A transport robot

Abstract

The present application relates to a kind of handling robot, including robot main body;Mobile main body, it is located at the bottom of robot main body;Handling device, including being located on the first handling component of robot main body and being located on the second handling component of first handling component;First handling component includes the first height adjustment unit being located on the robot main body and the first transmission unit being located on the first height adjustment unit;The first transmission unit is used to interface with external equipment to transmit material;Second handling component includes the second height adjustment unit being located on the first height adjustment unit and the second transmission unit being located on the second height adjustment unit.The present application can promote the integrated degree of handling transfer structure, so as to be able to cope with different production line corresponding different structure form and performance parameter material or product handling demand, reduce the variety of internal robot, avoid the problem of robot inadaptation caused by product / production line update and upgrade and other factors, reduce resource waste.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, and in particular to a material handling robot. Background Technology

[0002] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, automated guided vehicles, or laser-guided vehicles, refer to transport vehicles equipped with electromagnetic or optical automatic navigation devices. They are capable of traveling along a predetermined navigation path and possess safety protection and various transfer functions. Material handling robots are used to connect to automated production lines in production workshops to transfer products or product carriers (boxes, trays, magazines, bakelite trays, and other flat-bottomed or similar carriers), referred to as material handling robots in this article. They interface with automated production lines to realize material transfer between upstream and downstream production lines. To improve the automation level of material handling robots, existing robots are equipped with roller conveyors, lifting mechanisms, etc., to interface with production line equipment, enabling automatic material handling from the production line to the robot and transferring materials from the robot to the next process.

[0003] However, regardless of whether roller conveyor, lifting, or other methods are used, the material handling and feeding methods are all limited. With the development of industrial automation, the iteration of product processes, and the diversification of product demands, the requirements for the complexity and non-standardization of production line structures are increasing, and the methods of loading and unloading are also becoming more diverse. Different production lines correspond to robots with different structural forms and performance parameters, inevitably resulting in a wide variety of robots in the workshop. Moreover, after product updates and upgrades, robots may become unsuitable for continued use, leading to resource waste. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a handling robot that can improve the integration of the handling and transfer structure, thereby being able to cope with the material or product handling needs of different production lines with different structural forms and performance parameters, reduce the variety of internal robots, avoid robot incompatibility problems caused by product / production line updates and upgrades, and reduce resource waste.

[0005] To solve the above-mentioned technical problems, the present invention provides a handling robot, comprising:

[0006] Robot body;

[0007] A mobile main body is located at the bottom of the robot body, and the mobile main body is used to drive the robot body to move;

[0008] A handling device includes a first handling component mounted on a robot body and a second handling component mounted on the first handling component; the first handling component includes a first height adjustment unit mounted on the robot body and a first transmission unit mounted on the first height adjustment unit; the first transmission unit is used to interface with an external device to transfer materials; the second handling component includes a second height adjustment unit mounted on the first height adjustment unit and a second transmission unit mounted on the second height adjustment unit; the first height adjustment unit is configured to adjust the height of the first transmission unit and the second handling component; the second height adjustment unit is configured to adjust the height of the second transmission unit so that the second transmission unit lifts and transfers materials.

[0009] In one embodiment of the present invention, the first transmission unit includes a first adjustment mechanism disposed on the first height adjustment unit, and two first transmission mechanisms disposed opposite to the first adjustment mechanism; the first adjustment mechanism is configured to horizontally adjust the distance between the two first transmission mechanisms; the first transmission mechanism is configured to horizontally transfer material thereon; the adjustment direction of the first adjustment mechanism is perpendicular to the transmission direction of the first transmission mechanism.

