Carrying robot

Abstract

A carrying robot, comprising: a robot main body (1); a moving main body (2), which is arranged at the bottom of the robot main body (1); and a carrying device, which comprises a first carrying assembly (3) arranged on the robot main body (1) and a second carrying assembly (4) arranged on the first carrying assembly (3), wherein the first carrying assembly (3) comprises a first height adjustment unit arranged on the robot main body (1) and a first conveying unit arranged on the first height adjustment unit, the first conveying unit being configured to be connected to an external device so as to convey materials; and the second carrying assembly (4) comprises a second height adjustment unit (41) arranged on the first height adjustment unit and a second conveying unit (42) arranged on the second height adjustment unit (41). The robot can enhance the integration level of a carrying and transfer structure, such that the carrying requirements of materials or products of different structural forms and performance parameters corresponding to various production lines can be met, the problem of the robot being incompatible caused by factors such as updates and upgrades of products / production lines is avoided, and resource waste is reduced.

Description

A transport robot Technical Field

[0001] The present invention relates to the technical field of material handling, in particular to a handling robot. Background Art

[0002] AGV (Automated Guided Vehicles), also known as unmanned transport vehicles, automatic navigation vehicles, and laser navigation vehicles, refers to transport vehicles equipped with automatic navigation devices such as electromagnetic or optical devices, which can travel along a specified navigation path and have safety protection and various transfer functions. The handling robot is connected to the automated production line in the production workshop to transfer products or product carriers (boxes, trays, magazines, bakelite trays, and other flat-bottomed carriers), referred to as materials in this article. It is connected to the automated production line to realize the transfer of materials between the upper production line and the lower production line. In order to improve the automation level of the handling robot, the existing handling robot is connected to the production line equipment by adding rollers, lifting mechanisms, etc., to realize the automatic transportation of materials from the production line to the robot and the transportation and loading of materials on the robot to the next process.

[0003] However, regardless of roller conveyor, lifting system, or other methods, the material handling and loading methods are all limited. With the advancement of industrial automation, the iteration of product processes, and the diversification of product demands, production line structures are becoming increasingly complex and non-standard, and loading and unloading methods are also becoming more and more diverse. Different production lines require robots with different structures and performance parameters, which inevitably leads to a wide variety of robots in the workshop. Furthermore, after product upgrades, robots may become unsuitable for continued use, resulting in wasted resources.

[0004] Summary of the Invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a handling robot that can improve the degree of integration of the handling and transfer structure, so that it can meet the material or product handling needs of different production lines with different structural forms and performance parameters, reduce the wide variety of internal robots, avoid robot incompatibility problems caused by factors such as product / production line updates and upgrades, and reduce resource waste.

[0006] In order to solve the above technical problems, the present invention provides a transport robot, comprising:

[0007] Robot body;

[0008] A mobile body, which is provided at the bottom of the robot body and is used to drive the robot body to move;

[0009] A conveying device, which includes a first conveying component provided on a robot body and a second conveying component provided on the first conveying component; the first conveying component includes a first height adjustment unit provided on the robot body and a first transmission unit provided on the first height adjustment unit; the first transmission unit is used to dock with external equipment to transmit materials; the second conveying component includes a second height adjustment unit provided on the first height adjustment unit and a second transmission unit provided on the second height adjustment unit; the first height adjustment unit is configured to adjust the height of the first transmission unit and the second conveying component; the second height adjustment unit is configured to adjust the height of the second transmission unit so that the second transmission unit can lift and transfer materials.

[0010] In one embodiment of the present invention, the first transmission unit includes a first adjustment mechanism provided on the first height adjustment unit, and two first transmission mechanisms provided relatively on the first adjustment mechanism; the first adjustment mechanism is configured to horizontally adjust the distance between the two first transmission mechanisms; the first transmission mechanism is configured to horizontally transfer the material thereon; the adjustment direction of the first adjustment mechanism is perpendicular to the transmission direction of the first transmission mechanism.

