Transfer robot and sorting system

Abstract

The utility model relates to the technical field of warehouse logistics, and discloses a transfer robot and a sorting system. The first traveling wheel and the second transition wheel are fixed on the base; the second traveling wheel and the first transition wheel are mounted on the base in a lifting manner; a second transmission belt; comprising a second driving wheel and is used for driving the first walking wheel to move in the first direction and driving the second walking wheel to move in the second direction; the reversing mechanism is used for driving the second walking wheel and the first transition wheel to synchronously ascend and descend, and the second walking wheel ascends and descends to enable the first walking wheel and the second walking wheel to alternately make contact with the walking platform and drive the base to move on the walking platform in the first direction or the second direction; and the vertical distance between the first transition wheel and the second transition wheel is increased to tension the second transmission belt. The first walking wheel and the second walking wheel alternately make contact with the walking platform and stably walk on the walking platform.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of warehouse logistics, in particular to a carrying robot and a sorting system. BACKGROUND

[0002] Logistics sorting is an important link in logistics warehousing and distribution. Ensuring continuous and efficient sorting work can improve the overall efficiency of goods out of the warehouse. In a sorting system, a carrying robot walks on a walking platform, and delivers the received goods to a storage container below the walking platform to realize efficient sorting of goods.

[0003] Since the carrying robot needs to realize bidirectional walking in the transverse and longitudinal directions on the walking platform, how to drive the transverse walking wheels and the longitudinal walking wheels of the carrying robot to walk on the walking platform while enabling the transverse walking wheels and the longitudinal walking wheels to alternately contact the walking platform and stably walk on the walking platform is a problem to be solved at present. SUMMARY

[0004] In view of the above problems, embodiments of the present application provide a carrying robot and a sorting system to solve the problem of enabling the transverse walking wheels and the longitudinal walking wheels to alternately contact the walking platform and stably walk on the walking platform.

[0005] According to a first aspect of embodiments of the present application, a carrying robot is provided, comprising: a base; a first walking device comprising a first walking wheel mounted on the base; a second walking device comprising a second walking wheel, a first transition wheel, a second transition wheel, a second transmission belt and a reversing mechanism, the second walking wheel and the first transition wheel being liftable mounted on the base, and the second transition wheel being fixedly mounted on the base; and a first driving device mounted on the base, the first driving device being configured to drive the first walking wheel to move in a first direction and drive the second walking wheel to move in a second direction, the first driving device comprising a second driving wheel; wherein, in a vertical direction, the second driving wheel, the first transition wheel, the second transition wheel and the second walking wheel are arranged from high to low in height, and the second transmission belt is arranged to pass the second driving wheel, the second walking wheel, the first transition wheel and the second transition wheel in sequence; the reversing mechanism is configured to lift the second walking wheel and the first transition wheel synchronously, wherein the lifting of the second walking wheel causes the first walking wheel and the second walking wheel to alternately contact the walking platform and drive the base to move on the walking platform in the first direction or the second direction, and when the second walking wheel and the first transition wheel are lifted, the vertical distance between the first transition wheel and the second transition wheel increases to tension the second transmission belt.

[0006] The first walking wheel and the second walking wheel share the same first driving device in the carrying robot, and the walking driving of the first walking wheel and the second walking wheel is realized through the first driving device, so that the driving structure of the carrying robot is simplified, and the cost is reduced. The second walking wheel of the first walking wheel and the second walking wheel is a lifting walking wheel, and in the belt transmission system for driving the second walking wheel to walk, the second driving wheel of the first driving device and the second walking wheel are provided with a first transition wheel and a second transition wheel, wherein the first transition wheel and the second walking wheel are synchronous lifting, and the second transition wheel is fixed. When the second transmission belt passes through the second driving wheel, the second walking wheel, the first transition wheel and the second transition wheel in turn, when the distance between the second walking wheel and the second driving wheel is reduced, the distance between the first transition wheel and the second transition wheel is increased by the same distance, so that the transmission belt in the belt transmission system is always kept in tension state, avoiding the transmission belt from falling off, so as to realize the first walking wheel and the second walking wheel alternating contact with the walking platform and stably walking on the walking platform.

[0007] In some embodiments, the reversing mechanism comprises: a second driving device for outputting rotary motion; and a rotary-linear motion conversion mechanism for converting the rotary motion into linear motion along the vertical direction to drive the second walking wheel and the first transition wheel to lift synchronously.

[0008] In some embodiments, the second driving device comprises a second motor; the rotary-linear motion conversion mechanism comprises an eccentric wheel and a lifting rod, the eccentric wheel is fixedly connected with the output shaft of the second motor, an eccentric shaft is arranged on the eccentric wheel at a position deviating from the central axis, and a hole slot is formed in the lifting rod, and the eccentric shaft is at least partially arranged in the hole slot; when the second motor drives the eccentric wheel to rotate around the central axis of the eccentric wheel and drives the eccentric shaft to rotate, the eccentric shaft is limited to move in the hole slot to drive the lifting rod to lift.

[0009] In some embodiments, the hole slot is arranged at the top end of the lifting rod and is horizontally arranged.

[0010] In some embodiments, the second walking device further comprises a mounting frame, the mounting frame is liftable mounted on the base, the second walking wheel and the first transition wheel are fixed on the mounting frame, and the mounting frame is fixedly connected with the lifting rod.

