Transfer structure and carrying device

Abstract

The invention discloses a transfer structure and a carrying device.The transfer structure comprises a lifting mechanical arm, a load base and a rotating base, the load base comprises a rotating platform and a load platform connected to the lower portion of the rotating platform through a plurality of floating assemblies, and the load platform is detachably connected with an external cargo carrying mechanism; the rotary base comprises a rotary connecting piece and a base plate platform fixed relative to the lower portion of the rotary connecting piece, and the rotary connecting piece is rotationally connected with the lower end of the lifting mechanical arm through a horizontally-arranged load fixing shaft and drives the rotary base to rotate along with rotation of the lifting mechanical arm so that the base plate platform can be kept in the horizontal state. According to the transfer structure, the inertia effect of the cargo mechanism and cargoes carried by the cargo mechanism in the lifting movement, horizontal movement or horizontal rotation process due to the gravity of the cargo mechanism can be relieved, then the displacement of the cargoes relative to the cargo mechanism is reduced, tidy and ordered stacking and loading are facilitated, the bag falling rate is reduced, and the loading efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of handling devices, and particularly to a transfer structure and a handling device. Background Art

[0002] With the development of technology, handling devices have been widely used in material handling operations in factories such as grain and oil, and chemical industries. Existing handling devices generally include a cargo-carrying mechanism for carrying goods and a transfer structure for driving the cargo-carrying mechanism to move up and down and rotate horizontally. The handling device moves horizontally under the drive of an external moving mechanism, so as to move the goods from one target position to another target position for palletizing and loading onto a vehicle.

[0003] The prior art discloses a loading robotic arm for an automatic loading device (Chinese Invention Publication No.: CN113548497B), which includes a base that can be connected to a loading machine, an upper arm mechanism that rotates relative to the base, a lower arm mechanism that is linked to the upper arm mechanism, a load mechanism that is connected to the lower arm mechanism and can move in the vertical direction, a driving mechanism for driving the upper arm mechanism to rotate, and an adjusting structure for driving the load mechanism and the goods to rotate horizontally. The transfer structure of this technical solution can drive the goods to move up and down through the relatively rotating upper arm mechanism and lower arm mechanism to adjust the transportation height of the goods, and can drive the load mechanism and the goods to rotate horizontally through the adjusting structure to adjust the transportation direction and angle of the goods. However, during the process of carrying the goods to move up and down, horizontally, or rotate horizontally, this transfer structure is prone to displacement of the materials relative to the cargo-carrying mechanism due to the inertial effect of the gravity of the cargo-carrying mechanism and the materials it carries, which is not conducive to neat and orderly palletizing and loading, and is prone to the situation of package dropping, greatly reducing the loading efficiency. Therefore, there is an urgent need for a transfer structure that can buffer this inertial effect. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a transfer structure and a handling device. This transfer structure can buffer the inertial effect caused by the gravity of the cargo-carrying mechanism and the goods it carries during the processes of lifting and moving, horizontal moving, or horizontal rotation, thereby reducing the displacement of the goods relative to the cargo-carrying mechanism, which is conducive to neat and orderly palletizing and loading, and reduces the package dropping rate, greatly improving the loading efficiency.

[0005] A transfer structure disclosed by the present invention includes a lifting robotic arm, a load base, and a rotating base. The lifting robotic arm can drive the lower end of the lifting robotic arm to move up and down relative to the upper end by rotating in the vertical direction. The lifting robotic arm is installed on an external moving mechanism and moves along with the movement of the external moving mechanism. The load base includes a rotating platform and a load platform connected below the rotating platform through a plurality of floating components. The load platform is detachably connected to an external cargo-carrying mechanism and drives the cargo-carrying mechanism to float and deflect relative to the rotating platform. The rotating base includes a rotating connecting member and a substrate platform relatively fixed to the lower part of the rotating connecting member. The rotating connecting member is rotatably connected to the lower end of the lifting robotic arm through a horizontally arranged load fixing shaft, and drives the rotating base to rotate along with the rotation of the lifting robotic arm to keep the substrate platform in a horizontal state. A rotating channel is vertically penetrated through the substrate platform. A rotating shaft is rotatably connected in the rotating channel through a bearing member. A transmission wheel arranged coaxially with the rotating shaft and a limiting platform for supporting the transmission wheel away from the upper surface of the substrate platform are fixedly provided on the side wall of the upper part of the rotating shaft. The limiting platform supports and limits the upper side of the bearing member. A driving mechanism for driving the transmission wheel to rotate is installed on the substrate platform. The rotating platform is detachably connected to the lower end of the rotating shaft and drives the load base to rotate synchronously with the rotating shaft.

[0006] Preferably, the plurality of floating components are evenly spaced along the circumferential direction of the axis of the rotating shaft. The floating component includes a longitudinally arranged connecting column, a first limiting member connected to the upper end of the connecting column, a second limiting member connected to the lower end of the connecting column, and an elastic member sleeved on the connecting column. First connecting channels for the connecting column to pass through are correspondingly penetrated through the rotating platform and the load platform. The first limiting member limits the upper side of the rotating platform, the second limiting member limits the lower side of the load platform, and the elastic member limits between the rotating platform and the load platform.

[0007] Preferably, a plurality of detection components are arranged between the rotating platform and the load platform. The plurality of detection components are evenly spaced along the circumferential direction of the axis of the rotating shaft. The detection component includes a first detection member installed on one of the rotating platform and the load platform, and a first to-be-detected member installed on the other of the rotating platform and the load platform. The angle and direction of the floating deflection of the load platform relative to the rotating platform are monitored by the respective first detection members detecting the first to-be-detected members arranged corresponding to them.

[0008] Preferably, a plurality of detection channels corresponding to the detection components are vertically penetrated through the load platform, and a first installation channel communicating with the detection channels is arranged radially along the axis of the rotating shaft. The first detection member is installed in the first installation channel, and the detection end of the first detection member faces the detection channel. The first workpiece to be detected is installed on the rotating platform, and the lower end of the first workpiece to be detected extends out of the lower side of the rotating platform and extends into the detection channel to be close to the detection end of the first detection member to respond to the detection signal of the first detection member or extends to be far away from the detection end of the first detection member to avoid the detection signal of the first detection member.

[0009] Preferably, a ring platform structure coaxial with the axis of the rotating shaft is convexly provided upward from the outer peripheral edge of the load platform. The inner peripheral side surface of the ring platform structure is set as a circular structure, and the outer peripheral side surface of the rotating platform is set as a circular structure coaxial with the axis of the rotating shaft. The radius of the outer peripheral side surface of the rotating platform is smaller than the radius of the inner peripheral side surface of the ring platform structure. A connection area for connecting an external cargo-carrying mechanism is formed between the outer peripheral side surface of the rotating platform and the top surface of the ring platform structure.

[0010] Preferably, a support platform surrounding the lower side of the rotating channel is fixedly provided on the lower side of the substrate platform, and a limiting plate surrounding the upper side of the rotating channel is detachably connected to the upper side of the substrate platform. A connecting platform is convexly provided upward from the upper surface of the rotating platform. The connecting platform extends into the connecting channel in the middle of the support platform and is detachably connected to the lower end of the rotating shaft through a connecting member. The outer peripheral edge of the bearing member is supported on the upper side of the support platform and is limited between the support platform and the limiting plate. The inner peripheral edge of the bearing member is supported on the upper side of the connecting platform and is limited between the connecting platform and the limiting platform.

