Transport 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 particularly relates to a transport robot.

Background Art

[0002] In the logistics field, usually, a bin can be transported by a chassis-type transport robot.

[0003] The chassis-type transport robot includes a chassis-type vehicle body and a telescopic arm assembly provided on the vehicle body. The telescopic arm assembly can be telescopically extended and retracted horizontally with respect to the vehicle body, and a lift mechanism is usually provided on the telescopic arm assembly. In this way, the chassis-type vehicle body can place a bin on the vehicle body or lower the bin on the vehicle body from the vehicle body by means of the telescopic arm assembly.

[0004] In the related art, the telescopic arm assembly usually includes a bottom plate and a top plate arranged vertically. A lifting motor is provided on the bottom plate. The lifting motor raises and lowers the top plate vertically with respect to the bottom plate through a transmission device, and can lift a bin. In addition, a telescopic motor is usually attached to the telescopic arm assembly. The telescopic motor realizes the telescopic extension and retraction of the telescopic arm assembly with respect to the vehicle body by rotating a drive wheel.

Summary of the Invention

[0005] Embodiments of the present invention provide a transport robot. Inside the first motor (i.e., the lifting motor) of the transport robot, a first brake mechanism and a second brake mechanism are provided in sequence along the extending direction of the first drive shaft of the first motor. The two brake mechanisms can lock the first drive shaft at the same time, thereby avoiding safety accidents such as the tipping of the bin that are likely to occur because the brake mechanism of the lifting motor cannot lock its drive shaft.

[0006] Furthermore, the telescopic arm assembly of the transport robot is equipped 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, meaning that the second motor is designed with dual output shafts. As a result, the telescopic arm assembly can extend and retract with only one telescopic motor, saving space.

[0007] Embodiments of the present invention provide a transport robot comprising a robot body and a telescopic arm assembly provided to extend and retract along a first direction relative to the robot body, the telescopic arm assembly comprising a top plate and a bottom plate positioned vertically, a first motor mounted on the bottom plate, a first drive shaft of the first motor being ductilely connected to the top plate to raise and lower the top plate vertically relative to the bottom plate, the first drive shaft extending along the first direction, a first brake mechanism and a second brake mechanism being provided sequentially inside the first motor along the first direction, the first brake mechanism and the second brake mechanism being used to lock the first drive shaft simultaneously.

[0008] In one embodiment, preferably, the robot body includes a master control module, the master control module is communicably connected to the first brake mechanism and the second brake mechanism, and the master control module is configured to simultaneously close the first brake mechanism and the second brake mechanism in response to the cessation of power supply to the first motor or the reception of a fault signal, so 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 movably connected to the top plate.

[0010] In one embodiment, preferably, the first drive shaft is ductilely connected to the top plate via a transmission mechanism, the transmission mechanism comprising a transmission shaft provided along the first direction and a scissor arm provided along a third direction perpendicular to the first direction, the transmission shaft being fixedly attached to the bottom plate, a transmission block sleeved on the transmission shaft, the first drive shaft being ductilely connected to the transmission shaft, the first drive shaft being used to move the transmission block along the transmission shaft, the scissor arm comprising a first scissor arm and a second scissor arm provided at cross and rotatably connected, the upper end of the first scissor arm and the upper end of the second scissor arm being fixedly attached to the top plate, the lower end of the first scissor arm being fixedly attached to the bottom plate, and the lower end of the second scissor arm being 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 ductilely connected to the first drive shaft via a first reduction gear, and the other end of the transmission shaft is fixedly attached to the bottom plate via a fixed seat.

[0013] In one embodiment, preferably, a second motor is further mounted on 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, and both ends of the second drive shaft along the second direction protruding from the second motor housing, each to which a drive wheel is attached, the second motor causing the telescopic arm assembly to extend and retract relative to the robot body along the first direction.

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

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

[0016] In one embodiment, preferably, a second encoder is provided inside the second motor housing, the second encoder is sleeved on the second drive shaft, and the second encoder is communicatively connected to the 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.

