting platform 31, and the picking and placing assembly 3 is suspended on the flexible transmission part 41 through the lifting platform 31 by means of dead weight.

In connection with fig. 2 and 5, a high-order carrier is provided in the storage area, and both high-order storage bits and low-order storage bits of the high-order carrier can be used for the storage container.

When the transfer robot needs to take out the container from the high-order storage position or place the container to the high-order storage position, the transmission mechanism of the transfer robot is configured to drive the picking and placing assembly 3 to ascend to the target-order storage position along the movable door frame 22 when the movable door frame 22 ascends along the fixed door frame 21, so that the picking and placing assembly executes the picking and placing task.

In detail, referring to fig. 5, the driving device 51 of the transfer robot is started, and the power of the driving device 51 is transmitted to the chain 55 via the transmission belt 52, the transmission rod 53, and the gear 54, and the chain on the side of the chain 55 where the movable gantry is fixed moves upward to drive the movable gantry to rise relative to the fixed gantry. At the same time, referring to fig. 2, the chain connected to the fixed mast 21 side on the transmission mechanism 41 is extended, and the chain connected to the lifting platform 31 side of the pick-and-place assembly 3 is correspondingly shortened, so that the pick-and-place assembly 3 is pulled to rise synchronously with the movable mast 22 relative to the fixed mast 22.

When the transfer robot needs to take out the container from the low storage position or place the container to the low storage position, the transmission mechanism of the transfer robot is configured to drive the picking and placing assembly 3 to descend to the target low storage position along the movable door frame 22 when the movable door frame 22 descends along the fixed door frame 21, so that the picking and placing assembly performs the picking and placing task.

In detail, referring to fig. 5, the driving device 51 of the transfer robot is activated, and the power of the driving device 51 is transmitted to the chain 55 via the transmission belt 52, the transmission rod 53, and the gear 54, and the chain on the side of the chain 55 to which the movable gantry is fixed moves downward, driving the movable gantry to descend relative to the fixed gantry. At the same time, the chain connected to the fixed gantry 21 side on the transmission mechanism 41 is shortened, and the chain connected to the lifting platform 31 side of the pick-and-place assembly 3 is correspondingly lengthened, so that the pick-and-place assembly 3 is pulled to synchronously descend along with the movable gantry 22 relative to the fixed gantry 21.

Obviously, when the transfer robot disclosed by the utility model drives the movable door frame to lift relative to the fixed door frame through the driving device 51, the transmission mechanism synchronously transmits the movement of the movable door frame to the picking and placing assembly, so that the picking and placing assembly synchronously moves along with the movable door frame relative to the fixed door frame. Therefore, the transfer robot disclosed by the utility model can enable the movable door frame and the picking and placing component to move to the carrier for picking and placing the container simultaneously relative to the fixed door frame through the driving device 51 as a single power source, and compared with the prior art that a plurality of power sources respectively drive the movable door frame and the picking and placing component to lift relative to the fixed door frame, the transfer robot disclosed by the utility model has the advantages of simple structure, low manufacturing cost and high transfer efficiency.

To further increase the efficiency of the transfer robot in transferring containers, the height of the pick-and-place assembly 3 of the present disclosure raised or lowered relative to the fixed gantry 21 is twice the height of the movable gantry 22 raised or lowered relative to the fixed gantry 21.

In detail, the fixed gantry 21, the movable gantry 22, the pulley block and the flexible transmission portion 41 constitute a movable pulley mechanism, that is, the pulley block is disposed on the movable gantry 22, one end portion of the flexible transmission portion 41 is fixedly connected to the fixed gantry 21, and the other end portion is fixedly connected to the lifting platform 31 of the picking and placing assembly 3 by bypassing the pulley block.

With this structure, when the driving device 51 drives the movable mast 22 to rise or fall by the first height with respect to the fixed mast 21, the height of the pick-and-place assembly 3 to rise or fall by the first height is twice as high as that of the fixed mast 21. That is, the present embodiment achieves the purpose that the height of the lifting or lowering of the pick-and-place assembly 3 relative to the fixed gantry 21 is twice that of the lifting or lowering of the movable gantry 22 relative to the fixed gantry 21 by means of the above-mentioned movable pulley mechanism, so that the speed of the container handling by the handling robot is increased.

Of course, the height of the pick-and-place assembly 3 raised or lowered relative to the fixed gantry 21 of the present disclosure is equal to or forms other proportional relationship between the height of the movable gantry 22 raised or lowered relative to the fixed gantry 21, and is not limited herein.

Further, in this embodiment, the pulley block includes at least one fixed pulley 42 rotatably connected to the top of the movable gantry 22, one end of the flexible transmission portion 41 is fixedly connected to the picking and placing assembly 3, and the other end bypasses the fixed pulley 42 and is fixedly connected to the fixed gantry 21;

the moving height of the movable door frame 22 relative to the fixed door frame 21 is half of the moving height of the picking and placing assembly 3 relative to the movable door frame 22.