[0011] Preferably, a plurality of first assembly channels are vertically penetrated through the rotating shaft along its circumferential direction, and the plurality of first assembly channels are respectively arranged parallel to the axis of the rotating shaft. A second assembly channel corresponding to the first assembly channel is recessed downward from the top surface of the connecting platform on the rotating platform. The rotating platform and the rotating shaft are detachably connected through a connecting member in the first assembly channel and the corresponding second assembly channel.

[0012] Preferably, the driving mechanism includes a driving motor and a driving gear fixed to the output shaft of the driving motor. The driving motor is fixed to the upper side of the substrate platform through a motor mounting seat. The output shaft of the driving motor is arranged in the vertical direction. A limiting channel for the output shaft to rotate therein is provided through the substrate platform in the vertical direction. The driving gear is arranged between the driving motor and the substrate platform. A housing member covering the transmission wheel is detachably connected to the upper side of the substrate platform. The driving gear is arranged in the motor mounting seat, and a first transmission channel for a part of the structure of the transmission wheel to extend into the motor mounting seat to engage with the driving gear is provided on one side of the motor mounting seat close to the housing member. A second transmission channel for a part of the structure of the transmission wheel to extend out of the housing member is provided on the housing member. The second transmission channel is arranged opposite to the first transmission channel.

[0013] Preferably, both ends of the load fixing shaft are respectively rotatably connected to the lifting robotic arm. There are two rotating connectors, which are arranged oppositely on both sides of the substrate platform and are respectively connected to the load fixing shaft. One of the rotating connectors is connected to the rotating mechanism in the lifting robotic arm and can rotate with the rotation of the rotating mechanism. A second detecting member for monitoring the rotation angle of the cargo-carrying mechanism relative to the rotating platform is installed on the substrate platform and / or the rotating connector.

[0014] The present invention also discloses a handling device, including a cargo-carrying mechanism and the above-mentioned transfer structure. The cargo-carrying mechanism includes a top plate, side plates connected to both sides of the top plate, two movable bottom plates respectively rotatably connected to the two side plates, and a power device for driving the movable bottom plates to rotate relative to the side plates to open or close the cargo loading channel. A second connection channel is provided through the top plate. The load platform is supported under the top plate. The floating assembly is arranged in the second connection channel. The rotating platform is arranged in the second connection channel and / or above the top plate.

[0015] Since the load base of the transfer structure disclosed in the present invention includes a rotating platform and a load platform connected below the rotating platform through a plurality of floating components, the load platform can drive the external cargo-carrying mechanism and the goods carried thereby to float and deflect relative to the rotating platform, so as to buffer the inertial effect caused by the gravity of the external cargo-carrying mechanism and the goods carried thereby during the lifting movement, horizontal movement or horizontal rotation process, thereby reducing the displacement of the goods relative to the cargo-carrying mechanism, facilitating orderly stacking and loading of the goods, reducing the package dropping rate, and greatly improving the loading efficiency; the rotating connector of the rotating base is rotatably connected to the lower end of the lifting robotic arm through a horizontally arranged load fixing shaft, and drives the rotating base to rotate with the rotation of the lifting robotic arm to keep the substrate platform in a horizontal state, thereby avoiding the inclination of the rotating base, the external cargo-carrying mechanism and the goods carried thereby relative to the ground during the lifting movement, resulting in the slipping of the goods, and reducing the package dropping rate; the rotating platform of the load base is horizontally rotatably connected to the substrate platform of the rotating base through a rotating shaft, so as to drive the external cargo-carrying mechanism and the goods carried thereby to rotate horizontally to adjust the transportation direction and angle of the goods, and a transmission wheel coaxially arranged with the rotating shaft and a limiting platform for supporting the transmission wheel away from the upper surface of the substrate platform are fixedly provided on the side wall of the upper part of the rotating shaft. The limiting platform supports and limits the upper side of the bearing member, so that friction between the transmission wheel and the substrate platform can be avoided, wear is reduced, and the service life of the transmission wheel is prolonged. The limiting platform supports and limits the upper side of the bearing member, so that the limiting platform can rotate relative to the substrate platform through the bearing member. Compared with directly supporting and limiting the limiting platform on the upper surface of the substrate platform, the friction between the limiting platform and the substrate platform can be reduced, and the service life of the limiting platform is prolonged; in addition, the load base is detachably connected to the rotating shaft on the substrate platform of the rotating base through the rotating platform, and is detachably connected to the external cargo-carrying mechanism through the load platform, which is convenient for replacing the load base and is beneficial to the daily maintenance of the transfer structure.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a schematic structural diagram of a transfer structure disclosed in an embodiment of the present invention.

[0019] Figure 2 is a schematic exploded view of the structure of a transfer structure disclosed in an embodiment of the present invention Figure 1 .

[0020] Figure 3Schematic exploded view of the rotating base and the load base disclosed in an embodiment of the present invention.

[0021] Figure 4 Schematic cross-sectional view of the rotating base and the load base disclosed in an embodiment of the present invention Figure 1 。

[0022] Figure 5 Schematic cross-sectional view of the rotating base and the load base disclosed in an embodiment of the present invention Figure 2 。

[0023] Figure 6 Schematic exploded view of the transfer structure disclosed in an embodiment of the present invention Figure 2 。

[0024] Figure 7 Partial structure schematic diagram of the transfer structure disclosed in an embodiment of the present invention.

[0025] Figure 8 Partial structure exploded view of the lifting robotic arm disclosed in an embodiment of the present invention.

[0026] Figure 9 Schematic exploded view of the second transmission mechanism disclosed in an embodiment of the present invention.

[0027] Figure 10 Partial structure exploded view of the second transmission mechanism disclosed in an embodiment of the present invention.

[0028] Figure 11 Schematic diagram of the structure of the handling device disclosed in an embodiment of the present invention.

[0029] Figure 12 Schematic exploded view of the structure of the handling device disclosed in an embodiment of the present invention. Detailed implementation manners

[0030] To make the objectives, 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 with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0032] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact, but are in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0034] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second" and similar terms used in the specification and claims of the present invention for patent application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one.