[0010] In one embodiment of the present invention, the first transmission mechanism includes a first bracket disposed on a first adjustment mechanism, a first driving member disposed on the outside of the first bracket, a first driving wheel connected to the output end of the first driving member, two first driven wheels disposed at both ends of the first bracket along the length direction of the first bracket, two first tensioning wheels connected to the first bracket, and a first synchronous belt adapted to the first driving wheel and the first driven wheels; the first driven wheel, the first tensioning wheel, and the first driving wheel are all located inside the first driving member and form a gradient from top to bottom; the inner side of the first synchronous belt is sequentially wound around the first driving wheel and the two first driven wheels; the outer side of the first synchronous belt is sequentially wound around the two first tensioning wheels.

[0011] In one embodiment of the present invention, the first adjustment mechanism includes a first slide rail horizontally disposed on a first height adjustment unit, at least one set of first sliders slidably disposed on the first slide rail, a second driving wheel and a second driven wheel disposed at both ends of the first height adjustment unit along the length direction of the first slide rail, a second synchronous belt wound around the second driving wheel and the second driven wheel, at least one first clamping plate connected to the second synchronous belt, and a second driving member disposed on the first height adjustment unit; the length direction of the first slide rail is perpendicular to the transmission direction of the first transmission mechanism; the first slider is mounted on the bottom of the first transmission mechanism; the end of the first clamping plate away from the second synchronous belt is connected to the first transmission mechanism mounted on the first slider; the second driving member is connected to the second driving wheel to drive the second driving wheel to rotate.

[0012] In one embodiment of the present invention, the first adjustment mechanism includes two sets of first sliders and two first clamping plates; the two sets of first sliders are respectively installed at the bottom of the two first transmission mechanisms; the top ends of the two first clamping plates are respectively connected to the two first transmission mechanisms, and the bottom ends of the two first clamping plates are respectively connected to the two opposite sides of the second synchronous belt.

[0013] In one embodiment of the present invention, the second transport component is disposed between two first transport mechanisms; the transport direction of the second transport unit is parallel to the transport direction of the first transport mechanism.

[0014] In one embodiment of the present invention, the second transmission unit includes a translation base plate disposed on the second height adjustment unit, a translation slide rail disposed along the length direction of the translation base plate, and a translation support plate disposed parallel above the translation base plate and capable of horizontally moving along the length direction of the translation base plate; one end of the translation support plate is provided with a translation slider that slides in cooperation with the translation slide rail, and the other end of the translation support plate is a cantilever end; a roller support is provided at one end of the translation base plate near the cantilever end of the translation support plate; a supporting roller is provided on the roller support; and the supporting roller makes rolling contact with the bottom of the translation support plate.

[0015] In one embodiment of the present invention, the second transmission unit further includes a driving component for driving the translation pallet to move. The driving component includes a third driving wheel and a third driven wheel disposed at both ends of the translation base plate, a third synchronous belt wound around the third driving wheel and the third driven wheel, a second clamping plate whose two ends are respectively connected to the third synchronous belt and the translation pallet, and a third driving member disposed on the translation base plate at one end away from the roller support. The output end of the third driving member is connected to the third driving wheel.

[0016] In one embodiment of the present invention, the second height adjustment unit includes a second base plate disposed on the first height adjustment unit, a second top plate disposed parallel above the second base plate, a scissor mechanism disposed between the second base plate and the second top plate, and a first lead screw mechanism disposed on the second base plate; the first lead screw mechanism is connected to the scissor mechanism and drives the scissor mechanism to open and close so that the second top plate moves in the height direction; the second transmission unit is disposed on the second top plate.

[0017] In one embodiment of the present invention, the first lead screw mechanism includes a first lead screw arranged along the length direction of the second base plate, a fourth driving member disposed on the second base plate and connected to one end of the first lead screw, and a first lead screw nut threadedly engaged with the first lead screw; the length direction of the second base plate is parallel to the length direction of the translation base plate; the fourth driving member is disposed on the end of the second base plate away from the roller support; the first lead screw nut is hinged to the scissor mechanism, and the opening and closing of the scissor mechanism is realized by the horizontal movement of the first lead screw nut.