[0011] In some embodiments, a guide hole is formed in the mounting frame along the vertical direction, a guide shaft is arranged on the base along the vertical direction, the mounting frame is sleeved on the guide shaft through the guide hole, and the lifting rod drives the mounting frame to slide up and down along the guide shaft.

[0012] In some embodiments, the first driving device comprises a first motor, a first transmission shaft, a second transmission shaft and a bevel gear transmission mechanism, the first transmission shaft and the second transmission shaft are arranged perpendicularly; wherein the first motor is configured to drive one of the first transmission shaft and the second transmission shaft to rotate, and the bevel gear transmission mechanism is configured to transmit the rotation of one of the first transmission shaft and the second transmission shaft to the other one of the first transmission shaft and the second transmission shaft.

[0013] In some embodiments, the first driving device further comprises a first driving wheel, the first driving wheel is fixedly sleeved on the first transmission shaft, and the first driving wheel is vertically offset from the first walking wheel; the first walking device further comprises a third transition wheel, a fourth transition wheel and a first transmission belt, the third transition wheel corresponds to the position of the first walking wheel in the vertical direction and corresponds to the height of the first driving wheel, the fourth transition wheel is located between the first driving wheel and the first walking wheel in the vertical direction and is located between the third transition wheel and the first driving wheel in the first direction; the first transmission belt is arranged to pass the first driving wheel, the third transition wheel, the first walking wheel and the fourth transition wheel in sequence.

[0014] In some embodiments, the walking platform is provided with a downward opening, the carrying robot further comprises a carrier and a lifting device, the lifting device is arranged on the base, and the carrier is connected with the lifting device; the carrier is configured to receive and deliver goods, and the lifting device is configured to drive the carrier to lift in the downward opening.

[0015] In some embodiments, the lifting device comprises a third motor, a reel and a belt, a first end of the belt is fixed to the reel, and a second end of the belt is fixed to the carrier; the third motor is configured to drive the reel to rotate forward or reverse, so that the reel winds or unwinds the belt to drive the carrier to lift.

[0016] In some embodiments, the reel comprises a first winding part and a second winding part arranged adjacently, the belt comprises a first belt and a second belt, the lifting device further comprises a fifth transition wheel arranged on the base, and the fifth transition wheel corresponds to the height of the second winding part; a first end of the first belt is fixed to the first winding part, a second end of the first belt is fixed to a first corner of the carrier, a first end of the second belt is fixed to the second winding part, and a second end of the second belt is fixed to a second corner of the carrier by passing the fifth transition wheel, and the second corner of the carrier corresponds to the position of the fifth transition wheel in the vertical direction.

[0017] In some embodiments, the main body of the carrier is rectangular in cross section, the reel, the tape and the fifth transition wheel constitute a winding group, the transfer robot comprises two winding groups, and each winding group is used to drive two corners of the carrier to lift respectively.

[0018] In some embodiments, the transfer robot further comprises a control module, the control module is located on the top of the base, and the wires of the control module are led out from the first side of the control module, which is reversibly connected with the base.

[0019] In some embodiments, a hole through the vertical direction is formed in the middle of the control module.

[0020] According to a second aspect of the embodiments of the present application, a transfer robot is provided, which comprises the transfer robot according to any one of the above embodiments.

[0021] The above description is only a summary of the technical solutions of the present application. In order to enable the technical means of the present application to be implemented more clearly according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more apparent and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings refer to the same or similar components. In the drawings:

[0023] Figure 1 A structural schematic diagram of the transfer robot according to the embodiments of the present application is shown;

[0024] Figure 2 Another angle of the structural schematic diagram of the transfer robot according to the embodiments of the present application is shown;

[0025] Figure 3 A side view structural schematic diagram of the transfer robot according to the embodiments of the present application is shown;

[0026] Figure 4 Another side view structural schematic diagram of the transfer robot according to the embodiments of the present application is shown;

[0027] Figure 5 A partial structural schematic diagram of the transfer robot according to the embodiments of the present application is shown;

[0028] Figure 6A A structural schematic diagram of the transfer robot according to the embodiments of the present application is shown, in which the reversing mechanism is in the retracted state;

[0029] Figure 6B A structure schematic view showing the reversing mechanism of the carrying robot of the embodiment of the application in the extended state is shown;

[0030] Figure 7 A state schematic view showing the carrying robot of the embodiment of the application after the carrier is lowered is shown;

[0031] Figure 8 A structure schematic view showing the carrying robot of the embodiment of the application when the control module is in the flipped open state is shown;

[0032] Figure 9 A structure schematic view showing the carrying robot of the embodiment of the application from another angle when the control module is in the flipped open state is shown.

[0033] The reference numerals in the detailed description are as follows:

[0034] 100, carrying robot;

[0035] 10, base; 11, guide shaft;

[0036] 20, first walking device; 21, first walking wheel; 211, first driving wheel; 212, first driven wheel; 22, third transition wheel; 23, fourth transition wheel; 24, first transmission belt;

[0037] 30, second walking device; 31, second walking wheel; 311, second driving wheel; 312, second driven wheel; 32, first transition wheel; 33, second transition wheel; 34, second transmission belt; 35, reversing mechanism; 351, second motor; 352, eccentric wheel; 3521, eccentric shaft; 353, lifting rod; 3531, hole slot; 36, mounting frame; 361, guide hole;

[0038] 40, first driving device; 41, first motor; 42, first transmission shaft; 43, second transmission shaft; 44, bevel gear transmission mechanism; 441, first bevel gear; 442, second bevel gear; 45, first driving wheel; 46, second driving wheel;

[0039] 50, carrier;

[0040] 60, lifting device; 61, third motor; 62, reel; 621, first winding part; 622, second winding part; 63, winding belt; 631, first winding belt; 632, second winding belt; 64, fifth transition wheel;

[0041] 70, control module; 71, first side of the control module; 72, hole. DETAILED DESCRIPTION

[0042] The embodiments of the present application will be described in detail below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot be used to limit the protection scope of the present application.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the present specification and claims and the aforementioned description of the drawings, the terms "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion.

