Connecting device, transmission mechanism and transfer robot

Abstract

The utility model provides a connecting device, a transmission mechanism and a transfer robot, relates to the technical field of flexible piece connector connection, and is used for solving the technical problem that the strength of a synchronous belt is low due to the connecting mode of connectors at the two ends of the synchronous belt. First limiting parts are arranged on two opposite sides of the connecting part; the two fixing pieces are arranged at the two ends of the connecting piece correspondingly, and the two opposite sides of each fixing piece are provided with second limiting parts matched with the first limiting parts correspondingly. When the fixing part is configured to be connected with the connecting part, the first limiting part is connected with the second limiting part, and the connector is configured to be arranged between the fixing part and the connecting part, so that the degree of freedom of the connector in the circumferential direction is zero. Under the condition that the strength of the synchronous belt is not reduced, the connection reliability of the joints at the two ends of the synchronous belt is improved, the working precision is guaranteed, and therefore the working reliability is improved.

Description

Technical Field

[0001] The present application relates to the technical field of flexible member joint connection, and in particular to a connection device, a transmission mechanism and a handling robot. Background Art

[0002] With the improvement of synchronous belt production technology, the application of synchronous belt is becoming more and more extensive. In many working conditions, adding other accessories to the synchronous belt can meet more functional applications, such as conveying, handling, transmission and positioning, etc.

[0003] In transmission applications, the joints at both ends of the synchronous belt need to be connected to form a closed loop belt. In related technologies, a docking joint is usually used to connect the joints at both ends of the synchronous belt, or the tooth shape of one end of the joint is destroyed to connect by screws, or bonding or welding is also used to connect.

[0004] However, in the related art, the connection method of the joints at both ends of the synchronous belt will reduce the strength or use accuracy of the synchronous belt, resulting in a technical problem of poor working reliability. Utility Model Content

[0005] In view of the above problems, the embodiments of the present application provide a connecting device, a transmission mechanism and a handling robot, which can improve the connection reliability of the joints at both ends of the synchronous belt without reducing the strength of the synchronous belt, ensure the working accuracy, and thus improve the working reliability.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a connecting device, which is suitable for connecting joints at both ends of a flexible member so that the flexible member forms a ring structure. The connecting device includes: a connecting member and two fixing members, wherein the two ends of the connecting member respectively have a connecting portion, and the opposite sides of the connecting portion have a first limiting portion; two fixing members are respectively arranged at the two ends of the connecting member, and the opposite sides of the fixing member respectively have a second limiting portion matching the first limiting portion; when the fixing member is configured to be connected to the connecting portion, the first limiting portion is connected to the second limiting portion, and the joint is configured to be arranged between the fixing member and the connecting portion so that the degree of freedom of the joint in its circumferential direction is 0.

[0008] In some optional embodiments, the fixing member has a slot through which the connecting portion can be inserted, and the second limiting portions are respectively provided on the slot walls on opposite sides of the slot; when the connecting portion is inserted into the slot, an accommodating gap is formed between the connecting portion and the bottom wall of the slot, and the accommodating gap is configured to accommodate the joint.

[0009] In some optional embodiments, the first limiting portion includes one of a limiting boss and a limiting groove, and the second limiting portion includes the other of the limiting boss and the limiting groove.

[0010] In some optional embodiments, the first limiting portion is a limiting boss protruding from both sides of the connecting portion in a direction away from the connecting portion, and extending along the side wall of the connecting portion toward a first direction, wherein the first direction is the length direction of the connecting member.

[0011] In some optional embodiments, the connecting portion has a first limiting surface on the side facing the accommodating gap, the first limiting surface has an inclined angle with the first direction, and the slot wall facing the first limiting surface has a second limiting surface matching the first limiting surface.

[0012] In some optional embodiments, the first limiting surface also has a third limiting portion, and the side of the joint of the flexible member facing the first limiting surface has a fourth limiting portion matching the third limiting portion, and the third limiting portion and the fourth limiting portion are constructed to limit the movement of the joint of the flexible member in the first direction.

[0013] In some optional embodiments, the flexible member is a synchronous belt having gear teeth, the gear teeth at the joint of the synchronous belt are formed as the fourth limiting portion, the third limiting portion is a tooth groove matching the gear teeth, and the gear teeth at the joint of the synchronous belt are configured to be located in the tooth groove.

[0014] In some optional embodiments, a first connecting structure is further included, and when the connecting portion is inserted into the slot, the fixing member and the connecting member are detachably connected via the first connecting structure.

