Carrying device

Abstract

The invention relates to the technical field of logistics carrying, and discloses a carrying device which comprises a universal moving platform, a supporting assembly, a first driving mechanism, a second driving mechanism and a grabbing mechanism, the supporting assembly is rotatably arranged on the universal moving platform, the first driving mechanism is arranged on the supporting assembly, and the second driving mechanism is connected with the first driving mechanism; the first driving mechanism can drive the second driving mechanism to move in the first direction, the grabbing mechanism is connected with the second driving mechanism, the second driving mechanism can drive the grabbing mechanism to move in the second direction, and an angle is formed between the second direction and the first direction. According to the carrying device, multi-direction movement adjustment and circumferential position adjustment of the grabbing mechanism can be achieved, the whole carrying device can be universally moved or rotated, the overall operation flexibility of the carrying device is improved, and therefore flexible grabbing and long-distance carrying of goods are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics handling, and in particular to a handling device. Background Art

[0002] Logistics handling devices are of great significance in modern logistics. They can be used for cargo handling, palletizing, etc., which greatly reduces labor costs. Logistics handling devices can use six-axis or four-axis robots in conjunction with mechanical grippers to grab and transport cargo to designated locations through the robot's multi-dimensional movements. However, current logistics handling devices are difficult to achieve long-distance handling operations, and operational flexibility needs to be improved. Summary of the invention

[0003] In view of this, the present invention provides a transport device to solve the problem that the existing logistics transport devices are difficult to achieve long-distance transport operations and have poor operational flexibility.

[0004] A first aspect of the present invention provides a transport device, comprising a universal mobile platform, a support assembly, a first drive mechanism, a second drive mechanism and a grasping mechanism, wherein the support assembly is rotatably arranged on the universal mobile platform, the first drive mechanism is arranged on the support assembly, the second drive mechanism is connected to the first drive mechanism, the first drive mechanism can drive the second drive mechanism to move in a first direction, the grasping mechanism is connected to the second drive mechanism, the second drive mechanism can drive the grasping mechanism to move in a second direction, and the second direction is arranged at an angle to the first direction.

[0005] Beneficial effect: The handling device of the present application can be universally moved or rotated as a whole through the universal mobile platform, and the rotation of the supporting assembly relative to the universal mobile platform can drive the first driving mechanism, the second driving mechanism and the grasping mechanism to rotate as a whole, thereby realizing the adjustment of the circumferential position of the grasping mechanism, and the first driving mechanism drives the second driving mechanism to move along the first direction, thereby driving the second driving mechanism and the grasping mechanism to move along the first direction as a whole, thereby realizing the adjustment of the position of the grasping mechanism along the first direction, and the second driving mechanism drives the grasping mechanism to move along the second direction, thereby realizing the adjustment of the position of the grasping mechanism along the second direction. Therefore, the handling device of the present application can not only realize the multi-directional movement adjustment and circumferential position adjustment of the grasping mechanism, but also can perform universal movement or rotation of the handling device as a whole, thereby improving the overall operational flexibility of the handling device, thereby realizing flexible grasping and long-distance handling of goods.

[0006] In some embodiments, the transport device further includes an emergency stop component, and the emergency stop component is used to control the transport device to stop urgently.

[0007] Beneficial effect: The emergency stop component can control the emergency stop of the handling device in case of an emergency, thereby ensuring the safety of the operation of the handling device.

[0008] In some embodiments, the emergency stop component includes a controller and a ranging structure, the ranging structure is communicatively connected to the controller, the ranging structure is arranged on the universal mobile platform, and based on the distance from the universal mobile platform to the wall measured by the ranging structure is less than a preset value, the controller controls the transport device to stop urgently.

[0009] Beneficial effect: When the distance measured by the ranging structure from the universal mobile platform to the wall is less than the preset value, it means that the transport device is close to the wall and there is a risk of hitting the wall. At this time, the controller controls the transport device to stop urgently, thereby ensuring the safe operation of the transport device.

[0010] In some embodiments, the ranging structure includes a first ranging sensor and a second ranging sensor, the first ranging sensor is used to measure the distance from the universal mobile platform to the wall along the x direction, and the second ranging sensor is used to measure the distance from the universal mobile platform to the wall along the y direction, and the x direction and the y direction are perpendicular.

[0011] Beneficial effect: The first ranging sensor can measure the distance from the universal mobile platform to the wall along the x-direction, and the second ranging sensor can measure the distance from the universal mobile platform to the wall along the y-direction. When at least one of the first ranging sensor and the second ranging sensor detects that the distance is less than a preset value, it indicates that the transport device is at risk of colliding with the wall in the x-direction and / or y-direction, and both will trigger the controller to control the transport device to stop urgently.

[0012] In some embodiments, the ranging structure further includes a third ranging sensor, and a position line connecting the third ranging sensor and the first ranging sensor is parallel to the y direction, or a position line connecting the third ranging sensor and the second ranging sensor is parallel to the x direction; based on the transport device being in an initial position, the distance from the universal mobile platform to the wall measured by the third ranging sensor is equal to the data measured by the first ranging sensor or the second ranging sensor.

[0013] Beneficial effect: The third ranging sensor further provided can calibrate the initial position of the transport device. When the distance from the universal mobile platform to the wall measured by the third ranging sensor is equal to the data measured by the first ranging sensor or the second ranging sensor, it indicates that the transport device is in the initial position, and the transport device as a whole is straight and not skewed compared to the wall.

