CN109625727B - Cargo handling robot with lock - Google Patents

Abstract

The invention belongs to the technical field of automatic machinery, and particularly relates to a cargo handling robot with a lock, which comprises a control base, a supporting plate and a handling mechanism, wherein the control base is used for controlling walking and controlling object grabbing, and the lower side of the control base is provided with a walking mechanism controlled by a control system in the control base; a control system in the control base is realized by adopting the prior art and is responsible for walking, steering and positioning of the robot. A plurality of carrying mechanisms are sequentially arranged on the supporting plate from top to bottom; a lock mechanism is arranged at the lower side of the carrying mechanism; the weight of the carrying mechanism is borne by the locking mechanism and the lifting locking block, so that the weight of the carrying mechanism is prevented from being absorbed by the gear and the lifting rack, and the service life of the lifting motor and the meshing service life of the gear and the lifting rack are prevented from being influenced.

Description

Cargo handling robot with lock

Technical Field

The invention belongs to the technical field of automatic machinery, and particularly relates to a cargo handling robot with a lock.

Background

Along with the rapid development of the logistics industry and machine intellectualization, the carrying and storing efficiency of containers in logistics is higher and higher. When goods are transported in various warehouses, in order to save manual transportation cost and greatly improve transportation efficiency, many warehouses carry out intelligent machine transportation on the goods; however, the current transfer robot mainly transfers and stores single goods; in order to improve the conveying efficiency, it is necessary to design a robot capable of conveying and storing a plurality of goods simultaneously.

The invention relates to a cargo handling robot with a lock, which solves the problems.

Disclosure of Invention

In order to solve the defects in the prior art, the invention discloses a cargo handling robot with a lock, which is realized by adopting the following technical scheme.

In the description of the present invention, it should be noted that the terms "inside", "below", "upper" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention usually place when using, and are only used for convenience of description and simplification of description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation or be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

A cargo handling robot with lock characterized in that: the device comprises a control base, a supporting plate and a carrying mechanism, wherein the control base is used for controlling walking and controlling object grabbing, and the lower side of the control base is provided with a walking mechanism controlled by a control system in the control base; a control system in the control base is realized by adopting the prior art and is responsible for walking, steering, positioning and the like of the robot. The running gear in the figures is only schematic.

The supporting plate is arranged on the upper surface of the control base and is close to one side of the control base, lifting rails are symmetrically distributed on two sides of the supporting plate, and the lifting rails are used for providing an up-and-down lifting guide function for the carrying mechanism; install lifting rack and locking piece fixed strip in the middle of the backup pad, install a plurality of lift locking pieces from the top down on the locking piece fixed strip in proper order.

A plurality of carrying mechanisms are sequentially arranged on the supporting plate from top to bottom; the handling mechanism includes a first plate and a second plate.

The second plate is arranged on the supporting plate through the sliding fit of two lifting guide blocks and two lifting rails which are arranged on two sides of one end of the second plate, and the first plate is arranged on the second plate through the sliding fit of the transverse moving guide blocks and the transverse moving rails.

The first plate is driven to move transversely on the second plate by a transverse moving motor; the second plate is driven by a lifting motor to move up and down on the supporting plate; the engagement of the lifting motor driving gear and the lifting rack controls the carrying mechanism to move up and down on the supporting plate. A lock mechanism is arranged on the lower side of the middle position of the second plate; the design of the lock mechanism is that the lock mechanism is matched with the lifting lock block, so that the weight of the carrying mechanism is borne by the lock mechanism and the lifting lock block in a pause state, and the weight of the carrying mechanism is prevented from being absorbed by the gear and the lifting rack to influence the service life of the lifting motor and the meshing service life of the gear and the lifting rack.

The lock mechanism comprises a lock back plate, a shell, an adjusting plate spring, lock guide rails, a clamping block upper inclined plane, a clamping block lower inclined plane, a lock bottom plate, a damping rod, a limiting plate, a reset plate spring, an adjusting strip, an extension spring and a stop block, wherein the two lock guide rails are symmetrically arranged on the lower side of the second plate, and the shell is arranged in the lock guide rails in a vertically sliding manner; the lock bottom plate is arranged on the lower end surfaces of the two lock guide rails, and a plurality of adjusting plate springs are arranged between the upper side of the shell and the second plate; the rear lock plate is arranged at one end of the shell, the fixture block is slidably arranged in the shell, a damping rod is arranged between the fixture block and the rear lock plate, and a fixture block spring is sleeved outside the damping rod; one end of the fixture block spring is connected with the lock back plate, and the other end of the fixture block spring is connected with the fixture block; the fixture block spring plays a role in resetting the fixture block, and the extension and the contraction of the damping rod have certain resistance; the fixture block can be reset at a low speed under the action of the fixture block spring and the damping rod. The housing slides up and down in the lock guide rail, and the plurality of adjusting plate springs play a role in buffering the movement of the housing and resetting the position of the housing.

