Conveying robot

Abstract

To provide a conveying robot.SOLUTION: A conveying robot includes a robot body (100) and an extendable arm assembly (200) provided so as to be extendable in a first direction (X) relative to the robot body (100), the extendable arm assembly (200) includes a bottom plate (10) and a top plate (20), a first motor (30) for moving the top plate (20) upward and downward is attached to the bottom plate (10), a first drive shaft (32) of the first motor (30) is provided along the first direction (X), and a first brake mechanism (35) and a second brake mechanism (36) for simultaneously locking the first drive shaft (32) are provided sequentially inside the first motor (30) along the first direction (X).SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to the technical field of logistics equipment, but is not limited thereto, and in particular to a transport robot. [Background technology]

[0002] In the logistics field, bottles can usually be transported by chassis-type transport robots.

[0003] The chassis-type transport robot includes a chassis-type vehicle body and an extendable arm assembly mounted on the vehicle body, the extendable arm assembly being horizontally extendable and retractable relative to the vehicle body, and the extendable arm assembly is usually provided with a lift mechanism, so that the chassis-type vehicle body can load bottles onto the vehicle body and unload bottles from the vehicle body by using the extendable arm assembly.

[0004] In the related art, a telescopic arm assembly generally includes a bottom plate and a top plate arranged one above the other, and a lifting motor is provided on the bottom plate, which can lift the top plate up and down relative to the bottom plate through a transmission device to lift the bin. Also, a telescopic motor is generally attached to the telescopic arm assembly, which rotates a drive wheel to realize the telescopic movement of the telescopic arm assembly relative to the vehicle body. Summary of the Invention

[0005] An embodiment of the present invention provides a transport robot, in which a first brake mechanism and a second brake mechanism are sequentially provided inside a first motor (i.e., a lift motor) of the transport robot along the extending direction of a first drive shaft of the first motor, and the two brake mechanisms can simultaneously lock the first drive shaft, thereby avoiding safety accidents such as a bottle tipping over, which are likely to occur because the brake mechanism of the lift motor cannot lock its drive shaft.

[0006] In addition, a second motor (i.e., a telescopic motor) is provided on the telescopic arm assembly of the transport robot, and the opposing ends of the second drive shaft of the second motor protrude from the second motor housing, i.e., the second motor is designed as a dual output shaft, so that the telescopic arm assembly can be extended and retracted with only one telescopic motor, thereby saving space.

[0007] An embodiment of the present invention provides a transport robot, the transport robot including a robot body and an extendable arm assembly extendable and retractable along a first direction relative to the robot body, the extendable arm assembly including a top plate and a bottom plate arranged one above the other, a first motor is attached to the bottom plate, a first drive shaft of the first motor is operably connected to the top plate to raise and lower the top plate relative to the bottom plate, the first drive shaft extends along the first direction, a first brake mechanism and a second brake mechanism are sequentially provided inside the first motor along the first direction, and the first brake mechanism and the second brake mechanism are used to simultaneously lock the first drive shaft.

[0008] In one embodiment, preferably, the robot body includes a master control module communicatively connected to each of the first brake mechanism and the second brake mechanism, and the master control module is configured to, in response to a stop in power supply to the first motor or receiving a fault signal, simultaneously close the first brake mechanism and the second brake mechanism such that the first brake mechanism and the second brake mechanism simultaneously lock the first drive shaft.

[0009] In one embodiment, preferably, the first motor includes a first motor housing, the first drive shaft is provided inside the first motor housing, a portion of the first drive shaft protrudes from one end of the first motor housing away from the robot body, and the protruding portion of the first drive shaft is dynamically connected to the top plate.

[0010] In one embodiment, preferably, the first driving shaft is operably connected to the top plate via a transmission mechanism, the transmission mechanism includes a transmission shaft arranged along the first direction and a scissor arm arranged along a third direction perpendicular to the first direction, the transmission shaft is fixedly attached to the bottom plate, a transmission block is sleeved on the transmission shaft, the first driving shaft is operably connected to the transmission shaft, the first driving shaft is used to move the transmission block along the transmission shaft, the scissor arm includes a first scissor arm and a second scissor arm arranged crosswise and rotatably connected, an upper end of the first scissor arm and an upper end of the second scissor arm are respectively fixedly attached to the top plate, a lower end of the first scissor arm is fixedly attached to the bottom plate, and a lower end of the second scissor arm is fixedly attached to the transmission block.

[0011] In one embodiment, preferably, the transmission shaft includes a ball screw, and the transmission block includes a screw nut.