[0035] Such as Figures 1-10As shown in the figure, as an embodiment of the present invention, a transfer structure is disclosed, which includes a lifting robotic arm 1, a rotating base 2, and a load base 3. Among them, the lifting robotic arm 1 can drive the lower end of the lifting robotic arm 1 to move up and down relative to the upper end by rotating in the vertical direction, thereby driving the external cargo-carrying mechanism and the goods carried by it to move up and down. The lifting robotic arm 1 is installed on the external moving mechanism and moves with the movement of the external moving mechanism, thereby driving the external cargo-carrying mechanism and the goods carried by it to move horizontally. The rotating base 2 includes a rotating connecting member 22 and a substrate platform 21 relatively fixed to the lower part of the rotating connecting member 22. The rotating connecting member 22 is rotatably connected to the lower end of the lifting robotic arm 1 through a horizontally arranged load fixing shaft 23, and drives the rotating base 2 to rotate with the rotation of the lifting robotic arm 1 to keep the substrate platform 21 in a horizontal state, thereby avoiding the inclination of the rotating base 2, the external cargo-carrying mechanism and the goods carried by it relative to the ground during the lifting movement, resulting in the slipping of the goods, and reducing the package-drop rate. The load base 3 includes a rotating platform 31 and a load platform 32 connected to the lower part of the rotating platform 31 through a plurality of floating components 33. The load platform 32 is detachably connected to the external cargo-carrying mechanism and drives the cargo-carrying mechanism to float and deflect relative to the rotating platform 31, and can drive the external cargo-carrying mechanism and the goods carried by it to float and deflect relative to the rotating platform 31, thereby buffering the inertial action caused by the gravity of the external cargo-carrying mechanism and the goods carried by it during the lifting movement, horizontal movement or horizontal rotation, and further reducing the displacement of the goods relative to the cargo-carrying mechanism, which is beneficial to the orderly stacking and loading of the goods, and reduces the package-drop rate, greatly improving the loading efficiency. A rotating channel 211 is vertically penetrated on the substrate platform 21. A rotating shaft 213 is rotatably connected in the rotating channel 211 through a bearing member 212. The rotating shaft 213 is arranged in the vertical direction. A transmission wheel 214 coaxially arranged with the rotating shaft 213 and a limiting platform 215 for supporting the transmission wheel 214 away from the upper surface of the substrate platform 21 are fixedly provided on the side wall of the upper part of the rotating shaft 213. A driving mechanism 216 for driving the transmission wheel 214 to rotate is installed on the substrate platform 21. The rotating platform 31 is detachably connected to the lower end of the rotating shaft 213 and drives the load base 3 to rotate synchronously with the rotating shaft 213, so that the rotating platform 31 of the load base 3 is horizontally rotatably connected to the substrate platform 21 of the rotating base 2 through the rotating shaft 213, thereby driving the external cargo-carrying mechanism and the goods carried by it to rotate horizontally to adjust the transportation direction and angle of the goods. The setting of the limiting platform 215 can avoid the friction between the transmission wheel 214 and the substrate platform 21, reduce wear, and extend the service life of the transmission wheel 214. The limiting platform 215 supports and limits the upper side of the bearing member 212 and can rotate relative to the substrate platform 21 through the bearing member 212. Compared with directly supporting and limiting the limiting platform 215 on the upper surface of the substrate platform 21, the friction between the limiting platform 215 and the substrate platform 21 can be reduced, and the service life of the limiting platform 215 can be extended.In addition, since the load base 3 is detachably connected to the rotating shaft 213 on the substrate platform 21 of the rotating base 2 through the rotating platform 31 and is detachably connected to the external cargo-carrying mechanism through the load platform 32, it is convenient to replace the load base 3, which is beneficial to the daily maintenance of the transfer structure.

[0036] As Figure 3 shown, in some specific embodiments, a plurality of floating components 33 are evenly spaced along the circumferential direction of the axis of the rotating shaft 213, which is more matched with the rotating direction of the load base 3. Therefore, it is more beneficial to buffer the inertial effect caused by the gravity of the cargo-carrying mechanism and the materials it carries during the horizontal rotation process. The floating component 33 includes a longitudinally arranged connecting column 331, a first limiting member 332 connected to the upper end of the connecting column 331, a second limiting member 333 connected to the lower end of the connecting column 331, and an elastic member 334 sleeved on the connecting column 331. Corresponding first connecting channels 335 for the connecting column 331 to pass through are provided on the rotating platform 31 and the load platform 32. The connecting column 331 can slide up and down along the first connecting channels 335 on the rotating platform 31 and the load platform 32 respectively to allow the load platform 32 to deflect relative to the rotating platform 31. The first limiting member 332 is limited on the upper side of the rotating platform 31, and the second limiting member 333 is limited on the lower side of the load platform 32 to prevent the connecting column 331 from slipping out of the first connecting channels 335 on the rotating platform 31 and the load platform 32 and disconnecting from the rotating platform 31 or the load platform 32. The elastic member 334 is limited between the rotating platform 31 and the load platform 32 and is used for resetting after deflection, so as to achieve the effect of floating deflection.

[0037] In some specific embodiments, the connecting column 331 includes a first column portion 3311 and a second column portion 3312 detachably connected to the lower end of the first column portion 3311. The first limiting member 332 is connected to the upper end of the first column portion 3311 and is integrally formed with the first column portion 3311. The second limiting member 333 is connected to the lower end of the second column portion 3312 and is integrally formed with the second column portion 3312, with a simple and stable structure. The first column portion 3311 is recessed with a column groove 33111 from its lower end surface upward. The second column portion 3312 extends into the column groove 33111 and is threadedly connected to the column groove 33111, which is convenient for assembly or disassembly, easy for maintenance or replacement, and the upper surface of the second limiting member 333 can abut against the lower end surface of the first column portion 3311 after connection.

[0038] As Figure 5As shown, in some specific embodiments, the first limiting member 332 is recessed downward from its top surface to form a first operation groove 3321 for cooperating with external loading and unloading tools such as screwdrivers. The rotating platform 31 is recessed downward from its upper surface to form a second sinking groove 313 for accommodating the first limiting member 332. After connection, the upper surface of the first limiting member 332 is flush with the upper surface of the rotating platform 31 or the upper surface of the first limiting member 332 is lower than the upper surface of the rotating platform 31, so as to reduce the occupation of the space above the rotating platform 31 by the first limiting member 332. The rotating platform 31 is recessed upward from its lower surface to form a first limiting groove 314 for accommodating the upper end of the elastic member 334, and the load platform 32 is recessed downward from its upper surface to form a second limiting groove 325 for accommodating the lower end of the elastic member 334, reducing the relative distance arrangement between the rotating platform 31 and the load platform 32, making the overall layout structure of the load base 3 more compact and occupying a shorter space height.

[0039] As Figure 3 shown, in some specific embodiments, a plurality of detection components 34 are arranged between the rotating platform 31 and the load platform 32. The plurality of detection components 34 are evenly spaced along the circumferential direction of the axis of the rotating shaft 213. The detection component 34 includes a first detection piece 341 installed on one of the rotating platform 31 and the load platform 32, and a first piece to be detected 342 installed on the other of the rotating platform 31 and the load platform 32. The angle and direction of the floating deflection of the load platform 32 relative to the rotating platform 31 are monitored by the detection of each first detection piece 341 on the first piece to be detected 342 arranged corresponding to it, facilitating real-time monitoring of position change information such as the direction, angle, and amplitude of the floating deflection.

[0040] In some specific embodiments, the first detection piece 341 is a position sensor, and the first piece to be detected 342 is a position sensing sheet. The position sensing sheet moves close to the detection end of the position sensor as the load platform 32 floats and deflects relative to the rotating platform 31 and responds to the detection signal of the position sensor, or moves away from the detection end of the position sensor as the load platform 32 floats and deflects relative to the rotating platform 31 and avoids the detection signal of the position sensor. In this embodiment, the first detection piece 341 is set as a non-contact photoelectric sensor, and the first piece to be detected 342 is set as a metal sheet matched with the first detection piece 341. The first piece to be detected 342 can respond to the photoelectric signal emitted by the first detection piece 341 without contacting the first detection piece 341, which can reduce the friction between the first detection piece 341 and the first piece to be detected 342 and extend the service life. Of course, in some other embodiments, the first detection piece 341 can also be set as a contact photoelectric sensor, and the first piece to be detected 342 can be set as a metal sheet matched with the first detection piece 341.

