Goods picking and placing device and carrying robot

Abstract

The utility model provides a goods taking and placing device and a transfer robot, and relates to the technical field of intelligent warehousing. The goods taking and placing device comprises a supporting frame and a transmission assembly. The supporting frame comprises a first mounting hole and a second mounting hole which are not located in the same horizontal plane. The second mounting hole comprises a first sub-mounting hole and a second sub-mounting hole which are communicated with each other; the second sub-mounting hole and the first side surface comprise a first intersection point and a penetrating surface, and the second mounting hole comprises a guide surface; the transmission assembly comprises a driving wheel, a first driven wheel and a first transmission belt connected with the driving wheel and the first driven wheel. A first distance between the first intersection point and the center of the first mounting hole and a second distance between a second intersection point of the guide surface and the first sub-mounting hole and the center of the first mounting hole are included, the first distance is smaller than the second distance, and the second distance is equal to a first preset distance; and the first driven wheel is slidably mounted in the first sub-mounting hole through the penetrating surface, so that the mounting difficulty of the transmission assembly and the risk of failure can be reduced.

Description

Technical Field

[0001] The disclosed embodiments relate to the field of intelligent warehousing technology, and more particularly to a cargo picking and placing device and a transport robot. Background Art

[0002] With the development of the logistics industry, handling robots are gradually used in cargo box handling work, which can improve the efficiency of cargo box handling; therefore, handling robots have become a research hotspot in the logistics industry.

[0003] In the related art, a handling robot comprises a frame and a cargo picking and placing device movably connected to the frame; wherein the cargo picking and placing device generally comprises a shell, a driving assembly and a cargo picking and placing assembly, wherein the driving assembly is mounted on the shell, and the driving assembly comprises a driving member and a transmission member, and the output end of the driving member is connected to the cargo picking and placing assembly through the transmission member; the cargo picking and placing assembly is driven to move by the driving assembly so that the cargo picking and placing assembly completes the cargo picking and placing operation.

[0004] However, during operation, the transmission parts are prone to failure and are difficult to install, which makes it impossible to ensure the normal operation of the cargo pick-up and delivery components. Utility Model Content

[0005] In view of the above problems, the embodiments of the present disclosure provide a cargo picking and placing device and a handling robot, which can reduce the difficulty of installing the transmission component and reduce the risk of failure of the transmission component.

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

[0007] A first aspect of an embodiment of the present disclosure provides a device for picking up and placing goods, comprising:

[0008] A support frame, the support frame includes a first mounting hole and a second mounting hole that are not located in the same horizontal plane; the second mounting hole includes a first sub-mounting hole and a second sub-mounting hole that are interconnected, and the second sub-mounting hole faces the first side surface of the support frame; the second sub-mounting hole and the first side surface include a first intersection and a through surface, and the second mounting hole includes a guide surface; wherein the through surface is a portion where the second mounting hole intersects with the first side surface; and the guide surface is a portion of the inner surface of the second mounting hole;

[0009] A transmission assembly, the transmission assembly comprising a driving wheel, a first driven wheel, and a first transmission belt connecting the driving wheel and the first driven wheel; the driving wheel is rotatably connected to the first mounting hole, and the first driven wheel is rotatably connected to the first sub-mounting hole;

[0010] The distance between the first intersection and the center of the first mounting hole is the first distance, the distance between the second intersection of the guide surface and the first sub-mounting hole and the center of the first mounting hole is the second distance, the first distance is smaller than the second distance and the second distance is equal to the first preset distance; the first driven wheel is slidably installed into the first sub-mounting hole through the through surface.

[0011] In a possible implementation, the guide surface further includes an end portion facing away from the first intersection, and the end portion of the guide surface facing away from the first intersection is higher than the first intersection, so that the guide surface is tilted upward relative to the first intersection.

[0012] In a possible implementation, the inner surface of the second mounting hole includes a first inner surface, a curved surface, and a second inner surface connected in sequence;

[0013] The first inner surface is inclined upward relative to the first intersection, and the first inner surface constitutes the guide surface; the second inner surface is parallel to the direction in which the goods enter and exit the support frame, and is located above the first inner surface.

