CN115771687A - Storage tray, storage robot, storage goods shelf and storage system - Google Patents

Abstract

The storage tray comprises a trigger limiting mechanism arranged at an opening at the front end of the storage tray, and when the trigger limiting mechanism is configured to be in a first state, at least part of the trigger limiting mechanism protrudes out of a bearing surface of the storage tray and limits the bin; the trigger limiting mechanism is configured to be triggered and in a second state, and the trigger limiting mechanism releases the limiting state. The storage tray, the storage robot, the storage shelf and the storage system provided by the disclosure are used for preventing the bin from falling off from the storage tray.

Description

Storage tray, storage robot, storage goods shelf and storage system

Technical Field

The utility model relates to a storage logistics equipment technical field especially relates to a storing tray, storage robot, storage goods shelves and warehouse system.

Background

The warehousing robot is one of main equipment capable of realizing automatic carrying operation of the intelligent logistics terminal, heavy physical labor of human can be relieved through the warehousing robot, and carrying operation efficiency is improved; therefore, the warehousing robot becomes a research hotspot in the logistics industry.

The warehousing robot comprises a lifting frame and a fork slidably mounted on the lifting frame, wherein a plurality of storage trays are arranged on the lifting frame and used for temporarily storing the material box; the forks may transfer bins from the racks to the storage trays, or vice versa.

However, when the storage robot brakes, the bin is caused to slide on the storage tray, so that there is a risk that the bin falls off the storage tray.

Disclosure of Invention

In view of the above problem, the embodiment of the present disclosure provides a storage pallet, a storage robot, a storage shelf and a storage system, which can limit a bin located on the storage pallet, prevent the bin from falling off from the storage pallet, and avoid damage to goods in the bin.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of the disclosed embodiments provides a storage tray for carrying a bin, comprising a trigger limit mechanism; an opening is formed in the front end of the storage tray, and the trigger limiting mechanism is arranged at the opening; the trigger limiting mechanism is configured in a first state, at least part of the trigger limiting mechanism protrudes out of the bearing surface of the storage tray and limits the material box; the trigger limiting mechanism is configured to be triggered and in a second state, and the trigger limiting mechanism releases the limiting state.

The beneficial effects of the invention are: the storage tray provided by the embodiment of the disclosure comprises a trigger limiting mechanism arranged at an opening at the front end of the storage tray, when the trigger limiting mechanism is in a first state (limiting state), part of the trigger limiting mechanism protrudes out of a bearing surface of the storage tray, and can limit a material box on the storage tray; when triggering limiting mechanism and being in the second state, trigger limiting mechanism and can relieve the spacing to the workbin to make the workbin shift out from storing tray, perhaps place the workbin on storing tray. Therefore, the open department of front end of storing tray in this embodiment of the disclosure is provided with triggers stop gear, can realize spacing or relieving spacing to the workbin that is located storing tray, can prevent that the workbin from sliding at storing tray, and the phenomenon from the open department roll-off of front end of storing tray and falling takes place to avoid the goods in the workbin to be impaired.

In an optional embodiment, the trigger limiting mechanism comprises a limiting rod, a first base and at least one group of first linkage telescopic assemblies; the first base is fixed at the opening of the storage tray and is positioned below the storage tray; the limiting rod is slidably mounted on the first base, and a first end of the limiting rod protrudes out of the bearing surface of the storage tray; the first linkage telescopic component is arranged on the first base and is positioned on one side of the limiting rod; the part of the first linkage telescopic assembly, which is positioned outside the first base, forms a collision part, and the part of the first linkage telescopic assembly, which is positioned inside the first base, is connected with the second end of the limiting rod; the first linkage telescopic assembly is configured to move and drive the limiting rod to slide when the collision part is collided, so that the first end of the limiting rod is located below the bearing surface or is flush with the bearing surface.

In an alternative embodiment, the first linkage telescopic assembly comprises a first elastic element, a first connecting rod and a second connecting rod which are hinged with each other; one end of the first connecting rod, which is far away from the second connecting rod, is hinged with the first base, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged with the second end of the limiting rod; the first elastic element is arranged on the first base, one end of the first elastic element is connected with the second end of the limiting rod, and the other end of the first elastic element is fixed on the first base and can provide upward pulling force for the limiting rod; the hinge joint of the first connecting rod and the second connecting rod forms the collision part, the collision part is positioned at the outer side of the first base, and the collision part is configured in such a way that when the collision part is collided, one end, far away from the hinge joint, of the second connecting rod swings downwards.

In an optional embodiment, a fixing seat is arranged at the second end of the limiting rod; one end of the second connecting rod and one end of the first elastic element are respectively connected to the fixed seat.

In an alternative embodiment, the first link includes a lever body and a collision arm disposed on the lever body; one end of the rod body is hinged with the second connecting rod, and the other end of the rod body is hinged with the first base; the collision arm is arranged at one end, far away from the first base, of the rod body and extends upwards towards the first base in an inclined mode.

In an optional embodiment, the front end of the first base is provided with a mounting lug, and the rear end of the first base is provided with a mounting seat; the opening of the storage tray is provided with a mounting plate, the mounting lug is fixed on the mounting plate, and the collision part is positioned on the outer side of the mounting plate; the mounting seat is connected with the bottom surface of the storage tray, and one end, far away from the limiting rod, of the first elastic element is connected to the mounting seat.

In an optional embodiment, the trigger limiting mechanism comprises two groups of first linkage telescopic assemblies; two sets of first linkage telescopic components are symmetrically arranged on the first base and are respectively positioned on two sides of the limiting rod.

