Transfer robot

Abstract

The utility model provides a transfer robot. The transfer robot comprises a chassis assembly, a storage assembly and a transfer assembly. The transfer assembly is arranged on the chassis assembly, and the storage assembly is erected between the chassis assembly and the transfer assembly; the chassis assembly comprises a chassis and Mecanum wheels which are arranged at the four corners of the chassis and can be independently controlled in a rotating mode, and a suspension component is independently connected between each Mecanum wheel and the chassis. The transferring assembly comprises a lifting frame mechanism capable of achieving multi-stage stretching and retracting and a horizontal stretching and retracting mechanism arranged at the top of the lifting frame mechanism and capable of transversely moving, and a three-axis grabbing mechanism is arranged at the free end of the horizontal stretching and retracting mechanism and used for grabbing goods to take and place the goods in the storage assembly. And all driving devices in the horizontal telescopic mechanism and the lifting frame mechanism are arranged on the side away from the three-axis grabbing mechanism. According to the transfer robot, the phenomenon that the gravity center of the transfer robot is unstable due to the fact that the gravity center of the transfer robot changes too much can be avoided, and therefore good control precision and good transfer stability can be kept.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, relates to a transfer robot. Background Art

[0002] In the application of teaching or toy robots, such as in robot competitions, a handling robot is generally required to transfer target cargo. Due to the structural complexity and control difficulty of these handling robots, the handling module is generally located close to the side of the robot where the target cargo is to be grabbed. This causes the overall center of gravity of the handling robot to be biased to one side. During the rapid reciprocating movement of the handling module, especially during the grabbing and transfer of cargo, the center of gravity is easily unstable, causing the drive wheel on the side of the robot away from the target cargo to leave the ground, resulting in poor control accuracy and unstable movement of the robot. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a transfer robot to solve the technical problem of unstable center of gravity in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in the embodiment of the present application is to provide a transfer robot, which includes a chassis component, a storage component and a transfer component;

[0005] The transfer assembly is arranged on the chassis assembly, and the storage assembly is mounted between the chassis assembly and the transfer assembly;

[0006] The chassis assembly includes a chassis and Mecanum wheels disposed at four corners of the chassis and capable of independent rotation control, wherein each Mecanum wheel is independently connected to the chassis via a suspension member;

[0007] The transfer assembly includes a lifting frame mechanism that can be telescopically extended in multiple stages and a horizontal telescopic mechanism that is arranged on the top of the lifting frame mechanism and can move laterally. A three-axis grasping mechanism is arranged at the free end of the horizontal telescopic mechanism. The grasping mechanism is used to grasp the goods to be taken and placed in the storage assembly. The horizontal telescopic mechanism and each driving device in the lifting frame mechanism are arranged on a side away from the three-axis grasping mechanism.

[0008] Optionally, the swing axis direction of the suspension member around the chassis is parallel to the lateral movement direction of the horizontal telescopic mechanism.

[0009] Optionally, the suspension member comprises a swing arm assembly connecting the Mecanum wheel and the chassis and a damping assembly connecting the swing arm assembly and the chassis; the swing arm assembly comprises two swing arms respectively connecting two sides of the axle of the Mecanum wheel, and the damping assembly comprises two dampers, and the damping assembly is arranged between the two swing arms.

[0010] Optionally, the lifting frame mechanism comprises a first lifting frame, a second lifting frame and a first synchronous belt mechanism driving the two lifting frames to move; the first lifting frames are fixed and arranged in two groups on the chassis; the second lifting frame is in the shape of a portal frame; the storage assembly is arranged between the two first lifting frames; one of the first lifting frame and the second lifting frame is fixedly provided with a sliding rail, and the other is fixedly provided with a sliding block slidingly matched with the sliding rail.