[0014] In a possible implementation, the inner surface of the second mounting hole includes a first inner surface, a third inner surface, an arcuate surface, and a second inner surface connected in sequence; the first inner surface is inclined upward relative to the direction in which the goods enter and exit the support frame, and the first inner surface constitutes the guide surface;

[0015] The third inner surface and the second inner surface are parallel to the direction in which goods enter and exit the support frame, and the second inner surface is located directly above the third inner surface.

[0016] In a possible implementation manner, the first inner surface and the third inner surface transition smoothly.

[0017] In one possible implementation, the first inner surface and the third inner surface have a third intersection, the distance between the third intersection and the center of the first mounting hole is a third distance, the third distance is less than or equal to the second preset distance, and the third distance is greater than the second distance.

[0018] In a possible implementation, the angle between the guide surface and the direction in which the goods enter or exit the support frame ranges from 38° to 42°.

[0019] In a possible implementation, the support frame includes a first support frame, a second support frame, and a connecting beam connecting the first support frame and the second support frame; the connecting beam includes a center line extending along a direction in which goods enter and exit the support frame;

[0020] The first support frame and the second support frame are spaced apart in a direction perpendicular to the direction in which goods enter and exit the support frame, and are symmetrically arranged relative to the center line;

[0021] The first supporting frame and the second supporting frame are both provided with a first mounting hole and a second mounting hole.

[0022] In a possible implementation, the first driven wheel includes a coaxial first wheel body and a second wheel body, the first wheel body and the second wheel body are respectively arranged on both sides of the support frame, and the first wheel body is connected to the driving wheel through the first transmission belt.

[0023] In a possible implementation, the transmission assembly further includes a second driven wheel and a second transmission belt; the second driven wheel is rotatably connected to the support frame and is arranged opposite to the first driven wheel; the second driven wheel is transmission-connected to the second wheel body via the second transmission belt;

[0024] The second transmission belt is used to be movably connected to the cargo picking and placing assembly, so that when the second transmission belt moves, it drives the cargo picking and placing assembly to move relative to the support frame to pick up and place cargo.

[0025] A second aspect of the embodiments of the present disclosure provides a transport robot, which includes: a frame and the cargo picking and placing device described in the first aspect; the cargo picking and placing device is slidably arranged on the frame.

[0026] The pick-up and placement device and the handling robot provided by the embodiment of the present disclosure define the distance between the first intersection and the center of the first mounting hole as the first distance, and the distance between the second intersection of the guide surface and the first sub-mounting hole and the center of the second mounting hole as the second distance. The first distance is smaller than the second distance, and the second distance is equal to the first preset distance. Wherein, the first preset distance is the appropriate value of the second distance when the first transmission belt is in a tensioned state. In this way, the first driven wheel enters the second mounting hole from the first intersection. At this time, the first distance is smaller than the second distance, and the first transmission belt is in a relatively loose state, which is conducive to preliminarily installing the first driven wheel to the edge of the second mounting hole through the through surface; when the first driven wheel slides and installs into the first sub-mounting hole through the through surface, the distance between the center of the first driven wheel and the center of the driving wheel gradually increases until the first driven wheel is installed in an appropriate position, so that the second distance is equal to the first preset distance. At this time, the first transmission belt can be in a tensioned state without a tensioning device. Therefore, this embodiment can not only reduce the difficulty of installing the transmission component, but also prevent the first transmission belt from falling off due to being too loose, thereby ensuring the normal operation of the pick-up and placement component.

[0027] In addition to the technical problems solved by the embodiments of the present disclosure, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of the technical solutions described above, other technical problems that can be solved by the picking and placing device and the handling robot provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A schematic diagram of a partial structure of a cargo pick-up and delivery device provided in an embodiment of the present disclosure Figure 1 ;

[0030] Figure 2 A schematic diagram of a partial structure of a cargo pick-up and delivery device provided in an embodiment of the present disclosure Figure 2 ;

[0031] Figure 3 A schematic diagram of a partial structure of a cargo pick-up and delivery device provided in an embodiment of the present disclosure Figure 3 ;

[0032] Figure 4 A schematic diagram of the structure of the support frame provided in the embodiment of the present disclosure Figure 1 ;

[0033] Figure 5 A schematic diagram of the structure of the support frame provided in the embodiment of the present disclosure Figure 2 ;

[0034] Figure 6 A schematic diagram of the structure of the support frame provided in the embodiment of the present disclosure Figure 3 ;

[0035] Figure 7 A schematic diagram of the structure of the cargo pick-up and placement device after removing the shell provided in the embodiment of the present disclosure Figure 1 ;

[0036] Figure 8 A schematic diagram of the structure of the cargo pick-up and placement device after removing the shell provided in the embodiment of the present disclosure Figure 2 ;

[0037] Fig. 9 A schematic diagram of the structure of a cargo picking and placing device provided in an embodiment of the present disclosure.

