Joint assembly, transmission assembly, transmission mechanism, goods picking and placing device and robot

Abstract

The utility model relates to the technical field of mechanical automation, and discloses a connector assembly, a transmission assembly, a transmission mechanism, a goods taking and placing device and a robot. The flexible transmission piece comprises a transmission part arranged between the at least two rotating wheels in a sleeving mode and a connecting part extending outwards from the transmission part, and the inner side face of the flexible transmission piece makes contact with the rotating wheels. The connector assembly is used for being arranged on the outer side face of the transmission part, a gap is formed in the connector assembly, and the gap is used for containing the connecting part so that the connector assembly can be connected with the connecting part. In this way, when the distance between the rotating wheels at the two ends of the flexible transmission part is fixed, the moving stroke of the moving part on the flexible transmission part can be increased.

Description

Technical Field

[0001] The present application relates to the field of mechanical automation technology, and in particular to a joint assembly, a transmission assembly, a transmission mechanism, a cargo picking and placing device, and a robot. Background Art

[0002] With the development of science and technology, the requirements for operating efficiency and degree of automation in the fields of logistics warehousing, industrial production, etc. are constantly increasing, which also makes the application of automation equipment more and more extensive.

[0003] In automation equipment, some light linear motion components are mostly driven by flexible transmission parts, such as synchronous belt drive, chain drive, etc. Specifically, the linear motion components are generally clamped from the inside and outside of the flexible transmission parts by clamping blocks to be fixed on the flexible transmission parts. This fixing method is limited by the structural interference between the clamping blocks on the inside of the flexible transmission parts and the rotating wheels at both ends of the flexible transmission parts, which makes the moving stroke of the linear motion components short. Utility Model Content

[0004] In view of the above problems, the present application provides a joint assembly, a transmission assembly, a transmission mechanism, a cargo picking and placing device and a robot, which can increase the moving stroke of the moving parts on the flexible transmission member when the distance between the rotating wheels at both ends of the flexible transmission member is constant.

[0005] According to the first aspect of the present application, a joint assembly is provided for connecting to a flexible transmission member, the flexible transmission member having an inner side and an outer side, the flexible transmission member comprising a transmission part for being sleeved between at least two rotating wheels and a connecting part extending outward from the transmission part, the inner side being in contact with the rotating wheel; the joint assembly is used to be arranged on the outer side of the transmission part, a gap is provided on the joint assembly, the gap is used to accommodate the connecting part, so that the joint assembly is connected to the connecting part.

[0006] In an optional manner, the joint assembly includes: a fixing seat and a crimping piece; the fixing seat is used to be arranged on the outer side surface of the transmission part, the fixing seat has a first side and a second side that are opposite to each other, and the first side faces the transmission part; a gap is arranged on the fixing seat, and the gap is used for allowing the connecting part to pass through from the first side; the crimping piece is used to be connected to the second side of the fixing seat to fix at least a part of the connecting part extending from the gap to the outside of the fixing seat to the fixing seat.

[0007] In an optional manner, the connecting portion has two free ends; the slit is used for the two free ends to pass through and then bend in opposite directions; and the crimping piece is used to crimp at least part of the bent connecting portion onto the fixing seats on both sides of the slit.

[0008] In an optional manner, the flexible transmission member is a synchronous belt, and a first engaging tooth is provided on the crimping member, and the first engaging tooth is used to engage with a second engaging tooth on the synchronous belt to limit sliding of the synchronous belt relative to the fixing seat.

[0009] In an optional manner, at least two accommodating grooves are provided on the side of the fixing seat facing the crimping part, and the two accommodating grooves are respectively located on both sides of the gap, one end of the accommodating groove is connected to the gap, and the other end is connected to the outside; the accommodating groove is used to accommodate at least part of the connecting part, and the end of the accommodating groove facing away from the gap can be used for the free end of the connecting part to pass through the accommodating groove.

[0010] In an optional manner, inner walls on both sides of the gap are formed with arc-shaped abutting surfaces, and the arc-shaped abutting surfaces are used to abut against the outer side surfaces of the connecting portion received in the gap.

