WO2021078191A1 - 伸缩装置及搬运机器人 - Google Patents

伸缩装置及搬运机器人 Download PDF

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Publication number
WO2021078191A1
WO2021078191A1 PCT/CN2020/122781 CN2020122781W WO2021078191A1 WO 2021078191 A1 WO2021078191 A1 WO 2021078191A1 CN 2020122781 W CN2020122781 W CN 2020122781W WO 2021078191 A1 WO2021078191 A1 WO 2021078191A1
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WO
WIPO (PCT)
Prior art keywords
arm
sliding
chassis
section
telescopic device
Prior art date
Application number
PCT/CN2020/122781
Other languages
English (en)
French (fr)
Inventor
薛锐
张铖浩
方松翔
崔振宇
Original Assignee
上海快仓智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201921794310.XU external-priority patent/CN210825283U/zh
Priority claimed from CN201911014146.0A external-priority patent/CN110626991A/zh
Priority claimed from CN201921795638.3U external-priority patent/CN210973746U/zh
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to US17/755,209 priority Critical patent/US20230038475A1/en
Priority to KR1020227017235A priority patent/KR20220080196A/ko
Priority to JP2022524053A priority patent/JP7429289B2/ja
Priority to EP20879327.3A priority patent/EP4049961A4/en
Publication of WO2021078191A1 publication Critical patent/WO2021078191A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F2700/00—Lifting apparatus
    • B66F2700/09—Other lifting devices

Definitions

  • the application relates to a telescopic device and a handling robot, and relates to the technical field of storage.
  • the handling robot is provided with a handling device, and conveys goods by controlling the expansion and contraction of the push rod assembly of the handling device.
  • the moving direction of the push rod assembly is relatively single, the efficiency of transporting goods is low and it is not convenient.
  • the embodiments of the present application provide a telescopic device and a handling robot to solve or alleviate one or more technical problems in related technologies.
  • the embodiments of the present application provide a telescopic device, including: a cargo floor; a telescopic arm assembly. There are at least two telescopic arm assemblies and are arranged oppositely in the width direction of the cargo floor.
  • the telescopic arm assembly includes a fixed arm and a first sliding arm.
  • the fixed arm is installed on the cargo floor, and the first sliding arm is slidably arranged on the inner side of the fixed arm; a driving mechanism is used to drive the first sliding arm to carry goods along the fixed arm relative to the fixed arm. Slide the length of the bottom plate.
  • the driving mechanism includes two pulley assemblies corresponding to the two telescopic arm assemblies, the pulley assembly includes a wheel assembly and a timing belt, the timing belt is sleeved on the wheel assembly; the lower surface of the first sliding arm It is provided with a rack, and the outer surface of the synchronous belt is connected with the rack for transmission.
  • both the inner surface and the outer surface of the timing belt are provided with a plurality of synchronization teeth, the plurality of synchronization teeth on the inner surface of the timing belt are in cooperation with the wheel assembly, and the plurality of synchronization teeth on the outer surface of the timing belt are The tooth is matched with the rack drive.
  • the driving mechanism further includes a driving motor, and the driving motor is used to drive the driving wheels of the two wheel assemblies to operate synchronously.
  • the wheel assembly includes a driving wheel, at least one driven wheel, and a plurality of tensioning wheels.
  • the driven wheel runs under the transmission of a timing belt, and the plurality of tensioning wheels are arranged at intervals to tension the timing belt.
  • the telescopic arm assembly further includes: a second sliding arm, which is slidably fitted to the inner side of the first sliding arm; a transmission mechanism, which is used to slide the first sliding arm relative to the fixed arm During the process, the second sliding arm is driven to slide relative to the first sliding arm, and the sliding direction of the second sliding arm relative to the first sliding arm is the same as the sliding direction of the first sliding arm relative to the fixed arm.
  • the transmission mechanism includes at least one set of pulleys and a strop.
  • the slidable rope is slidably engaged with the pulley, the pulley is rotatably arranged on the first sliding arm, and the two ends of the strop are located on the same side of the pulley, and the strop One end of the cable is fixed to the fixed arm, and the other end of the strop is fixed to the second sliding arm.
  • the transmission mechanism includes two sets of pulleys and sliding cables, the opening directions of the two sliding cables are arranged opposite to each other in the length direction of the cargo floor, and the two pulleys are arranged at intervals in the length direction of the cargo floor.
  • the two ends of the second sliding arm in the longitudinal direction are respectively provided with a toggle assembly
  • the toggle assembly includes a block arm and a material-shifting motor
  • the block arm includes a first straight arm and a second straight arm
  • the first The straight arm is arranged along the length direction of the second sliding arm
  • the second straight arm and the first straight arm have an included angle
  • the output end of the material shifting motor is drivingly connected with the first straight arm.
  • the telescopic device further includes:
  • the rotating device is arranged between the installation bottom plate and the cargo bottom plate, and is used to drive the cargo bottom plate to rotate relative to the installation bottom plate.
  • the embodiments of the present application provide a handling robot, which is characterized in that it includes: a mobile chassis; a shelf, which is installed on the mobile chassis, and the shelf has a plurality of trays arranged at intervals in the vertical direction. Equipped with a lifting device; according to the telescopic device of the above-mentioned embodiment of the present application, the telescopic device is installed on the lifting device, and the lifting device is used to drive the telescopic device to rise and fall in the vertical direction.
  • the mobile chassis includes a front chassis, a rear chassis, and a connecting rod assembly.
  • the front chassis is hinged to the rear chassis.
  • the connecting rod assembly includes two longitudinal connecting rods arranged opposite to each other in the width direction of the mobile chassis. The first end of the connecting rod is hinged with the front chassis, the second end of the longitudinal connecting rod is hinged with the rear chassis, and the shelf is installed on two longitudinal connecting rods.
  • the connecting rod assembly further includes a transverse connecting rod, which is fixed to the front chassis along the width direction of the mobile chassis, and the first ends of the two longitudinal connecting rods are respectively hinged to the two ends of the transverse connecting rod.
  • the front chassis and the rear chassis are connected by a hinge
  • the hinge includes a first hinge part and a second hinge part
  • the first hinge part is fixed to the front chassis
  • the second hinge part is fixed to the rear chassis
  • the first hinge part of the hinge is provided with a fixing groove
  • the longitudinal connecting rod is installed in the fixing groove
  • the link assembly further includes: a rotating arm, the rotating arms are two corresponding to the two longitudinal links, one end of the rotating arm is hinged with the second end of the corresponding longitudinal link, and the rotating arm The other end is hinged with the rear chassis.
  • each longitudinal link includes a first section and a second section connected, the first end is formed at the end of the first section, and the second end is formed at the end of the second section, wherein the first end is formed at the end of the second section.
  • the upper surface of the second section is configured as an installation plane for installing shelves.
  • a middle section is connected between the first section and the second section, wherein the upper surface of the second section is vertically above the upper surface of the first section, and the middle section is configured as a triangle. Bracket.
  • the length of the first section is less than the length of the second section.
  • the moving base plate further includes a driving device, the driving device includes a driving motor and a driving wheel, the output end of the driving motor is in transmission connection with the driving wheel, and both the motor and the driving wheel are installed on the rear chassis.
  • the telescopic device can realize bidirectional telescopic, so as to improve the handling efficiency of the handling robot.
