Traction device, mobile robot and carrying equipment

Abstract

The utility model relates to a traction device, a mobile robot and carrying equipment. The traction device is used for being connected with a towing hook in a matched mode and comprises a rack, a driving piece, a swing rod, a limiting piece and a torsional spring. Wherein the driving piece is arranged on the rack; the swing rod is connected with the driving piece; the limiting piece is provided with a limiting end and a rotating end, and the rotating end is rotationally connected with the swing rod. The torsional spring is arranged at the rotating joint of the rotating end and the swing rod. The driving piece is used for driving the swing rod to move to the first position or the second position. At the first position, the towing hook can abut against the limiting end under the action of external force, so that the limiting piece overcomes the elastic force of the torsional spring and rotates relative to the swing rod, and the limiting end can be inserted into the limiting hole of the towing hook under the action of the elastic force of the torsional spring to be fixed to the towing hook until the limiting end is aligned to the limiting hole of the towing hook. And at the second position, the limiting piece can be driven by the swing rod to be away from the towing hook until the limiting end is separated from the limiting hole of the towing hook.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a kind of traction device, mobile robot and handling equipment. BACKGROUND

[0002] In modern industrial automation, as an important logistics equipment, distribution robot is widely used in warehouse, production line and distribution center and other places. With the rapid development of e-commerce and intelligent manufacturing, higher requirements are put forward for the efficiency and flexibility of material handling. Therefore, industrial distribution robot is continuously innovated in design to meet the diversified operation needs.

[0003] In traditional technology, many distribution robots use external traction devices to realize the function of carrying goods. This external traction device is usually installed at the tail of the robot, which can be connected with a trailer or a cage car, so as to realize the traction and carrying of goods. However, most of the traditional traction devices cannot realize the automatic unhooking function, which leads to the need for manual intervention to release the connection with the trailer after completing the goods carrying. This process not only consumes time, but also increases the work burden of the operator, and reduces the automation level. SUMMARY

[0004] Therefore, it is necessary to provide a traction device, mobile robot and handling equipment for the above problems.

[0005] A traction device for connecting with a tow hook, comprising:

[0006] a rack;

[0007] a driving member provided in the rack;

[0008] a swing rod connected with the driving member;

[0009] a limiting member having a limiting end and a rotating end, the rotating end being rotatably connected with the swing rod;

[0010] a torsion elastic member provided at the rotating connection between the rotating end and the swing rod;

[0011] the driving member is used to drive the swing rod to move to a first position or a second position;

[0012] when in the first position, the tow hook is arranged to abut against the limiting end under the action of external force, so that the limiting member overcomes the elastic force of the torsion elastic member and rotates relative to the swing rod, until the limiting end is aligned with the limiting hole of the tow hook, the limiting end can be inserted into the limiting hole of the tow hook to be fixed with the tow hook;

[0013] When in the second position, the limiting piece can be driven by the swing lever to move away from the tow hook until the limiting end is out of the limiting hole of the tow hook.

[0014] The traction device can at least achieve the following beneficial effects: the traction device is very convenient to connect with the tow hook; when the swing lever is in the first position, the tow hook is only needed to be inserted and abutted with the limiting end until the limiting end is aligned with the limiting hole on the tow hook, at this time, the tow hook and the limiting end are not structurally interfered, the limiting end can be reset under the elastic force of the torsion elastic piece and inserted into the limiting hole of the tow hook at the same time, the fixation of the limiting end and the tow hook is realized, the complexity of manual operation is greatly reduced, the convenience of connection is improved, and the risk of accidental falling of the tow hook in the use process is effectively prevented. The traction device not only can realize convenient connection, but also has the function of automatic unhooking. When unhooking is needed, the driving piece can drive the swing lever to swing to the second position, the limiting piece is driven by the swing lever, so that the limiting end is out of the limiting hole of the tow hook. This automatic process reduces the need for manual operation, improves work efficiency, and reduces the safety hazards caused by human errors. The tow hook can be connected with a transport tool such as a cage, in other words, the traction device can tow the transport tool such as the cage through the tow hook.