[0011] In an optional manner, the joint assembly is provided with a protrusion on one side facing the transmission part, and there are at least two protrusions, which are respectively located on two opposite sides of the gap, and at least two protrusions are respectively used to abut against the outer side surface of the transmission part.

[0012] In an optional manner, the protrusions are arc-shaped, and at least two protrusions are tangent to the outer side surface of the transmission part.

[0013] In an optional manner, a mounting portion is provided on the joint assembly, and the mounting portion is used to install the execution assembly.

[0014] According to a second aspect of the present application, a transmission assembly is provided, comprising a flexible transmission member and a joint assembly as described in any one of the above items; wherein the joint assembly is arranged on the outer side of the transmission portion, the connecting portion is passed through the gap, and is connected to the connecting head assembly.

[0015] According to a third aspect of the present application, a transmission mechanism is provided, comprising at least two rotating wheels and the above-mentioned transmission assembly; wherein, the at least two rotating wheels include a driving wheel and a driven wheel, and the driving wheel is used to connect to the driving member to drive the joint assembly to move through the flexible transmission member.

[0016] According to a fourth aspect of the present application, a cargo picking and placing device is provided, comprising a carrying platform, a driving member, a cargo picking and placing component and the above-mentioned transmission mechanism; the driving member and the transmission mechanism are arranged on the carrying platform, and the output end of the driving member is connected to the driving wheel; the cargo picking and placing component is arranged on the joint assembly, and is used to move with the joint assembly to pull the cargo to the carrying platform, and / or push the cargo from the carrying platform.

[0017] According to a fifth aspect of the present application, a robot is provided, comprising a robot body and the above-mentioned picking and placing device, wherein the picking and placing device is arranged on the robot body.

[0018] The joint assembly provided in the present application is fixed on the outer side of the flexible transmission part, which can effectively improve the moving stroke of the joint assembly. At the same time, in order to ensure the structural stability when it is only fixed on the outer side of the flexible transmission part, a gap is set on the joint assembly. After the connecting part of the flexible transmission part is accommodated through the gap, the joint assembly is fixedly connected to the connecting part to ensure the stability of the connection between the joint assembly and the connecting part, thereby ensuring the smoothness and reliability of the transmission.

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0021] Figure 1a It is a structural schematic diagram of an existing transmission mechanism;

[0022] Figure 1b for Figure 1a Schematic diagram of the structure after the middle seat body moves to the left;

[0023] Figure 2 A schematic structural diagram of a transmission mechanism with a joint assembly provided in the first embodiment of the utility model;

[0024] Figure 3 A schematic cross-sectional structure diagram of a transmission mechanism provided in the first embodiment of the utility model;

[0025] Figure 4a This is a schematic diagram of the structure of the transmission mechanism provided by the first embodiment of the utility model when the joint assembly is at the rightmost end;

[0026] Figure 4b for Figure 4a Schematic diagram of the structure after the middle joint assembly moves to the leftmost end;

[0027] Figure 5a A schematic cross-sectional view of the connection between the joint assembly and the flexible transmission member provided in the second embodiment of the utility model;

[0028] Figure 5b A schematic diagram of the top view of the connection between the joint assembly and the flexible transmission member provided in the second embodiment of the utility model;

[0029] Figure 6a A schematic cross-sectional view of the connection between the joint assembly and the flexible transmission member provided in the third embodiment of the present utility model;

[0030] Figure 6b A schematic top view of the structure of a flexible transmission member provided in the third embodiment of the utility model;

[0031] Figure 7 A schematic cross-sectional view of the connection between the joint assembly and the flexible transmission member provided in the fourth embodiment of the utility model;

[0032] Figure 8 A schematic diagram of the structure of the connector assembly provided by the first embodiment of the utility model after the crimping piece is removed;

[0033] Fig. 9 A schematic structural diagram of a transmission assembly provided in an embodiment of the utility model.

[0034] The reference numerals in the specific implementation manner are as follows:

[0035] Figure 1a and Figure 1b middle:

[0036] 10. seat body; 11. clamping block; 20. synchronous belt; 31. rotating wheel; 32. rotating wheel.