[0012] In one embodiment, preferably, one end of the transmission shaft is rotatably connected to the first drive shaft via a first reducer, and the other end of the transmission shaft is fixedly attached to the bottom plate via a fixing seat.

[0013] In one embodiment, preferably, a second motor is further attached to the bottom plate, the second motor including a second motor housing and a second drive shaft penetrating the second motor housing along a second direction, the second direction being a horizontal direction perpendicular to the first direction, both ends of the second drive shaft along the second direction protruding from the second motor housing and each end having a drive wheel attached thereto, and the second motor causes the telescopic arm assembly to telescope along the first direction relative to the robot body.

[0014] In one embodiment, a second reducer is preferably provided between the second drive shaft and the drive wheel, and an end of the drive wheel, an end of the second reducer, and an end of the second drive shaft are flush with each other in a plane perpendicular to the second direction.

[0015] In one embodiment, the second reducer preferably includes a planetary reducer.

[0016] In one embodiment, preferably, a second encoder is provided inside the second motor housing, the second encoder is sleeved onto the second drive shaft, and the second encoder is communicatively connected to a master control module of the robot body.

[0017] In one embodiment, preferably, a third brake mechanism is provided inside the second motor housing, the third brake mechanism is sleeved on the second drive shaft, the third brake mechanism is communicatively connected to the master control module, the third brake mechanism is used to lock the second drive shaft, and the second encoder and the third brake mechanism are provided on both sides of the second drive shaft along the second direction, respectively.

[0018] In one embodiment, preferably, the first motor is provided at one end of the bottom plate close to the robot body, the second motor is provided at one end of the bottom plate away from the robot body, and a driven wheel is further provided at the end of the bottom plate close to the robot body.

[0019] In one embodiment, preferably, a motor mounting seat is provided on each end of the second motor housing along the second direction, the motor mounting seat extends perpendicular to the second direction, a mounting through hole is provided in the motor mounting seat, and a fixing member fixes the second motor housing to the bottom plate through the mounting through hole.

[0020] An embodiment of the present invention provides a transport robot, the transport robot including a robot body and a telescopic arm assembly provided to be extendable and retractable along a first direction (i.e., horizontal direction) relative to the robot body, the telescopic arm assembly including a bottom plate and a top plate, a first motor for raising and lowering the top plate is attached to the bottom plate, a first drive shaft of the first motor is provided along the telescopic direction of the telescopic arm assembly, and a first brake mechanism and a second brake mechanism for simultaneously locking the first drive shaft are provided in the first motor in that order along the telescopic direction.

[0021] In addition, a second motor is provided on the bottom plate of the telescopic arm assembly, and the second motor includes a second motor housing and a second drive shaft provided inside the second motor housing, the second drive shaft is provided along the second direction, both ends of the second drive shaft along the second direction are provided protruding from the second motor housing, and drive wheels are respectively connected to both protruding ends of the second drive shaft in a drivable manner, and in this manner, the second motor can extend and retract the telescopic arm assembly horizontally relative to the robot body via the drive wheels.

[0022] That is, a first motor (i.e., lifting motor) is attached to the telescopic arm assembly of the transport robot according to the embodiment of the present invention, and two brake mechanisms are provided in series along the extension direction of the first drive shaft of the first motor, and a large brake torque can be provided by simultaneously closing the two brake mechanisms to lock the first drive shaft. In this way, for example, when the top plate needs to be positioned at a low position, the two brake mechanisms can ensure that the first drive shaft is locked after a power outage, that is, by preventing the inertial rotation of the first drive shaft, the occurrence of a safety accident such as a bottle falling over due to the first drive shaft being unable to be locked is prevented.

[0023] In addition, the second motor (i.e., the telescopic motor) can be provided with a single second drive shaft with both ends protruding to achieve double-sided driving, i.e., the second motor is designed with a dual output shaft, so only one second motor needs to be installed on the bottom plate of the telescopic arm assembly, and compared with single-sided driving that requires two second motors to be installed on the bottom plate, the embodiment of the present invention can save the number of second motors and reduce the space occupied. In addition, the second motor achieves double-sided driving by one second drive shaft, has high output stability, can achieve the same rotation speed of the two drive wheels on both sides of the second drive shaft, has high synchronization, shortens the size of the second motor in the first direction, saves space, and ensures the placement space for other components. [Brief description of the drawings]

