Carrying robot

Abstract

The carrying robot comprises a bearing part, a lifting assembly and a chassis assembly, the bearing part is used for bearing carried objects, the lifting assembly is used for achieving lifting of the bearing part, one end of the lifting assembly is connected with the bearing part, and the lifting assembly comprises a pressure applying part capable of synchronously lifting along with the bearing part. The chassis assembly comprises a first chassis, a second chassis, a hinge mechanism, a pressure bearing mechanism and a driving wheel. According to the carrying robot, the first chassis and the second chassis are hinged through the hinge mechanism, so that a rotating space allowing relative rotation can be formed between the first chassis and the second chassis, and the carrying robot can adapt to the uneven ground advantageously; according to the transfer robot, the pressure exerting piece descending to the pressure exerting position abuts against the pressure bearing mechanism to exert positive pressure on the driving wheel, so that the operation stability of the transfer robot can be improved, and the slipping phenomenon is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of automated warehouses, in particular to a transport robot. Background Art

[0002] A handling robot is an essential equipment in an automated warehouse. A handling robot generally includes a chassis, a lifting mechanism and a pallet, and has navigation, lifting and lowering functions. The navigation function can automatically plan the path in the warehouse, and the lifting and lowering functions can realize the lifting of material boxes or other goods, thereby realizing the picking and placing of items from the storage location to the handling robot.

[0003] Existing handling robots generally use a scissor fork link assembly as a lifting mechanism to achieve the lifting of the pallet, and the bottom end of the scissor fork link assembly is generally connected to the chassis by pivoting and sliding. This connection method causes the differential drive wheel connected to the chassis to be unable to obtain effective positive pressure, which makes the robot prone to slipping and unstable operation. Utility Model Content

[0004] The utility model aims to provide a transport robot which runs smoothly and has a low probability of slipping.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A handling robot comprises: a load-bearing member, which is used to carry a load; a lifting assembly, which is used to realize the lifting and lowering of the load-bearing member, one end of the lifting assembly is connected to the load-bearing member, and the lifting assembly comprises a pressure member that can be lifted and lowered synchronously with the load-bearing member; a chassis assembly, which comprises a first chassis, a second chassis, a hinge mechanism, a pressure mechanism and a driving wheel, the first chassis and the second chassis are hinged by the hinge mechanism, the other end of the lifting assembly is connected to the first chassis and the second chassis at the same time, and the driving wheel and the pressure mechanism are both arranged on the hinge mechanism; wherein the pressure member can descend to a pressure position where it presses against the pressure mechanism to apply pressure to the driving wheel.

[0007] Preferably, the hinge mechanism includes a first hinge and a second hinge, the bottom end of the first hinge is fixed to the first chassis, the first end of the second hinge is fixed to the second chassis, the lower part of the first hinge is provided with an opening groove opening toward the first chassis, and the second end of the second hinge is rotatably connected to the opening groove via a first rotating shaft.

[0008] Preferably, a first limiting surface is formed in the opening groove, and a second limiting surface is formed on the second end of the second hinge, and when the first chassis and the second chassis are relatively rotated to the first state, the second limiting surface and the first limiting surface can achieve limiting abutment; and / or, a third limiting surface is formed on the first chassis, and a fourth limiting surface is formed on the second end of the second hinge, and when the first chassis and the second chassis are relatively rotated to the second state, the third limiting surface and the fourth limiting surface can achieve limiting abutment.

[0009] Preferably, the hinge mechanism includes a first hinged member fixed on the first chassis; the pressure-bearing mechanism includes a guide shaft, an elastic member and a pressure-bearing member, the first hinged member is provided with a guide hole for the guide shaft to pass through, the pressure-bearing member is connected to the top end of the guide shaft and is used to abut against the pressure-applying member, and the elastic member elastically presses between the pressure-bearing member and the first hinged member.

[0010] Preferably, a plurality of guide holes are provided on the first hinge, a plurality of guide shafts are correspondingly inserted into the plurality of guide holes, and the top ends of the plurality of guide shafts are connected to the pressure-bearing member; and / or, the elastic member is a coil spring, the coil spring is sleeved on the guide shaft, and the two ends of the coil spring are elastically pressed against the pressure-bearing member and the first hinge respectively; and / or, the pressure-bearing mechanism also includes a limit member, and the limit member is connected to the bottom end of the guide shaft.

