Transfer robot

Abstract

A transfer robot. The transfer robot comprises a robot body (100), and a telescopic arm assembly (200) arranged telescopically relative to the robot body (100) in a first direction (X), wherein the telescopic arm assembly (200) comprises a bottom plate (10) and a top plate (20); the bottom plate (10) is provided with a first motor (30) for lifting the top plate (20); a first driving shaft (32) of the first motor (30) is arranged in the first direction (X); and a first brake (35) and a second brake (36) are sequentially arranged in the first motor (30) in the first direction (X). The two brakes are configured to simultaneously lock the first driving shaft (32).

Description

handling robots Technical Field

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

[0002] In the field of logistics, chassis-type handling robots are usually used to transport material boxes.

[0003] The chassis-type handling robot includes a chassis-type body and a telescopic arm assembly arranged on the body. The telescopic arm assembly can be extended and retracted horizontally relative to the body, and the telescopic arm assembly is usually also provided with a lifting mechanism. In this way, the chassis-type body can transport the material box onto it or move the material box on it away through the telescopic arm assembly.

[0004] In related art, a telescopic arm assembly typically comprises a base plate and a top plate arranged vertically. The base plate is equipped with a lifting motor, which, through a transmission mechanism, drives the top plate up and down relative to the base plate to lift the container. Furthermore, the telescopic arm assembly is typically equipped with a telescoping motor, which drives a drive wheel to rotate, thereby extending and retracting the telescopic arm assembly relative to the vehicle body.

[0005] Summary of the Invention

[0006] An embodiment of the present application provides a handling robot. The handling robot is provided with a first brake and a second brake, arranged sequentially within a first motor (i.e., a lift motor) along the extension direction of a first drive shaft of the first motor. Both brakes can simultaneously lock the first drive shaft, thereby preventing safety accidents such as container overturning that could occur due to the lift motor's brake failing to lock its drive shaft.

[0007] In addition, the telescopic arm assembly of the handling robot is provided with a second motor (i.e., a telescopic motor), and the opposite ends of the second drive shaft of the second motor protrude from the second motor housing. That is to say, the second motor is set with a dual output shaft. In this way, the telescopic arm assembly only requires one telescopic motor to complete the telescopic stroke, saving space.

[0008] An embodiment of the present application provides a handling robot, which includes a robot body and a telescopic arm assembly that can be telescopically arranged along a first direction relative to the robot body; the telescopic arm assembly includes a top plate and a bottom plate arranged up and down, and the bottom plate is equipped with a first motor, and a first drive shaft of the first motor is transmission-connected to the top plate to drive the top plate to move up and down relative to the bottom plate; wherein the first drive shaft extends along the first direction; along the first direction, a first brake and a second brake are sequentially provided inside the first motor, and the first brake and the second brake are used to simultaneously lock the first drive shaft.

[0009] In one embodiment, preferably, the robot body includes a main control module, which is communicatively connected to the first brake and the second brake respectively; the main control module is configured to: in response to power failure of the first motor or receipt of a fault signal, simultaneously drive the first brake and the second brake to close, so that the first brake and the second brake simultaneously lock the first drive shaft.

[0010] In one embodiment, preferably, the first motor includes a first motor housing, and the first drive shaft is arranged inside the first motor housing; wherein, a portion of the first drive shaft protrudes from an end of the first motor housing away from the robot body, and the protruding portion of the first drive shaft is transmission-connected to the top plate.

[0011] In one embodiment, preferably, the first drive shaft is connected to the top plate through a transmission mechanism; the transmission mechanism includes: a transmission shaft arranged along the first direction and a scissors arm arranged along a third direction, the third direction being perpendicular to the first direction; wherein, the transmission shaft is fixedly mounted on the base plate, the transmission shaft is sleeved with a transmission block, the first drive shaft is connected to the transmission shaft for transmission, and the first drive shaft is used to drive the transmission block to move along the transmission shaft; the scissors arm includes a first scissors arm and a second scissors arm which are cross-arranged and rotatably connected, the upper end of the first scissors arm and the upper end of the second scissors arm are respectively fixedly mounted on the top plate, the lower end of the first scissors arm is fixedly mounted on the base plate, and the lower end of the second scissors arm is fixedly mounted on the transmission block.