[0011] Optionally, the horizontal telescopic mechanism comprises a first telescopic arm and a second telescopic arm connected by a sliding rail assembly, and a first driving assembly and a second driving assembly; the first driving assembly connects the first telescopic arm and the second telescopic arm, and the first driving assembly is a synchronous belt mechanism; the second driving assembly connects the first telescopic arm and the second lifting frame; the second driving assembly comprises a rack fixedly arranged on the first telescopic arm, a motor fixedly arranged on the second lifting frame and a gear fixedly arranged on the output shaft of the motor, the gear being in meshing transmission with the rack; the first telescopic arm is arranged on the second lifting frame in transverse sliding through the sliding rail assembly.

[0012] Optionally, the three-axis grabbing mechanism comprises an X-axis rotary table, a Y-axis rotary table connected with the X-axis rotary table and a Z-axis rotary table connected with the Y-axis rotary table, and a grabbing device is connected to the Z-axis rotary table.

[0013] Optionally, each rotary table comprises a rotary frame, a rotary table motor arranged on the rotary frame, a first gear connected with the rotary table motor and a second gear rotatably arranged on the rotary frame and in meshing transmission with the first gear, wherein the number of teeth of the first gear is less than the number of teeth of the second gear; the end face of the second gear is fixedly connected with the rotary frame of the next rotary table; and the grabbing device is fixedly connected to the end face of the second gear of the Z-axis rotary table.

[0014] Optionally, the chassis is formed by splicing aluminum square tubes into a cross-shaped structure, and at least two adjacent aluminum square tubes in the same extension direction are arranged in a staggered manner in height and in a coinciding manner in length.

[0015] The transfer robot provided by the embodiment has at least the following beneficial effects:

[0016] By setting each driving device of the horizontal telescopic mechanism and the lifting frame mechanism on the side far away from the three-axis grabbing mechanism, when the lifting frame is lifted and the horizontal telescopic mechanism is telescoped to transfer the goods, the change of the gravity center of the transfer robot can be controlled within a small range, so as to avoid the phenomenon of unstable gravity center caused by too large change of the gravity center of the transfer robot, thereby the control precision and the transfer stability can be kept better. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figures 1 to 3 The perspective view of the transfer robot from different angles in some embodiments of the present application;

[0019] Figure 4 The partial perspective view of the transfer robot in some embodiments of the present application;

[0020] Figure 5 The perspective view of the chassis assembly in some embodiments of the present application. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below with reference to the drawings and embodiments.

[0022] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element.

[0024] When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0026] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0027] In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0028] Please refer to Figures 1 to 5 , the transfer robot provided by the embodiments of the present application.

[0029] Reference Figures 1 to 5 The transfer robot described in the present application comprises a chassis assembly 100, a storage assembly 300 and a transfer assembly 200, wherein the transfer assembly 200 is arranged on the chassis assembly 100, the storage assembly 300 is arranged between the chassis assembly 100 and the transfer assembly 200, and the transfer assembly 200 is used to grab goods and place them on the storage assembly 300 or grab goods from the storage assembly 300 to transfer them away from the transfer robot.

[0030] Specifically, the chassis assembly 100 comprises a chassis 110 and Mecanum wheels 120 arranged at four corners of the chassis 110 and capable of being controlled to rotate individually, each Mecanum wheel 120 is individually connected with a driving motor on one side, and at the same time, in order to improve the passability of the transfer robot, each Mecanum wheel 120 is independently connected with a suspension member 130, and the aforementioned driving motor is fixedly arranged at the free end of the suspension member 130.

[0031] The transfer assembly 200 comprises a multi-stage telescopic lifting frame mechanism 210 and a horizontal telescopic mechanism 220 arranged at the top of the lifting frame mechanism 210 and capable of moving horizontally, and a three-axis grabbing mechanism 230 is arranged at the free end of the horizontal telescopic mechanism 220, which is used to grab goods to be placed on the storage assembly 300. It should be understood that the grabbing position of the three-axis grabbing mechanism 230 is defined as the front side of the transfer robot.

[0032] By realizing the lifting movement of the three-axis grabbing mechanism 230 by the lifting frame mechanism 210, in this way, the center of gravity position of the lifting frame mechanism 210 will not change during the lifting process of grabbing goods, so as to reduce the degree of center of gravity transfer of the transfer robot, thereby facilitating the stable control of the transfer robot.