[0011] Preferably, the lifting assembly includes a driving mechanism and a connecting rod mechanism, the connecting rod mechanism includes a first connecting rod and a second connecting rod hinged in a scissor shape, the two ends of the first connecting rod are respectively rotatably connected to the bearing member and the first chassis, the two ends of the second connecting rod are respectively slidably hinged to the bearing member and the second chassis, the driving mechanism is arranged on the bearing member, and is used to drive the end of the second connecting rod to slide.

[0012] Preferably, the first connecting rod includes a plurality of first rods connected in rotation in sequence, the second connecting rod includes a plurality of second rods connected in rotation in sequence, and the first rods and the second rods arranged opposite to each other are hinged in a scissor-like manner; and / or, the connecting rod mechanism is provided with a plurality of groups, and the plurality of groups of the connecting rod mechanisms are arranged at intervals in the first direction.

[0013] Preferably, the first connecting rod and the second connecting rod are hinged via a second rotating shaft, the pressure member is protruded from the connecting rod mechanism and is coaxially arranged with the second rotating shaft, and the pressure member is located directly above the pressure-bearing mechanism; or, the pressure member includes a pressure rod pin, the first connecting rod and the second connecting rod are hinged via the pressure rod pin, and the pressure rod pin includes a pressure portion protruded from the connecting rod mechanism and located directly above the pressure-bearing mechanism.

[0014] Preferably, the driving mechanism includes a driving motor, a screw rod, and a nut connecting piece. The driving motor is fixed on the supporting member, the motor shaft of the driving motor is connected to one end of the screw rod, the nut connecting piece is threadedly connected to the screw rod and forms a screw rod nut pair, and the nut connecting piece is rotatably connected to the top end of the second connecting rod.

[0015] Preferably, the lifting assembly further comprises a first guide rail and a first slider, the first guide rail being fixedly arranged on the bearing member along the second direction, and the nut connector being slidably connected to the first guide rail via the first slider; and / or, the lifting assembly further comprises a second guide rail and a second slider, the second guide rail being fixedly arranged on the second chassis along the second direction, the bottom end of the second connecting rod being rotatably connected to the second slider, and the second slider being slidably connected to the second guide rail.

[0016] Beneficial effects of the utility model:

[0017] The handling robot provided by the utility model includes a bearing member, a lifting assembly and a chassis assembly, wherein the bearing member is used to carry the object to be handled, the lifting assembly is used to realize the lifting of the bearing member, one end of the lifting assembly is connected to the bearing member, the lifting assembly includes a pressure member that can be lifted and lowered synchronously with the bearing member, the chassis assembly includes a first chassis, a second chassis, a hinge mechanism, a pressure mechanism and a driving wheel, the first chassis and the second chassis are hinged by the hinge mechanism, the other end of the lifting assembly is connected to the first chassis and the second chassis at the same time, the driving wheel and the pressure mechanism are both arranged on the hinge mechanism, and the pressure member can be lowered to a pressure position where it presses against the pressure mechanism to apply pressure to the driving wheel. The handling robot hinges the first chassis and the second chassis by using the hinge mechanism, so that there can be a rotation space between the first chassis and the second chassis to allow relative rotation, which is conducive to adapting to uneven ground, and the handling robot can apply positive pressure to the driving wheel by pressing the pressure member that is lowered to the pressure position against the pressure mechanism, thereby improving the stability of the handling robot and avoiding slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the transport robot provided by the utility model after the carrying part is lowered;

[0019] Figure 2 It is a schematic diagram of the transport robot provided by the utility model after the carrying part is raised;

[0020] Figure 3 yes Figure 2 A schematic diagram of the structure shown in another viewing angle;

[0021] Figure 4 It is a schematic diagram of a partial structure of a handling robot provided by the utility model;

[0022] Figure 5 yes Figure 4 a rear view of the structure shown;

[0023] Figure 6 It is a schematic diagram of the chassis assembly, the second guide rail and the second sliding block provided by the utility model;

