Transportation apparatus and transportation robot provided with transportation apparatus

Patent metadata

Field	Value
Publication number	US-11820004-B2
Application number	US-202117194978-A
Country	US
Kind code	B2
Filing date	Mar 8, 2021
Priority date	Sep 7, 2018
Publication date	Nov 21, 2023
Grant date	Nov 21, 2023

Abstract

A transportation apparatus ( 30 ), includes a bracket ( 31 ), a telescopic apparatus ( 32 ) and a manipulator ( 33 ), where the bracket is mounted to a storage shelf ( 20 ), the telescopic apparatus is mounted to the bracket, the manipulator is mounted to the telescopic apparatus, and the telescopic apparatus is used for driving the manipulator to move along a horizontal first reference line (S 5 ) or a horizontal second reference line (S 6 ). The manipulator is driven to move on the first reference line and second reference line that are disposed orthogonally, and thereby the manipulator is able to load or unload goods at any position on the first reference line or second reference line, so as to avoid time being wasted on adjusting an angle of a transportation robot ( 100 ). The transportation apparatus has a high transportation efficiency.

First claim

What is claimed is:

1. A transportation apparatus ( 30 ), comprising a bracket ( 31 ), a telescopic apparatus ( 32 ) and a manipulator ( 33 ), wherein the telescopic apparatus ( 32 ) is mounted to the bracket ( 31 ), the manipulator ( 33 ) is mounted to the telescopic apparatus ( 32 ), and the telescopic apparatus ( 32 ) is used for driving the manipulator ( 33 ) to move along a horizontal first reference line (S 5 ) or a horizontal second reference line (S 6 ); and
the first reference line (S 5 ) and the second reference line (S 6 ) are set at a preset angle;
wherein the telescopic apparatus ( 32 ) comprises a first telescopic arm ( 35 ) and a second telescopic arm ( 36 );
one end of the first telescopic arm ( 35 ) is mounted to the bracket ( 31 ), one end of the second telescopic arm ( 36 ) is mounted to the other end of the first telescopic arm ( 35 );
the other end of the first telescopic arm ( 35 ) is configured to move along the first reference line (S 5 ) relative to the bracket ( 31 ), and the other end of the second telescopic arm ( 36 ) is configured to move along the second reference line (S 6 ) relative to the first telescopic arm ( 35 ); and
when the first telescopic arm ( 35 ) and the second telescopic arm ( 36 ) are retracted, the second telescopic arm ( 36 ) is disposed above the first telescopic arm ( 35 ) along a direction perpendicular to the first reference line (S 5 ) and the second reference line (S 6 ).

2. The transportation apparatus ( 30 ) according to claim 1 , wherein
the manipulator ( 33 ) is mounted to the other end of the second telescopic arm ( 36 ).

3. The transportation apparatus ( 30 ) according to claim 2 , wherein the first telescopic arm ( 35 ) comprises a first lower fork component ( 350 ), a first upper fork ( 351 ) and a first telescopic driving component ( 352 );
the first lower fork component ( 350 ) is fixedly mounted to the bracket ( 31 ), and a surface of the first lower fork component ( 350 ) facing away from the bracket ( 31 ) is provided with a first guide rail ( 3540 ) for guiding along the first reference line (S 5 );
the first upper fork ( 351 ) is mounted to the first guide rail ( 3540 ); and
the first telescopic driving component ( 352 ) is connected the first upper fork ( 351 ) and the first lower fork component ( 350 ), and the first telescopic driving component ( 352 ) is used for driving the first upper fork ( 351 ) to move along the first reference line (S 5 ) relative to the first lower fork component ( 350 ).

4. The transportation apparatus ( 30 ) according to claim 3 , wherein the first telescopic driving component ( 352 ) comprises a lead screw ( 3560 ), a moving block ( 3561 ) and a first telescopic driving apparatus ( 3573 );
the lead screw ( 3560 ) is mounted to the first upper fork ( 351 ), the moving block ( 3561 ) is fixedly mounted to the first lower fork component ( 350 ), and the moving block ( 3561 ) is threadedly connected to the lead screw ( 3560 ), and the first telescopic driving apparatus ( 3573 ) is connected to the lead screw ( 3560 );
a center line of the lead screw ( 3560 ) is disposed parallel to the first reference line (S 5 ); and
the first telescopic driving apparatus ( 3573 ) is used for driving the lead screw ( 3560 ) to rotate around the center line relative to the first upper fork ( 351 ), so that the moving block ( 3561 ) moves along the first reference line (S 5 ) relative to the first upper fork ( 351 ).