[0018] The technical solution of the present invention has the following advantages compared with the prior art:

[0019] This invention discloses a handling robot comprising a robot body, a moving body, and a handling device. A first height adjustment unit enables height adjustment of both a first and second transmission unit, adapting to the docking requirements of devices of varying heights. The first and second transmission units further adapt to different docking devices. If the docking device has its own transmission mechanism, the first transmission unit can directly dock with the device to transfer materials; if the docking device lacks a transmission mechanism, the second transmission unit can reach deeper into the docking device to transfer materials, thus expanding the robot's operational capabilities. The spacing between the two first transmission mechanisms of the first transmission unit is adjustable, further adapting to the handling needs of materials of different sizes and ensuring stability and safety during material handling or transfer. Simultaneously, when using the second transmission unit for material handling, the first transmission mechanism can adjust and clamp the material's position, preventing it from falling off the second transmission unit, further enhancing the stability and safety of material handling or transfer. This invention can improve the integration of the material handling and transfer structure, thereby meeting the material or product handling needs of different production lines with different structural forms and performance parameters, reducing the variety of internal robots, avoiding robot incompatibility problems caused by product / production line updates and upgrades, and reducing resource waste. Attached Figure Description

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0021] Figure 1 This is a schematic diagram of the overall structure of the handling robot of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall structure of the first handling component of the handling robot of the present invention.

[0023] Figure 3 This is a first-view structural diagram of the first transmission unit of the handling robot of the present invention.

[0024] Figure 4 This is a schematic diagram of the second perspective structure of the first transmission unit of the handling robot of the present invention.

[0025] Figure 5 This is a third-view structural diagram of the first transmission unit of the handling robot of the present invention.

[0026] Figure 6 This is a schematic diagram of the second handling component of the handling robot of the present invention.

[0027] Figure 7 This is a schematic diagram of the second handling component of the handling robot of the present invention.

[0028] Explanation of reference numerals in the accompanying drawings: 1. Robot body; 10. Base plate body; 11. First frame; 110. Fourth slide rail; 12. Second frame; 2. Moving body; 3. First handling component; 310. First support; 312. First drive component; 313. First drive wheel; 314. First driven wheel; 315. First tension wheel; 316. First synchronous belt; 320. First slide rail; 321. First slider; 322. Second drive wheel; 323. Second driven wheel; 324. Second synchronous belt; 325. First clamping plate; 326. Second drive component; 330. Second lead screw; 331. Second lead screw nut; 332. First motor; 333. First drive wheel; 334. First driven wheel; 335. First synchronous belt; 336. First base plate. 337. First side plate; 338. Fourth slider; 4. Second conveying assembly; 41. Second height adjustment unit; 410. Second base plate; 411. Second top plate; 412. First lead screw; 413. Fourth drive component; 414. First lead screw nut; 415. First scissor arm; 416. Second scissor arm; 417. Second slide rail; 418. Second slider; 419. Third slide rail; 4190. Third slider; 42. Second transmission unit; 420. Translation base plate; 421. Translation slide rail; 422. Translation support plate; 423. Translation slider; 424. Roller support; 425. Support roller; 426. Third drive wheel; 427. Third driven wheel; 428. Third synchronous belt; 429. Second clamping plate; 430. Third drive component. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0030] Reference Figures 1 to 7 As shown, the present invention discloses a transport robot, including a robot body 1, a mobile body 2, and a transport device.

[0031] The robot body 1 includes a base plate 10 and a first frame 11 and a second frame 12 disposed on the base plate 10. In order to facilitate the support of other structures and save space, the first frame 11 and the second frame 12 are portal-shaped structures.

[0032] Furthermore, the first frame 11 and the second frame 12 are covered with a shell structure. Even further, the first frame 11 includes a first vertical support and a first horizontal support. The second frame 12 includes a second vertical support and a second horizontal support. The first vertical support, the first horizontal support, the second vertical support, and the second horizontal support can be made of profiles or plates.