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

[0019] In one embodiment, preferably, motor mounting seats are provided at both ends of the second motor housing along the second direction, the motor mounting seats extend perpendicularly to the second direction, the motor mounting seats are provided with mounting through holes, and a fixing member fixes the second motor housing to the bottom plate through the mounting through holes.

[0020] An embodiment of the present invention provides a transport robot. The transport robot includes a robot body and a telescopic arm assembly that is extendable and retractable relative to the robot body in a first direction (i.e., horizontal direction), the telescopic arm assembly including a base plate and a top plate, the base plate having a first motor mounted on it for raising and lowering the top plate, the first drive shaft of the first motor being provided along the extension and retraction direction of the telescopic arm assembly, and along the extension and retraction direction, a first brake mechanism and a second brake mechanism are sequentially provided inside the first motor for simultaneously locking the first drive shaft.

[0021] Furthermore, 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 a second direction, both ends of the second drive shaft along the second direction protrude from the second motor housing, and drive wheels are movably connected to each of the protruding ends of the second drive shaft, so that the second motor can extend and retract the telescopic arm assembly horizontally relative to the robot body via the drive wheels.

[0022] In other words, a first motor (i.e., a lifting motor) is attached to the telescopic arm assembly of the transport robot in the embodiment of the present invention, and two brake mechanisms are provided in series along the extending direction of the first drive shaft of the first motor. By simultaneously closing the two brake mechanisms to lock the first drive shaft, a large braking torque can be provided. Thus, for example, when it is necessary to position the top plate 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, safety accidents such as bottles tipping over due to the first drive shaft not being able to be locked are prevented.

[0023] In addition, the second motor (i.e., the telescopic motor) can achieve bilateral driving by being provided such that both ends of a single second drive shaft protrude. That is, since the second motor is designed with dual output shafts, only one second motor needs to be attached to the bottom plate of the telescopic arm assembly. Compared with the single-sided driving where two second motors need to be attached to the bottom plate, the embodiment of the present invention can save the number of second motors and reduce space occupation. Further, the second motor realizes bilateral driving by a single second drive shaft, has high output stability, can achieve the same rotational speed of the two drive wheels on both sides of the second drive shaft, has high synchronism, shortens the size of the second motor in the first direction, saves space, and ensures arrangement space for other components.

Brief Description of the Drawings

[0024] To more clearly explain the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment 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 effort. [Figure 1] It is a schematic diagram showing the structure of the transfer robot in the embodiment of the present invention. [Figure 2] It is a schematic diagram showing the structure of the telescopic arm assembly in the embodiment of the present invention. [Figure 3] It is a schematic diagram showing the attachment structure of the first motor and the transmission shaft in the embodiment of the present invention. [Figure 4] It is a schematic diagram showing the attachment structure of the first motor and the first reducer in the embodiment of the present invention. [Figure 5] It is a schematic diagram showing the structure in which two brake mechanisms are provided in series along the extending direction of the first drive shaft inside the first motor in the embodiment of the present invention. [Figure 6] It is a cross-sectional view of the second motor in an embodiment of the present invention. [Figure 7]It is a cross-sectional view of the second motor in another embodiment of the present invention. [Figure 8] It is a cross-sectional view of the second motor in another embodiment of the present invention. [Figure 9] It is a schematic diagram showing the structure of the second motor in an embodiment of the present invention. [Figure 10] It is a schematic diagram showing the structure of the second motor in another embodiment of the present invention.

Mode for Carrying Out the Invention

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

[0026] A chassis-type transfer robot usually has a telescopic arm assembly. The telescopic arm assembly can be telescopically extended horizontally with respect to the chassis-type vehicle body, and the telescopic arm assembly usually includes a bottom plate and a top plate arranged vertically. A lifting motor is provided on the bottom plate, and the lifting motor can lift the top plate up and down with respect to the bottom plate through a transmission device. In this way, through the cooperation of horizontal telescoping and vertical lifting, the telescopic arm can place the bin on the vehicle body or lower the bin on the vehicle body from the vehicle body.