[0024] In order to more clearly describe the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below. The drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative efforts. [Figure 1] FIG. 2 is a schematic diagram showing a structure of the transport robot in the embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing a structure of the telescopic arm assembly in an embodiment of the present invention. [Diagram 3] 3 is a schematic diagram showing a mounting structure of the first motor and the transmission shaft in the embodiment of the present invention. FIG. [Figure 4] 3 is a schematic diagram showing a mounting structure of the first motor and the first reducer in the embodiment of the present invention. FIG. [Diagram 5] FIG. 2 is a schematic diagram showing a structure in which two brake mechanisms are provided in series along an extension direction of a first drive shaft inside the first motor in the embodiment of the present invention. [Figure 6] FIG. 4 is a cross-sectional view of the second motor in one embodiment of the present invention. [Figure 7]FIG. 4 is a cross-sectional view of the second motor in another embodiment of the present invention. [Figure 8] FIG. 4 is a cross-sectional view of the second motor in another embodiment of the present invention. [Figure 9] FIG. 4 is a schematic diagram showing a structure of the second motor in one embodiment of the present invention. [Figure 10] FIG. 4 is a schematic diagram showing a structure of the second motor in another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] In order to better understand the above technical solution, exemplary embodiments of the present invention are described in detail below with reference to the drawings. The described embodiments are only some embodiments of the present invention, and are not all embodiments of the present invention. It should be understood that the present invention is not limited by the exemplary embodiments described herein.

[0026] A chassis-type transport robot is usually provided with a telescopic arm assembly, which can be horizontally telescopic with respect to the chassis-type vehicle body, and the telescopic arm assembly usually includes a bottom plate and a top plate arranged one above the other, and a lifting motor is provided on the bottom plate, which can raise and lower the top plate up and down relative to the bottom plate via a transmission device. In this way, by cooperating with the horizontal telescopic movement and the vertical lifting, the telescopic arm can load bottles onto the vehicle body and remove bottles from the vehicle body.

[0027] However, considering the limitations of the width size and structure of the telescopic arm assembly, the model number or size of the lifting motor attached to the bottom plate of the telescopic arm assembly is generally small, and the brake torque of the brake mechanism inside the lifting motor is small, so the brake mechanism of the lifting motor often cannot completely lock the drive shaft after a power outage, which often leads to safety accidents such as the bottle falling over. In addition, the conventional telescopic arm assembly usually requires two telescopic motors with single-sided output, which takes up a large amount of space.

[0028] In view of this, an embodiment of the present invention provides a transport robot, in which a first brake mechanism and a second brake mechanism are sequentially provided inside a first motor (i.e., a lift motor) of the transport robot along the extension direction of a first drive shaft of the first motor, and the two brake mechanisms can simultaneously lock the first drive shaft, i.e., prevent the inertial rotation of the first drive shaft after a power failure, thereby avoiding safety accidents such as bottle tipping that are likely to occur due to the lift motor's brake mechanism being unable to lock its drive shaft. In addition, a telescopic arm assembly of the transport robot is provided with a second motor (i.e., a telescopic motor), and the opposing ends of the second drive shaft of the second motor protrude from the second motor housing, i.e., the second motor is designed as a dual output shaft, so that the telescopic arm assembly can be telescopically extended and retracted with only one telescopic motor, thereby saving space.

[0029] Fig. 1 is a schematic diagram showing the structure of the transport robot, Fig. 2 is a schematic diagram showing the structure of the telescopic arm assembly, and Fig. 5 is a schematic diagram showing the internal structure of the first motor. As shown in Figs. 1, 2, and 5, the transport robot includes a robot body 100 and a telescopic arm assembly 200 that is provided so as to be telescopic along a first direction X with respect to the robot body 100. The telescopic arm assembly 200 includes a top plate 20 and a bottom plate 10 that are arranged vertically. A first motor 30 is attached to the bottom plate 10. A first drive shaft 32 of the first motor 30 is operably connected to the top plate 20 to raise and lower the top plate 20 vertically with respect to the bottom plate 10. The first drive shaft 32 extends along the first direction X. A first brake mechanism 35 and a second brake mechanism 36 are provided in order inside the first motor 30 along the first direction X. The first brake mechanism 35 and the second brake mechanism 36 are used to simultaneously lock the first drive shaft 32.

[0030] Specifically, a first motor 30 is provided at one end of the bottom plate 10 close to the robot body 100, and the first motor 30 includes a first motor housing 31 and a first drive shaft 32 provided inside the first motor housing 31, the first drive shaft 32 extends along a first direction X, a portion of the first drive shaft 32 protrudes from one end of the first motor housing 31 away from the robot body 100, and the protruding portion of the first drive shaft 32 is operably connected to the top plate 20 to raise and lower the top plate 20 up and down relative to the bottom plate 10.