[0011] In one embodiment of the present invention, the first transmission mechanism includes a first bracket arranged on the first adjusting mechanism, a first driving member arranged on the outside of the first bracket, a first driving wheel connected to the output end of the first driving member, two first driven wheels arranged at both ends of the first bracket along the length direction of the first bracket, two first tensioning wheels connected to the first bracket, and a first synchronous belt adapted to the first driving wheel and the first driven wheel; the first driven wheel, the first tensioning wheel, and the first driving wheel are all located on the inner side of the first driving member and form a gradient from top to bottom; the inner side of the first synchronous belt is sequentially wound around the first driving wheel and the two first driven wheels; the outer side of the first synchronous belt is sequentially wound around the two first tensioning wheels.

[0012] In one embodiment of the present invention, the first adjustment mechanism includes a first slide rail horizontally arranged on the first height adjustment unit, at least one group of first sliders slidably arranged on the first slide rail, a second driving wheel and a second driven wheel arranged at both ends of the first height adjustment unit along the length direction of the first slide rail, a second synchronous belt wound around the second driving wheel and the second driven wheel, at least one first clamping plate connected to the second synchronous belt, and a second driving member arranged on the first height adjustment unit; the length direction of the first slide rail is perpendicular to the transmission direction of the first transmission mechanism; the first slider is installed at the bottom of the first transmission mechanism; the end of the first clamping plate away from the second synchronous belt is connected to the first transmission mechanism installed on the first slider; the second driving member is connected to the second driving wheel to drive the second driving wheel to rotate.

[0013] In one embodiment of the present invention, the first adjustment mechanism includes two groups of first sliders and two first clamps; the two groups of first sliders are respectively installed at the bottom of the two first transmission mechanisms; the top ends of the two first clamps are respectively connected to the two first transmission mechanisms, and the bottom ends of the two first clamps are respectively connected to the two opposite sides of the second synchronous belt.

[0014] In one embodiment of the present invention, the second transport assembly is disposed between two first transport mechanisms; and a transport direction of the second transport unit is parallel to a transport direction of the first transport mechanisms.

[0015] In one embodiment of the present invention, the second transmission unit includes a translation base plate arranged on the second height adjustment unit, a translation slide rail arranged along the length direction of the translation base plate, and a translation pallet arranged parallel to the top of the translation base plate and capable of horizontal movement along the length direction of the translation base plate; one end of the translation pallet is provided with a translation slider that slides with the translation slide rail, and the other end of the translation pallet is a cantilever end; the end of the translation base plate close to the cantilever end of the translation pallet is provided with a roller support; a support roller is provided on the roller support; and the support roller is in rolling contact with the bottom of the translation pallet.

[0016] In one embodiment of the present invention, the second transmission unit also includes a driving assembly for driving the translation pallet to move, the driving assembly includes a third driving wheel and a third driven wheel provided at both ends of the translation base plate, a third synchronous belt wound around the third driving wheel and the third driven wheel, a second clamping plate connected to the third synchronous belt and the translation pallet at both ends respectively, and a third driving member provided on the translation base plate away from one end of the roller support; the output end of the third driving member is connected to the third driving wheel.

[0017] In one embodiment of the present invention, the second height adjustment unit includes a second base plate arranged on the first height adjustment unit, a second top plate arranged parallel to and above the second base plate, a scissors-type mechanism arranged between the second base plate and the second top plate, and a first screw mechanism arranged on the second base plate; the first screw mechanism is connected to the scissors-type mechanism, and drives the scissors-type mechanism to open and close so that the second top plate moves in the height direction; the second transmission unit is arranged on the second top plate.

[0018] In one embodiment of the present invention, the first screw mechanism includes a first screw arranged along the length direction of the second base plate, a fourth driving member provided on the second base plate and connected to one end of the first screw, and a first screw nut threadedly engaged with the first screw; the length direction of the second base plate is parallel to the length direction of the translation base plate; the fourth driving member is provided on one end of the second base plate away from the roller support; the first screw nut is hinged to the scissors-fork mechanism, and the opening and closing of the scissors-fork mechanism is realized by the horizontal movement of the first screw nut.

