Carrying robot

Abstract

The invention relates to the technical field of aircraft assembly, and particularly discloses a transfer robot which comprises a movable platform, a position adjusting mechanism, an angle adjusting mechanism and a moving mechanism, the movable platform is connected with a position adjusting assembly, the position adjusting assembly can drive the movable platform to translate on a mounting seat, and the angle adjusting mechanism is connected with the mounting seat. The angle adjusting mechanism is used for adjusting the inclination angle of the mounting base, and trundles are arranged at the bottom of a shell of the moving mechanism. The carrying robot is small in size and high in integration degree, objects to be installed can be conveniently carried in a narrow aircraft cabin, time and labor are saved, sound insulation cotton, circuits, skin and the like in the aircraft cabin cannot be collided, and the quality and safety of an aircraft are prevented from being affected. And the position and the posture of the to-be-mounted article can be finely adjusted through the position adjusting mechanism and the angle adjusting mechanism of the carrying robot, so that the to-be-mounted article is accurately butted with a mounting positioning hole in an aircraft cabin.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft assembly, and in particular to a transport robot. Background Art

[0002] During the manufacturing process of an aircraft, when installing in the aircraft cabin, the space inside the aircraft cabin is relatively small and the working space is limited. Therefore, high requirements are placed on the equipment for carrying work in the aircraft cabin. Existing carrying equipment is generally large in size, and it is easy to knock against the sound insulation cotton, circuits and skin in the aircraft cabin during the transportation process, delaying the aircraft delivery cycle and even affecting the quality of the aircraft. When manual transportation is used, it is time-consuming and labor-intensive, and it is difficult to carry some large and heavy items, resulting in low assembly efficiency.

[0003] Therefore, there is an urgent need for a transport robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a handling robot which is compact, flexible, can accurately control the moving position of items to be installed, is not prone to damaging structural components in the aircraft cabin, and has sufficient rigidity and load-bearing capacity, so that the entire handling process is smooth.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a transport robot, comprising:

[0007] Moving platform;

[0008] A position adjustment mechanism, wherein the position adjustment mechanism is arranged on a mounting seat, the movable platform is connected to the position adjustment assembly, and the position adjustment assembly is used to drive the movable platform to translate on the mounting seat;

[0009] An angle adjustment mechanism, the angle adjustment mechanism is connected to the mounting seat, and the angle adjustment mechanism is used to adjust the inclination angle of the mounting seat;

[0010] The mobile mechanism comprises a shell, the angle adjustment mechanism is installed on the shell, and casters are arranged at the bottom of the shell.

[0011] As an optional scheme, the angle adjustment mechanism includes a first support rod, a second support rod and a third support rod, and the lower end surface of the mounting seat is provided with three ball joint seats, the top ends of the first support rod, the second support rod and the third support rod are respectively connected to a corresponding ball joint seat, and the bottom ends of the first support rod, the second support rod and the third support rod are hinged to the outer shell.

[0012] As an optional solution, three saddle assemblies are provided on the top of the shell, and the first support rod, the second support rod and the third support rod are respectively connected to a corresponding saddle assembly.

[0013] As an optional solution, each of the saddle assemblies includes a first slide rail, a first slider and a first drive assembly. The first slider in each saddle assembly is slidably connected to the first slide rail, the first drive assembly is transmission-connected to the first slider, and the bottom ends of the first support rod, the second support rod and the third support rod are respectively hinged to the corresponding first slider.

[0014] As an optional solution, the first driving assembly includes a first rotating motor and a first lead screw, the output end of the first rotating motor is connected to the first lead screw, the first sliding block is provided with a threaded hole, and the first lead screw is cooperatively connected to the threaded hole.

[0015] As an optional solution, a first hinged seat is provided on the top of the shell, and a first support foot and a second support foot are provided at the bottom end of the first support rod, the bottom end of the first support foot is hinged to the corresponding first slider, the bottom end of the second support foot is hinged to the first hinged seat, and the top end of the second support foot is provided with a second hinged seat, and the second hinged seat is respectively hinged to the bottom end of the first support rod and the top end of the first bracket.

