CN116040539B

CN116040539B - Transfer robot for stacking and storing

Info

Publication number: CN116040539B
Application number: CN202310335257.1A
Authority: CN
Inventors: 李晶; 关成斌; 张永棠; 黄中友; 杨斌
Original assignee: Neusoft Institute Guangdong
Current assignee: Neusoft Institute Guangdong
Priority date: 2023-03-31
Filing date: 2023-03-31
Publication date: 2023-06-30
Anticipated expiration: 2043-03-31
Also published as: CN116040539A

Abstract

The invention relates to the technical field of transportation or storage devices, in particular to a transfer robot for stacking and storage. The handling robot for stack storage includes: a lifting table; the lifting mechanism is used for driving the lifting table to lift; the elevating platform still includes: the device comprises a first top plate, a second top plate, a third top plate, a translation mechanism and a turnover mechanism, wherein the turnover mechanism is used for controlling the second top plate or the third top plate to turn over; the control cabinet is used for controlling the translation mechanism to move the goods with the first top plate and the second top plate jacking bottoms being planes to the front of the goods shelf support rods of the goods shelf, controlling the turnover mechanism to enable the third top plate to turn over behind the goods shelf support rods to support the goods, and then controlling the turnover mechanism to enable the second top plate to turn over to the position below the goods shelf support rods, so that the translation mechanism moves the first top plate and the third top plate to jack up the goods to pass through the goods shelf support rods of the goods shelf.

Description

Transfer robot for stacking and storing

Technical Field

The invention relates to the technical field of transportation or storage devices, in particular to a transfer robot for stacking and storage.

Background

In order to maximally utilize the storage space, goods are generally stacked by utilizing a three-dimensional goods shelf, and a transfer robot for stacking and storing is required to be used in the process.

In the prior art, a carrying robot usually adopts a fork of a forklift to lift, so that goods are required to be placed on a pallet with a fork access passage to be placed on a goods shelf. The transfer robot in the prior art has strong dependence on the supporting plate, and the supporting plate also needs to be placed on a goods shelf along with goods and cannot be taken down, so that the goods with planar bottoms such as plates, boxes and the like cannot be directly stacked.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the invention provides a carrying robot for stacking and storing, which can stack goods with planar bottoms without supporting plates.

The invention provides a handling robot for stack storage, comprising:

a lifting table;

the lifting mechanism is used for driving the lifting table to lift;

the elevating platform still includes: the device comprises a first top plate, a second top plate, a third top plate, a translation mechanism and a turnover mechanism, wherein the turnover mechanism is used for controlling the second top plate or the third top plate to turn over;

the control cabinet is used for controlling the translation mechanism to move the goods with the first top plate and the second top plate jacking bottoms being planes to the front of the goods shelf support rods of the goods shelf, controlling the turnover mechanism to enable the third top plate to turn over behind the goods shelf support rods to support the goods, and then controlling the turnover mechanism to enable the second top plate to turn over to the position below the goods shelf support rods, so that the translation mechanism moves the first top plate and the third top plate to jack up the goods to pass through the goods shelf support rods of the goods shelf.

Optionally, the translation mechanism comprises a supporting table, an electric sliding rail, a conveying block, a conveying plate and a connecting plate, wherein the electric sliding rail is arranged on the supporting table, the electric sliding rail is connected to the conveying block through the connecting plate, and the conveying plate is fixedly connected to the conveying block so that the conveying plate is driven to move by the electric sliding rail;

the first top plate, the second top plate, the third top plate and the turnover mechanism are arranged on the conveying plate;

the turnover mechanism comprises a turnover cylinder, a turnover sliding frame and a turnover sleeve shaft, wherein the turnover cylinder is arranged on the conveying plate, the turnover sliding frame is arranged on the turnover cylinder, the turnover sleeve shafts are fixedly connected to the second top plate and the third top plate, the turnover sleeve shaft is provided with a turnover sliding groove, and the turnover sliding frame is in sliding connection with the turnover sliding groove through the turnover sliding groove arranged on the turnover sleeve shaft so as to control the second top plate or the third top plate to turn.