[0015] In some optional embodiments, one of the following is included:

[0016] The first connection structure includes a first threaded connection member, and the fixing member is threadedly connected to the connection member through the first threaded connection member;

[0017] The first connection structure includes a first magnetic member and a second magnetic member, the first magnetic member is arranged at one end of the connection member facing the fixing member, the second magnetic member is arranged at one end of the fixing member facing the connection member, and the first magnetic member and the second magnetic member are magnetically attracted to each other so that the fixing member is connected to the connection member;

[0018] The first connection structure includes a first clamping portion and a second clamping portion, the first clamping portion is arranged on the connecting member, the second clamping portion is arranged on the fixing member, and the first clamping portion and the second clamping portion are clamped to connect the fixing member to the connecting member.

[0019] In some optional embodiments, the connecting member includes a first connecting body, an adjusting member, and a second connecting body sequentially connected along a first direction, and the adjusting member has a variable size in the first direction so that the length of the connecting member in the first direction is adjustable.

[0020] In some optional embodiments, at least one of the following is included:

[0021] The adjusting member is an elastic adjusting member; and

[0022] The adjusting member includes an adjusting gasket, which is detachably connected to the connecting member, so that the length of the connecting member in the first direction can be adjusted by increasing or decreasing the number of the adjusting gaskets.

[0023] In some optional embodiments, a second connection structure is further included, and the second connection structure is configured to connect the first connection body and the second connection body.

[0024] In some optional embodiments, one of the following is included:

[0025] The second connection structure includes a second threaded connection member, and the first connection body and the second connection body are configured to be detachably connected via the second threaded connection member;

[0026] The second connection structure includes a third clamping portion and a fourth clamping portion, the third clamping portion is arranged on the first connection body, and the fourth clamping portion is arranged on the second connection body. The third clamping portion and the fourth clamping portion are clamped to make the first connection body and the second connection body detachably connected.

[0027] A second aspect of an embodiment of the present application provides a transmission mechanism, comprising: a flexible member; and a connecting device as described in the above embodiment, wherein the connecting device is configured to connect the two end joints of the flexible member so that the flexible member forms a ring structure.

[0028] A third aspect of an embodiment of the present application provides a transport robot, comprising:

[0029] Walking mechanism,

[0030] A lifting mechanism, arranged on the walking mechanism, the lifting mechanism comprises a driving mechanism and a transmission mechanism as described in the above embodiment, the transmission mechanism is connected to the driving mechanism;

[0031] The picking mechanism is used to carry goods from the shelf. The picking mechanism is arranged on the transmission mechanism so that the driving mechanism drives the picking mechanism to rise and fall through the transmission mechanism.

[0032] Compared with the related art, the connection device provided in the embodiment of the present application has at least the following advantages:

[0033] The connecting device provided in the embodiment of the present application includes a connecting member and two fixing members, wherein the two ends of the connecting member respectively have a connecting portion, and the opposite sides of the connecting portion have a first limiting portion, the two fixing members are respectively arranged at the two ends of the connecting member, and are configured to be connected with the corresponding connecting portion, and the opposite sides of the fixing member respectively have a second limiting portion matching the first limiting portion, when the fixing member is connected with the corresponding connecting portion, the first limiting portion is connected with the second limiting portion, and the joint of the flexible member is restricted between the fixing member and the connecting portion, so that the degree of freedom of the joint in the circumferential direction is 0, thereby realizing the connection of the joints at both ends of the flexible member without destroying the structure of the joints at both ends of the flexible member, thereby improving the strength and connection reliability of the joints at both ends of the flexible member, ensuring the accuracy of the flexible member, and thus improving the working reliability of the flexible member.

[0034] The transmission mechanism and the handling robot provided in the embodiments of the present application have the same beneficial effects as the connecting device provided in the above embodiments, which will not be described in detail here.

[0035] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the connecting device, transmission mechanism and handling robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 An exploded schematic diagram of an application state of a connecting device provided in an embodiment of the present application;

[0038] Figure 2 A partial exploded schematic diagram of a connecting device provided in an embodiment of the present application;

[0039] Figure 3A schematic diagram of an application state of a connection device provided in an embodiment of the present application;

[0040] Figure 4 for Figure 3 Schematic diagram of the cross section at AA in the middle;

[0041] Figure 5 for Figure 3 A partial schematic diagram of the section along the middle line BB;

[0042] Figure 6 for Figure 4 A partial enlarged schematic diagram of point C in the middle;

[0043] Figure 7 A schematic diagram of the structure of a transport robot provided in an embodiment of the present application.