[0024] Figure 7 It is a schematic diagram of the hinge mechanism, pressure-bearing mechanism and driving wheel provided by the utility model;

[0025] Figure 8 yes Figure 7 A schematic diagram of the structure shown in another viewing angle;

[0026] Fig. 9 It is a schematic diagram of the hinge mechanism provided by the utility model;

[0027] Fig.10 It is a cross-sectional view of the hinge mechanism provided by the utility model;

[0028] Fig.11 It is a schematic diagram of the connecting rod mechanism provided by the utility model;

[0029] Fig.12 It is a schematic diagram of the bearing member and the driving mechanism provided by the utility model;

[0030] Fig.13 It is a schematic diagram of the bearing member provided by the utility model.

[0031] In the figure:

[0032] 100, bearing member; 110, disk body; 120, guide plate; 130, detection sensor;

[0033] 200, lifting assembly; 201, pressure member; 210, connecting rod mechanism; 211, first connecting rod; 2111, first rod member; 212, second connecting rod; 2121, second rod member; 213, connecting shaft; 220, driving mechanism; 221, driving motor; 222, lead screw; 223, nut connector; 231, first guide rail; 232, second guide rail; 233, second slider; 234, first slider;

[0034] 300, chassis assembly; 310, first chassis; 320, second chassis; 330, hinge mechanism; 331, first hinge; 3311, first part; 3312, second part; 3313, ear; 3314, guide hole; 332, second hinge; 3321, first end; 3322, second end; 340, pressure-bearing mechanism; 341, guide shaft; 342, elastic member; 343, pressure-bearing member; 344, limit member; 350, driving wheel; 360, housing; 370, laser sensor; 380, charging interface; 390, universal wheel. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0036] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0039] The utility model provides a transport robot, such as Figures 1 to 3 As shown, the handling robot includes a carrier 100, a lifting assembly 200 and a chassis assembly 300 connected in sequence from top to bottom. The carrier 100 is a bearing mechanism for carrying the object to be handled. The lifting assembly 200 is connected between the carrier 100 and the chassis assembly 300 and is used to realize the lifting of the carrier 100. The chassis assembly 300 is a bearing mechanism in contact with the ground. Specifically, Figures 4 to 6 As shown, the chassis assembly 300 includes a first chassis 310, a second chassis 320, a hinge mechanism 330, a pressure mechanism 340 and a driving wheel 350. The first chassis 310 and the second chassis 320 are hinged by the hinge mechanism 330. One end of the lifting assembly 200 is connected to the bearing member 100, and the other end of the lifting assembly 200 is connected to the first chassis 310 and the second chassis 320 at the same time. The driving wheel 350 and the pressure mechanism 340 are both arranged on the hinge mechanism 330. In addition, the lifting assembly 200 includes a pressure member 201 that can be raised and lowered synchronously with the bearing member 100. The pressure member 201 can be lowered to a pressure position where it presses against the pressure mechanism 340 to press the driving wheel 350.

[0040] Compared with the existing handling robots that adopt an integrated chassis structure, the handling robot provided by the utility model is provided with a first chassis 310 and a second chassis 320 that are separately arranged, and a hinge mechanism 330 is used to hinge the first chassis 310 and the second chassis 320 to form an articulated chassis, so that the first chassis 310 and the second chassis 320 can rotate relative to each other, so that the handling robot can adapt to uneven ground, thereby improving walking stability and adaptability to the ground. In addition, the transport robot can control the lifting and lowering of the lifting component 200 to make the pressure-applying member 201 descend to the pressure-applying position. When in the pressure-applying position, the pressure-applying member 201 can apply pressure to the pressure-bearing mechanism 340 by pressing against the pressure-bearing mechanism 340. Since the pressure-bearing mechanism 340 is connected to the hinge mechanism 330, and the driving wheel 350 is also connected to the hinge mechanism 330, the downward pressure applied to the pressure-bearing mechanism 340 can be transmitted to the driving wheel 350 through the hinge mechanism 330, so that the driving wheel 350 obtains a suitable positive pressure. The driving wheel 350 that obtains the suitable positive pressure can obtain sufficient acceleration and speed when in contact with the ground, thereby improving the stability of the transport robot's operation and avoiding slipping.

