Transfer robot and lifting device

Abstract

The utility model relates to a carrying robot and a lifting device. The carrying robot comprises a chassis assembly, a portal assembly, a taking and placing assembly, a moving assembly and a tensioning assembly. Wherein the door frame assembly is fixed on the chassis assembly; the taking and placing assembly is movably connected to the door frame assembly and is configured to be used for taking and placing the container. The moving assembly is configured to drive the taking and placing assembly to move in the height direction relative to the portal assembly. The tensioning assembly is configured to be matched with the movement assembly and is configured to drive the movement assembly to move so as to adjust the tensioning degree of the movement assembly. The movement assembly can be naturally stretched after working for a period of time, and the tensioning assembly can automatically adjust the tensioning degree of the stretched movement assembly, so that the tensioning degree of the movement assembly is always maintained at the degree that the movement assembly can work normally. In this way, the noise problem caused by stretching of the movement assembly is prevented, and the carrying robot can keep the height positioning precision and the operation efficiency for a long time.

Description

Technical Field

[0001] The present disclosure relates to the technical field of logistics and warehousing, and in particular to a transport robot; the present disclosure also relates to a lifting device. Background Art

[0002] With the rapid development of the logistics industry and the continuous increase in human resource costs, in order to improve the utilization efficiency of warehouses and reduce storage costs, more and more people choose to use automated warehouses to solve storage problems. At present, storage systems usually use handling robots with multi-level gantries to carry out high-level container pick-up and placement operations.

[0003] The pick-and-place components and the gantry of the handling robot can be raised and lowered by a transmission medium such as a chain. After the handling robot has been running for a period of time, the chain will be stretched as a whole. A too loose chain will seriously affect the height positioning accuracy of the handling robot and the operating efficiency of the handling robot. In addition, when the handling robot is walking and turning, the loose chain will swing and make noise. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a transport robot and a lifting device.

[0005] According to a first aspect of the present disclosure, there is provided a transport robot, comprising:

[0006] Chassis components;

[0007] A door frame assembly, wherein the door frame assembly is fixed on the chassis assembly;

[0008] A pick-and-place assembly, which is movably connected to the door frame assembly and is configured to pick and place containers;

[0009] A motion assembly, the motion assembly being configured to drive the pick-and-place assembly to move in a height direction relative to the gantry assembly;

[0010] The tensioning assembly is configured to cooperate with the moving assembly and to be pre-pressed on the moving assembly to adjust the tension of the moving assembly.

[0011] In one embodiment of the present disclosure, the motion assembly includes a first transmission part, and the pick-and-place assembly is configured to be transmission-connected to the gantry assembly via the first transmission part;

[0012] The tensioning assembly includes a first tensioner configured to cooperate with the first transmission part to adjust the tension of the first transmission part.

[0013] In one embodiment of the present disclosure, the first tensioner comprises:

[0014] a first fixing portion, the first fixing portion being configured to be disposed on the door frame assembly;

[0015] The first movable part is movably connected to the first fixed part, and a first elastic member is arranged between the first fixed part and the first movable part; the first movable part cooperates with the first transmission part and is constructed to provide a pre-tightening force for the first transmission part under the action of the first elastic member.

[0016] In one embodiment of the present disclosure, the two ends of the first transmission part are constructed to be fixedly connected to the gantry assembly respectively; the pick-and-place assembly is provided with a lifting wheel group for transmission connection with the first transmission part, and the lifting wheel group is constructed to drive the pick-and-place assembly to move along the height direction of the gantry assembly during rotation.

[0017] In one embodiment of the present disclosure, the first movable portion is configured to abut against the first transmission portion, and the first movable portion is configured to provide a pre-tightening force for the first transmission portion through a first elastic member.

[0018] In one embodiment of the present disclosure, the upper end of the first transmission part is configured to be fixedly connected to the portal assembly, and the lower end of the first transmission part is configured to be fixedly connected to the portal assembly via a first movable part.

[0019] In one embodiment of the present disclosure, the first movable part is configured to penetrate the first fixed part and then be connected to the end of the first transmission part; the first elastic member is configured to be pre-pressed between the first movable part and the first fixed part.

[0020] In one embodiment of the present disclosure, a through hole is provided on the first fixed part; the first movable part is a movable rod, one end of the movable rod is constructed to pass through the through hole and be connected to the first transmission part, and the other end has a protrusion; the first elastic member is constructed to be pre-pressed between the protrusion and the first fixed part.

[0021] In one embodiment of the present disclosure, a first rotating wheel group for transmission cooperation with a first transmission part is arranged at the top and bottom of the gantry assembly, and the pick-and-place assembly is constructed to be fixedly connected to the first transmission part; the first transmission part is constructed to drive the pick-and-place assembly to move in the height direction during the rotation process.

[0022] In one embodiment of the present disclosure, the first movable part is configured to be slidably matched with the first transmission part, and the first movable part is configured to provide a pre-tightening force for the first transmission part through a first elastic member.

[0023] In one embodiment of the present disclosure, the first movable portion is configured to slideably cooperate with a portion of the first transmission portion located below a fixed connection position of the pick-and-place assembly.

[0024] In one embodiment of the present disclosure, two first transmission parts are provided, and the two first transmission parts are constructed to be respectively connected to opposite sides of the pick-and-place assembly; two first tensioners are provided, and the two first tensioners are constructed to be respectively used to adjust the tension of the two first transmission parts.

[0025] In one embodiment of the present disclosure, the gantry assembly is a fixed gantry fixed on the chassis assembly, and the pick-and-place assembly is constructed to be movably connected to the fixed gantry; the first transmission part is constructed to be arranged on the fixed gantry, and is constructed to drive the pick-and-place assembly to move in the height direction relative to the fixed gantry.

[0026] In one embodiment of the present disclosure, the gantry assembly includes a fixed gantry fixed to the chassis assembly, and at least one level of movable gantry movably connected to the fixed gantry; the pick-and-place assembly is constructed to be movably connected to the last level of movable gantry;

[0027] The first transmission part is constructed to be arranged on the movable gantry, and is constructed to drive the picking and placing assembly to move in the height direction relative to the movable gantry; the moving assembly also includes a second transmission part, and the second transmission part is constructed to be arranged on the fixed gantry, and is constructed to drive the movable gantry to move in the height direction relative to the fixed gantry.

[0028] In one embodiment of the present disclosure, the tensioning assembly includes a second tensioner, and the second tensioner is configured to cooperate with the second transmission part to adjust the tension of the second transmission part.

[0029] In one embodiment of the present disclosure, the second tensioner comprises:

[0030] a second fixing portion, the second fixing portion being configured to be disposed on the fixed portal frame;

[0031] The second movable part is movably connected to the second fixed part, and a second elastic member is arranged between the second fixed part and the second movable part; the second movable part cooperates with the second transmission part and is constructed to provide a pre-tightening force for the second transmission part under the action of the second elastic member.

[0032] In one embodiment of the present disclosure, a second rotating wheel group for transmission cooperation with a second transmission part is provided at the top and bottom of the fixed gantry, and the movable gantry is constructed to be fixedly connected to the second transmission part; the second transmission part is constructed to drive the movable gantry to move in the height direction during the rotation process.

[0033] In one embodiment of the present disclosure, the second movable portion is configured to slide with the second transmission portion, and the second movable portion is configured to provide a pre-tightening force for the second transmission portion through a second elastic member.

[0034] In one embodiment of the present disclosure, the second movable portion is constructed to slideably cooperate with a portion of the second transmission portion located below a position where the movable gantry is fixed.