[0016] As an optional solution, the position adjustment mechanism includes an X-axis motion component and a Y-axis motion component, the Y-axis motion component is arranged on the mounting seat, the X-axis motion component is connected to the Y-axis motion component, the moving platform is connected to the X-axis motion component, the Y-axis motion component is used to drive the X-axis motion component and the moving platform to move along a first direction, and the X-axis motion component is used to drive the moving platform to move along a second direction.

[0017] As an optional solution, the Y-axis motion component includes a second slide rail, a second slider and a second drive component, the second slider is slidably set on the second slide rail, the second slide rail is set on the mounting seat and extends along the first direction, the second drive component is transmission connected to the second slider, and the X-axis motion component is connected to the second slider.

[0018] As an optional solution, the X-axis motion component includes a third slide rail, a third slider and a third drive component, the third slider is slidably set on the third slide rail, the third slide rail is set on the second slider and extends along the second direction, the third drive component is transmission connected to the third slider or the moving platform, and the moving platform is connected to the third slider.

[0019] As an optional solution, the moving mechanism further includes a manual parking component, which is disposed at the bottom of the housing and is capable of locking the caster.

[0020] The beneficial effects of the present invention are:

[0021] The present invention provides a handling robot, including a moving platform, a position adjustment mechanism, an angle adjustment mechanism and a moving mechanism, wherein the moving platform is connected to a position adjustment assembly, the position adjustment assembly can drive the moving platform to translate on a mounting seat, the angle adjustment mechanism is connected to the mounting seat, the angle adjustment mechanism is used to adjust the tilt angle of the mounting seat, and casters are provided at the bottom of the housing of the moving mechanism. The handling robot has a small size and a high degree of integration, and is convenient for carrying items to be installed in a narrow aircraft cabin, saving time and effort, and will not collide with sound insulation cotton, circuits and skins in the aircraft cabin, thereby avoiding affecting the quality and safety of the aircraft. Furthermore, the position and posture of the items to be installed can be slightly adjusted through the position adjustment mechanism and the angle adjustment mechanism of the handling robot, so as to accurately dock the items to be installed with the installation positioning holes in the aircraft cabin. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0023] Figure 1 The structure of the transport robot in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0025] Figure 3 for Figure 1 A partial enlarged view of point B in the middle;

[0026] Figure 4 for Figure 1 A partial enlarged view of point C in the middle;

[0027] Figure 5 The structure of the transport robot in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0028] Figure 6 for Figure 5 A partial enlarged view of point D in the middle;

[0029] Figure 7 for Figure 5A partial enlarged view of point E in the middle;

[0030] Figure 8 A bottom view of the transport robot in an embodiment of the present invention;

[0031] Fig. 9 for Figure 8 A partial enlarged view of point F in the middle.

[0032] In the figure:

[0033] 100. Moving platform;

[0034] 200, position adjustment mechanism; 210, mounting seat; 211, ball joint seat; 220, Y-axis motion assembly; 221, second slide rail; 222, second slider; 223, second rotary motor; 224, second lead screw; 230, X-axis motion assembly; 231, third slide rail; 232, third slider; 233, third rotary motor; 234, third lead screw;

[0035] 300, angle adjustment mechanism; 310, first support rod; 311, first support leg; 312, second support leg; 313, second hinge seat; 3131, second connecting shaft; 3132, third connecting shaft; 320, second support rod; 330, third support rod;

[0036] 400, moving mechanism; 410, housing; 411, frame; 412, first hinge seat; 4121, fourth connecting shaft; 413, waterproof silicone membrane; 420, caster; 430, saddle assembly; 431, first slide rail; 432, first slider; 4321, fixing ear; 4322, first connecting shaft; 433, first rotating motor; 434, first lead screw;

[0037] 500, manual parking assembly; 510, handle; 520, locking rod; 530, locking pin; 540, brake line; 550, locking ring; 551, fixing hole;

[0038] 610, power interface; 620, emergency stop button; 630, network port; 640, wireless bridge antenna;

