Transportation robot and working system

Abstract

The embodiment of the utility model provides a transportation robot and a working system, and belongs to the technical field of material transportation equipment. The first bearing piece is arranged on the base and is configured to move towards the machine table under the driving of the base so as to conduct butt joint transfer of the first object with the machine table; the second bearing part is arranged on the base and is configured to move towards the machine table under the driving of the base so as to perform butt joint transfer of a second object with the machine table; wherein the first bearing part is positioned on one side of the second bearing part along the butt joint direction and can move between a first position and a second position; the first position is the position deviating from the butt joint path of the second bearing part, the second position is the position where the first bearing part is used for being in butt joint with the machine table, when the transport robot is in empty and full axis butt joint with the machine table, steering is not needed, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material transportation equipment, and in particular to a transportation robot and a working system. Background Art

[0002] In recent years, robotics, automation and artificial intelligence technologies have made significant progress, especially in the areas of precise positioning, heavy-load handling, and operation in complex environments, providing technical support for solving difficult problems in industries such as lithium battery production and warehousing materials.

[0003] Heavy-load handling equipment such as empty and full axle transport robots can carry two or more goods at the same time. For example, in the lithium battery production process, the empty and full axle transport robot has a first load-bearing position and a second load-bearing position arranged side by side. The first load-bearing position is used to carry the empty axle, and the second load-bearing position is used to carry the full axle. When exchanging empty and full axles with the production machine, the empty and full axle transport robot with the empty axle can be run to the machine, and the full axle on the machine can be transferred to the second load-bearing position, and then the empty axle can be transferred to the machine in preparation for the next production process.

[0004] However, in the related art, when the empty and full axle transport robot exchanges the empty and full axles at the machine, it needs to exit the machine and turn around after receiving the full axle before it can unload the empty axle onto the machine, which results in low working efficiency. Utility Model Content

[0005] The embodiments of the present application provide a transport robot and a working system, which do not require steering when docking empty or full axes with a machine, thereby improving work efficiency.

[0006] An embodiment of the present application provides a transport robot, comprising:

[0007] Pedestal;

[0008] A first carrier is disposed on the base and is configured to move toward the machine table under the drive of the base to dock and transfer the first object with the machine table;

[0009] The second carrier is disposed on the base and is configured to move toward the machine table under the drive of the base to dock and transfer the second object with the machine table;

[0010] The first carrier is located on one side of the second carrier along the docking direction and can move between a first position and a second position; the first position is a position deviating from the docking path of the second carrier, and the second position is a position where the first carrier is used to dock with the machine.

[0011] In one implementation, the first carrier is configured to move at least along a height direction of the base to switch between a first position and a second position;

[0012] Wherein, the height direction of the base intersects with the direction of the docking path of the second supporting member.

[0013] In one implementation, the transport robot further includes:

[0014] The first lifting structure is connected to the first carrier, and is configured to drive the first carrier to move up and down so as to transfer the first object between the first carrier and the machine platform.

[0015] In one implementation, the first lifting structure is further configured to drive the first carrier to switch between the first position and the second position so as to deviate from a docking path of the second carrier when the second carrier docks with the machine platform.

[0016] In one implementation, the first lifting structure includes:

[0017] Driving parts;

[0018] The first end of the rotating arm is connected to the driving member so as to rotate along the height direction of the base under the drive of the driving member, and the first bearing member is arranged at the second end of the rotating arm so as to move under the drive of the rotating arm.

[0019] In one implementation, the first carrier has a carrying surface configured to support the first article;

[0020] The first lifting structure also includes a constraint assembly. The first bearing member can rotate relative to the second end of the rotating arm and cooperate with the constraint assembly so that during the rotation of the rotating arm, the bearing surface remains in the same direction under the action of the constraint assembly.

[0021] In one implementation, the first lifting structure further includes a swing shaft, the swing shaft is movably arranged through the second end of the rotating arm, and the first bearing member is fixed on the swing shaft;

[0022] One end of the constraint assembly is connected to the base, and the other end is connected to the swing shaft. The constraint assembly is configured to constrain the swing shaft to rotate so that the orientation of the bearing surface remains unchanged during the rotation of the rotating arm.

[0023] In one implementation, the constraint assembly includes a first synchronous wheel, a second synchronous wheel and a synchronous belt;

[0024] The first synchronous wheel is fixed on the base and located on the rotation axis of the first end of the rotating arm. The second synchronous wheel is fixed on the swing shaft. The synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel. The synchronous belt is configured to limit the first bearing member from rotating with the rotating arm.

[0025] In one implementation, the first lifting structure further includes:

[0026] The bearing is sleeved between the swing shaft and the inner wall of the second end of the rotating arm.

[0027] In one implementation, the transport robot further includes:

[0028] The second lifting structure is connected to the second carrier, and is configured to drive the second carrier to rise and fall along the height direction of the base, so that the second object can be transferred between the second carrier and the machine platform.

[0029] Another aspect of the present application provides a working system, including:

[0030] Machine;

[0031] A transport robot as described above;

[0032] The transport robot is configured to perform the following actions:

[0033] When the first object and the second object are docked and transferred with the machine, the first object is carried forward to the machine, the first carrier moves to the first position, and when the second carrier moves to the machine, the second object on the machine is taken out;

[0034] The base drives the first carrier to move toward the machine platform, and the first carrier moves from the first position to the second position, so that the first object is placed on the machine platform.

[0035] In one implementation, before the base drives the first carrier to move toward the platform, the transport robot is configured to perform the following actions:

[0036] The base drives the first bearing member and the second bearing member to retract to the outside of the machine;

[0037] The base drives the first bearing member to move toward the machine platform, including: the base drives the first bearing member to move toward the machine platform.

[0038] In one implementation, the base drives the first bearing member to move toward the machine platform, including:

[0039] The base drives the first bearing member and the second bearing member to retreat, so that the first bearing member moves toward the machine platform.