[0015] In some embodiments, the traction device further comprises an unhooking assembly arranged on the frame and connected with the swing lever, when the swing lever is driven by the driving piece to swing from the first position to the second position, the unhooking assembly can be driven by the swing lever to move and abut with the tow hook, so that the tow hook slides relative to the limiting end until the limiting end is out of the limiting hole of the tow hook. The introduction of the unhooking assembly makes the whole unhooking process more automatic. When the swing lever swings from the first position to the second position, the unhooking assembly can move synchronously and abut with the tow hook. This design reduces the dependence on manual operation and improves work efficiency. By making the tow hook slide relative to the limiting end, the unhooking assembly ensures the smoothness of the unhooking process.

[0016] In some embodiments, the unhooking assembly comprises a fixed frame, a rotating member and a linkage, the fixed frame is arranged on the rack, the rotating member is rotationally connected with the fixed frame, the rotating member is connected with the swing lever through the linkage, the swing lever can drive the rotating member to rotate relative to the fixed frame through the linkage, the rotating member has a pressing end, when the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the pressing end is located on the side of the limiting end away from the transportation tool, when the swing lever swings from the first position to the second position, the pressing end can be driven by the swing lever to rotate towards the tow hook and abut against the tow hook, so that the tow hook slides relative to the limiting end until the limiting end is out of the limiting hole of the tow hook. The fixed frame is stably mounted on the rack, the rotating member is rotationally connected with the fixed frame, and the linkage connects the rotating member with the swing lever, so that the movement of the swing lever can effectively drive the rotation of the rotating member. When the swing lever moves to the second position, the pressing end is driven by the swing lever to rotate towards the tow hook and abut against the tow hook, so that the tow hook slides relative to the limiting end, and finally the limiting end is out of the limiting hole of the tow hook. This design not only improves the automation degree of the unhooking process, but also enhances the safety and reliability of the operation, adapts to the use requirements of various transportation tools, and effectively reduces the necessity of manual intervention.

[0017] In some embodiments, the linkage is rotationally connected with the fixed frame, and the linkage is provided with a first sliding groove and a second sliding groove, the first sliding groove and the second sliding groove are arranged at an angle, the swing lever is provided with a first sliding rod, and the first sliding rod is slidably embedded in the first sliding groove; the rotating member is provided with a second sliding rod, and the second sliding rod is slidably embedded in the second sliding groove; when the swing lever is driven to move by the driving member, the first sliding rod can drive the linkage to rotate through the first sliding groove, and drive the second sliding rod to rotate through the second sliding groove to synchronously drive the pressing end of the rotating member to rotate. The linkage of this embodiment is rotationally connected with the fixed frame, and a flexible and efficient driving system is constructed. The linkage is provided with a first sliding groove and a second sliding groove, which are arranged at an angle to form a multi-dimensional movement track. The first sliding rod arranged on the swing lever is slidably embedded in the first sliding groove, so that the first sliding rod drives the linkage to rotate through the first sliding groove when the swing lever moves. At the same time, the second sliding rod arranged on the rotating member is slidably embedded in the second sliding groove, so that the movement of the first sliding rod not only drives the linkage to rotate, but also drives the second sliding rod through the second sliding groove to synchronously drive the pressing end of the rotating member to rotate. This design effectively realizes the coordinated movement between the swing lever and the rotating member, improves the accuracy and response speed of the unhooking process, enhances the stability and reliability of the whole system, and is suitable for application requirements in various working environments.

[0018] In some embodiments, the swing lever is provided with a transmission part, a first rotating part and a second rotating part. The transmission part is connected with the driving part, the first rotating part is rotatably connected with the rotating end of the limiting part, and the second rotating part is rotatably connected with the rack. The transmission part can drive the swing lever to rotate to the first position or the second position under the driving of the driving part. The structure of the swing lever includes the transmission part, the first rotating part and the second rotating part, and the effective motion transmission is realized through different connection modes between the parts. The transmission part is connected with the driving part, and can generate power under the action of the driving part to make the swing lever rotate. The first rotating part is connected with the rotating end of the limiting part, allowing the swing lever to link with the limiting part during the movement, thereby ensuring the accurate positioning and stability of the limiting part. The second rotating part is rotatably connected with the rack, allowing the swing lever to move flexibly under the support of the rack.