[0035] In one embodiment of the present disclosure, a guide groove is provided on the second fixed portion; the second movable portion includes a guide portion and an abutment portion, the guide portion is constructed to cooperate with the guide groove; the abutment portion is constructed to extend along the second transmission portion, the end face of the abutment portion is constructed as an arc surface, and the arc surface is constructed to be used for sliding cooperation with the second transmission portion.

[0036] According to a second aspect of the present disclosure, a lifting device is also provided, which is used to drive the pick-and-place assembly to move in a height direction, comprising:

[0037] Pedestal;

[0038] A motion assembly, wherein the motion assembly is configured to drive the pick-and-place assembly to move in a height direction;

[0039] The tensioning assembly is configured to cooperate with the moving assembly and to be pre-pressed on the moving assembly to adjust the tension of the moving assembly.

[0040] One beneficial effect of the present disclosure is that, by providing a tensioning assembly that cooperates with the motion assembly, the motion assembly can be kept in a taut state. The motion assembly will naturally stretch after working for a period of time, and the tensioning assembly can automatically adjust the tension of the stretched motion assembly so that the tension is always maintained at a level that allows normal operation. This prevents noise problems caused by the stretching of the motion assembly, and enables the handling robot to maintain its high positioning accuracy and operating efficiency for a long time.

[0041] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] Figure 1 It is a schematic diagram of the structure of the handling robot and the carrier disclosed in the present invention;

[0044] Figure 2 yes Figure 1 A partial enlarged view of the pick-and-place component position of the handling robot;

[0045] Figure 3 is a front view of the handling robot and the carrier disclosed in the present invention;

[0046] Figure 4 It is a schematic diagram of the structure of the pick-and-place assembly and the support assembly disclosed in the present invention;

[0047] Figure 5 is a schematic structural diagram of the first motion mechanism disclosed in the present invention;

[0048] Figure 6 is a structural schematic diagram of the mast assembly disclosed herein, and a partial enlarged diagram of the top position of the movable mast and the position of the first tensioner;

[0049] Figure 7 is a schematic structural diagram of a first tensioner disclosed in the present invention;

[0050] Figure 8 is a schematic structural diagram of the first fixed part and the first movable part of the present invention;

[0051] Fig. 9 is a schematic diagram of the structure of the fixed gantry and the second motion mechanism of the present invention, and a partial enlarged diagram of the position of the second tensioner;

[0052] Fig.10 is a schematic structural diagram of the second motion mechanism disclosed in the present invention;

[0053] Fig.11 is a cross-sectional view of a second tensioner of the present disclosure;

[0054] Fig.12 It is a left side view of the second tensioner of the present disclosure.

[0055] Figures 1 to 12 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0056] 1. Chassis assembly; 2. Mast assembly; 20. Temporary storage tray; 21. Fixed gantry; 22. Movable gantry; 221. Top beam; 3. Pick-and-place assembly; 31. Mounting platform; 32. Pick-and-place mechanism; 33. Pick-and-place member; 331. Flip finger; 4. Support assembly; 401. First support assembly; 402. Second support assembly; 5. Carrier;

[0057] 6. First movement mechanism; 60. First transmission part; 61. First motor; 62. First transmission chain; 63. First rotating shaft; 64. First climbing wheel; 65. Second climbing wheel;

[0058] 7. Second motion mechanism; 71. Upper rotating wheel; 72. Lower rotating wheel; 73. Second transmission part; 731. First connecting end; 732. Second connecting end; 74. Second motor; 741. Driving wheel; 742. Second transmission chain; 743. Transmission wheel; 75. Second rotating shaft;

[0059] 8. first tensioner; 81. first fixed portion; 82. first movable portion; 821. protruding portion; 83. first elastic member;

[0060] 9. Second tensioner; 91. Second fixing portion; 911. Limiting groove; 912. Guide groove; 92. Second movable portion; 921. Stop member; 922. Guide portion; 923. Abutting portion; 93. Second elastic member. DETAILED DESCRIPTION

[0061] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0062] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0063] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0064] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0065] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0066] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0067] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0068] The present disclosure provides a handling robot, which can be a handling robot used in the warehousing field, through which the target container in the storage area can be transferred, for example, between different carriers, or between different storage locations of the same carrier, or between a carrier and other locations. Of course, the handling robot of the present disclosure can also be used in other application scenarios, for example, it can be used in shopping malls, hotels, workshops and other scenes that are well known to those skilled in the art that require handling and transfer, and the present disclosure will not be described in detail here.

[0069] The handling robot disclosed in the present invention comprises: a chassis assembly, a gantry assembly, a pick-and-place assembly, a motion assembly and a tensioning assembly. The chassis assembly is used to support other components of the handling robot, and the handling robot can walk on the ground through its chassis assembly. The gantry assembly is fixed on the chassis assembly, and specifically, the gantry assembly is configured to extend upward from the chassis assembly. The gantry assembly can include only one-stage gantry, or can have a multi-stage gantry structure, and the movable gantry can be slidably connected to the fixed gantry to transport the pick-and-place assembly to a higher height.

[0070] The pick-and-place assembly is movably connected to the gantry assembly and is configured to pick and place containers. The motion assembly is configured to drive the pick-and-place assembly to move in a height direction relative to the gantry assembly. The pick-and-place assembly can rise or fall along the gantry assembly under the driving action of the motion assembly, thereby running to different target heights and picking and placing different target containers.

[0071] The motion component may include flexible transmission media such as belts, chains, and traction ropes. Specifically, the property of not being able to return to its original state after the force is lost is called flexibility. After the handling robot has been running for a period of time, the flexible transmission medium will irreversibly stretch. Excessively long flexible transmission media will seriously affect the height positioning accuracy of the handling robot, and will also affect the operating efficiency of the handling robot, and will also make noise. In order to solve the above problems, a tensioning assembly is provided on the handling robot disclosed in the present invention. The tensioning assembly is constructed to cooperate with the motion component, and is constructed to be pre-pressed on the motion component to adjust the tension of the motion component.

[0072] The present invention provides a tensioning assembly that cooperates with the motion assembly so that the motion assembly can be kept in a taut state. The motion assembly will naturally stretch after working for a period of time, and the tensioning assembly can automatically adjust the tension of the stretched motion assembly so that the tension is always maintained at a level that allows normal work. In this way, noise problems caused by the stretching of the motion assembly are prevented, and the handling robot can maintain its high positioning accuracy and operating efficiency for a long time.

[0073] For ease of understanding, this disclosure will be combined with Figures 1 to 12 , and specific embodiments are described in detail.

[0074] refer to Figure 1 The present disclosure provides a transport robot. The transport robot is configured to move to a storage area to pick up and place a target container. Specifically, the storage area may include a plurality of carriers 5 and lanes formed by adjacent carriers 5. The carrier 5 stores a target container, which may be a container for loading goods in the logistics field, including but not limited to a material box, a pallet, an original box, a packaging box, a cargo box, a storage box, etc., which is not limited in the present disclosure.

[0075] The handling robot disclosed in the present invention comprises: a chassis assembly 1, a gantry assembly 2, a pick-and-place assembly 3, a motion assembly and a tensioning assembly. The chassis assembly 1 is configured to support the handling robot on a working surface, and the working surface may include the lanes between the carriers 5 and the ground outside the storage area. The chassis assembly 1 may be provided with a driving wheel and / or a universal wheel matched with the driving wheel, and the driving wheel and / or the universal wheel are matched together to drive the handling robot to walk and turn on the working surface, so as to facilitate the subsequent handling robot to perform pick-and-place work on the target object.