Optionally, the translation mechanism further includes:

the support device comprises a bottom plate, a support slide plate, a placement spring, a pull-back assembly and a support assembly, wherein the bottom plate is arranged on a support platform, the support slide plate is arranged on the bottom plate to form a slide way between the support slide plate and the bottom plate, the placement plate is slidably connected with the support slide plate, the placement plate is provided with the placement spring for resetting the placement plate, the connection plate is sleeved on a conveying block, the support slide plate is further provided with the pull-back assembly for pulling out the placement plate to enable the conveying block to fall down to the bottom plate, the slide way is used for guiding the conveying block to reset backwards, and the support assembly for resetting the conveying block upwards is arranged on the support platform.

Optionally, the pull-back subassembly is including disc, eccentric rod, pull-back cylinder and guide block, rotates on the support slide and is connected with the disc, rotates on the disc and is connected with the eccentric rod, and the eccentric rod other end rotates with the board of placing to be connected, installs the pull-back cylinder on the support slide, installs the guide block of being connected with the eccentric position of disc on the pull-back cylinder.

Optionally, the supporting component comprises a supporting spring and a supporting plate, a plurality of supporting springs are arranged on the supporting table, the supporting springs are connected with the supporting plate, and the supporting plate is propped against the conveying plate so as to reset upwards and fixedly connect the conveying block under the conveying plate.

Optionally, the first top plate is provided with a first pressure sensor to measure the pressure born by the first top plate, the second top plate is provided with a second pressure sensor to measure the pressure born by the second top plate, and the third top plate is provided with a third pressure sensor to measure the pressure born by the third top plate;

the goods shelf support rod comprises a first support rod arranged at the front and a second support rod arranged at the rear, wherein the first support rod is used for supporting goods;

after the second top plate on the translation mechanism passes through the first supporting rod, the control cabinet controls the second top plate to turn over to support the goods, and controls the third top plate to turn over to the position below the first supporting rod;

when the difference between the pressure born by the second top plate and the pressure born by the first top plate is larger than a preset pressure value:

if the pressure born by the third top plate is greater than the pressure born by the first top plate, placing the part of the goods on the outer side of the third top plate on the second supporting rod, wherein the outer side of the third top plate is the side far away from the second top plate;

and if the pressure born by the second top plate is greater than the pressure born by the first top plate and the pressure born by the third top plate is less than the pressure born by the first top plate, placing the part of the goods between the second top plate and the third top plate on the second support rod.

Optionally, the lifting platform further comprises a scram button, and the scram button is mounted on the edge of the conveying plate so as to stop the movement of the conveying plate when the conveying plate collides.

Optionally, the elevating platform still includes the scram button expansion subassembly that is used for expanding scram button trigger area, scram button expansion subassembly includes extension spring and extension shell, and extension spring's one end is connected to the delivery board, and extension shell is connected to the extension spring other end.

Optionally, the elevating platform still includes the locking mechanical system who is used for locking second roof and third roof, and locking mechanical system installs on the delivery board, and locking mechanical system is including locking guide arm, locking frame and drive assembly, and the rigid coupling has the locking guide arm on the delivery board, and sliding connection has the locking frame on the locking guide arm, has all seted up the locking groove on second roof and the third roof, installs on the locking guide arm and is used for driving the drive assembly that the locking frame removed in order to realize the locking.

Optionally, the transmission assembly includes an electromagnet and a return spring, the electromagnet is mounted on the locking guide rod to drive the locking frame to move into the locking groove, and the return spring is sleeved on the locking guide rod to move the locking frame out of the locking groove.

Compared with the prior art, the technical scheme provided by the invention has the following advantages:

according to the carrying robot for stacking and storing, the goods can be supported through the second top plate and the third top plate in turn, and the translation mechanism can cross the goods shelf supporting rod of the goods shelf, so that the goods can be moved to a proper position to be stacked on the goods shelf, and the carrying robot for stacking and storing can stack the goods with the plane bottom without a supporting plate.

Drawings

Fig. 1 is a schematic structural diagram of a handling robot for stacking and warehousing according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a part of an exploded structure of a lifting platform according to an embodiment of the present invention;

FIG. 3 is an assembled schematic view of a turnover mechanism and a locking mechanism according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a turnover mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic view illustrating a process of dropping a conveying block onto a base plate according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a transmission assembly according to an embodiment of the present invention.