[0039] 710, controller; 720, motor driver. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] like Figure 1-Figure 4 As shown, this embodiment provides a transport robot, which includes a moving platform 100, a position adjustment mechanism 200, an angle adjustment mechanism 300 and a moving mechanism 400, wherein the position adjustment mechanism 200 is arranged on the mounting seat 210, the moving platform 100 is connected to the position adjustment component, the position adjustment component can drive the moving platform 100 to translate on the mounting seat 210, the angle adjustment mechanism 300 is connected to the mounting seat 210, the angle adjustment mechanism 300 is used to adjust the inclination angle of the mounting seat 210, and the moving mechanism 400 includes a shell 410, the angle adjustment mechanism 300 is installed on the shell 410, and casters 420 are provided at the bottom of the shell 410. When in use, the items to be installed are placed on the moving platform 100, and the transport robot is manually pushed to rotate the casters 420 at the bottom of the moving mechanism 400, so that the transport robot can move in the aircraft cabin. Since the transport robot is small in size and highly integrated, it is convenient to transport the items to be installed in the aircraft cabin with a small space, saving time and effort, and will not collide with the sound insulation cotton, circuits and skin in the aircraft cabin, so as to avoid affecting the quality and safety of the aircraft. And through the position adjustment mechanism 200 and the angle adjustment mechanism 300 of the transport robot, the position and posture of the items to be installed can be slightly adjusted so that the items to be installed can be accurately docked with the installation positioning holes in the aircraft cabin. For example, the items to be installed can be the front and rear kitchens of the aircraft, and the front and rear kitchens of the aircraft can be accurately docked with the positioning holes on the floor structure in the aircraft cabin through the transport robot.

[0048] Furthermore, a buffer pad may be provided on the side of the movable platform 100 that contacts the object to be installed. For example, the buffer pad may be made of materials such as rubber. On the one hand, the buffer pad can prevent the object to be installed from directly contacting the movable platform 100 and preventing the object to be installed from being damaged; on the other hand, the buffer pad can also play an anti-slip role and prevent the object to be installed from falling off the movable platform 100.

[0049] More preferably, a bubble level is further provided on the mounting base 210, and the bubble level can be used to detect the horizontality of the moving platform 100 so as to adjust its posture and position, with flexible adjustment and accurate positioning.

[0050] As an optional solution, the angle adjustment mechanism 300 in this embodiment includes a first support rod 310, a second support rod 320 and a third support rod 330, which are arranged in such a tripod-type structure, which is conducive to improving the stability of the angle adjustment mechanism 300 in supporting the moving platform 100, and has better load-bearing capacity. Furthermore, the lower end surface of the mounting seat 210 connected to the moving platform 100 is provided with three ball joint seats 211, and the top ends of the first support rod 310, the second support rod 320 and the third support rod 330 are respectively connected to a corresponding ball joint seat 211, and the bottom ends of the first support rod 310, the second support rod 320 and the third support rod 330 are hinged to the outer shell 410. Therefore, by adjusting the inclination angle of the three support rods relative to the outer shell 410, the moving platform 100 and the horizontal plane (i.e. Figure 1 The tilt angle between the moving platform 100 and the XY plane shown in the figure is adjusted to adjust the posture of the moving platform 100 and the object to be installed placed on the moving platform 100.

[0051] Continue to see Figure 5-Figure 7 In this embodiment, three saddle assemblies 430 are provided on the top of the housing 410, and the first support rod 310, the second support rod 320 and the third support rod 330 are respectively connected to a corresponding saddle assembly 430. Through the provision of the saddle assembly 430, the relative heights between the bottom ends of the first support rod 310, the second support rod 320 and the third support rod 330 and the housing 410 can be adjusted respectively, and then the heights of the three supporting points of the top ends of the first support rod 310, the second support rod 320 and the third support rod 330 to the moving platform 100 change, thereby achieving the adjustment of the posture of the moving platform 100.