[0076] The chassis assembly 1 is also configured to support other components of the handling robot, such as the gantry assembly 2, the pick-and-place assembly 3, the motion assembly, and the tensioning assembly. The gantry assembly 2 is disposed on the chassis assembly 1 and is configured to extend upward from the chassis assembly 1. Generally, the extension height of the gantry assembly 2 is consistent with or exceeds the height of the carrier 5, which facilitates the handling robot to access objects located at different positions on the carrier 5.

[0077] refer to Figure 2 The pick-and-place assembly 3 is movably connected to the gantry assembly 2 and is configured to pick and place containers. The motion assembly is configured to drive the pick-and-place assembly 3 to move in a height direction relative to the gantry assembly 2. The pick-and-place assembly 3 can rise or fall along the gantry assembly 2 under the driving action of the motion assembly, thereby running to different target heights and picking and placing different target containers.

[0078] In one embodiment of the present disclosure, since the height of the transport robot needs to be adjusted according to the height of the carrier, if the height-inadjustable gantry assembly 2 is set too high, it will not only affect the transport robot's entry and exit of the warehouse, but also affect its stability during movement. Figure 1 As shown, the gantry assembly 2 includes a fixed gantry 21 fixed on the chassis assembly 1, and at least one level of movable gantry 22 movably connected to the fixed gantry 21, and the motion assembly is constructed to drive the movable gantry 22 to move in the height direction relative to the fixed gantry 21.

[0079] In a specific embodiment of the present disclosure, the pick-and-place assembly 3 is movably connected to the last-stage movable gantry 22, so that the pick-and-place working range of the pick-and-place assembly 3 covers the height space on the fixed gantry 21 and the movable gantry 22. The pick-and-place assembly 3 is configured to move in the height direction along the gantry assembly 2 to pick and place the target object. Since the gantry assembly 2 has a height that matches the carrier 5, the pick-and-place assembly 3 can access the target container at any position on the carrier 5 without any access dead angle.

[0080] In the process of the transport robot being driven by the chassis assembly 1, all the movable gantries 22 in the gantry assembly 2 can be in a retracted state relative to the fixed gantry 21 in the gantry assembly 2, that is, all the movable gantries 22 are in the lowest matching position relative to the upper-level gantry, and the overall height of the gantry assembly 2 is in the lowest state. In this state, compared with the transport robot with a higher setting of the non-adjustable gantry assembly 2, the transport robot disclosed in the present invention can walk when the movable gantry 22 is in a retracted state, and can maintain the stability of the transport robot's movement. In addition to the above-mentioned scenario of the transport robot picking up and placing the target object on the high-level carrier 5, the transport robot can also pick up and place the target container on the low-level carrier 5, so the transport robot disclosed in the present invention can flexibly adjust the overall height of the gantry assembly 2 to adapt to carriers 5 of different heights, thereby improving the scope of application of the transport robot.

[0081] When the pick-and-place assembly 3 is arranged on the last-stage movable gantry 22, the pick-and-place assembly 3 can be guided and matched with the last-stage movable gantry 22, and the movements of the movable gantry 22 and the pick-and-place assembly 3 are independent of each other, that is, there is no linkage relationship between the movement of the movable gantry 22 and the movement of the pick-and-place assembly 3, thus improving the flexibility of the movement of the pick-and-place assembly 3. Of course, for those skilled in the art, the movement of the movable gantry and the pick-and-place assembly 3 can be synchronized, that is, the movement of the movable gantry 22 is coupled with the movement of the pick-and-place assembly 3, and the present disclosure does not limit this.

[0082] In one embodiment of the present disclosure, reference Figure 2 and Figure 4The pick-and-place assembly 3 includes a mounting platform 31 and a pick-and-place mechanism 32. The pick-and-place mechanism 32 is rotatably connected to the mounting platform 31. The mounting platform 31 is configured to drive the pick-and-place mechanism 32 to rise or fall along the gantry assembly 2. The mounting platform 31 can move in the height direction along the gantry assembly 2, thereby driving the pick-and-place mechanism 32 to different target heights and picking and placing different target containers. Figure 4 As shown, the side of the mounting platform 31 adjacent to the gantry assembly 2 is constructed to be connected to the final movable gantry 22 of the gantry assembly 2 through a first motion mechanism 6 .

[0083] In a specific embodiment of the present disclosure, reference Figure 4 and Fig. 9 The motion assembly may include a first motion mechanism 6 and a second motion mechanism 7, wherein the first motion mechanism 6 can drive the pick-and-place assembly 3 to rise or fall along the movable gantry 22; the second motion mechanism 7 can drive the movable gantry 22 to rise or fall along the fixed gantry 21. The first motion mechanism 6 and the second motion mechanism 7 may be two sets of motion mechanisms that are independently driven and controlled, and both sets of motion mechanisms include a flexible transmission medium.

[0084] The motion component may include flexible transmission media such as belts, chains, and traction ropes. Specifically, the property of not being able to return to its original state after the force is lost is called flexibility. After the handling robot has been running for a period of time, the flexible transmission medium will irreversibly stretch. Excessively long flexible transmission media will seriously affect the height positioning accuracy of the handling robot, and will also affect the operating efficiency of the handling robot, and will also make noise. In order to solve the above problems, a tensioning assembly is provided on the handling robot disclosed in the present invention. The tensioning assembly is constructed to cooperate with the motion component, and is constructed to be pre-pressed on the motion component to adjust the tension of the motion component.

[0085] The present invention provides a tensioning assembly that cooperates with the motion assembly so that the motion assembly can be kept in a taut state. The motion assembly will naturally stretch after working for a period of time, and the tensioning assembly can automatically adjust the tension of the stretched motion assembly so that the tension is always maintained at a level that allows normal work. In this way, noise problems caused by the stretching of the motion assembly are prevented, and the handling robot can maintain its high positioning accuracy and operating efficiency for a long time.

[0086] In one embodiment of the present disclosure, reference Figures 4 to 6 The motion assembly includes a first transmission part 60, and the pick-and-place assembly 3 is configured to be connected to the gantry assembly 2 through the first transmission part 60. The first transmission part 60 can be a chain in the first motion mechanism 6, and the pick-and-place assembly 3 can be raised or lowered along the gantry assembly 2 under the driving action of the first transmission part 60.

[0087] In one embodiment of the present disclosure, the gantry assembly 2 is a fixed gantry 21 fixed on the chassis assembly 1, and the pick-and-place assembly 3 is configured to be movably connected to the fixed gantry 21; the first transmission part 60 is configured to be arranged on the fixed gantry 21, and is configured to drive the pick-and-place assembly 3 to move in the height direction relative to the fixed gantry 21. In this embodiment, only the fixed gantry 21 is provided as the gantry structure, and the movable gantry 22 is not provided. The first transmission part 60 can be provided on the fixed gantry 21, so as to drive the pick-and-place assembly 3 to move up and down.

[0088] In another embodiment of the present disclosure, as mentioned above, the gantry assembly 2 in this embodiment may include a fixed gantry 21 and at least one level of movable gantry 22, and the first level of movable gantry 22 in the at least one level of movable gantry 22 is movably connected to the fixed gantry 21, and rises or falls in the height direction along the fixed gantry 21. The subsequent more levels of movable gantries 22 can be sequentially arranged on the upper level of movable gantry 22, and the relationship between adjacent movable gantries 22 is a movably connected, and the lower level of movable gantry 22 can rise or fall relative to the upper level of movable gantry 22. In this embodiment, the first transmission part 60 is configured to be arranged on the movable gantry 22, and is configured to drive the pick-and-place assembly 3 to move in the height direction relative to the movable gantry 22, and the pick-and-place assembly 3 can rise or fall along the last level of movable gantry 22 under the driving action of the first transmission part 60.