[0044] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0045] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0046] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two).

[0047] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. The orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0048] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "linking", "fixing" and other terms should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] Order sorting is an important link in the warehouse logistics link. With the development of consumer-oriented e-commerce (referred to as 2C e-commerce), the demand for the number of sorting slots increases and the number of slots is required to be dynamically changed, and the sorting system is required to meet the sorting demand of large slot number and flexible configuration. In the sowing wall robot sorting system, a plurality of storage positions are arranged on the sowing wall, and the carrying robot sequentially "sows" goods to the storage positions corresponding to different orders according to the order demand, and finally the goods are taken out from the sowing wall according to the order by the operator or the carrying robot, completing the entire sorting process. The sowing wall is two-dimensionally distributed and can be expanded in the third dimension to multiple sowing walls (equivalent to three-dimensionally distributed), so as to meet the sorting demand of large slot number and flexible configuration.

[0050] With the increasing requirement of warehouse logistics on sorting efficiency, how to improve the sorting efficiency of the sowing wall robot sorting system becomes a problem to be solved. In a sorting system, a robot walking platform is erected, and a storage rack is arranged in the space below the walking platform. A plurality of down ports are formed on the walking platform, and the positions of the down ports correspond to the lanes beside the storage racks. The carrier of the carrying robot walking on the walking platform can pass through the down ports and put the goods into the storage racks. The walking platform can simultaneously accommodate multiple carrying robots to walk thereon and put the goods, and the down ports will not interfere with the walking path of the carrying robots, so that the sorting efficiency is high. The sorting system only needs to use one kind of carrying robot, avoiding the additional waiting time loss caused by robot relay when multiple robots are arranged. The carrying robot is not bound to the down port, the system configuration is flexible, and the scheduling efficiency is high.

[0051] In the above sorting system, the carrying robot is a bidirectional walking device, which has two groups of walking wheels capable of walking in a first direction and a second direction respectively, wherein the first direction and the second direction are perpendicular, so that the carrying robot can walk in a transverse direction and a longitudinal direction on the walking platform. Taking the first direction as the transverse direction and the second direction as the longitudinal direction as an example, when the transverse walking wheels walk, the longitudinal walking wheels need to be in a state of leaving the ground, otherwise the normal walking of the transverse walking wheels will be affected, so the longitudinal walking wheels need to be lifted from the walking platform to make the longitudinal walking wheels not contact the walking platform. When the longitudinal walking wheels walk, the transverse walking wheels also need to be lifted from the walking platform to make the transverse walking wheels not contact the walking platform. Therefore, how to drive the transverse walking wheels and the longitudinal walking wheels to walk on the walking platform while enabling the transverse walking wheels and the longitudinal walking wheels to alternately contact the walking platform and stably walk on the walking platform is a problem to be solved.

[0052] To solve the above technical problem, the embodiment of the present application provides a carrying robot, the transverse walking wheels and the longitudinal walking wheels share the same walking driving device, which simplifies the driving structure of the carrying robot and reduces the cost. One of the transverse walking wheels and the longitudinal walking wheels is a liftable walking wheel, in a belt driving system for driving the liftable walking wheel to walk, two transition wheels are arranged between the driving wheel of the walking driving device and the liftable walking wheel, one of the transition wheels and the liftable walking wheel are synchronously lifted, so that the transmission belt in the belt driving system is always kept in a tensioned state to avoid the transmission belt from falling off, thereby realizing that the transverse walking wheels and the longitudinal walking wheels alternately contact the walking platform and stably walk on the walking platform.

[0053] In the following, some embodiments of the present application are described in detail with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict between the embodiments.

[0054] For the convenience of description, XYZ coordinate axes are defined in the embodiments of the present application, the X axis, the Y axis and the Z axis are used to indicate the X direction, the Y direction and the Z direction respectively. The X direction includes the positive direction of the X axis and the negative direction of the X axis, the Y direction includes the positive direction of the Y axis and the negative direction of the Y axis, and the Z direction includes the positive direction of the Z axis and the negative direction of the Z axis.

[0055] Figure 1 The structure schematic diagram of the carrying robot of the embodiment of the present application is shown, Figure 2 The structure schematic diagram of the carrying robot of the embodiment of the present application is shown. Please refer to Figure 1 and Figure 2 The carrying robot 100 includes a base 10, a first walking device 20, a second walking device 30 and a first driving device 40.

[0056] The first walking device 20 comprises a first walking wheel 21, and the second walking device 30 comprises a second walking wheel 31. The first walking wheel 21, the second walking wheel 31 and the first driving device 40 are all mounted on the base 10. The first driving device 40 is used to drive the first walking wheel 21 to move in a first direction (i.e. X direction), and to drive the second walking wheel 31 to move in a second direction (i.e. Y direction).