  • Fig. 1 shows a schematic structural diagram of a telescopic device according to an embodiment of the present application
  • Figure 2 shows a schematic structural diagram of a telescopic device according to an embodiment of the present application
  • Figure 3 shows a side view of the telescopic device according to an embodiment of the present application
  • Fig. 4 shows a schematic structural diagram of a handling robot according to an embodiment of the present application
  • Figure 5 shows an exploded view of the handling robot according to an embodiment of the present application
  • Fig. 6 shows a schematic structural diagram of a mobile chassis of a handling robot according to an embodiment of the present application
  • Fig. 7 shows an exploded view of the mobile chassis of the handling robot according to an embodiment of the present application.
  • the telescopic device 100 according to an embodiment of the present application will be described below with reference to FIGS. 1 to 3.
  • the telescopic device 100 of the embodiment of the present application can be used for the handling robot 1000.
  • the telescopic device 100 includes a cargo floor 10, a telescopic arm assembly 20 and a driving mechanism 30.
  • Each telescopic arm assembly 20 includes a fixed arm 21 and a first sliding arm 22.
  • the fixed arm 21 is installed on the cargo floor 10
  • the first sliding arm 22 is slidably disposed inside the fixed arm 21.
  • the driving mechanism 30 is used to drive the first sliding arm 22 to slide along the length direction of the load floor 10 relative to the fixed arm 21, so as to transport the goods to or away from the load floor 10.
  • the length direction of the loading floor 10 may be the left and right directions shown in the figure, and the width direction of the loading bottom 10 may be the direction perpendicular to the left and right directions in the horizontal plane as shown in the figure.
  • the length direction of the fixed arm 21 and the length direction of the first sliding arm 22 are both parallel to the left and right directions in the figure.
  • the driving mechanism 30 drives the two telescopic arm assemblies 20 to extend from one side of the load floor 10 to transport the goods to the load floor 10 or to remove the goods from the load floor 10.
  • the inner surface of the fixed arm 21 may be provided with a sliding rail extending along its length, and the outer surface of the first sliding arm 22 facing the fixed arm 21 may be provided with a sliding fitting part that cooperates with the sliding rail to ensure The sliding stability of the first sliding arm 22 and the fixed arm 21.
  • the sliding rail may also be provided on the outer surface of the first sliding arm 22, and the sliding fitting portion may be provided on the inner surface of the fixed arm 21.
  • the driving mechanism 30 is adapted to drive the first sliding arm 22 to slide relative to the fixed arm 21 in the left-right direction in the figure. As shown in FIG. 1, the driving mechanism 30 can drive the first sliding arm 22 to slide to the left relative to the fixed arm 21, so that the first sliding arm 22 slides out from the left side of the cargo floor 10. As shown in FIG. 2, the driving mechanism 30 can also drive the first sliding arm 22 to slide to the right relative to the fixed arm 21, so that the first sliding arm 22 slides out from the right side of the cargo floor 10.
  • the first sliding arm 22 when the first sliding arm 22 does not slide out from the cargo floor 10, the first sliding arm 22 is located at a position overlapping with the fixed arm 21 to reduce the external size of the telescopic device 100, thereby reducing the size of the telescopic device 100.
  • the driving mechanism 30 drives the first sliding arm 22 to slide relative to the fixed arm 21 along the length of the cargo floor 10, so that the first sliding arm 22 can be adjusted by the length of the cargo floor 10.
  • the handling device of the handling robot can only extend and contract from one side.
  • the expansion device of the embodiment of the present application can directly affect the cargo on either side of the length direction of the loading floor 10 For transportation, there is no need to control the telescopic device to turn to the corresponding side, so that the transportation efficiency and convenience of the telescopic device 100 can be improved.
  • the driving mechanism 30 includes two pulley assemblies 31 corresponding to the two telescopic arm assemblies 20, and each pulley assembly 31 includes a wheel assembly 311 and a timing belt. 312, the timing belt 312 is sleeved on the wheel assembly 311, and the wheel assembly 311 is used to drive the timing belt 312 to run; the lower surface of the first sliding arm 22 is provided with a rack 221, and the outer surface of the timing belt 312 is in transmission connection with the rack 221, The rack 221 is driven to slide relative to the fixed arm 21 along the length direction of the cargo floor 10.
  • the two pulley assemblies 31 are respectively located on both sides of the width direction of the cargo floor 10.
  • the timing belt 312 is sleeved on the wheel assembly 311 and is tensioned by the wheel assembly 311, and the wheel assembly 311 drives the timing belt 312 to run in a clockwise or counterclockwise direction.
  • a part of the outer surface of the timing belt 312 forms a transmission connection with the rack 221, and can drive the rack 221 to move left or right along the length direction of the load floor 10, so that the rack 221 drives the first sliding arm 22 to be relatively fixed
  • the arm 21 slides to the left or right.
  • the inner surface and the outer surface of the timing belt 312 are provided with a plurality of timing teeth, the plurality of timing teeth on the inner surface of the timing belt 312 are in transmission cooperation with the wheel assembly 311, and the outer surface of the timing belt 312 is A plurality of synchronizing teeth of the gears cooperate with the rack 221 in transmission.
  • the transmission effect of the timing belt 312 with the wheel assembly 311 and the rack 221 is good, and a relatively stable transmission ratio between the wheel assembly 311 and the rack 221 can be made, thereby improving the sliding of the first sliding arm 22 relative to the fixed arm 21 The stability.
  • the timing belt 312 may also be a chain with chain sockets on both the inner surface and the outer surface
  • the wheel assembly 311 may include a plurality of synchronization wheels, and each synchronization wheel has an inner surface of the chain.
  • a plurality of chain teeth matched with a plurality of chain sockets, and the rack 221 is provided with a synchronizing tooth matched with a plurality of chain sockets on the outer surface of the chain.
  • the driving mechanism 30 further includes a driving motor (not shown in the figure), and the driving motor is used to drive the driving wheels 3111 of the two wheel assemblies 311 to operate synchronously.
  • a synchronization rod is connected between the synchronization wheels of the two wheel assemblies 311, and the output end of the driving motor is drivingly connected with the synchronization rod, so that the driving motor drives the driving wheels 3111 of the two wheel assemblies 311 to operate synchronously.
  • each wheel assembly 311 includes a driving wheel 3111, at least one driven wheel 3112, and a plurality of tensioning wheels 3113.
  • the driven wheel 3112 runs under the transmission of a timing belt 312.
  • the tension wheels 3113 are arranged at intervals to tension the timing belt 312.
  • the part of the timing belt 312 between the vertices of the two driven wheels 3112 forms a transmission connection with the rack 221.
  • a tensioning wheel 3113 can ensure that the part of the timing belt 312 between the apexes of the two driven wheels 3112 runs along the length of the load floor 10, thereby improving the stability of the transmission connection between the timing belt 312 and the rack 221 , Thereby improving the stability of the telescopic arm assembly 20.
  • each telescopic arm assembly 20 further includes a second sliding arm 23 and a transmission mechanism 40.
  • the second sliding arm 23 is slidably fitted to the inner side of the first sliding arm 22.
  • the first sliding arm 22 is located between the second sliding arm 23 and the fixed arm 21, and the second sliding arm 23 is opposite to the first sliding arm 22. It can slide to the left or right along the length of the cargo floor 10.
  • the transmission mechanism 40 is used to drive the second sliding arm 23 to slide relative to the first sliding arm 22 during the sliding of the first sliding arm 22 relative to the fixed arm 21, and the sliding direction of the second sliding arm 23 relative to the first sliding arm 22 is the same as The sliding direction of the first sliding arm 22 relative to the fixed arm 21 is the same.