[0089] In this embodiment, Figure 1 As shown, the gantry assembly 2 includes a fixed gantry 21 and a primary movable gantry 22, the movable gantry 22 is movably connected to the fixed gantry 21, and the pick-and-place assembly 3 rises or falls along the movable gantry 22 under the driving action of the first transmission part 60. The following will continue to explain using this embodiment as an example.

[0090] like Figure 6 As shown, the tensioning assembly includes a first tensioner 8, and the first tensioner 8 is configured to cooperate with the first transmission part 60 to adjust the tension of the first transmission part 60. Specifically, as Figure 7 As shown, the first tensioner 8 includes: a first fixed portion 81 and a first movable portion 82. The first fixed portion 81 is configured to be arranged on the door frame assembly 2, the first movable portion 82 is movably connected to the first fixed portion 81, and a first elastic member 83 is arranged between the first fixed portion 81 and the first movable portion 82. The first movable portion 82 cooperates with the first transmission portion 60, and is configured to provide a pre-tightening force for the first transmission portion 60 under the action of the first elastic member 83.

[0091] There are many ways for the first motion mechanism 6 to drive the pick-and-place assembly 3 to rise and fall, and the first transmission part 60 can have many different winding methods. The present disclosure does not limit the specific structure of the first motion mechanism 6. When the structure of the first motion mechanism 6 is different, the specific matching method between the first movable part 82 in the first tensioner 8 and the first transmission part 60 will also change accordingly. The following will introduce in detail two specific structures of the first motion mechanism 6 and the specific structures of the first tensioner 8 corresponding to the two structures.

[0092] In one embodiment of the present disclosure, reference Figure 5 and Figure 6 The two ends of the first transmission part 60 are configured to be fixedly connected to the gantry assembly 2 respectively, and the pick-and-place assembly 3 is provided with a lifting wheel group for transmission connection with the first transmission part 60, and the lifting wheel group is configured to drive the pick-and-place assembly 3 to move along the height direction of the gantry assembly 2 during the rotation process. Specifically, the first motion mechanism 6 includes a first motor 61 provided on the mounting platform 31 of the pick-and-place assembly 3, and the lifting wheel group rotates under the driving action of the first motor 61, so as to climb or descend along the first transmission part 60.

[0093] The first motion mechanism 6 also includes a first transmission chain 62, one end of which is wound around the output end of the first motor 61, and the other end is wound around the first rotating shaft 63. Under the driving action of the first motor 61, the first transmission chain 62 drives the first rotating shaft 63 to rotate. First climbing wheels 64 are respectively connected to both ends of the first rotating shaft 63, and the two first climbing wheels 64 can rotate together with the first rotating shaft. The first motion mechanism 6 also includes two second climbing wheels 65 that are rotatably connected to both sides of the pick-and-place assembly 3, and the first transmission part 60 is provided with two, and the two first transmission parts 60 are respectively wound around the first climbing wheel 64 and the second climbing wheel 65 on the same side. The side close to the first climbing wheel 64 is recorded as the first direction, and the side close to the second climbing wheel 65 is recorded as the second direction. One end of the first transmission part 60 is fixedly connected to one end of the gantry assembly 2, and extends in the second direction, such as Figure 5 As shown, the first transmission part 60 extending along the second direction first wraps around the second climbing wheel 65 and is bent to face the first direction, then wraps around the first climbing wheel 64 and is bent again to face the second direction, and finally extends along the second direction to the other end fixedly connected to the door frame assembly 2.

[0094] like Figure 6 As shown in the partial enlarged view of the upper end position of the gantry assembly 2 in FIG, the upper end of the first transmission part 60 can be fixedly connected to the upper end of the gantry assembly 2. Further, since the pick-and-place assembly 3 in this embodiment is arranged on the movable gantry 22, the upper end of the first transmission part 60 is fixedly connected to the top beam 221 of the movable gantry 22.

[0095] In one embodiment of the present disclosure, the lower end of the first transmission part 60 can be directly fixed to the bottom of the movable mast 22, that is, the upper and lower ends of the first transmission part 60 are respectively fixed to the top and bottom of the movable mast 22, at this time, the first tensioner 8 can adjust the tension of the first transmission part 60 by abutting. Specifically, the first movable part 82 is configured to abut with the first transmission part 60, and the first movable part 82 is configured to provide a pre-tightening force for the first transmission part 60 through the first elastic member 83.

[0096] The first movable part 82 is arranged on the first fixed part 81 through the first elastic member 83, and the first elastic member 83 makes the first movable part 82 have a tendency to move away from the first fixed part 81. The first fixed part 81 can be fixedly arranged on the door frame assembly 2, and the free end of the first movable part 82 abuts against the first transmission part 60. When the first transmission part 60 is stretched, the first movable part 82 is automatically ejected under the action of elastic force, thereby tightening the first transmission part 60, thereby providing a pre-tightening force for the first transmission part 60, thereby preventing noise problems caused by the stretching of the first transmission part 60, and enabling the pick-and-place assembly 3 to maintain its high positioning accuracy and operating efficiency for a long time.

[0097] In another embodiment of the present disclosure, the lower end of the first transmission part 60 is not directly fixedly connected to the mast assembly 2, but is indirectly connected to the mast assembly 2 through the first tensioner 8. Specifically, the upper end of the first transmission part 60 is configured to be fixedly connected to the mast assembly 2, and the lower end of the first transmission part 60 is configured to be fixedly connected to the mast assembly 2 through the first movable part 82. In a specific embodiment, Figure 6 As shown, the first tensioner 8 is fixedly connected to the bottom end of the movable portal frame 22 through the first fixing portion 81, the lower end of the first transmission portion 60 is fixedly connected to the first movable portion 82 of the first tensioner 8, and is thereby indirectly connected to the movable portal frame 22, and the upper end of the first transmission portion 60 is directly fixedly connected to the upper end of the movable portal frame 22.

[0098] In actual application, under the gravity of the pick-and-place assembly 3, the upper part of the first transmission part 60 can always be kept in a tight state, and the first transmission part 60 will gradually stretch over time, and its lower part will gradually become loose. Therefore, in this embodiment, the first tensioner 8 is arranged between the lower end of the first transmission part 60 and the movable door frame 22, so that the lower part of the first transmission part 60 can also be kept tight.

[0099] refer to Figure 7 and Figure 8 The first movable portion 82 is configured to penetrate the first fixed portion 81 and then be connected to the end of the first transmission portion 60, and the first elastic member 83 is configured to be pre-pressed between the first movable portion 82 and the first fixed portion 81. Figure 8As shown, the first fixed part 81 is provided with a through hole, the first movable part 82 is a movable rod, one end of the movable rod is configured to pass through the through hole and connect to the first transmission part 60, and the other end has a protrusion 821; the first elastic member 83 is configured to be pre-pressed between the protrusion 821 and the first fixed part 81. The first movable part 82 is a cylindrical movable rod, the upper end of which is fixedly connected to the end of the first transmission part 60, and the bottom end of which has a protrusion 821. The first elastic member 83 is pre-pressed between the protrusion 821 and the first fixed part 81, so that the first movable part 82 has a downward (reference Figure 7 When the first transmission part 60 is stretched, the first movable part 82 moves downward under the action of elastic force, thereby driving the first transmission part 60 fixed at its top to move downward until it is tightened, thereby providing a pre-tightening force for the first transmission part 60, thereby preventing noise problems caused by the stretching of the first transmission part 60, and enabling the pick-and-place assembly 3 to maintain its high positioning accuracy and operating efficiency for a long time.