[0041] Continue to refer to Figure 1 and Figure 2As shown, the first direction is defined as the left and right direction of the handling robot, and the second direction is defined as the front and rear direction of the handling robot. In some embodiments, in the first direction, the first chassis 310 and the second chassis 320 are rotatably connected through two hinge mechanisms 330 arranged at intervals, so as to improve the stability of the hinge. Of course, in other embodiments, the number of hinge mechanisms 330 can be increased or decreased according to demand. In some embodiments, in the second direction, the first chassis 310 is located in front of the second chassis 320, the first chassis 310 is the front chassis, and the second chassis 320 is the rear chassis.

[0042] like Figures 7 to 10 As shown, in some embodiments, the hinge mechanism 330 includes a first hinge 331 and a second hinge 332, the bottom end of the first hinge 331 is fixed on the first chassis 310, the first end 3321 of the second hinge 332 is fixed on the second chassis 320, and the first hinge 331 and the second hinge 332 are hinged via a first rotating shaft.

[0043] In some embodiments, an open slot is provided at the lower portion of the first hinge 331, the open slot dividing the lower portion of the first hinge 331 into a first portion 3311 and a second portion 3312 which are spaced apart, and a first shaft hole is provided on each of the first portion 3311 and the second portion 3312. A second shaft hole is provided through the second end 3322 of the second hinge 332, the first rotating shaft is provided in the second shaft hole, and the two ends of the first rotating shaft are rotatably connected in the two first shaft holes respectively. In this way, the stability of the hinge connection between the first hinge 331 and the second hinge 332 can be improved, and the rotation angle can be limited to a certain extent.

[0044] In some embodiments, a first gap a is formed between the top surface of the second end 3322 of the second hinge 332 and the bottom surface of the open groove, and the first gap a is the space required for the two hinges to rotate relative to each other. In some embodiments, the bottom surface of the second hinge 332 is a stepped surface, and the bottom surface corresponding to the second end 3322 is higher than the bottom surface corresponding to the first end 3321. This configuration forms a second gap b between the top surface of the first chassis 310 corresponding to the second end 3322 and the bottom surface of the second end 3322, and the second gap b is also the space required for the two hinges to rotate relative to each other.

[0045] In order to limit the maximum angle at which the second hinge 332 and the first hinge 331 can rotate relative to each other, a first limiting surface is formed in the opening groove, and a second limiting surface is formed on the second end 3322 of the second hinge 332. When the first chassis 310 and the second chassis 320 rotate relative to each other to the first state, the second limiting surface and the first limiting surface can achieve limiting contact. In one embodiment, the first limiting surface is the bottom surface of the opening groove, and the second limiting surface is the top surface of the second hinge 332; of course, in other embodiments, the positions of the first limiting surface and the second limiting surface can also be adjusted according to needs.

[0046] A third limiting surface is formed on the first chassis 310, and a fourth limiting surface is formed on the second end 3322 of the second hinge 332. When the first chassis 310 and the second chassis 320 are relatively rotated to the second state, the third limiting surface and the fourth limiting surface can achieve limiting contact. In one embodiment, the third limiting surface is a part of the top surface of the first chassis 310, and the fourth limiting surface is a part of the bottom surface or a part of the side surface of the second hinge 332; of course, in other embodiments, the positions of the third limiting surface and the fourth limiting surface can also be adjusted according to needs.

[0047] It should be noted that since the first chassis 310 and the second chassis 320 are hinged to each other, the first chassis 310 and the second chassis 320 can rotate in different directions. When the height of the hinge of the first chassis 310 and the second chassis 320 reaches a maximum value and is higher than the front end of the first chassis 310 and the rear end of the second chassis 320, the first chassis 310 and the second chassis 320 are in a first state; when the height of the hinge of the first chassis 310 and the second chassis 320 reaches a minimum value and is lower than the front end of the first chassis 310 and the rear end of the second chassis 320, the first chassis 310 and the second chassis 320 are in a second state.