[0038] Description of reference numerals:

[0039] 100: support frame; 110: first mounting hole; 120: second mounting hole; 121: first inner surface; 122: arc surface; 123: second inner surface; 124: third inner surface; 125: second intersection; 126: first sub-mounting hole; 127: second sub-mounting hole; 128: third intersection;

[0040] 130: first side surface; 131: through surface;

[0041] 140: first intersection; 150: second side; 160: first support frame; 170: second support frame; 180: connecting beam; 190: weight reduction hole;

[0042] 200: transmission assembly; 210: driving wheel; 220: first driven wheel; 221: first wheel body; 222: second wheel body; 230: first transmission belt; 240: second driven wheel; 250: second transmission belt; 260: transmission shaft; 270: mounting plate;

[0043] 400: driving part;

[0044] 500: Shell. DETAILED DESCRIPTION

[0045] As described in the background technology, the transmission parts in the related technology are prone to failure and difficult to install. The inventors have found that the reason for this problem is that the transmission parts in the related technology usually include a driving wheel, a driven wheel, and a transmission belt connecting the driving wheel and the driven wheel; if the installation difficulty of the transmission parts is to be reduced, the distance between the installation positions of the driving wheel and the driven wheel is usually shortened, but since the area for installing the transmission parts is relatively cramped, it is impossible to install a tensioning device, causing the conveyor belt to be loose and easy to fall off. If so, to avoid the looseness of the conveyor belt, the distance between the installation positions of the driving wheel and the driven wheel can be extended, which will increase the installation difficulty of the transmission parts.

[0046] In view of the above technical problems, the embodiment of the present disclosure provides a device for picking up and placing goods and a handling robot, which defines the distance between the first intersection and the center of the first mounting hole as the first distance, and the distance between the second intersection of the guide surface and the first sub-mounting hole and the center of the second mounting hole as the second distance. The first distance is smaller than the second distance, and the second distance is equal to the first preset distance. Wherein, the first preset distance is the appropriate value of the second distance when the first transmission belt is in a tensioned state. In this way, the first driven wheel enters the second mounting hole from the first intersection. At this time, the first distance is smaller than the second distance, and the first transmission belt is in a relatively loose state, which is conducive to preliminarily installing the first driven wheel to the edge of the second mounting hole through the through surface; when the first driven wheel slides and installs into the first sub-mounting hole through the through surface, the distance between the center of the first driven wheel and the center of the driving wheel gradually increases until the first driven wheel is installed in an appropriate position, so that the second distance is equal to the first preset distance, and the first transmission belt can be in a tensioned state without a tensioning device. Therefore, this embodiment can not only reduce the difficulty of installing the transmission component, but also prevent the first transmission belt from falling off due to being too loose, and ensure the normal operation of the picking up and placing component.

[0047] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0048] Please refer to the attached Figure 1 To Attachment Fig. 9 The embodiment of the present disclosure provides a cargo picking and placing device, which can be applied to a transport robot and can also be applied to other transport equipment, for example, to an elevator.

[0049] Please continue to refer to the attached Figure 1 The cargo picking and placing device includes a support frame 100, wherein the support frame 100 is used to support the cargo picking and placing component, and is connected to a column of a handling robot or other transfer equipment through the support frame 100.

[0050] Please refer to the attached Figure 1 and attached Figure 7 In order to facilitate the definition of the various directions of the pick-up and release device, the direction in which the pick-up and release components enter and exit the support frame 100 is as follows: Figure 1 and attached Figure 7 Correspondingly, the direction perpendicular to the direction in which the pick-up and place assembly enters and exits the support frame 100 is the second direction, i.e. Figure 1 and attached Figure 7The height direction of the support frame 100 is the third direction, i.e. Figure 1 and attached Figure 7 Middle Z direction.