[0041] As Figure 3 、 4As shown, in some specific embodiments, a plurality of detection channels 321 corresponding to the detection components 34 are vertically penetratingly provided on the load platform 32, and a first installation channel 322 communicating with the detection channels 321 is provided in the radial direction of the axis of the rotation axis 213. The first detection member 341 is installed in the first installation channel 322, and the detection end of the first detection member 341 faces the detection channel 321, and is used to emit light towards the detection channel 321, and can more directly monitor the deflection direction, angle, and amplitude of the load platform 32 relative to the rotation platform 31 from various deflection directions. The first component to be measured 342 is installed on the rotation platform 31, and the lower end of the first component to be measured 342 extends out of the lower side of the rotation platform 31 and extends into the detection channel 321 to be close to the detection end of the first detection member 341 to respond to the detection signal of the first detection member 341 or extends to be far from the detection end of the first detection member 341 to avoid the detection signal of the first detection member 341. An activity gap is provided between the outer peripheral side of the first component to be measured 342 and the side wall of the first detection member 341, so that when the detection channel 321 floats and deflects relative to the rotation platform 31 along with the load platform 32, the first component to be measured 342 can move in the activity gap. At the same time, the detection channel 321 cooperates with the first component to be measured 342, and can also limit and restrain the angle and amplitude of the floating deflection to avoid excessive deflection.

[0042] As Figure 4 shown, in some specific embodiments, the first component to be measured 342 includes a to-be-measured piece 3421 arranged in the vertical direction and a limiting piece 3422 vertically connected to the upper end of the to-be-measured piece 3421. The limiting piece 3422 is arranged in the radial direction of the rotation axis 213. The limiting piece 3422 supports and limits the upper side of the rotation platform 31. The to-be-measured piece 3421 is arranged on the side of the rotation platform 31 and extends below the rotation platform 31. The to-be-measured piece 3421 is detachably connected to the side of the rotation platform 31 through connecting pieces such as screws and bolts. The structure is simple, the assembly is convenient, and the space occupied on the upper side of the rotation platform 31 is small, which is convenient to arrange the rotation platform 31 close to the lower side of the substrate platform 21, making the structural arrangement compact. The rotation platform 31 is recessed inward from its outer peripheral side to form a first sinking groove 312 for accommodating the upper end of the to-be-measured piece 3421, which can reduce the space occupied by the to-be-measured piece 3421 on the outer peripheral side of the rotation platform 31. After connection, the outer side surface of the to-be-measured piece 3421 is flush with the outer side surface of the rotation platform 31, making the overall flatness of the rotation platform 31 and the to-be-measured piece 3421 higher, which is beneficial to rotation.

[0043] As Figure 2As shown, in some specific embodiments, the detection components 34 are arranged in pairs, and there are two pairs of them. The two detection components 34 arranged in pairs are arranged on the opposite sides of the rotating platform 31 along the diameter direction of the rotating axis 213. Thus, when the first detection piece 341 of the detection component 34 on one side is separated from the first piece to be detected 342, the direction and angle of deflection can be detected by the approach of the first detection piece 341 of the detection component 34 on the opposite side to the first piece to be detected 342. By detecting whether the detection signals of the two adjacent detection components 34 are both responded, the amplitude of deflection and more accurate direction and angle can be detected. Of course, in some other embodiments, three pairs or more pairs of the detection components 34 arranged in pairs can also be arranged to improve the detection accuracy.

[0044] As Figure 4 shown, in some specific embodiments, a ring platform structure 323 coaxial with the axis of the rotating axis 213 protrudes upward from the outer peripheral edge of the load platform 32. The inner peripheral side surface of the ring platform structure 323 is set as a circular structure, and the outer peripheral side surface of the rotating platform 31 is set as a circular structure coaxial with the axis of the rotating axis 213. Moreover, the radius of the outer peripheral side surface of the rotating platform 31 is smaller than the radius of the inner peripheral side surface of the ring platform structure 323. A connection area 324 for connecting an external cargo-carrying mechanism is formed between the outer peripheral side surface of the rotating platform 31 and the top surface of the ring platform structure 323. The external cargo-carrying mechanism can be connected and supported on the top surface of the ring platform structure 323, thereby enhancing its load-bearing capacity and connection stability. Moreover, the overall structure of the rotating base 2 and the load base 3 is compactly arranged, saving the occupied height of space and facilitating space layout.

[0045] In some specific embodiments, a support platform 2111 is fixedly provided on the lower side of the substrate platform 21 and is arranged around the lower side of the rotation channel 211. A limiting plate 217 is detachably connected to the upper side of the substrate platform 21 and is arranged around the upper side of the rotation channel 211. The rotation platform 31 protrudes upward from its upper surface with a connection platform 311. The connection platform 311 extends into the connection channel in the middle of the support platform 2111 and is detachably connected to the lower end of the rotation shaft 213 through connecting members such as screws and bolts. The upper end surface of the connection platform 311 abuts against the lower end surface of the rotation shaft 213. The radial limit of the connection platform 311 can be carried out through the inner wall of the connection channel in the middle of the support platform 2111, and the axial limit of the connection platform 311 can be carried out through the lower end surface of the rotation shaft 213, preventing the connection platform 311 and the load base 32 from shaking relative to the substrate platform 21 in the radial or axial direction, and further improving the connection stability between the load base 3 and the substrate platform 21. The outer peripheral edge of the bearing member 212 is supported on the upper side of the support platform 2111 and is limited between the support platform 2111 and the limiting plate 217. The inner peripheral edge of the bearing member 212 is supported on the upper side of the connection platform 311 and is limited between the connection platform 311 and the limiting platform 215. The bearing member 212 can be limited on the support platform 2111, improving the stability and reliability of the installation and positioning of the bearing member 212, and preventing the bearing member 212 from moving up and down relative to the substrate platform 21 along its axial direction and disengaging from the connection, thus improving the connection stability. The limiting plate 217 is arranged in a Ω-shaped structure with a notch on one side. The driving gear 2162 is arranged on one side of the notch end of the limiting plate 217 to avoid the limiting plate 217 interfering with the meshing and transmission connection between the transmission wheel 214 and the driving gear 2162.

[0046] As Figure 3 shown, in some specific embodiments, a plurality of first assembly channels 2131 are arranged through the rotation shaft 213 along its circumferential direction. The plurality of first assembly channels 2131 are respectively arranged parallel to the axis of the rotation shaft 213. On the rotation platform 31, a second assembly channel 3111 corresponding to the first assembly channel 2131 is recessed downward from the top surface of the connection platform 311. The rotation platform 31 and the rotation shaft 213 are detachably connected through connecting members such as screws and bolts in the first assembly channel 2131 and the corresponding second assembly channel 3111, which is convenient for maintenance or replacement. The first assembly channel 2131 penetrates through the rotation shaft 213, the limiting platform 215 and the transmission wheel 214, and the second assembly channel 3111 penetrates through the connection platform 311 and the rotation platform 31. Compared with only arranging the first assembly channel 2131 on the rotation shaft 213 and only arranging the second assembly channel 3111 on the rotation platform 31, in this embodiment, the side walls of the first assembly channel 2131 or the second assembly channel 3111 are thicker, the structure is more stable, and the torque bearing capacity is stronger, which is beneficial to driving the load base 3 to rotate horizontally through the rotation shaft 213.

[0047] As Figure 4As shown, in some specific embodiments, a positioning groove 2132 coaxial with the rotating shaft 212 is recessed upward from the lower end surface of the rotating shaft 213. A plurality of first assembly channels 2131 are provided and arranged on the outer peripheral side of the positioning groove 2132. A positioning rib 3112 corresponding to the positioning groove 2132 is protruded upward from the upper surface of the connecting platform 311. The connecting platform 311 and the rotating shaft 213 are radially positioned by fitting the positioning rib 3112 into the positioning groove 2132, preventing the connecting platform 311 from moving axially relative to the rotating shaft 213, improving the stability of the connection between the connecting platform 311 and the rotating shaft 213, and facilitating the precise positioning and docking of the connecting platform 311 and the rotating shaft 2133 for convenient assembly and positioning.