[0037] In other attached pictures:

[0038] 100, joint assembly; 110, gap; 111, arc-shaped abutting surface; 120, screw; 130, fixing seat; 131, first side; 132, second side; 133, receiving groove; 140, crimping member; 141, first clamping tooth; 142, threaded fastener; 150, protrusion; 160, mounting portion;

[0039] 200, flexible transmission member; 210, inner side surface; 220, outer side surface; 230, transmission part; 240, connecting part; 250, second engaging tooth;

[0040] 300, rotating wheel;

[0041] 400, transmission components;

[0042] 500. Transmission mechanism. DETAILED DESCRIPTION

[0043] The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0045] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0046] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0049] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0050] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0051] For the transmission structure of the existing flexible transmission parts, take the synchronous belt as an example. Figure 1a As shown in the figure, the linear motion component is fixed on the base body 10, and the base body 10 includes two clamping blocks 11. The two clamping blocks 11 are respectively arranged on the inner and outer sides of the synchronous belt 20 and clamped to each other so as to be fixed to the synchronous belt 20 and move with the synchronous belt 20. Such a fixing method can ensure that the connection between the base body 10 and the synchronous belt 20 is stable and reliable. In the state shown in Figure 1, the lower clamping block 11 abuts against the rotating wheel 31 at the right end of the synchronous belt 20, and the base body 10 is located at the maximum stroke on the right end. When the rotating wheel 31 and / or the rotating wheel 32 are driven by the driving force to rotate in the direction indicated by the rotating arrows on the left and right sides of the figure, the synchronous belt 20 moves accordingly, and the base body 10 moves to the left driven by the synchronous belt 20. When the base body 10 moves to the maximum stroke on the right end, it is Figure 1b In the state shown, the lower clamping block 11 is in contact with the rotating wheel 32 at the left end.

[0052] like Figure 1b As shown in FIG. 1 , when the center distance between the rotating wheel 31 and the rotating wheel 32 is L, the maximum movement stroke of the seat body 10 is D max1 It is not difficult to see from the figure that the movement stroke of the seat body 10 is relatively small due to the interference between the two ends of the lower clamping block 11 (that is, the clamping block 11 inside the synchronous belt 20) and the rotating wheels 31 and 32.

[0053] Based on the above problems, in order to avoid structural interference with the rotating wheels at both ends due to the clamping block set on the inner side of the flexible transmission member, the present application adopts the method of fixing the joint assembly only on the outer side of the flexible transmission member to increase the moving stroke. At the same time, in order to ensure the stability of the structure after the joint assembly is connected to the flexible transmission member, the flexible transmission member is extended outward and inserted into the gap of the joint assembly to be fixed, so as to ensure stable and reliable transmission.

[0054] According to a first aspect of the embodiment of the present application, a joint assembly is provided. Figure 2, the figure shows an application scenario of the joint assembly provided by an embodiment of the present application. As shown in the figure, the joint assembly 100 is used to connect with a flexible transmission member 200, and the flexible transmission member 200 has an inner side 210 and an outer side 220. The flexible transmission member 200 includes a transmission part 230 for being sleeved between at least two rotating wheels 300 and a connecting part 240 extending outward from the transmission part 230, and the inner side 210 is in contact with the rotating wheel 300.

[0055] Next, please refer to Figure 3 , the figure shows Figure 2 The side sectional structure of the mechanism shown in the figure, as shown in the figure, the joint assembly 100 is used to be arranged on the outer side surface 220 of the transmission part 230, and a gap 110 is provided on the joint assembly 100, and the gap 110 is used to accommodate the connecting part 240 so that the joint assembly 100 is connected to the connecting part 240.

[0056] Specifically, the flexible transmission member 200 and the rotating wheel 300 can be driven by a synchronous belt and a pulley, a chain and a sprocket, etc. The connection portion 240 extends into the gap 110 and is fixedly connected to the joint assembly 100 by clamping, clamping (for example, the protrusion and the depression are mutually clamped), and a connector (for example, rivets, screws, etc. pass through the joint assembly 100 and the connection portion 240, respectively), etc., which are not limited here.