[0100] It should be noted that when installing the first tensioner 8, the first elastic member 83 can be in a maximum compression state, so that the elastic force provided by the first elastic member 83 is maximized. In this way, the preload force provided by the first tensioner 8 can be increased as much as possible, thereby providing a larger tensioning space for the first transmission part 60 and extending the service life of the first transmission part 60. When installing the first tensioner 8, the first elastic member 83 may not be in a maximum compression state, and the user can adjust it according to the actual application scenario, and the present disclosure does not limit this.

[0101] The above describes a specific structure of a first motion mechanism 6 provided by the present disclosure, and two configurations of the first tensioner 8 corresponding to the structure. Another specific structure of the first motion mechanism 6 provided by the present disclosure, and the configuration of the first tensioner 8 corresponding to the structure will be described in detail below.

[0102] In one embodiment of the present disclosure, a first rotating wheel group for transmission cooperation with the first transmission part 60 is provided at the top and bottom of the gantry assembly 2, and the pick-and-place assembly 3 is configured to be fixedly connected to the first transmission part 60, and the first transmission part 60 is configured to drive the pick-and-place assembly 3 to move in the height direction during the rotation process. In this embodiment, the first transmission part 60 can be a closed chain, and the first rotating wheel group can be two rotating wheels respectively arranged at the upper end and the lower end of the movable gantry 22, and the first transmission part 60 is wound around the two transmission wheels. The driving motor can drive the first rotating wheel group to rotate, thereby driving the first transmission part 60 to rotate, and then driving the pick-and-place assembly 3 fixedly arranged on the first transmission part 60 to rise or fall relative to the movable gantry 22.

[0103] In one embodiment of the present disclosure, the first movable portion 82 is configured to slide with the first transmission portion 60, and the first movable portion 82 is configured to provide a preload force for the first transmission portion 60 through the first elastic member 83. The first fixed portion 81 can be fixedly arranged at any position on the movable gantry 22. Preferably, the first movable portion 82 is configured to slide with a portion of the first transmission portion 60 located below the fixed position of the pick-and-place assembly 3, that is, the first fixed portion 81 can be fixed at the lower end of the movable gantry 22, below the position of the lower stop position of the pick-and-place assembly 3.

[0104] In actual application, under the gravity of the pick-and-place assembly 3, the upper part of the first transmission part 60 can always remain in a tight state, the first transmission part 60 will gradually stretch over time, and its lower part will gradually become loose. Therefore, in this embodiment, the first tensioner 8 is set at a position corresponding to the lower part of the first transmission part 60, so that the lower part of the first transmission part 60 can also be kept tight. In addition, in this embodiment, the first tensioner 8 is set at a height lower than the fixed position of the pick-and-place assembly 3, so that the first tensioner 8 can be prevented from affecting the lifting and lowering of the pick-and-place assembly 3 and preventing it from getting stuck during the lifting process.

[0105] The first movable part 82 is arranged on the first fixed part 81 through the first elastic member 83, and the free end of the first movable part 82 slides against the first transmission part 60. When the first transmission part 60 is stretched, the first movable part 82 is automatically ejected under the action of elastic force, thereby increasing the rotation stroke of the first transmission part 60, and then tightening the first transmission part 60. In this way, a pre-tightening force is provided for the first transmission part 60, thereby preventing the noise problem caused by the stretching of the first transmission part 60, and enabling the pick-and-place assembly 3 to maintain its high positioning accuracy and operating efficiency for a long time.

[0106] In one embodiment of the present disclosure, two first transmission parts 60 are provided, and the two first transmission parts 60 are configured to be respectively connected to opposite sides of the pick-and-place assembly 3; two first tensioners 8 are provided, and the two first tensioners 8 are configured to be respectively used to adjust the tension of the two first transmission parts 60. The first transmission parts 60 can be two chains respectively provided on both sides of the pick-and-place assembly 3, and the two chains can maintain the balance of the pick-and-place assembly 3 during the lifting process. The two first transmission parts 60 will be stretched after being used for a period of time, so a first tensioner 8 can be provided for each first transmission part 60. In this way, it can be ensured that the chains on both sides of the pick-and-place assembly 3 are always kept in a taut state, thereby ensuring the lifting balance of the pick-and-place assembly 3.

[0107] The above describes the specific structures of the two first motion mechanisms 6 provided by the present disclosure, as well as the setting methods of the first tensioner 8 corresponding to the two structures. As mentioned above, the movable gantry 22 rises or falls along the fixed gantry 21 under the driving action of the second motion mechanism 7. The second motion mechanism 7, like the first motion mechanism 6, can also have a variety of structures. There are many ways for the second motion mechanism 7 to drive the movable gantry 22 to rise and fall, and the present disclosure does not limit the specific structure of the second motion mechanism 7. The specific structure of a second motion mechanism 7 will be described in detail below.

[0108] In one embodiment of the present disclosure, reference Fig. 9 The motion assembly further includes a second transmission part 73, and the movable gantry 22 is configured to be transmission-connected to the fixed gantry 21 through the second transmission part 73. Specifically, the second transmission part 73 is configured to be arranged on the fixed gantry 21, and is configured to drive the movable gantry 22 to move in the height direction relative to the fixed gantry 21. A second rotating wheel set for transmission cooperation with the second transmission part 73 is arranged at the top and bottom of the fixed gantry 21, and the movable gantry 22 is configured to be fixedly connected to the second transmission part 73. The second transmission part 73 is configured to drive the movable gantry 22 to move in the height direction during the rotation process.

[0109] Further, two second transmission parts 73 are provided, and the two second transmission parts 73 are configured to be respectively connected to opposite sides of the movable mast 22. The second transmission parts 73 may be two chains respectively provided on both sides of the movable mast 22, and the two chains can maintain the balance of the movable mast 22 during the lifting process. Two sets of second rotating wheel groups are also provided corresponding to the second transmission parts 73.

[0110] In one embodiment of the present disclosure, the second transmission part 73 may be a closed chain, and the second rotating wheel group may be two rotating wheels respectively arranged at the upper end and the lower end of the fixed gantry 21: an upper rotating wheel 71 and a lower rotating wheel 72, and the second transmission part 73 is wound around the two transmission wheels. Two upper rotating wheels 71 and two lower rotating wheels 72 are respectively provided, wherein the two upper rotating wheels 71 are provided on the left and right sides of the upper end of the fixed gantry 21, and the two lower rotating wheels 72 are provided on the left and right sides of the lower end of the fixed gantry 21. The upper rotating wheels 71 and the lower rotating wheels 72 located on the same side are correspondingly arranged, so that the second transmission part 73 wound around the two is perpendicular to the ground, so as to ensure that the movable gantry 22 rises or falls in the vertical direction.

[0111] refer to Fig.10The second motion mechanism 7 also includes a second motor 74, a second transmission chain 742 and a second rotating shaft 75. The output end of the second motor 74 can drive the driving wheel 741 to rotate; a coaxially rotating transmission wheel 743 is provided on the second rotating shaft 75; the second transmission chain 742 is wound between the driving wheel 741 and the transmission wheel 743, thereby driving the second rotating shaft 75 to rotate under the driving action of the second motor 74.

