CN219651948U - Transfer robot and portal assembly - Google Patents

Abstract

The present disclosure relates to a transfer robot and a gantry assembly, the transfer robot comprising a chassis assembly, a gantry assembly, a pick-and-place assembly and a transmission assembly; the gantry assembly comprises a fixed gantry arranged on the chassis assembly and a movable gantry movably arranged on the fixed gantry at least at one stage, and the movable gantry is configured to move along the fixed gantry in the height direction; the fixed door frame is provided with a sliding part which moves along the fixed door frame in the height direction; the picking and placing assembly is movably arranged on the movable door frame and is configured to move along the movable door frame in the height direction; the sliding part is configured to be controlled by the driving component in the process of moving along the fixed door frame, the movable door frame is driven to move along the fixed door frame through the transmission component, and the picking and placing component is driven to move along the movable door frame through the transmission component. The transfer robot effectively expands the moving range of the picking and placing assembly, can be suitable for shelves with more different heights, and reduces shaking generated in the moving process.

Description

Transfer robot and portal assembly

Technical Field

The present disclosure relates to the field of warehouse logistics technology, in particular, the present disclosure relates to a transfer robot; the present disclosure also relates to a mast assembly.

Background

At present, in a warehouse system, a plurality of shelves 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 shelf where the corresponding container is located 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 storage rack 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 improved by arranging the high-level storage rack, and correspondingly, the high-level transfer robot is also required to be arranged, but the high-level transfer robot in the prior art is complex in structure and higher in cost.

Disclosure of Invention

The utility model provides a transfer robot and portal subassembly in order to solve the problem that exists among the prior art.

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

a chassis assembly;

a mast assembly including a fixed mast provided on the chassis assembly, and a movable mast movably provided at least one stage on the fixed mast, the movable mast being configured to move in a height direction along the fixed mast; the fixed door frame is provided with a sliding part which moves along the fixed door frame in the height direction;

the portal frame assembly further comprises a picking and placing assembly and a transmission assembly, wherein the picking and placing assembly is movably arranged on the movable portal frame and is configured to move along the movable portal frame in the height direction; the sliding part is configured to be controlled by the driving assembly in the process of moving along the fixed door frame, the movable door frame is driven to move along the fixed door frame through the transmission assembly, and the picking and placing assembly is driven to move along the movable door frame through the transmission assembly.

In one embodiment of the present disclosure, the mast assembly is provided with a first position and a second position in a height direction, and the second position is higher than the first position; the sliding part is configured to drive the picking and placing assembly to rise to a preset position along the movable door frame in the process of moving between the first position and the second position along the fixed door frame, and then drive the movable door frame to rise to the preset position along the fixed door frame.

In one embodiment of the present disclosure, the sliding portion is configured to move between the first position and the second position along the fixed mast, and the transmission assembly is configured to drive the movable mast to descend to a predetermined position along the fixed mast, and then drive the pick-and-place assembly to descend to a predetermined position along the movable mast.

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

the first rotating piece and the second rotating piece are respectively connected to the upper end and the lower end of the movable door frame in a rotating way;

and one end of the flexible transmission part is fixed on the picking and placing assembly, and the other end of the flexible transmission part is fixed with the fixed door frame after bypassing the first rotating part, the second rotating part and the sliding part in sequence.

In one embodiment of the disclosure, the initial position of the sliding portion is located at the lower end of the fixed door frame, and is configured to drive the picking and placing assembly and the movable door frame to ascend in sequence in the process of moving upwards along the fixed door frame.

In one embodiment of the present disclosure, the other end of the flexible drive section is configured to be directly connected to the lower end of the stationary gantry;

or alternatively, the method can be used for processing,

the lower extreme of fixed portal is provided with the third and rotates the piece, the other end of flexible drive portion is constructed and is passed through in proper order first rotation piece, second rotation piece, sliding part, third rotate the piece back upwards extend to be connected the upper end of fixed portal.

In one embodiment of the disclosure, the initial position of the sliding portion is located at the upper end of the fixed door frame, and is configured to drive the picking and placing assembly and the movable door frame to ascend sequentially in the process of moving downwards along the fixed door frame.

In one embodiment of the disclosure, a fourth rotating member is disposed at the upper end of the fixed gantry, and the other end of the flexible transmission portion is configured to bypass the first rotating member, the second rotating member, the fourth rotating member, and the sliding portion in sequence and then be connected to the upper end of the fixed gantry;

or alternatively, the method can be used for processing,

the upper end of the fixed portal is provided with a fourth rotating piece and a fifth rotating piece, and the other end of the flexible transmission part is configured to bypass the first rotating piece, the second rotating piece, the fourth rotating piece, the sliding part and the fifth rotating piece in sequence and then extend downwards to be connected with the lower end of the fixed portal.