[0057] For instructions on increasing the travel distance, please refer to Figure 4a and Figure 4b After the joint assembly 100 is arranged on the outer side 220 of the flexible transmission member 200, the joint assembly 100 is located at the maximum stroke at the rightmost end. Figure 4a On this basis, the two rotating wheels 300 rotate in the directions indicated by the rotating arrows in the figure, so as to drive the joint assembly 100 to move leftward along the direction indicated by the straight arrow in the figure through the flexible transmission member 200, and when reaching the maximum stroke at the leftmost end, the joint assembly 100 is in the state shown in FIG. Figure 4b In the state shown, when the center distance between the two rotating wheels 300 is L, the maximum moving stroke of the joint assembly 100 is D max2 .

[0058] contrast Figure 1a , Figure 1b and Figure 4a , Figure 4b It can be seen that since the joint assembly 100 provided in the embodiment of the present application has no physical structure inside the flexible transmission member 200, there will be no structural interference with the rotating wheel 300 inside the flexible transmission member 200, so that the joint assembly 100 can move farther at both ends. Based on this, when the center distance between the two rotating wheels is constant, the maximum moving stroke D of the joint assembly 100 provided in the embodiment of the present application is max2Much larger than the travel distance D of the seat body formed by two clamping blocks clamped up and down on the flexible transmission member max1 .

[0059] In summary, the joint assembly 100 provided in the embodiment of the present application is fixed on the outer side of the flexible transmission member 200, which can effectively improve the moving stroke of the joint assembly 100. At the same time, in order to ensure the structural stability when it is only fixed on the outer side of the flexible transmission member 200, a gap 110 is set on the joint assembly 100. After the connecting part 240 of the flexible transmission member 200 is accommodated by the gap 110, the joint assembly 100 is fixedly connected to the connecting part 240 to ensure the stability of the connection between the joint assembly 100 and the connecting part 240, thereby ensuring the smoothness and reliability of the transmission.

[0060] remove Figure 2 and Figure 3 In addition to the fixing structure of the joint assembly 100 and the connecting portion 240 shown in the embodiment shown, Figure 5a and Figure 5b The joint assembly 100 and the connecting portion 240 are fixed in the manner shown in Figure 5a The structure is a side cross-section. Figure 5b Specifically, as shown in the figure, the flexible transmission member 200 is annular, a part of the flexible transmission member 200 protrudes outward to form a connecting portion 240, and the joint assembly 100 includes two parts located on both sides of the gap 110, the two parts clamp the connecting portion 240 in the gap 110, and the two parts are screwed together by a screw 120 to clamp and fix the connecting portion 240 in the gap 110, so that the joint assembly 100 moves with the flexible transmission member 200.

[0061] It should be noted that Figure 5a and Figure 5b Although the embodiment shown uses an annular flexible transmission member 200, for a strip-shaped flexible transmission member, its two free ends are arranged to face each other and bent outward to form a connecting portion 240, which is then extended into the gap 110 and fixed to the joint assembly 100. The joint assembly 100 can also be fixedly connected to the transmission portion 230 on the outer side.

[0062] In order to improve the reliability of the fixed connection between the joint assembly 100 and the flexible transmission member 200, the present application further proposes an implementation method. Figure 3As shown in the figure, the connector assembly 100 includes a fixing seat 130 and a crimping piece 140. The fixing seat 130 is used to be arranged on the outer side of the transmission part 230, and the fixing seat 130 has a first side 131 and a second side 132 that are separated from each other, and the first side 131 faces the transmission part 230. The slit 110 is provided on the fixing seat 130, and the slit 110 is used for allowing the connecting part 240 to pass through from the first side 131. The crimping piece 140 is used to be connected to the second side 132 of the fixing seat 130, so as to fix at least a part of the connecting part 240 extending from the slit 110 to the outside of the fixing seat 130 to the fixing seat 130.