[0052] Exemplarily, in this embodiment, the housing 410 is configured to be approximately T-shaped, and the housing 410 includes three protruding ends, each of which is provided with a saddle assembly 430, and the three saddle assemblies 430 are respectively connected to the first support rod 310, the second support rod 320, and the third support rod 330. The three saddle assemblies 430 have the same structure, and each saddle assembly 430 includes a first slide rail 431, a first slider 432, and a first drive assembly. The first slider 432 in each saddle assembly 430 is slidably connected to the first slide rail 431, and the first drive assembly is transmission-connected to the first slider 432. The bottom ends of the first support rod 310, the second support rod 320, and the third support rod 330 are respectively hinged to the corresponding first slider 432, that is, the first slider 432 in each saddle assembly 430 is connected to a support rod. Optionally, each first slider 432 is provided with a fixing ear 4321 , and the bottom ends of the first support rod 310 , the second support rod 320 and the third support rod 330 are hinged to the fixing ear 4321 on the corresponding first slider 432 via a first connecting shaft 4322 .

[0053] Continue to see Figure 5 and Figure 7 In this embodiment, the first drive assembly includes a first rotary motor 433 and a first lead screw 434. The output end of the first rotary motor 433 is connected to the first lead screw 434. A threaded hole is provided on the first slider 432, and the first lead screw 434 is connected with the threaded hole. The first rotary motor 433 drives the first lead screw 434 to rotate, so that the first slider 432 can reciprocate along the first slide rail 431. Exemplarily, the first rotary motor 433 can use a servo motor, which has a large overload capacity, can bear a large torque, is not prone to vibration and noise, and has a good user experience. Of course, in other embodiments, the first drive assembly can also use a linear motor, etc., which is not limited here.

[0054] Optionally, a first hinge seat 412 is provided at the top of the housing 410, a first support leg 311 and a second support leg 312 are provided at the bottom end of the first support rod 310, the bottom end of the first support leg 311 is hinged to the corresponding first slider 432, and the bottom end of the second support leg 312 is hinged to the first hinge seat 412. Figure 1 and Figure 3 The second support leg 312 has a second hinge seat 313 at its top end, and the second hinge seat 313 includes two connection ends, which are respectively hinged to the bottom end of the first support rod 310 and the top end of the first bracket through a second connection shaft 3131 and a third connection shaft 3132. Exemplarily, the bottom end of the second support leg 312 is hinged to the first hinge seat 412 through a fourth connection shaft 4121.

[0055] Exemplarily, when the angle adjustment mechanism 300 adjusts the angle of the moving platform 100, the positions of the second support rod 320 and the third support rod 330 can be kept unchanged, and then the first rotating motor 433 connected to the first support rod 310 is driven to drive the corresponding first slider 432 to move up or down along the first slide rail 431, so that the moving platform 100 is adjusted clockwise by a certain angle in the YZ plane, or the moving platform 100 is adjusted counterclockwise by a certain angle in the YZ plane, and the rotation amount is ≥±5°. Of course, the position of the first support rod 310 can also be kept unchanged, and the position of the second support rod 320 or the third support rod 330 can be adjusted to adjust the moving platform 100 clockwise by a certain angle in the XZ plane, or the moving platform 100 is adjusted counterclockwise by a certain angle in the XZ plane. For example, by keeping the positions of the first support rod 310 and the second support rod 320 unchanged and adjusting the position of the third support rod 330, the height of the position where the moving platform 100 is connected to the second support rod 320 remains unchanged, and the position where the moving platform 100 is connected to the third support rod 330 is raised or lowered, so that the position where the moving platform 100 is connected to the third support rod 330 is adjusted clockwise or counterclockwise by a certain angle in the XZ plane, and the rotation amount is ≥±5°. Of course, in some cases, the positions of the first support rod 310 and the third support rod 330 can also be kept unchanged, and the position of the second support rod 320 can be adjusted. The posture adjustment of the above-mentioned moving platform 100 is to move the items to be installed to the designated installation position in the aircraft cabin, and accurately align the items to be installed with the positioning holes of the installation position, so as to facilitate assembly work. At the same time, the angle adjustment mechanism 300 has a high adjustment accuracy and sensitive control. By controlling the start and stop of the first rotating motor 433, the posture of the moving platform 100 can be fine-tuned at any time.