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 slide raised or lowered relative to the fixed mast.

In one embodiment of the present disclosure, the movable door frame is slidably disposed inside the fixed door frame, and the pick-and-place assembly is slidably disposed inside the movable door frame.

In one embodiment of the present disclosure, the upper end of the movable gantry is provided with a first fixing portion, the lower end is provided with a second fixing portion, the first fixing portion and the second fixing portion are configured to extend to the outer side of the fixed gantry, and the first rotating member is rotatably connected to the first fixing portion, and the second rotating member is rotatably connected to the second fixing portion.

In one embodiment of the present disclosure, the sliding portion includes a sliding seat, and a sliding rotator rotatably coupled to the sliding seat and located outside the fixed gantry, and the flexible transmission portion is configured to be coupled with the sliding rotator.

In one embodiment of the present disclosure, two transmission assemblies are provided, and the two transmission assemblies are respectively disposed at opposite sides of the fixed gantry.

In one embodiment of the present disclosure, the driving assembly further includes a transmission mechanism, and the driving assembly is configured to drive the sliding part to move in a height direction along the fixed gantry through the transmission mechanism.

According to a second aspect of the present disclosure, there is provided a mast assembly comprising a fixed mast, and at least one stage of a movable mast movably disposed on the fixed mast, the movable mast being configured to move in a height direction along the fixed mast; the fixed door frame is provided with a sliding part which moves along the fixed door frame in the height direction;

the portal frame assembly further comprises a picking and placing assembly and a transmission assembly, wherein the picking and placing assembly is movably arranged on the movable portal frame and is configured to move along the movable portal frame in the height direction; the sliding part is configured to be controlled by the driving assembly in the process of moving along the fixed door frame, the movable door frame is driven to move along the fixed door frame through the transmission assembly, and the picking and placing assembly is driven to move along the movable door frame through the transmission assembly.

In the carrying robot disclosed by the disclosure, the sliding part can be driven by one driving component to move along the fixed door frame, then the movable door frame is driven by the transmission component to move along the fixed door frame, and the picking and placing component is driven by the transmission component to move along the movable door frame until the picking and placing component reaches the corresponding position of the target object. Compared with the traditional robot with a plurality of driving components, the robot can save cost, and in addition, the movable door frame and the picking and placing components can move through the up-and-down movement of the sliding part, so that the structure is simple, and the reliability of the movement is improved.

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 perspective view of a mast assembly provided by an embodiment of the present disclosure;

FIG. 2 is yet another perspective view of a mast assembly provided by an embodiment of the present disclosure;

FIG. 3 is a schematic structural view of yet another mast assembly provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of yet another mast assembly provided by an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of yet another mast assembly provided by an embodiment of the present disclosure;

the correspondence between the component names and the reference numerals in fig. 1 to 5 is as follows:

1. fixing a portal frame; 2. a movable door frame; 21. a first fixing portion; 22. a second fixing portion; 3. a pick-and-place assembly; 41. a first rotating member; 42. a second rotating member; 43. a flexible transmission part; 44. a third rotating member; 45. a fourth rotating member; 46. a fifth rotating member; 5. a sliding part; 51. a sliding seat; 52. a sliding rotary member; 61. an upper rotating wheel; 62. a lower rotating wheel; 63. rotating the belt; 64. a drive shaft; 65. a driving motor; 66. and driving the belt.

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 where appropriate, the techniques, methods, and apparatus should be considered part of the specification.

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 at least a chassis assembly, a gantry assembly, and a pick-and-place assembly. The chassis assembly is used for supporting the portal assembly, and the picking and placing assembly and the transmission assembly are positioned on the portal assembly; the mast assembly includes a fixed mast disposed on the chassis assembly, and a movable mast movably disposed at least one stage on the fixed mast, the movable mast being configured to move in a height direction along the fixed mast. Specifically, the fixed gantry extends in the height direction; when the movable door frame comprises two stages or more, the first stage movable door frame can be matched with the fixed door frame in a guiding way, and the next stage movable door frame can be matched with the previous stage movable door frame in a guiding way.

The pick-and-place assembly is movably disposed on the movable mast and is configured to move in a height direction along the movable mast. Specifically, when the movable door frame comprises two stages or more, the picking and placing component is movably arranged on the movable door frame at the last stage. The fixed door frame is provided with a sliding part which moves along the fixed door frame in the height direction; the sliding part is configured to be controlled by the driving component in the process of moving along the fixed door frame, the movable door frame is driven to move along the fixed door frame through the transmission component, and the picking and placing component is driven to move along the movable door frame through the transmission component.