[0012] In one embodiment, preferably, the transmission shaft includes a ball screw, and the transmission block includes a screw nut.

[0013] In one embodiment, preferably, one end of the transmission shaft is transmission-connected to the first drive shaft via a first reducer, and the other end of the transmission shaft is fixedly mounted on the base plate via a fixing seat.

[0014] In one embodiment, preferably, the base plate is also installed with a second motor, the second motor includes a second motor housing and a second drive shaft passing through the second motor housing along a second direction, and the second direction is a horizontal direction perpendicular to the first direction; wherein, both ends of the second drive shaft along the second direction protrude from the second motor housing and are respectively installed with drive wheels, so that the second motor drives the telescopic arm assembly to extend and retract relative to the robot body along the first direction.

[0015] In one embodiment, preferably, a second reducer is provided between the second drive shaft and the drive wheel; wherein the end of the drive wheel, the end of the second reducer and the end of the second drive shaft are coplanarly arranged in a plane perpendicular to the second direction.

[0016] In one embodiment, preferably, the second reducer includes a planetary reducer.

[0017] 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 main control module of the robot body.

[0018] In one embodiment, preferably, a third brake is provided inside the second motor housing, the third brake is sleeved on the second drive shaft, the third brake is communicatively connected to the main control module, and the third brake is used to lock the second drive shaft; wherein, the second encoder and the third brake are respectively provided on both sides of the second drive shaft along the second direction.

[0019] In one embodiment, preferably, the first motor is arranged at an end of the base plate close to the robot body, and the second motor is arranged at an end of the base plate away from the robot body; and the base plate is further provided with a driven wheel at the end close to the robot body.

[0020] In one embodiment, preferably, the second motor housing is provided with motor mounting seats at both ends along the second direction, and the motor mounting seats extend perpendicular to the second direction; wherein the motor mounting seats are provided with mounting through holes so that fasteners can fasten the second motor housing to the base plate through the mounting through holes.

[0021] An embodiment of the present application provides a transport robot. The transport robot includes a robot body and a telescopic arm assembly that is telescopically arranged relative to the robot body in a first direction (i.e., horizontally). The telescopic arm assembly includes a base plate and a top plate, and a first motor is mounted on the base plate for raising and lowering the top plate. A first drive shaft of the first motor is arranged along the telescopic direction of the telescopic arm assembly. A first brake and a second brake are sequentially arranged within the first motor along the telescopic direction, and the two brakes are configured to simultaneously lock the first drive shaft.

[0022] In addition, the base plate of the telescopic arm assembly is provided with a second motor, which includes a second motor housing and a second drive shaft arranged inside the second motor housing; wherein, the second drive shaft is arranged along the second direction, and the two ends of the second drive shaft along the second direction protrude from the second motor housing, and the protruding ends of the second drive shaft are respectively connected to the drive wheels, so that the second motor can drive the drive wheels to make the telescopic arm assembly horizontally extend and retract relative to the robot body.

[0023] That is, in the transport robot of the embodiment of the present application, a first motor (i.e., a lifting motor) is mounted on the telescopic arm assembly, and two brakes are arranged in series along the extension direction of the first drive shaft of the first motor. The two brakes are closed simultaneously to lock the first drive shaft, thereby providing a large braking torque. In this way, for example, when the top plate needs to be positioned at a lower height, the two brakes can ensure that the first drive shaft is locked after power is removed, that is, the inertial rotation of the first drive shaft is prevented, thereby preventing safety accidents such as the overturning of the material bin due to the inability to lock the first drive shaft.