In an optional embodiment, the trigger limiting mechanism comprises a trigger rod, a second base and at least one group of second linkage telescopic assemblies; the second base is arranged at the opening of the storage tray, and the trigger rod is slidably mounted on the second base along the direction from the front end to the rear end of the second base; the first end of the trigger rod is positioned outside the storage tray, the second end of the trigger rod is connected with the second linkage telescopic assembly, and the second linkage telescopic assembly is provided with a limiting part protruding out of the bearing surface of the storage tray; the trigger rod is configured to be capable of moving relative to the second base when the first end of the trigger rod is triggered, so that the second linkage telescopic assembly moves, and the limiting member is located below the bearing surface or flush with the bearing surface.

In an alternative embodiment, the second linkage assembly further comprises a slider, a second elastic element and at least one set of linkage assemblies; the connecting rod assembly is arranged on one side of the second base and comprises a third connecting rod and a fourth connecting rod which are hinged with each other, one end of the third connecting rod, far away from the fourth connecting rod, is hinged with the front end of the second base, one end of the fourth connecting rod, far away from the third connecting rod, is hinged with the sliding block, and the other end of the fourth connecting rod is connected with the limiting piece; the sliding block is slidably mounted in the second base, one end of the second elastic element is abutted with the sliding block, and the other end of the second elastic element is abutted with the rear end of the second base; the second end of the trigger rod extends into the second base and is fixedly connected with the sliding block.

In an alternative embodiment, the fourth link includes a rod body and a hook body; the hook body is arranged at one end, far away from the sliding block, of the fourth connecting rod, and the hinged position of the third connecting rod and the fourth connecting rod is close to the hook body; the coupler body is towards one side bending of storing tray, the locating part sets up the coupler body is kept away from the tip of body of rod.

In an alternative embodiment, the limiting member is a limiting wheel.

In an alternative embodiment, the second base is provided with a mounting hole, the sliding block is slidably mounted in the mounting hole, and the second end of the trigger rod passes through the mounting hole and is positioned outside the rear end of the second base; the second elastic element is a spiral spring, the spiral spring is sleeved on the trigger rod, and two ends of the spiral spring are respectively abutted to the sliding block and the wall surface of the mounting hole.

In an alternative embodiment, the second linkage assembly includes two sets of linkage assemblies; the two groups of connecting rod assemblies are symmetrically arranged on two sides of the second base respectively, and a fourth connecting rod in each connecting rod assembly is hinged to the sliding block together.

A second aspect of the embodiments of the present disclosure provides a storage robot, including a mobile base, a crane, a fork, and at least one storage tray of the first aspect; follow the direction of height of crane, the storing tray sets up on the crane, just the crane sets up remove on the base, the fork sets up on the crane, the fork is in including flexible goods mechanism of getting, works as flexible goods mechanism orientation of getting when the storing tray removes, flexible goods mechanism collision of getting trigger stop gear and remove its limit state.

The invention has the beneficial effects that: the warehousing robot provided by the invention comprises a fork and a storage tray which are arranged on a lifting frame, wherein a telescopic goods taking mechanism of the fork can move towards the storage tray, and trigger a trigger limiting mechanism positioned at an opening of the storage tray, so that the limiting state of the trigger limiting mechanism can be relieved, and a bin can be transferred between the storage trays; when the telescopic goods taking mechanism leaves the storage tray, the limiting mechanism is triggered to recover the limiting state and limit the material box on the storage tray, so that the material box can be prevented from falling off from the storage robot when the material box is transferred by the storage robot, and the goods in the material box are prevented from being damaged.

In an alternative embodiment, the telescopic pickup mechanism comprises a telescopic tray; the telescopic tray is opposite to the trigger limiting mechanism, and the telescopic tray is configured to be capable of facing the trigger limiting mechanism and colliding with the trigger limiting mechanism when moving.

A third aspect of the disclosed embodiments provides a storage shelf comprising a carrier and at least one storage tray of the first aspect; the storage tray is arranged on the bearing frame along the height direction of the bearing frame; the storage tray is provided with a trigger limiting mechanism arranged at the edge of the storage goods shelf and positioned at the delivery side of the storage goods shelf.

A fourth aspect of the embodiments of the present disclosure provides a storage system, including a storage machine and the storage rack of the third aspect; the warehousing robot is provided with a telescopic goods taking mechanism, the telescopic goods taking mechanism is configured to be towards the goods outlet side of the warehousing goods shelf, the telescopic goods taking mechanism collides with the trigger limiting mechanism, and the limiting state of the trigger limiting mechanism is released.

The beneficial effects of the storage shelf and the storage system provided by the invention are the same as those of the storage tray, and are not repeated herein.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems that can be solved by the storage tray, the storage robot, the storage shelf, and the storage system provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic connection diagram of a trigger limiting mechanism and a storage tray according to a first embodiment of the disclosure;

fig. 2 is a schematic structural view of a trigger limiting mechanism according to a first embodiment of the disclosure;

FIG. 3 is a side view of a trigger limit mechanism provided in accordance with an embodiment of the present disclosure;

fig. 4 is a schematic connection diagram of a limiting rod and a first linkage telescopic assembly according to a first embodiment of the disclosure;

FIG. 5 is an isometric view of a trigger limit mechanism in a limit release state according to a first embodiment of the present disclosure;

FIG. 6 is a side view of a trigger limit mechanism in an unlocked state according to a first embodiment of the present disclosure;

FIG. 7 is a schematic view of a first embodiment of the present disclosure;

FIG. 8 is a schematic view illustrating a connection between a first connecting rod, a second connecting rod and a fixing seat of a limiting rod according to an embodiment of the disclosure;

fig. 9 is a schematic structural diagram of a first base according to a first embodiment of the disclosure;

fig. 10 is a schematic structural diagram of a first link according to a first embodiment of the disclosure;

fig. 11 is a schematic connection diagram of the trigger limiting mechanism and the storage tray provided in the second embodiment of the present disclosure;

fig. 12 is a schematic structural view of a trigger limiting mechanism provided in the second embodiment of the present disclosure;

fig. 13 is a side view of the trigger limiting mechanism in a limiting state according to the second embodiment of the present disclosure;

fig. 14 is a side view of the trigger limiting mechanism in a limit release state according to the second embodiment of the present disclosure;

fig. 15 is a schematic structural view of a second base according to a second embodiment of the disclosure;

fig. 16 is a schematic structural diagram of a fourth link according to a second embodiment of the disclosure;

fig. 17 is a schematic structural diagram of a warehousing robot provided by a third embodiment of the present disclosure.