The transfer robot of this disclosure can utilize drive assembly drive sliding part along fixed portal motion at the in-process of work, then drives movable portal along fixed portal motion through drive assembly to and drive through drive assembly and get and put the subassembly and follow movable portal motion, get to put the subassembly and reach the corresponding position of target object. Like this, get and put the motion scope of subassembly for fixed portal and be equal to get the motion scope of putting the subassembly for the movable portal, with the movable portal for the sum of the motion scope of fixed portal to effectively enlarged get the movable range of putting the subassembly, and then with the goods shelves that make transfer robot can adapt to more different altitudes.

The transfer robot can drive the movable door frame and the picking and placing assembly to ascend or descend through one driving assembly, compared with the traditional arrangement of a plurality of driving assemblies, the transfer robot can save the number of the driving assemblies, and the transmission structure is simpler and more reliable.

In the moving process of the transfer robot, the movable door frame and the picking and placing assembly can be respectively retracted to the lowest point, so that the gravity center of the transfer robot is effectively reduced, and shaking of the transfer robot in the moving process is effectively reduced.

For ease of understanding, the specific structure of the transfer robot of the present disclosure and its operation principle will be described in detail with reference to fig. 1 to 5 in conjunction with one embodiment.

The transfer robot of the present disclosure comprises a chassis assembly (not shown) for supporting the mast assembly, and a pick-and-place assembly 3 and a drive assembly on the mast assembly. Specifically, the chassis assembly not only can support the transfer robot on the working surface, but also can drive the transfer robot to walk to the corresponding position, for example, the chassis assembly can be provided with a driving wheel and/or a universal wheel matched with the driving wheel together, 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 with each other to drive the transfer robot to integrally walk and steer on the working surface so as to facilitate subsequent picking and placing actions.

As shown in fig. 1, the mast assembly includes a fixed mast 1 provided on the chassis assembly, and a movable mast 2 movably provided at least one stage on the fixed mast 1, the movable mast 2 being configured to move in a height direction along the fixed mast 1. In particular, the fixed mast 1 is configured to extend in the height direction. Moreover, the mobile portal 2 comprises at least one stage; wherein, as shown in fig. 1, in one embodiment of the present disclosure, when the movable mast 2 includes only one stage, the movable mast 2 is movably coupled with the fixed mast 1, and in particular, the movable mast 2 may be guide-coupled with the fixed mast 1 such that the movable mast 2 may move in a height direction of the fixed mast 1.

In another embodiment of the present disclosure, when the movable mast 2 includes two or more stages, the first stage movable mast 2 may be guide-fitted with the fixed mast 1, and the next stage movable mast 2 may be fitted with the previous stage movable mast 2, so that the multi-stage movable mast 2 may be sequentially unfolded, which is not described in detail herein.

The mast assembly further comprises a pick-and-place assembly 3 and a transmission assembly, the pick-and-place assembly 3 being movably arranged on the movable mast 2 and being configured to move in the height direction along the movable mast 2. Specifically, as shown in fig. 1, in one embodiment of the present disclosure, the picking and placing assembly 3 may include a lifting platform that is in guiding fit with the movable door frame 2, and a picking and placing mechanism disposed on the lifting platform, where the picking and placing mechanism may move in a height direction of the movable door frame 2 through the lifting platform, so as to achieve the purpose of adjusting a height of the picking and placing mechanism. For example, when the picking and placing mechanism moves to a preset height, the picking and placing mechanism can extend outwards so as to finish picking and placing operation on the target object. The picking and placing mechanism may be used to pick, pull, hook, clamp, or other structures known to those skilled in the art, for example, to pick and place the object, and this disclosure is not described in detail herein. The object may be a container for loading goods in the field of logistics, including but not limited to a bin, tray, primordial box, packing box, container, storage box, etc., the disclosure is not limited herein.

As shown in fig. 1, in one embodiment of the present disclosure, the pick-and-place assembly 3 is movably disposed on the movable mast 2 when the movable mast 2 includes only one stage. In yet another embodiment of the present disclosure, when the movable mast 2 includes two or more stages, the pick-and-place assembly 3 is movably disposed on the last stage of the movable mast 2.

Specifically, the movable door frame 2 is guided and arranged on the fixed door frame 1, and the fetching and placing assembly 3 is guided and arranged on the movable door frame 2 in various manners. As shown in fig. 1, in one embodiment of the present disclosure, a chute extending in the height direction may be formed on one of the two, and a roller adapted to the chute may be disposed on the other one of the two, so that guiding engagement between the two may be achieved by the adapted roller and chute.