  • the length direction of the second sliding arm 23 may be parallel to the left and right directions in the figure.
  • the second sliding arm 23, the first sliding arm 22, and the fixed arm 21 overlap, thereby reducing the external size of the telescopic arm assembly 20 and thereby reducing the volume of the telescopic device 100.
  • the transmission mechanism 40 may be an electric push rod.
  • the electric push rod is installed on the fixed arm 21, and the end of the telescopic rod of the electric push rod is connected to the second sliding arm 23.
  • the electric push rod pushes the second sliding arm 23 to slide synchronously relative to the first sliding arm 22.
  • the transmission mechanism 40 includes at least one set of pulleys 41 and a strop 42.
  • the slidable cable 42 is slidably fitted to the pulley 41.
  • the pulley 41 is rotatably arranged on the first sliding arm 22, and both ends of the strop 42 are located at The pulley 41 is on the same side, and one end of the sliding cable 42 is fixed to the fixed arm 21, and the other end of the sliding cable 42 is fixed to the second sliding arm 23.
  • the middle part of the strop 42 is bent so that the two ends of the strop 42 are arranged opposite to each other, so that the strop 42 forms a U-shape, and the pulley 41 is drivingly connected to the curved part of the strop 42.
  • the pulley 41 is fixed to the first sliding arm 22
  • one end of the sliding cable 42 is fixed to the fixed arm 21, and the other end of the sliding cable 42 is fixed to the second fixed arm 21, so that the pulley 41 and the sliding cable 42 form a movable pulley structure.
  • the first sliding arm 22 slides relative to the fixed arm 21, the first sliding arm 22 drives the pulley to move relative to one end of the sliding cable 42 fixed to the fixed arm 21, so that the other end of the sliding cable 42 drives the second fixed arm 21 to move .
  • the sliding direction of the second fixed arm 21 relative to the first fixed arm 21 is the same as the sliding direction of the first fixed arm 21 relative to the fixed arm 21, and the sliding speed of the second fixed arm 21 relative to the fixed arm 21 is the first The speed at which the fixed arm 21 slides relative to the fixed arm 21 is twice. Therefore, when the driving mechanism 30 drives the first sliding arm 22 to slide relative to the fixed arm 21, the second fixed arm 21 slides synchronously relative to the first sliding arm 22, thereby increasing the telescopic length of the sliding arm assembly and improving the telescopic arm. The effective distance for the component 20 to carry goods.
  • the transmission mechanism 40 includes two sets of pulleys 41 and strops 42.
  • the opening directions of the two strops 42 are arranged opposite to each other in the length direction of the cargo floor 10, and the two pulleys 41 are on the cargo floor. 10 are arranged at intervals in the length direction.
  • the two sets of pulleys 41 and the strop 42 respectively constitute two sets of movable pulleys, and the two sets of movable pulleys are arranged at intervals in the up and down direction.
  • the opening directions of the two sliding cables 42 are arranged opposite to each other, wherein the opening direction of the sliding cable 42 corresponding to the pulley 41 on the left is to the right, and the opening direction of the pulley 41 on the right is to the left. Therefore, by providing two sets of pulleys 41 and strops 42, the driving efficiency of the transmission mechanism 40 to the second sliding arm 23 can be improved, and the stability of the second sliding arm 23 relative to the first sliding arm 22 can be improved.
  • the two ends of the second sliding arm 23 in the longitudinal direction are respectively provided with a toggle assembly 50.
  • the toggle assembly 50 includes a blocking arm 51 and a material-shifting motor 52.
  • the arm 51 includes a first straight arm 511 and a second straight arm 512.
  • the first straight arm 511 is arranged along the length of the second sliding arm 23.
  • the second straight arm 512 and the first straight arm 511 have an included angle.
  • the output end of the motor 52 is drivingly connected with the first straight arm 511.
  • the toggle assembly 50 is provided on the side surface of the second sliding arm 23 facing the first sliding arm 22, in order to prevent the toggle assembly 50 from affecting the second sliding arm 23 and the first sliding arm.
  • the circumferential direction of the first straight arm 511 can be arranged in the left-right direction
  • the second straight arm 512 is connected to the end of the first straight arm 511, and the included angle between the second straight arm 512 and the first straight arm 511 At a right angle, the material shifting motor 52 drives the first straight arm 511 to rotate around its axial direction, thereby driving the second straight arm 512 to rotate.
  • the shifting motor 52 drives the stop arm 51 to rotate to a horizontal angle, so that the second straight arm 512 of the stop arm 51 can push and pull the goods, thereby pulling the goods. It is transported to the loading floor 10 or removed from the loading floor 10.
  • the telescopic device 100 further includes a mounting bottom plate 60 and a rotating device 61.
  • the mounting bottom plate 60 is arranged below the cargo bottom plate 10, and the rotating device 61 is disposed between the mounting bottom plate 60 and the cargo bottom plate 10 for
  • the cargo base 10 is driven to rotate relative to the installation base 60.
  • the load floor 10 can be rotated to different angles in the horizontal direction relative to the installation floor 60, so as to adjust the telescopic direction of the telescopic arm assembly 20, and improve the transport range of the telescopic device 100 to carry goods.
  • the handling robot 1000 includes a mobile chassis 200, a rack 300, and the telescopic device 100 according to the foregoing embodiment of the present application.
  • the mobile chassis 200 is suitable for driving the rack 300 to move in the warehouse.
  • the rack 300 is installed on the mobile chassis 200.
  • the rack 300 has a plurality of trays 310 arranged at intervals in the vertical direction.
  • the trays 310 are used to temporarily store goods.
  • the rack 300 is provided with a lifting device 320, and the telescopic device 100 is installed on the lifting device 320.
  • the lifting device 320 is used to drive the telescopic device 100 to lift in the vertical direction, so that the telescopic device 100 is lifted to the corresponding pallet 310, and the telescopic arm assembly 20 is used to transport goods between the load floor 10 and the pallet 310.
  • the mobile chassis 200 includes a front chassis 201, a rear chassis 202, and a connecting rod assembly 70.
  • the front chassis 201 and the rear chassis 202 are articulated.
  • the link assembly 70 includes two longitudinal links 71 arranged opposite to each other in the width direction of the mobile chassis 200, the longitudinal link 71 has a first end 71aa and a second end 71b in the length direction, and the first end of the longitudinal link 71 71aa is hinged to the front chassis 201, and the second end 71b of the longitudinal link 71 is hinged to the rear chassis 202.
  • the length direction of the mobile chassis 200 may be the front-rear direction in the figure
  • the width direction of the mobile chassis 200 may be the direction perpendicular to the front-rear direction in the horizontal plane as shown in the figure
  • the length direction of the longitudinal link 71 is parallel to the mobile chassis 200.
  • the mobile chassis 200 is mounted on two longitudinal links 71.
  • the rear side edge of the front chassis 201 is hinged to the front side edge of the rear chassis 202, so that the front chassis 201 can rotate at a certain angle relative to the rear chassis.
  • Two longitudinal links 71 are provided above the mobile chassis 200, the first end 71aa of each longitudinal link 71 is hinged with the front chassis 201, and the second end 71b of each longitudinal link 71 is hinged with the rear chassis 202, so During the rotation of the front chassis 201 relative to the rear chassis 202, the longitudinal link 71 rotates relative to the front chassis 201 and the rear chassis 202, so that the front chassis 201, the rear chassis 202 and the longitudinal link 71 form a triangular structure.