[0057] As shown in the figure, the first walking wheel 21 comprises a pair of first driving wheels 211 and a pair of first driven wheels 212. The pair of first driving wheels 211 are mounted on the same side of the base 10 in the X direction. The first driving device 40 drives the first driving wheels 211 to move, and the first driving wheels 211 drive the first driven wheels 212 to move synchronously. Similarly to the first walking wheel 21, the second walking wheel 31 comprises a pair of second driving wheels 311 and a pair of second driven wheels 312. The pair of second driving wheels 311 are mounted on the same side of the base 10 in the Y direction. The first driving device 40 drives the second driving wheels 311 to move, and the second driving wheels 311 drive the second driven wheels 312 to move synchronously.

[0058] The first driving device 40 comprises a first motor 41, a first transmission shaft 42, a second transmission shaft 43 and a bevel gear transmission mechanism 44. The first transmission shaft 42 and the second transmission shaft 43 are arranged perpendicularly. The output shaft of the first motor 41 is connected with the second transmission shaft 43 through a belt transmission assembly. The bevel gear transmission mechanism 44 comprises a first bevel gear 441 and a second bevel gear 442. The first bevel gear 441 and the second bevel gear 442 are engaged with each other. The second bevel gear 442 is fixedly sleeved on the second transmission shaft 43. The first bevel gear 441 is connected with the first transmission shaft 42 through a transmission assembly. The first motor 41 drives the second transmission shaft 43 to rotate, drives the second bevel gear 442 to rotate, drives the first bevel gear 441 to rotate, and drives the first transmission shaft 42 to rotate. Through one motor, the movement of the transfer robot 100 in two directions of the X direction and the Y direction is driven, which simplifies the system design, saves space, reduces the cost and reduces the energy consumption of the transfer robot 100.

[0059] In another embodiment, the first motor 41 can also drive the first transmission shaft 42 to rotate, and the rotation of the first transmission shaft 42 is transmitted to the second transmission shaft 43 through the bevel gear transmission mechanism 44.

[0060] In addition to being fixedly sleeved on the first transmission shaft 42 or the second transmission shaft 43, the output shaft of the first motor 41 can also be connected with the first transmission shaft 42 or the second transmission shaft 43 through a transmission assembly, so as to transmit the rotation output by the first motor 41 to the first transmission shaft 42 or the second transmission shaft 43, and drive the first transmission shaft 42 or the second transmission shaft 43 to rotate.

[0061] Figure 3 A side view structural schematic diagram of the carrying robot is shown. As Figure 3 shown, and please refer to Figure 1 The first driving device 40 further comprises a first driving wheel 45 fixedly sleeved on the end of the first transmission shaft 42. The first walking device 20 further comprises a third transition wheel 22, a fourth transition wheel 23 and a first transmission belt 24. The first driving wheel 45 is offset from the first driving wheel 45 in the vertical direction (i.e. the Z direction), the third transition wheel 22 is vertically aligned with the position of the first driving wheel 45 (i.e. aligned), the height corresponds to the height of the first driving wheel 45, and the fourth transition wheel 23 is vertically located between the first driving wheel 45 and the first driving wheel 211, and is located between the third transition wheel 22 and the first driving wheel 45 in the X direction. The first transmission belt 24 passes through the first driving wheel 45, the third transition wheel 22, the first driving wheel 211 and the fourth transition wheel 23 in turn. The first transmission shaft 42 rotates to drive the first driving wheel 45 to rotate, and drives the first driving wheel 211 to rotate through the first transmission belt 24, thereby driving the carrying robot 100 to move in the X direction.

[0062] In the embodiment of the present application, the carrying robot 100 is provided with a pair of first driving wheels 211, and for each first driving wheel 211, a corresponding first driving wheel 45, a third transition wheel 22, a fourth transition wheel 23 and a first transmission belt 24 are provided to drive the rotation of each first driving wheel 211.

[0063] Figure 3 In the specific embodiment shown, in order to avoid interference with other structures, the first driving wheel 45 is arranged to be offset from the first driving wheel 211 in the vertical direction. Therefore, by arranging the third transition wheel 22 and the fourth transition wheel 23, the first transmission belt 24 used to link the first driving wheel 45 and the first driving wheel 211 is kept horizontally and vertically arranged, ensuring good contact between the first transmission belt 24 and each wheel, thereby improving the transmission efficiency. In addition, the horizontal and vertical arrangement of the first transmission belt 24 also facilitates proper tensioning of the first transmission belt 24, maintains constant tension, and prolongs the service life of the first transmission belt 24.

[0064] Figure 4 Another side view structural schematic diagram of the carrying robot is shown. As Figure 4 shown, and please refer to Figure 1The first driving device 40 further comprises a second driving wheel 46 fixedly sleeved on the end of the second transmission shaft 43. The second walking device 30 further comprises a second transmission belt 34. The second transmission belt 34 connects the second driving wheel 46 and the second driving wheel 311. The second transmission shaft 43 rotates to drive the second driving wheel 46 to rotate, and the second driving wheel 311 is driven to rotate through the second transmission belt 34, thereby driving the carrying robot 100 to move along the Y direction.