[0014] In some embodiments, the handling device further includes an overload protection structure, which controls the first drive mechanism and / or the second drive mechanism to shut down based on the output torque of the first drive mechanism and / or the second drive mechanism exceeding an installation threshold.

[0015] Beneficial effect: An overload protection structure is further set. When the output torque of the first drive mechanism and / or the second drive mechanism exceeds the installation threshold, it means that the output torque of the first drive mechanism and / or the second drive mechanism exceeds its own maximum value. At this time, the overload protection structure controls the first drive mechanism and / or the second drive mechanism to shut down to avoid continued operation causing damage to the first drive mechanism and / or the second drive mechanism.

[0016] In some embodiments, the universal mobile platform includes a chassis and a universal wheel assembly, the chassis and the support assembly are rotatably connected, three universal wheel assemblies are provided, and the three universal wheel assemblies are arranged at intervals along the circumference of the chassis, and the chassis can be driven to move and rotate along a preset direction through the cooperation of the three universal wheel assemblies; and / or, the first driving mechanism includes a first mounting seat, a first motor and a first transmission assembly, the first mounting seat and the support assembly are fixedly connected, the first motor is arranged on the first mounting seat, the first transmission assembly is arranged on the first mounting seat, and the first transmission assembly is transmission-connected to both the first motor and the second driving mechanism; and / or, the second driving mechanism includes a second mounting seat, a second motor and a second transmission assembly, the second mounting seat and the first driving mechanism are transmission-connected, the second motor and the second transmission assembly are both arranged on the second mounting seat, and the second transmission assembly and the second motor and the grasping mechanism are transmission-connected.

[0017] Beneficial effects: Through the cooperation of the three universal wheel assemblies, the chassis can be driven to move and rotate along the preset direction, thereby driving the supporting assembly, the first driving mechanism, the second driving mechanism and the grasping mechanism as a whole to move or rotate along the preset direction, thereby realizing the overall movement and rotation of the carrying device; when the grasping mechanism needs to move along the first direction, the first motor drives the first transmission assembly to operate, and the first transmission assembly drives the second driving mechanism to move along the first direction, thereby driving the grasping mechanism connected to the second driving mechanism to move along the first direction; when the grasping mechanism needs to move along the second direction, the second motor drives the second transmission assembly to operate, and the second transmission assembly drives the grasping mechanism to move along the second direction.

[0018] In some embodiments, the first transmission assembly includes a first lead screw and a first slide, the first lead screw extends along the first direction, the first lead screw is rotatably disposed on the first mounting seat, the first lead screw is transmission-connected to the first motor, the first slide is threadedly sleeved on the first lead screw, and the first slide is connected to the second driving mechanism; and / or, the second transmission assembly includes a second lead screw and a second slide, the second lead screw extends along the second direction, the second lead screw is rotatably disposed on the second mounting seat, the second lead screw is transmission-connected to the second motor, the second slide is threadedly sleeved on the second lead screw, and the second slide is connected to the grasping mechanism.

[0019] Beneficial effects: The first motor drives the first screw to rotate, driving the first slide to move along the axial direction of the first screw (consistent with the first direction), thereby driving the second driving mechanism and the grasping mechanism connected to the first slide to move along the first direction; the second motor drives the second screw to rotate, driving the second slide to move along the axial direction of the second screw (consistent with the second direction), thereby driving the grasping mechanism connected to the second slide to move in the second direction.

[0020] In some embodiments, the first driving mechanism also includes a linear guide rail, which is arranged on the first mounting seat, the linear guide rail extends along the first direction, and the first slide is slidably connected to the linear guide rail; and / or, the second driving mechanism also includes a guide rod, which extends along the second direction, the guide rod is fixedly connected to the second mounting seat, and the second slide is slidably sleeved on the guide rod.

[0021] Beneficial effects: The linear guide rail can provide sliding support and movement guide for the first slide, ensuring the sliding direction and sliding stability of the first slide; the guide rod can provide sliding support and movement guide for the second slide, ensuring the sliding direction and sliding stability of the second slide.

[0022] In some embodiments, the transport device further includes an angle detection mechanism, and the angle detection mechanism is used to detect the rotation angle of the support assembly.

[0023] Beneficial effect: The angle detection mechanism is configured to detect the rotation angle of the support assembly, thereby facilitating the determination of the rotation position of the grasping mechanism and achieving accurate grasping and placement of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a transport device according to an embodiment of the present invention is shown;

[0026] Figure 2 A front view of a handling device according to an embodiment of the present invention is shown;

[0027] Figure 3 A left side view of a handling device according to an embodiment of the present invention is shown;

[0028] Figure 4 A partial structural schematic diagram of a transport device according to an embodiment of the present invention is shown;

[0029] Figure 5 Shows Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0030] Figure 6 Shows Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0031] Figure 7 Shows Figure 2 Schematic diagram of the enlarged structure at C in the middle;

[0032] Figure 8 A schematic diagram showing the arrangement of an emergency stop assembly on a chassis according to an embodiment of the present invention is shown.