[0033] The mobile unit 2 is located at the bottom of the robot body 1 and is used to move the robot body 1. The mobile unit 2 includes, but is not limited to, AGVs, AMR guided vehicles, or other transportation equipment.

[0034] The transport device includes a first transport component 3 disposed on the robot body 1 and a second transport component 4 disposed on the first transport component 3.

[0035] Specifically, the first handling component 3 includes a first height adjustment unit disposed on the robot body 1 and a first transmission unit disposed on the first height adjustment unit. The first transmission unit is used to interface with external equipment to transfer materials.

[0036] Furthermore, the first transmission unit includes a first adjustment mechanism disposed on the first height adjustment unit, and two first transmission mechanisms disposed opposite to the first adjustment mechanism. Specifically, the first adjustment mechanism is configured to horizontally adjust the distance between the two first transmission mechanisms. The first transmission mechanisms are configured to horizontally transfer material on them. It should be noted that the adjustment direction of the first adjustment mechanism is perpendicular to the transmission direction of the first transmission mechanism.

[0037] In detail, the first transmission mechanism includes a first bracket 310 mounted on a first adjustment mechanism, a first drive member 312 located outside the first bracket 310, a first drive wheel 313 connected to the output end of the first drive member 312, two first driven wheels 314 located at both ends of the first bracket 310 along its length, two first tension wheels 315 connected to the first bracket 310, and a first synchronous belt 316 adapted to the first drive wheel 313 and the first driven wheels 314. The first bracket 310 is provided with a guide side plate to guide materials during material transfer. The first driven wheels 314, the first tension wheels 315, and the first drive wheel 313 are all located inside the first drive member 312 and form a gradient from top to bottom. Specifically, the first driving pulley 313 is positioned between the two first driven pulleys 314, and its position is lower than that of the two first driven pulleys 314. Two first tensioning pulleys 315 are symmetrically positioned on either side of the first driving pulley 313 and are higher than it. The inner side of the first synchronous belt is sequentially wound around the first driving pulley 313 and the two first driven pulleys 314. The outer side of the first synchronous belt 316 is sequentially wound around the two first tensioning pulleys 315. This arrangement ensures that the two sides of the first synchronous belt 316 have relatively uniform tension. It should be noted that the transmission direction of the first synchronous belt 316 is perpendicular to the adjustment direction of the first adjusting mechanism. Furthermore, the first driving component 312 includes, but is not limited to, a drive motor, such as a servo motor, or a motor connected to a reducer. Additionally, the outer side of the first bracket 310 mentioned above refers to the sides of the two first brackets 310 that are facing away from each other. The inner side of the first bracket 310 refers to the sides of the two first brackets 310 that are opposite each other.

[0038] Furthermore, the first adjustment mechanism includes a first slide rail 320 horizontally mounted on the first height adjustment unit, at least one set of first sliders 321 slidably mounted on the first slide rail 320, a second driving wheel 322 and a second driven wheel 323 disposed at both ends of the first height adjustment unit along the length of the first slide rail 320, a second synchronous belt 324 wound around the second driving wheel 322 and the second driven wheel 323, at least one first clamping plate 325 connected to the second synchronous belt 324, and a second driving member 326 mounted on the first height adjustment unit. The second driving member 326 may also be a drive motor similar to the first driving member.

[0039] The length direction of the first slide rail 320 is perpendicular to the transmission direction of the first transmission mechanism; specifically, the length direction of the first slide rail 320 is perpendicular to the transmission direction of the first synchronous belt 316. The first slider 321 is mounted on the bottom of the first transmission mechanism. Specifically, the first slider 321 is fixed to the bottom of the first bracket 310. The end of the first clamping plate 325 away from the second synchronous belt 324 is connected to the first transmission mechanism mounted on the first slider 321. The second driving member 326 is connected to the second driving wheel 322 to drive the second driving wheel 322 to rotate.