[0048] As Figure 3 shown, in some specific embodiments, the driving mechanism 216 includes a driving motor 2161 and a driving gear 2162 fixed to the output shaft of the driving motor 2161. The driving motor 2161 is fixed to the upper side of the substrate platform 21 through a motor mounting seat 2163. The output shaft of the driving motor 2161 is arranged in the vertical direction. A limiting channel 218 for the output shaft to rotate therein is provided through the substrate platform 21 in the vertical direction. The driving gear 2162 is arranged between the driving motor 2161 and the substrate platform 21. The limiting channel 218 is horizontally rotatably connected to the output shaft of the driving motor 2161, which can prevent the output shaft from moving radially relative to the driving motor 2161, improving the stability and reliability of the meshing transmission between the driving gear 2162 and the transmission wheel 214. The free end of the output shaft is detachably connected with a protective cover by bolts or other fasteners to prevent accidental contact and injury. A housing member 219 covering the transmission wheel 214 is detachably connected to the upper side of the substrate platform 21. The driving gear 2162 is arranged in the motor mounting seat 2163, and a first transmission channel 21631 for a part of the structure of the transmission wheel 214 to extend into the motor mounting seat 2163 to mesh with the driving gear 2162 is provided on one side of the motor mounting seat 2163 close to the housing member 219. A second transmission channel 2191 for a part of the structure of the transmission wheel 214 to extend out of the housing member 219 is provided on the housing member 219. The second transmission channel 2191 and the first transmission channel 21631 are arranged opposite to each other, so that a part of the structure of the transmission wheel 214 extends out of the housing member 219 in sequence and extends into the motor mounting seat 2163 to mesh with the driving gear 2162, and the structural arrangement is compact and reliable.

[0049] As Figure 7As shown, in some specific embodiments, both ends of the load fixing shaft 23 are rotatably connected to the lifting robotic arm 1. There are two rotating connectors 22, which are arranged oppositely on both sides of the substrate platform 21 and are respectively connected to the load fixing shaft 23. One of the rotating connectors 22 is connected to the rotating mechanism inside the lifting robotic arm 1 and can rotate with the rotation of the rotating mechanism to keep the substrate platform 21 in a horizontal state during the rotation of the lifting robotic arm 1. A second detector 24 for monitoring the rotation angle of the cargo-carrying mechanism relative to the rotating platform 31 is installed on any one or both of the substrate platform 21 and the rotating connectors 22, which facilitates adjusting the direction and angle of the relative rotation of the load base 3 and the external load-carrying mechanism relative to the rotating base 2. The upper ends of the two rotating connectors 22 are respectively connected to the load fixing shaft 23. The lower ends of the two rotating connectors 22 respectively extend inwards with base platforms 221. The substrate platform 21 is supported on the upper sides of the base platforms 221 of the two rotating connectors 22 and is respectively detachably connected to the two rotating connectors 22, with a simple structure and convenient assembly.

[0050] As Figures 6-8As shown, in some specific embodiments, the lifting robotic arm 1 includes a mounting base 13, an upper arm housing 11 whose upper end is rotatably connected to the mounting base 13 through a first coupling shaft 101, and a lower arm housing 12 whose upper end is rotatably connected to the lower end of the upper arm housing 11 through a second coupling shaft 102. A load fixing shaft 23 is rotatably connected to the lower end of the lower arm housing 12. The first coupling shaft 101, the second coupling shaft 102, and the load fixing shaft 23 are horizontally arranged, such that the upper arm housing 11, the lower arm housing 12, and the rotating base 2 can rotate in the vertical direction. A driving assembly 131 with an output end fixed to the upper end of the upper arm housing 11 is provided on the mounting base 13. Inside the upper arm housing 11, there are a first gear 111 relatively fixed to the first coupling shaft 101, a second gear 112 relatively fixed to the second coupling shaft 102, and a first transmission mechanism 113 drivingly connected between the first gear 111 and the second gear 112. The movement direction of the first transmission mechanism 113 is the same as the movement directions of the first gear 111 and the second gear 112, and is opposite to the movement direction of the upper arm housing 11, and is used to drive the lower arm housing 12 to rotate relative to the upper arm housing 11 in a second clockwise direction opposite to the first clockwise direction around the axis of the second coupling shaft 102 when the upper arm housing 11 rotates around the axis of the first coupling shaft 101 in the first clockwise direction. For example, when the first clockwise direction is the clockwise direction, the second clockwise direction is the counterclockwise direction; when the first clockwise direction is the counterclockwise direction, the second clockwise direction is the clockwise direction. Inside the lower arm housing 12, there are a third gear 121 relatively fixed to the lower end of the upper arm housing 11 and relatively rotatable with the second coupling shaft 102, a fourth gear 122 relatively fixed to the rotating connector 22 and relatively rotatable with the load fixing shaft 23, and a second transmission mechanism 123 drivingly connected between the third gear 121 and the fourth gear 122. The movement direction of the second transmission mechanism 123 is opposite to the movement directions of the third gear 121 and the fourth gear 122, and is the same as the movement direction of the lower arm housing 12, and is used to drive the rotating base 2 to rotate relative to the lower arm housing 12 in the first clockwise direction around the axis of the load fixing shaft 23 when the lower arm housing 12 rotates in the second clockwise direction. One end of the load fixing shaft 23 is rotatably connected to the lower arm housing 12, and the other end is rotatably connected to the second gear 122. By relatively folding or unfolding the lower arm housing 12 and the upper arm housing 11, the total lifting stroke of the lifting robotic arm 1 can be achieved. The structure is simple, the overall occupied space is small, and its own load is small, thus being more conducive to handling handling operations in some heavy-load fields.The upper arm housing 11 rotates around the axis of the first coupling shaft 101 in the first clockwise direction along with the output end of the drive assembly 131. At the same time, the first transmission mechanism 131 drives the second gear 112 and the lower arm housing 12 to rotate around the axis of the second coupling shaft 102 in the second clockwise direction opposite to the first clockwise direction, thereby driving the rotary base 2 to move up and down in the vertical direction. At the same time, the second transmission mechanism 123 drives the fourth gear 122 and the rotary base 2 to rotate around the axis of the load fixing shaft 23 in the first clockwise direction, so as to keep the substrate platform 21 in the vertical state throughout the lifting process.