[0024] Furthermore, the second motor (i.e., the telescopic motor) achieves dual-sided drive through the protrusions at both ends of a single second drive shaft, meaning the second motor has a dual output shaft configuration. Consequently, only one second motor needs to be installed on the base plate of the telescopic arm assembly, compared to the need for two second motors installed on the base plate for single-sided drive. This embodiment of the present application can reduce the number of second motors and space requirements. Furthermore, the dual-sided drive achieved by the second motor through a single second drive shaft provides greater output stability, ensuring consistent rotational speeds for the two drive wheels on either side of the second drive shaft and greater synchronization. Furthermore, the second motor's dimensions in the first direction are shortened, saving space and leaving room for other components. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application. The drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0026] FIG1 is a schematic structural diagram of the transport robot described in an embodiment of the present application.

[0027] FIG2 is a schematic structural diagram of the telescopic arm assembly in an embodiment of the present application.

[0028] FIG3 is a schematic diagram of the installation structure of the first motor and the transmission shaft in an embodiment of the present application.

[0029] FIG4 is a schematic diagram of the installation structure of the first motor and the first reducer in an embodiment of the present application.

[0030] FIG5 is a schematic structural diagram of two brakes arranged in series inside the first motor along the extension direction of the first drive shaft in an embodiment of the present application.

[0031] FIG6 is a cross-sectional view of the second motor in one embodiment of the present application.

[0032] FIG7 is a cross-sectional view of the second motor in another embodiment of the present application.

[0033] FIG8 is a cross-sectional view of the second motor in another embodiment of the present application.

[0034] FIG9 is a schematic structural diagram of the second motor in an embodiment of the present application.

[0035] FIG10 is a schematic structural diagram of the second motor in another embodiment of the present application.

[0036] Explanation of the accompanying drawings: 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 brake, 36 - second brake, 37 - brake wiring harness, 40 - second motor, 41 - second motor housing, 42 - second drive shaft, 43 - second reducer, 44 - second encoder, 45 - output terminal, 46 - motor mounting base, 47 - horizontal bend, 48 - third brake, 49 - mounting through hole, 51 - transmission shaft, 52 - transmission block, 53 - scissor arm, 531 - first scissor arm, 532 - second scissor arm, 60 - coupling, 70 - driving wheel, 80 - driven wheel, 90 - fixed base, X - first direction, Y - second direction. DETAILED DESCRIPTION

[0037] In order to better understand the above technical solution, the exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. The described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described herein.

[0038] Chassis-based handling robots typically feature a telescopic arm assembly that can be extended and retracted horizontally relative to the chassis. The arm assembly typically consists of a base plate and a top plate arranged vertically. The base plate is equipped with a lift motor that, through a transmission mechanism, drives the top plate up and down relative to the base plate. This allows the arm to move containers onto and off the chassis through a combination of horizontal extension and vertical lifting.

[0039] However, due to limitations such as the width and structure of the telescopic arm assembly, the lift motor mounted on the base plate of the telescopic arm assembly is often undersized. Consequently, the brake torque within the lift motor is insufficient. This results in the lift motor's brake not being able to fully lock the drive shaft after power is removed, often leading to safety accidents such as the overturning of the material bin. Furthermore, existing telescopic arm assemblies typically require two single-side output telescopic motors, which takes up a large amount of space.

[0040] In view of this, an embodiment of the present application provides a handling robot, wherein a first brake and a second brake are sequentially provided inside a first motor (i.e., a lifting motor) along the extension direction of the first drive shaft of the first motor. The two brakes can simultaneously lock the first drive shaft, that is, prevent the first drive shaft from rotating due to inertia after power failure, thereby avoiding safety accidents such as material box overturning due to the inability of the lifting motor's brake to lock its drive shaft. In addition, the telescopic arm assembly of the handling robot is provided with a second motor (i.e., a telescopic motor), and the opposite ends of the second drive shaft of the second motor protrude from the second motor housing. In other words, the second motor is configured with dual output shafts. In this way, the telescopic arm assembly only requires a single telescopic motor to complete the telescopic stroke, saving space.