[0019] In some embodiments, the limiting part further extends to form a clamping end near the pressing end. When the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the clamping end and the pressing end are arranged at a predetermined interval, and the predetermined interval is set to be smaller than the size of the end part of the tow hook to limit the passing of the tow hook. The design of the limiting part further enhances the safety and reliability of the system. The limiting part extends to form a clamping end near the pressing end. When the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the clamping end and the pressing end maintain a predetermined interval. This predetermined interval is set to be smaller than the size of the end part of the tow hook, effectively limiting the passing of the tow hook. The advantage of this design is that it can ensure that the tow hook does not accidentally fall off or move when the swing lever is in the first position, increasing the safety of the operation. At the same time, due to the existence of the clamping end, it can prevent the misoperation or mispositioning of the tow hook to a certain extent, thereby improving the working efficiency and stability of the system.

[0020] In some embodiments, the unhooking assembly further comprises an elastic member arranged between the rotating member and the fixed frame. When the swing lever swings from the first position to the second position, the elastic force of the elastic member can assist the pressing end of the rotating member to rotate towards the direction of the tow hook. The design of this embodiment further optimizes the motion mechanism of the swing lever, enhancing the smoothness and efficiency of the operation. The elastic member is arranged between the rotating member and the fixed frame, which mainly provides additional elastic force assistance when the swing lever moves from the first position to the second position. Specifically, when the swing lever starts to move to the second position, the elastic force of the elastic member will push the pressing end of the rotating member to rotate towards the direction of the tow hook. The advantage of this design is that it not only reduces the burden of the driving part, but also improves the response speed of the swing lever, making the unhooking process of the tow hook more stable and rapid.

[0021] In some embodiments, the rack is provided with a limiting portion, and when the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the limiting end can abut against the limiting portion under the elastic force of the torsion elastic member. The rack is provided with a limiting portion, which is designed to further enhance the stability and safety of the swing lever. When the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the limiting end can abut against the limiting portion under the elastic force of the torsion elastic member. The key of this design is that the abutment of the limiting end and the limiting portion provides an effective mechanical locking mechanism. When the swing lever is in the first position, the elastic force of the torsion elastic member ensures that the limiting end is in stable contact with the limiting portion, thereby preventing the swing lever from moving accidentally or deviating from its predetermined position. This structure can effectively avoid misoperation or accidental situations that may occur during operation, improving the safety of the system.

[0022] The application also provides a mobile robot, which comprises a chassis and a traction device as described in any of the above embodiments, and the rack is arranged on the chassis.

[0023] The application also provides a carrying device, which comprises a transport tool, a tow hook, and a mobile robot as described in any of the above embodiments, one end of the tow hook is used to mate with the traction device, and the other end of the tow hook is used to connect with the transport tool.

[0024] The mobile robot and the carrying device described above comprise the traction device described in any of the above embodiments, and therefore the mobile robot and the carrying device also at least have the following beneficial effects: the traction device of the mobile robot is very convenient to connect with the tow hook, when the swing lever is in the first position, only need to insert the tow hook, make the tow hook abut against the limiting end, until the limiting end passes around the tow hook and aligns with the limiting hole on the tow hook, at this time the tow hook does not interfere with the limiting end, the limiting end can be reset under the elastic force of the torsion elastic member and at the same time inserted into the limiting hole of the tow hook, realizing the fixation of the limiting end and the tow hook, this design greatly reduces the complexity of manual operation, improves the convenience of connection, and effectively prevents the risk of accidental falling of the tow hook during use. The traction device not only can realize convenient connection, but also has the function of automatic unhooking. When unhooking is needed, the driving member can drive the swing lever to swing to the second position, and the limiting member is driven by the swing lever, so that the limiting end is detached from the limiting hole of the tow hook. This automatic process reduces the need for manual operation, improves work efficiency, and reduces the safety hazards caused by human errors. In summary, the carrying device combines the mobile robot and the tow hook to provide an efficient, safe and flexible solution, which is suitable for various carrying scenes and has wide application prospects. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, a brief introduction will be given to the drawings required in the embodiments or the prior art description. Obviously, the drawings in the following description only show some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0026] Figure 1 A structural schematic view of the carrying equipment provided for an embodiment of the present application.

[0027] Figure 2 A structural schematic view of the traction device and the tow hook provided for an embodiment of the present application, wherein the swing lever is located at the first position and the tow hook has not yet abutted against the limiting piece.