[0040] The embodiment of the present application provides a transport robot and a working system, wherein a first carrier and a second carrier are arranged on a base, and the first carrier is located on one side of the second carrier along the docking direction, and the first carrier is arranged to be movable between a first position and a second position, the first position being a position deviating from a docking path of the second carrier, and the second position being a position of the first carrier for docking with a machine. In this way, when the transport robot performs docking and transfer of a first object and a second object with the machine, the first carrier carrying the first object can first move to the first position to avoid the second carrier, and then when the second carrier is moved to the machine, the second object on the machine is taken out, and thereafter, the transport robot drives the first carrier to move toward the machine and moves the first carrier from the first position to the second position. When the first carrier moves to the machine, the first object is placed on the machine, and the taking out of the second object and the placing of the first object are completed. During the whole process, the transport robot does not need to turn, and only needs to move the transport robot back and forth, thereby improving the work efficiency, simplifying the operation complexity of the transport robot, and reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural diagram of a working system provided by an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of the structure of a transport robot provided by an embodiment of the present application;

[0043] Figure 3 is a schematic diagram of the assembly of a transport robot and an object provided by an embodiment of the present application;

[0044] Figure 4 yes Figure 3 A schematic diagram of the assembly structure of the first carrier and the first article;

[0045] Figure 5 is a state diagram of a first bearing member provided by an embodiment of the present application being in a first position;

[0046] Figure 6 is a state diagram of a first bearing member provided by an embodiment of the present application being in a second position;

[0047] Figure 7 is a schematic diagram of a second carrier arriving at a machine platform provided by an embodiment of the present application;

[0048] Figure 8 is a schematic diagram of a second carrying member lifting a second object provided by an embodiment of the present application;

[0049] Fig. 9 is a schematic diagram of a transport robot provided by an embodiment of the present application retreating outside the machine;

[0050] Fig.10 is a schematic diagram of a first carrier arriving at a machine platform provided by an embodiment of the present application;

[0051] Fig.11 is a schematic diagram of a first carrier provided by an embodiment of the present application placing a first object on a machine platform;

[0052] Fig.12 This is a schematic diagram of a transport robot provided by an embodiment of the present application after completing the docking and transfer of items;

[0053] Fig.13 is a schematic diagram of the assembly of a first bearing member and a first lifting structure provided in one embodiment of the present application;

[0054] Fig.14 yes Fig.13 Partial schematic diagram at point A in the middle.

[0055] Description of reference numerals:

[0056] 10-transport robot; 20-machine platform; 30-wall; 40-first item; 50-second item; 60-ground;

[0057] 100-base; 200-first bearing member; 300-second bearing member; 400-first lifting structure;

[0058] 110-base; 120-support platform; 210-first bearing surface; 310-second bearing surface; 410-driving member; 420-rotating arm; 430-constraint assembly; 440-swing shaft; 450-fixing member; 560-bearing;

[0059] 411 - driving motor; 412 - speed reducer; 431 - first synchronous wheel; 432 - second synchronous wheel; 433 - synchronous belt. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in the present application, 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 the field without creative work should fall within the scope of protection of the present application.

[0061] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0062] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0063] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected entities are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0064] In this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0065] The embodiment of the present application provides a working system, which may include but is not limited to a product production system, an article storage system, etc. The product production system may include a lithium battery production system, such as a coating loading and unloading system, a roller loading and unloading system, or a die-cutting loading and unloading system in a lithium battery production system.

[0066] Taking the lithium battery production system as an example, with the rapid development of the lithium battery industry and the continuous expansion of production scale, traditional production lines are facing problems such as low efficiency, high labor intensity, and high safety risks. In order to improve production efficiency, reduce costs, and ensure product quality and employee safety, the lithium battery industry urgently needs to introduce automated and intelligent production equipment.

[0067] Figure 1 Schematic diagram of the structure of the working system provided by an embodiment of the present application. Figure 1As shown, illustratively, the working system of the embodiment of the present application includes a machine 20 and a transport robot 10. According to different application scenarios, the machine 20 may include but is not limited to a coating loading and unloading machine, a roller loading machine, and a die-cutting loading machine. The transport robot 10 is a double-carrying robot that can carry two or more items at the same time. The double-carrying robot is suitable for the handling and assembly of lithium battery cells, modules, etc. It can effectively improve the handling efficiency of the production line, reduce labor costs, and ensure the stability of the production process and product quality through a precise control system.

[0068] The dual-carrying robot aims to achieve efficient handling and precise assembly in the lithium battery production process by introducing advanced automation equipment, improve production efficiency, reduce production costs, and ensure production safety and product quality to support the sustainable development of the lithium battery industry.

[0069] Taking the double-carrying transport robot 10 as an empty and full-axle transport robot as an example, in the related technology, the empty and full-axle transport robot includes a first load-bearing position and a second load-bearing position, and the first load-bearing position and the second load-bearing position are arranged side by side along the docking direction of the empty and full-axle transport robot, and the first load-bearing position and the second load-bearing position move synchronously, that is, they are relatively stationary. Among them, the first load-bearing position is configured to carry an empty axle, and the second load-bearing position is configured to carry a full axle. It should be noted that the docking direction of the empty and full-axle transport robot refers to the direction in which the empty and full-axle transport robot runs toward the machine 20, with the first load-bearing position located on the side of the second load-bearing position facing the docking direction.

[0070] When the empty and full axles transport robot exchanges empty and full axles with the machine 20, it can first point the second carrying position toward the front (i.e., toward the direction of the machine 20) and run toward the machine 20 until the second carrying position arrives at the machine 20, remove the full axles on the machine 20, and then retreat to the outside of the machine 20 and turn to point the first carrying position carrying the empty axles toward the front and run toward the machine 20 until the first carrying position arrives at the machine 20, transfer the empty axles to the machine 20, and finally exit the machine 20, completing the exchange of empty and full axles with the machine 20.