[0051] As Figure 8 shown, in some specific embodiments, the second transmission mechanism 123 includes a first link assembly 1231, a second link assembly 1232, a first sector gear 1233 engaged with the third gear 121 for transmission, and a second sector gear 1234 engaged with the fourth gear 122 for transmission. The second sector gear 1234 and the first sector gear 1233 are arranged back to back, that is, the fan surface side of the second sector gear 1234 and the fan surface side of the first sector gear 1233 are arranged back to back. The two ends of the first link assembly 1231 are respectively rotatably connected to one end of the circumferential side wall of the first sector gear 1233 and one end of the circumferential side wall of the second sector gear 1234. The two ends of the second link assembly 1232 are respectively rotatably connected to the other end of the circumferential side wall of the first sector gear 1233 and the other end of the circumferential side wall of the second sector gear 1234. The first link assembly 1231, the second link assembly 1232, the first sector gear 1233 and the second sector gear 1234 form an annular structure clamped between the third gear 121 and the fourth gear 122. The first sector gear 1233, the second sector gear 1234, the first link assembly 1231 and the second link assembly 1232 pull and restrict each other. During operation, the upper arm housing 11 rotates around the axis of the first coupling shaft 101 in the first clockwise direction along with the output end of the drive assembly 131. At the same time, the first transmission mechanism 113 drives the second gear 112 and the lower arm housing 12 to rotate around the axis of the second coupling shaft 102 in the second clockwise direction opposite to the first clockwise direction. The first sector gear 1233 and the second sector gear 1234 rotate around their respective axes in the second clockwise direction under the mutual support and restraint of the first link assembly 1231 and the second link assembly 1232, thereby driving the fourth gear 122 and the external cargo mechanism to rotate around the axis of the load fixing shaft 23 in the first clockwise direction, so as to keep the substrate platform 21 in the horizontal state throughout the lifting process, which is convenient for handling goods and avoids tilting and slipping of the goods. Through the mutual cooperation of the first sector gear 1233, the second sector gear 1234, the first link assembly 1231 and the second link assembly 1232 designed with a rigid structure, the synchronous belt designed with a flexible structure in the prior art is replaced. It has higher wear resistance and better transmission efficiency, so it is not easy to have problems such as slipping and is more suitable for the heavy load field.

[0052] In some specific embodiments, the first sector gear 1233 and the second sector gear 1234 have the same radius. The first link assembly 1231 and the second link assembly 1232 are arranged in parallel with each other. One end of the first link assembly 1231 and one end of the second link assembly 1232 are respectively rotatably connected to opposite sides of the first sector gear 1233 arranged along its diameter direction. The other end of the first link assembly 1231 and the other end of the second link assembly 1232 are respectively rotatably connected to opposite sides of the second sector gear 1234 arranged along its diameter direction. When the first sector gear 1233 rotates around its axis in the first clockwise direction or the second clockwise direction, the distance that one of the two connection parts respectively used for rotatably connecting with the first link assembly 1231 and the second link assembly 1232 at both ends of its circumferential side wall moves along the width direction and the length direction of the lower arm housing 12 is exactly the same as the distance that the other moves along the width direction and the length direction of the lower arm housing 12, and the direction that one moves along the width direction and the length direction of the lower arm housing 12 is exactly opposite to the direction that the other moves along the width direction and the length direction of the lower arm housing 12. When the second sector gear 1234 rotates around its axis in the first clockwise direction or the second clockwise direction, the distance that one of the two connection parts respectively used for rotatably connecting with the first link assembly 1231 and the second link assembly 1232 at both ends of its circumferential side wall moves along the width direction and the length direction of the lower arm housing 12 is exactly the same as the distance that the other moves along the width direction and the length direction of the lower arm housing 12, and the direction that one moves along the width direction and the length direction of the lower arm housing 12 is exactly opposite to the direction that the other moves along the width direction and the length direction of the lower arm housing 12. During the transmission process, the moving distances of the first link assembly 1231 and the second link assembly 1232 are the same, and when one of the first link assembly 1231 and the second link assembly 1232 moves towards the first sector gear 1233, the other moves towards the second sector gear 1234, so that the entire second transmission mechanism 123 can perform a reciprocating motion, thereby realizing the transmission connection between the third gear 121 and the fourth gear 122.Both ends of the first link assembly 1231 are rotatably connected to one end of the circumferential side wall of the first sector gear 1233 and one end of the circumferential side wall of the second sector gear 1234 respectively. Both ends of the second link assembly 1232 are rotatably connected to the other end of the circumferential side wall of the first sector gear 1233 and the other end of the circumferential side wall of the second sector gear 1234 respectively. And the first link assembly 1231 and the second link assembly 1232 are arranged in parallel with each other. The diameters of the first sector gear 1233 and the second sector gear 1234 are the same, and the number of teeth of the first sector gear 1233 and the second sector gear 1234 is also the same. During the whole movement process, the first link assembly 1231 and the second link assembly 1232 always perform a parallelogram deformation movement in parallel with each other, so that the transmission ratio of the first sector gear 1233 to the second sector gear 1234 is 1:1, which is convenient for setting the transmission ratio of the third gear 121 to the fourth gear 122. For example, when the transmission ratio of the first gear 111 to the second gear 112 is set to 2:1, only need to set the transmission ratio of the third gear 121 to the fourth gear 122 to the opposite 1:2, then the substrate platform 21 can always be kept in a horizontal state during the lifting process. In this embodiment, the number of teeth of the second gear 112 is half of the number of teeth of the first gear 111, so as to set the transmission ratio of the first gear 111 to the second gear 112 to 2:1. The number of teeth of the third gear 121 is half of the number of teeth of the fourth gear 122, so as to set the transmission ratio of the third gear 121 to the fourth gear 122 to 1:2, so as to keep the external cargo mechanism moving in the vertical direction during the lifting process of the lifting robotic arm 1.

[0053] Such as Figure 9 , 10As shown, in some specific embodiments, the first sector gear 1233 and the second sector gear 1234 respectively include a sector wheel body 1235 and a plurality of pin teeth 1236 for meshing transmission arranged along the circumferential side wall of the sector wheel body 1235. Each pin tooth 1236 is arranged parallel to the central axis of the sector wheel body 1235 and is detachably connected to the sector wheel body 1235. All the pin teeth 1236 are arranged along the circumferential side wall of the sector wheel body 1235 to form an arc shape with an arc less than 90°, that is, the maximum stroke of the rotation of the first sector gear 1233 and the second sector gear 1234 is less than 90°, ensuring that the first link assembly 1231 and the second link assembly 1232 will not block and interfere with each other during the movement. The first sector gear 1233 and the second sector gear 1234 are set as a semi-circular sector gear structure with a radian slightly larger than a semi-circle, which is beneficial to retaining enough connection areas to rotatably connect with the first link assembly 1232 and the second link assembly 1232. In addition, since each pin tooth 1236 is detachably connected to the sector wheel body 1235, one or several worn pin teeth 1236 can be replaced separately without replacing the entire first sector gear 1233 or the second sector gear 1234, greatly reducing the replacement cost and being beneficial to the daily maintenance of the first sector gear 1233 or the second sector gear 1234.

[0054] In some specific embodiments, the pin tooth 1236 includes a pin tooth shaft and a pin tooth plate coaxially connected to one end of the pin tooth shaft. One end of the pin tooth shaft away from the pin tooth plate is recessed with a first limit groove on the side close to the central axis of the sector wheel body 1235 and is connected with a first limit plate through the first limit groove and a clamping groove. The first limit plate is detachably connected to the sector wheel body 1235 through connecting parts such as screws and bolts arranged between the pin tooth and the central axis of the sector wheel body 1235. The sector wheel body 1235 is provided with a first pin shaft channel for the pin tooth shaft to pass through. The pin tooth 1236 is axially limited by clamping the sector wheel body 1235 between the pin tooth plate and the first limit plate. The sector wheel body 1235 is recessed with a transmission groove along its circumferential side wall. The pin tooth 1236 is arranged across the transmission groove, and a part of the pin tooth shaft arranged in the transmission groove is used for meshing transmission with the third gear 121 or the fourth gear 122. The first limit plates corresponding to each pin tooth 1236 are connected into an integral structure of a limit piece 1237. The limit piece 1237 is set as a sector ring structure, increasing the contact area between each first limit plate and the side surface of the sector wheel body 1235, improving the stability of the mutual abutting and limiting between the first limit plate and the side surface of the sector wheel body 1235, and can also replace all the pin teeth 1236 at one time, facilitating batch replacement.