[0027] However, considering the limitations such as 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 braking torque of the braking mechanism inside the lifting motor is small. Therefore, the braking mechanism of the lifting motor often cannot completely lock the drive shaft after a power failure, which often leads to safety accidents such as the tipping of the bin. In addition, in the conventional telescopic arm assembly, usually two telescopic motors with single-side output need to be provided, which will occupy 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 the first motor (i.e., lifting motor) of the transport robot along the extending direction of the first drive shaft of the first motor, and the two brake mechanisms can lock the first drive shaft simultaneously, that is, by preventing inertial rotation of the first drive shaft after a power outage, safety accidents such as bottle tipping that are likely to occur because the brake mechanism of the lifting motor cannot lock its drive shaft are avoided. Furthermore, a second motor (i.e., telescopic motor) is provided in 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, that is, the second motor is designed with dual output shafts, so that the telescopic arm assembly can extend and retract with only one telescopic motor, saving space.

[0029] Figure 1 is a schematic diagram showing the structure of a transport robot, Figure 2 is a schematic diagram showing the structure of a telescopic arm assembly, and Figure 5 is a schematic diagram showing the internal structure of the first motor. As shown in Figures 1, 2, and 5, the transport robot includes a robot body 100 and a telescopic arm assembly 200 that is extendable and retractable relative to the robot body 100 along a first direction X. 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. The first drive shaft 32 of the first motor 30 is movably 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, and along the first direction X, a first brake mechanism 35 and a second brake mechanism 36 are provided sequentially inside the first motor 30. The first brake mechanism 35 and the second brake mechanism 36 are used to lock the first drive shaft 32 simultaneously.

[0030] Specifically, a first motor 30 is provided at one end of the base plate 10 that is close to the robot body 100. 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, and a portion of the first drive shaft 32 protrudes from one end of the first motor housing 31 that is away from the robot body 100. The protruding portion of the first drive shaft 32 is movably connected to the top plate 20 in order to raise and lower the top plate 20 relative to the base plate 10.

[0031] First, as shown in Figure 1, the robot body 100 is typically a chassis type, and a telescopic arm assembly 200 is attached to the robot body 100, with the telescopic arm assembly 200 being mounted to the robot body 100 so as to be horizontally extendable and retractable. In Figure 1, the first direction X is the horizontal direction, and the second direction Y is another horizontal direction perpendicular to the first direction X. The telescopic arm assembly 200 is mounted to the robot body 100 so as to be extendable and retractable along the first direction X.

[0032] Next, as shown in Figure 2, the telescopic arm assembly 200 includes a top plate 20 and a bottom plate 10 positioned vertically along the height direction, with the top plate 20 and bottom plate 10 extending overall along a first direction X. A first motor 30 is mounted on the bottom plate 10, and a first drive shaft 32 of the first motor 30 is provided along the first direction X, and the first drive shaft 32 is movably connected to the top plate 20, thereby allowing the first motor 30 to raise and lower the top plate 20 relative to the bottom plate 10 via the first drive shaft 32.

[0033] As shown in Figure 5, a first brake mechanism 35 and a second brake mechanism 36 are provided in 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 lock the first drive shaft 32 simultaneously.

[0034] To make it easier to understand, for the first drive shaft, two brake mechanisms are provided in series inside the first motor. By providing these two brake mechanisms, the braking torque can be significantly increased, and by closing both brake mechanisms simultaneously, the inertial rotation of the first drive shaft after a power outage can be prevented.