[0065] As shown in Figure 1 and Figure 2 , in order to realize that the first walking wheel 21 and the second walking wheel 31 alternately contact the walking platform, the second walking device 30 further comprises a first transition wheel 32, a second transition wheel 33 and a reversing mechanism 35. The second walking wheel 31 (including the second driving wheel 311 and the second driven wheel 312) and the first transition wheel 32 are liftably installed on the base 10, and the second transition wheel 33 is fixedly installed on the base 10. Vertically, the heights of the second driving wheel 46, the first transition wheel 32, the second transition wheel 33 and the second driving wheel 311 are arranged from high to low (see Figure 4 ), and the second transmission belt 34 passes the second driving wheel 46, the second driving wheel 311, the first transition wheel 32 and the second transition wheel 33 in sequence. The reversing mechanism 35 is used to drive the second walking wheel 31 and the first transition wheel 32 to synchronously lift. The lifting of the second walking wheel 31 makes the first walking wheel 21 and the second walking wheel 31 alternately contact the walking platform. When the second walking wheel 31 is in the retracted state, the first walking wheel 21 contacts the walking platform, and the first walking wheel 21 rotates to drive the base 10 to move along the X direction on the walking platform; when the second walking wheel 31 is in the extended state, the second walking wheel 31 contacts the walking platform, and the second walking wheel 31 rotates to drive the base 10 to move along the Y direction on the walking platform.

[0066] Since the position of the second driving wheel 46 is fixed, the position of the second driving wheel 311 is telescopic, and the two are connected through the belt transmission. When the second driving wheel 311 is retracted, the distance between the second driving wheel 311 and the second driving wheel 46 is reduced, and the second transmission belt 34 is loose or even at risk of falling off. Based on this, by setting the first transition wheel 32 and the second transition wheel 33, and lifting the second walking wheel 31 and the first transition wheel 32 on the base 10, the second transition wheel 33 is fixedly installed on the base 10, and the second walking wheel 31 and the first transition wheel 32 are driven to rise or fall through the reversing mechanism 35, while the position of the second transition wheel 33 is fixed. Further, by setting the position of the first transition wheel 32 higher than the position of the second transition wheel 33, when the second driving wheel 311 and the first transition wheel 32 are raised, although the vertical distance between the second driving wheel 46 and the second driving wheel 311 is reduced, the vertical distance between the first transition wheel 32 and the second transition wheel 33 will increase, thereby compensating for the reduction in the vertical distance between the second driving wheel 46 and the second driving wheel 311, and maintaining the tension of the second transmission belt 34.

[0067] Specifically, when the second walking wheel 31 is converted from the extended state to the retracted state, the distance between the second driving wheel 311 and the second driving wheel 46 is shortened, and the second transmission belt 34 between the two will have an extra length L. At the same time, the distance between the second transition wheel 33 and the first transition wheel 32 will increase by L, and the length of the second transmission belt 34 between the two will be short by L. The extra length L of the second transmission belt 34 between the second driving wheel 311 and the second driving wheel 46 and the short length L of the second transmission belt 34 between the second transition wheel 33 and the first transition wheel 32 offset each other, and the required length of the second transmission belt 34 remains unchanged, that is, whether the second driving wheel 311 is in the extended state or the retracted state, the second transmission belt 34 will always remain in a tensioned state.

[0068] In the embodiment of the application, the carrying robot 100 is provided with a pair of second driving wheels 311, and for each second driving wheel 311, a second driving wheel 46, a first transition wheel 32, a second transition wheel 33 and a second transmission belt 34 corresponding thereto are arranged to drive the rotation of each second driving wheel 311. Similarly, for each second driving wheel 311, a reversing mechanism 35 corresponding thereto is also arranged to drive the lifting of the second driving wheel 311.

[0069] The reversing mechanism 35 of the embodiment of the application will be described in detail below. The reversing mechanism 35 includes a second driving device and a rotary linear motion conversion mechanism, wherein the second driving device is used to output rotary motion, and the rotary linear motion conversion mechanism is used to convert the rotary motion output by the second driving device into vertical linear motion to drive the second walking wheel 31 and the first transition wheel 32 to rise and fall synchronously.

[0070] Figure 5 A partial structure schematic diagram of a carrying robot is shown. As shown in the specific embodiment shown in the figure, Figure 1 , Figure 2 and Figure 5 , the reversing mechanism 35 includes a second motor 351, an eccentric wheel 352 and a lifting rod 353. The eccentric wheel 352 is fixedly connected with the output shaft of the second motor 351. An eccentric shaft 3521 is arranged at a position deviating from the center axis of the eccentric wheel 352, and a hole slot 3531 is arranged on the lifting rod 353, and the eccentric shaft 3521 is at least partially arranged in the hole slot 3531. When the second motor 351 drives the eccentric wheel 352 to rotate around the center axis of the eccentric wheel 352 and drives the eccentric shaft 3521 to rotate, the eccentric shaft 3521 is restricted to move in the hole slot 3531 to drive the lifting rod 353 to lift. The lifting of the lifting rod 353 drives the second walking wheel 31 and the first transition wheel 32 to lift synchronously.

[0071] Specifically, the second walking device 30 further includes a mounting frame 36, the mounting frame 36 is liftable mounted on the base 10, the second walking wheel 31 and the first transition wheel 32 are fixed on the mounting frame 36, and the mounting frame 36 is fixedly connected with the lifting rod 353. The lifting of the lifting rod 353 drives the mounting frame 36 to lift, thereby driving the second walking wheel 31 and the first transition wheel 32 fixed on the mounting frame 36 to lift. By arranging the mounting frame 36 for fixing the second walking wheel 31 and the first transition wheel 32, the mounting of the second walking wheel 31 and the first transition wheel 32 is facilitated, and the lifting driving of the second walking wheel 31 and the first transition wheel 32 by the lifting rod 353 is facilitated.