[0051] Please refer to the attached Figure 4 and attached Figure 5 The support frame 100 includes a first mounting hole 110 and a second mounting hole 120, and the first mounting hole 110 and the second mounting hole 120 are spaced apart and staggered, that is, the first mounting hole 110 and the second mounting hole 120 are not on the same horizontal plane. In other words, the first mounting hole 110 and the second mounting hole 120 are not aligned in both the first direction and the third direction, that is, the first mounting hole 110 and the second mounting hole 120 are staggered in the first direction, and the first mounting hole 110 and the second mounting hole 120 are staggered in the third direction.

[0052] In the first direction Y, that is, in the direction in which goods enter and exit the support frame 100 , the support frame 100 has a first side surface 130 and a second side surface 150 that are oppositely disposed.

[0053] The second mounting hole 120 includes a first sub-mounting hole 126 and a second sub-mounting hole 127 that are interconnected. The second sub-mounting hole 127 faces the first side surface 130 of the support frame 100, and the second sub-mounting hole 127 surrounds a portion of the first sub-mounting hole 126, that is, the second sub-mounting hole 127 is located between the first side surface 130 and the first sub-mounting hole 126. Please continue to refer to the attached Figure 4 The shape of the first sub-mounting hole 126 is circular, which is adapted to the shape of the first driven wheel 220, wherein the first sub-mounting hole 126 is attached Figure 4 The second sub-mounting hole 127 is disposed on one side of the first sub-mounting hole 126 and surrounds a portion of the first sub-mounting hole 126; that is, the second sub-mounting hole 127 is the area between the penetration surface 131 and the circular dotted line.

[0054] The second sub-mounting hole 127 and the first side surface 130 include a first intersection 140 and a through surface 131. The second sub-mounting hole 127 extends along the first direction and exposes the first side surface 130, that is, the second sub-mounting hole 127 penetrates the first side surface 130 along the first direction Y, so that the second sub-mounting hole 127 has a first intersection 140 with the first side surface 130, and the first intersection 140 faces the bottom of the support frame 100.

[0055] Accordingly, the through surface 131 is the portion where the second mounting hole 120 intersects the first side surface 130, that is, the portion where the second mounting hole 120 exposes the first side surface 130. Figure 4The middle dotted line position; the guide surface is part of the inner surface of the second mounting hole 120, wherein the angle between the guide surface and the direction in which the goods enter and exit the support frame is in the range of 38° to 42°, illustratively, the angle between the guide surface and the direction in which the goods enter and exit the support frame is 38°, 39°, 40°, 41° or 42°. With such a configuration, the sliding installation of the transmission assembly 200 can be quickly achieved with a smaller driving force; it can also reduce the pulling on the first transmission belt 230, thereby reducing damage to the first transmission belt 230.

[0056] Please refer to the attached Figure 1 To Attachment Figure 3 The cargo picking and placing device also includes a transmission assembly 200, which includes a driving wheel 210, a first driven wheel 220, and a first transmission belt 230 connecting the driving wheel 210 and the first driven wheel 220; the driving wheel 210 is rotatably connected to the first mounting hole 110, and the first driven wheel 220 is rotatably connected to the first sub-mounting hole 126.

[0057] The distance between the first intersection 140 and the center of the first mounting hole 110 is the first distance. Figure 4 The distance between the second intersection of the guide surface and the first sub-mounting hole 126 125 and the center of the first mounting hole 110 is the second distance, that is, the second distance is attached Figure 4 Since the transmission shaft 260 of the second driven wheel 240 slides along the guide surface of the second mounting hole 120, the transmission shaft 260 is always tangent to the guide surface, and the first intersection 140 and the second intersection 125 can both be tangent points, so that the first distance L1 and the second distance L2 can be compared equally.

[0058] When installing the first transmission belt 230, the first transmission belt 230 must be properly tensioned so that the first transmission belt 230 has a certain tension. If the tension is too small, the first transmission belt 230 will be too loose, causing the first transmission belt 230 to jump or lose teeth during the rotation process. If the tension is too large, the life of the first transmission belt 230 will be reduced and the transmission noise will increase.