One end of the clamping block extending out of the shell is provided with an upper clamping block inclined plane and a lower clamping block inclined plane.

The clamping block is matched with the lifting locking block.

As a further improvement of the technology, the novel shelf comprises a shelf frame and storage forks, wherein the two storage forks are used as a group to be transversely and vertically arranged on a back plate of the shelf frame in a plurality of groups, and each group supports one cargo.

As a further improvement of the present technique, the second plate has a first notch; the first notch is designed to prevent the second plate from interfering with the lifting rack and the lifting locking block in the lifting process; the lifting motor is installed on the lower side of the second plate through the lifting support seat, the lifting reducer is installed on the second plate, and the rotating shaft of the lifting motor transmits power to the lifting reducer and then drives the lifting gear.

As a further improvement of the technology, a transverse moving rack is arranged in the middle of the second plate, two transverse moving rails are symmetrically arranged at two ends of the upper side of the second plate, transverse moving guide grooves are formed in the transverse moving rails, two transverse moving guide blocks are respectively arranged at two sides of one end of the first plate, and the two transverse moving guide blocks are respectively in sliding fit with the two transverse moving guide grooves. The first plate slides on the second plate through the sliding of the transverse moving guide block and the transverse moving guide groove.

As a further improvement of the technology, the lower side of the first plate is provided with a transverse moving motor through a transverse moving support seat, a transverse moving speed reducer is arranged on the lower side of the first plate, and a rotating shaft of the transverse moving motor transmits power to the transverse moving speed reducer and then drives a transverse moving gear.

As a further improvement of the technology, the first plate is provided with two second gaps which are arranged side by side, so that one end of the first plate is provided with a fork-shaped structure, and the second gaps are designed to facilitate the first plate and the storage fork to be matched for taking down goods; when the goods are taken, the second notch is matched with the storage fork, and the second plate part between the second notch and the second notch is in clearance fit with the storage fork. The first plate is provided with a fork-shaped end which is provided with a shoveling object inclined plane, and the shoveling object inclined plane is convenient for the first plate to shovel objects.

As a further improvement of the technology, the traversing gear driven by the traversing motor arranged at the lower side of the first plate is meshed with the traversing rack arranged on the second plate, and the first plate slides on the second plate under the driving of the traversing motor.

As a further improvement of the technology, the second plate is meshed with the lifting rack through a lifting gear driven by a lifting motor arranged on the lower side of the second plate, and the second plate is driven by the lifting motor to move up and down on the supporting plate.

As a further improvement of the technology, a plurality of adjusting plate springs are arranged between the lower side of the shell and the lock bottom plate. The effect of the adjusting leaf springs here is the same as the effect of mounting a plurality of adjusting leaf springs between the upper side of the housing and the second plate, where the addition of adjusting leaf springs serves to stabilize the housing movement.

As a further improvement of the technology, the two lock guide rails are provided with lock guide grooves on one opposite sides, two shell guide blocks are symmetrically arranged on two sides of the shell, and the two shell guide blocks are in sliding fit with the two lock guide grooves. The design of the housing guide block and the lock guide groove enables the housing to stably slide in the lock guide rail.

As a further improvement of the technology, two adjusting plate springs are arranged between the upper side of the shell and the second plate, and two adjusting plate springs are arranged between the lower side of the shell and the lock bottom plate. The design purposes of the adjusting plate spring are two: two compare in a motion that more can let the casing stable get up, choose for use the regulation leaf spring of suitable elastic coefficient simultaneously, can guarantee that two regulation leaf springs just can play the effect that the buffering casing removed and reset the casing position.

According to the invention, the second plate is driven by the lifting motor to drive the first plate to lift up and down so as to take goods, the second plate is driven by the transverse moving motor to move on the first plate, and after the goods are taken, the up-and-down movement of the second plate is locked by the matching of the lock mechanism and the lifting lock block.