[0041] Figure 1 is a schematic diagram of the structure of a handling robot, Figure 2 is a schematic diagram of the structure of a telescopic arm assembly, and Figure 5 is a schematic diagram of the internal structure of a first motor. In conjunction with Figures 1, 2, and 5, the handling robot includes a robot body 100 and a telescopic arm assembly 200 that is retractable relative to the robot body 100 in a first direction X. The telescopic arm assembly 200 includes a top plate 20 and a bottom plate 10 arranged vertically. The bottom plate 10 is mounted with a first motor 30. A first drive shaft 32 of the first motor 30 is transmission-connected to the top plate 20 to drive the top plate 20 up and down relative to the bottom plate 10. The first drive shaft 32 extends in the first direction X. A first brake 35 and a second brake 36 are sequentially disposed within the first motor 30 along the first direction X. The first brake 35 and the second brake 36 are configured to simultaneously lock the first drive shaft 32.

[0042] Specifically, a first motor 30 is provided at one end of the base plate 10 close to the robot body 100; the first motor 30 includes a first motor housing 31 and a first drive shaft 32 arranged inside the first motor housing 31; wherein, the first drive shaft 32 extends along the first direction X, and 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 transmission-connected to the top plate 20 to drive the top plate 20 to move up and down relative to the base plate 10.

[0043] First, referring to Figure 1 , a robot body 100 is typically a chassis-type robot. A telescopic arm assembly 200 is mounted on the robot body 100. The telescopic arm assembly 200 is mounted horizontally and telescopically on the robot body 100. In Figure 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 mounted on the robot body 100 telescopically along the first direction X.

[0044] Referring now to FIG. 2 , the telescopic arm assembly 200 includes a top plate 20 and a bottom plate 10 arranged vertically, with the top plate 20 and the bottom plate 10 generally extending in a first direction X. A first motor 30 is mounted on the bottom plate 10 , with a first drive shaft 32 of the first motor 30 disposed along the first direction X. The first drive shaft 32 is in transmission connection with the top plate 20 , thereby enabling the first motor 30 to drive the top plate 20 up and down relative to the bottom plate 10 via the first drive shaft 32 .

[0045] 5 , along the axial direction of the first drive shaft 32 , that is, the first direction X, the first motor 30 is sequentially provided with a first brake 35 and a second brake 36 , which are used to simultaneously lock the first drive shaft 32 .

[0046] It is understandable that for the first drive shaft, the two brakes are arranged in series inside the first motor. In this way, the braking torque can be greatly improved by setting two brakes. The simultaneous closure of the two brakes can prevent the inertial rotation of the first drive shaft after power failure.

[0047] An embodiment of the present application provides a handling robot, which includes a robot body and a telescopic arm assembly that is telescopically arranged relative to the robot body along a first direction (i.e., a horizontal direction); the telescopic arm assembly includes a base plate and a top plate, and the base plate is equipped with a first motor for lifting and lowering the top plate; wherein the first drive shaft of the first motor is arranged along the telescopic direction of the telescopic arm assembly, and, along the telescopic direction, a first brake and a second brake are sequentially provided inside the first motor, and the two brakes are used to simultaneously lock the first drive shaft.

[0048] That is, in the transport robot of the embodiment of the present application, a first motor (i.e., a lifting motor) is mounted on the telescopic arm assembly, and two brakes are arranged in series along the extension direction of the first drive shaft of the first motor. The two brakes are closed simultaneously to lock the first drive shaft, thereby providing a large braking torque. In this way, for example, when the top plate needs to be positioned at a lower height, the two brakes can ensure that the first drive shaft is locked after power is removed, that is, the inertial rotation of the first drive shaft is prevented, thereby preventing safety accidents such as the overturning of the material bin due to the inability to lock the first drive shaft.

[0049] Specifically, the first motor 30 can be disposed at one end of the bottom plate 10 close to the robot body 100 , and the first driving shaft 32 protrudes from the first motor housing 31 toward one end of the robot body 100 to be transmission-connected to the top plate 20 .

[0050] In this embodiment, it can be understood that the robot body 100 includes a main control module, which is, for example, a main control circuit board. The main control module is communicatively connected to the first brake 35 and the second brake 36 through a brake harness 37; the main control module is used to simultaneously drive the first brake 35 and the second brake 36 to close, so that the first brake 35 and the second brake 36 simultaneously lock the first drive shaft 32.