[0112] When the second motor 74 is fixedly set at the bottom of the fixed gantry 21, a lower rotating wheel 72 is respectively set at both ends of the second rotating shaft 75. The second motor 74 drives the second rotating shaft 75 to rotate, thereby driving the two lower rotating wheels 72 to rotate synchronously, and then drives the two second transmission parts 73 wrapped therearound to drive the movable gantry 22 to rise or fall.

[0113] When the second motor 74 is fixedly set on the top of the fixed gantry 21, an upper rotating wheel 71 is respectively set at both ends of the second rotating shaft 75. The second motor 74 drives the second rotating shaft 75 to rotate, thereby driving the two upper rotating wheels 71 to rotate synchronously, and then drives the two second transmission parts 73 wrapped therearound to drive the movable gantry 22 to rise or fall.

[0114] In one embodiment of the present disclosure, Fig. 9 As shown, the second transmission part 73 can be a non-closed chain, and the two ends of the second transmission part 73 are respectively a first connection end 731 and a second connection end 732. The first connection end 731 and the second connection end 732 are respectively fixedly connected to the movable door frame 22, so that the second transmission part 73 can drive the movable door frame 22 to rise or fall during the rotation process. Fig. 9 In the viewing direction, when the second transmission part 73 rotates clockwise, the movable gantry 22 descends relative to the fixed gantry 21 ; when the second transmission part 73 rotates counterclockwise, the movable gantry 22 rises relative to the fixed gantry 21 .

[0115] In one embodiment of the present disclosure, reference Fig. 9 and Fig.11 The tensioning assembly includes a second tensioner 9, which is configured to cooperate with the second transmission part 73 to adjust the tension of the second transmission part 73. Specifically, Fig.11 As shown, the second tensioner 9 includes: a second fixed portion 91 and a second movable portion 92. The second fixed portion 91 is configured to be arranged on the fixed gantry 21, the second movable portion 92 is movably connected to the second fixed portion 91, and a second elastic member 93 is arranged between the second fixed portion 91 and the second movable portion 92. The second movable portion 92 cooperates with the second transmission portion 73, and is configured to provide a pre-tightening force for the second transmission portion 73 under the action of the second elastic member 93.

[0116] The second tensioner 9 can have a variety of different structures. When the structure of the second motion mechanism 7 is different, the specific matching mode between the second movable part 92 and the second transmission part 73 in the second tensioner 9 will also change accordingly. As described above, this embodiment drives the movable gantry 22 to rise and fall by the second transmission part 73 wound around the second rotating wheel set. The present disclosure provides a specific structure of the second tensioner 9, which is used to provide a pre-tightening force for the second transmission part 73 in this embodiment.

[0117] In one embodiment of the present disclosure, the second movable portion 92 is configured to slide with the second transmission portion 73, and the second movable portion 92 is configured to provide a preload force for the second transmission portion 73 through the second elastic member 93. The second fixed portion 91 can be fixedly arranged at any position on the fixed gantry 21. Preferably, the second movable portion 92 is configured to slide with a portion of the second transmission portion 73 located below the fixed position of the movable gantry 22, that is, the second fixed portion 91 can be arranged at the lower end of the fixed gantry 21, below the position of the lower stop position of the movable gantry 22.

[0118] In actual application, under the gravity of the movable mast 22, the upper position of the second transmission part 73 can always be kept in a tight state, and the second transmission part 73 will gradually stretch over time, and its lower position will gradually become loose. Therefore, in this embodiment, the second tensioner 9 is set at a position corresponding to the lower part of the second transmission part 73, so that the lower part of the second transmission part 73 can also be kept tight. In addition, in this embodiment, the second tensioner 9 is set at a height lower than the fixed position of the movable mast 22, so that the second tensioner 9 can be prevented from affecting the lifting and lowering of the movable mast 22 and preventing it from getting stuck during the lifting process.

[0119] In one embodiment of the present disclosure, reference Fig. 9 In the viewing direction, the second tensioner 9 is arranged on the right side of the second transmission part 73, that is, on the side where the movable gantry 22 is located. The movable gantry 22 is always located on the right side of the fixed gantry 21 during the lifting and lowering process of the second transmission part 73, and it is impossible to climb over to the left side. Under the gravity of the movable gantry 22, the part of the second transmission part 73 located on the right side will be stretched, while the part of the second transmission part 73 located on the left side can basically remain taut. Therefore, the second tensioner 9 is arranged on the right side where slack is likely to occur, so as to tighten the second transmission part 73 on the side where the movable gantry 22 is located.

[0120] The second movable part 92 is arranged on the second fixed part 91 through the second elastic member 93, and the free end of the second movable part 92 slides against the second transmission part 73. When the second transmission part 73 is stretched, the second movable part 92 is automatically ejected under the action of elastic force, thereby increasing the rotation stroke of the second transmission part 73, and then tightening the second transmission part 73. In this way, a pre-tightening force is provided for the second transmission part 73, thereby preventing the noise problem caused by the stretching of the second transmission part 73, and enabling the movable gantry 22 to maintain its high positioning accuracy and operating efficiency for a long time.

[0121] In one embodiment of the present disclosure, reference Fig.11 The second fixed portion 91 is provided with a guide groove 912, and the second movable portion 92 includes a guide portion 922 and an abutment portion 923. The guide portion 922 is configured to cooperate with the guide groove 912. The guide groove 912 is provided on the second fixed portion 91, and the guide portion 922 has a shape that matches the guide groove 912. The guide portion 922 is movably arranged in the guide groove 912 through the second elastic member 93, and can cooperate with the guide groove 912 in a guiding manner, so that the ejection direction of the guide portion 922 is fixed. Specifically, referring to Fig. 9 The guide portion 922 can be ejected in a direction perpendicular to the second transmission portion 73 under the guiding action of the guide groove 912 , thereby tightening the second transmission portion 73 .

[0122] The abutment portion 923 can be integrally formed with the guide portion 922, and the abutment portion 923 is always located outside the guide groove 912 during the movement of the second movable portion 92, and is used to slide with the second transmission portion 73. Specifically, the abutment portion 923 is configured to extend along the second transmission portion 73, and the end face of the abutment portion 923 is configured as an arc surface, and the arc surface is configured to slide with the second transmission portion 73. In this way, the contact area between the abutment portion 923 and the second transmission portion 73 is increased, and the second transmission portion 73 can be extended along the direction of the arc surface when being pushed, so that the second transmission portion 73 will not form a sudden inflection point when being pushed, and it is ensured that the second transmission portion 73 can move smoothly. In addition, the arc surface of the abutment portion 923 can be made of a relatively smooth material with a low friction coefficient, so as to reduce the friction force at the abutment, thereby ensuring that the second transmission portion 73 can move smoothly when being pushed.

[0123] In a specific embodiment of the present disclosure, reference Fig.11 and Fig.12, stoppers 921 are provided on both sides of the second movable part 92, and limiting grooves 911 matched with the stoppers 921 are provided on both sides of the second fixed part 91. The stoppers 921 are slidably fitted in the limiting grooves 911, and under the limiting action of the limiting grooves 911, the second movable part 92 has a maximum pop-up displacement. In this way, the second movable part 92 can be prevented from popping out to a position separated from the second fixed part 91 under the elastic force of the second elastic member 93. But at the same time, the limiting grooves 911 also limit the maximum adjustment amount of the second tensioner 9 on the second transmission part 73. When the second transmission part 73 is stretched too long and exceeds the adjustable range of the second tensioner 9, the second transmission part 73 needs to be replaced to prevent damage to the handling robot.