Description of reference numerals:

10-a first base;

11-a carrier plate; 12-side plates; 13-a mounting seat; 131-a first mounting ear; 132-a second mounting ear; 121-a third mounting ear; 14-a linear bearing;

20-a limiting rod; 21-a fixed seat;

30-a first link; 31-a collision arm;

40-a second link;

50-a first elastic element;

60-a second base; 61-a through hole; 62-mounting holes;

70-a trigger lever;

80-a third link;

90-a fourth link; 91-a hook body;

100-triggering a limit mechanism;

110-a slide block; 120-a second elastic element; 130-a limit piece;

200-a storage tray; 210-a tray body; 220-a mounting plate;

300-a lifting frame;

400-a pallet fork; 410-a telescopic tray;

500-bin.

Detailed Description

As described in the background art, the existing warehousing robot includes a crane having a plurality of storage trays to temporarily store bins; in the process of transferring the bin by the storage robot, the braking force generated by the brake of the storage robot enables the bin to slide towards the opening at the front end of the storage tray, so that the risk of falling of the bin from the storage tray exists.

In order to solve the above problems, an opening at the front end of the storage tray is provided with a trigger limiting mechanism, when the trigger limiting mechanism is in a first state, part of the trigger limiting mechanism protrudes out of a bearing surface of the storage tray, and a bin on the storage tray can be limited; when triggering limiting mechanism and being in the second state, trigger limiting mechanism and can relieve the spacing to the workbin to make the workbin shift out from storing tray, perhaps place the workbin on storing tray. Therefore, the limiting mechanism can limit or relieve the position of the material box on the storage tray by triggering the limiting mechanism, and the phenomenon that the material box slides out of the opening at the front end of the storage tray and falls off when the storage tray slides can be prevented, so that damage to goods in the material box is avoided.

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Example one

As shown in fig. 1, the front end of the storage tray 200 provided in the embodiment of the present disclosure is provided with a trigger limiting mechanism 100 to limit a material box 500 located on the storage tray 200, so as to prevent the material box 500 from sliding on the storage tray 200 due to an external force and falling off the storage tray 200.

Specifically, the storage tray 200 of the present embodiment includes a tray body 210 and a mounting plate 220, wherein the front end and the top of the tray body 210 have an opening, and the work bin 500 can be put into the storage tray 200 through the opening at the front end of the tray body 210, or the work bin 500 can be taken out from the opening at the front end of the tray body 210.

The mounting plate 220 is disposed on the edge of the tray body 210 with the front end open and extends toward the lower side of the tray body 210. For example, the mounting plate 220 may be vertically attached to the tray body 210 at the front opening thereof. The mounting plate 220 is used for mounting the trigger limiting mechanism 100, and the trigger limiting mechanism 100 is arranged at an opening of the tray body 210; the trigger limiting mechanism 100 may be mounted on the bottom of the tray body 210 and/or the mounting plate 220 and disposed near the front opening of the tray body 210.

When the trigger limiting mechanism 100 is in the first state (limiting state), at least part of the trigger limiting mechanism 100 protrudes out of the bearing surface of the tray body 210, the part protruding out of the bearing surface can be regarded as a limiting end or a limiting part of the trigger limiting mechanism 100, and the limiting end and the limiting part can limit the material box 500 in the storage tray 200.

When the trigger limiting mechanism 100 is triggered by collision or other external forces, the trigger limiting mechanism 100 is in the second state, and the limiting end or the limiting portion may be located below the bearing surface or flush with the bearing surface, so as to release the limitation of the bin 500, that is, the trigger limiting mechanism 100 releases the limiting state, so that the bin 500 can smoothly enter the storage tray 200 from the opening, or the bin 500 is taken out from the storage tray 200.

The storage tray 200 provided by the embodiment of the disclosure is provided with the trigger limiting mechanism 100 at the open position of the front end, and not only can limit the material box 500 when the trigger limiting mechanism 100 is in the first state, so as to prevent the material box 500 from falling off from the storage tray 200, but also can realize the open free movement of the material box 500 relative to the storage tray 200 when the trigger limiting mechanism 100 is triggered and is in the second state.

It should be noted that, in the embodiment of the present disclosure, the trigger limiting mechanism 100 disposed on the storage tray 200 has different structures and limiting manners, so that the trigger limiting mechanism 100 can be separately described, the trigger limiting mechanism 100 shown in fig. 1 only represents one structural form, and the trigger limiting mechanism 100 is not limited thereto.

As shown in fig. 2 and 3, a trigger limiting mechanism 100 provided in the embodiment of the present disclosure includes a first base 10, a limiting rod 20, and at least one set of first linked telescopic components. Wherein, the first base 10 is used for installing the limiting rod 20 and the first linkage telescopic component, and the first base 10 is fixed at the front end opening of the storage tray 200 and is positioned below the storage tray 200.

The limiting rod 20 is slidably mounted on the first base 10 and moves up and down relative to the first base 10. The front end of the tray body 210 is provided with a via hole matched with the limiting rod 20, when the first base 10 is installed at the opening of the storage tray 200, the first end of the limiting rod 20 can penetrate through the via hole and is located above the tray body 210, namely, the first end of the limiting rod 20 can protrude above the bearing surface of the storage tray 200 and limit the material box 500.