[0051] Furthermore, the main control module is configured to simultaneously close the first brake 35 and the second brake 36 if power to the first motor 30 is cut off or if a fault signal is received. For example, when the roof 20 needs to be raised or lowered to a lower height, the main control module first cuts off power to the first motor 30. At this time, the first drive shaft 32 of the first motor 30 still has a certain rotational speed due to inertia. The main control module then simultaneously closes the two brakes to prevent the first drive shaft 32 from rotating due to inertia and prevent safety accidents.

[0052] Regarding the transmission connection between the first drive shaft 32 and the top plate 20, referring again to Figures 2 and 3 , in one embodiment, the first drive shaft 32 is transmission-connected to the top plate 20 via a transmission mechanism. The transmission mechanism includes a drive shaft 51 arranged along a first direction X and a scissor arm 53 arranged along a third direction, wherein the third direction is perpendicular to the first direction X and the second direction Y. For example, the third direction may be a vertical direction.

[0053] The transmission shaft 51 is fixedly mounted on the base plate 10. The transmission block 52 is sleeved on the transmission shaft 51. The first drive shaft 32 is in transmission connection with the transmission shaft 51. The first drive shaft 32 is used to drive the transmission block 52 to move along the transmission shaft 51. The scissor arms 53 include a first scissor arm 531 and a second scissor arm 532, which are arranged crosswise and rotatably connected. The upper ends of the first scissor arm 531 and the upper ends of the second scissor arm 532 are respectively fixedly mounted on the top plate 20. The lower end of the first scissor arm 531 is fixedly mounted on the base plate 10, and the lower end of the second scissor arm 532 is fixedly mounted on the transmission block 52. In this way, the first drive shaft 32 drives the transmission block 52 to move along the transmission shaft 51, causing the second scissor arm 532 to rotate relative to the first scissor arm 531, thereby driving the top plate 20 to rise and fall relative to the base plate 10.

[0054] This embodiment provides a possible specific structure for the transmission connection between the first drive shaft 32 and the top plate 20 .

[0055] 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 extends along the first direction X and is fixedly mounted on the bottom plate 10. A transmission block 52 is disposed on the outer surface of the transmission shaft 51. The first drive shaft 32 is in transmission connection with the transmission shaft 51 to drive the transmission block 52 to move along the transmission shaft 51, that is, to move along the first direction X. The scissor arm 53 is arranged in the vertical direction and includes a first scissor arm 531 and a second scissor arm 532 that are cross-arranged and rotatably connected. The upper ends of the two scissor arms are respectively fixedly mounted on the top plate 20, the lower end of the first scissor arm 531 is fixedly mounted on the bottom plate 10, and the lower end of the second scissor arm 532 is fixedly mounted on the transmission block 52. In this way, the first drive shaft 32 can cause the top plate 20 to rise and fall relative to the bottom plate 10 by driving the transmission block 52 to move along the first direction X.

[0056] The transmission shaft 51 mentioned above is, for example, a ball screw, and the transmission block 52 is, for example, a screw nut. One end of the ball screw is 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 fixed to the base plate 10 via a fixing seat 90. It is understood that the first drive shaft 32 drives the ball screw to rotate, thereby causing the screw nut to move along the ball screw (i.e., in the first direction X).

[0057] Among them, regarding the first motor 30 mentioned above, combined with Figures 4 and 5, the first motor 30 includes a first motor housing 31, the first motor housing 31 is installed with a stator winding, and the first drive shaft 32 is arranged in the inner cavity of the first motor housing 31. A first encoder 34 can be set at one end of the first drive shaft 32, and a first reducer 33 can be set at the other end of the first drive shaft 32.

[0058] The first encoder 34 can provide real-time feedback of the rotational speed and torque of the first drive shaft 32 , and the first reducer 33 is connected to the transmission shaft 51 via a coupling 60 .