[0056] Further, see Figure 2 and Figure 6 In this embodiment, the position adjustment mechanism 200 includes an X-axis motion component 230 and a Y-axis motion component 220, wherein the Y-axis motion component 220 is disposed on the mounting seat 210, the X-axis motion component 230 is connected to the Y-axis motion component 220, and the moving platform 100 is connected to the X-axis motion component 230. The X-axis motion component 230 and the moving platform 100 can be driven to move in a first direction through the Y-axis motion component 220, and the moving platform 100 can be driven to move in a second direction through the X-axis motion component 230. The first direction is Figure 1 or Figure 5 The Y-axis direction shown in the figure, the second direction is Figure 1 and Figure 5 The X-axis direction is shown in .

[0057] As an optional solution, the Y-direction motion assembly 220 in this embodiment includes a second slide rail 221, a second slider 222, and a second drive assembly. The second slider 222 is slidably disposed on the second slide rail 221. The second slide rail 221 is disposed on the mounting seat 210 and extends along the first direction. The second drive assembly is in transmission connection with the second slider 222. The X-direction motion assembly 230 is connected with the second slider 222. Optionally, the second drive assembly can use a second rotary motor 223, which is in transmission connection with a second lead screw 224. The second lead screw 224 is threadedly engaged with the second slider 222. The second rotary motor 223 drives the second lead screw 224 to rotate, so that the second slider 222 can be controlled to reciprocate along the second slide rail 221, thereby realizing the position adjustment of the movable platform 100 along the first direction.

[0058] Further, the X-axis motion assembly 230 includes a third slide rail 231, a third slider 232 and a third drive assembly. The third slider 232 is slidably disposed on the third slide rail 231. The third slide rail 231 is disposed on the second slider 222 and extends along the second direction. The third drive assembly is in transmission connection with the third slider 232, and the moving platform 100 is connected with the third slider 232. Optionally, the third drive assembly can use a third rotary motor 233. The third rotary motor 233 is in transmission connection with a third lead screw 234. The third lead screw 234 is threadedly engaged with a connecting plate below the moving platform 100. The third rotary motor 233 drives the third lead screw 234 to rotate, so that the moving platform 100 can be driven to reciprocate along the second direction. At this time, the third slider 232 reciprocates along the third slide rail 231, and the position adjustment of the moving platform 100 along the second direction is realized. Of course, in some embodiments, the third lead screw and the third slider 232 may be threadedly matched, so that the third lead screw 234 can be driven to rotate by the third rotary motor 233, so as to drive the third slider 232 to reciprocate along the third slide rail 231, thereby realizing the reciprocating movement of the moving platform 100 along the second direction. Exemplarily, the second rotary motor 223 and the third rotary motor 233 may be stepper motors, and the repeatability of the stepper motors is limited to within 0.05 mm and the step length is limited to within 0.01 mm, thereby ensuring the positioning accuracy and realizing micro- and precise adjustment of the position of the moving platform 100.

[0059] Of course, in other embodiments, the Y-axis motion component 220 and the X-axis motion component 230 can also be set as linear motors, and the two linear motors are respectively set along the first direction and the second direction. By controlling the forward step length of the linear motor, the position of the moving platform 100 on the mounting base 210 can be accurately adjusted.

[0060] It should be noted that the three first rotating motors 433, the second rotating motor 223 and the third rotating motor 233 in the present embodiment are all connected to the motor driver 720, and the motor driver 720 can be used to select and drive any rotating motor to start or stop. Of course, the above rotating motors can work alone or in coordination, and are specifically determined according to the target position to which the moving platform 100 needs to be adjusted. The control is relatively convenient and flexible, and the adjustment accuracy is relatively high. The handling robot is powered on through the power interface 610, and the motor driver 720 and the controller 710 are both arranged inside the housing 410. Further, the motor driver 720 can be connected to the controller 710, and the controller 710 can be connected to the control panel through the network port 630 or the wireless bridge antenna 640 to meet different control environment requirements. The control panel and the handling robot are independently set, and the controller 710 can receive the control signal sent by the control panel, and then the controller 710 sends instructions to the motor driver 720, and the corresponding rotating motor is controlled to start and stop through the motor driver 720. More preferably, an emergency stop button 620 is further provided on the housing 410 of the transport robot. When an emergency occurs, all rotating motors can be controlled to stop running through the button to avoid safety accidents.