[0028] Figure 3 Another structural schematic view of the traction device and the tow hook provided for an embodiment of the present application, wherein the swing lever is located at the first position and the limiting end of the limiting piece abuts against the tow hook.

[0029] Figure 4 Another structural schematic view of the traction device and the tow hook provided for an embodiment of the present application, wherein the swing lever is located at the first position and the limiting end of the limiting piece is inserted into the limiting hole of the tow hook.

[0030] Figure 5 A sectional view of the traction device provided for an embodiment of the present application, wherein the swing lever is located at the first position and the limiting end of the limiting piece is inserted into the limiting hole of the tow hook.

[0031] Figure 6 A structural schematic view of the swing lever provided for an embodiment of the present application, wherein the swing lever is located at the second position.

[0032] Figure 7 A structural schematic view of the swing lever provided for an embodiment of the present application.

[0033] Reference signs:

[0034] 10, mobile robot; 11, traction device; 12, chassis; 121, electrode; 20, tow hook; 21, limiting hole; 30, transport tool; 100, rack; 110, limiting part; 200, driving piece; 300, swing lever; 310, first rotating part; 320, second rotating part; 330, transmission part; 340, mounting part; 341, first sliding rod; 400, limiting piece; 410, limiting end; 420, rotating end; 430, clamping end; 500, torsion elastic piece; 600, unhooking assembly; 610, fixing frame; 620, rotating piece; 621, pressing end; 622, second sliding rod; 630, linkage piece; 631, first sliding groove; 632, second sliding groove; 640, elastic piece. DETAILED DESCRIPTION

[0035] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of ways other than those specifically described herein, and the present application is not limited to the specific embodiments described below. It is to be understood that other implementations will become apparent from the following detailed description.

[0036] Please refer to Figures 1 to 3 In some embodiments, the present application provides a traction device 11 for being matched with a tow hook 20. The traction device 11 comprises a rack 100, a driving piece 200, a swing lever 300, a limiting piece 400 and a torsion elastic piece 500. The driving piece 200 is arranged on the rack 100; the swing lever 300 is connected with the driving piece 200; the limiting piece 400 has a limiting end 410 and a rotating end 420, and the rotating end 420 is rotatably connected with the swing lever 300; the torsion elastic piece 500 can be a torsion spring, a clockwork or the like, and the torsion elastic piece 500 is arranged at the rotatable connection between the rotating end 420 and the swing lever 300. The driving piece 200 is used to drive the swing lever 300 to move to a first position or a second position.

[0037] Please refer to Figure 4 and Figure 5 When the swing lever 300 is at the first position, the tow hook 20 is arranged to be able to abut against the limiting end 410 under the action of an external force, so that the limiting piece 400 overcomes the elastic force of the torsion elastic piece 500 and rotates relative to the swing lever 300 until the limiting end 410 is aligned with the limiting hole 21 of the tow hook 20. At this time, the limiting end 410 can be inserted into the limiting hole 21 of the tow hook 20 under the elastic force of the torsion elastic piece 500 to be fixed with the tow hook 20.

[0038] As Figure 6As shown, when the swing lever 300 is in the second position, the limiting piece 400 can be driven by the swing lever 300 to move away from the tow hook 20 until the limiting end 410 is out of the limiting hole 21 of the tow hook 20.

[0039] The above-mentioned traction device 11 can at least achieve the following beneficial effects: the traction device 11 is very convenient when connecting the tow hook 20, such as Figures 2 to 5 As shown, when the swing lever 300 is in the first position, only the tow hook 20 needs to be inserted, and the tow hook 20 is in abutment with the limiting end 410 until the limiting end 410 passes around the tow hook 20 and is aligned with the limiting hole 21 on the tow hook 20. At this time, the tow hook 20 does not interfere with the limiting end 410, and the limiting end 410 can be reset under the elastic force of the torsion elastic piece 500 and simultaneously inserted into the limiting hole 21 of the tow hook 20 to realize the fixation of the limiting end 410 and the tow hook 20. This design greatly reduces the complexity of manual operation, improves the convenience of connection, and effectively prevents the risk of accidental falling of the tow hook 20 during use. The traction device 11 not only realizes convenient connection, but also has the function of automatic unhooking. When unhooking is needed, such as Figure 6 As shown, the driving piece 200 can drive the swing lever 300 to move to the second position, and the limiting piece 400 is driven by the swing lever 300, so that the limiting end 410 is out of the limiting hole 21 of the tow hook 20. This automatic process reduces the need for manual operation, improves work efficiency, and reduces the safety hazards caused by human error. The tow hook 20 can be connected with the transport tool 30 such as a cage, in other words, the traction device 11 can pull the transport tool 30 such as a cage through the tow hook 20.