[0033] Description of reference numerals:

[0034] 1. Universal mobile platform; 11. Chassis; 12. Universal wheel assembly; 121. Drive seat; 122. Drive motor; 123. Universal wheel;

[0035] 2. Support assembly; 21. Column; 22. Support seat;

[0036] 3. First driving mechanism; 31. First mounting seat; 32. First motor; 33. First lead screw; 34. First slide seat; 35. Linear guide rail; 36. Bearing seat;

[0037] 4. Second driving mechanism; 41. Second mounting seat; 42. Second motor; 43. Second lead screw; 44. Second slide seat; 45. Guide rod; 46. Connecting seat; 47. Proximity switch;

[0038] 5. Grasping mechanism; 51. Grasping arm; 52. Grasping hand;

[0039] 6. Emergency stop assembly; 61. Controller; 62. First distance measuring sensor; 63. Second distance measuring sensor; 64. Third distance measuring sensor;

[0040] 7. Rotation drive mechanism; 71. Rotation motor; 72. Driving gear; 73. Driven gear; 74. Bearing;

[0041] 8. Angle detection mechanism; 81. Angle sensor; 82. Detection gear;

[0042] 100. Wall. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Combine the following Figures 1 to 8 , describing an embodiment of the present invention.

[0048] like Figures 1 to 3 as well as Figure 7 and Figure 8 As shown, according to an embodiment of the present invention, on the one hand, a transport device is disclosed, including a universal mobile platform 1, a support assembly 2, a first drive mechanism 3, a second drive mechanism 4 and a grasping mechanism 5, wherein the support assembly 2 is rotatably arranged on the universal mobile platform 1, the first drive mechanism 3 is arranged on the support assembly 2, the second drive mechanism 4 is connected to the first drive mechanism 3, the first drive mechanism 3 can drive the second drive mechanism 4 to move along a first direction, the grasping mechanism 5 is connected to the second drive mechanism 4, the second drive mechanism 4 can drive the grasping mechanism 5 to move along a second direction, and the second direction and the first direction are arranged at an angle.

[0049] The handling device of the present application can be universally moved or rotated as a whole through the universal mobile platform 1, and the rotation of the support component 2 relative to the universal mobile platform 1 can drive the first driving mechanism 3, the second driving mechanism 4 and the grasping mechanism 5 to rotate as a whole, thereby realizing the adjustment of the circumferential position of the grasping mechanism 5, and the first driving mechanism 3 drives the second driving mechanism 4 to move in the first direction, thereby driving the second driving mechanism 4 and the grasping mechanism 5 to move in the first direction as a whole, thereby realizing the adjustment of the position of the grasping mechanism 5 in the first direction, and the second driving mechanism 4 drives the grasping mechanism 5 to move in the second direction, thereby realizing the adjustment of the position of the grasping mechanism 5 in the second direction. Therefore, the handling device of the present application can not only realize the multi-directional movement adjustment and circumferential position adjustment of the grasping mechanism 5, but also can perform universal movement or rotation of the handling device as a whole, thereby improving the overall operational flexibility of the handling device, thereby realizing flexible grasping and long-distance handling of goods.

[0050] like Figure 8 As shown, in some embodiments, the handling device further includes an emergency stop component 6, and the emergency stop component 6 is used to control the handling device to stop urgently.

[0051] The emergency stop assembly 6 can control the handling device to stop urgently when encountering an emergency, thereby ensuring the safety of the operation of the handling device.

[0052] In some embodiments, the emergency stop component 6 includes a controller 61 and a distance measuring structure, wherein the distance measuring structure and the controller 61 are communicatively connected, and the distance measuring structure is arranged on the universal mobile platform 1. Based on the distance measured by the distance measuring structure to the universal mobile platform 1 and the wall 100 being less than a preset value, the controller 61 controls the transport device to stop urgently.

[0053] When the distance measured by the ranging structure is less than the preset value between the universal mobile platform 1 and the wall 100, it means that the transport device is close to the wall 100 and there is a risk of hitting the wall. At this time, the controller 61 controls the transport device to stop urgently, thereby ensuring the safety of the transport device's operation.

[0054] like Figure 8As shown, in some embodiments, the ranging structure includes a first ranging sensor 62 and a second ranging sensor 63, wherein the first ranging sensor 62 is arranged on the universal mobile platform 1, and the first ranging sensor 62 is used to measure the distance from the universal mobile platform 1 to the wall 100 along the x direction, and the second ranging sensor 63 is arranged on the universal mobile platform 1, and the second ranging sensor 63 is used to measure the distance from the universal mobile platform 1 to the wall 100 along the y direction, and the x direction is perpendicular to the y direction.

[0055] The first ranging sensor 62 can measure the distance from the universal mobile platform 1 to the wall 100 along the x-direction, and the second ranging sensor 63 can measure the distance from the universal mobile platform 1 to the wall 100 along the y-direction. When at least one of the first ranging sensor 62 and the second ranging sensor 63 detects that the distance is less than a preset value, it indicates that the transport device is at risk of colliding with the wall in the x-direction and / or the y-direction, and both trigger the controller 61 to control the transport device to stop urgently.

[0056] It should be noted here that the preset value can be set as needed and this embodiment does not impose any specific limitation.

[0057] In some embodiments, the ranging structure also includes a third ranging sensor 64, and the position line of the third ranging sensor 64 and the first ranging sensor 62 is parallel to the y direction, or the position line of the third ranging sensor 64 and the second ranging sensor 63 is parallel to the x direction; based on the transport device being in the initial position, the distance from the universal mobile platform 1 to the wall 100 measured by the third ranging sensor 64 is equal to the data measured by the first ranging sensor 62 or the second ranging sensor 63.

[0058] The third distance measuring sensor 64 further provided can calibrate the initial position of the transport device. When the distance from the universal mobile platform 1 to the wall 100 measured by the third distance measuring sensor 64 is equal to the data measured by the first distance measuring sensor 62 or the second distance measuring sensor 63, it indicates that the transport device is in the initial position, and the transport device as a whole is straight and not skewed compared to the wall 100.