[0055] In some specific embodiments, the first link assembly 1231 is rotatably connected to the first sector gear 1233 and the second sector gear 1234, and the second link assembly 1232 is rotatably connected to the first sector gear 1233 and the second sector gear 1234 respectively through detachable pin connectors 1238. The first link assembly 1231, the second link assembly 1232, the first sector gear 1233, the second sector gear 1234 or the pin connector 1238 can be replaced individually, which is convenient for daily maintenance. Each pin connector 1238 is arranged parallel to the central axis of the sector wheel body 1235. The pin connector 1238 includes a pin shaft portion and a pin plate portion coaxially connected to one end of the pin shaft portion. A second limiting groove is recessed from one end of the pin shaft portion away from the pin plate portion on the side close to the central axis of the sector wheel body 1235, and a second limiting plate 1239 is connected through the second limiting groove in a clamping manner. The second limiting plate 1239 is detachably connected to the sector wheel body 1235 through connecting members such as screws and bolts arranged between the pin connector 1238 and the central axis of the sector wheel body 1235. A second pin shaft passage for the pin shaft portion 2381 to pass through is correspondingly provided on the sector wheel body 235 and the first link assembly 231 or the second link assembly 232. The pin connector 1238 axially limits the sector wheel body 1235 and the first link assembly 1231, or the sector wheel body 1235 and the second link assembly 1232 by clamping them between the pin plate portion and the second limiting plate 1239.

[0056] As Figure 9 shown, in some specific embodiments, the first link assembly 1231 and the second link assembly 1232 are respectively formed by connecting two links through a first adjusting structure. The first adjusting structure includes a first adjusting member (not shown in the figure), a set of first positioning holes formed in one of the links, and a set of first adjusting channels formed in the other link. The first positioning holes and the first adjusting channels are respectively arranged along the width direction of the link, and the first adjusting channels are arranged in a strip structure along the length direction of the link. The ends of adjacent two links are tightly connected through the cooperation of the first adjusting member on the corresponding first positioning holes and first adjusting channels. Among them, the first adjusting member is set as a structure such as a screw or a bolt. Since the first adjusting channel is set as a strip structure, the first adjusting member can move along the length direction of the first adjusting channel to adjust the total length of the first link assembly or the second link assembly, with a simple structure and convenient adjustment. Furthermore, the pre-tightening degree of the pulling and restraint between the first sector gear 1233, the second sector gear 1234, the first link assembly 1231 and the second link assembly 1232 is adjusted, which is convenient for the assembly and maintenance of the second transmission mechanism 123.

[0057] In some specific embodiments, the connecting rods arranged at both ends of the first connecting rod assembly 1231 and both ends of the second connecting rod assembly 1232 are respectively recessed from a side surface close to the first sector gear 1233 or the second sector gear 1234 to form an activity groove for the end part of the circumferential side wall of the first sector gear 1233 or the second sector gear 1234 to move therein. That is to say, the activity groove can accommodate part of the edge of the first sector gear 1233 or the second sector gear 1234 therein. The adjacent end parts of two adjacent connecting rods are respectively recessed from one side of the connecting rod along the width direction of the connecting rod to form a connecting groove for accommodating the adjacent end parts of the relatively arranged connecting rods. That is to say, the connecting groove can accommodate part of the structure of the adjacent end parts of the adjacent connecting rods therein, making the overall structure compact and reducing the space occupation.

[0058] As Figure 6 shown, in some specific embodiments, the first sector gear 1233 and the second sector gear 1234 are respectively installed inside the lower arm housing 12 through a second adjustment structure. The second adjustment structure includes a positioning seat installed and positioned on the lower arm housing 12, a first bearing (not shown in the figure) arranged in the positioning seat, and a positioning shaft eccentrically arranged and connected to the first bearing. The positioning shaft is coaxially arranged and connected with the sector wheel body 1235, can rotate synchronously with the sector wheel body 1235, and the positioning shaft rotates relative to the positioning seat around its axis through the first bearing. A set of second positioning holes are evenly spaced along the circumferential direction on the positioning seat, and a set of second adjustment channels are evenly spaced along the circumferential direction on the lower arm housing 12. The positioning seat and the lower arm housing 12 are tightly connected through second adjustment parts such as screws and bolts (not shown in the figure) in cooperation with the corresponding second positioning holes and second adjustment channels. Since the positioning shaft and the first bearing are eccentrically arranged, the positioning seat can be disassembled relative to the lower arm housing 12, and then the positioning seat is rotated relative to the lower arm housing 12 and the second adjustment parts are re-mated in the corresponding second positioning holes and second adjustment channels for tight connection to change the relative position and distance between the positioning shaft and the first sector gear 1233 connected thereto and the third gear 121, or the relative position and distance between the positioning shaft and the second sector gear 1234 connected thereto and the fourth gear 122, thereby adjusting the pre-tightening degree between the first sector gear 1233 and the third gear 121, or adjusting the pre-tightening degree between the second sector gear 1234 and the fourth gear 122, which is convenient for the assembly and maintenance of the second transmission mechanism 123.

[0059] As Figure 10As shown, in some specific embodiments, the fan wheel body 235 includes an intermediate body and a peripheral body arranged concentrically, and also includes a plurality of connectors radially connecting the intermediate body and the peripheral body. The positioning shaft is arranged on the intermediate body, the transmission groove and the first pin shaft channel are arranged on the peripheral body, and the second pin shaft channel is arranged on the connector, with a compact structural layout. A hollow channel is formed between two adjacent connectors and the outer peripheral side of the intermediate body and the inner peripheral side of the peripheral body, which can reduce the weight of the fan wheel body 1235 itself while ensuring reliable structural rigidity. In this embodiment, four connectors are provided. The limiting piece 1237 is detachably connected to the two connectors arranged in the middle through two groups of connectors such as screws and bolts, and the two second limiting plates 1239 are respectively detachably connected to the connectors arranged on the two outer sides through connectors such as screws and bolts, with stable connection and a compact structural layout.

[0060] As Figure 6 shown, in some specific embodiments, the first transmission mechanism 113 includes a transmission chain ring engaged outside the first gear 111 and the second gear 112. One or more third adjustment structures are installed on the transmission chain ring 131 and arranged between the first gear 111 and the second gear 112. The third adjustment structure includes a check pressure plate, a first check plate and a second check plate spaced along the length direction of the transmission chain ring and installed on the transmission chain ring. The first check plate and the second check plate are telescopically adjusted and connected through a tensioning member arranged along the length direction of the transmission chain ring. The tensioning member is set as a screw structure, and a threaded hole structure threadedly connected to the screw structure is arranged on the second check plate. The second check plate is adjustably connected to the first check plate through the threaded cooperation of the screw structure and the threaded hole structure. By adjusting the total length of the first check plate and the second check plate, the tension degree of the transmission chain ring tensioned between the first gear 111 and the second gear 112 can be adjusted, so as to change the pre-tightening degree of the engagement between the transmission chain ring and the first gear 111 and the second gear 112, which is convenient for the daily maintenance of the first transmission mechanism 113.