[0063] Specifically, the crimping member 140 can be connected and fixed to at least part of the connecting portion extending out of the gap 110 by crimping, clamping, rivets, screws, etc. Figure 3 In addition to the method of fixing the two free ends of the flexible transmission member 200 after extending out of the gap 110 and bending in the opposite direction, the method can also be as follows Figure 6a Side view of the structure and Figure 6b As shown in the top view of the flexible transmission member 200, the two free ends of the flexible transmission member 200 cross and pass through the gap 110, then bend in the same direction and be fixed by the crimping member 140. Figure 7 As shown in the middle side cross-sectional structure, an annular flexible transmission member 200 is used, and after a portion of the flexible transmission member 200 protrudes outward and passes through the gap 110 , it is fixed to the fixing seat 130 by the crimping member 140 .

[0064] By fixing at least part of the connecting portion 240 extending out of the fixing seat 130 from the gap 110 to the fixing seat 130 through the crimping piece 140, it can be prevented that when the tension of the flexible transmission member 200 itself is large, the connecting portion 240 is affected by the tension and comes out of the gap 110, thereby ensuring the stability of the connection between the connector assembly 100 and the flexible transmission member 200.

[0065] Please refer again Figure 3 In some embodiments, the connecting portion 240 has two free ends, and the slit 110 is used for the two free ends to pass through and then bend in opposite directions. The crimping member 140 is used to crimp at least part of the bent connecting portion 240 onto the fixing seats 130 on both sides of the slit 110 .

[0066] The two free ends of the connecting part 240 are passed through the gap 110 and bent in the opposite direction, and then fixed to the fixing seat 130 by the crimping part 140. This not only ensures the stability of the connection between the joint assembly 100 and the flexible transmission member 200, but also facilitates the assembly operation between the connecting part 240 and the fixing seat 130, thereby helping to improve the assembly efficiency.

[0067] In order to further improve the stability of the connection between the joint assembly 100 and the flexible transmission member 200, the present application also proposes an implementation method. Figure 2 and Figure 3 As shown in the figure, the flexible transmission member 200 is a synchronous belt, and a first engaging tooth 141 is provided on the crimping member 140. The first engaging tooth 141 is used to engage with the second engaging tooth 250 on the synchronous belt to limit the sliding of the synchronous belt relative to the fixing seat 130.

[0068] By engaging the first engaging tooth 141 on the crimping piece 140 with the second engaging tooth 250 on the synchronous belt, the synchronous belt can be effectively prevented from sliding relative to the fixing seat 130 and the crimping piece 140 under the action of its own tensioning force, thereby ensuring that the synchronous belt is always in a tensioned state, ensuring the reliability of the transmission, and avoiding the synchronous belt from slipping during the transmission process.

[0069] In some other embodiments, the flexible transmission member 200 may also adopt a chain, and accordingly, a rack may be provided on the crimping member 140. The rack on the crimping member 140 is engaged with the notch on the chain to prevent the chain from sliding relative to the crimping member 140, thereby ensuring the reliability of the chain transmission.

[0070] like Figure 2 As shown in , in an optional embodiment, the crimping piece 140 can be fixedly connected to the fixing seat 130 at its end corners through a plurality of threaded fasteners 142 , so that the connecting portion 240 can be reliably clamped and compressed between the crimping piece 140 and the fixing seat 130 .

[0071] In order to adapt to flexible transmission parts of different lengths, this application further proposes an implementation method. Please refer to Figure 3 , and further combined with Figure 8 , Figure 8 , the matching structure of the joint assembly and the flexible transmission member after the crimping member is removed is shown in FIG. As shown in the figure, at least two accommodating grooves 133 are provided on the side of the fixing seat 130 facing the crimping member 140, and the two accommodating grooves 133 are respectively located on both sides of the gap 110, and one end of the accommodating groove 133 is connected to the gap 110, and the other end is connected to the outside. The accommodating groove 133 is used to accommodate at least part of the connecting portion 240, and the end of the accommodating groove 133 away from the gap 110 can be used for the free end of the connecting portion 240 to pass through the accommodating groove 133.

[0072] By providing a receiving groove 133 on the fixing seat 130 and accommodating at least a portion of the connecting portion 240 by the receiving groove 133, the flexible transmission member 200 can be extended in the width direction ( Figure 8At least part of the connecting portion 240 is limited in the direction indicated by the double arrow A in the figure to ensure that the flexible transmission member 200 as a whole extends along its transmission direction (the direction indicated by the double arrow B in the figure, that is, the length direction of the flexible transmission member 200), which is beneficial to improving the transmission stability of the flexible transmission member 200.