[0040] In a preferred embodiment, the first adjustment mechanism includes two sets of first sliders 321 and two first clamping plates 325. Specifically, the two sets of first sliders 321 are respectively mounted on the bottom of the two first transmission mechanisms. Correspondingly, two parallel first slide rails 320 are also configured on the first height adjustment unit. Each set of first sliders 321 consists of two pieces, which are respectively positioned on the two first slide rails 320. The top ends of the two first clamping plates 325 are respectively connected to the two first transmission mechanisms, and the bottom ends of the two first clamping plates 325 are respectively connected to the two opposite sides of the second synchronous belt 324.

[0041] In a preferred embodiment, the first clamping plate 325 includes a fixing plate and a connecting plate, with the connecting plate vertically connected to one end of the fixing plate. The fixing plate is mounted on the second synchronous belt 324, and the connecting plate is mounted on the first bracket 310.

[0042] Furthermore, the second conveying assembly 4 includes a second height adjustment unit 41 disposed on the first height adjustment unit and a second transmission unit 42 disposed on the second height adjustment unit 41. The first height adjustment unit enables height adjustment of the first transmission unit and the second conveying assembly 4. The second height adjustment unit 41 is configured to adjust the height of the second transmission unit 42 so that the second transmission unit 42 can lift and transfer materials.

[0043] Furthermore, the second transport assembly 4 is disposed between the two first transport mechanisms. Also, the transport direction of the second transport unit 42 is parallel to the transport direction of the first transport mechanism.

[0044] In detail, the second transmission unit 42 includes a translation base plate 420 mounted on the second height adjustment unit 41, a translation slide rail 421 mounted on the translation base plate 420 along its length, and a translation support plate 422 mounted parallel above the translation base plate 420 and capable of horizontal movement along its length. One end of the translation support plate 422 has a translation slider 423 that slides with the translation slide rail 421, and the other end of the translation support plate 422 is a cantilever end. A roller support 424 is provided at the end of the translation base plate 420 near the cantilever end of the translation support plate 422. A supporting roller 425 is provided on the roller support 424; the supporting roller 425 makes rolling contact with the bottom of the translation support plate 422. The translation structure, which supports the roller 425 and the translation slider 423, effectively ensures the support and movement performance of the translation tray 422, and also further enhances the horizontal extension stroke of the translation tray 422.

[0045] In a preferred embodiment, the second transmission unit further includes a drive assembly for moving the translation pallet 422. Specifically, the drive assembly includes a third driving wheel 426 and a third driven wheel 427 respectively disposed at both ends of the translation base plate 420, a third synchronous belt 428 wound around the third driving wheel 426 and the third driven wheel 427, a second clamping plate 429 connected at both ends to the third synchronous belt and the translation pallet 422 respectively, and a third drive member 430 disposed on the translation base plate 420 at the end away from the roller support 424. The third driving wheel 426 and the third driven wheel 427 are disposed opposite each other at both ends of the translation base plate 420. The output end of the third drive member 430 is connected to the third driving wheel 426 for driving the third driving wheel 426.

[0046] It should be noted that in the second transmission unit, for the sake of a more balanced overall structure, the third drive member 430 is positioned at the end away from the roller support 424. With this arrangement, when the translation pallet 422 extends outward, the third drive member 430, located in the opposite direction of its movement, can play a balancing role, thereby preventing excessive weight on one end of the second transmission unit, which could lead to tipping and damage to the equipment.

[0047] Furthermore, the second height adjustment unit 41 includes a second base plate 410 disposed on the first height adjustment unit, a second top plate 411 disposed parallel above the second base plate 410, a scissor mechanism disposed between the second base plate 410 and the second top plate 411, and a first lead screw mechanism disposed on the second base plate 410. The first lead screw mechanism is connected to the scissor mechanism and drives the scissor mechanism to open and close, thereby causing the second top plate 411 to move along the height direction. The length direction of the second base plate 410 is parallel to the length direction of the translation base plate 420. The second transmission unit is disposed on the second top plate 411. Specifically, the translation base plate 420 is connected to the second top plate 411 and located above the second top plate 411.