[0071] However, during the process of exchanging empty and full axles with the machine 20, the above-mentioned empty and full axle transport robot needs to exit the machine 20 for turning, which not only increases the working time and reduces the working efficiency, but also increases the operational complexity of the entire working process. In addition, the transport robot 10 needs to exit the machine 20 for turning, thereby posing a safety hazard to the staff near the machine 20.

[0072] The transport robot 10 provided in the embodiment of the present application sets the first carrying position to be movable relative to the second carrying position, so that the first carrying position can move to a position deviating from the docking path of the second carrying position when the second carrying position is docked with the machine 20, so as to ensure that the second carrying position can smoothly reach the machine 20 and take out the full shaft on the machine 20 without interference from the first carrying position. In addition, when it is necessary to place an empty shaft on the machine 20, the first carrying position can be moved to a position configured to dock with the machine 20 to realize the transfer of the empty shaft. During the whole process, the first carrying position of the transport robot 10 can be facing forward, and there is no need for the transport robot 10 to turn, which improves the empty and full shaft docking transfer efficiency between the transport robot 10 and the machine 20, reduces the operating complexity of the transport robot 10, and also reduces the safety risks of the entire working process.

[0073] The specific structure and working process of the transport robot 10 provided in the embodiment of the present application are described in detail below in conjunction with the accompanying drawings.

[0074] Figure 2 is a schematic diagram of the structure of a transport robot provided in an embodiment of the present application, Figure 3 is a schematic diagram of the assembly of a transport robot and an object provided in an embodiment of the present application. Figure 4 yes Figure 3 Schematic diagram of the assembly structure of the first carrier and the first article. Figures 2 to 4 As shown, the transport robot 10 provided in the embodiment of the present application includes a base 100 and a first bearing member 200 and a second bearing member 300 disposed on the base 100. The base 100 has a travel assembly (not shown in the figure), and the base 100 can walk on a working platform such as the ground 60 under the drive of the travel assembly to drive the first bearing member 200 and the second bearing member 300 to run along the ground 60.

[0075] Exemplarily, the travel assembly may include a driving wheel train and a load wheel train, wherein the driving wheel train is configured to drive the base 100 to walk along the ground 60, and the load wheel train is configured to bear the base 100 and the structure on the base 100, and roll along the ground 60 driven by the base 100. The driving wheel train and the load wheel train cooperate together to realize the straight travel and turning of the transport robot 10.

[0076] The first carrier 200 is configured to move toward the machine 20 driven by the base 100 to dock and transfer the first object 40 with the machine 20. Taking the first object 40 as an empty shaft as an example, the first carrier 200 is configured to carry the empty shaft, and can move toward the machine 20 driven by the base 100. When it reaches the machine 20, the empty shaft can be transferred to the machine 20 to complete the loading work. It can be understood that in the actual production process, the empty shaft is placed on the machine 20 to facilitate loading on the empty shaft, such as coating loading, etc. The empty shaft after loading is called a full shaft.

[0077] The second carrier 300 is configured to move toward the platform 20 under the drive of the base 100, so as to dock and transfer the second object 50 with the platform 20. Taking the second object 50 as a full shaft as an example, the second carrier 300 can move toward the platform 20 under the drive of the base 100 until the second carrier 300 reaches the platform 20, removes the full shaft on the platform 20, that is, transfers the full shaft on the platform 20 to the second carrier 300, and completes the unloading work.

[0078] The first carrier 200 is located on one side of the second carrier 300 along the docking direction. It should be noted that the docking direction is the direction in which the base 100 carries the first carrier 200 and the second carrier 300 toward the machine 20. Figure 1 For example, when the transport robot 10 is moving toward the platform 20 , the first carrier 200 is located in front of the transport robot 10 , that is, close to the platform 20 , and the second carrier 300 is located behind the transport robot 10 , that is, far away from the platform 20 .

[0079] Figure 5 is a state diagram of a first carrier provided by an embodiment of the present application being in a first position, Figure 6 1 is a state diagram of the first bearing member provided by an embodiment of the present application in the second position. Figure 5 and Figure 6 As shown, the first carrier 200 of the embodiment of the present application can move equivalent to the second carrier 300 and can move between a first position and a second position.

[0080] Among them, the first position is a position deviated from the docking path of the second carrier 300. For example, the docking path of the second carrier 300 is a path passing along the X direction. The first position deviates from the path so that when the second carrier 300 is docked with the machine 20, the first carrier 200 can move to the first position to avoid the second carrier 300, so that when the second carrier 300 takes the second object 50, such as a full shaft, the first carrier 200 can be located in front of the transport robot 10, so that after the second carrier 300 completes the docking larger than the machine 20, the first carrier 200 can be docked with the machine 20 without turning.

[0081] In some examples, the first position may be located below or to the side of the path. The below of the path refers to the path along the height direction of the base 100 (refer to Figure 1 and Figure 2 The side of the path refers to the path along the width direction of the base 100 (refer to Figure 1 and Figure 2 The height direction of the base 100 intersects with the direction of the docking path of the second carrier 300, for example, vertically.

[0082] The second position is the position where the first carrier 200 is used to dock with the machine 20. It should be noted that the position where the first carrier 200 is used to dock with the machine 20 can be understood as the position where the first carrier 200 can place the first object 40, such as an empty shaft, on the machine 20, that is, when the first carrier 200 is in the second position, its height is a height that can place the empty shaft on the machine 20, so that after the second carrier 300 takes off the full shaft, the transport robot 10 can walk forward or backward to make the second carrier 300 detach from the machine 20, and then move the first carrier 200 to the second position, and under the drive of the base 100, the first carrier 200 is moved to the machine 20, docked with the machine 20, and the empty shaft is transferred to the machine 20. Exemplarily, the second position is a position where the first carrier 200 is higher than the machine 20.