It should be noted that the limiting rod 20 may be disposed along a direction perpendicular to the tray body 210, or may be disposed in an inclined manner relative to the direction perpendicular to the tray body 210, and one end of the limiting rod may protrude out of the carrying surface of the storage tray 200.

The second end of the limiting rod 20 is arranged in the first base 10, and the second end of the limiting rod 20 is connected with the first linkage telescopic assembly, so that the limiting rod 20 is driven by the first linkage telescopic assembly to move up and down, and the purpose of limiting or relieving the limitation of the material box 500 is achieved.

The first linkage telescopic assembly is arranged inside the first base 10 and is positioned at one side of the limiting rod 20; the front end of the first base 10 has an opening, part of the first linkage telescopic assembly passes through the opening and is located outside the first base 10, and part of the first linkage telescopic assembly is located in the first base 10 and is connected with the second end of the limiting rod 20. The first linkage telescopic assembly located at the outer side of the first base 10 forms a collision part, and is configured such that when the collision part is impacted by an external force, the first linkage telescopic assembly acts and drives the first end of the limiting rod 20 to slide downwards, so that the first end of the limiting rod 20 is located below the bearing surface of the storage tray 200 or is flush with the bearing surface, and the limitation on the bin 500 can be released.

Further, as shown in FIG. 4, in conjunction with FIG. 2; the first link retraction assembly in this embodiment includes a first elastic member 50, a first link 30, and a second link 40; wherein, the first end of the first link 30 is hinged with the first base 10, and the first link 30 can rotate relative to the first base 10; the second end of the first link 30 is hinged to the first end of the second link 40, the second end of the second link 40 is hinged to the second end of the stop lever 20, and the second link 40 can rotate relative to the first link 30 and the stop lever 20 respectively.

The first elastic element 50 may be a coil spring or an elastic pull rod, the first elastic element 50 is disposed on the first base 10, one end of the first elastic element 50 is fixed at the rear end of the first base 10, and the other end of the first elastic element 50 extends toward the front end of the first base 10 and extends into the first base 10 to be connected with the second end of the limiting rod 20. The first elastic element 50 may be arranged obliquely to provide an upward pulling force to the limiting rod 20, so that when the trigger limiting mechanism 100 is not triggered (i.e. in a limiting state), the first end of the limiting rod 20 can limit the bin 500.

As shown in fig. 5 and 6, the hinge joint between the second end of the first link 30 and the first end of the second link 40 is located outside the front end of the first base 10, and forms a collision portion, which can receive an impact force and can drive the first link 30 and the second link 40 to move. When the trigger limiting mechanism 100 is in a limiting state, the first end of the limiting rod 20 can limit the material box.

In this embodiment, when the collision part is collided, the second end of the second link 40 can swing downward and overcome the pulling force of the first elastic element 50 acting on the limiting rod 20, so as to drive the limiting rod 20 to slide downward relative to the first base 10, so that the height of the first end of the limiting rod 20 is lowered, and the limitation of the first end of the limiting rod 20 on the bin 500 can be released.

On the basis of the above embodiment, in order to improve the reliability of the trigger limit mechanism 100 for limiting the material box 500, the trigger limit mechanism 100 provided by this embodiment includes two sets of first linked telescopic assemblies, the two sets of first linked telescopic assemblies are symmetrically arranged on two sides of the first base 10, and the collision portion of each first linked telescopic assembly is located outside the first base 10 and can be triggered by collision simultaneously, so that each first linked telescopic assembly synchronously acts.

The second ends of the second connecting rods 40 of the two first linkage telescopic assemblies are respectively connected with the second ends of the limiting rods 20, so that the second ends of the limiting rods 20 are provided with the fixing seats 21 in the embodiment, which is convenient for the connection of each first linkage assembly with the second ends of the limiting rods 20.

As shown in fig. 7 and 8, the fixing seat 21 is fixedly connected to the limiting rod 20, the second end of the second connecting rod 40 is hinged to the fixing seat 21, and the first end of the second connecting rod 40 is hinged to the second end of the first connecting rod 30; one end of the first elastic element 50 is connected to the fixing base 21, and the other end of the first elastic element 50 is connected to the rear end of the first base 10.

As shown in fig. 9 and with reference to fig. 2, in order to facilitate installation of the first linkage telescopic assemblies, the first base 10 provided in this embodiment is a sheet metal structure, and the whole first base is U-shaped. The first base 10 includes a bearing plate 11 and side plates 12 located at two sides of the bearing plate 11, a via hole for the limiting rod 20 to penetrate out is formed in the front end of the bearing plate 11, a linear bearing 14 is installed on the inner surface of the bearing plate 11, the linear bearing 14 is matched with the limiting rod 20, and the first end of the limiting rod 20 can penetrate through the linear bearing 14 and the via hole and is located above the bearing plate 11.

The bearing plate 11 is further provided with a long hole extending from the front end to the rear end thereof, one end of the first elastic element 50 penetrates through the long hole to be connected with the fixing seat 21 of the limiting rod 20, and the other end of the first elastic element 50 is fixed at the rear end of the bearing plate 11.

Illustratively, the rear end of the loading plate 11 is provided with a mounting seat 13, and the mounting seat 13 includes a first mounting ear 131 and a second mounting ear 132, wherein the first mounting ear 131 is located at the top of the mounting seat 13 and is used for being attached and fixed with the tray body 210; the second mounting lug 132 is located on one side of the mounting seat 13 facing the front end and is used for connecting with one end of the first elastic element 50, so as to connect the two ends of the first elastic element 50 to the rear end of the first base 10 and the second end of the limiting rod 20 respectively.

