CN216036662U - Limiting device and warehousing robot - Google Patents

Abstract

The utility model provides a limiting device and a warehousing robot, which relate to the technical field of warehousing and logistics equipment and are used for solving the technical problem of poor reliability of the limiting device arranged on a storage tray in the prior art, wherein the limiting device comprises a base, a trigger rod arranged on the base and at least one group of connecting rod and sliding block mechanisms; the base is arranged at an opening from which the storage tray arrives, a mechanical connection scheme is adopted between the trigger rod and the connecting rod sliding block mechanism, the trigger rod is triggered by collision to cause the connecting rod sliding block mechanism to act, so that the position of each connecting rod is changed, the position of the limiting end formed at the end part of each connecting rod relative to the bearing surface is changed, and the purposes of limiting the material box and releasing the limiting by using the limiting device are achieved. The limiting device and the storage robot provided by the embodiment of the disclosure are less affected by external factors, high in reliability, and capable of improving the reliability of limiting the material box of the storage robot and preventing the material box from falling off from the storage tray.

Description

Limiting device and warehousing robot

Technical Field

The utility model relates to a storage logistics equipment technical field especially relates to a stop device and storage robot.

Background

Fork storage robot includes crane and sets up a plurality of storing tray on the crane, and storing tray is used for the workbin of keeping in. When the storage robot brakes, the bin is influenced by braking force generated by the brake, and the risk of falling off from the storage tray exists; therefore, the storage tray is usually provided with a limiting device at the front end opening thereof.

The conventional limiting device comprises a limiting part, a driving mechanism and a controller, wherein the driving mechanism is connected with the limiting part, and receives a corresponding signal and controls the driving mechanism to act so that the limiting part limits or relieves the limitation of the material box. However, the driving mechanism in the above-mentioned position-limiting device is connected with the controller through signals, and the influence of external factors is large, which results in poor reliability.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the present disclosure provides a stop device and a storage robot, which can improve the reliability that the stop device carries out spacing to the bin located on the storage tray, and prevent the bin from falling off from the storage tray.

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

the first aspect of the embodiment of the disclosure provides a limiting device, which is arranged at an open port at one end of a storage tray, and comprises a base, a trigger rod and at least one group of connecting rod and sliding block mechanisms; the base is arranged at an opening at one end of the storage tray, the connecting rod slider mechanism is arranged on one side of the base and comprises a first connecting rod, a second connecting rod and a slider which are sequentially hinged, one end, far away from the second connecting rod, of the first connecting rod is hinged with the base, one end, far away from the slider, of the second connecting rod forms a limiting end, and the limiting end protrudes out of the bearing surface of the storage tray and is used for limiting a material box on the bearing surface; the trigger rod is slidably mounted in the base along the direction from the front end to the rear end of the base, the first end of the trigger rod is positioned outside the base and extends to the outer side of the storage tray, the second end of the trigger rod is fixedly connected with the sliding block slidably mounted in the base, and an elastic element is arranged between the sliding block and the rear end of the base; the trigger rod is configured to slide relative to the base when the first end of the trigger rod is triggered, and the limiting end is lower than the bearing surface or flush with the bearing surface.

In a possible implementation, the base is provided with a mounting groove or a mounting hole; the sliding block is slidably mounted in the mounting groove or the mounting hole, one end of the elastic element is abutted to the sliding block, and the other end of the elastic element is abutted to the wall surface of the mounting groove or the mounting hole.

In a possible implementation manner, the second end of the trigger rod passes through the mounting groove or the mounting hole and is located outside the rear end of the base.

In one possible implementation, the elastic element is a helical spring; the elastic element is sleeved on the trigger rod, one end of the elastic element is abutted to the sliding block, and the other end of the elastic element is abutted to the mounting groove or the wall surface of the mounting hole.

In a possible implementation manner, the limiting device comprises two groups of connecting rod sliding block mechanisms; and the two groups of connecting rod sliding block mechanisms are respectively and symmetrically arranged on two sides of the base.

In a possible implementation, the base is provided with the mounting hole; and the second connecting rods in each connecting rod sliding block mechanism are hinged on the same sliding block together.

In one possible implementation manner, the second connecting rod comprises a rod body and a hook body; the hook body is positioned at one end, far away from the sliding block, of the second connecting rod, and the hook body is bent towards one side of the storage tray;

the first connecting rod is hinged with the rod body, and one end, far away from the rod body, of the hook body forms the limiting end.

In a possible implementation manner, the limiting end is provided with a limiting member.

In a possible implementation manner, the limiting member is a limiting wheel, and the limiting wheel is rotatably disposed on the hook body.