[0059] like Figure 8As shown, for the convenience of explanation, it is taken as an example that the position line of the third ranging sensor 64 and the first ranging sensor 62 is parallel to the y direction. Under this setting, when the transport device is in the initial position (the transport device is upright), the distances from the universal mobile platform 1 to the wall 100 measured by the third ranging sensor 64 and the first ranging sensor 62 along the x direction are equal. When the transport device is not in the initial position (the transport device is inclined), the universal mobile platform 1 tilts, causing the position line of the third ranging sensor 64 and the first ranging sensor 62 to no longer be parallel to the y direction. At this time, the distance measured by the third ranging sensor 64 is greater than or less than the distance measured by the first ranging sensor 62. Therefore, by determining whether the data of the third ranging sensor 64 and the first ranging sensor 62 are equal, it is possible to determine whether the transport device is in the initial position, thereby realizing the calibration of the initial position of the transport device.

[0060] Of course, in other embodiments, the position line between the third distance measuring sensor 64 and the second distance measuring sensor 63 may be set to be parallel to the x direction. The determination method is the same as above and will not be repeated here.

[0061] Exemplarily, the first distance measuring sensor 62 , the second distance measuring sensor 63 , and the third distance measuring sensor 64 may be configured as laser sensors, but are not limited thereto.

[0062] In some embodiments, the handling device further includes an overload protection structure, which controls the first drive mechanism 3 and / or the second drive mechanism 4 to shut down based on the output torque of the first drive mechanism 3 and / or the second drive mechanism 4 exceeding the installation threshold.

[0063] An overload protection structure is further provided. When the output torque of the first drive mechanism 3 and / or the second drive mechanism 4 exceeds the installation threshold, it indicates that the output torque of the first drive mechanism 3 and / or the second drive mechanism 4 exceeds its own maximum value. At this time, the overload protection structure controls the first drive mechanism 3 and / or the second drive mechanism 4 to shut down to avoid damage to the first drive mechanism 3 and / or the second drive mechanism 4 due to continued operation.

[0064] In some embodiments, the overload protection structure includes a controller 61 and a torque sensor, wherein the torque sensor and the controller 61 are communicatively connected, and based on the torque sensor detecting that the output torque of the first drive mechanism 3 and / or the second drive mechanism 4 exceeds the installation threshold, the controller 61 controls the first drive mechanism 3 and / or the second drive mechanism 4 to shut down.

[0065] When the torque sensor detects that the output torque of the first drive mechanism 3 and / or the second drive mechanism 4 exceeds the installation threshold, it means that the first drive mechanism 3 and / or the second drive mechanism 4 exceeds its own maximum value. The controller 61 controls the first drive mechanism 3 and / or the second drive mechanism 4 to shut down, thereby protecting the first drive mechanism 3 and / or the second drive mechanism 4.

[0066] In some embodiments, the universal mobile platform 1 includes a chassis 11 and a universal wheel assembly 12, wherein the chassis 11 and the support assembly 2 are rotatably connected, and three universal wheel assemblies 12 are provided. The three universal wheel assemblies 12 are arranged at intervals along the circumference of the chassis 11, and the chassis 11 can be driven to move and rotate along a preset direction through the cooperation of the three universal wheel assemblies 12.

[0067] By cooperating with the three universal wheel assemblies 12, the chassis 11 can be driven to move and rotate along a preset direction, thereby driving the support assembly 2, the first drive mechanism 3, the second drive mechanism 4 and the grasping mechanism 5 to move or rotate as a whole along the preset direction, thereby realizing the overall movement and rotation of the transport device.

[0068] Preferably, the three universal wheel assemblies 12 are arranged at equal intervals along the circumference of the chassis 11 .

[0069] In some embodiments, the universal wheel assembly 12 includes a drive seat 121, a drive motor 122 and a universal wheel 123, wherein the drive seat 121 is fixedly connected to the chassis 11, the drive motor 122 is installed on the drive seat 121, and the universal wheel 123 is transmission-connected to the drive motor 122.

[0070] The driving motor 122 is installed and fixed by the driving seat 121 , and the driving motor 122 drives the universal wheel 123 to rotate, thereby driving the chassis 11 to move and rotate.

[0071] It should be noted that the principle of the cooperation of the three universal wheel assemblies 12 to drive the chassis 11 to move and rotate is common knowledge in the art and will not be elaborated here.

[0072] Preferably, the support assembly 2 is rotatably connected to the center of the chassis 11 . When the chassis 11 rotates, the support assembly 2 is driven to rotate around the center of the chassis 11 , thereby ensuring the rotational stability of the support assembly 2 .

[0073] like Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, in some embodiments, the first driving mechanism 3 includes a first mounting seat 31, a first motor 32 and a first transmission assembly, wherein the first mounting seat 31 and the support assembly 2 are fixedly connected, the first motor 32 is arranged on the first mounting seat 31, the first transmission assembly is extended along the first direction, and the first transmission assembly is transmission-connected with the first motor 32 and the second driving mechanism 4.

[0074] When the grabbing mechanism 5 needs to move in the first direction, the first motor 32 drives the first transmission assembly to operate, and the first transmission assembly drives the second driving mechanism 4 to move in the first direction, thereby driving the grabbing mechanism 5 connected to the second driving mechanism 4 to move in the first direction.

[0075] Specifically, the first mounting seat 31 may be a mounting plate, the length direction of the first mounting seat 31 is consistent with the first direction, and the center position of the length direction of the first mounting seat 31 is fixedly connected to the support assembly 2 .