[0019] The above technical solution of the present invention has the following advantages over the prior art:

[0020] The handling robot described in the present invention comprises a robot body, a mobile body, and a handling device. A first height adjustment unit enables height adjustment of a first transmission unit and a second transmission unit, thereby adapting to the docking requirements of equipment of different heights. The first transmission unit and the second transmission unit further enable adaptation to different docking equipment. If the docking equipment has its own transmission mechanism, the first transmission unit can directly dock with the equipment to transfer materials; if the docking equipment does not have a transmission mechanism, the second transmission unit can penetrate into the docking equipment to transfer materials, thereby further improving the working environment of the handling robot of the present invention. The spacing between the two first transmission mechanisms of the first transmission unit is adjustable, further adapting to the handling requirements of materials of different sizes and ensuring stability and safety during material handling or transfer. At the same time, when the second transmission unit is used for material handling, the first transmission mechanism can adjust the position and clamp the material to prevent the material from falling from the second transmission unit, further improving the stability and safety of the second transmission unit when handling or transferring materials. The present invention can improve the degree of integration of the handling and transfer structure, so as to meet the material or product handling needs of different production lines with different structural forms and performance parameters, reduce the variety of internal robots, avoid robot incompatibility problems caused by factors such as product / production line updates and upgrades, and reduce resource waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0022] FIG1 is a schematic diagram of the overall structure of the transport robot of the present invention.

[0023] FIG2 is a schematic diagram of the overall structure of the first transport component of the transport robot of the present invention.

[0024] FIG3 is a schematic structural diagram of the first transmission unit of the handling robot of the present invention from a first perspective.

[0025] FIG4 is a schematic structural diagram of the first transmission unit of the handling robot of the present invention from a second perspective.

[0026] FIG5 is a schematic structural diagram of the first transmission unit of the handling robot of the present invention from a third perspective.

[0027] FIG6 is a schematic structural diagram of the second transport component of the transport robot of the present invention.

[0028] FIG7 is a schematic structural diagram of the second transport component of the transport robot of the present invention.

[0029] Description of the accompanying drawings: 1. Robot body; 10. Base body; 11. First frame; 110. Fourth slide rail; 12. Second frame; 2. Mobile body; 3. First transport assembly; 310. First bracket; 312. First driving member; 313. First driving wheel; 314. First driven wheel; 315. First tensioning wheel; 316. First synchronous belt; 320. First slide rail; 321. First slider; 322. Second driving wheel; 323. Second driven wheel; 324. Second synchronous belt; 325. First clamping plate; 326. Second driving member; 330. Second lead screw; 331. Second lead screw nut; 332. First motor; 333. First driving wheel; 334. First driven wheel; 335. First synchronous belt; 336. First base Plate; 337, first side plate; 338, fourth slider; 4, second transport assembly; 41, second height adjustment unit; 410, second bottom plate; 411, second top plate; 412, first lead screw; 413, fourth drive member; 414, first lead screw nut; 415, first scissor arm; 416, second scissor arm; 417, second slide rail; 418, second slider; 419, third slide rail; 4190, third slider; 42, second transmission unit; 420, translation bottom plate; 421, translation slide rail; 422, translation support plate; 423, translation slider; 424, roller support; 425, support roller; 426, third driving wheel; 427, third driven wheel; 428, third synchronous belt; 429, second splint; 430, third drive member. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0031] 1 to 7 , the present invention discloses a transport robot, including a robot body 1 , a mobile body 2 , and a transport device.

[0032] The robot body 1 includes a base body 10 and a first frame 11 and a second frame 12 provided on the base body 10. In order to facilitate the bearing of other structures and achieve space saving, the first frame 11 and the second frame 12 are door-shaped structures.