[0061] See also Figure 4 , Figure 8 and Fig. 9 The moving mechanism 400 in this embodiment also includes a manual parking component 500, which is arranged at the bottom of the shell 410 and can lock the caster 420. When the transport robot is pushed to the specified position by manpower, the caster 420 at the bottom of the shell 410 can be locked by the manual parking component 500 to ensure that it will not slip during the assembly process.

[0062] Optionally, the manual parking assembly 500 in this embodiment can use a brake structure similar to the brake on a bicycle. For example, in this embodiment, the bottom of the housing 410 is provided with three casters 420, and the manual parking assembly 500 includes a handle 510, a locking link 520 and three brake lines 540. The handle 510 is connected to the locking link 520, and the locking link 520 is connected to the three brake lines 540. Each brake line 540 is connected to a corresponding caster 420. When the handle 510 is bent, the handle 510 drives the locking link 520 to tighten the brake line 540. At this time, the brake line 540 tightens the caster 420 to prevent it from rotating. Furthermore, the manual parking assembly 500 also includes a locking ring 550 and a locking pin 530. The locking ring 550 is arranged on the housing 410 and has a plurality of fixing holes 551. When the handle 510 is moved to the locking position, the locking pin 530 is passed through the fixing holes 551 on the locking ring 550 and the handle 510 to fix the position of the handle 510, thereby fixing the locking link 520 and the brake line 540, and the caster 420 is locked and will no longer rotate, thereby ensuring that the transport robot is parked at the designated position.

[0063] In order to make the handling robot in this embodiment more suitable for handling work in the aircraft cabin, the shell 410 in this embodiment is a hollow structure, and the interior is supported by a skeleton 411. Among them, the shell 410, the first support rod 310, the second support rod 320 and the third support rod 330 are all made of carbon fiber materials to reduce the overall weight of the handling robot, have strong corrosion resistance, and ensure that it has sufficient support strength and bearing strength, so that it can carry heavier items. Of course, in some embodiments, the shell 410 can also be made of 3D printing technology, using ABS-M30, which is light in weight, strong in bending resistance and impact resistance, and has an overall weight of only 16.7kg, which meets the requirements of carrying into the aircraft cabin for operation. Further, the skeleton 411 in the shell 410 can be made of aluminum alloy material, which is light in weight and has strong support force, can provide good support for the shell 410, and is not easy to deform. At the same time, other structural parts of the handling robot, such as the saddle assembly 430, the manual parking device, etc., can also be made of aluminum alloy to ensure sufficient mechanical strength.

[0064] More preferably, a waterproof silicone membrane 413 is provided in the outer shell 410, which can protect the controller 710, motor driver 720 and other electrical parts inside it from contacting water vapor, etc., has good hydrophobicity, is resistant to weather acid and alkali, temperature and aging, and has no powdering and coking phenomena under the action of corona, and has strong voltage resistance, so that the transport robot can be used outdoors for a long time.

[0065] In addition, multiple transport robots can be provided in the present embodiment, and the multiple transport robots can be controlled in linkage. Each transport robot can bear a load of 100 kg. Multiple transport robots can be controlled simultaneously through a control panel to transport longer or larger objects to be transported. The moving platforms 100 of the multiple transport robots respectively support one part of the object to be installed.