The concrete fetching principle is as follows: firstly, the robot moves to a corresponding position of a goods shelf, and the walking mechanism moves the robot to a corresponding fetching position of the goods shelf by adopting the existing sensor and positioning technology; then, the height of the first plate of one of the carrying mechanisms is slightly lower than that of the storage fork by controlling the lifting motor, the transverse moving motor is controlled to drive the first plate to move towards the lower side of the storage fork, when the first plate moves to the lower side of the storage fork, the lifting motor is controlled to enable the first plate to penetrate out from the notch of the storage fork and to support a cargo, and then the transverse moving motor is controlled to retract the first plate to the upper side of the second plate to finish the cargo taking process. Then sequentially getting other goods on the goods shelf through other layers of carrying mechanisms; when the goods taking and transporting process is finished, the distance between each carrying mechanism is made to be as small as possible according to the height of the goods by controlling the lifting motor, so that the center of gravity of the whole robot is as low as possible in the transporting and walking process, the transporting stability is ensured, and after the height is adjusted, the carrying mechanisms are locked by the locking mechanisms of the carrying mechanisms.

The locking principle of the lock mechanism is as follows: the fixture block in the lock mechanism is matched with the lifting locking block, and after the fixture block is clamped into the lifting locking block, the lifting locking block plays a hard limiting role on the fixture block, so that a limiting and locking role on the carrying mechanism is played; in the design of the lock mechanism, the design function of the adjusting plate spring is as follows: when the clamping block is to be clamped into the lifting locking block, when the clamping block does not face the clearance of the lifting locking block, the clamping block can be extruded with the lifting locking block, at the moment, the shell can move up and down along the locking guide groove to adjust the position of the clamping block, meanwhile, the adjusting plate spring is compressed or extended, and the adjusting plate spring plays a role in resetting the position of the shell. The fixture block and the shell are internally provided with a fixture block spring and a damping rod, and the movement speed of the fixture block in the shell is low due to the matching of the damping rod and the fixture block spring.

Fixture block one end has inclined plane and lower inclined plane, and at initial state, the fixture block is located between two lift locking pieces, and transport mechanism is in the lock state of dying, and the inclined plane upper end is located the lift locking piece outside on the fixture block, reciprocates the in-process at transport mechanism:

firstly, when the carrying mechanism moves upwards and passes through the lifting locking blocks, the speed of the carrying mechanism crossing over the two lifting locking blocks due to the arrangement of the damping rod is greater than the speed of the fixture block sliding out from the inside of the shell under the reset action of the fixture block spring; the upper inclined plane of the ascending clamping block is in sliding fit with the ascending locking block, and the clamping block is jacked into the shell; then the carrying mechanism continuously rises, and the fixture block continuously jacks into the shell until the intersection point of the upper inclined plane and the lower inclined plane of the fixture block is matched with the end face of the lifting locking block; the carrying mechanism continuously rises, when the fixture block enters a gap of a new lifting locking block at the upper side, the fixture block instantaneously loses the jacking force of the lifting locking block, the fixture block slowly extends out under the action of the damping rod, before the lower end face of the fixture block slowly extends out of the lower end face of the fixture block and touches the upper end face of the lifting locking block, the carrying mechanism drives the fixture block to be in inclined plane fit with the next lifting locking block above, the fixture block is pushed into the shell again under the cooperation of the lifting locking block, the process is repeated until the carrying mechanism moves to a required height, the shell is over against the gap of the lifting locking block to be clamped, the position is kept for a certain time to wait for the slow extension of the fixture block, and when the fixture block extends out, the lower end face of the fixture block is matched with the upper end face of the lower lifting locking block at the gap, so; and then the clamping block continues to extend out until the top end of the clamping block is completely contacted with the end surface of the locking block fixing strip, and the aim of downwards moving and locking the carrying mechanism by the locking mechanism is fulfilled at the moment, namely the carrying mechanism returns to the initial state.

Secondly, when the carrying mechanism moves downwards from the initial position and passes through the lifting locking blocks, firstly, the lifting motor is controlled to enable the carrying mechanism to ascend until the intersection of the upper inclined plane and the lower inclined plane of the fixture block is matched with the end face of the lifting locking block on the clamping gap in the initial state, the lifting motor is controlled to control the carrying mechanism to move downwards, in the moving downwards process, because the extending speed of the fixture block is low, when the fixture block is matched with the lifting locking block on the lower side, the extending length of the fixture block is not long, at the moment, the lower inclined plane of the fixture block is in contact with the lifting locking blocks, the lifting locking blocks enable the fixture block to enter the shell, therefore, the carrying mechanism can continue to move downwards and pass through the plurality of lifting locking blocks, after the fixture block is moved to the determined position, the carrying mechanism is controlled to maintain for a certain time, the fixture block.