[0033] Furthermore, the first frame 11 and the second frame 12 are covered with a shell structure. Furthermore, the first frame 11 includes a first vertical bracket and a first horizontal bracket. The second frame 12 includes a second vertical bracket and a second horizontal bracket. The first vertical bracket, the first horizontal bracket, the second vertical bracket, and the second horizontal bracket can be constructed of either a profile or a plate.

[0034] The mobile body 2 is provided at the bottom of the robot body 1 and is used to realize the movement of the robot body 1. The mobile body 2 includes but is not limited to AGV, AMR guided vehicle or other transportation equipment.

[0035] The transport device includes a first transport component 3 provided on the robot body 1 and a second transport component 4 provided on the first transport component 3 .

[0036] Specifically, the first transport component 3 includes a first height adjustment unit provided on the robot body 1 and a first transmission unit provided on the first height adjustment unit. The first transmission unit is used to connect with an external device to transmit materials.

[0037] Furthermore, the first conveying unit includes a first adjustment mechanism disposed on the first height adjustment unit, and two first conveying mechanisms disposed opposite the first adjustment mechanism. Specifically, the first adjustment mechanism is configured to horizontally adjust the distance between the two first conveying mechanisms. The first conveying mechanisms are configured to horizontally transfer material thereon. It should be noted that the adjustment direction of the first adjustment mechanism is perpendicular to the conveying direction of the first conveying mechanisms.

[0038] In detail, the first transmission mechanism includes a first bracket 310 mounted on the first adjustment mechanism, a first driving member 312 located outside the first bracket 310, a first driving pulley 313 connected to the output end of the first driving member 312, two first driven pulleys 314 located at both ends of the first bracket 310 along its length, two first tensioning pulleys 315 connected to the first bracket 310, and a first synchronous belt 316 adapted to the first driving pulley 313 and the first driven pulley 314. The first bracket 310 is provided with guide side plates to guide materials during the logistics transfer process. The first driven pulley 314, the first tensioning pulley 315, and the first driving pulley 313 are all located inside the first driving member 312, forming a gradient from top to bottom. Specifically, the first driving pulley 313 is positioned between the two first driven pulleys 314, and is positioned lower than the two first driven pulleys 314. Two first tensioning pulleys 315 are symmetrically positioned on either side of the first driving pulley 313 and are positioned higher than the first driving pulley 313. The inner side of the first synchronous belt is sequentially wound around the first driving pulley 313 and the two first driven pulleys 314. The outer side of the first synchronous belt 316 is sequentially wound around the two first tensioning pulleys 315. This arrangement ensures relatively uniform tension on both sides of the first synchronous belt 316. It should be noted that the transmission direction of the first synchronous belt 316 is perpendicular to the adjustment direction of the first adjustment mechanism. Furthermore, the first driving member 312 includes, but is not limited to, a drive motor, such as a servo motor, or a motor connected to a reducer. Furthermore, the outer side of the first bracket 310 mentioned above refers to the side of the two first brackets 310 facing away from each other. The inner side of the first bracket 310 refers to the side of the two first brackets 310 facing each other.

[0039] Specifically, the first adjustment mechanism includes a first slide rail 320 horizontally mounted on the first height adjustment unit, at least one first slider 321 slidably mounted on the first slide rail 320, a second driving wheel 322 and a second driven wheel 323 disposed at both ends of the first height adjustment unit along the length of the first slide rail 320, a second synchronous belt 324 wound around the second driving wheel 322 and the second driven wheel 323, at least one first clamping plate 325 connected to the second synchronous belt 324, and a second driving member 326 mounted on the first height adjustment unit. The second driving member 326 may also employ a drive motor similar to the first driving member.

[0040] The length of the first slide rail 320 is perpendicular to the transmission direction of the first transmission mechanism. Specifically, the length of the first slide rail 320 is perpendicular to the transmission direction of the first synchronous belt 316. The first slider 321 is mounted on the bottom of the first transmission mechanism. Specifically, the first slider 321 is fixed to the bottom of the first bracket 310. The end of the first clamping plate 325 away from the second synchronous belt 324 is connected to the first transmission mechanism mounted on the first slider 321. The second driving member 326 is connected to the second driving wheel 322 to drive the second driving wheel 322 to rotate.

