Transport robot

Abstract

The application discloses a carrying robot, which comprises a moving base, a rack mechanism and a carrying mechanism. The rack mechanism is installed on the top of the moving base. The rack mechanism comprises a rack main body and a first conveying assembly. The rack main body is provided with a containing cavity. The first conveying assembly is arranged in the containing cavity. A containing space is formed between the rack main body and the moving base. The carrying mechanism comprises a bearing assembly, a second conveying assembly and a first driving element. The bearing assembly is movably connected with the rack main body, so that the bearing seat has an extending state of extending into the containing space or a retracting state of retracting into the containing space. The first driving element is used for driving the bearing seat to switch between the extending state and the retracting state. The second conveying assembly is arranged on the bearing assembly. The second conveying assembly is used for inputting materials into the containing cavity. Alternatively, the second conveying assembly is used for receiving the materials output by the first conveying assembly, so that the passing performance of the carrying robot in a small channel environment is improved.

Description

Technical Field

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

[0002] With the rapid development of artificial intelligence, automation, and information technology, the level of intelligence in last-mile logistics is also constantly improving. Intelligent logistics terminals are the trend of last-mile logistics development, and handling robots are one of the main devices that can realize automated handling operations at intelligent logistics terminals. Handling robots can reduce the heavy physical labor of humans and improve the efficiency of handling operations.

[0003] Material handling robots typically consist of a mobile base, a robotic shelf mounted on the mobile base, and a handling mechanism installed on the robotic shelf. The handling mechanism places materials onto or retrieves materials from the storage rack. To facilitate material placement, the length of the handling mechanism is generally increased, extending beyond the outer periphery of the mobile base to allow it to contact the storage rack and increasing the distance between the mobile base and the rack. However, this increased length of the handling mechanism leads to a larger overall size of the robot, which is detrimental to its movement in narrow aisles. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a handling robot that can easily move through narrow passages.

[0005] The handling robot according to an embodiment of the present invention includes: Mobile base; A material rack mechanism is installed on the top of the movable base. The material rack mechanism includes a material rack body and a first conveying component. The material rack body has a receiving cavity, and the first conveying component is disposed in the receiving cavity. The first conveying component is used to convey the material, and a receiving space is formed between the material rack body and the movable base. The conveying mechanism includes a bearing component, a second conveying component, and a first driving component. The bearing component is movably connected to the main body of the rack so that the bearing seat has an extended state or a retracted state. The first driving component is used to drive the bearing seat to switch between the extended state and the retracted state. The second conveying component is disposed on the bearing component. When the bearing component is in the extended state, the bearing component extends out of the receiving space, and the second conveying component is used to input material into the receiving cavity, or the second conveying component is used to receive the material output by the first conveying component; When the supporting component is in the retracted state, the supporting seat retracts into the accommodating space.

[0006] The handling robot according to embodiments of the present invention has at least the following beneficial effects: When the handling robot is performing handling operations, the first drive component drives the load-bearing component to switch from the retracted state to the extended state, so that the second conveying component can receive the material output from the receiving cavity by the first conveying component, and the second conveying component can transport the material to the storage rack. When the handling robot moves in the aisle, the first drive component drives the load-bearing component to switch from the extended state to the retracted state, which can reduce the overall size of the handling robot, thus facilitating the handling robot to move in narrow aisles.

[0007] In some embodiments of the present invention, multiple receiving cavities are configured, and the multiple receiving cavities are spaced apart in the vertical direction. The bearing assembly includes a lifting body, a bearing seat, and a second driving member. The lifting body is movably disposed on the material rack body. The second driving member is installed on the material rack body and is used to drive the lifting body to move up and down. The first driving member is installed on the lifting body. The bearing seat is rotatably connected to the lifting body and is used to drive the bearing seat to rotate. The second conveying assembly is disposed on the bearing seat.

[0008] In some embodiments of the present invention, the conveying mechanism further includes a hydraulic support rod, wherein the first linkage assembly is connected between the lifting body and the carrier, and the hydraulic support rod is capable of supporting the carrier when the carrier is in the extended state.

[0009] In some embodiments of the present invention, the conveying mechanism further includes a first connecting rod, the bearing seat includes a bearing part, a sliding part and a first hinge part, the sliding part and the first hinge part are both connected to the bearing part, the second conveying component is disposed on the bearing part, the sliding part is slidably disposed on the lifting body, the second driving member is used to drive the sliding part to slide, and the two ends of the first connecting rod are respectively hinged to the first hinge part and the lifting body.