Compared with the traditional automatic mechanical technology, the invention can generally carry different goods simultaneously through a plurality of carrying mechanisms, and on the other hand, because the carrying mechanisms are locked by the lock mechanisms, the weight of the carrying mechanisms is born by the lock mechanisms and the lifting lock blocks, so that the weight of the carrying mechanisms is prevented from being absorbed by the gears and the lifting racks, and the service life of the lifting motor and the meshing service life of the gears and the lifting racks are influenced.

Drawings

Fig. 1 is a schematic view of the overall component distribution.

Fig. 2 is a schematic view of a shelf structure.

FIG. 3 is a mounting schematic of a storage fork.

Fig. 4 is a schematic diagram of the robot structure.

Fig. 5 is a schematic view of a traveling mechanism.

Fig. 6 is a schematic view of the mounting of the support plate.

Fig. 7 is a schematic view of the structure of the support plate.

Fig. 8 is a schematic view of the conveyance mechanism configuration 1.

Fig. 9 is a schematic structural view of the conveyance mechanism 2.

Fig. 10 is a schematic view of the lifting structure of the conveyance mechanism.

FIG. 11 is a schematic diagram of a second plate structure.

Fig. 12 is a schematic view of a lift motor installation.

FIG. 13 is a cross rail configuration.

Fig. 14 is a first board installation schematic.

FIG. 15 is a cross-traverse motor mounting schematic.

FIG. 16 is a cross-rack mounting schematic.

Fig. 17 is a schematic view of a lock mechanism configuration.

Fig. 18 is a cross-sectional view of a lock mechanism.

Fig. 19 is a schematic view of a lock rail configuration.

Fig. 20 is a schematic view of the housing guide block installation.

Fig. 21 is a schematic view of the principle of upward movement of the mechanism.

Fig. 22 is a schematic view of the mechanism operating in a downward direction.

Number designation in the figures: 1. a robot; 2. a shelf; 3. a storage fork; 4. a shelf frame; 5. goods; 6. a support plate; 7. a carrying mechanism; 8. a control base; 9. a traveling mechanism; 10. a lifting rack; 11. a lifting locking block; 12. a lifting rail; 13. a locking piece fixing strip; 14. a lifting guide block; 15. a first plate; 16. a second plate; 17. a lifting motor; 18. lifting the supporting seat; 19. a lifting speed reducer; 20. a lifting gear; 21. a lock mechanism; 22. a first notch; 23. transversely moving the rack; 24. traversing the rail; 25. transversely moving the guide groove; 26. transversely moving the guide block; 27. a second notch; 28. shoveling an inclined plane; 29. a lateral moving gear; 31. traversing the speed reducer; 32. a traversing motor; 33. transversely moving the supporting seat; 34. locking the rear plate; 35. a housing; 36. adjusting the plate spring; 37. a lock guide groove; 38. a lock guide rail; 39. a clamping block; 40. the fixture block is provided with an upper inclined plane; 41. a lower inclined plane; 42. a lock base plate; 43. a housing guide block; 44. a damping lever; 45. a latch spring.

Detailed Description

As shown in fig. 1, 2, 4 and 5, it comprises a control base 8 for controlling walking and controlling object grabbing, a support plate 6 and a carrying mechanism 7, wherein a walking mechanism 9 controlled by a control system in the control base 8 is arranged at the lower side of the control base 8; the control system in the control base 8 is realized by adopting the prior art and is responsible for walking, steering, positioning and the like of the robot 1. The running gear 9 in the figures is only schematic.

As shown in fig. 6, the supporting plate 6 is installed on the upper surface of the control base 8 and on one side close to the control base 8, as shown in fig. 7, the two sides of the supporting plate 6 are provided with symmetrically distributed lifting rails 12, and the lifting rails 12 are used for providing an up-and-down lifting guide function for the carrying mechanism 7; the middle of the supporting plate 6 is provided with a lifting rack 10 and a locking block fixing strip 13, and the locking block fixing strip 13 is sequentially provided with a plurality of lifting locking blocks 11 from top to bottom.

As shown in fig. 4, a plurality of conveyance mechanisms 7 are mounted on the support plate 6 in this order from top to bottom; as shown in fig. 8 and 9, the carrying mechanism 7 includes a first plate 15 and a second plate 16.

As shown in fig. 10, 11 and 12, the second plate 16 is mounted on the support plate 6 by the sliding engagement of two elevation guide blocks 14 and two elevation rails 12 mounted on both sides of one end thereof, and the first plate 15 is mounted on the second plate 16 by the sliding engagement of the traverse guide block 26 and the traverse rail 24.