[0059] Therefore, in this embodiment, the first distance and the second distance can be designed so that the first distance L1 is smaller than the second distance L2, and the second distance L2 is equal to the first preset distance, which is the appropriate value of the second distance L2 when the first transmission belt 230 is in a tensioned state.

[0060] Please attach Figure 4 and attached Figure 5The first preset distance can be obtained by obtaining the center distance a between the first sub-mounting hole 126 and the first mounting hole 110, and combining the triangle formed by the center of the first sub-mounting hole 126, the center of the first mounting hole 110 and the second intersection 125 to obtain a suitable value of the second distance L2. The center distance a between the first sub-mounting hole 126 and the first mounting hole 110 can be obtained by referring to the following process:

[0061] For example, the center distance between the first sub-mounting hole 126 and the first mounting hole 110 can be initially determined according to the type and bandwidth of the first transmission belt 230, which is recorded as the initial center distance a. 0 The initial pitch length L of the first transmission belt 230 is calculated according to the following formula (1): 0 :

[0062]

[0063] Wherein, d1 is the diameter of the driving wheel 210, and d2 is the diameter of the first driven wheel 220;

[0064] a 0 To initially determine the center spacing;

[0065] L 0 To preliminarily determine the length of the node line.

[0066] The initial pitch line length L is calculated according to the above formula (1). 0 Then, the standard pitch line length L is obtained by combining the standard pitch line length table of the first transmission belt. p It should be noted that the above query tables are Tables 3 to 7 in JB / T 7512.1-2014. As for the parameters in Tables 3 to 7, reference can be made to relevant technical documents, and this embodiment will not be repeated here.

[0067] Then, the actual transmission center distance a is calculated according to the following formulas (2) and (3): 1 . Specifically:

[0068]

[0069] M=4L p -6.28(d 2 +d 1 ) (3)

[0070] Wherein, d1 is the diameter of the driving wheel 210, and d2 is the diameter of the first driven wheel 220;

[0071] L p is the initial length of the node line;

[0072] M is the model number of the belt type of the first transmission belt.

[0073] Finally, according to the initial length of the node line L p And the initial length of the node line L p The value range of the center spacing a is obtained from the corresponding table of the center spacing installation amount I and the adjustment amount S, where the value range of the center spacing a is (aI) to (a+S).

[0074] Table 1 Center distance installation amount I and adjustment amount S

[0075] <![CDATA[L p ]]> I S <![CDATA[L p ≤500]]> 1.02 0.76 <![CDATA[500<L p ≤1000]]> 1.27 0.76 <![CDATA[1000<L p ≤1500]]> 1.78 1.02 <![CDATA[1500<L p ≤2260]]> 2.29 1.27 <![CDATA[2260<L p ≤3020]]> 2.79 1.27 <![CDATA[3020<L p ≤4020]]> 3.56 1.27 <![CDATA[4020<L p ≤4780]]> 4.32 1.27 <![CDATA[4780<L p ≤6860]]> 5.33 1.27

[0076] From the above derivation, it can be known that the maximum value of the center distance a is a+S, and the first preset distance is calculated according to the maximum value of the center distance a, wherein the first preset distance is a+Sd 1 -d 2 .

[0077] In this embodiment, the first distance L1 and the second distance L2 can be adjusted according to the first preset distance and the center distance a, and the first distance L1 can be smaller than the second distance L2, and the second distance L2 can be equal to the first preset distance; wherein the first distance L1 is smaller than aId 1 -d 2 ; The first preset distance is a+Sd 1 -d 2 In this way, when the first driven wheel 220 is slidably installed into the second mounting hole 120 through the through surface 131, the first transmission belt 230 is in a relatively loose state in the initial stage, which is conducive to initially installing the first driven wheel 220 through the through surface 131 to the edge of the second mounting hole 120; when the first driven wheel 220 is gradually installed into the second mounting hole 120 by sliding along the guide surface, the distance between the center of the first driven wheel 220 and the center of the driving wheel 210 gradually increases until the first driven wheel 220 is installed to a proper position so that the second distance is equal to the first preset distance. At this time, the first transmission belt 230 can be in a tensioned state without a tensioning device. Therefore, this embodiment can not only reduce the difficulty of installing the transmission member, but also prevent the first transmission belt from falling off due to being too loose, thereby ensuring the normal operation of the cargo picking and placing assembly.