[0031] First, as shown in Fig. 1, a robot body 100 is usually of a chassis type, and a telescopic arm assembly 200 is attached to the robot body 100, and the telescopic arm assembly 200 is attached to the robot body 100 so as to be horizontally telescopic. In Fig. 1, a first direction X is a horizontal direction, and a second direction Y is another horizontal direction perpendicular to the first direction X. The telescopic arm assembly 200 is attached to the robot body 100 so as to be telescopic along the first direction X.

[0032] 2, the telescopic arm assembly 200 includes a top plate 20 and a bottom plate 10 arranged vertically along the height direction, and the top plate 20 and the bottom plate 10 generally extend along a first direction X. A first motor 30 is attached to the bottom plate 10, and a first drive shaft 32 of the first motor 30 is provided along the first direction X and is connected to the top plate 20 in a transmissible manner, so that the first motor 30 can raise and lower the top plate 20 up and down relative to the bottom plate 10 via the first drive shaft 32.

[0033] As shown in FIG. 5, a first brake mechanism 35 and a second brake mechanism 36 are provided in this order inside the first motor 30 along the axial direction of the first drive shaft 32, i.e., the first direction X, and the two brake mechanisms are used to simultaneously lock the first drive shaft 32.

[0034] As can be seen, for the first drive shaft, two brake mechanisms are provided in series inside the first motor; in this manner, by providing two brake mechanisms, the brake torque can be significantly improved, and by closing the two brake mechanisms simultaneously, the inertial rotation of the first drive shaft after a power outage can be prevented.

[0035] An embodiment of the present invention provides a transport robot, the transport robot including a robot body and an extendable arm assembly arranged to be extendable and retractable along a first direction (i.e., a horizontal direction) relative to the robot body, the extendable arm assembly including a bottom plate and a top plate, a first motor for raising and lowering the top plate is attached to the bottom plate, a first drive shaft of the first motor is arranged along the extension direction of the extendable arm assembly, and a first brake mechanism and a second brake mechanism for simultaneously locking the first drive shaft are arranged in sequence inside the first motor along the extension direction.

[0036] That is, a first motor (i.e., lifting motor) is attached to the telescopic arm assembly of the transport robot according to the embodiment of the present invention, and two brake mechanisms are provided in series along the extension direction of the first drive shaft of the first motor, and a large brake torque can be provided by simultaneously closing the two brake mechanisms to lock the first drive shaft. In this way, for example, when the top plate needs to be positioned at a low position, the two brake mechanisms can ensure that the first drive shaft is locked after a power outage, that is, by preventing the inertial rotation of the first drive shaft, the occurrence of a safety accident such as a bottle falling over due to the first drive shaft being unable to be locked is prevented.

[0037] Specifically, the first motor 30 may be provided at one end of the bottom plate 10 close to the robot body 100, and the first drive shaft 32 protrudes from one end of the first motor housing 31 away from the robot body 100 and is dynamically connected to the top plate 20.

[0038] In this embodiment, the robot body 100 includes a master control module, which is, for example, a master control circuit board, and the master control module is communicatively connected to the first brake mechanism 35 and the second brake mechanism 36 respectively via a brake harness 37, and the master control module is used to simultaneously close the first brake mechanism 35 and the second brake mechanism 36 so that the first brake mechanism 35 and the second brake mechanism 36 simultaneously lock the first drive shaft 32.

[0039] Furthermore, the master control module is configured to simultaneously close the first brake mechanism 35 and the second brake mechanism 36 when the power supply to the first motor 30 is stopped or a fault signal is received. For example, when the tabletop 20 needs to be raised or lowered to a relatively low height, the master control module first stops the power supply to the first motor 30, at which time the first drive shaft 32 of the first motor 30 still has a certain rotation speed due to inertia, and the master control module closes the two brake mechanisms simultaneously to prevent the inertial rotation of the first drive shaft 32 and prevent a safety accident.

[0040] 2 and 3, in one embodiment, the first drive shaft 32 is movably connected to the top plate 20 via a transmission mechanism. The transmission mechanism includes a transmission shaft 51 provided along a first direction X and a scissor arm 53 provided along a third direction perpendicular to the first direction X and the second direction Y. For example, the third direction may be a vertical direction.