[0083] Taking the first position as the left side of the docking path of the first carrier 200 as an example (not shown in the figure), in some examples, the first carrier 200 can be moved along the reference Figure 2 The first carrier 200 is horizontally translated to the left side of the base 100 in the Y direction to translate from the first position to the second position, so that the first carrier 200 and the first article 40 on the first carrier 200 are translated to the left side of the base 100 to avoid the docking path between the second carrier 300 and the machine 20. The first position and the second position are at the same height, and are at the same height as the docking path of the second carrier 300. In this way, the movement path of the first carrier 200 between the first position and the second position can be formed into a straight line, and the extension direction of the straight line is the Y direction.

[0084] In some other examples, the first carrier 200 can be rotated to the left side of the base 100 along the plane formed by the X direction and the Y direction (for example, the first plane) to rotate from the first position to the second position, so that the first carrier 200 and the first article 40 on the first carrier 200 are rotated to the left side of the base 100 to avoid the docking path between the second carrier 300 and the machine 20. Among them, the second position can be any position in the area between the X direction and the Y direction, or any position in the Y direction, that is, the angle of rotation of the first carrier 200 along the first plane can be 90°, or any angle less than 90°, so that the movement path of the first carrier 200 between the first position and the second position can be formed into an arc shape. It can be understood that the rotation axis of the first carrier 200 can be a straight line extending along the height direction of the base 100.

[0085] Exemplarily, in order to improve the bearing stability of the article, the first carrier 200 can be two or more, for example, there can be two first carriers 200, and the two first carriers 200 can be spaced apart along the width direction (for example, the Y direction) of the base 100. The two first carriers 200 jointly provide bearing force for the first article 40, so that the first article 40 on the first carrier 200 is more stable.

[0086] Accordingly, there may be two or more second carriers 300. For example, there may be two second carriers 300. The two second carriers 300 may be spaced apart along the width direction of the base 100. The two second carriers 300 jointly provide bearing force for the second article 50, so that the first article 40 is more stable on the second carrier 300.

[0087] During arrangement, the first carrier 200 and the second carrier 300 may be arranged in a one-to-one correspondence along the docking direction (eg, X direction) of the transport robot 10 .

[0088] Reference Figure 2 As shown, exemplarily, the base 100 may include a base 110 and two support platforms 120, the two support platforms 120 are arranged on the base 110 at intervals along the width direction, the two second bearing members 300 are respectively arranged on the top of the corresponding support platforms 120, and the two first bearing members 200 are respectively arranged on the front end surfaces of the corresponding support platforms 120.

[0089] Continuing with the example in which the first position is the left side of the docking path of the first carrier 200, the two first carriers 200 can be translated from the second position to the left side of the base 100 along the Y direction, or can be synchronously rotated from the second position to the left side of the base 100 along the first plane, so that the first carrier 200 and the first object 40 on the first carrier 200 move to the first position to avoid the second carrier 300.

[0090] Reference Figure 5 and Figure 6 As shown, taking the first position as below the docking path of the second carrier 300 as an example, the first carrier 200 is configured to move at least along the height direction of the base 100 to switch between the first position and the second position. For example, the first carrier 200 can move downward along the height direction of the base 100 to move from the second position to the first position.

[0091] It can be understood that in this example, the second position is located below the first position. In this way, the first carrier 200 can carry the first object 40 and move downward to the first position when the second carrier 300 is docked with the machine 20 to avoid the second carrier 300, so that the second object 50 on the machine 20, such as a full axis, can be smoothly transferred to the second carrier 300. After the transfer of the full axis is completed, the transport robot 10 can be moved back and forth to move the second carrier 300 away from the machine 20 and the first carrier 200 close to the machine 20, and rise from the first position to the second position, so as to achieve the docking of the first carrier 200 with the machine 20 and complete the transfer of the empty axis.

[0092] It should be noted that the first position may be any position below the docking path of the second carrier 300 . For example, the first position may be the lowest position to which the first carrier 200 can descend.

[0093] In the embodiment of the present application, the first carrier 200 and the second carrier 300 can be docked with the machine 20 in various ways. Taking the first carrier 200 as an example, the first carrier 200 can be provided with a suction cup structure, a claw mechanism or other object-taking structure. When the first carrier 200 arrives at the machine 20, the first object 40 can be transferred between the first carrier 200 and the machine 20 by the suction cup structure or the claw structure, for example, the first object 40 on the first carrier 200 is transferred to the machine 20.

[0094] For another example, the second carrier 300 may be provided with a suction cup structure, a claw mechanism or other object picking structures. When the second carrier 300 reaches the machine 20, the second object 50 can be transferred between the second carrier 300 and the machine 20 through the suction cup structure or the claw structure, for example, the second object 50 on the machine 20 can be transferred to the second carrier 300.

[0095] Reference Figures 2 to 4As shown, in some examples, the transport robot 10 can also be a double-lift robot. For example, the transport robot 10 of the embodiment of the present application can also include a first lifting structure 400, which is connected to the first carrier 200. The first lifting structure 400 is configured to drive the first carrier 200 to rise and fall so as to transfer the first item 40 between the first carrier 200 and the machine 20.

[0096] For example, when the first carrier 200 carrying the first object 40 arrives at the machine 20, the first carrier 200 can be lifted above the machine 20 by the first lifting structure 400 to lift the first object 40 to the top of the machine 20, and then the first carrier 200 can be driven down by the first lifting structure 400 until the first object 40 falls onto the machine 20 and is supported by the machine 20, thereby completing the transfer of the first object 40.

[0097] In some examples, the transport robot 10 may also include a second lifting structure (not shown in the figure), which is connected to the second carrier 300, and the second lifting structure is configured to drive the second carrier 300 to rise and fall along the height direction of the base 100 so that the second item 50 can be transferred between the second carrier 300 and the machine 20.