[0048] Continue to refer to Figure 7 and Figure 8 As shown, the axle of the driving wheel 350 is rotatably connected to the first hinge 331. In some embodiments, in the height direction of the handling robot, the axle of the driving wheel 350 is located directly above the first rotating shaft, and a third shaft hole for the axle of the driving wheel 350 to pass through is provided on the first hinge 331, and the third shaft hole is located directly above the first shaft hole.

[0049] Continue to refer to Figures 7 to 9As shown, the pressure mechanism 340 includes a guide shaft 341, an elastic member 342 and a pressure member 343. The first hinge 331 is provided with a guide hole 3314 for the guide shaft 341 to pass through. The pressure member 343 is connected to the top of the guide shaft 341 and is used to abut against the pressure member 201. The elastic member 342 elastically presses between the pressure member 343 and the first hinge 331. After the pressure member 201 abuts against the pressure member 343, as the pressure member 201 continues to move downward, the pressure member 343 moves downward synchronously, the guide shaft 341 moves downward along the guide hole 3314, and the elastic member 342 is compressed and applies pressure to the first hinge 331.

[0050] In some embodiments, a plurality of guide holes 3314 are provided on the first hinge 331, and a plurality of guide shafts 341 are respectively inserted into the plurality of guide holes 3314, and the top ends of the plurality of guide shafts 341 are connected to the pressure bearing member 343. This can improve the stability of the lifting and lowering of the pressure bearing member 343. In one embodiment, an ear portion 3313 is protruded on both sides of the first hinge 331 in the second direction, and a guide hole 3314 is provided on each ear portion 3313, and two guide shafts 341 are respectively inserted into the two guide holes 3314. In one embodiment, the pressure bearing member 343 is a plate-like structure.

[0051] The elastic member 342 also has a specific buffering effect and can cause the pressure-bearing member 343 to return to its original position. In some embodiments, the elastic member 342 is a coil spring, which is sleeved on the guide shaft 341, and the two ends of the coil spring are elastically pressed against the pressure-bearing member 343 and the first hinge member 331 respectively.

[0052] In some embodiments, the pressure mechanism 340 further includes a stopper 344, which is connected to the bottom end of the guide shaft 341. When the pressure member 201 is separated from the pressure member 343, the elastic member 342 releases elastic potential energy to drive the guide shaft 341 to move upward, and the stopper 344 abuts against the first hinge 331 to limit the guide shaft 341 from moving upward, thereby preventing the guide shaft 341 from accidentally separating from the guide hole 3314.

[0053] In some embodiments, two driving wheels 350 are provided, and the two driving wheels 350 are respectively connected to the two hinge mechanisms 330. Figure 3 As shown, the transport robot further includes two universal wheels 390, which are rotatably connected to the front end of the first chassis 310 and the rear end of the second chassis 320. Of course, in other embodiments, the number of the driving wheels 350 and the universal wheels 390 can be adjusted according to needs.

[0054] Continue to refer to Figure 1As shown, the chassis assembly 300 also includes a housing 360, and the housing 360 is covered on the outside of the first chassis 310 and the second chassis 320 to play a protective role. In one embodiment, the chassis assembly 300 also includes a laser sensor 370 disposed on the housing 360, and the laser sensor 370 is used to enable the handling robot to have an obstacle avoidance function or a navigation function. In one embodiment, the chassis assembly 300 also includes a charging interface 380 disposed on the housing 360, and the handling robot can be charged through the charging interface 380.

[0055] like Fig.11 As shown, the lifting assembly 200 includes a driving mechanism 220 and a connecting rod mechanism 210, and the driving mechanism 220 is used to drive the connecting rod mechanism 210 to extend and retract, so that the carrier 100 can be lifted and lowered. In some embodiments, the connecting rod mechanism 210 is a scissor-fork mechanism, and the connecting rod mechanism 210 includes a first connecting rod 211 and a second connecting rod 212 that are hinged in a scissor shape, and the two ends of the first connecting rod 211 are respectively rotatably connected to the carrier 100 and the first chassis 310 through a hinge seat, and the two ends of the second connecting rod 212 are respectively slidably hinged to the carrier 100 and the second chassis 320, and the driving mechanism 220 is arranged on the carrier 100, and is used to drive the end of the second connecting rod 212 to slide.