It should be noted that, in this embodiment, only one fixed pulley is used to realize the linkage relationship between the picking and placing assembly and the movable door frame relative to the fixed door frame under the action of the driving device 51, and the structure is simple. Of course, the number of fixed pulleys in the pulley block may be two or more, and the specific arrangement of these fixed pulleys may be arranged by a person skilled in the art based on the actual structure, which is not illustrated here.

In addition, the pulley block may further include a movable pulley cooperating with the fixed pulley 42, one end of the flexible transmission portion 41 is fixedly connected to the picking and placing assembly 3, and the other end of the flexible transmission portion bypasses the fixed pulley 42 and the movable pulley and is fixedly connected to the fixed gantry 21. Thus, the pulley block can reduce a part of force for driving the picking and placing assembly to move, and the load of the driving device 51 is reduced.

Example two

Compared with the first embodiment, the second embodiment is mainly different in the specific structures of the movable door frame and the transmission mechanism and the connection modes of the movable door frame and the transmission mechanism and the fixed door frame and the picking and placing assembly, and in order to keep the text concise, the difference points are described in detail below with reference to fig. 3 and 4, and the same parts as those of the first embodiment are not described in the unfolding.

Referring to fig. 3, in one embodiment of the present disclosure, the movable mast 22 includes at least a first movable mast 23, a second movable mast 24, the first movable mast 23 being configured to be disposed on the fixed mast 21 by a motion assembly, the second movable mast 24 being configured to be coupled to the first movable mast 23 by a first transmission mechanism, and the pick-and-place assembly 3 being configured to be coupled to the second movable mast 24 by a second transmission mechanism.

In this embodiment, the first transmission mechanism and the second transmission mechanism are the same as those described above, and the specific structure thereof will not be described here.

The movable door frame 22 of this embodiment is composed of a first movable door frame 23 and a second interactive door frame 24, the driving device 51 can drive the first movable door frame 23 to rise or fall by the moving component, and the first movable door frame 23 drives the second movable door frame 24 to synchronously move through the first transmission mechanism in the process that the first movable door frame 23 moves along the fixed door frame 21 in the height direction. That is, the first transmission mechanism transmits the force of the movement of the first movable mast 23 to the second movable mast 24, so that the second movable mast 24 moves in synchronization with the first movable mast 23, and the height of the second movable mast 24 raised or lowered with respect to the fixed mast 21 is twice the height of the first movable mast 23 raised or lowered.

Similarly, during the movement of the second movable door frame 24, the second transmission mechanism drives the picking and placing assembly 3 to synchronously move in the height direction relative to the second movable door frame 24. That is, the second transmission mechanism may transmit the lifting or lowering force of the second movable door frame 24 to the picking and placing assembly 3, so that the picking and placing assembly 3 may be lifted or lowered synchronously with the second movable door frame 24, and the lifting or lowering height of the picking and placing assembly 3 relative to the first movable door frame 23 is twice that of the second movable door frame 24. In detail, the first transmission mechanism includes a first pulley block and a first flexible transmission portion 43, the first pulley block is rotatably connected to the top of the first movable gantry, one end of the first flexible transmission portion 43 is fixedly connected to the second movable gantry 24, and the other end bypasses the first pulley block and is fixedly connected to the fixed gantry 21.

The second transmission mechanism comprises a second pulley block and a second flexible transmission part 44, the second pulley block is rotatably connected to the top of the second movable door frame 24, one end of the second flexible transmission part 44 is fixedly connected to the picking and placing assembly 3, and the other end of the second flexible transmission part bypasses the second pulley block and is fixedly connected to the first movable door frame 23.

The fixed gantry 21, the first movable gantry 23, the first pulley block, and the first flexible transmission portion 43 in this embodiment constitute one movable pulley mechanism. Similarly, the first movable door frame 23, the second movable door frame 22, the second pulley block and the second flexible transmission portion 41 constitute a movable pulley mechanism.

It is thereby achieved that when the drive means 51 drives the first movable mast 23 to rise or fall via the movement assembly, the first movable mast 23 transmits a force to the second movable mast 24 via the first transmission mechanism, so that the second movable mast 24 moves synchronously with the first movable mast 23, and further, the second movable mast 24 transmits a force to the picking and placing assembly 3 via the second transmission mechanism, so that the picking and placing assembly 3 moves synchronously with the second movable mast 24. It is realized that the driving device 51 can drive the first movable door frame 23, the second movable door frame 24 and the picking and placing assembly 3 to synchronously ascend or descend as a single power source.