The front end of the side plate 12 is provided with a hinge hole with the first link 30 so that the first end of the first link 30 is hinged on the first base 10. The front end edge of the side plate 12 is provided with a third mounting ear 121, so that the front end of the first base 10 is connected with the mounting plate 220 at the front end of the storage tray 200 through the third mounting ear 121. For example, the front end edge of the side plate 12 is bent toward the outside thereof and forms a third mounting ear 121, and the third mounting ear 121 is attached and fixed to the inside of the mounting plate 220.

When the first base 10 is fixed on the tray main body by the first mounting lug 131 and the third mounting lug 121, the first end of the limiting rod 20 can penetrate out of the tray body 210 and be located above the bearing surface, and the collision portion formed by the first connecting rod 30 and the second connecting rod 40 is located outside the first base 10. If the collision part of the trigger limit mechanism 100 is collided, the trigger limit mechanism 100 can release the limit state, so that the bin 500 can enter and exit on the storage tray 200.

As shown in fig. 10, in order to further improve the reliability of the collision portion of the trigger limiting mechanism 100 being collided, the first link 30 in this embodiment is provided with a collision arm 31, when an external object moves towards the storage tray 200 and hits the touch portion, the second end of the first link 30 is caused to swing towards the inner side of the first base 10, so that the collision arm 31 abuts against the external object, and the durability and reliability of the collision are improved.

Illustratively, the first link 30 includes a rod body and a collision arm 31 disposed on the rod body, wherein a first end of the rod body is hinged to the side plate 12 of the first base 10, and a second end of the rod body is hinged to a first end of the second link 40. The second end of the rod body is provided with the collision arm 31, one end of the collision arm 31 is connected to the second end of the rod body, the other end of the collision arm 31 extends obliquely upwards towards the first base 10, so that after the trigger limiting mechanism 100 is collided, the second end of the first link 30 rotates towards the inner side of the first base 10, the collision arm 31 gradually contacts with an external object, and finally, the vertical state can be kept, so that the trigger limiting mechanism 100 is completely attached to the external object, and the reliability of the trigger limiting mechanism 100 is improved.

Example two

As shown in fig. 11 and 12, another trigger limiting mechanism 100 is provided in the embodiment of the present disclosure, which includes a trigger bar 70, a second base 60, and at least one set of second linkage telescopic assemblies; the second base 60 is used for installing the trigger rod 70 and the second linkage telescopic assembly, and the second base 60 is installed at the front end opening of the storage tray 200 and is located below the storage tray 200. Illustratively, the second base 60 is a rectangular block structure, and is disposed along the front end of the second base 60 near the front opening of the storage tray 200, and the second base 60 extends along the front end to the rear end of the storage tray 200.

The trigger rod 70 is slidably mounted in the second base 60 along a direction from the front end to the rear end of the second base 60, the second base 60 is provided with a through hole 61 for the trigger rod 70 to pass through, and one end of the trigger rod 70 passes through the through hole 61 and extends into the second base 60, namely, the first end of the trigger rod 70 is located outside the front end of the second base 60 and can receive collision; a second end of the trigger lever 70 is located within the second base 60 and is connected to the second telescoping assembly described above.

As shown in fig. 13, the second linkage assembly includes a limiting member 130, when the triggering rod 70 is not triggered, and the limiting triggering mechanism 100 is in a limiting state, the limiting member 130 protrudes out of the carrying surface of the storage tray 200 to limit the bin 500 on the carrying surface, so as to prevent the bin 500 from falling from the opening of the storage tray 200.

As shown in fig. 14, when the first end of the trigger rod 70 is collided to trigger the trigger limiting mechanism 100, so that the second end of the trigger rod 70 can slide relative to the second base 60, and further the position of the second end of the trigger rod 70 in the second base 60 changes, which drives the second linkage telescopic assembly to move, so as to change the position of the limiting member 130, so that the limiting member 130 is located below the bearing surface, or the bearing surface is flush, and the limitation on the bin 500 can be released; that is, when the trigger lever 70 is triggered, the trigger limit mechanism 100 can release its limit state.

The second linkage assembly provided by the present embodiment includes a slider 110, a second elastic element 120, and at least one set of link assemblies; the connecting rod assembly may be disposed at one side of the second base 60, and includes a third connecting rod 80 and a fourth connecting rod 90 that are hinged to each other, a first end of the third connecting rod 80 is hinged to the second base 60 and can rotate relative to the second base 60, and a hinged position of the first end of the third connecting rod 80 and the second base 60 is located at a front end of the second base 60; the second end of the third link 80 is hinged with the fourth link 90, the end of the fourth link 90 away from the third link 80 is hinged with the slider 110, and the fourth link 90 can rotate relative to the slider 110; the slider 110 is slidably mounted in the second base 60, and the second elastic member 120 is disposed between the slider 110 and the second base 60.

As shown in fig. 15, the second base 60 is provided with a mounting groove or a mounting hole 62, and the mounting groove or the mounting hole 62 is provided in a longitudinal direction of the second base 60. A portion of the slider 110 may be embedded in the mounting groove, and a portion of the slider 110 protrudes from a side surface of the second base 60 and is conveniently hinged to the second end of the fourth link 90.

The through hole 61 for the limiting rod 20 to pass through on the second base 60 is communicated with the mounting groove or the mounting hole 62 of the sliding block 110, so that the second end of the limiting rod 20 extends into the mounting groove and is fixedly connected with the sliding block 110. The second elastic element 120 is disposed between the slider 110 and the rear end of the second base 60, that is, one end of the second elastic element 120 abuts against a side surface of the slider 110 facing the rear end of the second base 60, and the other end of the second elastic element 120 abuts against a wall surface forming the mounting groove or the mounting hole 62, the wall surface facing the slider 110.