Wherein, 1, lifting platform; 11. a first top plate; 111. a first pressure sensor; 12. a second top plate; 121. a second pressure sensor; 13. a third top plate; 131. a third pressure sensor;

14. a translation mechanism; 141. an electric slide rail; 142. a splice plate; 143. a transport block; 144. a conveying plate; 145. a support slide plate; 146. placing a plate; 147. placing a spring;

148. pulling back the assembly; 1481. a disc; 1482. an eccentric rod; 1483. pulling back the cylinder; 1484. a guide block;

149. a support assembly; 1491. a support spring; 1492. a support plate;

1410. a bottom plate; 1411. a slideway; 1412. a support table;

15. a turnover mechanism; 151. a turnover cylinder; 152. turning over the carriage; 153. overturning the sleeve shaft; 1531. turning over the chute;

16. an emergency stop button; 17. an emergency stop button extension assembly;

18. a locking mechanism; 181 a transmission assembly; 1811. an electromagnet; 1812. a return spring;

2. a lifting mechanism;

3. a control cabinet;

4. goods;

5. a shelf, 51; a shelf support bar; 511. a first support bar; 512. and a second support bar.

Detailed Description

In order that the above objects, features and advantages of the invention will be more clearly understood, a further description of the invention will be made. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the invention.

Fig. 1 is a schematic structural diagram of a handling robot for stacking and warehousing according to an embodiment of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a handling robot for stack storage, including:

a lifting table 1;

a lifting mechanism 2, wherein the lifting mechanism 2 is used for driving the lifting table 1 to lift;

the elevating platform 1 further includes: a first top plate 11, a second top plate 12, a third top plate 13, a translation mechanism 14, and a turnover mechanism 15, wherein the turnover mechanism 15 is used for controlling the second top plate 12 or the third top plate 13 to turn over;

the control cabinet 3 is used for controlling the translation mechanism 14 to move the first top plate 11 and the second top plate 12 to lift the goods 4 with the plane bottom to the front of the shelf support rod 51 of the shelf 5, controlling the turnover mechanism 15 to enable the third top plate 13 to turn behind the shelf support rod 51 to support the goods 4, and then controlling the turnover mechanism 15 to enable the second top plate 12 to turn under the shelf support rod 51, so that the translation mechanism 14 moves the first top plate 11 and the third top plate 13 to lift the goods 4 through the shelf support rod 51 of the shelf 5.

Specifically, in this embodiment, the control cabinet 3 completes connection, communication and control with each component controlled by the control cabinet 3 related to the present solution through a bus system. It should be noted that the connection, communication and control of the components to be carried out by the control cabinet 3 is carried out by means of a bus system which, besides a data bus, may also comprise a power bus, a control bus, a status signal bus, etc., which are common to the skilled person.

Fig. 2 is a schematic diagram of a part of an exploded structure of a lifting platform according to an embodiment of the present invention.

Referring to fig. 2, specifically, the translation mechanism 14 includes a support table 1412, an electric sliding rail 141, a conveying block 143, a conveying plate 144 and a connecting plate 142, wherein the electric sliding rail 141 is mounted on the support table 1412, the electric sliding rail 141 is connected to the conveying block 143 through the connecting plate 142, and the conveying block 143 is fixedly connected with the conveying plate 144 so that the conveying plate 144 is driven to move by the electric sliding rail 141;

the first top plate 11, the second top plate 12, the third top plate 13, and the turnover mechanism 15 are mounted on the conveying plate 144;

specifically, as shown in fig. 1, when the goods 4 on the conveying plate 144 are moved onto the pallet 5, the goods 4 need to pass through the pallet support rod 51 of the pallet 5, so that the pallet with the fork for feeding and discharging is used to place the goods 4 on the pallet support rod 51 of the pallet 5 in the prior art, and then the fork is pulled out from the bottom of the pallet, so that the transfer robot in the prior art has a large dependence on the pallet.