[0124] It should be noted that when installing the second tensioner 9, the second elastic member 93 can be in a maximum compression state, so that the elastic force provided by the second elastic member 93 is maximized. In this way, the preload force provided by the second tensioner 9 can be increased as much as possible, thereby providing a larger tensioning space for the second transmission part 73 and extending the service life of the second transmission part 73. When installing the second tensioner 9, the second elastic member 93 may not be in a maximum compression state, and the user can adjust it according to the actual application scenario, and the present disclosure does not limit this.

[0125] The handling robot may also have other flexible transmission structures, such as the first transmission chain 62 in the first motion mechanism 6 mentioned above, the second transmission chain 742 in the second motion mechanism 7, etc. It should be noted that any flexible transmission structure will be stretched during use, so corresponding tensioning components may be provided in the first transmission chain 62, the second transmission chain 742 and other flexible transmission mechanisms to automatically adjust their tension.

[0126] In one embodiment of the present disclosure, reference Figure 4 The pick-and-place mechanism 32 can rotate to different angles relative to the mounting platform 31 to pick and place target containers in different directions. The pick-and-place mechanism 32 can rotate relative to the mounting platform 31 through a rotating mechanism having a flexible transmission structure, and a tensioner that cooperates with the flexible transmission structure can be provided in the rotating mechanism to automatically adjust its tension.

[0127] The pick-and-place mechanism 32 includes a carrying portion for carrying the container, and also includes a pick-and-place member 33 for picking and placing the container. The pick-and-place member 33 can pick the container onto the carrying portion, or move the container on the carrying portion to another location. The pick-and-place member 33 can be a mechanical structure such as a telescopic fork, a gripping fork, a mechanical arm, etc. that can realize the operation of picking up and returning the container. The present disclosure does not limit the specific structure of the pick-and-place member 33.

[0128] In a specific embodiment of the present disclosure, Figure 4As shown, the pick-and-place member 33 is a fork holding unit, specifically comprising two telescopic arms arranged at intervals, which can be extended or retracted along the pick-and-place direction to pick and place the container. The telescopic arms can be constructed as a primary telescopic fork structure, a secondary telescopic fork structure, or a multi-stage telescopic fork structure to adapt to storage positions of various depths. A finger 331 is provided on the free end of the two telescopic arms in the extension direction.

[0129] The finger 331 is constructed to move between a vertical position and a horizontal position. In the process of taking out the container, when the two telescopic arms extend toward the container, the two fingers 331 remain in a vertical position to ensure that the telescopic arms extend smoothly and do not touch the container; when the two telescopic arms extend to both sides of the container, the two fingers 331 move and remain in a horizontal position to frame the container in the horizontal direction; when the two telescopic arms retract along the pick-and-place direction, the two fingers 331 continue to remain in a horizontal position to hook the container onto the carrying part of the pick-and-place mechanism 32.

[0130] The picking and placing member 33 can be extended and retracted by a telescopic mechanism with a flexible transmission structure, and the finger 331 can move between a horizontal position and a vertical position by a motion mechanism with a flexible transmission structure. The telescopic mechanism and the motion mechanism can be respectively provided with tensioners that cooperate with their corresponding flexible transmission structures, so as to automatically adjust their tension to ensure the normal operation of the picking and placing mechanism 32.

[0131] In one embodiment of the present disclosure, reference Figures 1 to 4 The handling robot also includes a support assembly 4, which is arranged on the mounting platform 31. Specifically, it can be arranged on a side of the mounting platform 31 away from the gantry assembly 2. The support assembly 4 is constructed to move between a first position and a second position. When located at the first position, the support assembly 4 extends to abut against the carrier 5; when located at the second position, the support assembly 4 retracts relative to the carrier 5. The support assembly 4 is in the second position in the initial state, at which time the support assembly 4 does not play a supporting role. When support is required, the support assembly 4 is constructed to extend relative to the handling robot until it abuts against the carrier 5 located on one side of the handling robot, which is the first position. This is conducive to keeping the relative position between the pick-and-place mechanism 32 and the carrier 5 stable, thereby achieving the purpose of improving the success rate of the pick-and-place mechanism 32 in picking up and placing the target container.

[0132] like Figure 3 As shown, the support assembly 4 is provided with at least two, respectively denoted as a first support assembly 401 for extending to one side, and a second support assembly 402 extending to the opposite direction. Figure 4In terms of viewing direction, the present disclosure defines the support assembly 4 extending to the right as the first support assembly 401, and defines the support assembly 4 extending to the left as the second support assembly 402. The specific structures of the first support assembly 401 and the second support assembly 402 are exactly the same, and the only difference is the extending direction.

[0133] The two support assemblies 4 can move between a first position and a second position through a transmission mechanism having a flexible transmission structure. The transmission mechanism can be provided with a tensioner that cooperates with its corresponding flexible transmission structure, so as to automatically adjust its tension to ensure the normal operation of the support assembly 4.

[0134] In order to improve the working efficiency of the handling robot, in one embodiment of the present disclosure, reference Figure 1 and Figure 3 A temporary storage tray 20 for temporarily storing containers can be provided on the door frame assembly 2. At least one temporary storage tray 20 is arranged on the side of the door frame assembly 2 opposite to the pick-and-place assembly 3. The container taken out by the pick-and-place mechanism 32 can be temporarily stored on the temporary storage tray 20, and then the pick-and-place assembly 3 can continue to carry out the container pick-and-place work.

[0135] For example, refer to Figure 1 , multiple temporary storage trays 20 are arranged vertically and spaced in sequence on one side of the fixed gantry 21, and the temporary storage trays 20 can be constructed as rectangles with a certain length and width to carry containers. After the pick-and-place mechanism 32 takes the container out of the carrier 5, it rotates to face any temporary storage tray 20 and places the container on the temporary storage tray 20, thereby transferring the container to the temporary storage tray 20, and then the pick-and-place mechanism 32 can perform other tasks. Alternatively, the pick-and-place mechanism 32 can rotate to face the temporary storage tray 20 corresponding to the container, take the container out of the temporary storage tray 20, and then can be rotated to face the carrier 5, workstation or other position for carrying containers to transfer the container from the temporary storage tray 20.

[0136] The present disclosure also provides a lifting device for driving the pick-and-place assembly 3 to move in the height direction. The lifting device includes: a base, a motion assembly and a tensioning assembly. The lifting device can be the handling robot described above, or a box-taking robot that climbs on a carrier 5, or a container loading and unloading device fixed on a work surface, etc. The present disclosure does not limit the specific structure of the lifting device. The base of the lifting device is used to support the pick-and-place assembly 3. For example, when the lifting device is applied to a movable handling robot, the base is the chassis assembly 1 described above; when the lifting device is applied to an immovable device, the base only serves to support the pick-and-place assembly 3.

[0137] The motion component is configured to drive the pick-and-place component 3 to move in the height direction. Specifically, the motion component may include a flexible transmission medium such as a belt, a chain, or a traction rope. After the lifting device has been running for a period of time, the motion component will be irreversibly elongated. An overly long motion component will seriously affect the height positioning accuracy of the lifting device, and will also affect the operating efficiency of the lifting device, and will also make noise. In order to solve the above problems, a tensioning component is provided on the lifting device of the present invention. The tensioning component is configured to cooperate with the motion component and is configured to be pre-pressed on the motion component to adjust the tension of the motion component.

[0138] The present invention provides a tensioning assembly that cooperates with the moving assembly, so that the moving assembly can be kept in a taut state. The moving assembly will naturally stretch after working for a period of time, and the tensioning assembly can automatically adjust the tension of the stretched moving assembly so that the tension is always maintained at a level that allows normal work. In this way, noise problems caused by the stretching of the moving assembly are prevented, and the lifting device can maintain its high positioning accuracy and operating efficiency for a long time.