[0072] A guide hole 361 is vertically arranged on the mounting frame 36, a guide shaft 11 is vertically arranged on the base 10, the mounting frame 36 is slidably sleeved on the guide shaft 11 through the guide hole 361, and the lifting of the lifting rod 353 drives the mounting frame 36 to slide up and down along the guide shaft 11. The vertical lifting of the mounting frame 36 relative to the base 10 is realized by arranging the guide hole 361 and the guide shaft 11, which prevents the mounting frame 36 from swinging during lifting and thereby affecting the stable transmission of the transmission mechanism composed of the second driving wheel 46, the second driving wheel 46, the first transition wheel 32, the second transition wheel 33 and the second transmission belt 34. In addition, the second walking wheel 31 is fixed after being lowered to the walking platform rear position, which improves the walking stability of the second walking wheel 31.

[0073] The hole slot 3531 is arranged at the top end of the lifting rod 353, and the top of the lifting rod 353 has no extra size, which saves material and is not easy to interfere with other parts. The hole slot 3531 is horizontally arranged, which can prevent the eccentric shaft 3521 from sliding downward by gravity when it is rotated into place, compared with the vertically arranged hole slot 3531.

[0074] Figure 6AThis diagram shows a reversing mechanism of a handling robot in a retracted state according to an embodiment of this application. Figure 6B A schematic diagram of the reversing mechanism of the handling robot in the extended state according to an embodiment of this application is shown.

[0075] When the handling robot 100 needs to move in the X direction, the second motor 351 drives the eccentric wheel 352 to rotate. Figure 6A The first position shown causes the lifting rod 353 to rise, at which point the reversing mechanism 35 is in the first position. Figure 6A In the retracted state shown, the mounting frame 36 rises synchronously with the lifting rod 353, thereby driving the second traveling wheel 31 and the first transition wheel 32 fixed to the mounting frame 36 to rise, so that the second traveling wheel 31 leaves the traveling platform. At this time, the first traveling wheel 21 can be driven to move in the X direction by the first driving device 40. Since the second traveling wheel 31 does not contact the traveling platform, it will not affect the movement of the first traveling wheel 21.

[0076] When the handling robot 100 needs to move along the Y direction, the second motor 351 drives the eccentric wheel 352 to rotate. Figure 6B The second position shown is vertically lower than the first position. At this position, the lifting rod 353 descends, and the reversing mechanism 35 is in the position shown. Figure 6B In the extended state shown, the mounting bracket 36 descends synchronously with the lifting rod 353, thereby causing the second traveling wheel 31 and the first transition wheel 32 fixed to the mounting bracket 36 to descend. After the second traveling wheel 31 contacts the traveling platform, if the second traveling wheel 31 continues to descend, it will lift the entire base 10, thereby causing the first traveling wheel 21 fixed to the base 10 to leave the traveling platform. At this time, the second traveling wheel 31 can be driven to move in the Y direction by the first driving device 40. Since the first traveling wheel 21 does not contact the traveling platform, it will not affect the movement of the second traveling wheel 31.

[0077] In the above embodiments, the rotation of the drive wheel is transmitted to the driving wheel via a transmission belt (e.g., a belt). In other embodiments, the above transmission can also be achieved via a rope (e.g., a wire rope) or a chain.

[0078] In the above embodiments, the rotary-linear motion conversion mechanism adopts an eccentric wheel 352 mechanism. In other embodiments, the rotary-linear motion conversion mechanism may also adopt a crank-connecting rod mechanism, a screw drive mechanism, a chain drive mechanism, a gear and rack drive mechanism, a cam drive mechanism, etc.

[0079] Please see Figure 1 The handling robot 100 also includes a carrier 50 and a lifting device 60. The lifting device 60 is mounted on the base 10, and the carrier 50 is connected to the lifting device 60. The carrier 50 is used to receive and place goods, and the lifting device 60 is used to move the carrier 50 up and down in the lower opening. Figure 1In the process, the carrier 50 of the handling robot 100 is in the initial position. The walking platform on which the handling robot 100 travels has a downward opening. After the carrier 50 of the handling robot 100 receives the goods, the base 10 moves to the target downward opening of the walking platform and controls the carrier 50 to descend from the downward opening to deliver the goods to the storage container below the walking platform. Figure 7 This diagram illustrates the state of the transport robot's carrier after it has been lowered, according to an embodiment of this application. The carrier 50 is driven by the lifting device 60 from... Figure 1 Descending to the state shown Figure 7 The state shown.

[0080] The dimensions of each dimension of the vehicle 50 are smaller than or equal to the corresponding dimension of the lower opening, so that the vehicle 50 can pass through the lower opening when it descends.

[0081] The detailed structure of the lifting device 60 and the working principle of the lifting device 60 controlling the lifting of the carrier 50 are described below. Before that, the control module of the handling robot 100 in this embodiment is briefly introduced. Please continue reading. Figure 1 The handling robot 100 also includes a control module 70, which is responsible for managing the sensors and various actuators of the handling robot 100, controlling the handling robot 100 to execute the instructions issued by the scheduling system, and reporting the execution status to the scheduling system that sent the instructions.