  • the handling robot 1000 of the embodiment of the present application by providing a front chassis 201 and a rear chassis 202 that are hinged to each other, when the mobile chassis 200 is driving on an uneven ground, the front chassis 201 and the rear chassis 202 can be relatively rotated to adjust the movement.
  • the contact condition of the chassis 200 with the ground makes the mobile chassis 200 run smoothly. Therefore, the handling robot 1000 according to the embodiment of the present application has better ground adaptability.
  • the handling robot 1000 by arranging two longitudinal links 71 which are respectively hinged to the front chassis 201 and the rear chassis 202, the load at the hinge joint of the front chassis 201 and the rear chassis 202 can be reduced, thereby improving the structural strength and rigidity of the mobile chassis 200 , Thereby reducing the failure rate of the mobile chassis 200.
  • the link assembly 70 further includes a transverse link 72, which is fixed to the front chassis 201 along the width direction of the mobile chassis 200, and two longitudinal links 71 The first end 71aa is hinged to the two ends of the transverse link 72 respectively. It can be understood that the axial direction of the transverse link 72 is arranged parallel to the width direction of the mobile chassis 200.
  • the front chassis 201 and the rear chassis 202 are connected by a hinge 80.
  • the hinge 80 includes a first hinge part 81 and a second hinge part 82, and the first hinge part 81 is fixed.
  • the second hinged portion 82 is fixed to the rear chassis 202.
  • the first hinge part 81 is provided on the upper surface of the front chassis 201
  • the second hinge part 82 is provided on the upper surface of the rear chassis 202
  • the rear side surface of the front chassis 201 can be the same as the front side surface of the rear chassis 202. Surface contact.
  • the front chassis 201 and the rear chassis 202 can be self-locked to prevent the maximum angle between the upper surface of the front chassis 201 and the upper surface of the rear chassis 202 from exceeding 180°.
  • each hinge 80 there are two hinges 80 and are arranged oppositely along the width direction of the mobile chassis 200, and the first hinge portion 81 of each hinge 80 is provided with a fixing groove 811, which is connected longitudinally
  • the rod 71 is installed in the fixing groove 811.
  • the first end 71aa of the longitudinal link 71 is provided with a shaft sleeve, and the shaft sleeve is rotatably sleeved on the transverse link 72.
  • the upper surface of the first hinge part 81 is provided with fixing grooves 811 that are open upward.
  • the fixing grooves 811 are two oppositely arranged along the width direction of the mobile chassis 200, and the shaft sleeves are clamped in the two fixing grooves 811. Thereby, the first end 71aa of the longitudinal link 71 can be restricted in the width direction of the mobile chassis 200.
  • the link assembly 70 further includes a rotating arm 73.
  • the rotating arms 73 are two corresponding to the two longitudinal links 71, and one end of each rotating arm 73
  • the second end 71 b of the corresponding longitudinal link 71 is hingedly connected, and the other end of each rotating arm 73 is hingedly connected to the rear chassis 202.
  • the longitudinal link 71 rotates relative to the front chassis 201, and at the same time, the rotation between the second end 71b of the longitudinal link 71 and the rear chassis 202
  • the arm 73 also rotates.
  • the longitudinal link 71 rotates at a smaller angle relative to the rear chassis 202, so that the tilt angle of the shelf 300 on the longitudinal link 71 is also smaller, which prevents the shelf 300 from tilting at a large angle.
  • the goods are prevented from slipping off the shelf 300, and the stability of the entire machine of the shelf 300 and the handling robot 1000 is provided.
  • each longitudinal link 71 includes a first section 711 and a second section 712 connected to the first section 711, and the first end 71aa is formed at the end of the first section 711 , The second end 71b is formed at the end of the second section 712, wherein the upper surface of the second section 712 is configured as an installation plane 712a for installing the shelf 300.
  • the shelf 300 and the second section 712 can be positioned by positioning pins and connected by bolts, thus, the accuracy of the docking position of the shelf 300 and the mobile chassis 200 can be ensured, and the distance between the two can be ensured. Connection strength.
  • an intermediate section 713 is connected between the first section 711 and the second section 712, wherein the upper surface of the second section 712 is located in the first section 711 in the vertical direction.
  • the middle section 713 is configured as a triangular bracket.
  • the second section 712 is configured as a right-angled triangle structure, wherein the beveled side of the second section 712 is connected between the first section 711 and the second section 712, and a right-angled side of the second section 712 Supported on the upper surface of the rear chassis 202.
  • the length of the first section 711 is less than the length of the second section 712.
  • the area of the installation plane 712a on the second section 712 can be increased, thereby making the installation of the shelf 300 more stable; on the other hand, when the front chassis rotates relative to the rear chassis 202, the second section can be reduced The angle at which the 712 is inclined relative to the rear chassis 202, thereby further improving the stability of the shelf 300.
  • the moving base plate further includes a driving device 90
  • the driving device 90 includes a driving motor 91 and a driving wheel 92
  • the output end of the driving motor 91 is drivingly connected with the driving wheel 92
  • the motor and the driving wheel 92 are installed on the rear chassis 202.
  • the drive motor 91 is used to drive the two drive wheels 92 to operate independently.
  • the driving motor 91 is in electrical communication with the controller of the handling robot 1000.
  • the mobile chassis 200 can be controlled to travel or turn in a straight direction.
  • the mobile chassis 200 further includes steering wheels, where the steering wheels may be universal wheels.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present application, "a plurality of” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • installed can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or only that the level of the first feature is higher than the second feature.