[0076] It should be noted that the first motor 32 and the first transmission assembly are arranged on the first mounting seat 31 located on one side of the support assembly 2, and the first mounting seat 31 located on the other side of the support assembly 2 can be used to place a counterweight. The counterweight can ensure the force balance on both sides of the first mounting seat 31 to prevent the transport device from tipping over during operation.

[0077] In some embodiments, the first transmission assembly includes a first screw 33 and a first slide 34, wherein the first screw 33 extends along the first direction, the first screw 33 can be rotatably set on the first mounting seat 31, the first screw 33 is transmission-connected to the first motor 32, the first slide 34 is threadedly sleeved on the first screw 33, and the first slide 34 is connected to the second drive mechanism 4.

[0078] The first motor 32 drives the first lead screw 33 to rotate, driving the first slide 34 to move along the axial direction of the first lead screw 33 (consistent with the first direction), thereby driving the second driving mechanism 4 and the grabbing mechanism 5 connected to the first slide 34 to move along the first direction.

[0079] Both ends of the first lead screw 33 are rotatably mounted on the first mounting seat 31 via bearing seats 36 , and the first lead screw 33 is fixedly connected to the motor shaft of the first motor 32 .

[0080] It can be understood that the length of the first lead screw 33 limits the sliding distance of the first slide seat 34, and then limits the maximum distance that the grasping mechanism 5 can move along the first direction. Therefore, by reasonably designing the length of the first lead screw 33, the maximum distance that the grasping mechanism 5 can move along the first direction can be controlled. It can be designed according to actual needs and is not limited in this embodiment.

[0081] The first slide seat 34 is provided with a threaded hole, and the first lead screw 33 is threadedly engaged with the threaded hole.

[0082] In some embodiments, the first driving mechanism 3 further includes a linear guide rail 35 , which is disposed on the first mounting seat 31 , and the linear guide rail 35 extends along the first direction, and the first sliding seat 34 is slidably connected to the linear guide rail 35 .

[0083] The linear guide rail 35 can provide sliding support and movement guidance for the first slide seat 34 , thereby ensuring the sliding direction and sliding stability of the first slide seat 34 .

[0084] A slider is provided at the bottom of the first slide 34, and the slider is slidably connected to the linear guide 35. When the first slide 34 moves along the axial direction of the first lead screw 33, the slider is driven to slide along the linear guide 35. At the same time, the weight of the first slide 34 is transferred to the linear guide 35 through the slider to achieve force support.

[0085] The linear guide rail 35 and the first lead screw 33 are arranged opposite to each other, and the length of the linear guide rail 35 is greater than or equal to the length of the first lead screw 33 , so that the first slide seat 34 can slide along the linear guide rail 35 during the entire process of sliding along the first lead screw 33 .

[0086] like Figure 1 , Figure 2 , Figure 5 and Figure 7 As shown, in some embodiments, the second driving mechanism 4 includes a second mounting seat 41, a second motor 42 and a second transmission assembly, wherein the second mounting seat 41 is transmission-connected to the first driving mechanism 3, the second motor 42 is arranged on the second mounting seat 41, the second transmission assembly is extended along the second direction, the second transmission assembly is transmission-connected to the second motor 42, and the second transmission assembly is transmission-connected to the grasping mechanism 5.

[0087] When the grabbing mechanism 5 needs to move along the second direction, the second motor 42 drives the second transmission assembly to operate, and the second transmission assembly drives the grabbing mechanism 5 to move along the second direction.

[0088] Specifically, the second mounting seat 41 may be a steel section, the length direction of the second mounting seat 41 is consistent with the second direction, and the bottom of the second mounting seat 41 is fixedly connected to the first sliding seat 34 .

[0089] In some embodiments, the second transmission assembly includes a second lead screw 43 and a second slide 44, wherein the second lead screw 43 extends along the second direction, the second lead screw 43 can be rotatably set on the second mounting seat 41, the second lead screw 43 is transmission-connected to the second motor 42, the second slide 44 is threadedly sleeved on the second lead screw 43, and the second slide 44 is connected to the grabbing mechanism 5.

[0090] The second motor 42 drives the second lead screw 43 to rotate, driving the second slide 44 to move along the axial direction of the second lead screw 43 (consistent with the second direction), thereby driving the grabbing mechanism 5 connected to the second slide 44 to move along the second direction.

[0091] Both ends of the second lead screw 43 are rotatably mounted on the second mounting seat 41 via a connecting seat 46 , and the second lead screw 43 is fixedly connected to the motor shaft of the second motor 42 .

[0092] It can be understood that the length of the second lead screw 43 limits the sliding distance of the second slide 44, and then limits the maximum distance that the grasping mechanism 5 can move along the second direction. Therefore, by reasonably designing the length of the second lead screw 43, the maximum distance that the grasping mechanism 5 can move along the second direction can be controlled. It can be designed according to actual needs and is not limited in this embodiment.

[0093] The second sliding seat 44 includes a nut seat, the nut seat is provided with a threaded hole, and the first lead screw 33 is threadedly engaged with the threaded hole.

[0094] In some embodiments, the second driving mechanism 4 further includes a guide rod 45 , which is extended along the second direction, fixedly connected to the second mounting seat 41 , and the second sliding seat 44 is slidably sleeved on the guide rod 45 .

[0095] The guide rod 45 can provide sliding support and movement guidance for the second slide seat 44 , thereby ensuring the sliding direction and sliding stability of the second slide seat 44 .