The invention provides a carrying robot for stacking and storage, which is characterized in that an electric pulley at the bottom of a lifting mechanism 2 is used for adjusting the lifting mechanism 2 to the front of a goods shelf 5, and a lifting table 1 is adjusted by the lifting mechanism 2 to lift so as to enable goods 4 to be aligned with the goods storage position on the goods shelf 5.

Then, the control cabinet 3 controls the electric slide rail 141 on the support table 1412, so that the connecting plate 142 drives the conveying block 143, and the conveying plate 144 on the top of the conveying block 143 is driven to move towards the direction of the goods shelf 5.

When the second top plate 12 is about to be in contact with the shelf support rod 51 of the shelf 5, the control cabinet 3 starts the turnover mechanism 15, and the third top plate 13 is turned over and jacked. Since the third top plate 13 has moved to the rear of the rack support bar 51 at this time, the third top plate 13 can be lifted up to support the cargo 4 at the rear of the rack support bar 51 at this time. Then the second top plate 12 is turned to be horizontal so that the second top plate 12 is located below the shelf support rod 51, and at this time, the electric slide rail 141 can be continuously started to enable the connecting plate 142 to continuously drive the conveying block 143, so that the goods 4 on the conveying plate 144 are driven to move to a proper position on the shelf 5, where the goods 4 can be stacked, i.e. a position where the goods 4 can be supported by the shelf support rod 51 of the shelf 5 and placed on the shelf 5.

And then the control cabinet 3 controls the lifting mechanism 2 to drive the lifting platform 1 to move downwards integrally, so that the goods 4 can be placed on the goods shelf 5.

After the goods 4 are placed on the goods shelf 5, the electric slide rail 141 drives the conveying plate 144 on the conveying block 143 to be far away from the goods shelf 5 through the connecting plate 142 and reset.

When the second top plate 12 or the third top plate 13 is about to touch the shelf support bar 51 of the shelf 5 during the resetting of the conveying plate 144, the control cabinet 3 alternately turns over the third top plate 13 and the second top plate 12 by controlling the turning mechanism 15, so that the conveying plate 144 returns to the resetting through the shelf support bar 51, as in the above-described principle.

According to the carrying robot for stacking and storing, the goods 4 can be supported through the second top plate 12 and the third top plate 13 in turn, and the translation mechanism 14 can span the goods support rod 51 of the goods shelf 5, so that the goods 4 can be moved to a proper position to be stacked on the goods shelf 5, and therefore the carrying robot for stacking and storing can stack the goods 4 with the bottom being a plane without a supporting plate.

FIG. 3 is an assembled schematic view of a turnover mechanism and a locking mechanism according to an embodiment of the present invention; fig. 4 is a schematic structural diagram of a turnover mechanism according to an embodiment of the present invention.

Referring to fig. 3 and 4, specifically, the turnover mechanism 15 includes a turnover cylinder 151, a turnover carriage 152 and a turnover sleeve shaft 153, the turnover cylinder 151 is installed on the conveying board 144, the turnover carriage 152 is installed on the turnover cylinder 151, the turnover sleeve shafts 153 are fixedly connected to the second top plate 12 and the third top plate 13, the turnover sleeve shaft 153 is provided with a turnover chute 1531, and the turnover carriage 152 is slidably connected with the turnover sleeve shaft 153 through the turnover chute 1531 provided on the turnover sleeve shaft 153, so as to control the second top plate 12 or the third top plate 13 to turn.

When goods 4 are placed in, the control cabinet 3 controls the overturning cylinder 151 to extend to drive the overturning carriage 152 to move, the overturning carriage 152 can slide in the overturning chute 1531, the overturning chute 1531 connected with the third top plate 13 drives the third top plate 13 to overturn to be in a vertical state, and then the overturning chute 1531 connected with the second top plate 12 drives the second top plate 12 to overturn to be in a horizontal state, so that the shelf support rod 51 of the shelf 5 is avoided;

when the conveying plate 144 is reset, the overturning cylinder 151 is controlled to shrink to drive the overturning carriage 152 to move, the overturning chute 1531 drives the second top plate 12 to rotate to be in a vertical state, and then drives the third top plate 13 to rotate to be in a horizontal state, so that the reset is completed to place the goods 4 again;

the turnover carriage 152 is matched with turnover sliding grooves 1531 respectively arranged on the second top plate 12 and the third top plate 13 in two opposite directions, so that when one of the second top plate 12 and the third top plate 13 is rotated to a vertical state to support the goods 4, the other can be rotated to a horizontal state, and the turnover mechanism 15 provided by the invention enables the second top plate 12 or the third top plate 13 to continuously provide support for the goods 4 and prevents the goods 4 from tilting.