  • the “below”, “below”, and “below” of the first feature under the second feature include the first feature directly above and diagonally above the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Abstract

一种伸缩装置（100）及搬运机器人（1000），其中伸缩装置（100）包括：载货底板（10）、伸缩臂组件（20）、驱动机构（30），伸缩臂组件（20）为至少两个且在载货底板（10）的宽度方向上相对设置，每个伸缩臂组件（20）包括固定臂（21）和第一滑动臂（22），固定臂（21）安装于载货底板（10），第一滑动臂（22）可滑动地设置于固定臂（21）的内侧；驱动机构（30）用于驱动第一滑动臂（22）相对固定臂（21）沿载货底板（10）的长度方向滑动。由于伸缩装置可以实现双向伸缩，从而可以提升搬运机器人的搬运效率。

Description

伸缩装置及搬运机器人
本申请要求于2019年10月23日提交中国专利局、申请号为201911014146.0、发明名称为“夹抱式伸缩装置和具有其的搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。以及本申请要求于2019年10月23日提交中国专利局、申请号为201921795638.3、实用新型名称为“搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及一种伸缩装置及搬运机器人，涉及仓储技术领域。
背景技术
相关技术中提出了一种搬运机器人，该搬运机器人设有搬运装置，通过控制搬运装置的推杆组件的伸缩对货物进行搬运。但由于该推杆组件的运动方向较为单一，从而导致搬运货物的效率较低、不够便利。
发明内容
本申请实施例提供一种伸缩装置及搬运机器人，以解决或缓解相关技术中的一项或更多项技术问题。
为实现上述目的，本申请采取以下技术方案：
作为本申请实施例的一个方面，本申请实施例提供一种伸缩装置，包括：载货底板；伸缩臂组件，伸缩臂组件为至少两个且在载货底板的宽度方向上相对设置，每个伸缩臂组件包括固定臂和第一滑动臂，固定臂安装于载货底板，第一滑动臂可滑动地设置于固定臂的内侧；驱动机构，用于驱动第一滑动臂相对固定臂沿载货底板的长度方向滑动。
在一种实施方式中，驱动机构包括与两个伸缩臂组件对应设置的两个带轮组件，带轮组件包括轮组件和同步带，同步带套设于轮组件；第一滑动臂的下表面设有齿条，同步带的外表面与齿条传动连接。
在一种实施方式中，同步带的内表面和外表面均设有多个同步齿，同步带的内表面上的多个同步齿与轮组件传动配合，同步带的外表面上的多个同步齿与齿条传动配合。
在一种实施方式中，驱动机构还包括驱动电机，驱动电机用于驱动两个轮组件的主动轮同步运转。
在一种实施方式中，轮组件包括主动轮、至少一个从动轮和多个张紧轮，从动轮在同步带的传动下运转，多个张紧轮间隔布置，以将同步带张紧。
在一种实施方式中，伸缩臂组件还包括：第二滑动臂，第二滑动臂可滑动地配合于第一滑动臂的内侧；传动机构，传动机构用于在第一滑动臂相对固定臂滑动的过程中，带动第二滑动臂相对第一滑动臂滑动，且第二滑动臂相对第一滑动臂滑动的方向与第一滑动臂相对固定臂滑动的方向相同。
在一种实施方式中，传动机构包括至少一组滑轮和滑索，滑索与滑轮滑动配合，滑轮可转动地设于第一滑动臂，滑索的两端位于滑轮的同一侧，且滑索的一端固定于固定臂，滑索的另一端固定于第二滑动臂。
在一种实施方式中，传动机构包括两组滑轮和滑索，两个滑索的开口方向在载货底板的长度方向上相对设置，两个滑轮在载货底板的长度方向上间隔设置。
在一种实施方式中，第二滑动臂的长度方向的两端分别设有拨动组件，拨动组件包括挡臂和拨料电机，挡臂包括第一直臂和第二直臂，第一直臂沿第二滑动臂的长度方向设置，第二直臂与第一直臂具有夹角，其中，拨料电机的输出端与第一直臂传动连接。
在一种实施方式中，该伸缩装置还包括：
安装底板，安装底板设于载货底板的下方；
转动装置，转动装置设于安装底板和载货底板之间，用于驱动载货底板相对安装底板转动。
作为本申请实施例的另一个方面，本申请实施例提供一种搬运机器人，其特征在于，包括：移动底盘；货架，安装于移动底盘，货架具有沿竖直方向间隔设置的多个托盘，货架设有升降装置；根据本申请上述实施例的伸缩装置，伸缩装置安装于升降装置，升降装置用于带动伸缩装置在竖直方向上升降。
在一种实施方式中，移动底盘包括前段底盘、后段底盘和连杆组件，前段底盘与后段底盘铰接，连杆组件包括在移动底盘的宽度方向上相对设置的两个纵向连杆，纵向连杆的第一端与前段底盘铰接，纵向连杆的第二端与后段底盘铰接，货架安装于两个纵向连杆。
在一种实施方式中，连杆组件还包括：横向连杆，横向连杆沿移动底盘的宽度方向固定于前段底盘，两个纵向连杆的第一端分别与横向连杆的两端铰接。
在一种实施方式中，前段底盘与后段底盘通过铰链连接，铰链包括第一铰接部和第二铰接部，第一铰接部固定于前段底盘，第二铰接部固定于后段底盘。
在一种实施方式中，铰链为两个且沿移动底盘的宽度方向相对设置，铰链的第一铰接部设有固定槽，纵向连杆安装于固定槽内。
在一种实施方式中，连杆组件还包括：转动臂，转动臂为与两个纵向连杆对应设置的两个，转动臂的一端与对应的纵向连杆的第二端铰接，转动臂的另一端与后段底盘铰接。
在一种实施方式中，每个纵向连杆包括相连的第一段和第二段，第一端形成于第一段的端部，第二端形成于第二段的端部，其中，第二段的上 表面被构造为安装平面，用于安装货架。
在一种实施方式中，第一段与第二段之间连接有中间段，其中，第二段的上表面在竖直方向上位于第一段的上表面的上方，中间段被构造为三角形支架。
在一种实施方式中，第一段的长度小于第二段的长度。
在一种实施方式中，移动底板还包括驱动装置，驱动装置包括驱动电机和驱动轮，驱动电机的输出端与驱动轮传动连接，电机和驱动轮均安装于后段底盘。
上述技术方案中的一个技术方案具有如下优点或有益效果：根据本申请实施例的伸缩装置可以实现双向伸缩，从而可以提升搬运机器人的搬运效率。
上述概述仅仅是为了说明书的目的，并不意图以任何方式进行限制。除上述描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本申请进一步的方面、实施方式和特征将会是容易明白的。
附图说明
为了更清楚地说明本发明实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1示出根据本申请实施例的伸缩装置的结构示意图；
图2示出根据本申请实施例的伸缩装置的结构示意图；
图3示出根据本申请实施例的伸缩装置的侧视图；
图4示出根据本申请实施例的搬运机器人的结构示意图；
图5示出根据本申请实施例的搬运机器人的爆炸图；
图6示出根据本申请实施例的搬运机器人的移动底盘的结构示意图；
图7示出根据本申请实施例的搬运机器人的移动底盘的爆炸图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
下面参考图1-图3描述根据本申请实施例的伸缩装置100。本申请实施例的伸缩装置100可以用于搬运机器人1000。
如图1-图3所示，根据本申请实施例的伸缩装置100包括载货底板10、伸缩臂组件20和驱动机构30。