As shown in fig. 1, in one embodiment of the present disclosure, the movable door frame 2 is slidably disposed inside the fixed door frame 1, and the pick-and-place assembly 3 is slidably disposed inside the movable door frame 2. Like this, when making each level movable door frame 2 be located the minimum on the fixed door frame 1, each level movable door frame 2 and fixed door frame 1 between can all overlap each other to effectively practice thrift the space on the door frame subassembly, also make things convenient for the setting of aforementioned spout and gyro wheel moreover, thereby make overall structure simpler and more convenient.

As shown in fig. 1 and 2, a sliding portion 5 that moves in the height direction along the fixed mast 1 is provided on the fixed mast 1; the sliding part 5 is configured to be controlled by the driving assembly to move along the fixed door frame 1, the driving assembly drives the movable door frame 2 to move along the fixed door frame 1, and the driving assembly drives the picking and placing assembly 3 to move along the movable door frame 2.

Thus, in the carrying process of the carrying robot disclosed by the disclosure, the driving assembly can be utilized to drive the sliding part 5 to move along the fixed door frame 1, then the driving assembly drives the movable door frame 2 to move along the fixed door frame 1, and the driving assembly drives the picking and placing assembly 3 to move along the movable door frame 2 until the picking and placing assembly 3 reaches the corresponding position of the target object. Like this, get the motion range that puts subassembly 3 for fixed portal 1 promptly is getting the motion range that puts subassembly 3 for movable portal 2, and movable portal 2 is for the motion range sum of fixed portal 1 to effectively enlarged get the motion range of putting subassembly 3, and then so that transfer robot can adapt to the goods shelves of more different altitudes. Moreover, in the moving process of the transfer robot disclosed by the disclosure, the movable door frame 2 and the picking and placing assembly 3 can be respectively retracted to the lowest point, so that the gravity center of the transfer robot is effectively reduced, and further shaking generated in the moving process of the transfer robot is effectively reduced.

In addition, the transfer robot disclosed by the utility model can drive the movable door frame and the picking and placing assembly to ascend or descend through one driving assembly, compared with the traditional arrangement of a plurality of driving assemblies, the transfer robot not only can save the number of the driving assemblies, but also has simpler and more reliable transmission structure.

Specifically, in one embodiment of the present disclosure, a first position and a second position are disposed on the mast assembly in a height direction, and the second position is higher than the first position; the sliding part 5 is configured to drive the picking and placing assembly 3 to rise to a preset position along the movable door frame 2 and then drive the movable door frame 2 to rise to the preset position along the fixed door frame 1 in the process of moving between the first position and the second position along the fixed door frame 1.

In this way, in the working process of the transfer robot disclosed by the disclosure, when the height of the picking and placing assembly 3 needs to be lifted, the picking and placing assembly 3 can be preferentially driven to lift; when the taking and placing height of the taking and placing component 3 is lower than the height of the fixed portal 1, the movable portal 2 can be not required to ascend, and only the taking and placing component 3 is required to ascend, so that the lifting process is simpler and more convenient, the overall gravity center of the transfer robot is lower, and the stability of the transfer robot in the working process is improved.

Similarly, in one embodiment of the present disclosure, the slide 5 is configured to move along the fixed mast 1 between the first position and the second position, and the drive assembly is configured to lower the movable mast 2 along the fixed mast 1 to a predetermined position, and then lower the pick-and-place assembly 3 along the movable mast 2 to a predetermined position.

In this way, in the working process of the transfer robot disclosed by the disclosure, when the height of the picking and placing assembly 3 needs to be reduced, the movable door frame 2 can be preferentially driven to descend; the movable door frame 2 is driven to descend after being seated on the fixed door frame 1. Therefore, the whole gravity center of the transfer robot can be reduced as soon as possible in the descending process, and the stability of the transfer robot in the working process is improved.

Specifically, the specific implementation mechanism of the above movement process may be various, as shown in fig. 1 and 2, and in one embodiment of the present disclosure, the transmission assembly includes a first rotating member 41, a second rotating member 42, and a flexible transmission portion 43; wherein, the first rotating member 41 and the second rotating member 42 are respectively connected to the upper end and the lower end of the movable door frame 2 in a rotating way; one end of the flexible transmission part 43 is fixed on the picking and placing assembly 3, and the other end is fixed with the fixed door frame 1 after bypassing the first rotating member 41, the second rotating member 42 and the sliding part 5 in turn. The rotating member may be a rotatable member such as a pulley; the flexible transmission portion 43 may be a flexible transmission member commonly known in the art such as a chain/timing belt/wire rope.