[0096] The second slide seat 44 also includes a linear bearing seat 36 , which is fixedly connected to the nut seat. The linear bearing seat 36 is slidably sleeved on the guide rod 45 . When the nut seat moves along the axial direction of the second lead screw 43 , it drives the linear bearing seat 36 to slide along the guide rod 45 .

[0097] The guide rod 45 and the second lead screw 43 are arranged opposite to each other, and the length of the guide rod 45 is greater than or equal to the length of the second lead screw 43 , so that the second slide seat 44 can slide along the guide rod 45 during the entire process of sliding along the second lead screw 43 .

[0098] In some embodiments, two guide rods 45 are provided, and the two guide rods 45 are respectively provided on opposite sides of the lead screw.

[0099] By providing two guide rods 45 , and respectively providing the two guide rods 45 on opposite sides of the lead screw, the slide is guided and supported by the two guide rods 45 , thereby improving the support stability of the second slide 44 .

[0100] In this embodiment, the second slide seat 44 further includes a connecting plate, which is used to connect and fix the nut seat and the two linear bearing seats 36 into a whole, and the grabbing mechanism 5 is fixedly connected to the connecting plate.

[0101] In some embodiments, the second driving mechanism 4 further includes a proximity switch 47 , and the proximity switch 47 is disposed on the connecting seat 46 .

[0102] When the proximity switch 47 detects that the second slide 44 approaches, the controller 61 controls the second motor 42 to turn off, so that the second slide 44 stops moving, thereby avoiding the second slide 44 and the connecting seat 46 from colliding.

[0103] like Figure 1 and Figure 2 As shown, it should be noted that the first direction and the second direction can be vertically arranged, for example, the first direction is consistent with the horizontal direction, and the second direction is consistent with the vertical direction.

[0104] Of course, in other embodiments, the first direction and the second direction may also be arranged at an acute angle or an obtuse angle, which is not limited to this embodiment.

[0105] In some embodiments, the grabbing mechanism 5 includes a grabbing arm 51 and a grabber 52, wherein the grabbing arm 51 extends along the second direction, the grabbing arm 51 is connected to the second driving mechanism 4, the grabber 52 is connected to the grabbing arm 51, and the grabber 52 is used to grab the goods.

[0106] The grabbing arm 51 connects the grabbing hand 52 and the second driving mechanism 4 , and the grabbing hand 52 is used to grab the goods.

[0107] Specifically, a top end of the grabbing arm 51 is fixedly connected to the connecting plate of the second slide seat 44 , and a bottom end of the grabbing arm 51 is connected to the gripper 52 .

[0108] The goods can be grabbed and put down by tightening and opening the gripper 52. Since the structure and principle of the gripper 52 are prior art, they will not be described in detail in this embodiment.

[0109] In some embodiments, the support assembly 2 includes a column 21 and a support seat 22, wherein the column 21 is vertically arranged, the top of the column 21 is connected to the first driving mechanism 3, the bottom of the column 21 is rotatably connected to the universal mobile platform 1, and the support seat 22 and the column 21 are fixedly connected.

[0110] The column 21 supports the first driving mechanism 3 and the second driving mechanism 4. When the support seat 22 rotates relative to the universal mobile platform 1, the column 21 and the first driving mechanism 3 and the second driving mechanism 4 thereon are driven to rotate together, thereby driving the grasping mechanism 5 to rotate circumferentially.

[0111] Specifically, the top of the column 21 is connected and fixed to the first mounting seat 31 .

[0112] By setting the length of the column 21 , the first driving mechanism 3 can be installed to a certain height.

[0113] Optionally, a plurality of angle plates may be provided around the circumference of the column 21 to connect with the support seat 22 , so as to enhance the connection strength between the column 21 and the support seat 22 .

[0114] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the handling device further includes a rotary drive mechanism 7 , and the rotary drive mechanism 7 is transmission-connected to the support seat 22 .

[0115] The rotating drive mechanism 7 is set up, and when the grasping mechanism 5 needs to rotate circumferentially to adjust the position, the rotating drive mechanism 7 can drive the support seat 22 to rotate relative to the universal mobile platform 1, thereby driving the column 21 and the first drive mechanism 3 and the second drive mechanism 4 thereon to rotate together, thereby driving the grasping mechanism 5 connected to the second drive mechanism 4 to rotate circumferentially.

[0116] In some embodiments, the rotary drive mechanism 7 includes a rotary motor 71, a driving gear 72 and a driven gear 73, wherein the rotary motor 71 is arranged on the support seat 22, the driving gear 72 and the rotary motor 71 are transmission connected, the driven gear 73 is fixedly arranged on the universal mobile platform 1, the driven gear 73 is located at the bottom of the support seat 22, the driven gear 73 and the driving gear 72 are meshed, and the column 21 is located at the center of the driven gear 73.

[0117] When the grabbing mechanism 5 needs to rotate to adjust the circumferential position, the rotating motor 71 drives the driving gear 72 to rotate, driving the driving gear 72 to rotate along the ring gear of the driven gear 73, thereby driving the support seat 22 to rotate, thereby driving the column 21 fixed to the support seat 22 and the first driving mechanism 3, the second driving mechanism 4 and the grabbing mechanism 5 connected thereto to rotate together.

[0118] The diameter of the driving gear 72 is smaller than the diameter of the driven gear 73 , that is, the driving gear 72 is a small gear and the driven gear 73 is a large gear, and the two cooperate to form a speed reducer.