As shown in fig. 14, 15, the first board 15 is driven to traverse on the second board 16 by the traverse motor 32; the second plate 16 moves up and down on the supporting plate 6 through the driving of a lifting motor 17; the engagement of the driving gear and the lifting rack 10 by the lifting motor 17 controls the vertical movement of the conveying mechanism 7 on the supporting plate 6. A lock mechanism 21 is arranged at the lower side of the middle position of the second plate 16; the lock mechanism 21 is designed in such a way that the lock mechanism 21 is matched with the lifting lock block 11, so that the weight of the conveying mechanism 7 is borne by the lock mechanism 21 and the lifting lock block 11 in a pause state of the conveying mechanism 7, and the influence on the service life of the lifting motor 17 and the meshing service life of the gear and the lifting rack 10 due to the absorption of the weight of the conveying mechanism 7 by the gear and the lifting rack 10 is prevented.

As shown in fig. 17 and 18, the lock mechanism 21 includes a lock rear plate 34, a housing 35, an adjusting plate spring 36, a lock guide 38, a latch 39, a latch upper inclined surface 40, a lower inclined surface 41, a lock bottom plate 42, a damping rod 44, a limiting plate 50, a return plate spring 53, an adjusting bar 54, an extension bar, an extension spring 56, and a latch 57, wherein as shown in fig. 19, the two lock guide 38 are symmetrically installed on the lower side of the second plate 16, and as shown in fig. 17, the housing 35 is installed in the lock guide 38 to slide up and down; as shown in fig. 19, the lock base plate 42 is mounted on the lower end surfaces of the two lock rails 38, and as shown in fig. 17 and 20, a plurality of adjusting plate springs 36 are mounted between the upper side of the housing 35 and the second plate 16; the lock back plate 34 is installed at one end of the housing 35, as shown in fig. 18, the latch 39 is slidably installed in the housing 35, a damping rod 44 is installed between the latch 39 and the lock back plate 34, and a latch spring 45 is sleeved outside the damping rod 44; one end of the latch spring 45 is connected with the lock rear plate 34, and the other end is connected with the latch 39; the latch spring 45 plays a role of resetting the latch 39, and the extension and the contraction of the damping rod 44 have certain resistance; the latch 39 can be reset slowly under the action of the latch spring 45 and the damping rod 44. The housing 35 slides up and down in the lock guide 38, and the plurality of adjustment leaf springs 36 function to cushion the movement of the housing 35 and to reset the position of the housing 35.

As shown in fig. 18, one end of the latch extending out of the housing has a latch upper inclined surface and a latch lower inclined surface.

The clamping block is matched with the lifting locking block.

As shown in fig. 3, the shelf comprises a shelf frame 4 and storage forks 3, wherein the two storage forks 3 are arranged in a plurality of groups transversely and vertically on the back plate of the shelf frame 4 as a group, and each group supports a cargo 5.

As shown in fig. 16, the second plate 16 has a first notch 22; the first notch 22 is designed to prevent the second plate 16 from interfering with the lifting rack 10 and the lifting lock block 11 during lifting; as shown in fig. 10 and 12, the elevating motor 17 is installed at a lower side of the second plate 16 through the elevating support base 18, the elevating reducer 19 is installed on the second plate 16, and the elevating gear 20 is driven after the power is transmitted to the elevating reducer 19 by the rotating shaft of the elevating motor 17.

As shown in fig. 11 and 16, a traverse rack 23 is installed at the middle position of the second plate 16, two traverse rails 24 are symmetrically installed at both ends of the upper side of the second plate 16, as shown in fig. 13, a traverse guide groove 25 is provided on the traverse rail 24, as shown in fig. 14 and 15, one traverse guide block 26 is respectively installed at both sides of one end of the first plate 15, and the two traverse guide blocks 26 are respectively slidably engaged with the two traverse guide grooves 25. The first plate 15 slides on the second plate 16 by sliding of the traverse guide 26 and the traverse guide groove 25.

As shown in FIG. 15, a traverse motor 32 is mounted on the lower side of the first plate 15 through a traverse support 33, a traverse reducer 31 is mounted on the lower side of the first plate 15, and a traverse gear 29 is driven after power is transmitted to the traverse reducer 31 by a rotating shaft of the traverse motor 32.