[0044] Reference numerals:

[0045] 100-connection device;

[0046] 110-connecting member; 110a-first connecting body; 110b-second connecting body;

[0047] 111-connecting portion; 112-first limiting portion; 113-first limiting surface; 114-third limiting portion;

[0048] 120-fixing member; 121-slot; 122-second limiting portion; 123-second limiting surface;

[0049] 130-adjusting member; 140-first connecting structure; 150-second connecting structure;

[0050] 200-flexible member; 210-joint; 220-fourth limiting portion;

[0051] 300- handling robot; 310- walking mechanism; 320- column; 330- lifting mechanism;

[0052] 340-Pick-up agency. DETAILED DESCRIPTION

[0053] In the related art, in the transmission application of synchronous belt, the joints at both ends of the synchronous belt need to be connected to form a closed loop belt. In the related art, the joints at both ends of the synchronous belt are usually connected by a docking joint, or the tooth shape of one end of the joint is destroyed to connect by screws, or bonding or welding is also used to connect. However, in the related art, the connection method of the joints at both ends of the synchronous belt will reduce the strength or use accuracy of the synchronous belt, resulting in poor working reliability.

[0054] In order to solve the above problems, the present application provides a connecting device, including a connecting member and two fixing members, the two ends of the connecting member respectively have a connecting part, and the opposite sides of the connecting part have a first limiting part, the two fixing members are respectively arranged at the two ends of the connecting member, and are configured to be connected with the corresponding connecting parts, the opposite sides of the fixing member respectively have a second limiting part matching the first limiting part, when the fixing member is connected with the corresponding connecting part, the first limiting part is connected with the second limiting part, and the joint of the flexible member is restricted between the fixing member and the connecting part, so that the degree of freedom of the joint in the circumferential direction is 0, thereby realizing the connection of the joints at both ends of the flexible member without destroying the structure of the joints at both ends of the flexible member, improving the strength and connection reliability of the joints at both ends of the flexible member, ensuring the accuracy of the flexible member, and thus improving the working reliability of the flexible member.

[0055] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0056] Figure 1 An exploded schematic diagram of an application state of a connecting device provided in an embodiment of the present application; Figure 2 A partial exploded schematic diagram of a connecting device provided in an embodiment of the present application; Figure 3 A schematic diagram of an application state of a connection device provided in an embodiment of the present application; Figure 4 for Figure 3 Schematic diagram of the cross section at AA in the middle; Figure 5 for Figure 3 A partial schematic diagram of the section along the middle line BB; Figure 6 for Figure 4 A partial enlarged schematic diagram of point C in the middle.

[0057] Please refer to Figures 1 to 6 As shown, the embodiment of the present application provides a connection device 100, which is suitable for connecting the joints 210 at both ends of the flexible member 200, so that the flexible member 200 forms a ring structure. The flexible member 200 can be a transmission belt or a transmission chain. When the flexible member 200 is a transmission belt, the transmission belt can be, for example, a common flat belt, a synchronous belt, etc. The structure of the connection device 100 will be described in detail below by taking the flexible member 200 as a synchronous belt as an example.

[0058] The connection device 100 provided in the embodiment of the present application includes a connection member 110 and two fixing members 120. The two ends of the connection member 110 respectively have a connection portion 111, and the two opposite sides of the connection portion 111 have a first limit portion 112. The two fixing members 120 are respectively arranged at the two ends of the connection member 110, and the two opposite sides of the fixing member 120 respectively have a second limit portion 122 matching the first limit portion 112. When the fixing member 120 is configured to be connected to the connection portion 111, the first limit portion 112 is connected to the second limit portion 122, and the joint 210 is configured to be arranged between the fixing member 120 and the connection portion 111, so that the degree of freedom of the joint 210 in its circumferential direction is 0.

[0059] In a specific implementation, the joints 210 at both ends of the flexible member 200 are respectively located on the connecting parts 111 at both ends of the connecting member 110, that is, one joint 210 is located on one connecting part 111. When the two fixing members 120 are respectively connected to the corresponding connecting parts 111, the joint 210 is located between the connecting part 111 and the fixing member 120, and the first limiting part 112 on the connecting part 111 is connected to the second limiting part 122 on the fixing member 120 to limit the circumferential degree of freedom of the joint 210 so that the circumferential degree of freedom of the joint 210 is 0, thereby realizing the connection of the joints 210 at both ends of the flexible member 200 without destroying the structure of the joints 210 at both ends of the flexible member 200, thereby improving the strength and connection reliability of the joints 210 at both ends of the flexible member 200, ensuring the accuracy of the flexible member 200, and thus improving the working reliability of the flexible member 200.