[0119] Specifically, the driven gear 73 is fixedly connected to the chassis 11 through a bearing 74 , and the column 21 passes through the center of the driven gear 73 and is rotatably connected to the chassis 11 through the bearing 74 .

[0120] In this embodiment, the drive motor 122, the first motor 32, the second motor 42 and the rotating motor 71 are all provided with torque sensors to respectively detect the output torque of the drive motor 122, the first motor 32, the second motor 42 and the rotating motor 71. When it is detected that the output torque of any one or more of them exceeds the safety threshold, the controller 61 controls the corresponding motor to stop running.

[0121] like Figure 2As shown, in some embodiments, the handling device further includes an angle detection mechanism 8 , and the angle detection mechanism 8 is used to detect the rotation angle of the support assembly 2 .

[0122] The angle detection mechanism 8 is configured to detect the rotation angle of the support assembly 2, thereby facilitating the determination of the rotation position of the grabbing mechanism 5 and achieving accurate grabbing and placement of goods.

[0123] Optionally, the angle detection mechanism 8 includes an angle sensor 81 and a detection gear 82 , wherein the angle sensor 81 is fixed on the support seat 22 , the angle sensor 81 and the detection gear 82 are connected, and the detection gear 82 and the driven gear 73 are meshed.

[0124] When the support seat 22 is driven to rotate, the detection gear 82 is driven to rotate along the ring gear of the driven gear 73. The angle sensor 81 can obtain the number of rotations of the detection gear 82, thereby obtaining the rotation angle of the support assembly 2, and then determining the position of the grasping mechanism 5 after rotation.

[0125] To facilitate understanding of the handling device of this embodiment, the working process thereof is now described as follows:

[0126] The first driving mechanism 3, the second driving mechanism 4 and the grabbing mechanism 5 cooperate to achieve the grabbing of the goods;

[0127] When the goods need to be moved and transported along the first direction, the first motor 32 drives the first lead screw 33 to rotate, driving the first slide 34 to move along the axial direction of the first lead screw 33 (consistent with the first direction), and at the same time, the first slide 34 slides along the linear guide rail 35, thereby driving the second driving mechanism 4 and the grabbing mechanism 5 connected to the first slide 34 to move along the first direction together, and finally driving the goods grabbed by the grabber 52 to move and transmit along the first direction;

[0128] When the goods need to be moved and transported along the second direction, the second motor 42 drives the second lead screw 43 to rotate, driving the second slide 44 to move along the axial direction of the second lead screw 43 (consistent with the second direction), and at the same time the second slide 44 slides along the two guide rods 45, thereby driving the grabbing mechanism 5 connected to the second slide 44 to move along the second direction, and finally driving the goods grabbed by the gripper 52 to move and transmit along the second direction. When the proximity switch 47 detects that the second slide 44 is approaching, the controller 61 controls the second motor 42 to turn off, so that the second slide 44 stops moving, avoiding the second slide 44 and the connecting seat 46 from colliding.

[0129] When the goods need to be rotated in the circumferential direction to adjust the position, the rotating motor 71 drives the driving gear 72 to rotate, driving the driving gear 72 to rotate along the gear ring of the driven gear 73, thereby driving the support seat 22 to rotate, thereby driving the column 21 fixedly connected to the support seat 22 and the first driving mechanism 3, the second driving mechanism 4 and the grabbing mechanism 5 thereon to rotate together, and finally driving the goods grabbed by the gripper 52 to rotate in the circumferential direction to adjust the position;

[0130] When the support seat 22 is driven to rotate, the detection gear 82 is driven to rotate along the ring gear of the driven gear 73. The angle sensor 81 can obtain the number of rotations of the detection gear 82, thereby obtaining the rotation angle of the support assembly 2, and then determine the position of the grabbing mechanism 5 after rotation, so as to obtain the circumferential position of the goods.

[0131] When the goods need to be transported over long distances, the universal mobile platform 1 is started, and the driving motor 122 drives the universal wheels 123 to rotate. The rotation and coordination of the three universal wheels 123 can drive the chassis 11 to move and rotate along a preset direction, thereby driving the supporting assembly 2, the first driving mechanism 3, the second driving mechanism 4 and the grasping mechanism 5 thereon to move and rotate together, thereby driving the grasped goods to achieve long-distance transportation.

[0132] When the distance measurement structure measures that the distance between the universal mobile platform 1 and the wall 100 is less than a preset value, the trigger controller 61 controls the transport device to stop urgently to prevent the transport device from hitting the wall.

[0133] During the handling operation, when it is detected that the output torque of any one or more of the drive motor 122, the first motor 32, the second motor 42 and the rotating motor 71 exceeds the safety threshold, the controller 61 controls the corresponding motor to stop running to achieve overload protection for the structure.

[0134] After the transportation is completed, the initial position of the transportation device is calibrated to determine whether the distance from the universal mobile platform 1 to the wall 100 measured by the third distance measuring sensor 64 is equal to the data measured by the first distance measuring sensor 62 or the second distance measuring sensor 63. If so, it means that the transportation device is in the initial position. If not, the universal mobile platform 1 is controlled to rotate and adjust, and the first distance measuring sensor 62, the second distance measuring sensor 63 and the third distance measuring sensor 64 thereon are driven to rotate together until the distance from the universal mobile platform 1 to the wall 100 measured by the third distance measuring sensor 64 is equal to the data measured by the first distance measuring sensor 62 or the second distance measuring sensor 63. The universal mobile platform 1 is controlled to stop rotating, and the calibration of the initial position of the transportation device is completed.