The translation mechanism 14 further includes:

the base plate 1410 is mounted on a supporting table 1412, the supporting slide plate 145 is mounted on the base plate 1410 to form a slideway 1411 between the supporting slide plate 145 and the base plate 1410, the supporting slide plate 145 is slidably connected with the placing plate 146, the placing plate 146 is provided with the placing spring 147 for resetting the placing plate 146, the connecting plate 142 is sleeved on the conveying block 143, the supporting slide plate 145 is further provided with the pulling-back assembly 148 for pulling out the placing plate 146 to enable the conveying block 143 to fall down to the base plate 1410, the slideway 1411 is used for guiding the conveying block 143 to reset backwards, and the supporting table 1412 is provided with the supporting assembly 149 for resetting the conveying block 143 upwards.

Specifically, the pull-back assembly 148 includes a disc 1481, an eccentric rod 1482, a pull-back cylinder 1483 and a guide block 1484, the disc 1481 is rotatably connected to the support slide 145, the eccentric rod 1482 is rotatably connected to the disc 1481, the other end of the eccentric rod 1482 is rotatably connected to the placement plate 146, the pull-back cylinder 1483 is mounted on the support slide 145, and the guide block 1484 is mounted on the pull-back cylinder 1483 and is connected to the eccentric position of the disc 1481.

Specifically, the supporting component 149 includes a supporting spring 1491 and a supporting plate 1492, the supporting table 1412 is provided with a plurality of supporting springs 1491, the supporting springs 1491 are connected with the supporting plate 1492, and the supporting plate 1492 abuts against the conveying plate 144 to reset the conveying block 143 fixedly connected under the conveying plate 144 upwards.

Fig. 5 is a schematic diagram of a process of dropping a conveying block onto a base plate according to an embodiment of the present invention.

Referring to fig. 5, in the process that the conveying plate 144 continues to move into the shelf 5 through the shelf support bar 51, the conveying block 143 fixedly connected to the bottom of the conveying plate 144 slides on the support slide 145, the support slide 145 is provided with the placing plate 146 in a sliding manner, at least a part of the placing plate 146 extends out of the support slide 145, the conveying block 143 moves from above the support slide 145 to above the part of the placing plate 146 extending out of the support slide 145 in the process that the conveying plate 144 moves into the shelf 5, and at this time, the pull-back cylinder 1483 pulls the guide block 1484 on the disc 1481 to drive the disc 1481 to rotate so as to drive the eccentric rod 1482 to pull the placing plate 146, thereby retracting the placing plate 146.

Since the connector plate 142 is sleeved on the conveying block 143, after losing the support of the placing plate 146, the conveying block 143 falls onto the bottom plate 1410 due to the self weight of the conveying block 143 and the cargo 4, and the conveying plate 144 on the conveying block 143 is thus submerged.

By controlling the distance between the placed goods 4 and the shelf support rods 51 of the shelf 5 in the vertical direction to be equal to the distance between the transport block 143 and the bottom plate 1410 from the placing plate 146, the placing of the goods 4 can be accomplished without the lifting mechanism 2 when the lifting table 1 is still in the shelf 5.

Even if the distance between the placed goods 4 and the shelf support rod 51 of the shelf 5 in the vertical direction is not controlled, the distance that the lifting mechanism 2 moves the lifting platform 1 in the shelf 5 can be reduced by the structure provided by the invention, so that the possibility that the lifting platform 1 collides with the goods 4 stored below is reduced.