[0035] Embodiments of the present invention provide a transport robot comprising a robot body and a telescopic arm assembly that is extendable and retractable relative to the robot body in a first direction (i.e., horizontal direction), the telescopic arm assembly comprising a base plate and a top plate, the base plate having a first motor mounted on it for raising and lowering the top plate, the first drive shaft of the first motor being provided along the extension and retraction direction of the telescopic arm assembly, and a first brake mechanism and a second brake mechanism being provided in order inside the first motor along the extension and retraction direction for simultaneously locking the first drive shaft.

[0036] In other words, a first motor (i.e., a lifting motor) is attached to the telescopic arm assembly of the transport robot in the embodiment of the present invention, and two brake mechanisms are provided in series along the extending direction of the first drive shaft of the first motor. By simultaneously closing the two brake mechanisms to lock the first drive shaft, a large braking torque can be provided. Thus, for example, when it is necessary to position the top plate 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, safety accidents such as bottles tipping over due to the first drive shaft not being able to be locked are prevented.

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

[0038] In this embodiment, the robot body 100 includes a master control module, which is, for example, a master control circuit board, and is communicatively connected to the first brake mechanism 35 and the second brake mechanism 36 via a brake harness 37, and 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 if the power supply to the first motor 30 is stopped or if a fault signal is received. For example, if it is necessary to raise or lower the top plate 20 to a relatively low height, the master control module first stops the power supply to the first motor 30. At this time, the first drive shaft 32 of the first motor 30 still has a constant rotational speed due to inertia, and the master control module prevents the inertial rotation of the first drive shaft 32 by simultaneously closing the two brake mechanisms, thereby preventing a safety accident.

[0040] Regarding the ductile connection between the first drive shaft 32 and the top plate 20 as described above, in one embodiment, as shown in Figures 2 and 3, the first drive shaft 32 is ductilely 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 vertical.

[0041] The transmission shaft 51 is fixedly attached to the base plate 10, and the transmission block 52 is sleeved on the transmission shaft 51. The first drive shaft 32 is movably 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 intersecting and rotatably connected, with the upper ends of the first scissor arm 531 and the upper ends of the second scissor arm 532 fixedly attached to the top plate 20, the lower end of the first scissor arm 531 fixedly attached to the base plate 10, and the lower end of the second scissor arm 532 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, and thereby raising and lowering the top plate 20 relative to the bottom plate 10.

[0042] This embodiment provides one possible specific structure for a drivable connection between the first drive shaft 32 and the top plate 20.

[0043] Specifically, the transmission structure between the first drive shaft 32 and the top plate 20 includes a transmission shaft 51 and a scissor arm 53, the transmission shaft 51 extending along a first direction X and fixedly mounted to the bottom plate 10, a transmission block 52 sleeved on the transmission shaft 51, the first drive shaft 32 being drivably connected to the transmission shaft 51 to move the transmission block 52 along the transmission shaft 51, i.e., along the first direction X. The scissor arm 53 is provided along a vertical direction and includes a first scissor arm 531 and a second scissor arm 532 provided intersecting and rotatably connected, the upper ends of the two scissor arms fixedly mounted to the top plate 20, the lower end of the first scissor arm 531 fixedly mounted to the bottom plate 10, and the lower end of the second scissor arm 532 fixedly mounted to the transmission block 52. In this way, the first drive shaft 32 can move the transmission block 52 along the first direction X, thereby raising and lowering the top plate 20 relative to the bottom plate 10.

[0044] Here, the transmission shaft 51 is, for example, a ball screw, and the transmission block 52 is, for example, a screw nut. One end of the ball screw is movably connected to the first drive shaft 32 via the first reducer 33 and coupling 60, and the other end of the ball screw is fixedly attached to the base 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, regarding the first motor 30 described above, as shown in Figures 4 and 5, the first motor 30 includes a first motor housing 31, the first motor housing 31 is fitted with stator windings, the 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 reduction gear 33 is provided at the other end of the first drive shaft 32.

[0046] The first encoder 34 can provide real-time feedback of the rotational speed and torque of the first drive shaft 32, and the first reduction gear 33 is connected to the transmission shaft 51 via the coupling 60.