[0056] Compared with the prior art in which the driving mechanism is arranged on the chassis, so that the driving force of the driving mechanism reacts on the chassis and causes instability of the chassis, the handling robot provided by the utility model arranges the driving mechanism 220 on the carrier 100, which not only simplifies the structure of the chassis assembly 300, but also improves the stability of the chassis structure composed of the first chassis 310 and the second chassis 320, making the application of the articulated chassis on the handling robot possible.

[0057] In some embodiments, the first connecting rod 211 includes a plurality of first rods 2111 that are rotatably connected in sequence, and the second connecting rod 212 includes a plurality of second rods 2121 that are rotatably connected in sequence. The first rods 2111 and the second rods 2121 that are arranged opposite to each other are hinged in a scissor-like manner. Fig.11 As shown, there are two first rods 2111 and two second rods 2121 .

[0058] In some embodiments, the connecting rod mechanism 210 is provided with multiple groups, and the multiple groups of connecting rod mechanisms 210 are arranged at intervals in the first direction. Such an arrangement can improve the stability of the lifting of the carrier 100. In one embodiment, the connecting rod mechanism 210 is provided with two groups, and the two groups of connecting rod mechanisms 210 are arranged at intervals in the first direction.

[0059] Furthermore, the lifting assembly 200 further includes a connecting shaft 213 connected between two adjacent sets of link mechanisms 210, at least one connecting shaft 213 is provided, and the end of the connecting shaft 213 can be connected to the hinge of two adjacent first rods 2111, or can be connected to the hinge of two adjacent second rods 2121. The provision of the connecting shaft 213 can improve the synchronization of the actions of the two adjacent sets of link mechanisms 210.

[0060] In some embodiments, the pressure member 201 is convexly disposed at the hinge of the first connecting rod 211 and the second connecting rod 212. In one embodiment, two pressure members 201 are provided, and are respectively located directly above the two pressure-bearing mechanisms 340. In one embodiment, the pressure member 201 is convexly disposed at the hinge of a group of first rod members 2111 and second rod members 2121 closest to the chassis assembly 300.

[0061] In one embodiment, the pressure member 201 is a pressure rod pin, the first link 211 and the second link 212 are hinged by the pressure rod pin, and the pressure rod pin includes a rotation connection part and a pressure part, the rotation connection part is inserted in the first link 211 and the second link 212, and the pressure part is convexly arranged outside the link mechanism 210 and is located directly above the pressure mechanism 340. The pressure rod pin can rise or fall under the drive of the driving mechanism 220, and when the pressure rod pin falls to a certain height, the pressure part can abut against the pressure member 343 of the pressure mechanism 340.

[0062] In another embodiment, the first connecting rod 211 and the second connecting rod 212 are hinged by the second rotating shaft, the pressure member 201 is connected to the connecting rod mechanism 210 and is arranged coaxially with the second rotating shaft, and the pressure member 201 is located directly above the pressure mechanism 340. The pressure member 201 can rise or fall under the drive of the driving mechanism 220, and when the pressure member 201 falls to a certain height, the pressure member 201 can abut against the pressure member 343 of the pressure mechanism 340. The pressure member 201 can be a rod-shaped structure or a block-shaped structure.

[0063] like Fig.12 As shown, the drive mechanism 220 includes a drive motor 221, a screw rod 222, and a nut connector 223. The drive motor 221 is fixed to the bearing member 100 through a motor mounting seat. The motor shaft of the drive motor 221 is connected to one end of the screw rod 222. The nut connector 223 is threadedly connected to the screw rod 222 to form a screw rod nut pair. The nut connector 223 is rotatably connected to the top of the second connecting rod 212. Under the drive of the drive motor 221, the screw rod 222 rotates around its own axis, and the nut connector 223 can move along the screw rod 222, so that the top of the second connecting rod 212 moves synchronously. Of course, the drive mechanism 220 can also adopt other structures that can output linear motion, which are not listed here one by one.