[0033] Further, reference is made to Figures 1 to 4, the driving devices in the horizontal telescopic mechanism 220 and the lifting frame mechanism 210 are arranged on the side away from the three-axis grabbing mechanism 230, for example, the driving motor and other driving components with heavy weight. Since the three-axis grabbing mechanism 230 is arranged away from the driving devices, the counterweights in front of and behind the transfer robot can be as consistent as possible during the process of grabbing, lifting and / or horizontally moving the goods by the three-axis grabbing mechanism 230, so as to make the position of the center of gravity of the transfer robot before and after grabbing the goods change less, so as to ensure the fine control and stable movement of the transfer robot.

[0034] In some embodiments, with reference to Figure 5 , the swing axis direction of the suspension member 130 is parallel to the horizontal telescopic mechanism 220, that is, the swing axis direction of the suspension member 130 is parallel to the length direction of the transfer robot. In this way, the arrangement of the suspension member 130 can avoid the space on the chassis 110 on the opposite inner side of each Mecanum wheel 120 from being invaded too much, so as to ensure that more space can be left on the chassis 110 for assembling functional components such as control modules.

[0035] With reference to Figure 5 In further embodiments, the suspension member 130 includes a swing arm assembly connecting the Mecanum wheel 120 and the chassis 110 and a damping assembly connecting the swing arm assembly and the chassis 110; the swing arm assembly includes two swing arms 131 respectively connecting the two sides of the axle of the Mecanum wheel 120, and the damping assembly includes two shock absorbers 132, which are arranged between the two swing arms 131. Among them, the pre-pressures of the shock absorbers 132 on the front side of the transfer robot are greater than those on the rear side of the transfer robot, so that the phenomenon of the transfer robot tilting forward due to the sudden increase in weight in front of the transfer robot when grabbing the goods can be avoided to some extent, which is beneficial to the stable control of the transfer robot.

[0036] With reference to Figures 1 to 4 In some embodiments, the lifting frame mechanism 210 includes a first lifting frame 211, a second lifting frame 212, and a first synchronous belt mechanism 213 driving the movement of the second lifting frame 212, one of the first lifting frame 211 and the second lifting frame 212 is fixedly provided with a sliding rail, and the other is fixedly provided with a sliding block slidingly matched with the sliding rail. Among them, each pulley of the first synchronous belt mechanism 213 is rotatably arranged on the first lifting frame 211, and the synchronous belt on the first synchronous belt mechanism 213 is fixedly connected with the sliding block to drive the second lifting frame 212 to lift relative to the first lifting frame 211.

[0037] The first lifting frame 211 is fixed and spaced apart on the chassis 110, and the second lifting frame 212 is in a gantry shape. The second lifting frame 212 is arranged in a gantry shape, so that a position space for accommodating the storage assembly 300 can be formed between the bottom of the second lifting frame 212 and the chassis 110. The storage assembly 300 can be arranged between the two first lifting frames 211, so that the gravity center of the transfer robot can be as close to the center of the chassis 110 as possible, thereby facilitating accurate control and stable movement of the transfer robot, and the pressure of each suspension member 130 on the left and right sides of the transfer robot can be consistent.

[0038] Reference Figures 1 to 4 In some embodiments, the horizontal telescopic mechanism 220 includes a first telescopic arm 221 and a second telescopic arm 222 connected by a slide rail assembly, and a first driving assembly 221 and a second driving assembly 224.

[0039] The first driving assembly 221 is connected to the first telescopic arm 221 and the second telescopic arm 222, and is a synchronous belt mechanism. Specifically, the second telescopic arm 222 is inserted into the first telescopic arm 221, and a guide rail slider assembly 225 is connected between the opposite inner side walls of the first telescopic arm 221 and the opposite outer side walls of the second telescopic arm 222. In this way, the first telescopic arm 221 and the second telescopic arm 222 can slide more smoothly, and the occurrence of jamming can be avoided, thereby reducing the shaking of the transfer robot when picking and placing goods in a high gravity state.