[0073] Furthermore, in order to enable the joint assembly 100 to be assembled with flexible transmission members 200 of different lengths, and in order to avoid replacing flexible transmission members 200 of different lengths when adjusting the center distance between the two rotating wheels 300, the end of the accommodating groove 133 away from the gap 110 is connected to the outside, so that the excess part of the flexible transmission member 200 can be extended from the opening of the end of the accommodating groove 133 away from the gap 110, and then the connecting part 240 is pressed and fixed to the fixing seat 130 by the crimping member 140.

[0074] In order to prevent the flexible transmission member 200 from breaking at the bent portion of the gap 110, the present application further proposes an implementation method. Figure 3 As shown in the figure, the inner walls on both sides of the gap 110 are formed with arc-shaped abutting surfaces 111, and the arc-shaped abutting surfaces 111 are used to abut against the outer side surfaces of the connecting portion 240 received in the gap 110.

[0075] like Figure 3 As shown in the figure, by forming an arcuate abutment surface 111 on the inner walls on both sides of the gap 110, the arcuate abutment surface 111 abuts against the outer side surface of the connecting part 240, which can ensure that the bending of the connecting part 240 at the gap 110 is relatively smooth, and stress concentration will not be generated due to a large degree of bending. Therefore, the structural strength of the flexible transmission member 200 can be guaranteed, and the flexible transmission member 200 can be prevented from breaking.

[0076] For further information, please refer to Figure 3 For the embodiment in which the two free ends of the connecting portion 240 pass through the gap 110 and then bend inversely for fixation, the arcuate abutting surface 111 can always fit tightly with the connecting portion 240, thereby ensuring that the connection between the joint assembly 100 and the flexible transmission member 200 is stable and reliable.

[0077] In order to further increase the movement stroke of the joint assembly 100, the present application also proposes an implementation method, which is described in detail in detail in detail. Figure 3 As shown in the figure, the joint assembly 100 is provided with a protrusion 150 on one side facing the transmission part 230 , there are at least two protrusions 150 , and they are respectively located on two opposite sides of the gap 110 , and at least two protrusions 150 are respectively used to abut against the outer side surface of the transmission part 230 .

[0078] For a description of increasing the travel of the joint assembly 100 by abutting the protrusion 150 against the outer side surface of the transmission portion 230, see Figure 4a and Figure 4b ,like Figure 4a As shown in , when the joint assembly 100 moves to the rightmost end, the protrusion 150 on the right side of the gap 110 abuts against the transmission part 230 located at the highest point of the right rotating wheel 300, while the portion of the joint assembly 100 located on the right side of the protrusion 150 may not abut against the transmission part 230, and the portion may exceed the highest point of the right rotating wheel 300, so that the joint assembly 100 can move as far to the right as possible on the transmission part 230. Similarly, Figure 4b As shown in the figure, the protrusion on the left side of the gap 110 abuts against the transmission part 230 at the highest point of the left rotating wheel 300, so that the joint assembly can move as far as possible to the left on the transmission part 230. Based on the above content, it can be concluded that the joint assembly 100 has a large stroke driven by the flexible transmission member 200.

[0079] In order to fully increase the movement stroke of the joint assembly 100, the present application further proposes an implementation method. Figure 4a As shown in the figure, the protrusions 150 are arc-shaped, and at least two protrusions 150 are tangent to the outer side surface of the transmission part 230.

[0080] It is understandable that in Figure 4a In the specific embodiment shown, the outer side surface of the transmission part 230 is located on a horizontal plane, and since the protrusion 150 is tangent to the outer side surface of the transmission part 230, when the joint assembly 100 moves to the rightmost end, the tangent point between the protrusion 150 and the transmission part 230 is located on the same vertical line as the highest point of the right rotating wheel 300, that is, if the thickness of the transmission part 230 is not considered, the tangent point between the protrusion 150 and the transmission part 230 coincides with the highest point of the right rotating wheel 300.