[0059] Regarding the horizontal extension and retraction of the telescopic arm assembly 200 relative to the robot body 100 mentioned above, in combination with Figures 2 and 6 to 10, in one embodiment, the base plate 10 is also equipped with a second motor 40, and the second motor 40 includes a second motor housing 41 and a second drive shaft 42 arranged inside the second motor housing 41. The second drive shaft 42 passes through the second motor housing 41 along the second direction Y, and the second direction Y is a horizontal direction perpendicular to the first direction X; wherein, the second drive shaft 42 is arranged 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, and the two ends of the second drive shaft 42 protruding from the second motor housing 41 are respectively equipped with drive wheels 70, so that the second motor 40 drives the telescopic arm assembly 200 to extend and retract horizontally relative to the robot body 100.

[0060] That is, the telescopic arm assembly 200 can be driven to extend and retract horizontally relative to the robot body 100 by the second motor 40; the second motor housing 41 of the second motor 40 is provided with a second drive shaft 42 running through it, and 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 arranged perpendicular to the first drive shaft 32; the second drive shaft 42 protrudes from the second motor housing 41 and is respectively equipped with drive wheels 70 at both ends. In this way, the second motor 40 can drive the telescopic arm assembly 200 to complete the telescopic movement by driving the drive wheel 70 to rotate.

[0061] 2 , the base plate 10 is, for example, a strip extending along a first direction X. The driving wheels 70 connected to both ends of the second motor 40 are connected across the base plate 10 along a second direction Y, so that the telescopic arm assembly 200 can move smoothly in the horizontal direction.

[0062] Through the above arrangement, the telescopic arm assembly 200 of this embodiment only needs to be provided with a second motor 40 with dual output shafts to complete the horizontal telescopic movement of the telescopic arm assembly 200, thereby reducing space occupation.

[0063] That is to say, in this embodiment, the two driving wheels on both sides can be driven by a second driving shaft, so that the telescopic arm assembly can complete the telescopic movement in the horizontal direction, and the telescopic movement is smooth and reliable.

[0064] An embodiment of the present application provides a handling robot, which includes a robot body and a telescopic arm assembly that is telescopically arranged relative to the robot body along a first direction, and the base plate of the telescopic arm assembly is provided with a second motor, and the second motor includes a second motor housing and a second drive shaft arranged inside the second motor housing; wherein, the second drive shaft is arranged along the second direction, and the two ends of the second drive shaft along the second direction protrude from the second motor housing, and the protruding ends of the second drive shaft are respectively connected to drive wheels in a transmission manner, so that the second motor can make the telescopic arm assembly horizontally extend and retract relative to the robot body by driving the drive wheels.

[0065] That is to say, the second motor in this embodiment can achieve double-sided drive by protruding at both ends of a second drive shaft, that is, the second motor is set with a dual output shaft; thus, only one second motor needs to be installed on the base plate of the telescopic arm assembly. Compared with the need to install two second motors on the base plate for single-sided drive, this embodiment can save the number of second motors and reduce space occupancy.

[0066] Furthermore, a second reducer 43 is provided between the second drive shaft 42 and the drive wheel 70; wherein, the end of the drive wheel 70, the end of the second reducer 43 and the end of the second drive shaft 42 are arranged coplanarly in a plane perpendicular to the second direction Y; by arranging the drive wheel 70 and the second reducer 43 coplanarly, the width dimension of the second motor 40 can be greatly reduced, saving space; the second reducer 43 can be, for example, a planetary reducer.

[0067] Furthermore, a hollow second encoder 44 is provided inside the second motor housing 41, and the second encoder 44 is sleeved on the second drive shaft 42. The second encoder 44 is communicatively connected to the main control module of the robot body 100; wherein, referring to Figure 6, the second encoder 44 can be located in the middle position of the second drive shaft 42, or, referring to Figure 7 or Figure 8, the second encoder 44 can be set on one side of the second drive shaft 42 close to the second motor housing 41.

[0068] The second encoder 44 can provide real-time feedback of the rotational speed and torque of the second drive shaft 42 .