[0040] The second driving assembly 224 is connected to the first telescopic arm 221 and the second lifting frame 212, and is arranged on the horizontal telescopic mechanism 220 away from the three-axis grabbing mechanism 230 (i.e., close to the rear of the transfer robot). The second driving assembly 224 includes a rack 2241 fixedly arranged on the first telescopic arm 221, a motor 2242 fixedly arranged on the second lifting frame 212, and a gear 2243 fixedly arranged on the output shaft of the motor 2242. The gear 2241 is engaged with the rack 2243 for transmission. The first telescopic arm 221 is arranged on the second lifting frame 212 in a transverse sliding manner through the slide rail assembly 226. In this way, by fixing the motor 2242 on the second lifting frame 212, the gravity center of the second driving assembly 224 will not shift greatly during the horizontal movement of the horizontal telescopic mechanism 220.

[0041] Further, with reference to Figure 3 and Figure 4 A guide rail slider assembly 226 is connected between the first telescopic arm 221 and the second lifting frame 212, and between the rack and the first telescopic arm 221. In this way, the horizontal movement of the horizontal telescopic mechanism 220 can be more smooth, thereby reducing the shaking of the transfer robot.

[0042] In some embodiments, referring to Figure 4 The three-axis grabbing mechanism 230 includes an X-axis turntable 231, a Y-axis turntable 232 connected with the X-axis turntable 231, and a Z-axis turntable 233 connected with the Y-axis turntable 232, and a grabbing device 234 is connected on the Z-axis turntable 233.

[0043] Specifically, the X-axis turntable 231, the Y-axis turntable 232 and the Z-axis turntable 233 each include a rotating frame 2301, a turntable motor 2302 arranged on the rotating frame 2301, a primary gear 2303 connected with the turntable motor 2302, and a secondary gear 2304 rotatably arranged on the rotating frame 2301 and meshed with the primary gear 2303. The number of teeth of the primary gear 2303 is less than the number of teeth of the secondary gear 2304; the end surface of the secondary gear 2304 is fixedly connected with the rotating frame 2301 of the next stage turntable. By arranging the primary gear 2303 and the secondary gear 2304, the torque of the turntable motor 2302 can be amplified, so that the torque required in the process of transferring goods can be met while the torque demand of the turntable motor 2302 is reduced as much as possible, so that a turntable motor 2302 with smaller volume and mass can be selected, thereby reducing the mass distribution of the front side of the transfer robot, thereby facilitating the stability of the center of gravity of the transfer robot.

[0044] It should be understood that, since the X-axis turntable 231 loads the rotation of the Z-axis turntable 233 and the Y-axis turntable 232, the driving load is large, in order to improve the stability of the rotating frame 2301 of the X-axis turntable 231 and avoid bending deformation of the rotating frame 2301 due to the large driving load, one side of the rotating frame 2301 on the X-axis turntable 231 is fixedly connected with the end surface of the aforementioned secondary gear 2304, and the other side of the rotating frame 2301 is fixedly connected with the rotating shaft connected with the secondary gear 2304, that is, both sides of the rotating frame 2301 are fixedly connected.

[0045] Further, referring to Figure 4 The aforementioned grabbing device 234 is connected to the end surface of the secondary gear 2304 of the Z-axis turntable 233, and includes a steering engine 2341 fixedly arranged opposite to the secondary gear 2304 and a suction cup 2342 fixedly connected with the output end of the steering engine 2341, wherein the axis direction of the output shaft of the steering engine 2341 is parallel to the X-axis direction.

[0046] Referring to Figure 5 In some embodiments, the chassis 110 is formed by splicing aluminum square tubes into a cross-shaped structure, so that the chassis 110 is structurally firm and has good stability under load conditions, thereby facilitating the precise control of the transfer robot.

[0047] Further, the two adjacent aluminum square tubes 111 in the same extension direction are arranged in a staggered manner in height and in a coincident manner in length. Specifically, the two adjacent aluminum square tubes 111 are fixedly connected by the L-shaped plate 112 to ensure the connection strength of the two adjacent aluminum square tubes 111, thereby improving the structural rigidity of the chassis 110.