[0081] Based on this, by setting the protrusion 150 tangentially to the outer side surface of the transmission part 230, the joint assembly 100 can be moved to the extreme position on the left or right side of the transmission part 230 without affecting the connection stability between the joint assembly 100 and the flexible transmission member 200, thereby fully improving the moving stroke of the joint assembly 100.

[0082] like Figure 2 As shown in , in order to facilitate the application of the joint assembly 100 , in some embodiments, a mounting portion 160 is provided on the joint assembly 100 , and the mounting portion 160 is used to install an execution assembly (not shown).

[0083] Specifically, the mounting portion 160 may be as follows Figure 2The mounting seat shown in the figure is provided with mounting holes in advance, or it may be a structure such as a claw or a hook, which is not limited here. When the joint assembly 100 is applied to the field of storage systems, the execution assembly may be a mechanism such as a hook, a suction cup, a manipulator, etc. for handling cargo boxes or scattered goods. When the joint assembly 100 is applied to other industrial fields, the execution assembly may also be a corresponding working component.

[0084] By providing the mounting portion 160 on the joint assembly 100 , when the joint assembly 100 is put into use, the corresponding actuator assembly can be conveniently and quickly installed on the joint assembly 100 , thereby facilitating improving the working efficiency.

[0085] According to a second aspect of the embodiment of the present application, a transmission assembly is provided. Fig. 9 , the figure shows the structure of the transmission assembly provided by the embodiment of the present application. As shown in the figure, the transmission assembly 400 includes a flexible transmission member 200 and a joint assembly 100 in any of the above embodiments. The joint assembly 100 is arranged on the outer side of the transmission part 230, and the connecting part 240 is penetrated in the gap 110 and connected to the joint assembly 100.

[0086] The transmission assembly 400 provided in the embodiment of the present application can improve the moving stroke of the joint assembly 100 by adopting the joint assembly 100 in any of the above embodiments to abut against the outer side surface of the transmission part 230, while also ensuring the stability of the assembly between the joint assembly 100 and the flexible transmission member 200.

[0087] According to the third aspect of the embodiment of the present application, a transmission mechanism is also provided. Figure 2 , the figure shows the structure of the transmission mechanism provided by the embodiment of the present application. As shown in the figure, the transmission mechanism 500 includes at least two rotating wheels 300 and the transmission assembly 400 in the above embodiment. Among them, the at least two rotating wheels 300 include a driving wheel and a driven wheel, and the driving wheel is used to connect with a driving member (such as a motor, etc.) to drive the joint assembly 100 to move through the flexible transmission member 200.

[0088] According to a fourth aspect of the embodiment of the present application, a cargo pick-up and release device (not shown) is also provided, which includes a load-bearing platform, a driving member, a cargo pick-up and release component, and the transmission mechanism in the above embodiment. The cargo pick-up and release component and the transmission mechanism are arranged on the load-bearing platform, and the output end of the driving member is connected to the driving wheel. The cargo pick-up and release component is arranged on the joint assembly, and is used to move with the joint assembly to pull the cargo to the load-bearing platform and / or push the cargo out of the load-bearing platform.

[0089] Specifically, the cargo picking and placing device may be a cargo fork, and the carrying platform is the main structure of the cargo picking and placing device, which is used to install other components and to carry cargo. The cargo picking and placing component may be a structure such as a hook or a suction cup, and when the driving member drives the flexible transmission member to move, the cargo picking and placing component moves with the joint, thereby pulling the cargo to the carrying platform or pushing the cargo out of the carrying platform.

[0090] By adopting the transmission mechanism provided in the above embodiment, the cargo picking and placing device can increase the moving stroke of the cargo picking and placing component installed on the joint assembly when the center distance between the two rotating wheels is constant, thereby meeting the requirements of picking and placing larger-sized cargo and picking and placing deeper cargo in the storage location, thereby enriching the applicable scenarios of the cargo picking and placing device.

[0091] According to a fifth aspect of the embodiments of the present application, there is also provided a robot (not shown), which includes a robot body and the cargo picking and placing device in the above embodiments, and the cargo picking and placing device is arranged on the robot body.