[0040] Specifically, as shown in Figure 4 and Figure 6 In some embodiments, the traction device 11 further comprises an unhooking assembly 600, which is arranged on the rack 100 and connected with the swing lever 300. When the swing lever 300 is driven by the driving piece 200 to swing from the first position to the second position, the unhooking assembly 600 can be driven by the swing lever 300 to move and abut against the tow hook 20, so that the tow hook 20 slides relative to the limiting end 410 until the limiting end 410 is out of the limiting hole 21 of the tow hook 20. The introduction of the unhooking assembly 600 makes the entire unhooking process more automated, avoiding the situation that the tow hook 20 and the limiting end 410 of the limiting piece 400 are not smooth due to the friction when abutting. When the swing lever 300 moves from the first position to the second position, the unhooking assembly 600 can move synchronously and abut against the tow hook 20. This design reduces the dependence on manual operation and improves work efficiency. By making the tow hook 20 slide relative to the limiting end 410, the unhooking assembly 600 ensures the smoothness of the unhooking process.

[0041] More specifically, as shown in Figure 4 ,Figure 5 and Figure 6 As shown in FIGS. 6, 7, and 8, in some embodiments, the unhooking assembly 600 includes a fixed frame 610, a rotating piece 620, and a linkage 630. The fixed frame 610 is arranged on the frame 100, the rotating piece 620 is rotationally connected with the fixed frame 610, the rotating piece 620 is connected with the swing lever 300 through the linkage 630, and the swing lever 300 can drive the rotating piece 620 to rotate relative to the fixed frame 610 through the linkage 630. The rotating piece 620 has a pressing end 621. When the swing lever 300 is in the first position and the limiting end 410 is inserted into the limiting hole 21 of the tow hook 20, the pressing end 621 is located on the side of the limiting end 410 away from the transport tool 30. When the swing lever 300 moves from the first position to the second position, the pressing end 621 can be driven by the swing lever 300 to rotate towards the tow hook 20 and abut against the tow hook 20, so as to make the tow hook 20 slide relative to the limiting end 410 until the limiting end 410 is unhooked from the limiting hole 21 of the tow hook 20. The fixed frame 610 is stably arranged on the frame 100 to provide support for the rotating piece 620. The rotating piece 620 is rotationally connected with the fixed frame 610, and the linkage 630 connects the rotating piece 620 with the swing lever 300, so that the movement of the swing lever 300 can effectively drive the rotation of the rotating piece 620. When the swing lever 300 moves to the second position, the pressing end 621 is driven by the swing lever 300 to rotate towards the tow hook 20 and abut against the tow hook 20, so as to make the tow hook 20 slide relative to the limiting end 410, and finally realize the unhooking of the limiting end 410 from the limiting hole 21 of the tow hook 20. This design not only improves the automation degree of the unhooking process, but also enhances the safety and reliability of the operation, adapts to the use requirements of various transport tools 30, and effectively reduces the necessity of manual intervention.