The first pulley block and the second pulley block are identical in structure and movement manner to the pulley blocks above, and the first flexible transmission portion 43 and the second flexible transmission portion 44 are identical in structure and movement manner to the flexible transmission portions above, and are not described in detail herein.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements 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 (12)

1. A transfer robot, comprising:

a chassis assembly (1);

the door frame assembly comprises a fixed door frame (21) and a movable door frame (22), the fixed door frame (21) is arranged on the chassis assembly (1), and the movable door frame (22) is movably arranged on the fixed door frame (21);

the picking and placing assembly (3) is arranged on the movable door frame (22) through a transmission mechanism;

the driving device (51) is configured to drive the movable door frame (22) to move along the fixed door frame (21) in the height direction, and the movable door frame (22) drives the taking and placing assembly (3) to synchronously move relative to the movable door frame (22) in the height direction through the transmission mechanism in the moving process.

2. The transfer robot according to claim 1, characterized in that the transmission mechanism is configured to drive the pick-and-place assembly (3) to rise along the movable mast (22) when the movable mast (22) rises along the fixed mast (21); the transmission mechanism is configured to drive the picking and placing assembly (3) to descend along the movable door frame (22) when the movable door frame (22) descends along the fixed door frame (21).

3. Transfer robot according to claim 2, characterized in that the height of the pick-and-place assembly (3) raised or lowered relative to the fixed mast (21) is twice the height of the movable mast (22) raised or lowered relative to the fixed mast (21).

4. A transfer robot according to claim 3, characterized in that the transmission comprises:

the pulley block is connected to the top of the movable door frame (22);

and one end of the flexible transmission part (41) is fixedly connected to the picking and placing assembly (3), and the other end of the flexible transmission part (41) bypasses the pulley block and is fixedly connected to the fixed portal frame (21).

5. The transfer robot according to claim 4, characterized in that the pick-and-place assembly (3) is configured to be in guiding engagement with the movable gantry (22), the pick-and-place assembly (3) being configured to hang under its own weight on the flexible transmission (41).

6. The transfer robot according to claim 4, wherein the pulley block at least comprises a fixed pulley (42) rotatably connected to the top of the movable gantry (22), one end of the flexible transmission part (41) is fixedly connected to the pick-and-place assembly (3), and the other end bypasses the fixed pulley (42) and is fixedly connected to the fixed gantry (21); the moving height of the movable door frame (22) relative to the fixed door frame (21) is half of the moving height of the picking and placing assembly (3) relative to the movable door frame (22).

7. The transfer robot according to claim 6, wherein the pulley block further comprises a movable pulley matched with the fixed pulley (42), one end of the flexible transmission part (41) is fixedly connected to the picking and placing assembly (3), and the other end of the flexible transmission part bypasses the fixed pulley (42) and the movable pulley and is fixedly connected to the fixed gantry (21).

8. The transfer robot according to claim 1, characterized in that the movable gantry (22) comprises at least a first movable gantry (23), a second movable gantry (24); the second movable door frame (24) is connected to the first movable door frame (23) through a first transmission mechanism; the picking and placing assembly (3) is connected to the second movable door frame (24) through a second transmission mechanism;

in the process of moving the first movable door frame (23) in the height direction along the fixed door frame (21), the first transmission mechanism drives the second movable door frame (24) to synchronously move in the height direction relative to the first movable door frame (23), and the second movable door frame (24) drives the picking and placing assembly (3) to synchronously move in the height direction relative to the second movable door frame (24) in the moving process through the second transmission mechanism.

9. The transfer robot of claim 8, wherein the first transmission mechanism comprises:

the first pulley block is rotationally connected to the top of the first movable door frame (23);

and one end of the first flexible transmission part (43) is fixedly connected to the second movable door frame (24), and the other end of the first flexible transmission part (43) bypasses the first pulley block and is fixedly connected to the fixed door frame (21).

10. The transfer robot of claim 9, wherein the second transmission mechanism comprises:

the second pulley block is rotatably connected to the top of the second movable door frame (24);

and one end of the second flexible transmission part (44) is fixedly connected to the picking and placing assembly (3), and the other end of the second flexible transmission part (44) bypasses the second pulley block and is fixedly connected to the first movable portal (23).

11. The transfer robot according to claim 1, characterized in that the movable gantry (22) is configured to be arranged on the stationary gantry (21) by means of a moving assembly; the output end of the driving device (51) is in transmission connection with a moving assembly arranged between the fixed door frame (21) and the movable door frame (22), and the moving assembly is configured to be controlled by the driving device (51) to drive the movable door frame (22) to move along the fixed door frame (21) in the height direction.

12. The transfer robot of claim 11, wherein the motion assembly is one of a chain drive, a gear drive, a roller screw drive.

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