[0139] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A transport robot, characterized in that: include: Chassis assembly (1); A door frame assembly (2), wherein the door frame assembly (2) is fixed on the chassis assembly (1); A pick-and-place assembly (3), the pick-and-place assembly (3) being movably connected to the door frame assembly (2) and being configured to pick and place containers; A motion assembly, the motion assembly being configured to drive the pick-and-place assembly (3) to move in a height direction relative to the gantry assembly (2); A tensioning assembly is configured to cooperate with the moving assembly and to be pre-pressed on the moving assembly to adjust the tension of the moving assembly.

2. The handling robot according to claim 1, characterized in that: The motion assembly comprises a first transmission part (60), and the pick-and-place assembly (3) is configured to be transmission-connected to the door frame assembly (2) via the first transmission part (60); The tensioning assembly comprises a first tensioner (8), wherein the first tensioner (8) is configured to cooperate with the first transmission part (60) to adjust the tension of the first transmission part (60).

3. The handling robot according to claim 2, characterized in that: The first tensioner (8) comprises: A first fixing portion (81), the first fixing portion (81) being configured to be arranged on the door frame assembly (2); A first movable part (82), wherein the first movable part (82) is movably connected to the first fixed part (81), and a first elastic member (83) is provided between the first fixed part (81) and the first movable part (82); the first movable part (82) cooperates with the first transmission part (60), and is configured to provide a pre-tightening force for the first transmission part (60) under the action of the first elastic member (83).

4. The handling robot according to claim 3, characterized in that: The two ends of the first transmission part (60) are constructed to be fixedly connected to the door frame assembly (2) respectively; the pick-up and place assembly (3) is provided with a lifting wheel group for transmission connection with the first transmission part (60), and the lifting wheel group is constructed to drive the pick-up and place assembly (3) to move along the height direction of the door frame assembly (2) during the rotation process.

5. The handling robot according to claim 4, characterized in that: The first movable part (82) is configured to abut against the first transmission part (60), and the first movable part (82) is configured to provide a pre-tightening force for the first transmission part (60) through a first elastic member (83).

6. The handling robot according to claim 4, characterized in that: The upper end of the first transmission part (60) is configured to be fixedly connected to the portal assembly (2), and the lower end of the first transmission part (60) is configured to be fixedly connected to the portal assembly (2) via a first movable part (82).

7. The handling robot according to claim 6, characterized in that: The first movable part (82) is configured to penetrate the first fixed part (81) and then be connected to the end of the first transmission part (60); the first elastic member (83) is configured to be pre-pressed between the first movable part (82) and the first fixed part (81).

8. The handling robot according to claim 7, characterized in that: The first fixed part (81) is provided with a through hole; the first movable part (82) is a movable rod, one end of which is configured to pass through the through hole and be connected to the first transmission part (60), and the other end of which has a protrusion (821); the first elastic member (83) is configured to be pre-pressed between the protrusion (821) and the first fixed part (81).

9. The handling robot according to claim 3, characterized in that: A first rotating wheel group for transmission cooperation with the first transmission part (60) is arranged at the top and bottom of the door frame assembly (2); the pick-and-place assembly (3) is constructed to be fixedly connected to the first transmission part (60); the first transmission part (60) is constructed to drive the pick-and-place assembly (3) to move in the height direction during the rotation process.

10. The handling robot according to claim 9, characterized in that: The first movable part (82) is configured to be slidably matched with the first transmission part (60), and the first movable part (82) is configured to provide a pre-tightening force for the first transmission part (60) through a first elastic member (83).

11. The handling robot according to claim 10, characterized in that: The first movable portion (82) is configured to slideably cooperate with a portion of the first transmission portion (60) located below the fixed connection position of the pick-and-place assembly (3).

12. The handling robot according to claim 2, characterized in that: Two first transmission parts (60) are provided, and the two first transmission parts (60) are constructed to be respectively transmission-connected to the opposite sides of the pick-and-place assembly (3); two first tensioners (8) are provided, and the two first tensioners (8) are constructed to be respectively used to adjust the tension of the two first transmission parts (60).

13. The handling robot according to any one of claims 2 to 12, characterized in that: The gantry assembly (2) is a fixed gantry (21) fixed on the chassis assembly (1), and the pick-and-place assembly (3) is constructed to be movably connected to the fixed gantry (21); the first transmission part (60) is constructed to be arranged on the fixed gantry (21), and is constructed to drive the pick-and-place assembly (3) to move in a height direction relative to the fixed gantry (21).

14. The handling robot according to any one of claims 2 to 12, characterized in that: The gantry assembly (2) comprises a fixed gantry (21) fixed to the chassis assembly (1), and at least one level of movable gantry (22) movably connected to the fixed gantry (21); the pick-and-place assembly (3) is constructed to be movably connected to the last level of movable gantry (22); The first transmission part (60) is configured to be arranged on the movable gantry (22), and is configured to drive the pick-and-place assembly (3) to move in a height direction relative to the movable gantry (22); the movement assembly also includes a second transmission part (73), and the second transmission part (73) is configured to be arranged on the fixed gantry (21), and is configured to drive the movable gantry (22) to move in a height direction relative to the fixed gantry (21).

15. The handling robot according to claim 14, characterized in that: The tensioning assembly comprises a second tensioner (9), and the second tensioner (9) is configured to cooperate with the second transmission part (73) to adjust the tension of the second transmission part (73).

16. The handling robot according to claim 15, characterized in that: The second tensioner (9) comprises: A second fixing portion (91), the second fixing portion (91) being configured to be arranged on the fixed door frame (21); A second movable part (92), wherein the second movable part (92) is movably connected to the second fixed part (91), and a second elastic member (93) is provided between the second fixed part (91) and the second movable part (92); the second movable part (92) cooperates with the second transmission part (73), and is configured to provide a pre-tightening force for the second transmission part (73) under the action of the second elastic member (93).

17. The handling robot according to claim 16, characterized in that: A second rotating wheel set for transmission cooperation with a second transmission part (73) is arranged at the top and bottom of the fixed gantry (21); the movable gantry (22) is constructed to be fixedly connected to the second transmission part (73); the second transmission part (73) is constructed to drive the movable gantry (22) to move in the height direction during the rotation process.

18. The handling robot according to claim 17, characterized in that: The second movable part (92) is configured to be slidably matched with the second transmission part (73), and the second movable part (92) is configured to provide a pre-tightening force for the second transmission part (73) through the second elastic member (93).

19. The handling robot according to claim 18, characterized in that: The second movable portion (92) is constructed to be slidably matched with a portion of the second transmission portion (73) located below the fixed position of the movable door frame (22).

20. The transport robot according to claim 18, characterized in that: The second fixed portion (91) is provided with a guide groove (912); the second movable portion (92) comprises a guide portion (922) and an abutment portion (923), wherein the guide portion (922) is configured to cooperate with the guide groove (912); the abutment portion (923) is configured to extend along the second transmission portion (73), and the end surface of the abutment portion (923) is configured to be an arc surface, and the arc surface is configured to be used for sliding cooperation with the second transmission portion (73).

21. A lifting device for driving a pick-and-place assembly (3) to move in a height direction, characterized in that: include: Pedestal; A moving assembly, the moving assembly being configured to drive the pick-and-place assembly (3) to move in a height direction; A tensioning assembly is configured to cooperate with the moving assembly and to be pre-pressed on the moving assembly to adjust the tension of the moving assembly.

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