[0098] For example, when the second carrier 300 arrives at the machine 20, the second carrier 300 can be lifted to the bottom of the machine 20 by the second lifting structure, and contact with the second object 50 on the machine 20, and the second carrier 300 can be further lifted by the second lifting structure to make the second object 50 separate from the machine 20 and supported on the second carrier 300, and then the second carrier 300 can be withdrawn from the machine 20 by moving the base 100, thereby completing the transfer of the second object 50.

[0099] In some examples, the first lifting structure 400 and the second lifting structure may be driving structures such as hydraulic cylinder structures, push rod motors, etc., as long as the first supporting member 200 and the second supporting member 300 can be lifted and lowered along the height direction of the base 100 .

[0100] By setting the transport robot 10 of the embodiment of the present application as a double-lift robot, that is, by lifting the first carrier 200 and the second carrier 300, the object docking and transfer work with the machine 20 is realized, the work efficiency is improved, the operation process is simplified, and the docking accuracy of the objects is also improved.

[0101] Figure 7 is a schematic diagram of a second carrier arriving at a machine platform provided by an embodiment of the present application, Figure 8 is a schematic diagram of a second carrier lifting a second object provided by an embodiment of the present application, Fig. 9 is a schematic diagram of a transport robot provided by an embodiment of the present application retreating outside the machine platform, Fig.10 is a schematic diagram of a first carrier arriving at a machine platform provided by an embodiment of the present application, Fig.11 is a schematic diagram of a first carrier placing a first object on a machine platform provided by an embodiment of the present application, Fig.12 This is a schematic diagram of a transport robot provided in an embodiment of the present application after completing the docking and transfer of items.

[0102] Reference Figure 1 , Figures 7 to 12 As shown, the following takes the case where the first position is located below the second position as an example to illustrate the process of exchanging and transferring the empty and full axes of the transport robot 10 in the embodiment of the present application:

[0103] Reference Figure 1 and Figure 7 As shown, the transport robot 10 carries a first object such as an empty shaft and runs along the machine 20. For example, the base 100 drives the first carrier 200 and the second carrier 300 to move toward the machine 20. The first carrier 200 carrying the first object 40 moves to the first position, and when the second carrier 300 moves to the machine 20, the second object 50 on the machine 20 is taken out.

[0104] For example, refer to Figure 1 As shown, the transport robot 10 carrying the empty axle is located in front of the machine 20 and is ready to move into the machine 20, wherein the first carrier 200 is located at the front side of the transport robot 10 along the forward direction and carries the empty axle, and the second carrier 300 is located at the rear side of the transport robot 10 along the forward direction. In addition, the first carrier 200 is located at the first position to avoid the docking path of the second carrier 300.

[0105] Reference Figure 7 As shown, the transport robot 10 moves toward the machine 20 along the X direction. For example, the base 100 drives the first carrier 200 and the second carrier 300 to move toward the machine 20 until the second carrier 300 reaches the machine 20. For example, the transport robot 10 is a lifting robot, and the second carrier 300 reaches the bottom of the machine 20, ready to take the full shaft.

[0106] Reference Figure 8 As shown, the full shaft is removed by docking the second carrier 300 with the machine 20 . For example, the second carrier 300 can be lifted by the second lifting structure to separate the full shaft from the machine 20 and support it on the second carrier 300 .

[0107] Reference Figures 9 to 12 As shown, after the full shaft is removed, the base 100 drives the first carrier 200 to move toward the machine table 20 , and the first carrier 200 moves from the first position to the second position, placing the first object 40 on the machine table 20 .

[0108] In some examples, reference Fig. 9 As shown, before the base 100 drives the first carrier 200 to move toward the platform 20, the transport robot 10 may first retreat to a safe position outside the platform 20. For example, the base 100 may first drive the first carrier 200 and the second carrier 300 to retreat to a safe position. Then, the base 100 drives the first carrier 200 to move toward the platform 20, and moves the first carrier 200 from the first position to the second position, that is, the position for docking with the platform 20.

[0109] It can be understood that, during the process of the base 100 driving the first carrier 200 to move toward the machine 20, the first carrier 200 can move to the second position, or the first carrier 200 can be moved to the second position first, and then the first carrier 200 is driven by the base 100 to move toward the machine 20, or, the embodiment of the present application does not limit the movement order of the base 100 and the first carrier 200, as long as the first carrier 200 is located at the second position when the base 100 drives the first carrier 200 to arrive at the machine 20.

[0110] Reference Fig.10 As shown, the transport robot 10 arrives at the machine platform 20, and the first carrier 200 carries the empty shaft to the top of the machine platform 20, ready to release the empty shaft.

[0111] Reference Fig.11 As shown, the first carrier 200 transfers the empty shaft to the machine platform 20. For example, the first lifting structure 400 can be used to drive the first carrier 200 to descend, so that the empty shaft is supported on the machine platform 20, thereby completing the transfer of the empty shaft.

[0112] In some other examples, since the first carrier 200 has passed the platform 20 and is located in front of the platform 20 when the second carrier 300 takes the full shaft, the transport robot 10 can retreat backward in the opposite direction of the X direction after the second carrier 300 takes the full shaft. For example, the base 100 drives the first carrier 200 and the second carrier 300 to retreat, so that the first carrier 200 moves toward the platform 20, that is, gradually approaches the platform 20. During the retreat of the transport robot 10, the first carrier 200 can be moved from the first position to the second position until the first carrier 200 reaches the platform 20, and the first carrier 200 with the empty shaft rises to the top of the platform 20, and then the first carrier 200 can be driven down by the first lifting structure 400, so that the empty shaft is transferred to the platform 20.

[0113] Of course, in some examples, before the transport robot 10 retracts, the first carrier 200 may be moved from the first position to the second position, and then the transport robot 10 is controlled to retract, so that the first carrier 200 carrying the empty shaft finally moves to the platform 20 .