[0061] As Figure 11 , 12 shown, as another embodiment of the present invention, a handling device is also disclosed, which includes a cargo-carrying mechanism 4 and the above-mentioned transfer structure. The cargo-carrying mechanism 4 includes a top plate 41, side plates 42 connected to both sides of the top plate 41, two movable bottom plates 43 respectively rotatably connected to the two side plates 42, and a power device 44 for driving the movable bottom plates 43 to rotate relative to the side plates 42 to open or close the cargo loading channel. A second connection channel 411 is penetrated through the top plate 41. The load platform 32 is supported under the top plate 41. The floating assembly 33 is arranged in the second connection channel 411. The rotating platform 31 is arranged above the top plate 41 or can also be arranged in the second connection channel 411.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0063] In summary, the above are only the preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims

1. A transfer structure, characterized in that, Comprising: A lifting robotic arm, which can drive the lower end of the lifting robotic arm to move up and down relative to the upper end by rotating in the vertical direction. The lifting robotic arm is installed on an external moving mechanism and moves with the movement of the external moving mechanism; A load base, including a rotating platform and a load platform connected below the rotating platform through a plurality of floating components. The load platform is detachably connected to an external cargo-carrying mechanism and drives the cargo-carrying mechanism to float and deflect relative to the rotating platform; A rotating base, including a rotating connecting piece and a substrate platform relatively fixed to the lower part of the rotating connecting piece. The rotating connecting piece is rotationally connected to the lower end of the lifting robotic arm through a horizontally arranged load fixing shaft, and drives the rotating base to rotate with the rotation of the lifting robotic arm to keep the substrate platform in a horizontal state. A rotating channel is vertically penetrated through the substrate platform. A rotating shaft is rotationally connected in the rotating channel through a bearing member. A transmission wheel coaxially arranged with the rotating shaft and a limiting platform for supporting the transmission wheel away from the upper surface of the substrate platform are fixedly provided on the side wall of the upper part of the rotating shaft. The limiting platform supports and limits the upper side of the bearing member. A driving mechanism for driving the transmission wheel to rotate is installed on the substrate platform. The rotating platform is detachably connected to the lower end of the rotating shaft and drives the load base to rotate synchronously with the rotating shaft.

2. The transfer structure according to claim 1, wherein: The plurality of floating components are evenly spaced along the circumferential direction of the axis of the rotating shaft. The floating component includes a longitudinally arranged connecting column, a first limiting member connected to the upper end of the connecting column, a second limiting member connected to the lower end of the connecting column, and an elastic member sleeved on the connecting column. First connecting channels for the connecting column to pass through are correspondingly penetrated through the rotating platform and the load platform. The first limiting member limits the upper side of the rotating platform, the second limiting member limits the lower side of the load platform, and the elastic member limits between the rotating platform and the load platform.

3. The transfer structure according to claim 2, wherein: A plurality of detection components are arranged between the rotating platform and the load platform. The plurality of detection components are evenly spaced along the circumferential direction of the axis of the rotating shaft. The detection component includes a first detection member installed on one of the rotating platform and the load platform, and a first to-be-detected member installed on the other of the rotating platform and the load platform. The angle and direction of the floating deflection of the load platform relative to the rotating platform are monitored by the respective first detection members detecting the first to-be-detected members arranged corresponding to them.

4. The transfer structure according to claim 3, wherein: A plurality of detection channels corresponding to the detection components are vertically penetrated through the load platform, and a first installation channel communicating with the detection channels is radially arranged along the axis of the rotating shaft. The first detection member is installed in the first installation channel, and the detection end of the first detection member faces the detection channel. The first to-be-detected member is installed on the rotating platform, and the lower end of the first to-be-detected member extends out of the lower side of the rotating platform and extends into the detection channel to be close to the detection end of the first detection member to respond to the detection signal of the first detection member or extends to be away from the detection end of the first detection member to avoid the detection signal of the first detection member.

5. The transfer structure according to claim 2, wherein: A ring platform structure coaxial with the axis of the rotating shaft protrudes upward from the outer peripheral edge of the load platform. The inner peripheral side surface of the ring platform structure is arranged as a circular structure. The outer peripheral side surface of the rotating platform is arranged as a circular structure coaxial with the axis of the rotating shaft, and the radius of the outer peripheral side surface of the rotating platform is smaller than the radius of the inner peripheral side surface of the ring platform structure. A connection area for connecting an external cargo-carrying mechanism is formed between the outer peripheral side surface of the rotating platform and the top surface of the ring platform structure.

6. The transfer structure according to any one of claims 1-5, characterized in that: A support platform surrounding the lower side of the rotating channel is fixedly provided on the lower side of the substrate platform. A limiting plate surrounding the upper side of the rotating channel is detachably connected to the upper side of the substrate platform. A connecting platform protrudes upward from the upper surface of the rotating platform. The connecting platform extends into the connecting channel in the middle of the support platform and is detachably connected to the lower end of the rotating shaft through a connecting member. The outer peripheral edge of the bearing member is supported on the upper side of the support platform and is limited between the support platform and the limiting plate. The inner peripheral edge of the bearing member is supported on the upper side of the connecting platform and is limited between the connecting platform and the limiting platform.

7. The transfer structure according to claim 6, wherein: A plurality of first assembly channels are arranged through the rotating shaft along its circumferential direction, and the plurality of first assembly channels are respectively arranged parallel to the axis of the rotating shaft. Second assembly channels corresponding to the first assembly channels are recessed downward from the top surface of the connecting platform on the rotating platform. The rotating platform and the rotating shaft are detachably connected through a connecting member that fits into the first assembly channel and the corresponding second assembly channel.

8. The transfer structure according to claim 6, wherein: The driving mechanism includes a driving motor and a driving gear fixed to the output shaft of the driving motor. The driving motor is fixed to the upper side of the substrate platform through a motor mounting seat. The output shaft of the driving motor is arranged in the vertical direction. A limiting channel for the output shaft to rotate therein is arranged through the substrate platform in the vertical direction. The driving gear is arranged between the driving motor and the substrate platform. A housing member covering the transmission wheel is detachably connected to the upper side of the substrate platform. The driving gear is arranged in the motor mounting seat, and a first transmission channel for a part of the structure of the transmission wheel to extend into the motor mounting seat to engage with the driving gear is provided on one side of the motor mounting seat close to the housing member. A second transmission channel for a part of the structure of the transmission wheel to extend out of the housing member is provided on the housing member. The second transmission channel is arranged opposite to the first transmission channel.

9. The transfer structure according to claim 7 or 8, characterized in that: Both ends of the load fixing shaft are respectively rotatably connected to the lifting robotic arm. There are two rotating connectors, which are arranged oppositely on both sides of the substrate platform and are respectively connected to the load fixing shaft. One of the rotating connectors is connected to the rotating mechanism in the lifting robotic arm and can rotate with the rotation of the rotating mechanism. A second detecting member for monitoring the rotation angle of the cargo-carrying mechanism relative to the rotating platform is installed on the substrate platform and / or the rotating connector.

10. A handling device, characterized in that: It includes a cargo-carrying mechanism and the transfer structure according to any one of claims 1-9. The cargo-carrying mechanism includes a top plate, side plates connected to both sides of the top plate, two movable bottom plates respectively rotatably connected to the side plates on both sides, and a power device for driving the movable bottom plates to rotate relative to the side plates to open or close the cargo loading channel. A second connection channel is penetrated through the top plate. The load platform is supported under the top plate. The floating assembly is arranged in the second connection channel. The rotating platform is arranged in the second connection channel and / or above the top plate.

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