[0078] It should be noted that, in this embodiment, the first driven wheel 220 further includes a transmission shaft 260, and the transmission shaft 260 is passed through the through hole of the first driven wheel 220. In order to improve the structural stability of the transmission assembly 200, in this embodiment, the transmission assembly 200 further includes a mounting plate 270, which is convenient for the transmission shaft 260 to pass through, and the mounting plate 270 can be detachably fixedly connected to the support frame 100 by bolts.

[0079] Exemplarily, the mounting plate 270 includes a first mounting hole and a second mounting hole that are interconnected, wherein the aperture of the first mounting hole is larger than the aperture of the second mounting hole, so that the first mounting hole and the second mounting hole are in a convex shape. With such a configuration, the position of the first driven wheel 220 in the second direction can be fine-tuned by adjusting the position of the bolt, thereby fine-tuning the installation position of the first driven wheel 220, thereby better adjusting the tension of the first transmission belt 230.

[0080] To further define the guide surface, please refer to the attached Figure 4 and attached Figure 5 The guide surface further includes an end away from the first intersection 140, and the end of the guide surface away from the first intersection 140 is higher than the first intersection 140, so that the guide surface is arranged to be inclined upward relative to the first intersection 140. Such an arrangement can ensure that when the first transmission belt 230 contacts the first intersection 140, the first transmission belt 230 is in a relaxed state, thereby facilitating the installation of the transmission assembly 200.

[0081] It should be noted that at least a portion of the inner surface of the second mounting hole 120 located between the second intersection 125 and the first intersection 140 can form a guide surface, that is, the portion of the inner surface of the second mounting hole 120 located between the second intersection 125 and the first intersection 140 can form a guide surface, or the entire portion can form a guide surface.

[0082] In one possible implementation, please refer to the attached Figure 4 The inner surface of the second mounting hole 120 includes a first inner surface 121, an arcuate surface 122 and a second inner surface 123 connected in sequence; wherein the center of the arcuate surface 122 is concentrically arranged with the center of the first driven wheel 220 to increase the contact area between the second mounting hole 120 and the first driven wheel 220.

[0083] The first inner surface guide surface is inclined upward relative to the first intersection 140, and the first inner surface guide surface constitutes a guide surface; the second inner surface 123 is parallel to the direction in which goods enter and exit the support frame 100, and is located above the first inner surface guide surface, that is, the second inner surface 123 is parallel to the bottom surface of the support frame 100.

[0084] In another possible implementation, the inner surface of the second mounting hole 120 includes a first inner surface 121, a third inner surface 124, an arcuate surface 122, and a second inner surface 123 connected in sequence; the first inner surface guide surface is inclined upward relative to the direction in which the goods enter and exit the support frame, and the first inner surface guide surface constitutes a guide surface; the third inner surface 124 and the second inner surface 123 are both parallel to the direction in which the goods enter and exit the support frame, and the second inner surface 123 is located directly above the third inner surface 124.

[0085] With such a configuration, after the first driven wheel 220 is installed in place, the contact area between the first driven wheel 220 and the second mounting hole 120 can be increased, thereby improving the connection stability between the first driven wheel 220 and the support frame 100. At the same time, in order to improve the convenience of the first driven wheel 220 during the pushing process, the first inner surface 121 and the third inner surface 124 are smoothly transitioned, for example, the first inner surface 121 and the third inner surface 124 are smoothly transitioned through a circular arc segment.

[0086] Since the first inner surface 121 and the third inner surface 124 have a third intersection 128, the distance between the third intersection 128 and the center of the first mounting hole 110 is a third distance. Figure 5 According to the characteristics of the triangle, from the attached Figure 5 It can be clearly seen that the third distance L3 is greater than the second distance L2. Therefore, when the first transmission belt 230 passes through the third intersection 128, the first transmission belt 230 will continue to be stretched in a tensioned state. Therefore, the third distance is less than or equal to the second preset distance; wherein the second preset distance is the maximum value of the distance between the third intersection 128 and the center of the first mounting hole 110 when the maximum allowable tensile load is applied to the second transmission belt 250.