[0064] In order to improve the moving accuracy, the lifting assembly 200 also includes a guiding mechanism, which includes a first guide rail 231 and a first slider 234. The first guide rail 231 is fixedly arranged on the bearing member 100 along the second direction, and the nut connector 223 is slidably connected to the first guide rail 231 through the first slider 234. In one embodiment, two first guide rails 231 are provided, and the two first guide rails 231 are spaced apart in the first direction. The two ends of the nut connector 223 are fixedly connected to the two first sliders 234, and the two first sliders 234 are respectively slidably connected to the two first guide rails 231 to further improve the guiding accuracy. In one embodiment, the connecting rod mechanism 210 is provided with two groups, and the top ends of the second connecting rods 212 of the two connecting rod mechanisms 210 are respectively rotatably connected to the two ends of the nut connector 223.

[0065] Continue to refer to Figure 6 As shown, the guide mechanism further includes a second guide rail 232 and a second slider 233, the second guide rail 232 is fixedly arranged on the second chassis 320 along the second direction, the bottom end of the second connecting rod 212 is rotatably connected to the second slider 233, and the second slider 233 is slidably connected to the second guide rail 232. In one embodiment, the connecting rod mechanism 210 is provided with two groups, two second guide rails 232 are provided, and the two second guide rails 232 are spaced apart in the second direction, and the bottom end of the second connecting rod 212 of each connecting rod mechanism 210 is slidably connected to the corresponding second guide rail 232 through a second slider 233.

[0066] like Fig.13 As shown, the carrier 100 includes a tray 110 and a guide plate 120. The tray 110 is used to carry the transported object. When taking the transported object, the tray 110 needs to be lifted to support the bottom surface of the transported object for taking the object. The guide plate 120 is convexly arranged on the tray 110 to provide guidance for the transported object to enter and exit the tray 110. In the process of transporting the transported object, the guide plate 120 also has a limiting effect on the transported object. In one embodiment, four guide plates 120 are provided, which are convexly arranged at the four corners of the tray 110 respectively.

[0067] In one embodiment, a detection sensor 130 is further disposed on the tray body 110 , and the detection sensor 130 is used to detect whether there is a transport piece on the tray body 110 , and whether the transport piece is placed flat on the tray body 110 .

[0068] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A transport robot, characterized in that: include: A carrier (100), the carrier (100) being used to carry objects; A lifting component (200), the lifting component (200) is used to realize the lifting of the carrier (100), one end of the lifting component (200) is connected to the carrier (100), and the lifting component (200) comprises a pressure member (201) capable of being lifted and lowered synchronously with the carrier (100); A chassis assembly (300), the chassis assembly (300) comprising a first chassis (310), a second chassis (320), a hinge mechanism (330), a pressure-bearing mechanism (340) and a driving wheel (350), the first chassis (310) and the second chassis (320) being hinged via the hinge mechanism (330), the other end of the lifting assembly (200) being connected to the first chassis (310) and the second chassis (320) at the same time, and the driving wheel (350) and the pressure-bearing mechanism (340) being both arranged on the hinge mechanism (330); The pressure member (201) can be lowered to a pressure position where it presses against the pressure-bearing mechanism (340) to apply pressure to the driving wheel (350).

2. The handling robot according to claim 1, characterized in that: The hinge mechanism (330) comprises a first hinge (331) and a second hinge (332), wherein the bottom end of the first hinge (331) is fixed on the first chassis (310), and the first end (3321) of the second hinge (332) is fixed on the second chassis (320), and an opening groove with an opening toward the first chassis (310) is provided at the bottom of the first hinge (331), and the second end (3322) of the second hinge (332) is rotatably connected in the opening groove via a first rotating shaft.

3. The handling robot according to claim 2, characterized in that: A first limiting surface is formed in the opening groove, and a second limiting surface is formed on the second end (3322) of the second hinge (332), and when the first chassis (310) and the second chassis (320) are relatively rotated to a first state, the second limiting surface and the first limiting surface can achieve limiting contact; And / or, a third limiting surface is formed on the first chassis (310), and a fourth limiting surface is formed on the second end (3322) of the second hinge (332), and when the first chassis (310) and the second chassis (320) are relatively rotated to the second state, the third limiting surface and the fourth limiting surface can achieve limiting abutment.

