Granted Patent B2

US 12,269,684 · App. 17/929,418 · Granted Apr 8, 2025

Inventors: Ming Gao (Guangdong, CN); Zhe Kong (Guangdong, CN); Zaijin Li (Guangdong, CN)

Assignee: HAI ROBOTICS CO., LTD.

B65G1/127B65G17/12

Abstract

Claims (77)

1. A method for controlling a transport robot, wherein the transport robot comprises:

a vertical support,

a driving assembly; and

a carrying device, wherein the vertical support comprises a fixed column frame and a movable column frame, the carrying device is movably arranged on the movable column frame, the movable column frame is movably arranged on the fixed column frame, and the carrying device is configured to carry goods, the driving assembly comprises a traction assembly and a retractable assembly connected to the traction assembly, the traction assembly is connected to the carrying device, the retractable assembly is arranged on the fixed column frame; the retractable assembly is configured to drive, through the traction assembly, at least one of: the carrying device to move relative to the movable column frame, and the movable column frame to move relative to the fixed column frame; the traction assembly comprises two sets of traction assemblies located at two opposed sides of the carrying device respectively, the retractable assembly is configured to drive the two sets of the traction assemblies to synchronously drive the carrying device to ascend or descend; the method comprises:

receiving a movement instruction; and

driving, according to the movement instruction, at least one of: the carrying device to move relative to the movable column frame; and the movable column frame to move relative to the fixed column frame;

wherein the driving, according to the movement instruction, the carrying device to move relative to the movable column frame and/or the movable column frame to move relative to the fixed column frame comprises:

obtaining a first specified ascending height according to a first ascending instruction comprised in the movement instruction;

driving the carrying device to move upward relative to the movable column frame;

when the carrying device moves to the first specified ascending height before the carrying device moves to a top of the movable column frame, stopping lifting the carrying device; and

when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, driving the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height.

2. The method according to claim 1 , wherein the driving, according to the movement instruction, the carrying device to move relative to the movable column frame and/or the movable column frame to move relative to the fixed column frame further comprises one of:

obtaining a first specified descending height according to a first descending instruction comprised in the movement instruction; driving the carrying device and the movable column frame to simultaneously move downward relative to the fixed column frame; controlling, when the carrying device descends to the first specified descending height before the movable column frame moves to a bottom of the fixed column frame, the movable column frame and the carrying device to stop moving; and controlling, when the carrying device has not descended to the first specified descending height after the movable column frame moves to the bottom of the fixed column frame, the carrying device to move downward relative to the movable column frame until the carrying device moves to the first specified descending height;

obtaining a second specified descending height according to a second descending instruction the movement instruction; driving the carrying device to move downward relative to the movable column frame first, then driving the movable column frame to move downward relative to the fixed column frame, and stopping descending when the carrying device moves to the second specified descending height before the carrying device moves to a bottom of the movable column frame; or driving, when the carrying device has not moved to the second specified descending height after the carrying device moves to the bottom of the movable column frame, the movable column frame and the carrying device to synchronously descend until the carrying device reaches the second descending height; and

obtaining a third specified descending height according to a third descending instruction the movement instruction; driving the movable column frame to move downward relative to the fixed column frame first, then driving the carrying device to move downward relative to the movable column frame, and stopping descending when the carrying device moves to the third specified descending height before the carrying device moves to a bottom of the movable column frame; or driving, when the carrying device has not moved to the third specified descending height after the carrying device moves to the bottom of the movable column frame, the movable column frame and the carrying device to synchronously descend until the carrying device reaches the third descending height.

3. A vertical support for a transport robot, wherein the transport robot comprises a chassis and a carrying device;

the vertical support comprises:

a column assembly, configured to mount the carrying device; the column assembly comprises a fixed column frame and a movable column frame, one end of the fixed column frame is configured to be mounted on the chassis of the transport robot; the movable column frame is mounted on the fixed column frame, and the movable column frame is capable of ascending or descending relative to the fixed column frame within a preset stroke; and

a driving assembly, comprising a traction assembly and a retractable assembly connected to the traction assembly, the traction assembly is connected to the carrying device, the retractable assembly is arranged on the fixed column frame; the retractable assembly is configured to drive, through the traction assembly, at least one of: the carrying device to move relative to the movable column frame, and the movable column frame to move relative to the fixed column frame;

wherein the traction assembly comprises two sets of traction assemblies located at two opposed sides of the carrying device respectively, the retractable assembly is configured to drive the two sets of the traction assemblies to synchronously drive the carrying device to ascend or descend;

the vertical support further comprising a guide structure; wherein the guide structure comprises a second guide assembly;

the second guide assembly comprises a second sliding groove and a second guide wheel set, the second sliding groove extends along the vertical direction, the second guide wheel set is located in the second sliding groove and configured to move along an extending direction of the second sliding groove, the second sliding groove is located on one of the fixed column frame and the movable column frame, and the second guide wheel set is located on the other;

wherein the second guide wheel set is configured to abut against different inner walls of the second sliding groove.