[0069] In a specific embodiment, a third brake 48 is provided inside the second motor housing 41, and the third brake 48 is sleeved on the second drive shaft 42. The third brake 48 is communicatively connected to the main control module, and the third brake 48 is used to lock the second drive shaft 42; wherein, the second encoder 44 and the third brake 48 are respectively provided on both sides of the second drive shaft 42 along the second direction Y.

[0070] That is, in combination with Figure 8, a second encoder 44 and a third brake 48 can be set inside the second motor housing 41 at the same time, and the second encoder 44 and the third brake 48 are respectively arranged on both sides of the second drive shaft 42. In this way, the robot body 100 can lock the second drive shaft 42 through the main control module.

[0071] 9 or 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 allowing cables of the third brake 48 and the second encoder 44 to pass through and be connected to the main control module of the robot body 100 .

[0072] In one possible implementation, the second motor 40 is located at the end of the base plate 10 away from the robot body 100, and a driven wheel 80 is located at the end of the base plate 10 closer to the robot body 100. By positioning the driving wheel (i.e., the drive wheel 70 mounted on the second motor 40) away from the robot body 100 and the driven wheel 80 closer to the robot body 100, the telescopic arm assembly 200 can be prevented from getting stuck during extension and retraction.

[0073] In one possible embodiment, the second motor housing 41 is provided with motor mounting brackets 46 at both ends along the second direction Y, and the motor mounting brackets 46 extend perpendicular to the second direction Y; wherein, the motor mounting brackets 46 are provided with mounting through holes 49 so that fasteners (for example, mounting screws) can fasten the second motor housing 41 to the base plate 10 through the mounting through holes 49.

[0074] In addition, referring to FIG. 9 and FIG. 10 , a motor mounting base 46 may be directly provided on the second motor housing 41 , and the second motor 40 may be fixedly mounted on the base plate 10 via the motor mounting base 46 .

[0075] 9 , the motor mounting base 46 may be, for example, L-shaped and disposed at both ends of the second motor housing 41 along the second direction Y, with mounting holes 49 disposed on the horizontal bend 47 of the L-shape. Thus, the motor mounting base 46 may be vertically secured to the base plate 10 via mounting screws. Alternatively, as shown in FIG10 , the motor mounting base 46 may be provided with mounting holes extending horizontally therethrough. Thus, the motor mounting base 46 may be horizontally secured to the base plate 10 via mounting screws.

[0076] In addition, 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 allowing the cable of the second encoder 44 to pass through and be connected to the main control module of the robot body 100 .

[0077] Furthermore, the first motor 30 can be arranged at one end of the base plate 10 close to the robot body 100, and the second motor 40 can be arranged at one end of the base plate 10 away from the robot body 100; and, at the end close to the robot body 100, the base plate 10 is also provided with a driven wheel 80; in this way, by moving the driving wheel (i.e., the driving wheel 70 installed on the second motor 40) away from the robot body 100 and the driven wheel 80 close to the robot body 100, the problem of the telescopic arm assembly 200 being easily stuck during extension and retraction can be avoided.

[0078] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0079] The block diagrams of the devices, devices, equipment, and systems involved in this application 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, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0080] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0081] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0082] The above description has been provided for the purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be within the scope of protection of this application.

Claims

1. A transport robot, comprising a robot body (100) and a telescopic arm assembly (200) that is telescopically arranged along a first direction (X) relative to the robot body (100); The telescopic arm assembly (200) comprises a top plate (20) and a bottom plate (10) arranged vertically, the bottom plate (10) being provided with a first motor (30), and a first drive shaft (32) of the first motor (30) being in transmission connection with the top plate (20) so as to drive the top plate (20) to move up and down relative to the bottom plate (10); in, The first drive shaft (32) extends along the first direction (X); Along the first direction (X), a first brake (35) and a second brake (36) are sequentially arranged inside the first motor (30), and the first brake (35) and the second brake (36) are used to simultaneously lock the first drive shaft (32).