As shown in fig. 11, the first plate 15 has two second notches 27 arranged side by side, so that one end of the first plate 15 has a fork-type structure, and the second notches 27 are designed to facilitate the first plate 15 to be matched with the storage forks 3 to take down the goods 5; when the goods 5 are taken, the second notch 27 is matched with the storage fork 3, and the part of the second plate 16 between the second notch 27 and the second notch 27 is in clearance fit with the storage fork 3. The first plate 15 has a fork-type end with a scooping ramp 28, the scooping ramp 28 being designed to facilitate the scooping of the scoop by the first plate 15.

As shown in fig. 15, the traverse gear 29 driven by the traverse motor 32 provided on the lower side of the first plate 15 meshes with the traverse rack 23 provided on the second plate 16, and the first plate 15 slides on the second plate 16 by the traverse motor 32.

As shown in fig. 10, the second plate 16 is engaged with the lifting rack 10 by a lifting gear 20 driven by a lifting motor 17 installed at the lower side thereof, and the second plate 16 is moved up and down on the support plate 6 by the lifting motor 17;

a plurality of adjustment leaf springs 36 are mounted between the lower side of the housing 35 and the latch base plate 42. Here the function of the adjustment leaf spring 36 is the same as that of mounting a plurality of adjustment leaf springs 36 between the upper side of the housing 35 and the second plate 16, where the addition of the adjustment leaf springs 36 serves to stabilize the movement of the housing 35.

As shown in fig. 17 and 18, the two lock guide rails 38 are opened with lock guide grooves 37 on opposite sides, two housing guide blocks 43 are symmetrically installed on two sides of the housing 35, and the two housing guide blocks 43 are slidably engaged with the two lock guide grooves 37. The design of the housing guide block 43 and the lock guide slot 37 enables the housing 35 to stably slide in the lock guide rail 38.

Two adjusting plate springs 36 are mounted between the upper side of the housing 35 and the second plate 16, and two adjusting plate springs 36 are mounted between the lower side of the housing 35 and the latch base plate 42. The adjusting leaf spring 36 is designed for two design purposes: two compare in one more can let the motion of casing 35 stable, choose the regulation leaf spring 36 of suitable elastic coefficient for use simultaneously, can guarantee that two regulation leaf springs 36 just can play the effect that buffering casing 35 removed and reset casing 35 position.

According to the invention, the lifting motor 17 is used for driving the second plate 16 to drive the first plate 15 to lift up and down so as to take the goods 5, the transverse moving motor 32 is used for driving the second plate 16 to move on the first plate 15, and after the goods are taken, the locking mechanism 21 is matched with the lifting locking block 11 to lock the second plate 16 to move up and down.

The concrete fetching principle is as follows: firstly, the robot 1 moves to the corresponding position of the goods shelf 2, and the walking mechanism 9 moves the robot 1 to the corresponding fetching position of the goods shelf 2 by adopting the existing sensor and positioning technology; then, the lifting motor 17 is controlled to enable the height of the first plate 15 of one of the carrying mechanisms 7 to be slightly lower than that of the storage fork 3, the traverse motor 32 is controlled to drive the first plate 15 to move towards the lower side of the storage fork 3, when the first plate 15 moves to the lower side of the storage fork 3, the lifting motor 17 is controlled to enable the first plate 15 to penetrate out of the notch of the storage fork 3 and to rack the goods 5, then the traverse motor 32 is controlled to enable the first plate 15 to be retracted to the upper side of the second plate 16, and the goods 5 taking process is completed. Then sequentially getting other goods 5 from the goods shelf 2 through other layer carrying mechanisms 7; when the goods taking and transporting process is finished, the distance between each carrying mechanism 7 is made to be as small as possible according to the height of the goods 5 by controlling the lifting motor 17, the center of gravity of the whole robot 1 is made to be as low as possible in the transporting and walking process, the transporting stability is guaranteed, and after the height is adjusted, the carrying mechanisms 7 are locked through the lock mechanisms 21 of the carrying mechanisms 7.

The locking principle of the lock mechanism 21 is as follows: the clamping block 39 in the lock mechanism 21 is matched with the lifting locking block 11, and after the clamping block 39 is clamped into the lifting locking block 11, the lifting locking block 11 plays a hard limiting role for the clamping block 39, so that the carrying mechanism 7 is limited and locked; in the lock mechanism 21 design, the adjusting plate spring 36 is designed to function as: when the latch 39 is to be latched into the lift lock block 11, and the latch 39 does not directly face the gap of the lift lock block 11, the latch 39 will be pressed against the lift lock block 11, and at this time, the housing 35 will move up and down along the lock guide groove 37 to adjust the position of the latch 39, and at the same time, the adjusting plate spring 36 is compressed or extended, and the adjusting plate spring 36 plays a role of resetting the position of the housing 35. The fixture block 39 is mounted inside the housing 35 with a fixture block spring 45 and a damping rod 44, and the damping rod 44 is matched with the fixture block spring 45, so that the fixture block 39 moves slowly in the housing 35.