A second aspect of the embodiments of the present disclosure provides a storage robot, including a lifting frame, a fork, and the limiting device of the first aspect; the lifting frame comprises a plurality of storage trays arranged at intervals, an opening is formed in the front end of each storage tray, and at least one limiting device is arranged at the opening; the fork comprises a telescopic goods taking mechanism, and the telescopic goods taking mechanism can be contacted with the trigger rod of the limiting device when extending out.

In one possible implementation, the telescopic pickup mechanism comprises a telescopic tray; an opening of the storage tray is provided with a mounting plate for fixing the limiting device, and the trigger rod extends out of the mounting plate; the flexible tray with the mounting panel sets up relatively, just flexible tray configuration is for can moving towards the mounting panel and collide the trigger bar.

Compared with the prior art, the limiting device and the warehousing robot provided by the embodiment of the disclosure have the following advantages:

the limiting device and the warehousing robot provided by the embodiment of the disclosure comprise a base, a trigger rod and a connecting rod sliding block mechanism, wherein the trigger rod and the connecting rod sliding block mechanism are arranged on the base, the base is arranged at an opening where a storage tray arrives, a limiting end is formed at the end part of a connecting rod in the connecting rod sliding block mechanism, and the limiting end protrudes out of a bearing surface of the storage tray and limits a material box. The trigger rod is slidably mounted on the base, one end of the trigger rod is located outside the base, and the other end of the trigger rod is connected with a sliding block in the connecting rod sliding block mechanism. When the trigger rod is triggered, the slide block can be driven to move, so that the position of the limiting end is changed, the limiting end is lower than the bearing surface or is flush with the bearing surface, and the limitation on the material box can be relieved.

Compared with the prior art that the control unit is adopted to control the driving mechanism to enable the limiting part to limit the material box, the limiting device provided by the embodiment of the disclosure adopts a scheme of mechanical connection between the trigger rod and the connecting rod slider mechanism, the trigger rod is triggered by collision to cause the connecting rod slider mechanism to act, so that the position of each connecting rod is changed, the position of the limiting end formed at the end part of each connecting rod relative to the bearing surface is changed, the purposes of limiting and releasing limiting the material box by using the limiting device are achieved, and signal transmission among all parts in the limiting device is not needed.

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 the spacing device and the warehousing robot provided by the embodiments of the present disclosure can solve, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

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 structural diagram of a warehousing robot provided in an embodiment of the present disclosure;

fig. 2 is a schematic connection diagram of a limiting device and a storage tray provided in the embodiment of the present disclosure;

FIG. 3 is an isometric view of a stop device provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of the link slider mechanism of FIG. 3;

FIG. 5 is a schematic structural diagram of a base provided in an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a connection between a trigger bar and a link-slider mechanism provided in an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of the second link of FIG. 6;

fig. 8 is a schematic view of the spacing device according to the embodiment of the present disclosure in a spacing release state;

fig. 9 is a schematic view of a limiting device provided in the embodiment of the present disclosure in a limiting state.

Description of reference numerals:

10-a base;

11-a base body; 12-mounting holes;

20-a trigger lever;

30-a first link;

40-a second link;

41-rod body; 42-a hook body;

50-a slide block;

60-a resilient element;

70-a limiting wheel;

100-a limiting device;

200-a lifting frame;

210-a column; 220-a storage tray; 221-a tray body; 222-a mounting plate;

300-a pallet fork;

310-a telescopic tray; 320-a fork body;

400-bin.

Detailed Description

As mentioned in the background, when the warehousing robot brakes, the bin risks falling off the storage tray; therefore, a limiting device is required to be arranged at the front end opening of the storage tray; however, the limiting device comprises a control unit, and the control unit is in signal connection with other components, so that the limiting device is greatly influenced by external factors and has poor reliability, and the reliability of the limiting device for limiting the material box is influenced.

In view of the above technical problems, the embodiment of the present disclosure provides a limiting device and a warehousing robot, where the limiting device includes a trigger rod and a link slider mechanism, and the trigger rod and the link slider mechanism adopt a mechanical connection scheme, and the trigger rod is triggered by a collision to cause the link slider mechanism to act, so as to change the position of each link rod, so that the position of a limiting end formed at the end of the link rod relative to a bearing surface changes, thereby achieving the purpose of limiting and releasing the limitation of a material box by using the limiting device, and eliminating the need for signal transmission among various components in the limiting device, and therefore the limiting device in the embodiment of the present disclosure is less affected by external factors, and has high reliability.

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.