[0092] Specifically, the robot may be a handling robot, a tallying robot, a cargo transfer robot, a loading / unloading robot, etc., which are not limited here. A robot equipped with the cargo picking and placing device provided in the above embodiment can meet more diverse cargo picking and placing operation requirements.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A joint assembly, used for connecting with a flexible transmission member, the flexible transmission member having an inner side and an outer side, the flexible transmission member comprising a transmission part for sleeved between at least two rotating wheels and a connecting part extending outward from the transmission part, the inner side contacting the rotating wheels; characterized in that: The joint assembly is used to be arranged on the outer side surface of the transmission part. A gap is arranged on the joint assembly, and the gap is used to accommodate the connecting part so that the joint assembly is connected to the connecting part.

2. The joint assembly according to claim 1, characterized in that: The joint assembly comprises: a fixing seat and a crimping piece; The fixing seat is used to be arranged on the outer side of the transmission part, and the fixing seat has a first side and a second side which are separated from each other, and the first side faces the transmission part; The slit is provided on the fixing seat, and the slit is used for allowing the connecting portion to pass through from the first side; The crimping piece is used to be connected to the second side of the fixing seat so as to fix at least a portion of the connecting portion extending from the gap to the outside of the fixing seat to the fixing seat.

3. The joint assembly according to claim 2, characterized in that: The connecting portion has two free ends; The slit is used for the two free ends to pass through and then bend in opposite directions respectively; The crimping piece is used to crimp at least a portion of the bent connecting portion onto the fixing seats on both sides of the gap.

4. The joint assembly according to claim 3, characterized in that: The flexible transmission member is a synchronous belt, and the crimping member is provided with a first engaging tooth, which is used to engage with a second engaging tooth on the synchronous belt to limit the sliding of the synchronous belt relative to the fixing seat.

5. The joint assembly according to claim 3, characterized in that: At least two accommodating grooves are provided on one side of the fixing seat facing the crimping member, the two accommodating grooves are respectively located on both sides of the gap, one end of the accommodating groove is connected to the gap, and the other end is connected to the outside; The receiving groove is used to accommodate at least a portion of the connecting portion, and an end of the receiving groove away from the gap can be used to allow the free end of the connecting portion to pass through the receiving groove.

6. The joint assembly according to any one of claims 1 to 5, characterized in that: The inner walls on both sides of the slit are formed with arc-shaped abutting surfaces, and the arc-shaped abutting surfaces are used to abut against the outer side surfaces of the connecting part accommodated in the slit.

7. The joint assembly according to any one of claims 1 to 5, characterized in that: The joint assembly is provided with a protrusion on one side facing the transmission part. There are at least two protrusions, which are respectively located on two opposite sides of the gap. At least two of the protrusions are respectively used to abut against the outer side surface of the transmission part.

8. The joint assembly according to claim 7, characterized in that: The protrusions are arc-shaped, and at least two of the protrusions are tangent to the outer side surface of the transmission part.

9. The joint assembly according to any one of claims 1 to 5, characterized in that: The joint assembly is provided with a mounting portion, and the mounting portion is used for mounting the execution assembly.

10. A transmission assembly, characterized in that: comprising a flexible transmission member and a joint assembly as claimed in any one of claims 1 to 9; Wherein, the joint assembly is arranged on the outer side surface of the transmission part, and the connecting part is penetrated through the gap and connected with the connecting head assembly.

11. A transmission mechanism, characterized in that: comprising at least two rotating wheels and the transmission assembly according to claim 10; Among them, at least two of the rotating wheels include a driving wheel and a driven wheel, and the driving wheel is used to be connected to the driving member to drive the joint assembly to move through the flexible transmission member.

12. A cargo picking and placing device, characterized in that: It comprises a bearing platform, a driving member, a cargo picking and placing member and the transmission mechanism according to claim 11; The driving member and the transmission mechanism are arranged on the supporting platform, and the output end of the driving member is connected to the driving wheel; The cargo picking and placing component is arranged on the joint assembly, and is used to move with the joint assembly to pull the cargo to the carrying platform, and / or push the cargo out of the carrying platform.

13. A robot, characterized in that: It comprises a robot body and the cargo picking and placing device according to claim 12, wherein the cargo picking and placing device is arranged on the robot body.

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