[0060] In some embodiments, the fixing member 120 has a slot 121 for the connecting portion 111 to be inserted, and second limit portions 122 are respectively provided on the slot walls on opposite sides of the slot 121. When the connecting portion 111 is inserted into the slot 121, an accommodation gap is formed between the connecting portion 111 and the slot wall of the slot 121 in the second direction, that is, an accommodation gap is formed between the connecting portion 111 and the bottom wall of the slot 121, and the accommodation gap is configured to accommodate the connector 210. The second direction is the length direction of the vertical connecting member 110.

[0061] It should be noted that the bottom wall of the slot refers to the slot wall corresponding to the upper surface of the connecting portion when the connecting portion is located in the slot.

[0062] In the embodiment of the present application, a slot 121 is provided on the fixing member 120, and the second limiting portion 122 is provided on the groove walls on opposite sides of the slot 121. In this way, the connection portion 111 can be connected with the slot 121 by plugging, so as to realize the connection between the fixing member 120 and the connection portion 111. The connector 210 is fixed in the accommodation space between the connecting portion 111 and the slot 121, so that the connector 210 is accommodated in the accommodation space, and is interference-fitted with the connecting portion 111 and the fixing member 120, so as to limit the freedom of the connector 210 in the accommodation space along the length direction of the connecting member 110, so as to completely limit the connector 210 between the connecting portion 111 and the fixing member 120, thereby improving the reliability of fixing the connector 210.

[0063] In some embodiments, the first limiting portions 112 on opposite sides of the connecting portion 111 are, for example, limiting bosses protruding from both sides of the connecting portion 111 in a direction away from the connecting portion 111, and the second limiting portion 122 may be a limiting groove matching the limiting boss. Alternatively, the first limiting portion 112 may be a limiting groove, and the second limiting portion 122 is a limiting boss matching the first limiting portion 112. In this way, when the fixing member 120 is connected to the corresponding connecting portion 111, the first limiting portion 112 is connected to the second limiting portion 122, and the joint 210 located between the fixing member 120 and the connecting portion 111 can be limited in the circumferential direction to prevent the joint 210 from falling off or shifting, thereby improving the reliability of fixing the joint 210.

[0064] For example, in Figure 5 In the embodiment, the first limiting portion 112 is a limiting boss provided on the side wall of the connecting portion 111 and protruding in a direction away from the connecting portion 111, and the second limiting portion 122 is a limiting groove matching the limiting boss. The setting of the limiting boss and the limiting groove can reduce the process difficulty of the limiting boss while realizing the circumferential limiting of the joint 210, thereby reducing the process cost.

[0065] In some embodiments, the first limiting portion 112 may be a limiting boss having a circular, elliptical, trapezoidal, rectangular, square or other cross-sectional shape, and correspondingly, the second limiting portion 122 is a limiting groove matching the cross-sectional profile of the first limiting portion 112 .

[0066] The first limiting portion 112 not only protrudes outward from the side wall of the connecting portion 111, but also extends along the side wall of the connecting portion 111 toward the first direction. The first direction is the length direction of the connecting member 110. Correspondingly, the second connecting portion 111 is a limiting groove matching the limiting boss, and the limiting groove extends toward the first direction, so as to increase the limiting area of ​​the first limiting portion 112 and the second limiting portion 122, thereby improving the limiting reliability of the connecting portion 111.

[0067] In addition, the second limiting portion 122 can be a limiting groove with openings at both ends. In this way, when the fixing member 120 is connected to the connecting portion 111, the limiting groove of the fixing member 120 is aligned with the limiting boss, and then the fixing member 120 is moved along the limiting boss, so that when the fixing member 120 moves relative to the connecting portion 111, the limiting boss guides the fixing member 120, thereby improving the position accuracy when the fixing member 120 is connected to the connecting portion 111.

[0068] In order to improve the limiting reliability of the joint 210, in the embodiment of the present application, please combine Figure 2 and Figure 6 As shown, the side of the connecting portion 111 facing the accommodation gap has a first limiting surface 113, and the first limiting surface 113 has an inclined angle with the first direction. Figure 2 and Figure 6 As shown in , the inclined angle between the first limiting surface 113 and the first direction can be represented by α. The slot wall of the slot 121 facing the first limiting surface 113 has a second limiting surface 123 matching the first limiting surface 113. In this way, after the connector 210 is fixed between the connecting portion 111 and the fixing member 120, due to the restrictions of the first limiting surface 113 and the second limiting surface 123, the freedom of the connector 210 in the length direction of the connecting member 110 can be restricted, preventing the connector 210 from falling off or shifting between the connecting portion 111 and the fixing member 120.