[0114] Reference Fig.12 As shown, the transport robot 10 carrying the full axle drives away from the platform 20, and the work of exchanging the empty and full axles is completed. It can be understood that after completing the transfer of the empty axle, the first carrier 200 can be moved to the first position first, so that the transport robot 10 can drive away from the platform 20 smoothly.

[0115] In the embodiment of the present application, the first carrier 200 is arranged to be movable between a first position and a second position, wherein the first position is a position deviating from the docking path of the second carrier 300, and the second position is a position where the first carrier 200 is used to dock with the machine 20. In this way, when the transport robot 10 performs docking transfer of the first object 40 and the second object 50 with the machine 20, the first carrier 200 carrying the first object 40 can first move to the first position to avoid the second carrier 300, and then when the second carrier 300 is moved to the machine 20, the second object 50 on the machine 20 can be taken out. 0, then, the transport robot 10 drives the first carrier 200 to move toward the machine 20, for example, it can first exit the machine 20, and then move the first carrier 200 from the first position to the second position, and move the first carrier 200 to the machine 20 driven by the base 100, place the first object 40 on the machine 20, complete the removal of the second object 50 and the placement of the first object 40, the whole process does not need to rotate the transport robot 10, only needs to move the transport robot 10 back and forth, which improves the work efficiency, simplifies the operation complexity of the transport robot 10, and reduces safety hazards.

[0116] In addition, the transport robot 10 and the working system of the embodiment of the present application have high flexibility and adaptability and can be applied to various production lines. For example, the first carrier 200 and the second carrier 300 can carry any type of items. In addition, the machine 20 can be replaced with the machine 20 of the actual production line according to actual needs. For example, the machine 20 can be a coating loading and unloading machine 20, a roller loading machine 20, a die-cutting loading machine 20, etc. The first object 40 can be an empty shaft, an empty roller or an empty mold of an uncoated material, etc., and the second object 50 can be a full shaft, a full roller or a mold with a coated material, etc.

[0117] It should be noted that the driving structure for realizing the movement of the first carrier 200 between the first position and the second position may be the first lifting structure 400, or an additional driving structure. For example, when the first position is located on the left or right side of the second position, that is, in order to avoid the second carrier 300, the first carrier 200 moves horizontally to the left or right side of the docking path of the second carrier 300, and the driving structure for realizing the movement of the first carrier 200 between the first position and the second position may be a turntable and a driving motor 411 provided on the base 100, and the turntable is driven to rotate horizontally by the driving motor 411, so that the first carrier 200 and the hollow shaft move to the left or right side of the base 100.

[0118] In some examples, when the first position is below the second position, that is, the first carrier 200 moves downward to avoid the second carrier 300, the driving structure for realizing the movement of the first carrier 200 between the first position and the second position may be the first lifting structure 400. In other words, the first lifting structure 400 is also configured to drive the first carrier 200 to switch between the first position and the second position, so as to deviate from the docking path of the second carrier 300 when the second carrier 300 docks with the platform 20. In this way, the structure of the transport robot 10 can be simplified, making the entire operation process simpler and improving the overall working efficiency of the transport robot 10.

[0119] For example, before the second carrier 300 moves toward the machine 20, the first lifting structure 400 can be used to drive the first carrier 200 to descend from the second position to the first position, and then the second carrier 300 can be moved to the machine 20 to remove the full shaft. For another example, after the transport robot 10 removes the full shaft and moves to a safe distance outside the machine 20, the first lifting structure 400 can drive the first carrier 200 to rise from the first position to the second position, and then control the transport robot 10 to move toward the machine 20 until the first carrier 200 carries the empty shaft and moves to the top of the machine 20, and then the first lifting structure 400 drives the first carrier 200 to descend to the bottom of the machine 20, for example, to the first position, so that the empty shaft is transferred to the machine 20.

[0120] Fig.13 is a schematic diagram of the assembly of a first bearing member and a first lifting structure provided in an embodiment of the present application, Fig.14 yes Fig.13 Partial schematic diagram of point A in the middle. Figure 2 , Fig.13 and Fig.14As shown, in some examples, the first lifting structure 400 may include a driving member 410 and a rotating arm 420. The driving member 410 may be fixed to the base 100, for example, may be fixed to the front end surface of the base 100. Exemplarily, the driving member 410 may include a driving motor 411.

[0121] The rotating arm 420 has a first end (i.e., a fixed end) and a second end (i.e., a free end) arranged opposite to each other along the length direction. The first end of the rotating arm 420 is connected to the driving member 410 so as to rotate along the height direction of the base 100 under the drive of the driving member 410. For example, the first end of the rotating arm 420 is connected to the output shaft of the driving motor 411 so as to rotate under the rotation of the output shaft of the driving motor 411. The rotating shaft of the rotating arm 420 may be the output shaft of the driving motor 411. In addition, the rotating plane of the rotating arm 420 is a plane (e.g., a second plane) formed by the X direction and the Z direction.

[0122] Among them, the first bearing member 200 is arranged at the second end of the rotating arm 420, so as to be lifted and lowered under the drive of the rotating arm 420. It can be understood that, under the drive of the rotating arm 420, the running track of the first bearing member 200 in the second plane is an arc, that is, the first bearing member 200 has both movement displacement along the Z direction and movement displacement along the X direction under the drive of the rotating arm 420. In this way, by controlling the rotation angle of the rotating arm 420, the first bearing member 200 can realize the switching between the first position and the second position, that is, the switching of the height direction position, and the displacement switching of the first bearing member 200 in the X direction can also be realized, so that the first bearing member 200 can avoid other structures along the Z direction and the X direction, ensuring that the transport robot 10 can flexibly reach different operation points without leaving the machine platform 20, thereby improving the working efficiency of the transport robot 10.

[0123] For example, refer to Figure 8 As shown, there is a blocking structure such as a wall 30 in front of the machine 20. By driving the rotating arm 420 to rotate downward, such as to the first position during rotation, the protruding distance of the first carrier 200 along the X direction can be reduced to avoid the wall 30.