[0041] The transmission shaft 51 is fixedly attached to the bottom plate 10, a transmission block 52 is sleeved on the transmission shaft 51, a first drive shaft 32 is operably connected to the transmission shaft 51, and the first drive shaft 32 is used to move the transmission block 52 along the transmission shaft 51. The scissor arm 53 includes a first scissor arm 531 and a second scissor arm 532 that are arranged crosswise and rotatably connected, and the upper ends of the first scissor arm 531 and the second scissor arm 532 are fixedly attached to the top plate 20, respectively, the lower end of the first scissor arm 531 is fixedly attached to the bottom plate 10, and the lower end of the second scissor arm 532 is fixedly attached to the transmission block 52. In this way, the first drive shaft 32 moves the transmission block 52 along the transmission shaft 51, thereby rotating the second scissor arm 532 relative to the first scissor arm 531, thereby raising and lowering the top plate 20 up and down relative to the bottom plate 10.

[0042] This embodiment provides one possible specific structure of the transmission-enabled connection between the first drive shaft 32 and the top plate 20.

[0043] Specifically, the transmission structure between the first driving shaft 32 and the top plate 20 includes a transmission shaft 51 and a scissor arm 53, the transmission shaft 51 extends along the first direction X and is fixedly attached to the bottom plate 10, a transmission block 52 is sleeved on the transmission shaft 51, and the first driving shaft 32 is operably connected to the transmission shaft 51 to move the transmission block 52 along the transmission shaft 51, that is, along the first direction X. The scissor arm 53 is provided along the vertical direction, and includes a first scissor arm 531 and a second scissor arm 532 that are crossed and rotatably connected, and the upper ends of the two scissor arms are respectively fixedly attached to the top plate 20, the lower end of the first scissor arm 531 is fixedly attached to the bottom plate 10, and the lower end of the second scissor arm 532 is fixedly attached to the transmission block 52. In this manner, the first drive shaft 32 can move the transmission block 52 along the first direction X to raise and lower the top plate 20 relative to the bottom plate 10 .

[0044] Here, the above-mentioned transmission shaft 51 is, for example, a ball screw, the transmission block 52 is, for example, a screw nut, one end of the ball screw is operably connected to the first drive shaft 32 via the first reducer 33 and the coupling 60, and the other end of the ball screw is fixedly attached to the bottom plate 10 via a fixed seat 90. As can be understood, the first drive shaft 32 can move the screw nut along the ball screw (i.e., along the first direction X) by rotating the ball screw.

[0045] Here, with regard to the above-mentioned first motor 30, as shown in Figures 4 and 5, the first motor 30 includes a first motor housing 31, a stator winding is attached to the first motor housing 31, a first drive shaft 32 is provided inside the first motor housing 31, a first encoder 34 is provided at one end of the first drive shaft 32, and a first reducer 33 is provided at the other end of the first drive shaft 32.

[0046] The first encoder 34 can feed back the rotation speed and torque of the first drive shaft 32 in real time, and the first reducer 33 is connected to the transmission shaft 51 via a coupling 60 .

[0047] Regarding the horizontal extension and retraction of the telescopic arm assembly 200 with respect to the robot body 100, in one embodiment, as shown in FIG. 2 and FIG. 6 to FIG. 10, a second motor 40 is further attached to the bottom plate 10, the second motor 40 includes a second motor housing 41 and a second drive shaft 42 provided inside the second motor housing 41, the second drive shaft 42 penetrates the second motor housing 41 along a second direction Y, the second direction Y being a horizontal direction perpendicular to the first direction X, the second drive shaft 42 is provided along the second direction Y, both ends of the second drive shaft 42 along the second direction Y protrude from the second motor housing 41, and drive wheels 70 are attached to both ends of the second drive shaft 42 protruding from the second motor housing 41 so that the second motor 40 horizontally extends and retracts the telescopic arm assembly 200 with respect to the robot body 100.

[0048] That is, the second motor 40 can extend and retract the telescopic arm assembly 200 horizontally relative to the robot body 100, and the second motor 40 has a second motor housing 41 having a second drive shaft 42 passing therethrough, the second drive shaft 42 extending along a second direction Y perpendicular to the first direction X, i.e., the second drive shaft 42 is disposed perpendicular to the first drive shaft 32, and a drive wheel 70 is attached to each of both ends of the second drive shaft 42 protruding from the second motor housing 41, and thus the second motor 40 can extend and retract the telescopic arm assembly 200 by rotating the drive wheel 70.