[0048] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transfer robot characterized by, The storage and transportation system comprises a chassis assembly, a storage assembly and a transportation assembly; The transportation assembly is arranged on the chassis assembly, and the storage assembly is arranged between the chassis assembly and the transportation assembly; The chassis assembly comprises a chassis and Mecanum wheels arranged at four corners of the chassis and capable of being controlled to rotate independently, and a suspension member is independently connected between each of the Mecanum wheels and the chassis; The transportation assembly comprises a multi-stage telescopic lifting frame mechanism and a horizontal telescopic mechanism arranged on the top of the lifting frame mechanism and capable of moving laterally, a three-axis grabbing mechanism is arranged at a free end of the horizontal telescopic mechanism, the grabbing mechanism is used for grabbing goods to be placed on or taken from the storage assembly, and each driving device in the horizontal telescopic mechanism and the lifting frame mechanism is arranged on a side away from the three-axis grabbing mechanism.

2. The transfer robot of claim 1, wherein: The suspension member is parallel to the lateral movement direction of the horizontal telescopic mechanism in the direction of the swing axis of the chassis.

3. The transfer robot of claim 2, wherein: The suspension member comprises a swing arm assembly connecting the Mecanum wheels and the chassis and a damping assembly connecting the swing arm assembly and the chassis; the swing arm assembly comprises two swing arms respectively connected to two sides of an axle of the Mecanum wheel, and the damping assembly comprises two dampers, and the damping assembly is arranged between the two swing arms.

4. The transfer robot according to any one of claims 1 to 3, characterized in that: The lifting frame mechanism comprises a first-stage lifting frame, a second-stage lifting frame and a first synchronous belt mechanism driving the two-stage lifting frame to move; the first-stage lifting frame is fixed and arranged in two groups on the chassis at intervals, the second-stage lifting frame is in the shape of a portal frame, and the storage assembly is arranged between the two first-stage lifting frames; a slide rail is fixedly arranged on one of the first-stage lifting frame and the second-stage lifting frame, and a slide block that is in sliding cooperation with the slide rail is fixedly arranged on the other one.

5. The transfer robot of claim 4, wherein: The horizontal telescopic mechanism comprises a first-stage telescopic arm and a second-stage telescopic arm connected through a slide rail assembly, and a first driving assembly and a second driving assembly; the first driving assembly connects the first-stage telescopic arm and the second-stage telescopic arm, and the first driving assembly is a synchronous belt mechanism; the second driving assembly connects the first-stage telescopic arm and the second-stage lifting frame; the second driving assembly comprises a rack fixedly arranged on the first-stage telescopic arm, a motor fixedly arranged on the second-stage lifting frame and a gear fixedly arranged on an output shaft of the motor, the gear is in meshing transmission with the rack, and the first-stage telescopic arm is arranged on the second-stage lifting frame in lateral sliding through the slide rail assembly.

6. The transfer robot of any one of claims 1 to 3, wherein: The three-axis grabbing mechanism comprises an X-axis rotary table, a Y-axis rotary table connected with the X-axis rotary table and a Z-axis rotary table connected with the Y-axis rotary table, and a grabbing device is connected to the Z-axis rotary table.

7. The transfer robot of claim 6, wherein: Each rotary table comprises a rotary frame, a rotary table motor arranged on the rotary frame, a first-stage gear connected with the rotary table motor and a second-stage gear arranged in rotation on the rotary frame and in meshing transmission with the first-stage gear, wherein the number of teeth of the first-stage gear is less than the number of teeth of the second-stage gear; an end surface of the second-stage gear is fixedly connected with the rotary frame of the next-stage rotary table; and the grabbing device is fixedly connected to the end surface of the second-stage gear of the Z-axis rotary table.

8. The transfer robot of any one of claims 1 to 3, wherein: The chassis is formed by a cross structure of spliced aluminum square tubes, and at least two adjacent aluminum square tubes in the same extension direction are arranged in a staggered manner in height and in a coincident manner in length.

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