When the trigger rod 70 is triggered and slides along the second base 60, the second end of the trigger rod 70 drives the slider 110 to move towards the rear end of the second base 60, and at this time, the second elastic element 120 is in a contracted state; on the contrary, when the trigger lever 70 is not triggered, the second elastic member 120 provides a restoring force to the slider 110 to restore the slider 110 to the original position.

In this embodiment, a position-limiting end or a position-limiting portion is formed at an end of the fourth link 90 away from the slider 110, and the position-limiting member 130 is disposed at the position-limiting end. When the position of the sliding block 110 moves toward the rear end of the second base 60, the second end of the fourth connecting rod 90 is driven to swing downward relative to the second base 60, so that the height of the limiting member 130 is lowered, and the limiting member 130 is aligned with the bearing surface or lower than the bearing surface, so as to release the limiting of the limiting member 130 on the bin 500.

As shown in fig. 16, in order to improve the limiting effect of the limiting member 130 on the material box 500, the fourth connecting rod 90 in this embodiment includes a rod body and a hook body 91, wherein one end of the rod body is hinged to the sliding block 110, the other end of the rod body is hinged to the third connecting rod 80, one end of the hook body 91 is disposed near the hinged position of the rod body and the third connecting rod 80, and the other end of the hook body 91 is bent toward one side of the storage tray 200 to form the limiting end. With such an arrangement, when the limiting member 130 receives an impact force from the material box 500, the hook 91 can decompose the impact force, so as to prevent the fourth link 90 from rotating downwards and causing the limiting member 130 to be lower than the bearing surface, thereby improving the reliability of triggering the limiting mechanism 100.

Further, the limiting member 130 of the present embodiment may be a limiting member. For example, the limiting member 130 may be provided with a rubber limiting member, so that when the material box 500 slides on the storage tray 200 and abuts against the limiting member 130, the material box 500 may be prevented from being damaged. Preferably, the limiting member 130 may be a limiting wheel, and the limiting wheel is rotatably disposed at the limiting end. So set up, frictional force when can reduce workbin 500 roll-off, it is smooth and easy to guarantee that workbin 500 slides when taking out, moreover, spacing wheel can decompose the impact force that comes from workbin 500, promotes the reliability that triggers stop gear 100.

With reference to fig. 15, in other embodiments, the second end of the trigger rod 70 sequentially passes through the front end of the second base 60, the sliding block 110 and the rear end of the second base 60 and is located outside the rear end of the second base 60, the rear end and the front end of the second base 60 are respectively provided with a through hole 61 for the trigger rod 70 to pass through, and the two through holes 61 are disposed opposite to each other.

Further, the second elastic element 120 may be a coil spring, the coil spring may be sleeved on the second end of the trigger rod 70, one end of the coil spring abuts against one side of the slider 110, the other side of the coil spring abuts against the wall surface of the mounting groove or the mounting hole 62, and the slider 110 may return to the initial position under the elastic force of the second elastic element 120. With the arrangement, the sliding direction of the trigger rod 70 can be limited by the through holes 61 at the front end and the rear end of the second base 60, so that the stability of the connecting rod assembly and the sliding block 110 in motion is ensured.

In a possible embodiment, the trigger limiting mechanism 100 in the embodiment of the disclosure includes two sets of link assemblies, the two sets of link assemblies are respectively symmetrically disposed on two sides of the second base 60, and the sliding blocks 110 in the two link assemblies can be respectively disposed in the mounting grooves, that is, the two sides of the second base 60 are respectively provided with the mounting grooves for the sliding blocks 110 to slide.

On the basis of the above embodiment, in order to ensure the synchronous operation of the two sets of link assemblies, the fourth links 90 of the two sets of link assemblies may be connected to the same slider 110. For example, the second base 60 is provided with the mounting hole 62, the slider 110 is embedded in the mounting hole 62, and one side of the slider 110 facing the fourth link 90 can be hinged with the fourth link 90; that is, a side of the slider 110 facing the fourth link 90 may protrude out of a side surface of the second base 60 so that the fourth link 90 is hinged to the slider 110.

EXAMPLE III

As shown in fig. 17, an embodiment of the present disclosure provides a storage robot, which includes a movable base, a crane 300, a fork 400, and at least one storage tray 200 according to the first embodiment and/or the second embodiment.

Specifically, the warehousing robot provided by the embodiment of the present disclosure includes a mobile base (not shown), a crane 300, and a fork 400; wherein, the movable base is used for bearing the lifting frame 300 and the fork 400; one side of the movable base facing the ground is provided with a traveling mechanism, and the movable base moves towards the operation position under the driving of the traveling mechanism, so that the warehousing robot moves to the operation position.

The lifting frame 300 comprises two upright posts, the two upright posts are arranged oppositely, the bottom ends of the upright posts are vertically fixed on the movable base, the plurality of storage trays 200 are arranged between the two upright posts at intervals along the height direction of the upright posts, and a storage space of the material box 500 is formed between every two adjacent storage trays 200.

The fork 400 is arranged on one side of the lifting frame 300, the fork 400 comprises a fork body and a telescopic goods taking mechanism, and the telescopic goods taking mechanism is arranged on the fork body. The telescopic goods taking mechanism comprises a telescopic tray 410, the telescopic tray 410 can move towards the front end opening of the fork body, and the telescopic tray 410 is abutted against the front end of the storage tray 200; so set up, not only make flexible tray 410 can collide the trigger stop gear 100 that is located the storing tray 200 front end, but also can prevent to shift the phenomenon that workbin 500 falls from between flexible tray 410 and the storing tray 200 in-process workbin 500 and take place.

Further, the fork body can slide up and down in the height direction of the crane 300. Exemplarily, the lifting frame 300 is further provided with a lifting mechanism, and the lifting mechanism can drive the fork body to move up and down along the upright column, so as to drive the whole fork 400 to move up and down along the lifting frame 300, so as to adjust the operation height of the fork 400, and enable the warehousing robot to operate on the bins 500 located on the goods shelf and having different heights.