[0049] As shown in FIG. 2, the bottom plate 10 is, for example, elongated and extends along the first direction X, and the drive wheels 70 drivably connected to both ends of the second motor 40 are provided across the bottom plate 10 along the second direction Y, enabling the telescopic arm assembly 200 to smoothly telescope in the horizontal direction.

[0050] As a result of the above-mentioned installation, in the telescopic arm assembly 200 of this embodiment, only one dual output shaft second motor 40 is required to complete the horizontal telescopic movement of the telescopic arm assembly 200, thereby reducing the space occupied.

[0051] That is, in this embodiment, one second driving shaft can drive two driving wheels on both sides, completing the horizontal extension and retraction of the telescopic arm assembly, and the extension and retraction is smooth and reliable.

[0052] An embodiment of the present invention provides a transport robot, the transport robot including: a robot body; and a telescopic arm assembly arranged to be extendable and retractable along a first direction relative to the robot body; a second motor is arranged on a bottom plate of the telescopic arm assembly, the second motor includes a second motor housing and a second drive shaft arranged inside the second motor housing, the second drive shaft is arranged along the second direction, both ends of the second drive shaft along the second direction are arranged to protrude from the second motor housing, and drive wheels are respectively connected to the protruding ends of the second drive shaft in a drivable manner; in this way, the second motor can horizontally extend and retract the telescopic arm assembly relative to the robot body via the drive wheels.

[0053] That is, the second motor in this embodiment can realize double-sided drive by being provided with a single second drive shaft with both ends protruding, that is, the second motor is designed with a dual output shaft, so that only one second motor needs to be attached to the bottom plate of the telescopic arm assembly. Compared with single-sided drive that requires two second motors to be attached to the bottom plate, this embodiment can save the number of second motors and reduce space occupation.

[0054] Furthermore, a second reducer 43 is provided between the second drive shaft 42 and the drive wheel 70, and the end of the drive wheel 70, the end of the second reducer 43, and the end of the second drive shaft 42 are flush with each other in a plane perpendicular to the second direction Y. By arranging the drive wheel 70 and the second reducer 43 flush with each other, the width size of the second motor 40 can be significantly reduced and space can be saved, and the second reducer 43 may be, for example, a planetary reducer.

[0055] Furthermore, a hollow second encoder 44 is provided inside the second motor housing 41, the second encoder 44 is sleeved onto the second drive shaft 42, and the second encoder 44 is communicatively connected to the master control module of the robot body 100. As shown in FIG. 6, the second encoder 44 may be provided at an intermediate position of the second drive shaft 42, or as shown in FIG. 7 or 8, the second encoder 44 may be provided on one side of the second drive shaft 42, in close proximity to the second motor housing 41.

[0056] The second encoder 44 can provide feedback of the rotational speed and torque of the second drive shaft 42 in real time.

[0057] In a specific embodiment, a third brake mechanism 48 is provided inside the second motor housing 41, the third brake mechanism 48 is sleeved onto the second drive shaft 42, the third brake mechanism 48 is communicatively connected to the master control module, the third brake mechanism 48 is used to lock the second drive shaft 42, and the second encoder 44 and the third brake mechanism 48 are respectively provided on both sides of the second drive shaft 42 along the second direction Y.

[0058] That is, as shown in FIG. 8, the second encoder 44 and the third brake mechanism 48 may be simultaneously provided inside the second motor housing 41, and the second encoder 44 and the third brake mechanism 48 are provided on both sides of the second drive shaft 42, respectively. In this way, the robot body 100 can lock the second drive shaft 42 by the master control module.

[0059] Furthermore, as shown in FIG. 9 or FIG. 10, an outlet terminal 45 may be provided at one end of the second motor housing 41 facing the robot body 100, and the outlet terminal 45 is used for passing cables of the third brake mechanism 48 and the second encoder 44 and connecting to the master control module of the robot body 100.

[0060] In one possible embodiment, the second motor 40 is provided at one end of the base plate 10 away from the robot body 100, and a driven wheel 80 is provided at one end of the base plate 10 close to the robot body 100. By moving the driving wheel (i.e., the driving wheel 70 attached to the second motor 40) away from the robot body 100 and moving the driven wheel 80 closer to the robot body 100, it is possible to avoid a jamming problem that is likely to occur when the telescopic arm assembly 200 is telescopic.