[0047] Regarding the horizontal extension and retraction of the telescopic arm assembly 200 relative to the robot body 100, as shown in Figures 2 and 6 to 10, in one embodiment, 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, where the second direction Y is a horizontal direction perpendicular to the first direction X. The second drive shaft 42 is provided along the second direction Y, and both ends of the second drive shaft 42 along the second direction Y protrude from the second motor housing 41. Drive wheels 70 are attached to both ends of the second drive shaft 42 that protrude from the second motor housing 41, so that the second motor 40 extends and retracts the telescopic arm assembly 200 horizontally relative to the robot body 100.

[0048] In other words, the second motor 40 can extend and retract the telescopic arm assembly 200 horizontally relative to the robot body 100. The second motor housing 41 of the second motor 40 is provided with a second drive shaft 42 that passes through it. The second drive shaft 42 extends along a second direction Y perpendicular to the first direction X, that is, the second drive shaft 42 is provided perpendicular to the first drive shaft 32. Drive wheels 70 are attached to both ends of the second drive shaft 42 that protrude from the second motor housing 41. In this way, the second motor 40 can extend and retract the telescopic arm assembly 200 by rotating the drive wheels 70.

[0049] As shown in Figure 2, the base plate 10 is, for example, elongated and extends along a first direction X, and the drive wheels 70, which are movably connected to both ends of the second motor 40, are provided straddling the base plate 10 along a second direction Y, allowing for smooth horizontal extension and retraction of the telescopic arm assembly 200.

[0050] With the above installation, in this embodiment, the telescopic arm assembly 200 can complete horizontal extension and retraction by installing only one second motor 40 of the dual output shaft, thereby reducing the space occupied.

[0051] In other words, in this embodiment, a single second drive shaft can drive both drive wheels on either side, completing the horizontal extension and retraction of the telescopic arm assembly, and the extension and retraction is smooth and reliable.

[0052] Embodiments of the present invention provide a transport robot comprising a robot body and a telescopic arm assembly provided to extend and retract relative to the robot body in a first direction, wherein a second motor is provided on the bottom plate of the telescopic arm assembly, and the second motor comprises a second motor housing and a second drive shaft provided inside the second motor housing, wherein the second drive shaft is provided in a second direction, and both ends of the second drive shaft in the second direction protrude from the second motor housing, and drive wheels are movably connected to each of the protruding ends of the second drive shaft, wherein the second motor can extend and retract the telescopic arm assembly horizontally relative to the robot body via the drive wheels.

[0053] In other words, the second motor in this embodiment can achieve drive on both sides by having both ends of a single second drive shaft protrude. That is, since the second motor is designed with dual output shafts, only one second motor needs to be mounted on the bottom plate of the telescopic arm assembly. Compared to drive on one side, which requires two second motors to be mounted on the bottom plate, this embodiment can save on the number of second motors and reduce the space occupied.

[0054] Furthermore, a second reduction gear 43 is provided between the second drive shaft 42 and the drive wheel 70, and the ends of the drive wheel 70, the ends of the second reduction gear 43, and the ends of the second drive shaft 42 are provided flush with a plane perpendicular to the second direction Y, and by providing the drive wheel 70 and the second reduction gear 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 reduction gear 43 may be, for example, a planetary gearbox.

[0055] Furthermore, a hollow second encoder 44 is provided inside the second motor housing 41, the second encoder 44 is sleeved on 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 Figure 6, the second encoder 44 may be located in an intermediate position on the second drive shaft 42, or, as shown in Figure 7 or Figure 8, the second encoder 44 may be located 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 real-time feedback on the rotational speed and torque of the second drive shaft 42.

[0057] In one specific embodiment, a third brake mechanism 48 is provided inside a second motor housing 41, the third brake mechanism 48 is sleeved on a second drive shaft 42, the third brake mechanism 48 is communicatively connected to a 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 provided on both sides of the second drive shaft 42 along the second direction Y.