When the conveying plate 144 is required to be reset, the conveying block 143 is recovered from the bottom plate 1410 through the slideway 1411 until the conveying plate 144 is separated from the goods shelf 5, at this time, the supporting spring 1491 jacks the conveying plate 144 through the supporting plate 1492, the conveying plate 144 drives the conveying block 143 to reset upwards, at this time, the pull-back cylinder 1483 is released, and the placing spring 147 releases elastic potential energy to reset the placing plate 146 to the lower side of the conveying block 143.

In another embodiment, referring to fig. 2, the first top plate 11 is installed with a first pressure sensor 111 to measure the pressure received by the first top plate 11, the second top plate 12 is installed with a second pressure sensor 121 to measure the pressure received by the second top plate 12, and the third top plate 13 is installed with a third pressure sensor 131 to measure the pressure received by the third top plate 13;

the shelf support bar 51 of the shelf 5 includes a first support bar 511 provided at the front and a second support bar 512 provided at the rear for supporting the goods 4;

after the second top plate 12 on the translation mechanism 14 passes through the first support bar 511, the control cabinet 3 controls the second top plate 12 to turn over to support the goods 4, and controls the third top plate 13 to turn over under the first support bar 511;

when the difference between the pressure received by the second top plate 12 and the pressure received by the first top plate 11 is greater than a preset pressure value:

specifically, the preset pressure value is used for judging whether the center of gravity of the cargo 4 deviates too far from the middle position of the first top plate 11 and the second top plate 12, so that the preset pressure value needs to be adjusted for a limited number of experiments according to the type and the weight of the actual cargo 4 to be stacked to obtain the corresponding characteristic value.

If the pressure applied to the third top plate 13 is greater than the pressure applied to the first top plate 11, the portion of the cargo 4 on the outside of the third top plate 13, which is the side far from the second top plate 12, is placed on the second support bar 512;

if the second top plate 12 receives a pressure greater than the first top plate 11 and the third top plate 13 receives a pressure less than the first top plate 11, the portion of the cargo 4 between the second top plate 12 and the third top plate 13 is placed on the second support bar 512.

According to the carrying robot for stacking and warehousing provided by the embodiment of the invention, the gravity center position of the goods 4 can be estimated through the first pressure sensor 111, the second pressure sensor 121 and the third pressure sensor 131, and the position of the goods 4 placed on the second support rod 512 of the goods shelf 5 is adjusted in a matched mode, so that when some goods 4 with the gravity centers not being in the center position are carried, the gravity centers of the goods 4 can be positioned between the first support rod 511 and the second support rod 512 of the goods shelf 5 as much as possible, and the storage stability of the goods 4 is improved.

In another embodiment, referring to fig. 2, the lifting platform 1 further includes a scram button 16, and the scram button 16 is mounted on the edge of the conveying plate 144 to stop the movement of the conveying plate 144 when the conveying plate 144 collides.

The lifting platform 1 further comprises a scram button expansion assembly 17 for expanding the triggering area of the scram button 16, wherein the scram button expansion assembly 17 comprises an expansion spring and an expansion shell, one end of the expansion spring is connected to the conveying plate 144, and the other end of the expansion spring is connected to the expansion shell.

When the conveying plate 144 is not aligned with the storage position of the goods 4 on the goods shelf 5, the scram buttons 16 arranged at four corners of the conveying plate 144 are extruded by the goods shelf 5 when the conveying plate 144 stretches out to convey the goods 4, and the triggering area of the scram buttons 16 can be enlarged through the scram button expansion assembly 17, and the conveying robot is triggered to stop running by pressing the scram buttons 16, so that the conveying plate 144 is prevented from colliding with the goods shelf 5.

In another embodiment, the lifting platform 1 further includes a locking mechanism 18 for locking the second top plate 12 and the third top plate 13, the locking mechanism 18 is mounted on the conveying plate 144, the locking mechanism 18 includes a locking guide rod, a locking frame and a transmission component 181, the conveying plate 144 is fixedly connected with the locking guide rod, the locking guide rod is slidably connected with the locking frame, locking grooves are formed in the second top plate 12 and the third top plate 13, and the transmission component 181 for driving the locking frame to move to realize locking is mounted on the locking guide rod.

Fig. 6 is a schematic structural diagram of a transmission assembly 181 according to an embodiment of the present invention.