[0048] In a preferred embodiment, the first lead screw mechanism includes a first lead screw 412 arranged along the length of the second base plate 410, a fourth drive member 413 disposed on the second base plate 410 and connected to one end of the first lead screw 412, and a first lead screw nut 414 threadedly engaged with the first lead screw 412. The first lead screw 412 of the first lead screw mechanism is supported by multiple T-shaped supports disposed on the second base plate 410. The first lead screw is horizontally arranged and rotatably connected to the T-shaped supports.

[0049] To ensure the overall stability of the second conveying assembly 4, the fourth drive member 413 is positioned on the second base plate 410 at the end away from the roller support 424. This ensures the balance of the second conveying unit 42 when lifting and moving heavier materials. Specifically, the first lead screw nut 414 is hinged to the scissor mechanism, and the horizontal movement of the first lead screw nut 414 enables the opening and closing of the scissor mechanism. In this embodiment, the third and fourth drive members are motors or motors connected to reducers.

[0050] In a preferred embodiment, the scissor lift mechanism includes a first scissor arm 415 and a second scissor arm 416 hinged to each other. One end of the first scissor arm 415 is slidably connected to the second base plate 410, and the other end is hinged to the second top plate 411. One end of the second scissor arm 416 is hinged to the second base plate 410, and the other end is slidably connected to the second top plate 411.

[0051] In detail, the second base plate 410 is provided with a second slide rail 417. A second slider 418 is slidably connected to the second slide rail 417. The first scissor arm 415 is connected to the second slider 418. The second top plate 411 is provided with a third slide rail 419. A third slider 4190 is slidably connected to the third slide rail 4190. The second scissor arm 416 is connected to the third slider 4190. The second slide rail 417 and the third slide rail 419 are parallel.

[0052] The first height adjustment unit includes a second lead screw mechanism arranged along the height direction of the robot 1 and a fifth driving component for driving the second lead screw mechanism. The second lead screw mechanism includes a second lead screw 330 disposed on the first frame 11 and a second lead screw nut 331 connected to the second lead screw 330. The second lead screw 330 is arranged along the height direction of the robot body 1, with one end mounted on the base plate body 10 and the other end assembled to the first transverse support. To ensure sufficient mounting space for the first frame 11, in this embodiment, the first transverse support adopts a plate structure. To further improve the support stability of the first transverse support, the first vertical support adopts a trapezoidal plate structure that is narrower at the top and wider at the bottom.

[0053] In a preferred embodiment, the fifth driving component includes a first motor 332, a first driving pulley 333, a first driven pulley 334, and a first synchronous belt 335, all mounted on the first transverse support. The first synchronous belt 335 has the first driving pulley 333 and the first driven pulley 334 wound around its inner side. The first motor 332 is fixed to the first transverse support, and its output end is connected to the first driving pulley 333, providing power to the first driving pulley 333. The first driven pulley 334 is coaxially connected to a second lead screw 330, thereby driving the second lead screw 330 to rotate.

[0054] Specifically, the first height adjustment unit also includes a first base plate 336 and a first side plate 337. A first transmission mechanism is disposed above the first base plate 336; specifically, a first slide rail 320 is horizontally fixed to the first base plate 336. The first side plate 337 is vertically disposed at the end of the first base plate 336 and is connected to the first lead screw nut 112. Additionally, a second drive member 326 is mounted on the first base plate 336. The output end of the second drive member 326 passes through the first base plate 336 and is connected to the second drive wheel 322. The second driven wheel 323 is rotatably connected to the first base plate 336. The second drive wheel 322 and the second driven wheel 323 are disposed at both ends of the first base plate along the length of the first slide rail. Furthermore, it should be noted that the first drive wheel 313, the first driven wheel 314, the second drive wheel 422, the second driven wheel 323, the third drive wheel 426, and the third driven wheel 427 can all be synchronous pulleys. Of course, the second driving pulley 422, the second driven pulley 323, the third driving pulley 426, and the third driven pulley 427 can also be sprockets, and the corresponding second synchronous belt 324 and third synchronous belt 428 should be selected with matching chain structures.