5. The transportation apparatus ( 30 ) according to claim 3 , wherein the first telescopic driving component ( 356 ) comprises a synchronous belt ( 3562 ), a synchronous drive pulley ( 3563 ), a synchronous belt tensioning pulley ( 3564 ), and a first telescopic driving apparatus ( 3573 );
both the synchronous drive pulley ( 3563 ) and the synchronous belt tensioning pulley ( 3564 ) are mounted to the first upper fork ( 351 ), the synchronous belt ( 3562 ) is simultaneously sleeved on the synchronous drive pulley ( 3563 ) and the synchronous belt tensioning pulley ( 3564 ), and the first lower fork component ( 350 ) is fixedly connected to the synchronous belt ( 3562 ), and the first telescopic driving apparatus ( 3573 ) is connected to the synchronous drive pulley ( 3563 ); and
the first telescopic driving apparatus ( 3573 ) is used for driving the synchronous drive pulley ( 3563 ) to rotate, so that the synchronous belt ( 3562 ) drives the first lower fork component ( 350 ) to move along the first reference line (S 5 ) relative to the first upper fork ( 351 ).

6. The transportation apparatus ( 30 ) according to claim 3 , wherein the first lower fork component ( 350 ) comprises a first lower fork ( 353 ), a first middle fork ( 354 ) and a second telescopic driving component ( 355 );
the first lower fork ( 353 ) is fixedly mounted to the first upper fork ( 351 ), and a surface of the first lower fork ( 353 ) facing away from the first upper fork ( 351 ) is provided with a second guide rail ( 3530 ) for guiding along the first reference line (S 5 );
the first middle fork ( 354 ) is mounted to the second guide rail ( 3530 ), and a surface of the first middle fork ( 354 ) facing away from the first lower fork ( 353 ) is provided with the first guide rail ( 3540 ); and
the second telescopic driving component ( 355 ) is connected to the first middle fork ( 354 ) and the first lower fork ( 353 ), and is used for driving the first lower fork ( 353 ) to move along the first reference line (S 5 ) relative to the first middle fork ( 354 ).

7. The transportation apparatus ( 30 ) according to claim 6 , wherein the second telescopic driving component ( 355 ) comprises a movable pulley ( 3550 ) and a strop ( 3551 );
the movable pulley ( 3550 ) is mounted to the first middle fork ( 354 ), and a middle part of the strop ( 3551 ) is bent and sleeved on the movable pulley ( 3550 ), so that two ends of the strop ( 3551 ) are disposed oppositely to each other;
one end of the strop ( 3551 ) is fixedly mounted to the first lower fork ( 353 ), the other end of the strop ( 3551 ) is fixedly mounted to the first upper fork ( 351 ); and
when the first middle fork ( 354 ) moves along the first reference line (S 5 ) relative to the first lower fork ( 353 ) at a first speed, the first upper fork ( 351 ) moves along the first reference line (S 5 ) relative to the first lower fork ( 353 ) at a second speed, and the second speed is twice the first speed.

8. The transportation apparatus ( 30 ) according to claim 7 , wherein the movable pulley ( 3550 ) is a flat belt pulley, and the strop ( 3551 ) is an open-loop flat belt.

9. The transportation apparatus ( 30 ) according to claim 1 , wherein the first reference line (S 5 ) and the second reference line (S 6 ) are disposed orthogonally.

10. The transportation apparatus ( 30 ) according to claim 1 , wherein the manipulator ( 33 ) comprises a temporary storage pallet ( 330 ); and
the temporary storage pallet ( 330 ) is used for placing goods.

11. A transportation robot ( 100 ), comprising the transportation apparatus ( 30 ) according to claim 1 .

12. The transportation robot ( 100 ) according to claim 11 , wherein the transportation robot ( 100 ) further comprises a mobile chassis ( 10 ) and a storage shelf ( 20 ); and
the storage shelf ( 20 ) is mounted to the mobile chassis ( 10 ), and the storage shelf ( 20 ) is used for placing a number of goods.

13. The transportation robot ( 100 ) according to claim 12 , wherein the transportation robot ( 100 ) further comprises a lifting component ( 40 );
the lifting component ( 40 ) is mounted to the storage shelf ( 20 ), and the lifting component ( 40 ) is connected to the bracket ( 31 )

Assignees

• Hai Robotics Co Ltd

Inventors

• Kong Zhe
• Chen Yeguang
• Zhan Qingxin

Classifications

• B25J18/025 Primary

  telescopic · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J11/008

  Manipulators for service tasks · CPC title

• B25J19/0041

  having rotary connection means · CPC title

• B66F9/07

  Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers" · CPC title