[0041] As a preferred embodiment, the first adjustment mechanism includes two sets of first sliders 321 and two first clamping plates 325. Specifically, the two sets of first sliders 321 are respectively mounted on the bottoms of the two first transmission mechanisms. Accordingly, two parallel first slide rails 320 are also configured on the first height adjustment unit. There are two first sliders 321 in each set, and these two first sliders 321 are respectively mounted on the two first slide rails 320. The top ends of the two first clamping plates 325 are respectively connected to the two first transmission mechanisms, and the bottom ends of the two first clamping plates 325 are respectively connected to the two opposite sides of the second synchronous belt 324.

[0042] As a preferred embodiment, the first clamping plate 325 includes a fixed plate and a connecting plate, wherein the connecting plate is vertically connected to one end of the fixed plate, wherein the fixed plate is mounted on the second synchronous belt 324 and the connecting plate is mounted on the first bracket 310 .

[0043] Furthermore, the second transport assembly 4 includes a second height adjustment unit 41 disposed on the first height adjustment unit and a second transmission unit 42 disposed on the second height adjustment unit 41. The first height adjustment unit enables the height adjustment of the first transmission unit and the second transport assembly 4. The second height adjustment unit 41 is configured to adjust the height of the second transmission unit 42 so that the second transmission unit 42 can lift and transfer the material.

[0044] Furthermore, the second transport assembly 4 is disposed between the two first transport mechanisms, and the transport direction of the second transport unit 42 is parallel to the transport direction of the first transport mechanisms.

[0045] In detail, the second transmission unit 42 includes a translation base plate 420 mounted on the second height adjustment unit 41, a translation rail 421 disposed along the length of the translation base plate 420, and a translation support plate 422 disposed parallel to and above the translation base plate 420 and capable of horizontal movement along the length of the translation base plate 420. A translation slider 423 is disposed at one end of the translation support plate 422, which slidably engages the translation rail 421. The other end of the translation support plate 422 is a cantilevered end. A roller support 424 is disposed at the end of the translation base plate 420, proximate to the cantilevered end of the translation support plate 422. The roller support 424 is provided with a support roller 425, which is in rolling contact with the bottom of the translation support plate 422. The translation structure in which the support roller 425 cooperates with the translation slider 423 can effectively ensure the support performance and movement performance of the translation support plate 422, and at the same time can further improve the horizontal extension stroke of the translation support plate 422.

[0046] As a preferred embodiment, the second transmission unit also includes a drive assembly for driving the translation pallet 422 to move. Specifically, the drive assembly includes a third driving wheel 426 and a third driven wheel 427 respectively disposed at both ends of the translation base plate 420, a third synchronous belt 428 wound around the third driving wheel 426 and the third driven wheel 427, a second clamping plate 429 having both ends connected to the third synchronous belt and the translation pallet 422, and a third driving member 430 disposed on the translation base plate 420 away from the roller support 424. The third driving wheel 426 and the third driven wheel 427 are disposed opposite each other at both ends of the translation base plate 420. The output end of the third driving member 430 is connected to the third driving wheel 426 for driving the third driving wheel 426.

[0047] It should be noted that in the second transmission unit, the third drive member 430 is positioned at the end away from the roller support 424 for better structural balance. This arrangement allows the third drive member 430, located in the opposite direction of the movement, to balance the second transmission unit as it extends outward, thereby preventing one end of the second transmission unit from bearing too much weight and potentially causing it to topple over and potentially damage the equipment.