[0069] In some embodiments, the inclined angle α between the first limiting surface 113 and the first direction is, for example, between 30° and 75°. For example, the inclined angle α is 30°, 40°, 45°, 50°, 60°, 65°, 70°, 75°, etc., and can be adaptively set according to actual needs.

[0070] For example, in Figure 2 and Figure 6 In the embodiment, the first limiting surface 113 is inclined toward the side away from the fixing member 120. Accordingly, after the fixing member 120 is connected to the connecting portion 111, the second limiting surface 123 is parallel to the first limiting surface 113. The joint 210 is sandwiched between the first limiting surface 113 and the second limiting surface 123. In this way, when the joint 210 moves toward the end away from the connecting portion 111, the second limiting surface 123 will limit the joint 210 to prevent the joint 210 from falling off or shifting between the first limiting surface 113 and the second limiting surface 123, thereby improving the fixing reliability of the joint 210.

[0071] In some embodiments, Figure 2As shown, the first limiting surface 113 also has a third limiting portion 114. The side of the joint 210 of the flexible member 200 facing the first limiting surface 113 has a fourth limiting portion 220 that matches the third limiting portion 114. The third limiting portion 114 and the fourth limiting portion 220 are configured to limit the movement of the joint 210 of the flexible member 200 in the first direction.

[0072] Exemplarily, the third limiting portion 114 is, for example, a limiting recess or a limiting protrusion, and the fourth limiting portion 220 is, for example, the other of the limiting recess or the limiting protrusion. For example, the third limiting portion 114 is a limiting recess, and the fourth limiting portion 220 is a limiting protrusion. In this way, when the connector 210 is located between the first limiting surface 113 and the second limiting surface 123, the third limiting portion 114 and the fourth limiting portion 220 on the connector 210 limit each other, which can further improve the reliability of the connector 210 between the connecting portion 111 and the fixing member 120, and prevent the connector 210 from falling off from between the connecting portion 111 and the fixing member 120.

[0073] In some embodiments, Figure 2 and Figure 6 As shown, the flexible member 200 is a synchronous belt, and the synchronous belt has gear teeth, and the gear teeth at the joint 210 of the synchronous belt are formed as a fourth limiting portion 220. The third limiting portion 114 is a tooth groove matching the gear teeth, and the gear teeth at the joint 210 of the synchronous belt are configured to be located in the tooth groove. In this way, when the joint 210 is located between the connecting portion 111 and the fixing member 120, the gear teeth at the synchronous belt joint 210 are located in the tooth groove of the first limiting surface 113 to limit the movement of the joint 210 in the first direction, thereby improving the connection reliability of the joint 210 between the connecting portion 111 and the fixing member 120.

[0074] In addition, please continue to refer to Figure 2 , in order to further improve the connection reliability between the fixing member 120 and the connecting portion 111. In the embodiment of the present application, the connecting device 100 also includes a first connecting structure 140. When the connecting portion 111 is inserted into the slot 121, the fixing member 120 and the connecting member 110 are detachably connected through the first connecting structure 140. In this way, when the connector 210 is located behind the fixing member 120 and the connecting portion 111, the fixing member 120 is fixedly connected to the connecting member 110 through the first connecting structure 140. When the connector 210 needs to be disassembled, the disassembly between the fixing member 120 and the connecting member 110 is achieved by disassembling the first connecting structure 140, so as to release the fixing of the fixing member 120 and the connecting portion 111 to the connector 210.

[0075] In some embodiments, the first connection structure 140 includes a first threaded connector 110. Accordingly, the fixing member 120 has a through hole through which the first threaded connector 110 can pass, and the connector 110 has a threaded hole that matches the first threaded connector 110. That is, the first threaded connector 110 can be threadedly connected to the threaded hole, so that the fixing member 120 is threadedly connected to the connector 110 through the first threaded connector 110.

[0076] The first threaded connector 110 is, for example, a screw, a stud or a bolt.

[0077] In other embodiments, the first connection structure 140 includes a first magnetic member and a second magnetic member. The first magnetic member is disposed at one end of the connecting member 110 facing the fixing member 120, and the second magnetic member is disposed at one end of the fixing member 120 facing the connecting member 110. The first magnetic member and the second magnetic member are magnetically attracted to each other so that the fixing member 120 is connected to the connecting member 110. In other words, the fixing member 120 can be connected to the connecting member 110 by magnetic attraction. In this way, as long as a magnetic attraction force greater than that of the magnetic member is applied to at least one of the fixing member 120 and the connecting member 110, the disassembly between the fixing member 120 and the connecting member 110 can be achieved, and the disassembly and assembly method is simple and convenient. When the fixing member 120 is connected to the connecting member 110, it is only necessary to bring the two close to each other, and the first magnetic member on the connecting member 110 and the second magnetic member on the fixing member 120 can be connected by magnetic attraction. The connection method is simple, no manual connection is required, time-saving and labor-saving, and the user's experience is improved.