具体地，伸缩臂组件20为两个且在载货底板10的宽度方向上相对设置，每个伸缩臂组件20包括固定臂21和第一滑动臂22，固定臂21安装于载货底板10，第一滑动臂22可滑动地设置于固定臂21的内侧。驱动机构30用于驱动第一滑动臂22相对固定臂21沿载货底板10的长度方向滑动，以将货物搬运至载货底板10或由载货底板10搬离。
可以理解的是，载货底板10的长度方向可以为图示的左右方向，载货底板10的宽度方向可以为图示中在水平面内与左右方向相垂直的方向。其中，固定臂21的长度方向和第一滑动臂22的长度方向均平行于图示中的左右方向。驱动机构30驱动两个伸缩臂组件20由载货底板10的一侧伸出，以将货物搬送至载货底板10上，或者将货物从载货底板10上搬离。
在一个示例中，固定臂21的内侧表面可以设有沿其长度方向延伸的滑轨，第一滑动臂22的朝向固定臂21的外侧表面可以设有与滑轨配合的滑动配合部，以保证第一滑动臂22与固定臂21的滑动稳定性。另外，在本申请的其他示例中，滑轨也可以设于第一滑动臂22的外侧表面，滑动配合部可以设于固定臂21的内侧表面。
需要说明的是，驱动机构30适于驱动第一滑动臂22相对固定臂21沿图示中的左右方向滑动。如图1所示，驱动机构30可以驱动第一滑动臂22相对固定臂21向左滑动，以使第一滑动臂22由载货底板10的左侧滑出。如图2所示，驱动机构30也可以驱动第一滑动臂22相对固定臂21向右滑动，以使第一滑动臂22由载货底板10的右侧滑出。优选地，当第一滑动臂22未从载货底板10滑出时，第一滑动臂22位于与固定臂21重叠的位置，以减小伸缩装置100的外部尺寸，从而减小伸缩装置100所占用的空间。
根据本申请实施例的伸缩装置100，通过设置驱动机构30驱动第一滑动臂22相对固定臂21沿载货底板10的长度方向滑动，从而使第一滑动臂22可以由载货底板10的长度方向上的任意一侧伸出，相比于相关技术中的搬运机器人的搬运装置只可以由一侧伸缩，本申请实施例的伸缩装置可以直接对载货底板10长度方向的任一侧的货物进行搬运，无需控制伸缩装置转向至相应一侧，从而可以提高伸缩装置100的搬运效率和便利性。
在一种实施方式中，如图1-图3所示，驱动机构30包括与两个伸缩臂组件20对应设置的两个带轮组件31，每个带轮组件31包括轮组件311和同步带312，同步带312套设于轮组件311，轮组件311用于带动同步带312运转；第一滑动臂22的下表面设有齿条221，同步带312的外表面与齿条221传动连接，以带动齿条221沿载货底板10的长度方向相对固定臂21滑动。
在一个示例中，两个带轮组件31分别位于载货底板10的宽度方向的两侧。同步带312套设于轮组件311且被轮组件311张紧，轮组件311驱动同步带312沿顺时针方向或逆时针方向运转。同步带312的外侧表面的一部分与齿条221形成传动连接，且可以带动齿条221沿载货底板10的长度方向向左或向右移动，从而使齿条221带动第一滑动臂22相对固定臂21向左或向右滑动。
在一种实施方式中，同步带312的内表面和外表面均设有多个同步齿，同步带312的内表面上的多个同步齿与轮组件311传动配合，同步带312的外表面上的多个同步齿与齿条221传动配合。由此，同步带312与轮组件311以及齿条221的传动效果好，并且可以使轮组件311与齿条221之间具有较稳定的传动比，从而提高第一滑动臂22相对固定臂21滑动的稳定性。
另外，在本申请的其他示例中，同步带312也可以为内表面和外表面均具有链窝的链条，轮组件311可以包括多个同步轮，且每个同步轮具有与链条内表面上的多个链窝相配合的链齿，齿条221上设有与链条外表面上的多个链窝相配合的同步齿。
在一种实施方式中，驱动机构30还包括驱动电机(图中未示出)，驱动电机用于驱动两个轮组件311的主动轮3111同步运转。
在一个示例中，两个轮组件311的同步轮之间连接有同步杆，驱动电机的输出端与同步杆传动连接，从而使驱动电机驱动两个轮组件311的主动轮3111同步运转。由此，可以保证两个驱动机构30的带轮组件31运转过程中的同步性，以使两个伸缩臂组件20的动作保持一致。
在一种实施方式中，如图3所示，每个轮组件311包括主动轮3111、至少一个从动轮3112和多个张紧轮3113，从动轮3112在同步带312的传动下运转，多个张紧轮3113间隔布置，以将同步带312张紧。
在一个示例中，从动轮3112为两个且沿载货底板10的长度方向间隔设置，同步带312的位于两个从动轮3112的顶点之间的部分与齿条221形成传动连接，通过设置多个张紧轮3113，可以保证同步带312的位于两个从动轮3112的顶点之间的部分沿载货底板10的长度方向运转，从而提高同步带312与齿条221之间传动连接的稳定性，进而提高了伸缩臂组件20的稳定性。
在一种实施方式中，如图1-图3所示，每个伸缩臂组件20还包括第 二滑动臂23和传动机构40。第二滑动臂23可滑动地配合于第一滑动臂22的内侧，换言之，第一滑动臂22位于第二滑动臂23和固定臂21之间，且第二滑动臂23相对第一滑动臂22可以沿载货底板10的长度方向向左或向右滑动。传动机构40用于在第一滑动臂22相对固定臂21滑动的过程中，带动第二滑动臂23相对第一滑动臂22滑动，且第二滑动臂23相对第一滑动臂22滑动的方向与第一滑动臂22相对固定臂21滑动的方向相同。其中，第二滑动臂23的长度方向可以平行于图示中的左右方向。优选地，伸缩臂组件20处于收缩状态时，第二滑动臂23、第一滑动臂22以及固定臂21重叠，从而减小伸缩臂组件20的外部尺寸，进而减小伸缩装置100的体积。
在一个示例中，传动机构40可以为电动推杆。具体地，电动推杆安装于固定臂21，电动推杆的伸缩杆的端部连接于第二滑动臂23。当第一滑动臂22相对固定臂21滑动时，电动推杆推动第二滑动臂23相对第一滑动臂22同步滑动。为了使第二滑动臂23相对第一滑动臂22滑动的方向与第一滑动臂22相对固定臂21滑动的方向保持一致，电动推杆可以设有两个，且两个电动推杆的设置方向相反，其中一个用于推动第二滑动臂23相对第一滑动臂22向左滑动，另一个用于推动第二滑动臂23相对第一滑动臂22向右滑动。
在一种实施方式中，传动机构40包括至少一组滑轮41和滑索42，滑索42与滑轮41滑动配合，滑轮41可转动地设于第一滑动臂22，滑索42的两端位于滑轮41的同一侧，且滑索42的一端固定于固定臂21，滑索42的另一端固定于第二滑动臂23。
具体地，滑索42的中部弯曲设置以使滑索42的两端相对设置，以使滑索42形成U型形状，滑轮41与滑索42的弯曲部分传动连接。由于滑轮41固定于第一滑动臂22，且滑索42的一端固定于固定臂21，滑索42的另一端固定于第二固定臂21，从而使滑轮41和滑索42形成动滑轮结构。当第一滑动臂22相对固定臂21滑动时，第一滑动臂22带动滑轮相对滑索 42的固定于固定臂21上的一端移动，从而使滑索42的另一端带动第二固定臂21移动。
可以理解的是，第二固定臂21相对第一固定臂21的滑动方向与第一固定臂21相对固定臂21的滑动方向相同，且第二固定臂21相对固定臂21滑动的速度为第一固定臂21相对固定臂21滑动的速度的两倍。由此，可以在驱动机构30驱动第一滑动臂22相对固定臂21滑动时，第二固定臂21相对第一滑动臂22同步滑动，从而增大了滑动臂组件的伸缩长度，提高了伸缩臂组件20搬运货物的有效距离。