[0010] In some embodiments of the present invention, the conveying mechanism further includes a second connecting rod and a third connecting rod, and the bearing seat further includes a second hinge portion connected to the bearing portion. One end of the second connecting rod is hinged to the lifting body, and the other end of the second connecting rod is hinged to one end of the third connecting rod. The other end of the third connecting rod is hinged to the second hinge portion. When the bearing seat is in the extended state, the second connecting rod supports the bearing seat through the third connecting rod.

[0011] In some embodiments of the present invention, the handling robot further includes a blocking component, and along the conveying direction of the first conveying component, the receiving cavity has a first opening and a second opening disposed opposite to each other, the blocking component being used to prevent the material from moving out of the receiving cavity from the first opening or the second opening.

[0012] In some embodiments of the present invention, the blocking assembly includes a rotating shaft, a first blocking plate, and a second blocking plate. The rotating shaft is rotatably connected to the material rack body. The first blocking plate includes a first connecting portion and a first blocking portion connected to the first connecting portion. The second blocking plate includes a second connecting portion and a second blocking portion connected to the second connecting portion. The first connecting portion and the second connecting portion are respectively disposed at both ends of the rotating shaft. The first blocking portion and the second blocking portion are staggered around the axis of the rotating shaft. Wherein, when the first blocking part blocks the first opening, the second blocking part does not block the second opening, or when the second blocking part blocks the second opening, the first blocking part does not block the first opening.

[0013] In some embodiments of the present invention, the main body of the material rack is provided with a first through hole and a second through hole that connects to the receiving cavity. The first blocking part enters or exits the receiving cavity through the first through hole, and the second blocking part enters or exits the receiving cavity through the second through hole.

[0014] In some embodiments of the present invention, the blocking assembly further includes a third driving member, which is mounted on the material rack body. Along the vertical direction, the rotating shafts of adjacent blocking assemblies are connected by a transmission structure, and the output shaft of the third driving member is connected to the rotating shaft of any one of the blocking assemblies.

[0015] In some embodiments of the present invention, the first conveying assembly includes a fourth driving member, a first conveyor belt, a first driving roller, and a first driven roller. The first driving roller and the first driven roller are both rotatably connected to the material rack body. The first conveyor belt is wound around the first driving roller and the first driven roller. The output shaft of the fourth driving member is connected to the first driving roller; and / or... The first conveying assembly includes a fifth driving member, a first conveyor belt, a first driving roller, and a first driven roller. The first driving roller and the first driven roller are both rotatably connected to the material rack body. The first conveyor belt is wound around the first driving roller and the first driven roller. The output shaft of the fifth driving member is connected to the first driving roller.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the handling robot according to an embodiment of the present invention, in which the supporting component is in an extended state; Figure 2 for Figure 1 Side view; Figure 3 for Figure 2 A magnified view of part A in the middle; Figure 4 This is a schematic diagram of the structure of the handling robot according to an embodiment of the present invention, in which the supporting component is in the retracted state; Figure 5 This is a schematic diagram of the blocking component according to an embodiment of the present invention.

[0018] Figure label: The components include: a movable base 100, a receiving space 101, a material rack mechanism, a material rack body 210, a receiving cavity 211, a first opening, a second opening 213, a first through hole 214, a second through hole 215, a first conveyor belt 220, a handling mechanism 300, a bearing assembly 310, a lifting body 311, a bearing seat 312, a bearing part 3121, a sliding part 3122, a first hinge part 3123, a second hinge part 3124, a second conveyor belt 320, a hydraulic support rod 330, a first connecting rod 340, a second connecting rod 350, a third connecting rod 360, a blocking assembly 400, a rotating shaft 410, a first blocking plate 420, a first connecting part 421, a first blocking part 422, a second blocking plate 430, a second connecting part 431, a second blocking part 432, a third driving component 440, and a material 500. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0021] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0022] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0023] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0024] As mentioned earlier, with the rapid development of artificial intelligence, automation, and information technology, the level of intelligence in last-mile logistics is also constantly improving. Intelligent logistics terminals are the trend of last-mile logistics development, and handling robots are one of the main devices that can realize automated handling operations at intelligent logistics terminals. Through handling robots, the heavy physical labor of humans can be reduced and the efficiency of handling operations can be improved.

[0025] Material handling robots typically consist of a mobile base, a robotic shelf mounted on the mobile base, and a handling mechanism installed on the robotic shelf. The handling mechanism places materials onto or retrieves materials from the storage rack. To facilitate material placement, the length of the handling mechanism is generally increased, extending beyond the outer periphery of the mobile base to allow it to contact the storage rack and increasing the distance between the mobile base and the rack. However, this increased length of the handling mechanism leads to a larger overall size of the robot, which is detrimental to its movement in narrow aisles.