[0135] It should be noted that if Figures 1 to 3 As shown, the first direction of the present application is the direction indicated by the arrow A, and the second direction of the present application is the direction indicated by the arrow B.

[0136] It can be understood that the transport device of the present application can be used in conjunction with other equipment, such as an AGV cart. The transport device of the present application can be used to transport the goods to the AGV cart, and then the AGV cart can be used to transport the goods.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present application.

Claims

1. A transport device, characterized in that: include: Universal mobile platform (1); A support assembly (2) rotatably disposed on the universal mobile platform (1); A first driving mechanism (3) is arranged on the supporting assembly (2); A second driving mechanism (4) connected to the first driving mechanism (3), wherein the first driving mechanism (3) is capable of driving the second driving mechanism (4) to move along a first direction; The gripping mechanism (5) is connected to the second driving mechanism (4), and the second driving mechanism (4) is capable of driving the gripping mechanism (5) to move along a second direction, wherein the second direction is arranged at an angle to the first direction.

2. The transport device according to claim 1, characterized in that: The handling device further comprises an emergency stop component (6), and the emergency stop component (6) is used to control the handling device to stop urgently.

3. The transport device according to claim 2, characterized in that: The emergency stop assembly (6) comprises: Controller (61); A distance measuring structure is communicatively connected to the controller (61), the distance measuring structure is arranged on the universal mobile platform (1), and based on the distance measured by the distance measuring structure that the distance from the universal mobile platform (1) to the wall (100) is less than a preset value, the controller (61) controls the transport device to stop urgently.

4. The transport device according to claim 3, characterized in that: The distance measuring structure comprises a first distance measuring sensor (62) and a second distance measuring sensor (63), wherein the first distance measuring sensor (62) is used to measure the distance from the universal mobile platform (1) to the wall (100) along the x direction, and the second distance measuring sensor (63) is used to measure the distance from the universal mobile platform (1) to the wall (100) along the y direction, wherein the x direction and the y direction are perpendicular.

5. The transport device according to claim 4, characterized in that: The distance measuring structure further comprises a third distance measuring sensor (64), wherein a position line connecting the third distance measuring sensor (64) and the first distance measuring sensor (62) is parallel to the y direction, or a position line connecting the third distance measuring sensor (64) and the second distance measuring sensor (63) is parallel to the x direction; Based on the transport device being in an initial position, the distance from the universal mobile platform (1) to the wall (100) measured by the third distance measuring sensor (64) is equal to the data measured by the first distance measuring sensor (62) or the second distance measuring sensor (63).

6. The transport device according to claim 1, characterized in that: The handling device further comprises an overload protection structure, which controls the first drive mechanism (3) and / or the second drive mechanism (4) to shut down based on the output torque of the first drive mechanism (3) and / or the second drive mechanism (4) exceeding an installation threshold.

7. The transport device according to any one of claims 1 to 6, characterized in that: The universal mobile platform (1) comprises a chassis (11) and a universal wheel assembly (12); the chassis (11) and the support assembly (2) are rotatably connected; three universal wheel assemblies (12) are provided; the three universal wheel assemblies (12) are arranged at intervals along the circumference of the chassis (11); and the chassis (11) can be driven to move and rotate along a preset direction through the cooperation of the three universal wheel assemblies (12); And / or, the first driving mechanism (3) comprises a first mounting seat (31), a first motor (32) and a first transmission assembly, the first mounting seat (31) and the supporting assembly (2) are fixedly connected, the first motor (32) is arranged on the first mounting seat (31), the first transmission assembly is arranged on the first mounting seat (31), and the first transmission assembly is in transmission connection with the first motor (32) and the second driving mechanism (4); And / or, the second driving mechanism (4) comprises a second mounting seat (41), a second motor (42) and a second transmission assembly, the second mounting seat (41) and the first driving mechanism (3) are in transmission connection, the second motor (42) and the second transmission assembly are both arranged on the second mounting seat (41), and the second transmission assembly and the second motor (42) and the grasping mechanism (5) are all in transmission connection.

8. The transport device according to claim 7, characterized in that: The first transmission assembly comprises a first lead screw (33) and a first slide seat (34), the first lead screw (33) extending along the first direction, the first lead screw (33) rotatably arranged on the first mounting seat (31), the first lead screw (33) and the first motor (32) being transmission-connected, the first slide seat (34) being threadedly sleeved on the first lead screw (33), and the first slide seat (34) being connected to the second driving mechanism (4); And / or, the second transmission assembly comprises a second lead screw (43) and a second slide (44), the second lead screw (43) is extended along the second direction, the second lead screw (43) is rotatably arranged on the second mounting seat (41), the second lead screw (43) is transmission-connected to the second motor (42), the second slide (44) is threadedly sleeved on the second lead screw (43), and the second slide (44) is connected to the gripping mechanism (5).

9. The transport device according to claim 8, characterized in that: The first driving mechanism (3) further comprises a linear guide rail (35), wherein the linear guide rail (35) is arranged on the first mounting seat (31), the linear guide rail (35) is extended along the first direction, and the first sliding seat (34) is slidably connected to the linear guide rail (35); And / or, the second driving mechanism (4) further comprises a guide rod (45), the guide rod (45) is extended along the second direction, the guide rod (45) is fixedly connected to the second mounting seat (41), and the second sliding seat (44) is slidably sleeved on the guide rod (45).

10. The transport device according to any one of claims 1 to 6, characterized in that: The handling device further comprises an angle detection mechanism (8), wherein the angle detection mechanism (8) is used to detect the rotation angle of the support assembly (2).

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