[0082] The control module 70 is located on top of the base 10, and the wires of the control module 70 ( Figure 1 (Not shown) A wire extends from the first side 71 of the control module 70 and connects to various sensors, motors, and other electronic control components of the handling robot 100. The first side 71 of the control module 70 is rotatably connected to the base 10. Figure 8 This diagram illustrates the structure of the handling robot according to an embodiment of the present application with the control module in a flipped-open state. Figure 9 This illustration shows a structural diagram of the handling robot according to an embodiment of the present application with the control module in a flipped-open state, where the control module 70 is flipped open relative to the base 10. Figure 8 and Figure 9 Once the indicated state is reached, the internal mechanisms of the handling robot 100 can be inspected or replaced, making the operation convenient. The control module 70 and the base 10 can be hinged for rotational connection.

[0083] Please continue reading. Figure 1The middle of the control module 70 is provided with a vertical hole 72. When the carrying robot 100 moves to the position below the camera, the camera can shoot the image of the carrier 50 through the hole 72 to confirm the current situation of the carrier 50, for example, whether there is goods on the carrier 50, and when there is goods on the carrier 50, the barcode of the goods can also be obtained. In this way, the scheduling system can generate corresponding scheduling instructions according to the situation of the goods on the carrier 50.

[0084] Next, the detailed structure of the lifting device 60 and the working principle of the lifting device 60 for controlling the lifting of the carrier 50 will be introduced.

[0085] Please refer to Figure 8 and Figure 9 , the lifting device 60 includes a third motor 61, a reel 62, and a belt 63. The first end of the belt 63 is fixed to the reel 62, and the second end of the belt 63 is fixed to the carrier 50. The third motor 61 is used to drive the reel 62 to rotate forward or reverse, so that the reel 62 winds or unwinds the belt 63 to drive the carrier 50 to lift.

[0086] The reel 62 includes a first winding part 621 and a second winding part 622 arranged adjacent to each other, and the belt 63 includes a first belt 631 and a second belt 632. The lifting device 60 further includes a fifth transition wheel 64 arranged on the base 10, and the fifth transition wheel 64 corresponds to the height of the second winding part 622. The first end of the first belt 631 is fixed to the first winding part 621, and the second end of the first belt 631 is fixed to the first corner of the carrier 50. The first end of the second belt 632 is fixed to the second winding part 622, and the second end of the second belt 632 is fixed to the second corner of the carrier 50 through the fifth transition wheel 64, and the second corner of the carrier 50 corresponds to the position of the fifth transition wheel 64 in the vertical direction. Each reel 62 has two winding parts, and the belt 63 is wound on each winding part. The two belts 63 drive the two corners of the carrier 50 to lift, which improves the balance of the carrier 50 during lifting, reduces the stress of a single belt 63, reduces the risk of damage to the belt 63, and prolongs the service life of the belt 63.

[0087] In the specific embodiment shown in the figure, the main body of the carrier 50 has a rectangular cross section, and the reel 62, the belt 63, and the fifth transition wheel 64 form a winding group. The carrying robot 100 includes two winding groups, and each winding group is used to drive the two corners of the carrier 50 to lift. The four corners of the rectangular carrier 50 are driven to lift by separate belts 63, which further balances the stress of each belt 63 when the carrier 50 lifts, so that the carrier 50 lifts more stably.

[0088] In the embodiments of the present application, the lifting device 60 is connected to the carrier 50 in a flexible manner through the belt 63. In other embodiments, the connection between the lifting device and the carrier 50 can also be rigid, that is, a rigid lifting device is used, such as a telescopic arm mechanism, a scissor lifting mechanism, a chain lifting mechanism, a belt lifting mechanism, a rack and pinion lifting mechanism, a screw lifting mechanism, etc.

[0089] After the lifting device 60 drives the carrier 50 to descend to a position where the goods can be delivered, the carrying robot 100 controls the carrier 50 to deliver the goods to the storage container. The carrier 50 can use existing methods to deliver the goods to the storage container, such as a rolling conveying method or an inclined delivery method. In the rolling conveying method, the carrier 50 can include a belt and a driving device. The goods are placed on the belt, and the driving device drives the belt to move to convey the goods to the storage container. The carrier 50 can be provided with baffles at intervals on the belt. When the goods are placed on the carrier 50, the baffles can prevent the goods from falling. When the belt rotates, the baffles rotate to a position below the surface of the belt, so that the goods can be transferred from the belt. For example, the carrier 50 includes a plurality of spaced-apart rollers. The goods are placed on the rollers, and the driving device drives the rollers to rotate to convey the goods to the storage container. In the inclined delivery method, the side of the carrier 50 away from the storage container can be inclined upward by a driving device to deliver the goods to the storage container.

[0090] Finally, it should be pointed out that the motors in the embodiments of the present application can be connected to the load through a reducer to reduce the high speed of the motor to the required low speed and increase the output torque, and then transmitted to the load to meet the requirements of the actual application scenario.