[0058] That is, as shown in Figure 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, so that the robot body 100 can lock the second drive shaft 42 by the master control module.

[0059] Furthermore, as shown in Figure 9 or Figure 10, an outlet terminal 45 may be provided at one end of the second motor housing 41 facing the robot body 100. The outlet terminal 45 is used for the cables of the third brake mechanism 48 and the second encoder 44 to pass through and connect 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 the driven wheel 80 is provided at the other end of the base plate 10 closer to the robot body 100. 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, jamming problems that tend to occur when the telescopic arm assembly 200 extends and retracts can be avoided.

[0061] In one possible embodiment, motor mounting seats 46 are provided at both ends of the second motor housing 41 along the second direction Y, the motor mounting seats 46 extend perpendicular to the second direction Y, and the motor mounting seats 46 are provided with mounting through holes 49, and a fixing member (e.g., a mounting screw) fixes the second motor housing 41 to the bottom plate 10 through the mounting through holes 49.

[0062] Alternatively, as shown in Figures 9 and 10, a motor mounting seat 46 may be directly provided 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 Figure 9, the motor mounting seat 46 may be, for example, L-shaped, provided at both ends along the second direction Y of the second motor housing 41, and by providing mounting through holes 49 in the horizontal curved portion 47 of the L-shape, the motor mounting seat 46 can be fixed to the bottom plate 10 in the vertical direction with mounting screws. Alternatively, as shown in Figure 10, the motor mounting seat 46 may be provided with mounting through holes that penetrate horizontally, and in this way, the motor mounting seat 46 can be fixed to the bottom plate 10 in the horizontal direction with mounting screws.

[0064] Furthermore, an output terminal 45 may be provided at one end of the second motor housing 41 that faces the robot body 100. The output terminal 45 is used for the cable of the second encoder 44 to pass through and connect to the master control module of the robot body 100.

[0065] Furthermore, the first motor 30 may be provided at one end of the base plate 10 that is close to the robot body 100, and the second motor 40 may be provided at the other end of the base plate 10 that is away from the robot body 100. A driven wheel 80 may also be provided at the end of the base plate 10 that is 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 jamming problems that tend to occur when the telescopic arm assembly 200 extends and retracts.

[0066] The basic principles of the present invention have been explained above along with specific examples. However, please note that the advantages, merits, and effects mentioned in the present invention are merely illustrative and not limiting, and these advantages, merits, and effects are not considered necessary for each example of the present invention. Furthermore, the specific details disclosed above are merely illustrative and for the purpose of facilitating understanding, and are not limiting, and the above details do not limit the adoption of these specific details in order to carry out the present invention.

[0067] The block diagrams of the devices, apparatus, equipment, and systems according to the present invention are illustrative examples only and are not intended to require or suggest that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be understood by those skilled in the art, these devices, apparatus, equipment, and systems can be connected, arranged, and configured in any manner. For example, terms such as “including,” “consisting of,” and “having” are open terms and can be used interchangeably with “including but not limited to.” The terms “or” and “and” as used herein can be used interchangeably with the terms “and / or” unless the context clearly indicates otherwise. The term “for example” as used herein can be used interchangeably with the term “for example… not limited to.”

[0068] Furthermore, in the apparatus, equipment, and method of the present invention, each component or each step can be disassembled and / or reassembled. These disassembly and / or reassembly should be considered equivalent embodiments of the present invention.

[0069] The above description of the disclosed embodiments is provided to enable those skilled in the art to manufacture or use the invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the invention. Accordingly, the invention is not intended to be limited to the embodiments shown herein, but rather to adhere to the broadest scope consistent with the principles and novel features disclosed herein.