[0042] More specifically, as Figure 5 , Figure 6 and Figure 7As shown, in some embodiments, the linkage 630 is rotationally connected with the fixed frame 610, and the linkage 630 is provided with a first sliding groove 631 and a second sliding groove 632, which are arranged at an angle. The swing lever 300 is provided with a first sliding rod 341, which is slidably embedded in the first sliding groove 631. The rotating member 620 is provided with a second sliding rod 622, which is slidably embedded in the second sliding groove 632. When the swing lever 300 is driven to move by the driving member 200, the first sliding rod 341 can drive the linkage 630 to rotate through the first sliding groove 631, and drive the second sliding rod 622 to rotate through the second sliding groove 632, so as to synchronously drive the lower pressing end 621 of the rotating member 620 to rotate. The linkage 630 of the present embodiment is rotationally connected with the fixed frame 610, thereby constructing a flexible and efficient driving system. The linkage 630 is provided with the first sliding groove 631 and the second sliding groove 632, which are arranged at an angle, thereby forming a multi-dimensional movement track. The first sliding rod 341 arranged on the swing lever 300 is slidably embedded in the first sliding groove 631, thereby driving the linkage 630 to rotate through the first sliding groove 631 when the swing lever 300 moves. Meanwhile, the second sliding rod 622 arranged on the rotating member 620 is slidably embedded in the second sliding groove 632, so that the movement of the first sliding rod 341 not only drives the linkage 630 to rotate, but also drives the second sliding rod 622 through the second sliding groove 632, thereby synchronously driving the lower pressing end 621 of the rotating member 620 to rotate. This design effectively realizes the coordinated movement between the swing lever 300 and the rotating member 620, improves the accuracy and response speed of the unhooking process, enhances the stability and reliability of the overall system, and is suitable for application requirements in various working environments.

[0043] More specifically, as Figure 7As shown, in some embodiments, the rocker arm 300 includes a transmission part 330, a mounting part 340, a first rotating part 310, and a second rotating part 320. The transmission part 330 is connected to the drive member 200, the first slide rod 341 is connected to the mounting part 340, the first rotating part 310 is rotatably connected to the rotating end 420 of the limiting member 400, and the second rotating part 320 is rotatably connected to the frame 100. The transmission part 330 can drive the rocker arm 300 to rotate to a first position or a second position under the drive of the drive member 200. The structural design of the rocker arm 300 includes the transmission part 330, the first rotating part 310, and the second rotating part 320, and the various parts achieve effective motion transmission through different connection methods. The transmission part 330 is connected to the drive member 200 and can generate power under the action of the drive member 200, causing the rocker arm 300 to rotate. The first rotating part 310 is connected to the rotating end 420 of the limiting member 400, allowing the swing arm 300 to move in conjunction with the limiting member 400 during movement, thereby ensuring the accurate positioning and stability of the limiting member 400. The second rotating part 320 is rotatably connected to the frame 100, allowing the swing arm 300 to move flexibly under the support of the frame 100.

[0044] More specifically, such as Figure 4 As shown, in some embodiments, the limiting member 400 extends to form a locking end 430 near the pressing end 621. When the rocker arm 300 is in the first position and the limiting end 410 is inserted into the limiting hole 21 of the tow hook 20, the locking end 430 and the pressing end 621 are spaced apart by a predetermined distance, and the predetermined distance is set to be smaller than the size of the end of the tow hook 20 to restrict the passage of the tow hook 20. The design of the limiting member 400 further enhances the safety and reliability of the system. The limiting member 400 extends to form a locking end 430 near the pressing end 621. When the rocker arm 300 is in the first position and the limiting end 410 is inserted into the limiting hole 21 of the tow hook 20, a predetermined distance is maintained between the locking end 430 and the pressing end 621. This predetermined distance is set to be smaller than the size of the end of the tow hook 20, thereby effectively restricting the passage of the tow hook 20. The advantage of this design is that it ensures that the tow hook 20 will not accidentally fall off or move when the lever 300 is in the first position, increasing operational safety. At the same time, the presence of the locking end 430 can prevent accidental operation or misalignment of the tow hook 20 to a certain extent, thereby improving the system's efficiency and stability.

[0045] More specifically, such as Figure 6As shown, in some embodiments, the unhooking assembly 600 further includes an elastic element 640, which is disposed between the rotating member 620 and the fixed frame 610. When the rocker arm 300 moves from the first position to the second position, the elastic force of the elastic element 640 assists the downward pressing end 621 of the rotating member 620 to rotate towards the tow hook 20. This embodiment further optimizes the movement mechanism of the rocker arm 300, enhancing the smoothness and efficiency of operation. The elastic element 640 is disposed between the rotating member 620 and the fixed frame 610, and its main function is to provide additional elastic force assistance when the rocker arm 300 moves from the first position to the second position. Specifically, when the rocker arm 300 begins to move towards the second position, the elastic force of the elastic element 640 will push the downward pressing end 621 of the rotating member 620 to rotate towards the tow hook 20. The advantage of this design is that it not only reduces the burden on the drive member 200, but also improves the response speed of the rocker arm 300, making the unhooking process of the tow hook 20 smoother and faster.