2. The handling robot according to claim 1, wherein: The robot body (100) comprises a main control module, and the main control module is communicatively connected to the first holding brake (35) and the second holding brake (36) respectively; The main control module is configured to: in response to power failure of the first motor (30) or receiving a fault signal, simultaneously drive the first brake (35) and the second brake (36) to close, so that the first brake (35) and the second brake (36) simultaneously lock the first drive shaft (32).

3. The handling robot according to claim 1 or 2, wherein: The first motor (30) comprises a first motor housing (31), and the first drive shaft (32) is arranged inside the first motor housing (31); Part 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 part of the first drive shaft (32) is transmission-connected to the top plate (20).

4. The handling robot according to any one of claims 1 to 3, wherein: The first drive shaft (32) is transmission-connected to the top plate (20) via a transmission mechanism; the transmission mechanism comprises: A transmission shaft (51) arranged along the first direction (X) and a scissor arm (53) arranged along a third direction, wherein the third direction is perpendicular to the first direction (X); The transmission shaft (51) is fixedly mounted on the base plate (10), the transmission shaft (51) is sleeved with a transmission block (52), the first drive shaft (32) is transmission-connected to the transmission shaft (51), and the first drive shaft (32) is used to drive the transmission block (52) to move along the transmission shaft (51); The scissor arms (53) comprise a first scissor arm (531) and a second scissor arm (532) which are cross-arranged and rotatably connected, the upper end of the first scissor arm (531) and the upper end of the second scissor arm (532) are respectively fixedly mounted on the top plate (20), the lower end of the first scissor arm (531) is fixedly mounted on the bottom plate (10), and the lower end of the second scissor arm (532) is fixedly mounted on the transmission block (52).

5. The handling robot according to claim 4, wherein: The transmission shaft (51) comprises a ball screw, and the transmission block (52) comprises a screw nut.

6. The handling robot according to claim 4 or 5, wherein: One end of the transmission shaft (51) is transmission-connected to the first drive shaft (32) via a first reducer (33), and the other end of the transmission shaft (51) is fixedly mounted on the base plate (10) via a fixing seat (90).

7. The handling robot according to any one of claims 1 to 6, wherein: The bottom plate (10) is also equipped with a second motor (40), the second motor (40) comprising a second motor housing (41) and a second drive shaft (42) penetrating the second motor housing (41) along a second direction (Y), the second direction (Y) being a horizontal direction perpendicular to the first direction (X); Wherein, both ends of the second drive shaft (42) along the second direction (Y) protrude from the second motor housing (41) and are respectively equipped with drive wheels (70), so that the second motor (40) drives the telescopic arm assembly (200) to telescope relative to the robot body (100) along the first direction (X).

8. The handling robot according to claim 7, wherein: A second reducer (43) is provided between the second drive shaft (42) and the drive wheel (70); Wherein, the end of the driving wheel (70), the end of the second reducer (43) and the end of the second driving shaft (42) are arranged coplanarly in a plane perpendicular to the second direction (Y).

9. The handling robot according to claim 8, wherein: The second reducer (43) comprises a planetary reducer.

10. The handling robot according to any one of claims 7 to 9, wherein: 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 a main control module of the robot body (100).

11. The transfer robot according to claim 10, wherein: A third brake (48) is provided inside the second motor housing (41), the third brake (48) is sleeved on the second drive shaft (42), the third brake (48) is communicatively connected to the main control module, and the third brake (48) is used to lock the second drive shaft (42); The second encoder (44) and the third brake (48) are respectively arranged on both sides of the second drive shaft (42) along the second direction (Y).

12. The handling robot according to any one of claims 7 to 11, wherein: The first motor (30) is arranged at one end of the base plate (10) close to the robot body (100), and the second motor (40) is arranged at one end of the base plate (10) away from the robot body (100); and the base plate (10) is also provided with a driven wheel (80) at the end close to the robot body (100).

13. The handling robot according to any one of claims 7 to 12, wherein: The second motor housing (41) is provided with motor mounting seats (46) at both ends 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), so that a fastener can pass through the mounting through hole (49) to fasten the second motor housing (41) to the base plate (10).

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