[0087] In one possible implementation, please refer to the attached Figure 7 To Attachment Fig. 9 The support frame 100 includes a first support frame 160, a second support frame 170 and a connecting beam 180; the connecting beam 180 is used to connect the first support frame 160 and the second support frame 170, and the connecting beam 180 includes a center line M extending in a direction in which goods enter and exit the support frame.

[0088] The first support frame 160 and the second support frame 170 are spaced apart in a direction perpendicular to the direction in which goods enter and exit the support frame, and are symmetrically arranged relative to the center line M; wherein the first support frame 160 and the second support frame 170 are both provided with a first mounting hole 110 and a second mounting hole 120.

[0089] In this embodiment, the first support frame 160 and the second support frame 170 are connected by the connecting beam 180, so that the weight of the support frame 100 can be reduced, and the weight of the cargo picking and placing device can be further reduced.

[0090] The first support frame 160 and the second support frame 170 each include a plurality of weight-reducing holes 190 disposed at intervals. This arrangement can further reduce the weight of the first support frame 160 and the second support frame 170 , thereby further reducing the weight of the support frame 100 .

[0091] Please continue to refer to the attached Figure 1 and attached Figure 2The first driven wheel 220 includes a coaxial first wheel body 221 and a second wheel body 222, that is, the first wheel body 221 and the second wheel body 222 are both rotatably connected to the transmission shaft 260. The first wheel body 221 and the second wheel body 222 are respectively arranged on both sides of the support frame 100, and the first wheel body 221 is transmission-connected to the driving wheel 210 through the first transmission belt 230.

[0092] The cargo pick-up and placement device further includes a driving member 400, wherein the output shaft of the driving member 400 can be connected to the driving wheel 210, and is used to drive the driving wheel 210 to rotate, and then drive the first driven wheel 220 to rotate. The driving member 400 can be arranged on the first support frame 160 through the mounting plate 270. It should be noted that when the number of the driving wheels 210 is two, the cargo pick-up and placement device provided in this embodiment further includes a synchronization shaft, and the two driving wheels 210 are connected to the synchronization shaft with an interval rotation, and one end of the synchronization shaft is connected to the output shaft of the driving member 400.

[0093] The transmission assembly 200 further includes a second driven wheel 240 and a second transmission belt 250; the second driven wheel 240 is rotatably connected to the support frame 100 and is disposed opposite to the first driven wheel 220; the second driven wheel 240 is transmission-connected to the second wheel body 222 via the second transmission belt 250;

[0094] The second transmission belt 250 is used to be movably connected to the cargo picking and placing assembly, so that when the second transmission belt 250 moves, it drives the cargo picking and placing assembly to move relative to the support frame 100 to pick up and place cargo. In other words, the second transmission belt 250 can drive the cargo picking and placing assembly to move forward and backward along the first direction, so that the cargo picking and placing assembly can pick up and place cargo.

[0095] It should be noted that the active connection between the second transmission belt 250 and the cargo picking and placing component can be in a variety of ways. For example, the cargo picking and placing component can be slidably arranged on the second transmission belt 250 through a sliding block, and the support frame 100 is provided with a slide rail that cooperates with the cargo picking and placing component to improve the stability of the cargo picking and placing component during movement.

[0096] The cargo picking and placing device provided in this embodiment also includes a shell 500, wherein the shell 500 may include a first shell and a second shell, wherein the first shell is arranged on the first support frame 160 and covers the weight-reducing hole of the first support frame 160, and the second shell is arranged on the second support frame 170 and covers the weight-reducing hole of the second support frame 170.

[0097] The disclosed embodiment also provides a transport robot, which includes a frame (not shown) and a cargo pick-up and placement device as described in any of the above embodiments. The cargo pick-up and placement device is slidably mounted on the frame and is used to adjust the height between the cargo pick-up and placement device and the bottom of the frame to pick up and place cargo at different heights.

[0098] In view of the fact that the transport robot includes the cargo picking and placing device described in any of the above embodiments, the transport robot has the structure and beneficial effects of the cargo picking and placing device, and this embodiment will not be described in detail here.