优选地，如图3所示，传动机构40包括两组滑轮41和滑索42，两个滑索42的开口方向在载货底板10的长度方向上相对设置，两个滑轮41在载货底板10的长度方向上间隔设置。具体地，两组滑轮41和滑索42分别构成两组动滑轮，且两组动滑轮在上下方向上间隔设置。其中，两个滑索42的开口方向相向设置，其中，左侧的滑轮41对应的滑索42的开口方向向右，右侧的的滑轮41对应的开口方向向左。由此，通过设置两组滑轮41和滑索42，可以提高传动机构40对第二滑动臂23的驱动效率，且有利于提高第二滑动臂23相对第一滑动臂22滑动的稳定性。
在一种实施方式中，如图1-图3所示，第二滑动臂23的长度方向的两端分别设有拨动组件50，拨动组件50包括挡臂51和拨料电机52，挡臂51包括第一直臂511和第二直臂512，第一直臂511沿第二滑动臂23的长度方向设置，第二直臂512与第一直臂511具有夹角，其中，拨料电机52的输出端与第一直臂511传动连接。
在一个示例中，如图1所示，拨动组件50设于第二滑动臂23的朝向第一滑动臂22的侧表面，为了避免拨动组件50对第二滑动臂23和第一滑动臂22之间的相对运动产生干涉，第一滑动臂22的朝向第二滑动臂23的侧表面设有容纳拨动组件50的避让槽。进一步地，第一直臂511的周向可以沿左右方向设置，第二直臂512连接于第一直臂511的端部，且第二 直臂512与第一直臂511之间的夹角为直角，拨料电机52通过驱动第一直臂511绕其轴向转动，从而带动第二直臂512转动。可以理解的是，伸缩臂组件20在进行搬运货物时，通过控制拨料电机52驱动挡臂51转动至水平角度，以使挡臂51的第二直臂512可以对货物进行推拉，从而将货物搬运至载货底板10或由载货底板10搬离。
在一种实施方式中，伸缩装置100还包括安装底板60和转动装置61，安装底板60设于载货底板10的下方，转动装置61设于安装底板60和载货底板10之间，用于驱动载货底板10相对安装底板60转动。由此，可以使载货底板10相对安装底板60在水平方向上转动至不同角度，从而调节伸缩臂组件20的伸缩方向，提高了伸缩装置100搬运货物的搬运范围。
下面参照图4-图7描述根据本申请实施例的搬运机器人1000。
如图4所示，根据本申请实施例的搬运机器人1000包括移动底盘200、货架300和根据本申请上述实施例的伸缩装置100。移动底盘200适于带动货架300在货仓内移动。
具体地，货架300安装于移动底盘200，货架300具有沿竖直方向间隔设置的多个托盘310，托盘310用于暂时存放货物，货架300设有升降装置320，伸缩装置100安装于升降装置320，升降装置320用于带动伸缩装置100在竖直方向上升降，以使伸缩装置100升降至对应的托盘310，伸缩臂组件20用于在载货底板10和托盘310之间搬运货物。
移动底盘200包括前段底盘201、后段底盘202和连杆组件70，前段底盘201与后段底盘202铰接。连杆组件70包括在移动底盘200的宽度方向上相对设置的两个纵向连杆71，纵向连杆71的长度方向上具有第一端71aa和第二端71b，纵向连杆71的第一端71aa与前段底盘201铰接，纵向连杆71的第二端71b与后段底盘202铰接。其中，移动底盘200的长度方向可以为图示中的前后方向，移动底盘200的宽度方向可以为图示中在水平面内与前后方向垂直的方向，纵向连杆71的长度方向平行于移动底盘 200的长度方向，移动底盘200安装于两个纵向连杆71。
在一个示例中，前段底盘201的后侧边缘与后段底盘202的前侧边缘铰接，以使前段底盘201相对后端底盘可以转动一定角度。两个纵向连杆71设于移动底盘200的上方，每个纵向连杆71的第一端71aa与前段底盘201铰接，每个纵向连杆71的第二端71b与后段底盘202铰接，这样，在前段底盘201相对后段底盘202转动的过程中，纵向连杆71相对前段底盘201和后段底盘202均转动，以使前段底盘201、后段底盘202和纵向连杆71形成三角形结构。
根据本申请实施例的搬运机器人1000，通过设置相互铰接的前段底盘201和后段底盘202，移动底盘200在行驶不平稳的地面时，前段底盘201和后段底盘202可以相对转动，以调整移动底盘200与地面的接触状况，从而使移动底盘200平稳行驶，因此，根据本申请实施例的搬运机器人1000具有较好的地面适应能力。再者，通过设置两个分别与前段底盘201和后段底盘202铰接的纵向连杆71，可以减小前段底盘201和后段底盘202铰接处的负载，从而提高移动底盘200的结构强度和刚度，进而降低移动底盘200的故障率。
在一种实施方式中，如图6和图7所示，连杆组件70还包括横向连杆72，横向连杆72沿移动底盘200的宽度方向固定于前段底盘201，两个纵向连杆71的第一端71aa分别与横向连杆72的两端铰接。可以理解的是，横向连杆72的轴向平行于移动底盘200的宽度方向设置。通过设置横向连杆72，不仅可以提高连杆组件70的结构强度，还可以提高前段底盘201整体的结构强度。
在一种实施方式中，如图6和图7所示，前段底盘201与后段底盘202通过铰链80连接，铰链80包括第一铰接部81和第二铰接部82，第一铰接部81固定于前段底盘201，第二铰接部82固定于后段底盘202。优选地，第一铰接部81设于前段底盘201的上表面，第二铰接部82设于后段底盘 202的上表面，且前段底盘201的后侧表面可以与后段底盘202的前侧表面面接触。由此，可以使前段底盘201与后段底盘202形成自锁作用，以避免前段底盘201的上表面与后段底盘202的上表面之间的最大夹角超过180°。
在一种实施方式中，如图6和图7所示，铰链80为两个且沿移动底盘200的宽度方向相对设置，每个铰链80的第一铰接部81设有固定槽811，纵向连杆71安装于固定槽811内。由此，可以提高前段底盘201与后段底盘202的连接效果，且前段底盘201与后段底盘202之间的相对转动更加稳定。
在一个示例中，纵向连杆71的第一端71aa设有轴套，轴套可转动地套设于横向连杆72。第一铰接部81的上表面设有向上敞开的固定槽811，固定槽811为沿移动底盘200的宽度方向相对设置的两个，轴套卡设于两个固定槽811内。由此，可以起到对纵向连杆71的第一端71aa在移动底盘200的宽度方向上的限位作用。
在一种实施方式中，如图6和图7所示，连杆组件70还包括转动臂73，转动臂73为与两个纵向连杆71对应设置的两个，每个转动臂73的一端与对应的纵向连杆71的第二端71b铰接，每个转动臂73的另一端与后段底盘202铰接。
可以理解的是，前段底盘201相对后段底盘202转动的过程中，纵向连杆71相对前段底盘201发生转动，同时，位于纵向连杆71的第二端71b与后段底盘202之间的转动臂73也发生转动。在转动臂73的带动下，纵向连杆71相对后段底盘202转动的角度较小，从而使位于纵向连杆71上的货架300倾斜的角度也较小，避免了货架300发生大角度倾斜，进而避免了货物从货架300上滑落，提供了货架300以及搬运机器人1000整机的稳定性。
在一种实施方式中，如图7所示，每个纵向连杆71包括第一段711 和与第一段711连接的第二段712，第一端71aa形成于第一段711的端部，第二端71b形成于第二段712的端部，其中，第二段712的上表面被构造为安装平面712a，用于安装货架300。在一个示例中，货架300与第二段712之间可以通过定位销定位，并通过螺栓连接，由此，可以保证货架300与移动底盘200对接位置的准确性，并且可以保证二者之间的连接强度。