[0078] Exemplarily, the first magnetic member and the second magnetic member may both be magnets. Alternatively, one of the first magnetic member and the second magnetic member is a magnet, and the other is made of a material that can be adsorbed by a magnet. As long as the fixing member 120 and the connecting member 110 can be magnetically adsorbed to each other through the first magnetic member and the second magnetic member, no specific limitation is made here.

[0079] In some other embodiments, the first connection structure 140 includes a first clamping portion and a second clamping portion, the first clamping portion is arranged on the connecting member 110, and the second clamping portion is arranged on the fixing member 120, and the first clamping portion and the second clamping portion are clamped to connect the fixing member 120 with the connecting member 110. The first clamping portion is, for example, a slot or a buckle, and the second clamping portion is, for example, the other of the slot or the buckle. The buckle is, for example, an elastic buckle. In this way, when the joint 210 is located between the fixing member 120 and the connecting portion 111, the connection between the fixing member 120 and the connecting member 110 can be achieved through the first clamping portion and the second clamping portion, and the disassembly and assembly method is simple and the cost is low.

[0080] In some embodiments, Figure 2As shown, the connecting member 110 includes a first connecting body 110a, an adjusting member 130 and a second connecting body 110b connected in sequence along a first direction. The adjusting member 130 has a variable size in the first direction so that the length of the connecting member 110 in the first direction is adjustable, so as to pre-tighten the flexible member 200 and avoid the problem of low working reliability caused by loosening of the flexible member 200.

[0081] In some embodiments, the adjusting member 130 is, for example, an elastic adjusting member 130. That is, the adjusting member 130 is, for example, an elastic adjusting member 130 made of elastic material. In this way, by applying different forces to the adjusting member 130, the adjusting member 130 can be made variable in size in the first direction due to different degrees of compression, thereby achieving the purpose of adjusting the length preload of the flexible member 200.

[0082] In other embodiments, the adjusting member 130 includes an adjusting gasket, which is detachably connected to the connecting member 110, so as to adjust the length of the connecting member 110 in the first direction by increasing or decreasing the number of the adjusting gaskets. For example, when the flexible member 200 needs to be pre-tightened, the number of gaskets can be reduced to reduce the size of the adjusting member 130 in the first direction, so as to increase the pre-tightening force of the flexible member 200 and improve the working reliability of the flexible member 200.

[0083] In some embodiments, please refer to Figure 1 and Figure 2 As shown, the connection device 100 further includes a second connection structure 150 , and the second connection structure 150 is configured to connect the first connection body 110 a and the second connection body 110 b .

[0084] In some embodiments, the second connection structure 150 includes a second threaded connector 110, and the first connection body 110a and the second connection body 110b are configured to be detachably connected through the second threaded connector 110. The second threaded connector 110 is, for example, a screw, a stud, or a bolt.

[0085] Exemplarily, one of the first connection body 110a and the second connection body 110b has a through hole through which the second threaded connection member 110 can pass, and the other of the first connection body 110a and the second connection body 110b has a threaded hole matching the second threaded connection member 110. In this way, the second threaded connection member 110 can pass through the through hole and be threadedly connected to the threaded hole to achieve the connection between the first connection body 110a and the second connection body 110b.

[0086] In other embodiments, the second connection structure 150 includes a third clamping portion and a fourth clamping portion, the third clamping portion is disposed on the first connection body 110a, and the fourth clamping portion is disposed on the second connection body 110b. When the first connection body 110a and the second connection body 110b are connected, the third clamping portion and the fourth clamping portion are clamped, so that the first connection body 110a and the second connection body 110b are detachably connected, thereby facilitating the disassembly and assembly of the first connection body 110a and the second connection body 110b.

[0087] Exemplarily, one of the third clamping portion and the fourth clamping portion is a buckle, and the other of the third clamping portion and the fourth clamping portion is a slot, and there may be a plurality of slots, and the plurality of slots are arranged at intervals along the first direction. In this way, the buckle can be clamped in different slots according to the different sizes of the adjusting member 130 in the first direction, so as to improve the connection reliability between the first connecting body 110a and the second connecting body 110b.