[0070] The above description is provided for illustrative and explanatory purposes. This description is not intended to limit the embodiments of the present invention to those disclosed herein. While several exemplary embodiments and examples have been described above, several variations, modifications, changes, additions, and subcombinations thereof are included within the scope of protection of the present invention, as will be understood by those skilled in the art. [Explanation of symbols]

[0071] 100 Robot Body 200 Telescopic Arm Assembly 10 Bottom plate 20 top plate 30 First motor 31 First motor housing 32 First drive shaft 33 First Reducer 34 First encoder 35. First braking mechanism 36. Second braking mechanism 37 Brake Harness 40 Second motor 41 Second motor housing 42 Second drive shaft 43. Second speed reducer 44 Second encoder 45 Outlet terminal 46 Motor mounting base 47 Horizontal curve 48. Third braking 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 wheels 80 Driven wheel 90 Fixed seat X First direction Y Second direction

Claims

1. A transport robot comprising a robot body (100) and an extendable arm assembly (200) provided to the robot body (100) so as to be extendable and retractable along a first direction (X), The telescopic arm assembly (200) includes a top plate (20) and a bottom plate (10) positioned vertically, a first motor (30) attached to the bottom plate (10), and a first drive shaft (32) of the first motor (30) is movably 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), 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), and the first brake mechanism (35) and the second brake mechanism (36) are used to simultaneously lock the first drive shaft (32). A second motor (40) is further mounted on the base plate (10), and the second motor (40) includes a second motor housing (41) and a second drive shaft (42) that 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), 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 each, and the second motor (40) causes the telescopic arm assembly (200) to extend and retract along the first direction (X) relative to the robot body (100). A transport robot characterized by the following features.

2. The robot body (100) includes a master control module, and the master control module is communicated to the first brake mechanism (35) and the second brake mechanism (36), respectively. The master control module is configured to simultaneously close the first brake mechanism (35) and the second brake mechanism (36) in response to the reception of a power supply stoppage or fault signal to the first motor (30), so that the first brake mechanism (35) and the second brake mechanism (36) simultaneously lock the first drive shaft (32). The transport robot according to feature 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 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 movably connected to the top plate (20). The transport robot according to feature 1.

4. The first drive shaft (32) is ductibly connected to the top plate (20) via a transmission mechanism, the transmission mechanism including 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 base plate (10), a transmission block (52) is sleeved on the transmission shaft (51), the first drive shaft (32) is movably 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 intersecting and rotatably connected, with the upper ends of the first scissor arm (531) and the second scissor arm (532) fixedly attached to the top plate (20), the lower end of the first scissor arm (531) fixedly attached to the bottom plate (10), and the lower end of the second scissor arm (532) fixedly attached to the transmission block (52). The transport robot according to feature 1.

5. One end of the transmission shaft (51) is movably connected to the first drive shaft (32) via the first reduction gear (33), and the other end of the transmission shaft (51) is fixedly attached to the bottom plate (10) via the fixed seat (90). The transport robot according to feature 4.

6. A second reduction gear (43) is provided between the second drive shaft (42) and the drive wheel (70). The ends of the drive wheel (70), the end of the second reduction gear (43), and the end of the second drive shaft (42) are provided flush with the plane perpendicular to the second direction (Y). The transport robot according to feature 1.

7. A second encoder (44) is provided inside the second motor housing (41), the second encoder (44) is sleeved on the second drive shaft (42), and the second encoder (44) is communicatively connected to the master control module of the robot body (100). The transport robot according to feature 1.

8. 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), The transport robot according to feature 7.

9. The first motor (30) is provided at one end of the base plate (10) close to the robot body (100), the second motor (40) is provided at the other end of the base plate (10) away from the robot body (100), and a driven wheel (80) is further provided at the other end of the base plate (10) close to the robot body (100). The transport robot according to feature 1.

10. Motor mounting seats (46) are provided at both ends of the second motor housing (41) along the second direction (Y), and the motor mounting seats (46) extend perpendicular to the second direction (Y), The motor mounting seat (46) is provided with a mounting through hole (49), and a fixing member fixes the second motor housing (41) to the bottom plate (10) through the mounting through hole. The transport robot according to feature 1.

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