[0048] Furthermore, the second height adjustment unit 41 includes a second base plate 410 disposed on the first height adjustment unit, a second top plate 411 disposed parallel to and above the second base plate 410, a scissor mechanism disposed between the second base plate 410 and the second top plate 411, and a first screw mechanism disposed on the second base plate 410. The first screw mechanism is connected to the scissor mechanism and drives the scissor mechanism to open and close to move the second top plate 411 in the height direction. The length direction of the second base plate 410 is parallel to the length direction of the translation base plate 420. The second transmission unit is disposed on the second top plate 411. Specifically, the translation base plate 420 is connected to the second top plate 411 and is located above the second top plate 411.

[0049] As a preferred embodiment, the first screw mechanism includes a first screw 412 arranged along the length of the second base plate 410, a fourth driving member 413 disposed on the second base plate 410 and connected to one end of the first screw 412, and a first screw nut 414 threadedly engaged with the first screw 412. The first screw 412 of the first screw mechanism is supported by a plurality of T-shaped supports disposed on the second base plate 410. The first screw is disposed horizontally and is rotatably connected to the T-shaped supports.

[0050] To ensure the overall structural stability of the second transport assembly 4, the fourth drive member 413 is positioned on the second base plate 410 at an end away from the roller support 424. This ensures the balance of the second transport unit 42 when lifting and moving heavy materials. Specifically, the first screw nut 414 is hingedly connected to the scissor mechanism, and the horizontal movement of the first screw nut 414 enables the opening and closing of the scissor mechanism. In this embodiment, the third and fourth drive members are motors or motors connected to reducers.

[0051] As a preferred embodiment, the scissor mechanism includes a first scissor arm 415 and a second scissor arm 416 that are hinged to each other, wherein one end of the first scissor arm 415 is slidably connected to the second bottom plate 410 and the other end is hinged to the second top plate 411. One end of the second scissor arm 416 is hinged to the second bottom plate 410 and the other end is slidably connected to the second top plate 411.

[0052] Specifically, the second bottom plate 410 is provided with a second slide rail 417. A second slider 418 is slidably connected to the second slide rail 417. The first scissor arm 415 is connected to the second slider 418. The second top plate 411 is provided with a third slide rail 419. A third slider 4190 is slidably connected to the third slide rail 419. The second scissor arm 416 is connected to the third slider 4190. The second slide rail 417 is parallel to the third slide rail 419.

[0053] The first height adjustment unit includes a second screw mechanism arranged along the height direction of the robot 1 and a fifth driving member for driving the second screw mechanism. The second screw mechanism includes a second screw 330 arranged on the first frame 11 and a second screw nut 331 connected to the second screw 330. The second screw 330 is arranged along the height direction of the robot body 1, one end of the second screw 330 is installed on the base plate body 10, and the other end is assembled on the first horizontal bracket. In order to allow the first frame 11 to have sufficient installation position, in this embodiment, the first horizontal bracket adopts a plate structure. In order to further improve the support stability of the first horizontal bracket. The first vertical bracket adopts a trapezoidal plate structure that is narrow at the top and wide at the bottom.

[0054] As a preferred embodiment, the fifth drive element includes a first motor 332, a first driving pulley 333, a first driven pulley 334, and a first synchronous belt 335, which are mounted on the first transverse support. The first synchronous belt 335 is wound around the first driving pulley 333 and the first driven pulley 334. The first motor 332 is fixed to the first transverse support, with its output end connected to the first driving pulley 333, and outputs power to the first driving pulley 333. The first driven pulley 334 is coaxially connected to the second lead screw 330, thereby driving the second lead screw 330 to rotate.

[0055] Specifically, the first height adjustment unit also includes a first base plate 336 and a first side plate 337. The first transmission mechanism is disposed above the first base plate 336. Specifically, the first slide rail 320 is horizontally fixed to the first base plate 336. The first side plate 337 is vertically disposed at the end of the first base plate 336 and is connected to the first screw nut 112. In addition, a second driving member 326 is mounted on the first base plate 336. The output end of the second driving member 326 passes through the first base plate 336 and is connected to the second driving wheel 322. The second driven wheel 323 is rotationally connected to the first base plate 336. The second driving wheel 322 and the second driven wheel 323 are disposed at both ends of the first base plate along the length of the first slide rail. In addition, it should be noted that the first driving wheel 313, the first driven wheel 314, the second driving wheel 422, the second driven wheel 323, the third driving wheel 426, and the third driven wheel 427 can all be synchronous wheels. Of course, the second driving wheel 422 , the second driven wheel 323 , the third driving wheel 426 , and the third driven wheel 427 may also be sprockets, and the corresponding second synchronous belt 324 and the third synchronous belt 428 should be selected with matching chain structures.