[0088] A second aspect of an embodiment of the present application provides a transmission mechanism, comprising: a flexible member 200 and a connecting device 100 as in any of the above embodiments, wherein the connecting device 100 is configured to connect two end joints 210 of the flexible member 200 to form the flexible member 200 into a ring structure.

[0089] The structure and working principle of the connection device 100 have been described in detail in the above embodiments and will not be repeated here.

[0090] In addition, the transmission mechanism also includes a driving wheel and a driven wheel. When the two end joints 210 of the flexible member 200 are connected to form an annular structure, the annular flexible member 200 is sleeved on the driving wheel and the driven wheel. There is a certain distance between the driving wheel and the driven wheel, so that when the flexible member 200 is sleeved on the driving wheel and the driven wheel, there is a certain pre-tightening force. In this way, when, for example, the driving motor drives the driving wheel to rotate around its own axis, the driving wheel can drive the flexible member 200 to move, and the flexible member 200 drives the driven wheel to move, thereby realizing the movement of the transmission mechanism.

[0091] Among them, the driving wheel and the driven wheel are matched with the structure of the flexible member 200 respectively. For example, when the flexible member 200 is a synchronous belt, that is, the synchronous belt has gear teeth, the driving wheel and the driven wheel respectively have tooth grooves matching the gear teeth of the synchronous belt, so that the driving wheel can drive the synchronous belt to move synchronously, and the synchronous belt drives the driven wheel to move synchronously, so as to improve the movement reliability of the transmission mechanism.

[0092] Please refer to Figure 7As shown, the third aspect of the embodiment of the present application provides a handling robot 300, including: a walking mechanism 310, a lifting mechanism 330 and a picking mechanism 340. Among them, the lifting mechanism 330 is arranged on the walking mechanism 310. The lifting mechanism 330 includes a driving mechanism and a transmission mechanism as provided in the above embodiment, and the transmission mechanism is connected to the driving mechanism. The picking mechanism 340 is used to carry goods from the shelf, and the picking mechanism 340 is arranged on the transmission mechanism so that the driving mechanism drives the picking mechanism 340 to rise and fall through the transmission mechanism.

[0093] In some embodiments, a column frame is provided on the walking mechanism 310, and the lifting mechanism 330 and the picking mechanism 340 are provided on the column frame, and the picking mechanism 340 is connected to the transmission mechanism. When the driving mechanism drives the transmission mechanism to move, the transmission mechanism drives the picking mechanism 340 to move up and down along the column 320 frame. The transmission mechanism is, for example, a belt transmission mechanism or a chain transmission mechanism.

[0094] Exemplarily, the column frame may include two columns 320 , and the two columns 320 are installed on the walking mechanism 310 at an interval.

[0095] In some embodiments, the bottom of the walking mechanism 310, for example, has rollers at the positions of the four corners. Exemplarily, the rollers may be universal wheels, so that the transport robot 300 can move in the storage space.

[0096] The connection device provided by the present application includes a connection piece and two fixing pieces, the two ends of the connection piece respectively have a connection part, and the two opposite sides of the connection part have a first limiting part, the two fixing pieces are respectively arranged at the two ends of the connection piece and are configured to be connected with the corresponding connection part, and the two opposite sides of the fixing piece respectively have a second limiting part matching the first limiting part. When the fixing piece is connected with the corresponding connection part, the first limiting part is connected with the second limiting part, and the joint of the flexible piece is restricted between the fixing piece and the connection part, so that the degree of freedom of the joint in the circumferential direction is 0, thereby realizing the connection of the joints at both ends of the flexible piece, and there is no need to destroy the structure of the joints at both ends of the flexible piece, thereby improving the strength and connection reliability of the joints at both ends of the flexible piece, ensuring the accuracy of the flexible piece, and thus improving the working reliability of the flexible piece.

[0097] The transmission structure and the handling robot provided in the embodiments of the present application have the same beneficial effects as the connecting device provided in the above embodiments, which will not be described in detail here.

[0098] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0100] 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 it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, 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 application.

Claims

1. A connecting device, suitable for connecting the joints at both ends of a flexible member so that the flexible member forms a ring structure, characterized in that: The connecting device comprises: A connecting member, wherein both ends of the connecting member respectively have connecting portions, and opposite sides of the connecting portion have first limiting portions; Two fixing members are respectively arranged at two ends of the connecting member, and opposite sides of the fixing member are respectively provided with second limiting portions matching the first limiting portions; When the fixing member is configured to be connected to the connecting portion, the first limiting portion is connected to the second limiting portion, and the joint is configured to be arranged between the fixing member and the connecting portion so that the degree of freedom of the joint in its circumferential direction is 0.