In this way, during the operation of the transfer robot of the present disclosure, since the two ends of the flexible transmission part 43 are respectively fixed on the picking and placing assembly 3 and the fixed gantry, the sliding part 5 can pull the flexible transmission part 43 to move upwards or downwards synchronously during the movement, so that the picking and placing assembly 3 can move correspondingly in a dragging manner. In addition, when the flexible transmission part 43 is pulled, the picking and placing assembly 3 is pulled to ascend along the movable door frame 2 first until the picking and placing assembly 3 cannot continue to ascend along the movable door frame 2. The pick-and-place assembly 3 cannot continue to rise when it moves to its highest moving height on the movable mast 2.

When the flexible transmission part 43 is pulled continuously after the picking and placing assembly 3 cannot be lifted continuously along the movable door frame 2, the flexible transmission part 43 can be pulled to lift the movable door frame 2 through the second rotating piece 42 until the movable door frame 2 cannot be lifted continuously along the fixed door frame 1 until the movable door frame 2 moves to the highest moving height on the fixed door frame 1.

It can be seen that the present disclosure can realize that the pick-and-place assembly 3 is moved to the highest position of the pick-and-place assembly relative to the movable door frame 2 through the movement of the sliding part 5, and then the movable door frame 2 is driven to move to the highest position of the pick-and-place assembly relative to the fixed door frame 1, and the structure of the transmission assembly not only effectively expands the movement range of the pick-and-place assembly 3, but also enables the carrying robot to adapt to more shelves with different heights; and the whole transmission structure is simple and convenient, and the maintainability is good.

Further, as shown in fig. 2, in one embodiment of the present disclosure, the initial position of the sliding portion 5 is located at the lower end of the fixed gantry 1, and is configured to drive the pick-and-place assembly 3 and the movable gantry 2 to rise in sequence during the upward movement along the fixed gantry 1. In this way, the sliding part 5 can be conveniently driven to ascend so as to tighten the flexible transmission part 43, and then the picking and placing assembly 3 and the movable door frame 2 are driven to ascend in sequence until the movable door frame 2 reaches the highest moving height on the fixed door frame 1.

In one embodiment of the present disclosure, the other end of the flexible transmission portion 43 is configured to be directly connected to the lower end of the fixed mast 1. Referring to the embodiment shown in fig. 1, the second rotating member 42 is located at the lower end position of the movable mast 2, and the initial position of the sliding portion 5 is located at the lower end of the fixed mast 1. In order to enable the sliding part 5 to drive the flexible transmission part 43 to ascend in the ascending process, the connecting end of the flexible transmission part 43 and the fixed door frame 1 is arranged at the lower end position of the fixed door frame 1, the sliding part 5 is located between the connecting end and the second rotating piece 42 at the moment, which is beneficial to enabling the sliding part 5 to drive the flexible transmission part 43 to move upwards, and the picking and placing assembly 3 can ascend along with the flexible transmission part 43 because one end of the flexible transmission part 43 is fixed on the fixed door frame.

As shown in fig. 3, in yet another embodiment of the present disclosure, a third rotating member 44 is provided at the lower end of the fixed gantry 1, and the other end of the flexible transmission portion 43 is configured to extend upward to be connected to the upper end of the fixed gantry 1 after bypassing the first rotating member 41, the second rotating member 42, the sliding portion 5, and the third rotating member 44 in order. The sliding part 5 is located between the second rotating member 42 and the third rotating member 44, so that the sliding part 5 is beneficial to driving the flexible transmission part 43 to move upwards to tighten the flexible transmission part 43, and further driving the picking and placing assembly 3 and the movable door frame 2 to ascend in sequence until the movable door frame 2 reaches the highest moving height on the fixed door frame 1.

In another embodiment of the present disclosure, the initial position of the sliding portion 5 is located at the upper end of the fixed gantry 1, and is configured to drive the pick-and-place assembly 3 and the movable gantry 2 to rise in sequence during the downward movement along the fixed gantry 1. In this way, the sliding part 5 can be driven to descend so as to tighten the flexible transmission part 43, and then the picking and placing assembly 3 and the movable door frame 2 are driven to ascend in sequence.

Further, in order to drive the sliding part 5 to descend, the picking and placing assembly 3 and the movable gantry 2 are driven to ascend sequentially, as shown in fig. 4, in one embodiment of the present disclosure, a fourth rotating member 45 is disposed at an upper end of the fixed gantry 1, and the other end of the flexible transmission part 43 is configured to bypass the first rotating member 41, the second rotating member 42, the fourth rotating member 45, and the sliding part 5 sequentially and then be connected to the upper end of the fixed gantry 1. That is, the connection end of the flexible transmission part 43 and the fixed door frame 1 is located at the upper end of the fixed door frame 1, so that the sliding part 4 is located between the fourth rotating member 45 and the connection end, and thus the sliding part 5 can be directly driven to descend to tighten the flexible transmission part 43, and further drive the taking and placing assembly 3 and the movable door frame 2 to ascend in sequence until the movable door frame 2 reaches the highest moving height on the fixed door frame 1.