[0061] In one possible embodiment, a motor mounting seat 46 is provided on each end of the second motor housing 41 along the second direction Y, the motor mounting seat 46 extends perpendicular to the second direction Y, and a mounting through hole 49 is provided in the motor mounting seat 46, and a fixing member (e.g., a mounting screw) fixes the second motor housing 41 to the bottom plate 10 through the mounting through hole 49.

[0062] 9 and 10, a motor mounting seat 46 may be provided directly on the second motor housing 41, and the second motor 40 may be fixedly attached to the bottom plate 10 via the motor mounting seat 46.

[0063] Here, as shown in Fig. 9, the motor mounting seat 46 may be, for example, L-shaped and provided at both ends of the second motor housing 41 along the second direction Y, and by providing a mounting through-hole 49 in a horizontally bent portion 47 of the L-shape, the motor mounting seat 46 can be fixed vertically to the bottom plate 10 with a mounting screw. Alternatively, as shown in Fig. 10, a mounting through-hole that penetrates horizontally may be provided in the motor mounting seat 46, and in this way, the motor mounting seat 46 can be fixed horizontally to the bottom plate 10 with a mounting screw.

[0064] In addition, an outlet terminal 45 may be provided at one end of the second motor housing 41 facing the robot body 100, and the outlet terminal 45 is used for passing a cable of the second encoder 44 and connecting it to the master control module of the robot body 100.

[0065] Furthermore, the first motor 30 may be provided at one end of the bottom plate 10 close to the robot body 100, and the second motor 40 may be provided at one end of the bottom plate 10 away from the robot body 100, and a driven wheel 80 is further provided at the end of the bottom plate 10 close to the robot body 100. In this way, by moving the drive wheel (i.e., the drive wheel 70 attached to the second motor 40) away from the robot body 100 and the driven wheel 80 closer to the robot body 100, it is possible to avoid clogging problems that are likely to occur when the telescopic arm assembly 200 is telescopic.

[0066] Although the basic principle of the present invention has been described above with specific examples, it should be noted that the advantages, merits, effects, etc. mentioned in the present invention are merely illustrative and not limiting, and these advantages, merits, effects, etc. are not considered to be necessary for each embodiment of the present invention. In addition, the specific details of the above disclosure are merely illustrative and for ease of understanding, and are not limiting, and the above details do not limit the fact that the above specific details must be adopted to implement the present invention.

[0067] Block diagrams of devices, apparatus, instruments, and systems according to the present invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatus, instruments, and systems may be connected, arranged, or configured in any manner. For example, terms such as "including," "comprising," and "having" are open-ended terms and refer to and may be used interchangeably with the term "including but not limited to." The terms "or" and "and" as used herein refer to and may be used interchangeably with the term "and / or," unless the context clearly indicates otherwise. The term "for example" as used herein refers to and may be used interchangeably with the term "for example, but not limited to."

[0068] In the apparatus, device, and method of the present invention, each component or each step can be disassembled and / or recombined, and such disassembly and / or recombination should be considered as an equivalent embodiment of the present invention.

[0069] The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but rather is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0070] The above description has been provided for the purposes of illustration and description. It is to be noted that the description is not intended to limit the embodiments of the present invention to the form disclosed herein. Although a number of exemplary aspects and embodiments have been described above, those skilled in the art will appreciate that certain variations, modifications, changes, additions, and subcombinations thereof are within the scope of protection of the present invention. [Explanation of symbols]

[0071] 100 Robot body 200 Telescopic arm assembly 10 Bottom plate 20 Tabletop 30 First Motor 31 First motor housing 32 First Drive Shaft 33 First reducer 34 First Encoder 35 First brake mechanism 36 Second Brake Mechanism 37 Brake harness 40 Second Motor 41 Second motor housing 42 Second Drive Shaft 43 Second reducer 44 Second Encoder 45 Outlet terminal 46 Motor mounting seat 47 Horizontal bend 48 Third Brake Mechanism 49 Mounting through hole 51 Transmission shaft 52 Transmission block 53 Scissor Arm 531 First Scissor Arm 532 Second Scissor Arm 60 Coupling 70 Drive Wheel 80 Driven Wheel 90 Fixed seat X First Direction Y Second Direction

Claims

1. A transport robot including a robot body (100) and an extendable arm assembly (200) provided to be extendable along a first direction (X) relative to the robot body (100), The telescopic arm assembly (200) includes a top plate (20) and a bottom plate (10) arranged vertically, a first motor (30) is attached to the bottom plate (10), and a first drive shaft (32) of the first motor (30) is operably connected to the top plate (20) to raise and lower the top plate (20) relative to the bottom plate (10); The first drive shaft (32) extends along the first direction (X), A first brake mechanism (35) and a second brake mechanism (36) are provided in the first motor (30) in the first direction (X), and the first brake mechanism (35) and the second brake mechanism (36) are used to simultaneously lock the first drive shaft (32). A transport robot characterized by the above.