[0056] As a preferred embodiment, a fourth slider 338 is fixedly mounted on the first side plate 337. The fourth slider 338 is provided with a groove extending in the same direction as the height of the first side plate 337. The first frame 11 is provided with a fourth slide rail 110 along the height direction that cooperates with the fourth slider 338. Thus, the first side plate 337 can reciprocate along the height direction of the first frame 11 (the extension direction of the fourth slide rail 110) driven by the second lead screw nut 331.

[0057] In summary, the handling robot provided by the present invention comprises a robot body, a mobile body, and a handling device. The handling device comprises a first handling assembly and a second handling assembly. The first handling assembly comprises a first height adjustment unit and a first transfer unit. The second handling assembly comprises a second height adjustment unit and a second transfer unit. The first height adjustment unit enables height adjustment of the first and second transfer units, thereby adapting to the docking requirements of equipment of different heights. The first and second transfer units further enable adaptation to different docking equipment. For example, when the docking equipment has its own transfer mechanism, the first transfer unit can directly dock with the equipment to transfer materials. When the docking equipment does not have a transfer mechanism, the second transfer unit can penetrate deeper into the docking equipment to transfer materials, further enhancing the operational scenarios of the handling robot of the present invention. Furthermore, the spacing between the two first transfer mechanisms of the first transfer unit is adjustable, further adapting to the handling requirements of materials of different sizes and ensuring stability and safety during material handling or transfer. Furthermore, when the second transfer unit is used for material handling, the first transfer mechanism can adjust the position and clamp the material to prevent it from falling from the second transfer unit, further improving the stability and safety of the second transfer unit during material handling or transfer.

[0058] Compared with the existing technology, the present invention can improve the degree of integration of the handling and transfer structure, so that it can meet the material or product handling needs of different production lines with different structural forms and performance parameters, reduce the variety of internal robots, avoid robot incompatibility problems caused by factors such as product / production line updates and upgrades, and reduce resource waste.

[0059] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0060] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0061] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A transport robot, characterized in that: include: Robot body; A mobile body, which is arranged at the bottom of the robot body, and is used to drive the robot body to move; A handling device, comprising a first handling component arranged on a robot body and a second handling component arranged on the first handling component; the first handling component comprises a first height adjustment unit arranged on the robot body and a first transmission unit arranged on the first height adjustment unit; the first transmission unit is used to dock with an external device to transmit materials; the second handling component comprises a second height adjustment unit arranged on the first height adjustment unit and a second transmission unit arranged on the second height adjustment unit; the first height adjustment unit is configured to perform height adjustment on the first transmission unit and the second handling component; the second height adjustment unit is configured to perform height adjustment on the second transmission unit so that the second transmission unit can lift and transfer materials.

2. The handling robot according to claim 1, characterized in that: The first transmission unit includes a first adjustment mechanism arranged on the first height adjustment unit, and two first transmission mechanisms arranged relatively on the first adjustment mechanism; the first adjustment mechanism is configured to horizontally adjust the distance between the two first transmission mechanisms; the first transmission mechanism is configured to horizontally transfer the material thereon; the adjustment direction of the first adjustment mechanism is perpendicular to the transmission direction of the first transmission mechanism.