Referring to fig. 6, the transmission assembly 181 includes an electromagnet 1811 and a return spring 1812, and the locking guide rod is provided with the electromagnet 1811 to drive the locking frame into the locking groove, and is sleeved with the return spring 1812 to move the locking frame out of the locking groove.

In the embodiment of the invention, when the second top plate 12 or the third top plate 13 is required to be kept in a vertical state, the transmission assembly 181 drives the locking frame to enable the locking guide rod to slide backwards, and the locking guide rod slides backwards and is clamped in the locking groove of the second top plate 12 or the third top plate 13 in the vertical state, so that the limiting effect is achieved, and safety accidents caused by rotation of the second top plate 12 and the third top plate 13 can be prevented.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a transfer robot for stack storage, its characterized in that, transfer robot for stack storage includes:

a lifting table;

the lifting mechanism is used for driving the lifting table to lift;

the control cabinet is used for controlling the translation mechanism to move the first top plate and the second top plate, so that the goods with the bottom being a plane can be lifted to the front of the goods shelf support rod of the goods shelf, and controlling the turnover mechanism to enable the third top plate to turn over behind the goods shelf support rod to support the goods, and then controlling the turnover mechanism to enable the second top plate to turn over under the goods shelf support rod, so that the translation mechanism can move the first top plate and the third top plate to lift the goods to pass through the goods shelf support rod of the goods shelf.

2. The handling robot for stack storage according to claim 1, wherein the translation mechanism comprises a supporting table, an electric sliding rail, a conveying block, a conveying plate and a connecting plate, the electric sliding rail is installed on the supporting table, the electric sliding rail is connected to the conveying block through the connecting plate, and the conveying plate is fixedly connected to the conveying block so that the conveying plate is driven to move by the electric sliding rail;

3. The handling robot for stack storage of claim 2, wherein the translation mechanism further comprises:

4. The handling robot for stack storage according to claim 3, wherein the pull-back assembly comprises a disc, an eccentric rod, a pull-back cylinder and a guide block, the disc is rotatably connected to the support slide plate, the eccentric rod is rotatably connected to the disc, the other end of the eccentric rod is rotatably connected to the placing plate, the pull-back cylinder is mounted on the support slide plate, the guide block is mounted on the pull-back cylinder, and the guide block is eccentrically connected to the disc.

5. A handling robot for stack storage as claimed in claim 3, characterized in that the support assembly comprises a support spring and a support plate, a plurality of support springs are mounted on the support table, the support springs are connected with the support plate, and the support plate is abutted against the conveying plate so as to reset the conveying block fixedly connected under the conveying plate upwards.

6. The handling robot for stack storage according to claim 1, wherein the first top plate is mounted with a first pressure sensor to measure the pressure to which the first top plate is subjected, the second top plate is mounted with a second pressure sensor to measure the pressure to which the second top plate is subjected, and the third top plate is mounted with a third pressure sensor to measure the pressure to which the third top plate is subjected;

7. The handling robot for stack storage of claim 2, wherein the elevating platform further comprises a scram button, and the scram button is installed at an edge of the transfer plate to stop movement of the transfer plate when the transfer plate collides.

8. The handling robot for stack storage of claim 7, wherein the lift table further comprises a scram button extension assembly for extending a triggering area of the scram button, the scram button extension assembly comprising an extension spring and an extension case, one end of the extension spring being connected to the transfer plate, the other end of the extension spring being connected to the extension case.

9. The handling robot for stacking and warehousing of claim 2, wherein the lifting platform further comprises a locking mechanism for locking the second top plate and the third top plate, the locking mechanism is installed on the conveying plate and comprises a locking guide rod, a locking frame and a transmission assembly, the conveying plate is fixedly connected with the locking guide rod, the locking guide rod is slidingly connected with the locking frame, locking grooves are formed in the second top plate and the third top plate, and the transmission assembly for driving the locking frame to move so as to realize locking is installed on the locking guide rod.

10. A handling robot for stack storage as claimed in claim 9, characterized in that the transmission assembly comprises an electromagnet and a return spring, the electromagnet being mounted on the locking guide for driving the locking rack into the locking slot, the return spring being arranged on the locking guide for moving the locking rack out of the locking slot.