2. The connection device according to claim 1, characterized in that: The fixing member has a slot for the connecting part to be inserted into, and the second limiting parts are respectively arranged on the slot walls on opposite sides of the slot; when the connecting part is inserted into the slot, an accommodating gap is formed between the connecting part and the bottom wall of the slot, and the accommodating gap is configured to accommodate the joint.

3. The connection device according to claim 2, characterized in that: The first limiting portion includes one of a limiting boss and a limiting groove, and the second limiting portion includes the other of the limiting boss and the limiting groove.

4. The connection device according to claim 3, characterized in that: The first limiting portion is a limiting boss protruding from both sides of the connecting portion in a direction away from the connecting portion, and extends along the side wall of the connecting portion toward a first direction, wherein the first direction is a length direction of the connecting member.

5. The connection device according to claim 3, characterized in that: The connecting portion has a first limiting surface on one side facing the accommodating gap, the first limiting surface has an inclined angle with the first direction, and the slot wall of the slot facing the first limiting surface has a second limiting surface matching the first limiting surface.

6. The connection device according to claim 5, characterized in that: The first limiting surface also has a third limiting portion, and the side of the joint of the flexible member facing the first limiting surface has a fourth limiting portion matching the third limiting portion, and the third limiting portion and the fourth limiting portion are constructed to limit the movement of the joint of the flexible member in the first direction.

7. The connection device according to claim 6, characterized in that: The flexible part is a synchronous belt having gear teeth. The gear teeth at the joint of the synchronous belt form the fourth limiting portion. The third limiting portion is a tooth groove matching the gear teeth. The gear teeth at the joint of the synchronous belt are configured to be located in the tooth groove.

8. The connection device according to any one of claims 2 to 7, characterized in that: It also includes a first connecting structure. When the connecting portion is inserted into the slot, the fixing member and the connecting member are detachably connected through the first connecting structure.

9. The connection device according to claim 8, characterized in that: Includes one of the following: The first connection structure includes a first threaded connection member, and the fixing member is threadedly connected to the connection member through the first threaded connection member; The first connection structure includes a first magnetic member and a second magnetic member, the first magnetic member is arranged at one end of the connection member facing the fixing member, the second magnetic member is arranged at one end of the fixing member facing the connection member, and the first magnetic member and the second magnetic member are magnetically attracted to each other so that the fixing member is connected to the connection member; The first connection structure includes a first clamping portion and a second clamping portion, the first clamping portion is arranged on the connecting member, the second clamping portion is arranged on the fixing member, and the first clamping portion and the second clamping portion are clamped to connect the fixing member to the connecting member.

10. The connection device according to any one of claims 1 to 7, characterized in that: The connecting member comprises a first connecting body, an adjusting member and a second connecting body which are sequentially connected along a first direction. The adjusting member has a variable size in the first direction so that the length of the connecting member in the first direction is adjustable.

11. The connection device according to claim 10, characterized in that: Include at least one of the following: The adjusting member is an elastic adjusting member; and The adjusting member includes an adjusting gasket, which is detachably connected to the connecting member, so that the length of the connecting member in the first direction can be adjusted by increasing or decreasing the number of the adjusting gaskets.

12. The connection device according to claim 10, characterized in that Also included is a second connection structure configured to connect the first connection body and the second connection body.

13. The connection device according to claim 12, characterized in that: Includes one of the following: The second connection structure includes a second threaded connection member, and the first connection body and the second connection body are configured to be detachably connected via the second threaded connection member; The second connection structure includes a third clamping portion and a fourth clamping portion, the third clamping portion is arranged on the first connection body, and the fourth clamping portion is arranged on the second connection body. The third clamping portion and the fourth clamping portion are clamped to make the first connection body and the second connection body detachably connected.

14. A transmission mechanism, characterized in that: include: Flexible parts; and The connecting device according to any one of claims 1 to 13, wherein the connecting device is configured to connect the two end joints of the flexible member so that the flexible member forms a ring structure.

15. A transport robot, characterized in that: include: Walking mechanism, A lifting mechanism, arranged on the walking mechanism, the lifting mechanism comprising a driving mechanism and the transmission mechanism according to claim 14, the transmission mechanism being connected to the driving mechanism; The picking mechanism is used to carry goods from the shelf. The picking mechanism is arranged on the transmission mechanism so that the driving mechanism drives the picking mechanism to rise and fall through the transmission mechanism.

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