[0099] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0100] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A cargo picking and placing device, characterized in that: include: A support frame, the support frame includes a first mounting hole and a second mounting hole that are not located in the same horizontal plane; the second mounting hole includes a first sub-mounting hole and a second sub-mounting hole that are interconnected, and the second sub-mounting hole faces the first side surface of the support frame; the second sub-mounting hole and the first side surface include a first intersection and a through surface, and the second mounting hole includes a guide surface; wherein the through surface is a portion where the second mounting hole intersects with the first side surface; and the guide surface is a portion of the inner surface of the second mounting hole; A transmission assembly, the transmission assembly comprising a driving wheel, a first driven wheel, and a first transmission belt connecting the driving wheel and the first driven wheel; the driving wheel is rotatably connected to the first mounting hole, and the first driven wheel is rotatably connected to the first sub-mounting hole; The distance between the first intersection and the center of the first mounting hole is the first distance, the distance between the second intersection of the guide surface and the first sub-mounting hole and the center of the first mounting hole is the second distance, the first distance is smaller than the second distance and the second distance is equal to the first preset distance; the first driven wheel is slidably installed into the first sub-mounting hole through the through surface.

2. The cargo picking and placing device according to claim 1, characterized in that: The guide surface further includes an end portion facing away from the first intersection, and the end portion of the guide surface facing away from the first intersection is higher than the first intersection, so that the guide surface is arranged to be inclined upward relative to the first intersection.

3. The cargo picking and placing device according to claim 2, characterized in that: The inner surface of the second mounting hole includes a first inner surface, an arc-shaped surface, and a second inner surface connected in sequence; The first inner surface is inclined upward relative to the first intersection, and the first inner surface constitutes the guide surface; the second inner surface is parallel to the direction in which the goods enter and exit the support frame, and is located above the first inner surface.

4. The cargo picking and placing device according to claim 2, characterized in that: The inner surface of the second mounting hole includes a first inner surface, a third inner surface, an arc surface and a second inner surface connected in sequence; the first inner surface is inclined upward relative to the direction in which the goods enter and exit the support frame, and the first inner surface constitutes the guide surface; The third inner surface and the second inner surface are parallel to the direction in which goods enter and exit the support frame, and the second inner surface is located directly above the third inner surface.

5. The cargo picking and placing device according to claim 4, characterized in that: The first inner surface and the third inner surface are smoothly transitioned.

6. The cargo picking and placing device according to claim 4 or 5, characterized in that: The first inner surface and the third inner surface have a third intersection, and the distance between the third intersection and the center of the first mounting hole is a third distance, the third distance is less than or equal to the second preset distance, and the third distance is greater than the second distance.

7. The cargo picking and placing device according to any one of claims 2 to 5, characterized in that: The angle between the guide surface and the direction in which the goods enter and exit the support frame ranges from 38° to 42°.

8. The cargo picking and placing device according to any one of claims 1 to 5, characterized in that: The support frame includes a first support frame, a second support frame and a connecting beam connecting the first support frame and the second support frame; the connecting beam includes a center line extending along the direction in which the goods enter and exit the support frame; The first support frame and the second support frame are spaced apart in a direction perpendicular to the direction in which goods enter and exit the support frame, and are symmetrically arranged relative to the center line; The first support frame and the second support frame are both provided with a first mounting hole and a second mounting hole.

9. The cargo picking and placing device according to any one of claims 1 to 5, characterized in that: The first driven wheel includes a coaxial first wheel body and a second wheel body, the first wheel body and the second wheel body are respectively arranged on both sides of the support frame, and the first wheel body is connected to the driving wheel through the first transmission belt.

10. The cargo picking and placing device according to claim 9, characterized in that: The transmission assembly further includes a second driven wheel and a second transmission belt; the second driven wheel is rotatably connected to the support frame and is arranged opposite to the first driven wheel; the second driven wheel is transmission-connected to the second wheel body through the second transmission belt; The second transmission belt is used to be movably connected to the cargo picking and placing assembly, so that when the second transmission belt moves, it drives the cargo picking and placing assembly to move relative to the support frame to pick up and place cargo.

11. A transport robot, characterized in that: A rack and a cargo picking and placing device as claimed in any one of claims 1 to 10; The cargo picking and placing device is slidably arranged on the frame.

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