[0026] Based on this, refer to Figures 1 to 4This invention proposes a handling robot, including a mobile base 100, a material rack mechanism, and a handling mechanism 300. The material rack mechanism is mounted on top of the mobile base 100 and includes a material rack body 210 and a first conveying component. The material rack body 210 has a receiving cavity 211, and the first conveying component is disposed within the receiving cavity 211. The first conveying component is used to convey material 500. A receiving space 101 is formed between the material rack body 210 and the mobile base 100. The handling mechanism 300 includes a bearing component 310, a second conveying component, and a first driving component. The bearing component 310 is movably connected to the material rack body 210 so that the bearing seat 312 can be in an extended state or a retracted state. The first driving component is used to drive... The movable support 312 switches between an extended state and a retracted state. The second conveying component is located on the support component 310. When the support component 310 is in the extended state, it extends out of the receiving space 101. The second conveying component is used to input material 500 into the receiving cavity 211, or it is used to receive material 500 output by the first conveying component. When the support component 310 is in the retracted state, the support 312 retracts into the receiving space 101. In this way, it can extend to connect with the storage rack for material 500 handling during handling operations, and it can retract into the receiving space 101 when not handling operations, thereby reducing the overall size of the handling robot and improving its passability in narrow passage environments.

[0027] For example, when the handling robot is performing handling operations, the first drive unit drives the bearing component 310 to switch from the retracted state to the extended state, so that the second conveying component can receive the material 500 output from the receiving cavity 211 by the first conveying component, and the second conveying component can transport the material 500 to the storage shelf. When the handling robot is walking in the aisle, the first drive unit drives the bearing component 310 to switch from the extended state to the retracted state, which can reduce the overall size of the handling robot, thereby facilitating the handling robot to walk in narrow aisles.

[0028] In this embodiment, multiple receiving cavities 211 are configured, and the multiple receiving cavities 211 are spaced apart in the vertical direction. The bearing assembly 310 includes a lifting body 311, a bearing seat 312, and a second driving member. The lifting body 311 is movably mounted on the material rack body 210. The second driving member is mounted on the material rack body 210 and is used to drive the lifting body 311 to lift. The bearing seat 312 is rotatably connected to the lifting body 311. The first driving member is used to drive the bearing seat 312 to rotate. The second conveying assembly is located on the bearing seat 312. The handling robot can convey multiple materials 500 at one time, thereby improving the handling efficiency of the handling robot.

[0029] For example, by setting multiple receiving cavities 211, the rack body 210 can store multiple materials 500 at one time. When the handling robot performs handling operations, the second drive unit can drive the lifting body 311 to lift and lower, so that the second conveying component can receive materials 500 located at different heights and transport the materials 500 to the storage racks at different heights respectively. The handling robot can transport multiple materials 500 at one time, thereby improving the handling efficiency of the handling robot.

[0030] In this embodiment, the handling mechanism 300 also includes a hydraulic support rod 330. The first connecting rod 340 assembly is connected between the lifting body 311 and the bearing seat 312. The hydraulic support rod 330 can support the bearing seat 312 when it is in the extended state, so as to prevent the bearing seat 312 from bending or shaking due to the load, thereby improving the stability and safety of the handling operation and reducing the load on the first drive component.

[0031] In this embodiment, the conveying mechanism 300 further includes a first connecting rod 340. The bearing seat 312 includes a bearing part 3121, a sliding part 3122, and a first hinge part 3123. The sliding part 3122 and the first hinge part 3123 are both connected to the bearing part 3121. The second conveying component is disposed on the bearing part 3121. The sliding part 3122 is slidably disposed on the lifting body 311. The second driving member is used to drive the sliding part 3122 to slide. The two ends of the first connecting rod 340 are respectively hinged to the first hinge part 3123 and the lifting body 311, so that the bearing seat 312 maintains a stable posture during the extension and retraction process, and can reduce the power requirement of the first driving member.

[0032] It should be noted that the sliding part 3122 is a sliding groove, and the main body 210 of the material rack is provided with a sliding rail. The sliding rail and the sliding groove are in sliding cooperation, which is not restricted here.

[0033] In this embodiment, the handling mechanism 300 further includes a second connecting rod 350 and a third connecting rod. The bearing seat 312 also includes a second hinge portion 3124 connected to the bearing part 3121. One end of the second connecting rod 350 is hinged to the lifting body 311, and the other end of the second connecting rod 350 is hinged to one end of the third connecting rod. The other end of the third connecting rod is hinged to the second hinge portion 3124. When the bearing seat 312 is in the extended state, the second connecting rod supports the bearing seat 312 through the third connecting rod. The second connecting rod 350 and the third connecting rod form an auxiliary support structure when the bearing seat 312 is extended, which disperses the force on the bearing seat 312 and improves the overall rigidity and stability. At the same time, it can be folded and stored in the retracted state without affecting the compactness of the robot.