[0055] In a preferred embodiment, a fourth slider 338 is fixedly provided on the first side plate 337. The fourth slider 338 is provided with a groove extending in the same direction as the height direction of the first side plate 337, and a fourth slide rail 110 that cooperates with the fourth slider 338 is provided on the first frame 11 along the height direction, so that the first side plate 337 can reciprocate along the height direction of the first frame 11 (the extension direction of the fourth slide rail 110) under the drive of the second lead screw nut 331.

[0056] In summary, the handling robot provided by this invention includes a robot body, a mobile body, and a handling device. The handling device includes a first handling component and a second handling component. The first handling component includes a first height adjustment unit and a first transmission unit. The second handling component includes a second height adjustment unit and a second transmission unit. The first height adjustment unit enables height adjustment of the first and second transmission units, thereby adapting to the docking requirements of devices of different heights. The first and second transmission units further adapt to different docking devices. For example, when the docking device has its own transmission mechanism, the first transmission unit can directly dock with the device to transfer materials. When the docking device does not have a transmission mechanism, the second transmission unit can reach deeper into the docking device to transfer materials, thereby further expanding the working scenarios of the handling robot of this invention. Furthermore, the spacing between the two first transmission mechanisms of the first transmission unit is adjustable, further adapting to the handling needs of materials of different sizes and ensuring stability and safety during material handling or transfer. Simultaneously, when using the second transmission unit for material handling, the first transmission mechanism can adjust and clamp the position of the material, preventing the material from falling off the second transmission unit, further improving the stability and safety of the second transmission unit during material handling or transfer.

[0057] Compared with existing technologies, this invention can improve the integration of the handling and transfer structure, thereby meeting the material or product handling needs of different production lines with different structural forms and performance parameters, reducing the variety of internal robots, avoiding robot incompatibility problems caused by product / production line updates and upgrades, and reducing resource waste.

[0058] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0059] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A transport robot, characterized in that, The utility model relates to a robot for material transfer, comprising: a robot body; a moving body arranged at the bottom of the robot body, which is used to drive the robot body to move; a carrying device comprising a first carrying assembly arranged on the robot body and a second carrying assembly arranged on the first carrying assembly; the first carrying assembly comprises a first height adjusting unit arranged on the robot body and a first transmission unit arranged on the first height adjusting unit; the first transmission unit is used to interface with external equipment to transfer materials; the second carrying assembly comprises a second height adjusting unit arranged on the first height adjusting unit and a second transmission unit arranged on the second height adjusting unit; the first height adjusting unit is arranged to adjust the height of the first transmission unit and the second carrying assembly; the second height adjusting unit is arranged to adjust the height of the second transmission unit so as to lift and transfer materials by the second transmission unit; the first transmission unit comprises a first adjusting mechanism arranged on the first height adjusting unit and two first transmission mechanisms arranged oppositely on the first adjusting mechanism; the first adjusting mechanism is arranged to horizontally adjust the distance between the two first transmission mechanisms; the first transmission mechanism is arranged to horizontally transfer materials thereon; the adjusting direction of the first adjusting mechanism is perpendicular to the transmission direction of the first transmission mechanism; the second carrying assembly is arranged between the two first transmission mechanisms; the transmission direction of the second transmission unit is parallel to the transmission direction of the first transmission mechanism; the second transmission unit comprises a translation base plate arranged on the second height adjusting unit, a translation slide rail arranged on the translation base plate along the length direction of the translation base plate, and a translation supporting plate arranged parallel above the translation base plate and horizontally movable along the length direction of the translation base plate; one end of the translation supporting plate is provided with a translation slide block in sliding cooperation with the translation slide rail, and the other end of the translation supporting plate is a cantilever end; the translation base plate is provided with a roller support near one end of the cantilever end of the translation supporting plate; the roller support is provided with a supporting roller; the supporting roller is in rolling contact with the bottom of the translation supporting plate; the second transmission unit further comprises a driving assembly for driving the translation supporting plate to move, which comprises a third driving wheel and a third driven wheel arranged at both ends of the translation base plate, a third synchronous belt wound around the third driving wheel and the third driven wheel, a second clamping plate connected with the third synchronous belt and the translation supporting plate at both ends respectively, and a third driving member arranged on the translation base plate away from the roller support; the output end of the third driving member is connected with the third driving wheel; when the second transmission unit is used to carry materials, the first transmission mechanism can be used to adjust the position of the materials and clamp the materials, so as to avoid the materials from falling off the second transmission unit.