[0046] More specifically, such as Figure 4 and Figure 5 As shown, in some embodiments, the frame 100 is provided with a limiting part 110. When the swing arm 300 is in the first position and the limiting end 410 is inserted into the limiting hole 21 of the tow hook 20, the limiting end 410 can abut against the limiting part 110 under the elastic force of the torsion elastic member 500. The limiting part 110 on the frame 100 is intended to further enhance the stability and safety of the swing arm 300. When the swing arm 300 is in the first position and the limiting end 410 is inserted into the limiting hole 21 of the tow hook 20, the limiting end 410 can abut against the limiting part 110 under the elastic force of the torsion elastic member 500. The key to this design is that the abutment between the limiting end 410 and the limiting part 110 provides an effective mechanical locking mechanism. When the lever 300 is in the first position, the elastic force of the torsion elastic element 500 ensures that the limiting end 410 is in stable contact with the limiting part 110, thereby preventing the lever 300 from moving accidentally or leaving its predetermined position. This structure can effectively avoid possible misoperation or accidents during operation, improving the safety of the system.

[0047] In addition, such as Figure 1 As shown, this application also provides a mobile robot 10, which includes a chassis 12 and a traction device 11 as described in any of the above embodiments, with a frame 100 disposed on the chassis 12. The traction device 11 is mounted on the chassis 12 via the frame 100.

[0048] Please continue reading. Figure 1In some embodiments, the electrode sheet 121 is also arranged on the rear side wall of the chassis 12, and the rear side of the traction device 11 does not protrude beyond the rear side wall of the chassis 12. In this way, when the mobile robot 10 needs to be connected to a charging pile or a work station through the electrode sheet 121 at the rear of the mobile robot 10, the rear side of the traction device 11 does not form a structural interference.

[0049] In addition, as Figure 1 shown, the present application also provides a carrying device, which comprises a transport tool 30, a tow hook 20, and the mobile robot 10 according to any one of the above embodiments, one end of the tow hook 20 is used to be connected with the traction device 11, and the other end of the tow hook 20 is used to be connected with the transport tool 30.

[0050] The mobile robot 10 and the carrying device described above also at least have the following beneficial effects because they comprise the traction device 11 according to any one of the above embodiments: the traction device 11 of the mobile robot 10 is very convenient to connect with the tow hook 20, when the swing lever 300 is in the first position, only need to insert the tow hook 20, make the tow hook 20 abut against the limiting end 410, until the limiting end 410 passes around the tow hook 20 and is aligned with the limiting hole 21 on the tow hook 20, at this time, the tow hook 20 does not have a structural interference with the limiting end 410, the limiting end 410 can be reset under the elastic force of the torsion elastic member 500 and at the same time inserted into the limiting hole 21 of the tow hook 20, to realize the fixation of the limiting end 410 and the tow hook 20, this design greatly reduces the complexity of manual operation, improves the convenience of connection, and effectively prevents the risk of accidental falling of the tow hook 20 in the use process. The traction device 11 not only can realize convenient connection, but also has the function of automatic unhooking. When unhooking is needed, the driving member 200 can drive the swing lever 300 to move to the second position, and the limiting member 400 is driven by the swing lever 300, so that the limiting end 410 is separated from the limiting hole 21 of the tow hook 20. This automatic process reduces the need for manual operation, improves work efficiency, and reduces the safety hazards caused by human errors. In summary, the carrying device provides an efficient, safe and flexible solution by combining the mobile robot 10 and the tow hook 20, which is suitable for various carrying scenes and has a wide application prospect.

[0051] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0052] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but cannot be understood as a limitation on the patent application scope. It should be noted that, for ordinary skilled persons in the art, without departing from the present application concept, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

[0053] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0055] In the present application, unless otherwise specifically defined and limited, if the terms "mounting", "connection", "connection", "fixing" and the like appear, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For ordinary skilled persons in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In the present application, unless otherwise explicitly specified and limited, if there is a description such as "on" or "under" between the first feature and the second feature, it can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0057] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not indicate the only implementation.