In another embodiment of the present disclosure, as shown in fig. 5, the other end of the flexible transmission part 43 may be fixed at the lower end of the fixed gantry 1, and a fourth rotation member 45 and a fifth rotation member 46 are provided at the upper end of the fixed gantry 1, and the other end of the flexible transmission part 43 is configured to bypass the first rotation member 41, the second rotation member 42, the fourth rotation member 45, the sliding part 5 and the fifth rotation member 46 in order and then extend downward to be connected to the lower end of the fixed gantry 1. In this way, the sliding part 5 can be directly driven to descend so as to tighten the flexible transmission part 43, and then the picking and placing assembly 3 and the movable door frame 2 are driven to ascend in sequence until the movable door frame 2 reaches the highest moving height on the fixed door frame 1.

It will be appreciated that the above specific structure may be further extended, as long as the sliding portion 5 is driven to move up or down, so as to tighten the flexible transmission portion 43, and further drive the picking and placing assembly 3 and the movable gantry 2 to rise in sequence.

As described above, in the case where the movable mast 2 is slidably disposed at the inner side of the fixed mast 1, and the pick-and-place assembly 3 is slidably disposed at the inner side of the movable mast 2, in order to facilitate arrangement of the transmission assembly, as shown in fig. 2, in one embodiment of the present disclosure, the upper end of the movable mast 2 is provided with the first fixing portion 21, the lower end is provided with the second fixing portion 22, the first fixing portion 21 and the second fixing portion 22 are configured to extend to the outer side of the fixed mast 1, and the first rotating member 41 is rotatably connected to the first fixing portion 21, and the second rotating member 42 is rotatably connected to the second fixing portion 22. In this way, the transmission components can be arranged on the outer side of the fixed door frame 1, so that the flexible transmission part 43 and the motion of each transmission part can be effectively prevented from being influenced by the taking and placing component 3 and the movable door frame 2 in the moving process. Similarly, other rotating members may be disposed outside the fixed gantry 1, and will not be described herein.

In order to reduce friction generated when the slide mount 51 pulls the flexible transmission part 43, as shown in fig. 2, in one embodiment of the present disclosure, the slide part 5 includes the slide mount 51, and a slide rotator 52 rotatably coupled to the slide mount 51 and located outside the fixed door frame 1, and the flexible transmission part 43 is configured to be engaged with the slide rotator 52. In this way, during the movement of the sliding part 5, the sliding rotation member 52 can rotate along with the movement of the flexible transmission part 43, so that the friction between the sliding rotation member and the flexible transmission part 43 can be effectively reduced, and the movement of the flexible transmission part 43 is smoother.

As described above, the flexible transmission part 43 can be pulled by the sliding part 5, and the flexible transmission part 43 drives the picking and placing assembly 3 and the movable door frame 2 to ascend, so that the ascending or descending height of the picking and placing assembly 3 relative to the fixed door frame 1 is twice as high as the ascending or descending height of the sliding part 5 relative to the fixed door frame 1. In other embodiments of the present disclosure, the height of the lifting or lowering of the pick-and-place assembly 3 relative to the fixed gantry 1 may be twice that of the sliding portion 5 relative to the fixed gantry 1. Under the condition that the lifting or descending height of the picking and placing assembly 3 relative to the fixed door frame 1 is twice as high as that of the sliding part 5 relative to the fixed door frame 1, the required stroke of the sliding part 5 can be effectively reduced, the up-and-down moving range of the sliding part 5 can be located in the fixed door frame 1, and the lifting speed of the picking and placing assembly 3 can be effectively improved.

As shown in fig. 2, in one embodiment of the present disclosure, two transmission assemblies are provided, which are respectively provided at opposite sides of the fixed gantry 1. Like this, drive assembly can follow both sides pulling and get and put subassembly 3 rise and descend to can make getting in getting the lift in-process of putting subassembly 3 and put subassembly 3 to keep the level, thereby prevent getting to put subassembly 3 to one side skew, and then avoid appearing the target object and get the circumstances of putting the landing on the subassembly 3.