3. The handling robot according to claim 2, characterized in that: The first transmission mechanism includes a first bracket arranged on the first adjustment mechanism, a first driving member arranged on the outside of the first bracket, a first driving wheel connected to the output end of the first driving member, two first driven wheels arranged at both ends of the first bracket along the length direction of the first bracket, two first tensioning wheels connected to the first bracket, and a first synchronous belt adapted to the first driving wheel and the first driven wheel; the first driven wheel, the first tensioning wheel, and the first driving wheel are all located on the inner side of the first driving member and form a gradient from top to bottom; the inner side of the first synchronous belt is sequentially wound around the first driving wheel and the two first driven wheels; the outer side of the first synchronous belt is sequentially wound around the two first tensioning wheels.

4. The handling robot according to claim 2, characterized in that: The first adjustment mechanism includes a first slide rail horizontally arranged on the first height adjustment unit, at least one group of first sliders slidably arranged on the first slide rail, a second driving wheel and a second driven wheel arranged at both ends of the first height adjustment unit along the length direction of the first slide rail, a second synchronous belt wound around the second driving wheel and the second driven wheel, at least one first clamping plate connected to the second synchronous belt, and a second driving member arranged on the first height adjustment unit; the length direction of the first slide rail is perpendicular to the transmission direction of the first transmission mechanism; the first slider is installed at the bottom of the first transmission mechanism; the end of the first clamping plate away from the second synchronous belt is connected to the first transmission mechanism installed on the first slider; the second driving member is connected to the second driving wheel to drive the second driving wheel to rotate.

5. The handling robot according to claim 4, characterized in that: The first adjustment mechanism includes two groups of first sliders and two first clamps; the two groups of first sliders are respectively installed at the bottom of the two first transmission mechanisms; the top ends of the two first clamps are respectively connected to the two first transmission mechanisms, and the bottom ends of the two first clamps are respectively connected to the two opposite sides of the second synchronous belt.

6. The handling robot according to any one of claims 2 to 5, characterized in that: The second transport assembly is arranged between the two first transport mechanisms; the transport direction of the second transport unit is parallel to the transport direction of the first transport mechanism.

7. The handling robot according to claim 6, characterized in that: The second transmission unit includes a translation base plate arranged on the second height adjustment unit, a translation slide rail arranged on the translation base plate along the length direction of the translation base plate, and a translation pallet arranged parallel to the top of the translation base plate and capable of horizontal movement along the length direction of the translation base plate; a translation slider slidably matched with the translation slide rail is provided at one end of the translation pallet, and the other end of the translation pallet is a cantilever end; a roller support is provided at one end of the translation base plate close to the cantilever end of the translation pallet; a supporting roller is provided on the roller support; and the supporting roller is in rolling contact with the bottom of the translation pallet.

8. The handling robot according to claim 7, characterized in that: The second transmission unit also includes a driving component for driving the translation pallet to move, the driving component includes a third driving wheel and a third driven wheel arranged at both ends of the translation base plate, a third synchronous belt wound around the third driving wheel and the third driven wheel, a second clamping plate connected to the third synchronous belt and the translation pallet at both ends respectively, and a third driving member arranged on the translation base plate away from one end of the roller support; the output end of the third driving member is connected to the third driving wheel.

9. The handling robot according to claim 7, characterized in that: The second height adjustment unit includes a second bottom plate arranged on the first height adjustment unit, a second top plate arranged parallel to and above the second bottom plate, a scissors-type mechanism arranged between the second bottom plate and the second top plate, and a first screw mechanism arranged on the second bottom plate; the first screw mechanism is connected to the scissors-type mechanism, and drives the scissors-type mechanism to open and close so that the second top plate moves in the height direction; the second transmission unit is arranged on the second top plate.

10. The handling robot according to claim 9, characterized in that: The first screw mechanism includes a first screw arranged along the length direction of the second base plate, a fourth driving member arranged on the second base plate and connected to one end of the first screw, and a first screw nut threadedly matched with the first screw; the length direction of the second base plate is parallel to the length direction of the translation base plate; the fourth driving member is arranged on one end of the second base plate away from the roller support; the first screw nut is hinged to the scissors-fork mechanism, and the opening and closing of the scissors-fork mechanism is realized by the horizontal movement of the first screw nut.

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