2. The transport robot of claim 1, wherein, The first transmission mechanism comprises a first support arranged on the first adjusting mechanism, a first driving member arranged outside the first support, a first driving wheel connected with the output end of the first driving member, two first driven wheels arranged at both ends of the first support along the length direction of the first support, two first tensioning wheels connected with the first support, and a first synchronous belt matched with the first driving wheel and the first driven wheels; the first driven wheels, the first tensioning wheels, and the first driving wheel are all located inside the first driving member and form a gradient from top to bottom; the inside of the first synchronous belt is wound on the first driving wheel and the two first driven wheels in sequence; the outside of the first synchronous belt is wound on the two first tensioning wheels in sequence.

3. The transport robot of claim 1, wherein, The first adjusting mechanism comprises a first sliding rail horizontally arranged on the first height adjusting unit, at least one group of first sliding blocks slidingly arranged on the first sliding rail, a second driving wheel and a second driven wheel arranged at both ends of the first height adjusting unit along the length direction of the first sliding rail, a second synchronous belt wound on the second driving wheel and the second driven wheel, at least one first clamping plate connected with the second synchronous belt, and a second driving member arranged on the first height adjusting unit; the length direction of the first sliding rail is perpendicular to the transmission direction of the first transmission mechanism; the first sliding blocks are mounted on the bottom of the first transmission mechanism; the end of the first clamping plate away from the second synchronous belt is connected with the first transmission mechanism mounted on the first sliding block; the second driving member is connected with the second driving wheel to drive the second driving wheel to rotate.

4. The transport robot according to claim 3, characterized in that The first adjusting mechanism comprises two groups of first sliding blocks and two first clamping plates; the two groups of first sliding blocks are respectively mounted on the bottom of the two first transmission mechanisms; the top ends of the two first clamping plates are respectively connected with the two first transmission mechanisms, and the bottom ends of the two first clamping plates are respectively connected with the two opposite sides of the second synchronous belt.

5. The transport robot of claim 1, wherein, The second height adjusting unit comprises a second bottom plate arranged on the first height adjusting unit, a second top plate arranged parallel above the second bottom plate, a scissor mechanism arranged between the second bottom plate and the second top plate, and a first lead screw mechanism arranged on the second bottom plate; the first lead screw mechanism is connected with the scissor mechanism and drives the scissor mechanism to open and close to make the second top plate move along the height direction; the second transmission unit is arranged on the second top plate.

6. The transport robot of claim 5, wherein, The first lead screw mechanism comprises a first lead screw arranged along the length direction of the second bottom plate, a fourth driving member arranged on the second bottom plate and connected with one end of the first lead screw, and a first lead screw nut threadedly matched with the first lead screw; the length direction of the second bottom plate is parallel to the length direction of the translation bottom plate; the fourth driving member is arranged on the second bottom plate at the end away from the roller support; the first lead screw nut is hingedly connected with the scissor mechanism and realizes the opening and closing of the scissor mechanism through the horizontal movement of the first lead screw nut.

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