The fork body may also be rotatable relative to the crane 300. For example, the fork 400 is rotated 90 °, so that the front end of the fork body is opposite to the storage shelf, so as to transfer the bin 500 from the storage shelf to the telescopic tray 410 of the storage robot; after the bin 500 is transferred to the retractable tray 410, the fork body is rotated by 90 °, so that the front end of the fork body is opposite to the storage tray 200, and the bin 500 can be transferred from the fork 400 to the storage tray 200. So set up, promote the efficiency that storage robot shifted workbin 500.

In this embodiment, the fork 400 is disposed opposite to the storage tray 200, and when the retractable goods taking mechanism of the fork 400 moves toward the storage tray 200, the retractable goods taking mechanism collides with the collision part of the trigger limiting mechanism 100 protruding out of the storage tray 200 or the end part of the limiting rod 20, so that the trigger limiting mechanism 100 acts.

For example, when the retractable tray 410 of the retractable picking mechanism picks and places the bin 500, the retractable tray 410 may abut against the storage tray 200 and collide with the trigger limiting mechanism 100, so that the trigger limiting mechanism releases its limit on the bin 500 to facilitate the transfer of the bin 500 to the fork 400 or the transfer of the bin 500 from the fork 400 to the storage tray 200. When the storage tray 200 is separated from the retractable tray 410, the trigger limiting mechanism 100 is restored to the limiting state, and the limiting end or the limiting part of the trigger limiting mechanism 100 protrudes out of the bearing surface of the storage tray 200.

Example four

The embodiment of the disclosure provides a storage shelf, which comprises a bearing frame and the storage tray in the first embodiment and/or the second embodiment. Wherein, bear the frame and be provided with multilayer storing space along the direction of height, all be provided with the storing tray in every layer of storing space to place the workbin in the storing tray.

For preventing the workbin from falling from the storage goods shelves, the front end of the storage tray provided by the embodiment is provided with a trigger limiting mechanism, and the trigger limiting mechanism can be arranged on the delivery side of the storage goods shelves and close to the edge of the storage goods shelves, so that the external objects can trigger the trigger limiting mechanism.

For example, when the bin is transported by the storage robot, the storage robot may collide with the trigger rod or the collision part of the trigger limiting mechanism, so that the limiting end or the limiting part of the trigger limiting mechanism releases the limiting effect on the bin, so that the bin is transferred from the storage shelf to the storage robot, or the bin is transferred from the storage robot to the storage shelf.

EXAMPLE five

The embodiment of the disclosure provides a warehousing system, it includes warehousing goods shelves and warehousing robot in the fourth embodiment, wherein, warehousing robot has flexible goods mechanism of getting, and flexible goods mechanism of getting can move towards the shipment side of warehousing goods shelves to can with the edge butt of the shipment side of warehouse goods shelves.

When the storage robot takes out the workbin on the storage goods shelf, the storage robot moves to the operation position of waiting to get the workbin, and the height of fork is adjusted to it is relative with waiting to get the workbin to make the fork. Then the flexible mechanism of getting goods of drive removes towards the shipment side of storage goods shelves, and flexible mechanism of getting goods collides trigger stop gear's trigger lever or collision portion to make trigger stop gear remove its spacing state, remove the spacing to the workbin promptly, so that the workbin is smooth from the shipment side roll-off of storage goods shelves, and is got and put in the fork.

It should be noted that the warehousing robot may be the warehousing robot in the third embodiment, that is, a trigger limiting mechanism is arranged on a storage tray of the warehousing robot. Or, in the case of a common pallet fork warehousing robot, a trigger limiting mechanism is not arranged on the storage tray of the warehousing robot, which is not limited in this embodiment.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

In general, terminology should be understood, at least in part, by the use of the context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe a combination of features, structures, or characteristics in the plural, depending, at least in part, on the context. Similarly, terms such as "a" or "the" may also be understood to convey a singular use or to convey a plural use, depending at least in part on the context.

It should be readily understood that "on … …", "above … …" and "above … …" in this disclosure should be interpreted in the broadest manner such that "on … …" means not only "directly on something", but also "on something" with intermediate features or layers therebetween, and "above … …" or "above … …" includes not only the meaning of "above" or "above" something, but also the meaning of "above" or "above" without intermediate features or layers therebetween (i.e., directly on something).

Furthermore, spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly as well.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims (17)

1. A storage tray is used for bearing a material box and is characterized by comprising a trigger limiting mechanism;

an opening is formed in the front end of the storage tray, and the trigger limiting mechanism is arranged at the opening;

the trigger limiting mechanism is configured in a first state, at least part of the trigger limiting mechanism protrudes out of the bearing surface of the storage tray and limits the material box;

the trigger limiting mechanism is configured to be triggered and in a second state, and the trigger limiting mechanism releases the limiting state.

2. The storage tray of claim 1, wherein the trigger limit mechanism comprises a limit rod, a first base and at least one set of first linkage telescopic components;

the first base is fixed at the opening of the storage tray and is positioned below the storage tray; the limiting rod is slidably mounted on the first base, and a first end of the limiting rod protrudes out of the bearing surface of the storage tray;

the first linkage telescopic component is arranged on the first base and is positioned on one side of the limiting rod; the part of the first linkage telescopic assembly, which is positioned outside the first base, forms a collision part, and the part of the first linkage telescopic assembly, which is positioned inside the first base, is connected with the second end of the limiting rod;

the first linkage telescopic assembly is configured to move and drive the limiting rod to slide when the collision part is collided, so that the first end of the limiting rod is located below the bearing surface or is flush with the bearing surface.