[0066] Obviously, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

[0067] Note that in the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A transport robot, characterized in that: include: Moving platform (100); A position adjustment mechanism (200), the position adjustment mechanism (200) being arranged on a mounting seat (210), the movable platform (100) being connected to the position adjustment component, and the position adjustment component being used to drive the movable platform (100) to translate on the mounting seat (210); an angle adjustment mechanism (300), the angle adjustment mechanism (300) being connected to the mounting seat (210), and the angle adjustment mechanism (300) being used to adjust the inclination angle of the mounting seat (210); The mobile mechanism (400) comprises a housing (410), the angle adjustment mechanism (300) is installed on the housing (410), and casters (420) are provided at the bottom of the housing (410).

2. The handling robot according to claim 1, characterized in that: The angle adjustment mechanism (300) comprises a first support rod (310), a second support rod (320) and a third support rod (330); the lower end surface of the mounting seat (210) is provided with three ball joint seats (211); the top ends of the first support rod (310), the second support rod (320) and the third support rod (330) are respectively connected to a corresponding ball joint seat (211); the bottom ends of the first support rod (310), the second support rod (320) and the third support rod (330) are hinged to the housing (410).

3. The handling robot according to claim 2, characterized in that: Three saddle assemblies (430) are provided on the top of the housing (410), and the first support rod (310), the second support rod (320) and the third support rod (330) are respectively connected to a corresponding saddle assembly (430).

4. The handling robot according to claim 3, characterized in that: Each of the saddle assemblies (430) includes a first slide rail (431), a first slider (432) and a first drive assembly. The first slider (432) in each of the saddle assemblies (430) is slidably connected to the first slide rail (431), the first drive assembly is transmission-connected to the first slider (432), and the bottom ends of the first support rod (310), the second support rod (320) and the third support rod (330) are respectively hinged to the corresponding first slider (432).

5. The handling robot according to claim 4, characterized in that: The first driving assembly comprises a first rotating motor (433) and a first lead screw (434); the output end of the first rotating motor (433) is connected to the first lead screw (434); a threaded hole is provided on the first sliding block (432); and the first lead screw (434) is cooperatively connected to the threaded hole.

6. The handling robot according to claim 4, characterized in that: A first hinge seat (412) is provided at the top of the housing (410), a first support leg (311) and a second support leg (312) are provided at the bottom end of the first support rod (310), the bottom end of the first support leg (311) is hinged to the corresponding first slider (432), the bottom end of the second support leg (312) is hinged to the first hinge seat (412), the top end of the second support leg (312) is provided with a second hinge seat (313), and the second hinge seat (313) is respectively hinged to the bottom end of the first support rod (310) and the top end of the first bracket.

7. The handling robot according to claim 1, characterized in that: The position adjustment mechanism (200) comprises an X-axis motion component (230) and a Y-axis motion component (220); the Y-axis motion component (220) is arranged on the mounting seat (210); the X-axis motion component (230) is connected to the Y-axis motion component (220); the moving platform (100) is connected to the X-axis motion component (230); the Y-axis motion component (220) is used to drive the X-axis motion component (230) and the moving platform (100) to move along a first direction; and the X-axis motion component (230) is used to drive the moving platform (100) to move along a second direction.

8. The handling robot according to claim 7, characterized in that: The Y-direction motion component (220) comprises a second slide rail (221), a second slider (222) and a second driving component, the second slider (222) is slidably arranged on the second slide rail (221), the second slide rail (221) is arranged on the mounting seat (210) and extends along the first direction, the second driving component is transmission-connected to the second slider (222), and the X-direction motion component (230) is connected to the second slider (222).

9. The handling robot according to claim 8, characterized in that: The X-axis motion component (230) comprises a third slide rail (231), a third slider (232) and a third driving component; the third slider (232) is slidably disposed on the third slide rail (231); the third slide rail (231) is disposed on the second slider (222) and extends along the second direction; the third driving component is transmission-connected to the third slider (232) or the moving platform (100); and the moving platform (100) is connected to the third slider (232).

10. The handling robot according to claim 1, characterized in that: The moving mechanism (400) further comprises a manual parking component (500), wherein the manual parking component (500) is arranged at the bottom of the housing (410) and is capable of locking the caster (420).

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