4. The vertical support according to claim 3 , wherein the traction assembly comprises a traction rope and a guide wheel set; one end of the traction rope winds around the guide wheel set and is tied to the retractable assembly, and the other end of the traction rope is tied to the carrying device;

the retractable assembly comprises a spool, a transmission shaft, a speed control box, and a motor; the spool is configured to wind the traction rope; an output shaft of the motor is connected to an input end of the speed control box, and the transmission shaft is mounted at an output end of the speed control box, and is configured to drive the spool to rotate;

the spool comprises two spools, and one of the spools is connected to one end of the transmission shaft, the other one of the spools is connected to the other one end of the transmission shaft.

5. The vertical support according to claim 3 , wherein the second guide assembly further comprises at least one third guide wheel set configured to abut against different side walls of the movable column frame;

the at least one third guide wheel set is located at an upper part of the fixed column frame, the second guide wheel set is fixed to a lower part of the movable column frame; and the second guide wheel set and the third guide wheel set are located on different side walls of the movable column frame respectively.

6. The vertical support according to claim 5 , wherein the second guide wheel set comprises a guide base frame and at least one pair of third guide wheels, the guide base frame is connected to the movable column frame, the at least one pair of third guide wheels are rotatably arranged on the guide base frame, and wheel surfaces of at least one pair of third guide wheels are configured to abut against inner walls of the second sliding groove;

wherein the second guide wheel set further comprises at least one pair of fourth guide wheels, rotatably arranged on the guide base frame, wheel surfaces of at least one pair of fourth guide wheels are configured to abut against inner walls of the second sliding groove, and the wheel surfaces of the at least one pair of third guide wheels and the wheel surfaces of the at least one pair of fourth guide wheels are configured to abut against different inner walls of the second sliding groove respectively;

wherein there is an included angle between an axis of each third guide wheel and an axis of each fourth guide wheel, and there is an included angle between the axis of each third guide wheel and the extending direction of the second sliding groove, and between the axis of each fourth guide wheel and the extending direction of the second sliding groove respectively.

7. The vertical support according to claim 6 , wherein at least one support portion is arranged at opposite edges of the guide base frame respectively, and the at least one pair of third guide wheels are arranged at an outer side of the support portion; or at least two extension portions are arranged on the guide base frame that extend toward opposite outer sides of the guide base frame respectively, and the at least one pair of fourth guide wheels are arranged on the extension portions;

wherein the extension portions and support portions are located at the same two opposite sides of the guide base frame, and the extension portions are located between the support portions at the same side of the guide base frame.

8. The vertical support according to claim 6 , wherein the second sliding groove comprises a third accommodating section extending along the extending direction of the second sliding groove, and the third accommodating section comprises two opposite first sliding groove side walls and two opposite second sliding groove side walls; and

the second guide wheel set is located in the third accommodating section, the at least one pair of third guide wheels are located between the two first sliding groove side walls, and wheel surfaces of the at least one pair of fourth guide wheels are configured to abut against the two second sliding groove side walls respectively;

wherein the fixed column frame comprises a first fixed column and a second fixed column that are connected to the chassis and provided with the second sliding groove respectively; and

the movable column frame comprises a first movable column and a second movable column, and the second guide wheel set is arranged on the first fixed column or the second fixed column;

wherein the second sliding groove further comprises a fourth accommodating section extending along the extending direction of the second sliding groove; a width of the fourth accommodating section is less than a width of the third accommodating section, and the fourth accommodating section is in communication with the third accommodating section; and

both the first movable column and the second movable column comprise a body, the body is located in the fourth accommodating section, and a part of the body extends into the third accommodating section and is connected to the guide base frame.

9. The vertical support according to claim 8 , wherein the at least one third guide wheel set comprises at least one fifth guide wheel, the at least one fifth guide wheel is rotatably arranged on the fixed column frame; a part of the at least one fifth guide wheel extends into the fourth accommodating section, and a wheel surface of the at least one fifth guide wheel is configured to abut against a side wall of the body;

the at least one third guide wheel set further comprises at least one sixth guide wheel, rotatably arranged on the fixed column frame, a part of the at least one sixth guide wheel extends into the fourth accommodating section, and a wheel surface of the at least one sixth guide wheel is configured to abut against the side wall of the body.

10. The vertical support according to claim 9 , wherein the body comprises a guide groove extending along the vertical direction, the at least one sixth guide wheel is located in the guide groove, and configured to abut against opposite inner side walls of the guide groove, and/or the at least one fifth guide wheel is configured to abut against a bottom wall of the guide groove.

11. The vertical support according to claim 8 , further comprising a second shock absorbing member, fixedly connected to the fixed column frame or the chassis, a shock absorbing surface of the second shock absorbing member faces the second guide wheel set;

wherein an abutting portion is arranged on the guide base frame, the second shock absorbing member is located in the third accommodating section, and the abutting portion is configured to abut against the second shock absorbing member.