3. The storage tray of claim 2, wherein the first linkage assembly comprises a first elastic element, a first connecting rod and a second connecting rod which are hinged with each other;

one end of the first connecting rod, which is far away from the second connecting rod, is hinged with the first base, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged with the second end of the limiting rod;

the first elastic element is arranged on the first base, one end of the first elastic element is connected with the second end of the limiting rod, and the other end of the first elastic element is fixed on the first base and can provide upward pulling force for the limiting rod;

the hinge joint of the first connecting rod and the second connecting rod forms the collision part, the collision part is positioned at the outer side of the first base, and the collision part is configured in such a way that when the collision part is collided, one end, far away from the hinge joint, of the second connecting rod swings downwards.

4. The storage tray of claim 3, wherein the second end of the limiting rod is provided with a fixed seat;

one end of the second connecting rod and one end of the first elastic element are respectively connected to the fixed seat.

5. The storage tray of claim 3, wherein the first link includes a rod and an impact arm disposed on the rod;

one end of the rod body is hinged with the second connecting rod, and the other end of the rod body is hinged with the first base;

the collision arm is arranged at one end, far away from the first base, of the rod body and extends upwards towards the first base in an inclined mode.

6. The storage tray of claim 3, wherein the front end of the first base is provided with a mounting ear, and the rear end of the first base is provided with a mounting seat;

the opening of the storage tray is provided with a mounting plate, the mounting lug is fixed on the mounting plate, and the collision part is positioned on the outer side of the mounting plate;

the mounting seat is connected with the bottom surface of the storage tray, and one end of the first elastic element, which is far away from the limiting rod, is connected to the mounting seat.

7. The storage tray of any one of claims 2 to 6, wherein the trigger limit mechanism comprises two sets of first linked telescoping components;

two sets of the first linkage telescopic assemblies are symmetrically arranged on the first base and are respectively positioned on two sides of the limiting rod.

8. The storage tray of claim 1, wherein the trigger limiting mechanism comprises a trigger rod, a second base and at least one set of second linkage telescopic components;

the second base is arranged at the opening of the storage tray, and the trigger rod is slidably mounted on the second base along the direction from the front end to the rear end of the second base;

the first end of the trigger rod is positioned outside the storage tray, the second end of the trigger rod is connected with the second linkage telescopic assembly, and the second linkage telescopic assembly is provided with a limiting piece protruding out of the bearing surface of the storage tray;

the trigger rod is configured to be capable of moving relative to the second base when the first end of the trigger rod is triggered, so that the second linkage telescopic assembly moves, and the limiting member is located below the bearing surface or flush with the bearing surface.

9. The storage tray of claim 8, wherein the second linkage assembly further comprises a slider, a second resilient element, and at least one set of linkage assemblies;

the connecting rod assembly is arranged on one side of the second base and comprises a third connecting rod and a fourth connecting rod which are hinged with each other, one end, far away from the fourth connecting rod, of the third connecting rod is hinged with the front end of the second base, one end, far away from the third connecting rod, of the fourth connecting rod is hinged with the sliding block, and the other end of the fourth connecting rod is connected with the limiting piece;

the sliding block is slidably mounted in the second base, one end of the second elastic element is abutted with the sliding block, and the other end of the second elastic element is abutted with the rear end of the second base;

the second end of the trigger rod extends into the second base and is fixedly connected with the sliding block.

10. The storage tray of claim 9, wherein the fourth link comprises a rod and a hook;

the hook body is arranged at one end, far away from the sliding block, of the fourth connecting rod, and the hinged position of the third connecting rod and the fourth connecting rod is close to the hook body;

the coupler body is towards one side bending of storing tray, the locating part sets up the coupler body is kept away from the tip of the body of rod.

11. The storage tray of claim 10, wherein the retaining member is a retaining wheel.

12. Storage tray according to one of claims 9 to 11,

the second base is provided with a mounting hole, the sliding block is slidably mounted in the mounting hole, and the second end of the trigger rod penetrates through the mounting hole and is positioned outside the rear end of the second base;

the second elastic element is a spiral spring, the spiral spring is sleeved on the trigger rod, and two ends of the spiral spring are respectively abutted to the sliding block and the wall surface of the mounting hole.

13. The storage tray of claim 12, wherein the second linkage assembly includes two sets of linkage assemblies;

the two groups of connecting rod assemblies are symmetrically arranged on two sides of the second base respectively, and a fourth connecting rod in each connecting rod assembly is hinged to the sliding block together.

14. A warehousing robot characterized by comprising a mobile base, a crane, a fork and at least one storage tray according to any one of claims 1 to 13;

the storage tray is arranged on the lifting frame along the height direction of the lifting frame, and the lifting frame is arranged on the movable base;

the fork sets up on the crane, the fork is including flexible goods mechanism of getting, works as flexible goods mechanism orientation when the storing tray removed, flexible goods mechanism of getting collides trigger stop gear and remove its spacing state.

15. The warehousing robot of claim 14, wherein the telescopic pickup mechanism comprises a telescopic tray;

the telescopic tray is opposite to the trigger limiting mechanism, and the telescopic tray is configured to be capable of facing the trigger limiting mechanism and colliding with the trigger limiting mechanism when moving.

16. A storage rack, characterized in that it comprises a carrier and at least one storage tray according to any one of claims 1 to 13;

the storage tray is arranged on the bearing frame along the height direction of the bearing frame;

the trigger limiting mechanism of the storage tray is arranged at the edge of the storage goods shelf and is positioned at the delivery side of the storage goods shelf.

17. A warehousing system comprising a warehousing machine and the warehousing shelf of claim 16;

the warehousing robot is provided with a telescopic goods taking mechanism, the telescopic goods taking mechanism is configured to be towards the goods outlet side of the warehousing goods shelf, the telescopic goods taking mechanism collides with the trigger limiting mechanism, and the limiting state of the trigger limiting mechanism is released.

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