[0124] In some examples, the driving member 410 may include a driving motor 411 and a reducer 412, and the driving motor 411 is connected to the rotating arm 420 through the reducer 412 to better control the speed at which the driving motor 411 outputs the axial rotating arm 420, so that the rotation speed of the rotating arm 420 is controlled within a suitable range. The specific structure of the reducer 412 can refer to the relevant technology and will not be repeated here.

[0125] In some examples, the first carrier 200 and the first object 40 may be matched in an elastic snap connection or adsorption manner, for example, the first carrier 200 may be a suction cup, and the first object 40 is adsorbed on the suction cup.

[0126] In some other examples, the first carrier 200 has a bearing surface (e.g., a first bearing surface 210), and the first bearing surface 210 is configured to support the first article 40. For example, the first bearing surface 210 faces upward to overcome the gravity of the first article 40 to support the first article 40. Exemplarily, the first bearing surface 210 can be a "V"-shaped surface with high sides and a low middle, so as to limit the first article 40 and ensure that the first article 40 is stably supported on the first carrier 200.

[0127] In order to improve the support stability of the first bearing member 200 for the first article 40 during the rotation of the rotating arm 420, the first lifting structure 400 may include a constraint assembly 430. The first bearing member 200 may rotate relative to the second end of the rotating arm 420, so that the first bearing member 200 will not rotate synchronously during the rotation of the second end of the rotating arm 420 around the output shaft of the driving motor 411. In addition, by cooperating with the constraint assembly 430, the bearing surface of the rotating arm 420 during the rotation of the rotating arm 420 remains unchanged under the action of the constraint assembly 430, for example, the first bearing surface 210 is kept facing upward.

[0128] Reference Fig.14 As shown, in some examples, the first lifting structure 400 may include a swing shaft 440 , which is movably disposed through the second end of the rotating arm 420 , and the first supporting member 200 is fixed on the swing shaft 440 .

[0129] For example, a connection hole may be provided at the second end of the rotating arm 420, and the swing shaft 440 is disposed in the connection hole, and the swing shaft 440 can rotate relative to the hole wall of the connection hole, so that when the second end of the rotating arm 420 rotates, the swing shaft 440 and the first bearing member 200 will not rotate synchronously with the rotating arm 420. In addition, the arrangement of the restraining assembly 430 prevents the first bearing member 200 from moving freely at the second end of the rotating arm 420, and keeps the bearing surface of the first bearing member 200 facing upward.

[0130] In some examples, one end of the constraint assembly 430 is connected to the base 100 and the other end is connected to the swing shaft 440 , and the constraint assembly 430 is configured to rotate by constraining the swing shaft 440 so that the orientation of the bearing surface remains unchanged during the rotation of the rotating arm 420 .

[0131] For example, the constraint component 430 can be a limit plate fixed on the base 100, and an arc groove is formed on the limit plate. The first carrier 200 can cooperate with the arc groove through the swing shaft 440. For example, one end of the swing shaft 440 is fixedly connected to the first carrier 200, and the other end of the swing shaft 440 is inserted into the arc groove. During the rotation of the second end of the rotating arm 420, the swing shaft 440 remains fixed relative to the second end of the rotating arm 420 under the stop of the groove wall of the arc groove. Only as the position of the second end of the rotating arm 420 changes, the angle of the first carrier 200 does not change, and its bearing surface is always facing upward.

[0132] Exemplarily, the extension trajectory of the arc groove can be the running trajectory of the second end of the rotating arm 420, and the groove width of the arc groove can be consistent with the diameter of the swing shaft 440, so that the swing shaft 440 can slide in contact with the groove wall of the arc groove to limit the rotation of the swing shaft 440.

[0133] Reference Fig.13 and Fig.14 As shown, for another example, the constraint assembly 430 may include a first synchronous wheel 431 , a second synchronous wheel 432 and a synchronous belt 433 .

[0134] Among them, the first synchronous wheel 431 is fixed on the base 100 and is located on the rotation axis of the first end of the rotating arm 420, the second synchronous wheel 432 is fixed on the swing shaft 440, and the synchronous belt 433 is sleeved on the first synchronous wheel 431 and the second synchronous wheel 432. The synchronous belt 433 is configured to limit the first carrier 200 from rotating with the rotating arm 420.

[0135] For example, when the first lifting structure 400 is working, the driving member 410, such as the driving motor 411, drives the first end of the rotating arm 420 to rotate around the rotation axis, thereby driving the second end of the rotating arm 420 to rotate around the rotation axis, and the first bearing member 200 moves along an arc track driven by the second end of the rotating arm 420, and the swing shaft 440 does not rotate under the constraint of the second synchronous wheel 432 and the second synchronous belt 433, so that the first bearing surface 210 is always facing upward. It can be understood that the first synchronous wheel 431 does not rotate at all times.

[0136] In some examples, the first lifting structure 400 may further include a fixing member 450, which is fixed to the base 100, and the driving member 410 and the first synchronous wheel 431 are both fixed to the fixing member 450, so as to facilitate the disassembly of the first lifting structure 400. Exemplarily, the fixing member 450 is a plate-shaped member, which may be fixed to the base 100 by means of screws or the like.

[0137] Reference Fig.14As shown, in some examples, the first lifting structure 400 may further include a bearing 560, which is sleeved between the swing shaft 440 and the inner wall of the second end of the rotating arm 420. For example, the inner ring of the bearing 560 is connected to the swing shaft 440, and the outer ring of the bearing 560 is connected to the hole wall of the second end of the rotating arm 420. In this way, the friction between the swing shaft 440 and the rotating arm 420 can be reduced, so that the swing shaft 440 can remain stationary during the rotation of the rotating arm 420.