[0091] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions described in the foregoing embodiments, or make equivalent replacements to some or all of the technical features. Such modifications or replacements do not change the essence of the corresponding technical solutions, which should be covered in the scope of the claims and the specification of the present application. In particular, each technical feature mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A transport robot, characterized in that, The utility model relates to a walking device for a walking platform, comprising: a base; a first walking device comprising a first walking wheel mounted on the base; a second walking device comprising a second walking wheel, a first transition wheel, a second transition wheel, a second transmission belt and a reversing mechanism, the second walking wheel and the first transition wheel being liftably mounted on the base, the second transition wheel being fixedly mounted on the base; and a first driving device mounted on the base, the first driving device being configured to drive the first walking wheel to move in a first direction and to drive the second walking wheel to move in a second direction, the first driving device comprising a second driving wheel; wherein, in a vertical direction, the second driving wheel, the first transition wheel, the second transition wheel and the second walking wheel are arranged in order of decreasing height, the second transmission belt being arranged to pass over the second driving wheel, the second walking wheel, the first transition wheel and the second transition wheel in that order; the reversing mechanism being configured to lift and lower the second walking wheel and the first transition wheel synchronously, wherein lifting and lowering the second walking wheel causes the first walking wheel and the second walking wheel to alternately contact a walking platform and drive the base to move on the walking platform in the first direction or the second direction, and wherein the vertical distance between the first transition wheel and the second transition wheel increases when the second walking wheel and the first transition wheel are lifted to tension the second transmission belt.

2. The transport robot according to claim 1, characterized in that The reversing mechanism comprises: a second driving device configured to output rotational motion; and a rotational-linear motion conversion mechanism configured to convert the rotational motion into linear motion in the vertical direction to lift and lower the second walking wheel and the first transition wheel synchronously.

3. The transport robot of claim 2, wherein, The second driving device comprises a second motor; The rotational-linear motion conversion mechanism comprises an eccentric wheel and a lifting rod, the eccentric wheel being fixedly connected to an output shaft of the second motor, an eccentric shaft being provided on the eccentric wheel at a position offset from a central axis of the eccentric wheel, the lifting rod having a hole slot, the eccentric shaft being at least partially arranged in the hole slot; When the second motor drives the eccentric wheel to rotate about the central axis of the eccentric wheel and drives the eccentric shaft to rotate, the eccentric shaft is restricted to move in the hole slot to lift and lower the lifting rod.

4. The transport robot of claim 3, wherein, The hole slot is provided at a top end of the lifting rod and is arranged horizontally.

5. The transport robot of claim 3, wherein, The second walking device further comprises a mounting frame, the mounting frame being liftably mounted on the base, the second walking wheel and the first transition wheel being fixed to the mounting frame, the mounting frame being fixedly connected to the lifting rod.

6. The transport robot of claim 5, wherein, The mounting frame has a guide hole arranged in the vertical direction, the base has a guide shaft arranged in the vertical direction, the mounting frame being sleeved on the guide shaft through the guide hole, the lifting rod lifting and lowering the mounting frame to slide up and down along the guide shaft.

7. The transport robot of claim 1, wherein, The first driving device comprises a first motor, a first transmission shaft, a second transmission shaft and a conical gear transmission mechanism, the first transmission shaft and the second transmission shaft being arranged perpendicularly. The first motor is configured to drive one of the first transmission shaft and the second transmission shaft to rotate, and the bevel gear transmission mechanism is configured to transmit the rotation of one of the first transmission shaft and the second transmission shaft to the other of the first transmission shaft and the second transmission shaft.

8. The transport robot of claim 7, wherein, The first driving device further comprises a first driving wheel fixedly sleeved on the first transmission shaft, and the first driving wheel is vertically offset from the first walking wheel. The first walking device further comprises a third transition wheel, a fourth transition wheel and a first transmission belt, the third transition wheel is vertically positioned corresponding to the first walking wheel and has a height corresponding to the first driving wheel, and the fourth transition wheel is vertically positioned between the first driving wheel and the first walking wheel and is positioned between the third transition wheel and the first driving wheel in the first direction. The first transmission belt is arranged to pass the first driving wheel, the third transition wheel, the first walking wheel and the fourth transition wheel in sequence.

9. The transport robot of claim 1, wherein, The walking platform is provided with a lower opening, and the carrying robot further comprises a carrier and a lifting device, the lifting device is arranged on the base, and the carrier is connected with the lifting device. The carrier is configured to receive and deliver goods, and the lifting device is configured to drive the carrier to lift at the lower opening.

10. The transport robot of claim 9, wherein, The lifting device comprises a third motor, a reel and a belt, a first end of the belt is fixed to the reel, and a second end of the belt is fixed to the carrier. The third motor is configured to drive the reel to rotate forward or reversely, so that the reel winds or unwinds the belt to drive the carrier to lift.

11. The transport robot of claim 10, wherein, The reel comprises a first winding part and a second winding part arranged adjacently, the belt comprises a first belt and a second belt, and the lifting device further comprises a fifth transition wheel arranged on the base, the fifth transition wheel corresponds to the height of the second winding part. A first end of the first belt is fixed to the first winding part, a second end of the first belt is fixed to a first corner of the carrier, a first end of the second belt is fixed to the second winding part, and a second end of the second belt is fixed to a second corner of the carrier by passing the fifth transition wheel, and the second corner of the carrier corresponds to the position of the fifth transition wheel in the vertical direction.

12. The transport robot of claim 11, wherein, The main body of the carrier has a rectangular cross section, the reel, the belt and the fifth transition wheel form a winding group, and the carrying robot comprises two winding groups, and each winding group is configured to drive two corners of the carrier to lift.

13. The transport robot of claim 1, wherein, The carrying robot further comprises a control module, the control module is located on the top of the base, wires of the control module are led out from a first side of the control module, and the first side of the control module is reversibly connected with the base.

14. The transport robot of claim 13, wherein, A hole is formed in the middle of the control module and penetrates through in the vertical direction.

15. A sorting system characterized in that, The carrying robot comprises any one of claims 1-14.

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