One end of the latch 39 has an upper inclined surface and a lower inclined surface 41, as shown in a in fig. 21, in an initial state, the latch 39 is located between the two lift locking blocks 11, and the carrying mechanism 7 is in a locked state, the upper end of the latch upper inclined surface 40 is located outside the lift locking blocks 11, and in the process that the carrying mechanism 7 moves up and down:

firstly, when the carrying mechanism 7 moves upwards and passes through the lifting locking blocks 11, the speed of the carrying mechanism 7 crossing over the two lifting locking blocks 11 due to the arrangement of the damping rod 44 is greater than the speed of the fixture block 39 sliding out from the inside of the shell 35 under the reset action of the fixture block spring 45; as shown in b of fig. 21, the ascending latch upper inclined surface 40 is in sliding fit with the ascending and descending latch 11, and the latch 39 is pushed into the housing 35; then, the carrying mechanism 7 continues to ascend, and the fixture block 39 continues to be pushed into the housing 35, as shown in c in fig. 21, until the intersection point of the upper inclined plane 40 and the lower inclined plane 41 of the fixture block is matched with the end face of the lifting lock block 11; the carrying mechanism 7 continues to ascend, after the fixture block 39 enters the gap of the new ascending and descending lock block 11 on the upper side, as shown in d in fig. 21, the fixture block 39 loses the jacking force of the ascending and descending lock block 11 instantly, the fixture block 39 slowly extends out under the action of the damping rod 44, before the lower end face of the fixture block 39 slowly extends out of the fixture block 39 and touches the upper end face of the ascending and descending lock block 11, as shown in e in fig. 21, the carrying mechanism 7 drives the fixture block 39 to be in inclined plane fit with the next ascending and descending lock block 11 above, the fixture block 39 is pushed into the shell 35 again under the fit of the ascending and descending lock block 11, then the above process is repeated until the carrying mechanism 7 moves to the required height, the shell 35 is just opposite to the gap of the ascending and descending lock block 11 to be clamped, at this time, by staying at the position for a certain time, waiting for the slow extension of the fixture block 39, as shown in a in fig. 21, after the fixture block 39 extends out, the lower end face, the downward movement of the carrying mechanism 7 is limited; and then the fixture block 39 continues to extend until the top end of the fixture block 39 is completely contacted with the end surface of the fixture block fixing strip 13, and at the moment, the aim of downwards moving and locking the carrying mechanism 7 by the lock mechanism 21 is fulfilled, namely the carrying mechanism returns to the initial state.

Secondly, when the carrying mechanism 7 moves downwards from the initial position and passes through the lifting lock blocks 11, firstly as shown in a, b and c in fig. 22, the lifting motor 17 is controlled to make the carrying mechanism 7 ascend until the intersection of the upper inclined plane 40 and the lower inclined plane 41 of the fixture block is matched with the end face of the lifting lock block 11 on the initial state clamping gap, as shown in d in fig. 22, the lifting motor 17 is controlled to control the carrying mechanism 7 to move downwards, during the downward movement process, because the extending speed of the fixture block 39 is slow, when the fixture block 39 is matched with the lifting lock block 11 on the lower side, the extending length of the fixture block 39 is not long, as shown in e in fig. 22, at this time, the lower inclined plane 41 of the fixture block 39 contacts with the lifting lock blocks 11, the lifting lock blocks 11 make the fixture block 39 enter the housing 35, so that the downward movement can be continued and pass through a plurality of lifting lock blocks 11, after the downward movement to the determined position, the, so that the latch 39 can be extended for a sufficient time and then snapped between the two lift latches 11 as shown in a of fig. 22.

Compared with the traditional automatic mechanical technology, the invention can generally carry different cargoes 5 simultaneously through a plurality of carrying mechanisms 7, and on the other hand, because the carrying mechanisms 7 are locked by the lock mechanisms 21, the weight of the carrying mechanisms 7 is born by the lock mechanisms 21 and the lifting lock blocks 11, the weight of the carrying mechanisms 7 is prevented from being absorbed by the gears and the lifting racks 10, and the service life of the lifting motor 17 and the meshing service life of the gears and the lifting racks 10 are influenced.