[0138] In some examples, the second lifting structure can be driven by a hydraulic cylinder, a push rod motor or the like, so that the second carrier 300 only moves in the height direction to achieve the purpose of docking and transferring the second object 50 with the machine 20. For example, the second lifting structure is a hydraulic cylinder, which is fixed on the base 100, and the movement direction of the piston of the hydraulic cylinder is the height direction of the base 100. The second carrier 300 is fixed to one end of the piston, so that the second carrier 300 moves in the height direction under the action of the piston to lift or lower the second object 50.

[0139] Exemplarily, the second carrier 300 may include a second carrier surface 310 , which may be a “V”-shaped surface with high sides and a low middle, so as to limit the second item 50 and ensure that the second item 50 is stably supported on the second carrier 300 .

[0140] Of course, in other examples, the second lifting structure may also be consistent with the first lifting structure 400, and can drive the second supporting member 300 to rotate in the second plane to achieve movement in the Z direction and the X direction.

[0141] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A transport robot, characterized in that: include: Base (100); A first carrier (200) is disposed on the base (100) and is configured to move toward the machine (20) driven by the base (100) so as to dock and transfer the first article (40) with the machine (20); A second carrier (300) is disposed on the base (100) and is configured to move toward the machine (20) driven by the base (100) so as to dock and transfer the second article (50) with the machine (20); The first carrier (200) is located on one side of the second carrier (300) along the docking direction and can move between a first position and a second position; the first position is a position deviating from a docking path of the second carrier (300), and the second position is a position of the first carrier (200) for docking with the machine (20).

2. The transport robot according to claim 1, characterized in that: The first bearing member (200) is configured to move at least along the height direction of the base (100) so as to switch between the first position and the second position; Wherein, the height direction of the base (100) intersects with the direction of the docking path of the second supporting member (300).

3. The transport robot according to claim 1, characterized in that: The transport robot also includes: The first lifting structure (400) is connected to the first carrier (200), and the first lifting structure (400) is configured to drive the first carrier (200) to rise and fall, so that the first article (40) is transferred between the first carrier (200) and the machine (20).

4. The transport robot according to claim 3, characterized in that: The first lifting structure (400) is also configured to drive the first supporting member (200) to switch between the first position and the second position so as to deviate from the docking path of the second supporting member (300) when the second supporting member (300) is docked with the machine platform (20).

5. The transport robot according to claim 4, characterized in that: The first lifting structure (400) comprises: A driving member (410); A rotating arm (420), wherein the first end of the rotating arm (420) is connected to the driving member (410) so as to rotate along the height direction of the base (100) under the drive of the driving member (410), and the first supporting member (200) is arranged at the second end of the rotating arm (420) so as to move under the drive of the rotating arm (420).

6. The transport robot according to claim 5, characterized in that: The first carrier (200) has a carrying surface, and the carrying surface is configured to support the first article (40); The first lifting structure (400) also includes a constraint assembly (430), and the first supporting member (200) can rotate relative to the second end of the rotating arm (420) and cooperate with the constraint assembly (430) so that during the rotation of the rotating arm (420), the supporting surface remains in the same direction under the action of the constraint assembly (430).

7. The transport robot according to claim 6, characterized in that: The first lifting structure (400) further comprises a swing shaft (440), wherein the swing shaft (440) is movably disposed through the second end of the rotating arm (420), and the first bearing member (200) is fixed on the swing shaft (440); One end of the constraint component (430) is connected to the base (100), and the other end is connected to the swing shaft (440). The constraint component (430) is configured to constrain the swing shaft (440) to rotate so that the orientation of the bearing surface remains unchanged during the rotation of the rotating arm (420).

8. The transport robot according to claim 7, characterized in that: The constraint assembly (430) comprises a first synchronous wheel (431), a second synchronous wheel (432) and a synchronous belt (433); The first synchronous wheel (431) is fixed on the base (100) and is located on the rotation axis of the first end of the rotating arm (420); the second synchronous wheel (432) is fixed on the swing shaft (440); the synchronous belt (433) is sleeved on the first synchronous wheel (431) and the second synchronous wheel (432); the synchronous belt (433) is configured to limit the first bearing member (200) from rotating with the rotating arm (420).

9. The transport robot according to claim 7, characterized in that: The first lifting structure (400) further comprises: The bearing (560) is sleeved between the swing shaft (440) and the inner wall of the second end of the rotating arm (420).

10. The transport robot according to any one of claims 1 to 9, characterized in that: The transport robot also includes: The second lifting structure is connected to the second carrier (300), and the second lifting structure is configured to drive the second carrier (300) to rise and fall along the height direction of the base (100) so that the second article (50) can be transferred between the second carrier (300) and the machine (20).

11. A working system, characterized in that: include: Machine (20); The transport robot (10) according to any one of claims 1 to 10; The transport robot (10) is configured to perform the following actions: When docking and transferring the first article (40) and the second article (50) with the machine (20), the first article (40) is carried forward toward the machine (20), the first carrier (200) moves to the first position, and when the second carrier (300) moves to the machine (20), the second article (50) on the machine (20) is taken out; The base (100) drives the first carrier (200) to move toward the machine platform (20); the first carrier (200) moves from a first position to a second position, and the first object (40) is placed on the machine platform (20).

12. The working system according to claim 11, characterized in that: Before the base (100) drives the first carrier (200) to move toward the platform (20), the transport robot (10) is configured to perform the following actions: The base (100) drives the first carrier (200) and the second carrier (300) to retract to the outside of the machine platform (20); The base (100) drives the first bearing member (200) to move toward the machine platform (20), comprising: the base (100) drives the first bearing member (200) to move toward the machine platform (20).

13. The working system according to claim 11, characterized in that: The base (100) drives the first bearing member (200) to move toward the machine platform (20), comprising: The base (100) drives the first supporting member (200) and the second supporting member (300) to retreat, so that the first supporting member (200) moves toward the machine platform (20).

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