[0034] In this embodiment, the handling robot also includes a blocking component 400. Along the conveying direction of the first conveying component, the receiving cavity 211 has a first opening and a second opening 213 that are arranged opposite to each other. The blocking component 400 is used to prevent the material 500 from moving out of the receiving cavity 211 from the first opening or the second opening 213. The blocking component 400 can prevent the material 500 from accidentally sliding out from the first opening or the second opening 213 of the receiving cavity 211, so as to improve the safety of material 500 storage and conveying. At the same time, the handling robot can adapt to the needs of bidirectional material feeding and discharging.

[0035] Reference Figure 5 In this embodiment, the blocking assembly 400 includes a rotating shaft 410, a first blocking plate 420, and a second blocking plate 430. The rotating shaft 410 is rotatably connected to the material rack body 210. The first blocking plate 420 includes a first connecting portion 421 and a first blocking portion 422 connected to the first connecting portion 421. The second blocking plate 430 includes a second connecting portion 431 and a second blocking portion 432 connected to the second connecting portion 431. The first connecting portion 421 and the second connecting portion 431 are respectively disposed at both ends of the rotating shaft 410. The first blocking portion 422 and the second blocking portion 432 are staggered around the axis of the rotating shaft 410. When the first blocking portion 422 blocks the first opening, the second blocking portion 432 does not block the second opening 213, or when the second blocking portion 432 blocks the second opening 213, the first blocking portion 422 does not block the first opening. This allows the blocking assembly 400 to alternately block the first opening or the second opening 213 under the drive of the same rotating shaft 410, realizing one-way passage control and reducing the production cost of the handling robot.

[0036] In this embodiment, the material rack body 210 has a first through hole 214 and a second through hole 215 that connects to the receiving cavity 211. The first blocking part 422 enters or exits the receiving cavity 211 through the first through hole 214, and the second blocking part 432 enters or exits the receiving cavity 211 through the second through hole 215, so that the first blocking piece 420 and the second blocking piece 430 can smoothly enter and exit the receiving cavity 211, which not only ensures the reliability of the blocking function, but also avoids interference with the material 500 conveying in the non-working state.

[0037] In this embodiment, the blocking assembly 400 further includes a third driving member 440, which is installed on the material rack body 210. Along the vertical direction, the rotating shafts 410 of adjacent blocking assemblies 400 are connected by a transmission structure. The output shaft of the third driving member 440 is connected to any one of the rotating shafts 410 of the blocking assembly 400, which can realize the smooth conveying of material 500 in the receiving cavity 211. The structure is simple and the operation is reliable, which can improve the efficiency of handling operations.

[0038] In this embodiment, the first conveying assembly includes a fourth driving member, a first conveyor belt 220, a first driving roller, and a first driven roller. The first driving roller and the first driven roller are both rotatably connected to the material rack body 210. The first conveyor belt 220 is wound around the first driving roller and the first driven roller. The output shaft of the fourth driving member is connected to the first driving roller; and / or, The first conveying assembly includes a fifth driving member, a first conveyor belt 220, a first driving roller, and a first driven roller. The first driving roller and the first driven roller are rotatably connected to the material rack body 210. The first conveyor belt 220 is wound around the first driving roller and the first driven roller. The output shaft of the fifth driving member is connected to the first driving roller.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A transport robot, characterized in that, include: Mobile base (100); A material rack mechanism is installed on the top of the movable base (100). The material rack mechanism includes a material rack body (210) and a first conveying component. The material rack body (210) is provided with a receiving cavity (211). The first conveying component is provided in the receiving cavity (211). The first conveying component is used to convey the material (500). A receiving space (101) is formed between the material rack body (210) and the movable base (100). The conveying mechanism (300) includes a bearing component (310), a second conveying component, and a first driving component. The bearing component (310) is movably connected to the rack body (210) so that the bearing seat (312) has an extended state or a retracted state. The first driving component is used to drive the bearing seat (312) to switch between the extended state and the retracted state. The second conveying component is disposed on the bearing component (310). When the bearing component (310) is in the extended state, the bearing component (310) extends out of the receiving space (101), and the second conveying component is used to input material (500) into the receiving cavity (211), or the second conveying component is used to receive the material (500) output by the first conveying component. When the support component (310) is in the retracted state, the support seat (312) retracts into the receiving space (101).