[0058] In the description of the present application, the description of the terms "an embodiment", "other embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art of the present application. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

Claims

1. A towing device for mating with a tow hook, characterised in that, The traction device comprises: a frame; a driving member arranged on the frame; a swing rod connected with the driving member; a limiting member having a limiting end and a rotating end, the rotating end being rotatably connected with the swing rod; a torsion elastic member arranged at the rotating end and the rotating connection position of the swing rod; the driving member is used to drive the swing rod to move to a first position or a second position; when the swing rod is at the first position, the tow hook is arranged to be capable of abutting against the limiting end under the action of an external force, so that the limiting member overcomes the elastic force of the torsion elastic member and rotates relative to the swing rod, until the limiting end is aligned with the limiting hole of the tow hook, the limiting end can be inserted into the limiting hole of the tow hook to be fixed with the tow hook; when the swing rod is at the second position, the limiting member can move away from the tow hook under the driving of the swing rod, until the limiting end is separated from the limiting hole of the tow hook.

2. The traction device of claim 1, wherein, The traction device further comprises an unhooking assembly arranged on the frame and connected with the swing rod, when the swing rod is driven by the driving member to swing from the first position to the second position, the unhooking assembly can move under the driving of the swing rod and abut against the tow hook, so that the tow hook slides relative to the limiting end until the limiting end is separated from the limiting hole of the tow hook.

3. The traction device of claim 2, wherein, The unhooking assembly comprises a fixing frame, a rotating member and a linkage, the fixing frame is arranged on the frame, the rotating member is rotatably connected with the fixing frame, the rotating member is connected with the swing rod through the linkage, and the swing rod can drive the rotating member to rotate relative to the fixing frame through the linkage, the rotating member has a pressing end, when the swing rod is at the first position and the limiting end is inserted into the limiting hole of the tow hook, when the swing rod swings from the first position to the second position, the pressing end can rotate towards the tow hook under the driving of the swing rod and abut against the tow hook, so that the tow hook slides relative to the limiting end until the limiting end is separated from the limiting hole of the tow hook.

4. The traction device of claim 3, wherein, The linkage is rotatably connected with the fixing frame, and the linkage is provided with a first sliding groove and a second sliding groove, the first sliding groove and the second sliding groove are arranged at an angle; the swing rod is provided with a first sliding rod, the first sliding rod is slidably embedded in the first sliding groove; the rotating member is provided with a second sliding rod, the second sliding rod is slidably embedded in the second sliding groove; when the swing rod moves under the driving of the driving member, the first sliding rod can drive the linkage to rotate through the first sliding groove, and drive the second sliding rod to rotate through the second sliding groove to synchronously drive the pressing end of the rotating member to rotate.

5. The traction device of claim 4, wherein, The swing rod is provided with a transmission part, a first rotating part and a second rotating part, the transmission part is connected with the driving member, the first rotating part is rotatably connected with the rotating end of the limiting member, the second rotating part is rotatably connected with the frame, and the transmission part can drive the swing rod to rotate to the first position or the second position under the driving of the driving member.

6. The traction device of claim 3, wherein, The limiting member further extends a clamping end near one side of the pressing end. When the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the clamping end and the pressing end are arranged at a predetermined interval, and the predetermined interval is set to be smaller than the size of the end of the tow hook to limit the passing of the tow hook.

7. The traction device of claim 3, wherein, The unhooking assembly further comprises an elastic member arranged between the rotating member and the fixed frame. When the swing lever swings from the first position to the second position, the elastic force of the elastic member can assist the pressing end of the rotating member to rotate towards the direction of the tow hook.

8. The traction device according to any one of claims 1 to 7, characterized in that The machine frame is provided with a limiting portion. When the swing lever is in the first position and the limiting end is inserted into the limiting hole of the tow hook, the limiting end can abut against the limiting portion under the elastic force of the torsion elastic member.

9. A mobile robot, characterized by The traction device as claimed in any one of claims 1 to 8 is arranged on the chassis.

10. A handling apparatus, characterised in that, The mobile robot as claimed in claim 9 is arranged on the transportation tool, one end of the tow hook is arranged to be connected with the traction device, and the other end of the tow hook is arranged to be connected with the transportation tool.

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