在一种实施方式中，继续参照图7所示，第一段711与第二段712之间连接有中间段713，其中，第二段712的上表面在竖直方向上位于第一段711的上表面的上方，中间段713被构造为三角形支架。优选地，第二段712被构造为直角三角形结构，其中，第二段712的形成斜角边的部分连接于第一段711和第二段712之间，且第二段712的一条直角边支撑于后段底盘202的上表面。由此，可以提高纵向连杆71与移动底盘200的接触面积，减小货架300对纵向连杆71的压强，从而提高纵向连杆71的结构强度。
进一步地，第一段711的长度小于第二段712的长度。由此，一方面可以提高第二段712上的安装平面712a的面积，从而使货架300的安装更加稳定；另一方面，在前端底盘相对后段底盘202发生转动时，可以减小第二段712相对后段底盘202倾斜的角度，从而进一步提高货架300的稳定性。
在一种实施方式中，如图7所示，移动底板还包括驱动装置90，驱动装置90包括驱动电机91和驱动轮92，驱动电机91的输出端与驱动轮92传动连接，电机和驱动轮92均安装于后段底盘202。
在一个示例中，驱动轮92为两个且在移动底盘200的宽度方向上间隔设置，驱动电机91用于驱动两个驱动轮92独立运转。其中，驱动电机91与搬运机器人1000的控制器电通讯，通过控制驱动电机91驱动两个驱动轮92以相同或不同的转速或方向运转，可以控制移动底盘200沿直线方向行驶或转向。进一步地，移动底盘200还包括转向轮，其中，转向轮可以 为万向轮。
此外，上述实施例的搬运机器人1000的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特 征“之下”、“下方”和“下面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (20)

  1. 一种伸缩装置，其特征在于，包括：
    载货底板；
    伸缩臂组件，所述伸缩臂组件至少为两个且在所述载货底板的宽度方向上相对设置，每个所述伸缩臂组件包括固定臂和第一滑动臂，所述固定臂安装于所述载货底板，所述第一滑动臂可滑动地设置于所述固定臂的内侧；
    驱动机构，用于驱动所述第一滑动臂相对所述固定臂沿所述载货底板的长度方向滑动。
  2. 根据权利要求1所述的伸缩装置，其特征在于，所述驱动机构包括与两个所述伸缩臂组件对应设置的两个带轮组件，所述带轮组件包括轮组件和同步带，所述同步带套设于所述轮组件；
    所述第一滑动臂的下表面设有齿条，所述同步带的外表面与所述齿条传动连接。
  3. 根据权利要求2所述的伸缩装置，其特征在于，所述同步带的内表面和外表面均设有多个同步齿，所述同步带的内表面上的多个所述同步齿与所述轮组件传动配合，所述同步带的外表面上的多个所述同步齿与所述齿条传动配合。
  4. 根据权利要求2所述的伸缩装置，其特征在于，所述驱动机构还包括驱动电机，所述驱动电机用于驱动两个所述轮组件的主动轮同步运转。
  5. 根据权利要求4所述的伸缩装置，其特征在于，所述轮组件包括所述主动轮、至少一个从动轮和多个张紧轮，所述从动轮在所述同步带的传动下运转，多个所述张紧轮间隔布置，以将所述同步带张紧。
  6. 根据权利要求1-5任一项所述的伸缩装置，其特征在于，所述伸缩臂组件还包括：
    第二滑动臂，所述第二滑动臂可滑动地配合于所述第一滑动臂的内侧；
    传动机构，所述传动机构用于在所述第一滑动臂相对所述固定臂滑动的过程中，带动所述第二滑动臂相对所述第一滑动臂滑动，且所述第二滑动臂相对所述第一滑动臂滑动的方向与所述第一滑动臂相对所述固定臂滑动的方向相同。
  7. 根据权利要求6所述的伸缩装置，其特征在于，所述传动机构包括至少一组滑轮和滑索，所述滑索与所述滑轮滑动配合，所述滑轮可转动地设于第一滑动臂，所述滑索的两端位于所述滑轮的同一侧，且所述滑索的一端固定于所述固定臂，所述滑索的另一端固定于所述第二滑动臂。
  8. 根据权利要求7所述的伸缩装置，其特征在于，所述传动机构包括两组所述滑轮和所述滑索，两个所述滑索的开口方向在所述载货底板的长度方向上相对设置，两个所述滑轮在所述载货底板的长度方向上间隔设置。
  9. 根据权利要求6所述的伸缩装置，其特征在于，所述第二滑动臂的长度方向的两端分别设有拨动组件，所述拨动组件包括挡臂和拨料电机，所述挡臂包括第一直臂和第二直臂，所述第一直臂沿所述第二滑动臂的长度方向设置，所述第二直臂与所述第一直臂具有夹角，其中，所述拨料电机的输出端与所述第一直臂传动连接。
  10. 根据权利要求1-5任一项所述的伸缩装置，其特征在于，还包括：
    安装底板，所述安装底板设于所述载货底板的下方；
    转动装置，所述转动装置设于所述安装底板和所述载货底板之间，用于驱动所述载货底板相对所述安装底板转动。
  11. 一种搬运机器人，其特征在于，包括：
    移动底盘；
    货架，安装于所述移动底盘，所述货架具有沿竖直方向间隔设置的多个托盘，所述货架设有升降装置；
    根据权利要求1-10任一项所述的伸缩装置，所述伸缩装置安装于所述升降装置，所述升降装置用于带动所述伸缩装置在竖直方向上升降。
  12. 根据权利要求11所述的搬运机器人，其特征在于，所述移动底盘包括前段底盘、后段底盘和连杆组件，所述前段底盘与所述后段底盘铰接，所述连杆组件包括在所述移动底盘的宽度方向上相对设置的两个纵向连杆，所述纵向连杆的第一端与所述前段底盘铰接，所述纵向连杆的第二端与所述后段底盘铰接，所述货架安装于两个所述纵向连杆。
  13. 根据权利要求12所述的搬运机器人，其特征在于，所述连杆组件还包括：
    横向连杆，所述横向连杆沿所述移动底盘的宽度方向固定于所述前段底盘，两个所述纵向连杆的第一端分别与所述横向连杆的两端铰接。
  14. 根据权利要求13所述的搬运机器人，其特征在于，所述前段底盘与所述后段底盘通过铰链连接，所述铰链包括第一铰接部和第二铰接部，所述第一铰接部固定于所述前段底盘，所述第二铰接部固定于所述后段底盘。
  15. 根据权利要求14所述的搬运机器人，其特征在于，所述铰链为两个且沿所述移动底盘的宽度方向相对设置，所述铰链的第一铰接部设有固定槽，所述纵向连杆安装于所述固定槽内。
  16. 根据权利要求12所述的搬运机器人，其特征在于，所述连杆组件还包括：
    转动臂，所述转动臂为与两个所述纵向连杆对应设置的两个，所述转动臂的一端与对应的纵向连杆的第二端铰接，所述转动臂的另一端与所述后段底盘铰接。
  17. 根据权利要求12-16任一项所述的搬运机器人，其特征在于，每个所述纵向连杆包括相连的第一段和第二段，所述第一端形成于所述第一段的端部，所述第二端形成于所述第二段的端部，其中，所述第二段的上表面被构造为安装平面，用于安装所述货架。
  18. 根据权利要求17所述的搬运机器人，其特征在于，所述第一段与 所述第二段之间连接有中间段，其中，所述第二段的上表面在竖直方向上位于所述第一段的上表面的上方，所述中间段被构造为三角形支架。
  19. 根据权利要求17所述的搬运机器人，其特征在于，所述第一段的长度小于所述第二段的长度。
  20. 根据权利要求12-19任一项所述的搬运机器人，其特征在于，所述移动底板还包括驱动装置，所述驱动装置包括驱动电机和驱动轮，所述驱动电机的输出端与所述驱动轮传动连接，所述电机和所述驱动轮均安装于所述后段底盘。
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