In the above embodiment, by providing the rotating member on the movable gantry 2, after one end of the flexible transmission portion 43 is fixed on the picking and placing assembly 3, the other end is wound on the rotating member and fixed on the fixed gantry 1, so that the picking and placing assembly 3 and the fixed gantry 1 can move sequentially. In other embodiments of the present disclosure, after one end of the flexible transmission portion 43 is fixed on the picking and placing assembly 3, the other end bypasses the sliding portion 5 and then can be directly fixed on the fixed door frame 1, so that the sliding portion 5 can drag the picking and placing assembly 3 to move relative to the movable door frame 2 in the process of driving the flexible transmission portion 43 to move, and after the picking and placing assembly 3 moves to the upper dead center, the picking and placing assembly 3 and the movable door frame 2 are continuously driven to move upwards relative to the fixed door frame 1, and the sequential lifting of the picking and placing assembly 3 and the movable door frame 2 can be also realized. In this embodiment, in order to enable the sliding portion 5 to synchronously drive the pick-and-place assembly 3 and the movable gantry 2 to integrally rise, the height of the fixed gantry 1 needs to be set higher than that of the movable gantry, which is not described in detail herein.

In order to drive the slide 5 up and down along the fixed mast 1, in one embodiment of the present disclosure, the transfer robot of the present disclosure further comprises a transmission mechanism, and the driving assembly is configured to drive the slide 5 to move in the height direction along the fixed mast 1 by means of the transmission mechanism.

Specifically, the transmission mechanism may include an upper rotating wheel 61 rotatably provided at the lower end of the fixed gantry 1, a lower rotating wheel 62 rotatably provided at the upper end of the fixed gantry 1, a rotating belt 63 wound around the upper rotating wheel 61 and the lower rotating wheel 62, and the sliding portion 5 is fixedly provided on the rotating belt 63. Thus, the sliding portion 5 is driven to move up and down along the fixed gantry 1 by driving the rotation belt 63 to reciprocate. Specifically, two transmission mechanisms can be provided, and the two transmission mechanisms are respectively arranged at two sides of the fixed door frame 1, so that two sliding parts 5 at two sides are driven to respectively move up and down along the fixed door frame 1.

In order to drive the rotating belt 63 to rotate reciprocally, in one embodiment of the present disclosure, the driving assembly includes at least a driving shaft 64, a driving belt 66 and a driving motor 65, wherein two lower driving wheels 62 of the two driving mechanisms are respectively fixed at two ends of the driving shaft 64, a driven wheel is disposed on the driving shaft 64, a driving wheel is disposed on an output shaft of the driving motor 65, and the driving belt 66 is sleeved on the driving wheel and the driven wheel. In this way, the driving motor 65 can drive the driving shaft 64 to rotate through the driving belt 66, and then drive the rotating belt 63 to rotate reciprocally through the lower driving wheel 62, so as to drive the sliding part 5 to move up and down along the fixed door frame 1.

In other embodiments of the present disclosure, a common driving mechanism such as a piston rod mechanism, a ball screw mechanism, etc. may be used to drive the sliding portion 5 to move up and down along the fixed gantry 1, which is not limited herein.

The present disclosure further provides a gantry assembly, and the structure of the gantry assembly is as described above and will not be described herein. The portal assembly effectively enlarges the moving range of the picking and placing assembly 3, further enables the carrying robot to adapt to shelves with different heights, and further can effectively reduce the gravity center of the carrying robot, and further effectively reduces shaking generated in the moving process of the carrying robot.

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 (15)

1. A transfer robot, comprising:

a chassis assembly;

a mast assembly comprising a fixed mast (1) provided on the chassis assembly, and a movable mast (2) movably provided at least one stage on the fixed mast (1), the movable mast (2) being configured to move in a height direction along the fixed mast (1); a sliding part (5) which moves along the fixed door frame (1) in the height direction is arranged on the fixed door frame (1);

the portal frame assembly further comprises a picking and placing assembly (3) and a transmission assembly, wherein the picking and placing assembly (3) is movably arranged on the movable portal frame (2) and is configured to move in the height direction along the movable portal frame (2); the sliding part (5) is configured to be controlled by a driving assembly in the process of moving along the fixed door frame (1), the movable door frame (2) is driven by the driving assembly to move along the fixed door frame (1), and the picking and placing assembly (3) is driven by the driving assembly to move along the movable door frame (2).

2. The transfer robot of claim 1, wherein the mast assembly is provided with a first position and a second position in a height direction, and wherein the second position is higher than the first position; the sliding part (5) is configured to drive the picking and placing assembly (3) to rise to a preset position along the movable door frame (2) in the process of moving between the first position and the second position along the fixed door frame (1), and then drive the movable door frame (2) to rise to the preset position along the fixed door frame (1).

3. The transfer robot according to claim 2, characterized in that the slide (5) is configured to drive the movable mast (2) down to a predetermined position along the fixed mast (1) and then drive the pick-and-place assembly (3) down to a predetermined position along the movable mast (2) during movement of the fixed mast (1) between the first position and the second position.