4. The handling robot according to claim 1, characterized in that: The hinge mechanism (330) comprises a first hinge member (331) fixed on the first chassis (310); The pressure-bearing mechanism (340) comprises a guide shaft (341), an elastic member (342) and a pressure-bearing member (343); the first hinge (331) is provided with a guide hole (3314) for the guide shaft (341) to pass through; the pressure-bearing member (343) is connected to the top end of the guide shaft (341) and is used to abut against the pressure-applying member (201); the elastic member (342) elastically presses between the pressure-bearing member (343) and the first hinge (331).

5. The handling robot according to claim 4, characterized in that: The first hinge (331) is provided with a plurality of guide holes (3314), the plurality of guide shafts (341) are respectively inserted into the plurality of guide holes (3314), and the top ends of the plurality of guide shafts (341) are connected to the pressure-bearing member (343); And / or, the elastic member (342) is a coil spring, the coil spring is sleeved on the guide shaft (341), and two ends of the coil spring are elastically pressed against the pressure-bearing member (343) and the first hinge member (331) respectively; And / or, the pressure-bearing mechanism (340) further includes a limiting member (344), and the limiting member (344) is connected to the bottom end of the guide shaft (341).

6. The handling robot according to claim 1, characterized in that: The lifting assembly (200) comprises a driving mechanism (220) and a connecting rod mechanism (210); the connecting rod mechanism (210) comprises a first connecting rod (211) and a second connecting rod (212) which are hinged in a scissor shape; the two ends of the first connecting rod (211) are rotatably connected to the supporting member (100) and the first chassis (310) respectively; the two ends of the second connecting rod (212) are slidably hinged to the supporting member (100) and the second chassis (320) respectively; the driving mechanism (220) is arranged on the supporting member (100) and is used to drive the end of the second connecting rod (212) to slide.

7. The handling robot according to claim 6, characterized in that: The first connecting rod (211) comprises a plurality of first rods (2111) that are rotatably connected in sequence, and the second connecting rod (212) comprises a plurality of second rods (2121) that are rotatably connected in sequence, and the first rods (2111) and the second rods (2121) that are arranged opposite to each other are hinged in a scissor-like manner; And / or, the connecting rod mechanisms (210) are provided in a plurality of groups, and the plurality of connecting rod mechanisms (210) are arranged at intervals in the first direction.

8. The handling robot according to claim 6, characterized in that: The first connecting rod (211) and the second connecting rod (212) are hinged via a second rotating shaft, the pressure-applying member (201) is convexly disposed on the connecting rod mechanism (210) and is coaxially disposed with the second rotating shaft, and the pressure-applying member (201) is located directly above the pressure-bearing mechanism (340); Alternatively, the pressure member (201) includes a pressure rod pin, the first connecting rod (211) and the second connecting rod (212) are hinged via the pressure rod pin, and the pressure rod pin includes a pressure portion protruding from the connecting rod mechanism (210) and located directly above the pressure-bearing mechanism (340).

9. The handling robot according to any one of claims 6 to 8, characterized in that: The driving mechanism (220) comprises a driving motor (221), a screw rod (222), and a nut connecting piece (223); the driving motor (221) is fixed on the bearing member (100); the motor shaft of the driving motor (221) is connected to one end of the screw rod (222); the nut connecting piece (223) is threadedly connected to the screw rod (222) to form a screw rod and nut pair; the nut connecting piece (223) is rotatably connected to the top end of the second connecting rod (212).

10. The handling robot according to claim 9, characterized in that: The lifting assembly (200) further comprises a first guide rail (231) and a first slider (234); the first guide rail (231) is fixedly arranged on the bearing member (100) along the second direction; and the nut connector (223) is slidably connected to the first guide rail (231) via the first slider (234); And / or, the lifting assembly (200) further includes a second guide rail (232) and a second slider (233), wherein the second guide rail (232) is fixedly arranged on the second chassis (320) along the second direction, the bottom end of the second connecting rod (212) is rotatably connected to the second slider (233), and the second slider (233) is slidably connected to the second guide rail (232).

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