Claims (10)

1. A cargo handling robot with lock characterized in that: the device comprises a control base, a supporting plate and a carrying mechanism, wherein the control base is used for controlling walking and controlling object grabbing, and the lower side of the control base is provided with a walking mechanism controlled by a control system in the control base;

the support plate is arranged on the upper surface of the control base and is close to one side of the control base, lifting rails are symmetrically distributed on two sides of the support plate, a lifting rack and a locking block fixing strip are arranged in the middle of the support plate, and a plurality of lifting locking blocks are sequentially arranged on the locking block fixing strip from top to bottom;

a plurality of carrying mechanisms are sequentially arranged on the supporting plate from top to bottom; the carrying mechanism comprises a first plate and a second plate;

the second plate is arranged on the supporting plate through the sliding fit of two lifting guide blocks and two lifting rails which are arranged on two sides of one end of the second plate, and the first plate is arranged on the second plate through the sliding fit of the transverse moving guide blocks and the transverse moving rails;

the first plate is driven to move transversely on the second plate by a transverse moving motor; the second plate is driven by a lifting motor to move up and down on the supporting plate; a lock mechanism is arranged on the lower side of the middle position of the second plate;

the lock mechanism comprises a lock back plate, a shell, an adjusting plate spring, lock guide rails, a clamping block upper inclined plane, a lower inclined plane, a lock bottom plate, a damping rod and a reset plate spring, wherein the two lock guide rails are symmetrically arranged on the lower side of the second plate, and the shell is arranged in the lock guide rails in a vertically sliding manner; the lock bottom plate is arranged on the lower end surfaces of the two lock guide rails, and a plurality of adjusting plate springs are arranged between the upper side of the shell and the second plate; the rear lock plate is arranged at one end of the shell, the fixture block is slidably arranged in the shell, a damping rod is arranged between the fixture block and the rear lock plate, and a fixture block spring is sleeved outside the damping rod; one end of the fixture block spring is connected with the lock back plate, and the other end of the fixture block spring is connected with the fixture block;

one end of the fixture block extending out of the shell is provided with an upper fixture block inclined plane and a lower fixture block inclined plane;

the clamping block is matched with the lifting locking block.

2. A pallet for use with the locked cargo handling robot of claim 1, wherein: the goods shelf comprises a shelf frame and storage forks, wherein the two storage forks are used as a group to be transversely and vertically arranged on a back plate of the shelf frame, and each group supports one goods.

3. The locked cargo handling robot of claim 1, wherein: the second plate is provided with a first gap; the lifting motor is installed on the lower side of the second plate through the lifting support seat, the lifting reducer is installed on the second plate, and the rotating shaft of the lifting motor transmits power to the lifting reducer and then drives the lifting gear.

4. The locked cargo handling robot of claim 1, wherein: the middle of the second plate is provided with a transverse rack, two transverse rails are symmetrically arranged at two ends of the upper side of the second plate, transverse guide grooves are formed in the transverse rails, two transverse guide blocks are respectively arranged at two sides of one end of the first plate, and the two transverse guide blocks are respectively in sliding fit with the two transverse guide grooves.

5. The locked cargo handling robot of claim 1, wherein: the sideslip motor is installed through the sideslip supporting seat to above-mentioned first board downside, and the sideslip reduction gear is installed at first board downside, and sideslip motor pivot drives the sideslip gear after giving the sideslip reduction gear with power transmission.

6. The locked cargo handling robot of claim 1, wherein: the first plate is provided with two second gaps which are arranged side by side, so that one end of the first plate is provided with a fork-shaped structure, and the other end of the first plate, which is provided with a fork-shaped structure, is provided with a shovel inclined plane.

7. The locked cargo handling robot of claim 1, wherein: a transverse gear driven by a transverse motor arranged on the lower side of the first plate is meshed with a transverse rack arranged on the second plate, and the first plate slides on the second plate under the driving of the transverse motor;

the second plate is meshed with the lifting rack through a lifting gear driven by a lifting motor arranged on the lower side of the second plate, and the second plate moves up and down on the supporting plate under the driving of the lifting motor.

8. The locked cargo handling robot of claim 1, wherein: a plurality of adjusting plate springs are arranged between the lower side of the shell and the lock bottom plate.

9. The locked cargo handling robot of claim 1, wherein: two lock guide rails are provided with lock guide grooves on opposite sides, two shell guide blocks are symmetrically arranged on two sides of the shell, and the two shell guide blocks are in sliding fit with the two lock guide grooves.

10. The locked cargo handling robot of claim 8, wherein: two adjusting plate springs are installed between the upper side of the shell and the second plate, and two adjusting plate springs are installed between the lower side of the shell and the lock bottom plate.

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