2. The handling robot according to claim 1, characterized in that, The receiving cavity (211) is configured with a plurality of such cavities, which are spaced apart in the vertical direction. The bearing assembly (310) includes a lifting body (311), a bearing seat (312), and a second driving member. The lifting body (311) is movably mounted on the material rack body (210). The second driving member is mounted on the material rack body (210) and is used to drive the lifting body (311) to lift. The first driving member is mounted on the lifting body (311). The bearing seat (312) is rotatably connected to the lifting body (311). The first driving member is used to drive the bearing seat (312) to rotate. The second conveying assembly is mounted on the bearing seat (312).

3. The handling robot according to claim 2, characterized in that, The transport mechanism (300) further includes a hydraulic support rod (330), the first connecting rod (340) assembly being connected between the lifting body (311) and the carrier (312), the hydraulic support rod (330) being able to support the carrier (312) when the carrier (312) is in the extended state.

4. The handling robot according to claim 2, characterized in that, The conveying mechanism (300) further includes a first connecting rod (340). The bearing seat (312) includes a bearing part (3121), a sliding part (3122), and a first hinge part (3123). The sliding part (3122) and the first hinge part (3123) are both connected to the bearing part (3121). The second conveying component is disposed on the bearing part (3121). The sliding part (3122) is slidably disposed on the lifting body (311). The second driving member is used to drive the sliding part (3122) to slide. The two ends of the first connecting rod (340) are respectively hinged to the first hinge part (3123) and the lifting body (311).

5. The handling robot according to claim 2, characterized in that, The conveying mechanism (300) further includes a second connecting rod (350) and a third connecting rod. The bearing seat (312) further includes a second hinge portion (3124) connected to the bearing part (3121). One end of the second connecting rod (350) is hinged to the lifting body (311), and the other end of the second connecting rod (350) is hinged to one end of the third connecting rod. The other end of the third connecting rod is hinged to the second hinge portion (3124). When the bearing seat (312) is in the extended state, the second connecting rod supports the bearing seat (312) through the third connecting rod.

6. The handling robot according to claim 2, characterized in that, The transport robot also includes a blocking component (400). Along the conveying direction of the first conveying component, the receiving cavity (211) has a first opening and a second opening (213) arranged opposite to each other. The blocking component (400) is used to prevent the material (500) from moving out of the receiving cavity (211) from the first opening or the second opening (213).

7. The handling robot according to claim 6, characterized in that, The blocking assembly (400) includes a rotating shaft (410), a first blocking plate (420), and a second blocking plate (430). The rotating shaft (410) is rotatably connected to the material rack body (210). The first blocking plate (420) includes a first connecting part (421) and a first blocking part (422) connected to the first connecting part (421). The second blocking plate (430) includes a second connecting part (431) and a second blocking part (432) connected to the second connecting part (431). The first connecting part (421) and the second connecting part (431) are respectively located at both ends of the rotating shaft (410). The first blocking part (422) and the second blocking part (432) are staggered around the axis of the rotating shaft (410). Wherein, when the first blocking part (422) blocks the first opening, the second blocking part (432) does not block the second opening (213), or when the second blocking part (432) blocks the second opening (213), the first blocking part (422) does not block the first opening.

8. The handling robot according to claim 7, characterized in that, The material rack body (210) has a first through hole (214) and a second through hole (215) that connects to the receiving cavity (211). The first blocking part (422) enters or exits the receiving cavity (211) through the first through hole (214), and the second blocking part (432) enters or exits the receiving cavity (211) through the second through hole (215).

9. The handling robot according to claim 7, characterized in that, The blocking assembly (400) further includes a third driving member (440), which is installed on the material rack body (210). Along the vertical direction, the rotating shafts (410) of adjacent blocking assemblies (400) are connected by a transmission structure. The output shaft of the third driving member (440) is connected to the rotating shaft (410) of any one of the blocking assemblies (400).

10. The handling robot according to claim 1, characterized in that, The first conveying assembly includes a fourth drive member, a first conveyor belt (220), a first driving roller, and a first driven roller. The first driving roller and the first driven roller are both rotatably connected to the material rack body (210). The first conveyor belt (220) is wound around the first driving roller and the first driven roller. The output shaft of the fourth drive member is connected to the first driving roller; and / or, The first conveying assembly includes a fifth driving member, a first conveyor belt (220), a first driving roller and a first driven roller. The first driving roller and the first driven roller are rotatably connected to the material rack body (210). The first conveyor belt (220) is wound around the first driving roller and the first driven roller. The output shaft of the fifth driving member is connected to the first driving roller.

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