12. A transport robot, comprising:

a vertical support, comprising a fixed column frame and a movable column frame movably arranged on the fixed column frame;

a carrying device, movably arranged on the movable column frame; and

a driving assembly, comprising a traction assembly and a retractable assembly connected to the traction assembly; the traction assembly is connected to the carrying device, and the retractable assembly is arranged on the fixed column frame;

wherein the traction assembly comprises two sets of traction assemblies located at two opposed sides of the carrying device respectively; the retractable assembly is configured to drive the two sets of the traction assemblies to synchronously drive at least one of the carrying device and the movable column frame to ascend or descend;

wherein the retractable assembly is configured to:

drive the carrying device to move upward relative to the movable column frame;

when the carrying device moves to a first specified ascending height before the carrying device moves to a top of the movable column frame, stop lifting the carrying device; and

when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, drive the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height.

13. The transport robot according to claim 12 , wherein the traction assembly comprises a traction rope and a guide wheel set; one end of the traction rope winds around the guide wheel set and is tied to the retractable assembly, and the other end of the traction rope is tied to the carrying device;

the retractable assembly comprises a spool, a transmission shaft, a speed control box, and a motor; the spool is configured to wind the traction rope; an output shaft of the motor is connected to an input end of the speed control box, and the transmission shaft is mounted at an output end of the speed control box, and is configured to drive the spool to rotate;

the spool comprises two spools, and one of the spools is connected to one end of the transmission shaft, the other one of the spools is connected to the other one end of the transmission shaft.

14. The transport robot according to claim 12 , further comprising a guide structure; wherein the guide structure comprises a second guide assembly;

the second guide assembly comprises a second sliding groove and a second guide wheel set, the second sliding groove extends along the vertical direction, the second guide wheel set is located in the second sliding groove and configured to move along an extending direction of the second sliding groove, the second sliding groove is located on one of the fixed column frame and the movable column frame, and the second guide wheel set is located on the other;

wherein the second guide wheel set is configured to abut against different inner walls of the second sliding groove.

15. The transport robot according to claim 14 , wherein the second guide assembly further comprises at least one third guide wheel set configured to abut against different side walls of the movable column frame;

the at least one third guide wheel set is located at an upper part of the fixed column frame, the second guide wheel set is fixed to a lower part of the movable column frame; and

the second guide wheel set and the third guide wheel set are located on different side walls of the movable column frame respectively.

16. The transport robot according to claim 15 , wherein the second guide wheel set comprises a guide base frame and at least one pair of third guide wheels, the guide base frame is connected to the movable column frame, the at least one pair of third guide wheels are rotatably arranged on the guide base frame, and wheel surfaces of at least one pair of third guide wheels are configured to abut against inner walls of the second sliding groove;

wherein the second guide wheel set further comprises at least one pair of fourth guide wheels, rotatably arranged on the guide base frame, wheel surfaces of at least one pair of fourth guide wheels are configured to abut against inner walls of the second sliding groove, and the wheel surfaces of the at least one pair of third guide wheels and the wheel surfaces of the at least one pair of fourth guide wheels are configured to abut against different inner walls of the second sliding groove respectively;

wherein there is an included angle between an axis of each third guide wheel and an axis of each fourth guide wheel, and there is an included angle between the axis of each third guide wheel and the extending direction of the second sliding groove, and between the axis of each fourth guide wheel and the extending direction of the second sliding groove respectively.

17. The transport robot according to claim 16 , wherein the second sliding groove comprises a third accommodating section extending along the extending direction of the second sliding groove, and the third accommodating section comprises two opposite first sliding groove side walls and two opposite second sliding groove side walls; and

the second guide wheel set is located in the third accommodating section, the at least one pair of third guide wheels are located between the two first sliding groove side walls, and wheel surfaces of the at least one pair of fourth guide wheels are configured to abut against the two second sliding groove side walls respectively;

wherein the fixed column frame comprises a first fixed column and a second fixed column that are connected to the chassis and provided with the second sliding groove respectively; and

the movable column frame comprises a first movable column and a second movable column, and the second guide wheel set is arranged on the first fixed column or the second fixed column;

wherein the second sliding groove further comprises a fourth accommodating section extending along the extending direction of the second sliding groove; a width of the fourth accommodating section is less than a width of the third accommodating section, and the fourth accommodating section is in communication with the third accommodating section; and

both the first movable column and the second movable column comprise a body, the body is located in the fourth accommodating section, and a part of the body extends into the third accommodating section and is connected to the guide base frame.

18. The transport robot according to claim 17 , wherein the at least one third guide wheel set comprises at least one fifth guide wheel, the at least one fifth guide wheel is rotatably arranged on the fixed column frame; a part of the at least one fifth guide wheel extends into the fourth accommodating section, and a wheel surface of the at least one fifth guide wheel is configured to abut against a side wall of the body;

the at least one third guide wheel set further comprises at least one sixth guide wheel, rotatably arranged on the fixed column frame, a part of the at least one sixth guide wheel extends into the fourth accommodating section, and a wheel surface of the at least one sixth guide wheel is configured to abut against the side wall of the body.

19. The vertical support according to claim 3 , wherein the retractable assembly is configured to:

drive the carrying device to move upward relative to the movable column frame;

when the carrying device moves to a first specified ascending height before the carrying device moves to a top of the movable column frame, stop lifting the carrying device; and

when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, drive the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height.

Assignments (3)

Priority Claims (11)

Continuity (2)

References Cited (66)