4. The transfer robot of claim 1, wherein the transmission assembly comprises:

the first rotating piece (41) and the second rotating piece (42) are respectively connected to the upper end and the lower end of the movable door frame (2) in a rotating way;

and one end of the flexible transmission part (43) is fixed on the picking and placing assembly (3), and the other end of the flexible transmission part (43) is fixed with the fixed door frame (1) after bypassing the first rotating piece (41), the second rotating piece (42) and the sliding part (5) in sequence.

5. The transfer robot according to claim 4, wherein the initial position of the sliding portion (5) is located at the lower end of the fixed gantry (1), and is configured to drive the pick-and-place assembly (3) and the movable gantry (2) to rise in sequence during the upward movement along the fixed gantry (1).

6. The transfer robot according to claim 5, characterized in that the other end of the flexible transmission part (43) is configured to be directly connected to the lower end of the stationary gantry (1);

or alternatively, the method can be used for processing,

the lower end of the fixed door frame (1) is provided with a third rotating piece (44), and the other end of the flexible transmission part (43) is configured to sequentially bypass the first rotating piece (41), the second rotating piece (42), the sliding part (5) and the third rotating piece (44) and then extend upwards to be connected with the upper end of the fixed door frame (1).

7. The transfer robot according to claim 4, wherein the initial position of the sliding portion (5) is located at the upper end of the fixed gantry (1), and is configured to drive the pick-and-place assembly (3) and the movable gantry (2) to rise in sequence during the downward movement along the fixed gantry (1).

8. The transfer robot according to claim 7, wherein a fourth rotating member (45) is provided at an upper end of the fixed gantry (1), and the other end of the flexible transmission portion (43) is configured to bypass the first rotating member (41), the second rotating member (42), the fourth rotating member (45), and the sliding portion (5) in order and then be connected to the upper end of the fixed gantry (1);

or alternatively, the method can be used for processing,

a fourth rotating member (45) and a fifth rotating member (46) are arranged at the upper end of the fixed door frame (1), and the other end of the flexible transmission part (43) is configured to bypass the first rotating member (41), the second rotating member (42), the fourth rotating member (45), the sliding part (5) and the fifth rotating member (46) in sequence and then extend downwards to be connected to the lower end of the fixed door frame (1).

9. Transfer robot according to claim 1, characterized in that the height of the pick-and-place assembly (3) raised or lowered relative to the fixed mast (1) is twice the height of the slide (5) raised or lowered relative to the fixed mast (1).

10. The transfer robot according to claim 4, wherein the movable gantry (2) is slidably arranged inside the fixed gantry (1), and the pick-and-place assembly (3) is slidably arranged inside the movable gantry (2).

11. The transfer robot according to claim 10, characterized in that the upper end of the movable gantry (2) is provided with a first fixing portion (21) and the lower end is provided with a second fixing portion (22), the first fixing portion (21) and the second fixing portion (22) are configured to extend to the outside of the fixed gantry (1), and the first rotating member (41) is rotatably connected to the first fixing portion (21), and the second rotating member (42) is rotatably connected to the second fixing portion (22).

12. The transfer robot according to claim 11, characterized in that the slide (5) comprises a slide seat (51), and a slide rotator (52) rotatably connected to the slide seat (51) and located outside the stationary gantry (1), the flexible transmission (43) being configured to cooperate with the slide rotator (52).

13. Transfer robot according to claim 1, characterized in that the transmission assemblies are provided in two, two of which are arranged on opposite sides of the stationary gantry (1), respectively.

14. The transfer robot according to claim 1, further comprising a transmission mechanism, wherein the drive assembly is configured to drive the slide (5) in a height direction along the stationary gantry (1) by means of the transmission mechanism.

15. A mast assembly, characterized in that it comprises a fixed mast (1), and a movable mast (2) of at least one stage movably arranged on said fixed mast (1), said movable mast (2) being configured to move in a height direction along said fixed mast (1); a sliding part (5) which moves along the fixed door frame (1) in the height direction is arranged on the fixed door frame (1);

the portal frame assembly further comprises a picking and placing assembly (3) and a transmission assembly, wherein the picking and placing assembly (3) is movably arranged on the movable portal frame (2) and is configured to move in the height direction along the movable portal frame (2); the sliding part (5) is configured to be controlled by a driving assembly in the process of moving along the fixed door frame (1), the movable door frame (2) is driven by the driving assembly to move along the fixed door frame (1), and the picking and placing assembly (3) is driven by the driving assembly to move along the movable door frame (2).