2. The robot body (100) includes a master control module, the master control module being communicatively connected to each of the first brake mechanism (35) and the second brake mechanism (36); the master control module is configured to, in response to an interruption in power supply to the first motor (30) or receipt of a fault signal, simultaneously close the first brake mechanism (35) and the second brake mechanism (36) such that the first brake mechanism (35) and the second brake mechanism (36) simultaneously lock the first drive shaft (32).

2. The transport robot according to claim 1.

3. The first motor (30) includes a first motor housing (31), and the first drive shaft (32) is provided inside the first motor housing (31); A part of the first drive shaft (32) protrudes from one end of the first motor housing (31) that is away from the robot body (100), and the protruding part of the first drive shaft (32) is connected to the top plate (20) in a manner that allows transmission of power.

2. The transport robot according to claim 1.

4. The first drive shaft (32) is drivably connected to the top plate (20) via a transmission mechanism, and the transmission mechanism includes a transmission shaft (51) provided along the first direction (X) and a scissor arm (53) provided along a third direction perpendicular to the first direction (X); The transmission shaft (51) is fixedly attached to the bottom plate (10), a transmission block (52) is sleeved on the transmission shaft (51), the first drive shaft (32) is operably connected to the transmission shaft (51), and the first drive shaft (32) is used to move the transmission block (52) along the transmission shaft (51); The scissor arm (53) includes a first scissor arm (531) and a second scissor arm (532) that are arranged crosswise and rotatably connected, and an upper end of the first scissor arm (531) and an upper end of the second scissor arm (532) are fixedly attached to the top plate (20), a lower end of the first scissor arm (531) is fixedly attached to the bottom plate (10), and a lower end of the second scissor arm (532) is fixedly attached to the transmission block (52).

2. The transport robot according to claim 1.

5. One end of the transmission shaft (51) is rotatably connected to the first drive shaft (32) via a first reducer (33), and the other end of the transmission shaft (51) is fixedly attached to the bottom plate (10) via a fixing seat (90).

5. The transport robot according to claim 4.

6. A second motor (40) is further attached to the bottom plate (10), the second motor (40) including a second motor housing (41) and a second drive shaft (42) passing through the second motor housing (41) along a second direction (Y), the second direction (Y) being a horizontal direction perpendicular to the first direction (X); Both ends of the second drive shaft (42) along the second direction (Y) protrude from the second motor housing (41), and a drive wheel (70) is attached to each end, and the second motor (40) causes the telescopic arm assembly (200) to telescope along the first direction (X) relative to the robot body (100).

6. The transport robot according to claim 1,

7. A second reducer (43) is provided between the second drive shaft (42) and the drive wheel (70), An end of the drive wheel (70), an end of the second reducer (43), and an end of the second drive shaft (42) are flush with each other in a plane perpendicular to the second direction (Y).

7. The transport robot according to claim 6.

8. a second encoder (44) is provided inside the second motor housing (41), the second encoder (44) is sleeved onto the second drive shaft (42), and the second encoder (44) is communicatively connected to a master control module of the robot body (100); 7. The transport robot according to claim 6.

9. a third brake mechanism (48) is provided inside the second motor housing (41), the third brake mechanism (48) is sleeved on the second drive shaft (42), the third brake mechanism (48) is communicatively connected to the master control module, and the third brake mechanism (48) is used to lock the second drive shaft (42); the second encoder (44) and the third brake mechanism (48) are provided on both sides of the second drive shaft (42) along the second direction (Y), 9. The transport robot according to claim 8.

10. The first motor (30) is provided at one end of the bottom plate (10) close to the robot body (100), the second motor (40) is provided at one end of the bottom plate (10) away from the robot body (100), and a driven wheel (80) is further provided at the end of the bottom plate (10) close to the robot body (100).

7. The transport robot according to claim 6.

11. A motor mounting seat (46) is provided at each end of the second motor housing (41) along the second direction (Y), and the motor mounting seat (46) extends perpendicular to the second direction (Y), A mounting through hole (49) is provided in the motor mounting seat (46), and a fixing member fixes the second motor housing (41) to the bottom plate (10) through the mounting through hole.

7. The transport robot according to claim 6.

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