As shown in fig. 1, the warehousing robot provided by the embodiment of the present disclosure includes a mobile base (not shown), a crane 200, and a fork 300; wherein, remove the base and be used for bearing crane 200 and fork 300, remove the base and be provided with running gear towards one side on ground, running gear includes a plurality of walking wheels and actuating mechanism, and a plurality of walking wheels include the action wheel and follow the driving wheel, and the action wheel is connected with actuating mechanism, can make the removal base advance and turn to etc. under actuating mechanism's drive to make the storage robot move to the operation position.

The lifting frame 200 comprises two uprights 210 and at least one storage tray 220 for temporarily storing the magazine 400. Illustratively, two columns 210 are arranged oppositely, the bottom ends of the columns 210 are vertically fixed on the movable base, a plurality of storage trays 220 are arranged between the two columns 210 at intervals along the height direction of the columns 210, and a storage space of the bin 400 is formed between two adjacent storage trays 220. It should be noted that the front end and the top end of each storage tray 220 are respectively provided with an opening, so that the material box 400 can be conveniently placed on the storage tray 220.

The fork 300 is arranged on one side of the lifting frame 200, the fork 300 comprises a fork body 320 and a telescopic goods taking mechanism, and the telescopic goods taking mechanism is arranged on the fork body 320. The telescopic goods taking mechanism comprises a telescopic tray 310 and grabbing arms positioned on two sides of the telescopic tray 310. Similarly, the top end and the front end of the fork body 320 are provided with openings, the telescopic tray 310 and the grabbing arm can move towards the opening at the front end of the fork body 320, and the telescopic tray 310 can be abutted against the front end of the storage tray 220, so that the phenomenon that the work bin 400 falls due to the fact that a gap is formed between the storage robot and the goods shelf is prevented; meanwhile, the material box 400 is convenient to transfer between the goods shelf and the storage robot, and the working efficiency of the storage robot is improved.

Further, the fork body 320 can slide up and down in the height direction of the crane 200. Illustratively, the lifting frame 200 is further provided with a lifting mechanism, and the lifting mechanism can drive the fork body 320 to move up and down along the upright column 210, so as to drive the whole fork 300 to move up and down along the lifting frame 200, so as to adjust the working height of the fork 300, and enable the warehousing robot to work on the bins 400 located on the goods shelves and having different heights.

The fork body 320 can also be rotated relative to the crane 200, for example, the fork body 320 is rotated by 90 °, the front end of the fork body 320 can be made to face the rack, so as to transfer the bin 400 from the rack to the telescopic tray 310 of the warehousing robot; after the work bin 400 is transferred to the retractable tray 310, the fork body 320 is rotated by 90 °, so that the front end of the fork body 320 is opposite to the storage tray 220, and the work bin 400 can be transferred from the fork 300 to the storage tray 220 of the lifting frame 200. So set up, promote the efficiency that storage robot shifted workbin 400.

As shown in fig. 2, in order to prevent the bin 400 on the storage tray 220 from falling off from the storage tray 220 during the transfer process of the warehousing robot, a limiting device 100 is disposed at the front end of the storage tray 220.

Specifically, the storage tray 220 comprises a tray body 221 and a mounting plate 222, wherein the tray body 221 is a main unit of the load bearing box 400 and is fixed on two upright posts 210 of the lifting frame 200, and a load bearing beam is arranged on the bottom surface of the tray body 221 so as to improve the structural strength of the tray body; further, the mounting plate 222 and the tray body 221 may be an integral structure, and the mounting plate 222 may be formed by bending the front end of the tray body 221; so set up, can further promote the structural strength of storing tray 220.

The mounting plate 222 is provided at the front end opening of the tray body 221, and is used for mounting the stopper 100. The mounting plate 222 can be arranged perpendicular to the bearing surface of the tray body 221, and at least one limiting device 100 is fixed on the inner side of the mounting plate 222; as shown in fig. 2, two position-limiting devices 100 are disposed at the front end of the storage tray 220, and the position-limiting devices 100 are respectively disposed at two sides of the mounting plate 222.

The position limiting device 100 has a position limiting end, and the position of the position limiting end relative to the storage tray 220 is changeable, for example, the mounting plate 222 and the tray body 221 are provided with notches matched with the position limiting end, so that the position limiting end protrudes out of the bearing surface of the tray body 221, and when the position limiting end can protrude out of the bearing surface of the storage tray 220, the position limiting device can limit the material box 400; when the limiting end is lower than the bearing surface or is flush with the bearing surface, the limiting of the material box 400 can be released, and the material box 400 can slide out of the front end of the storage tray 220.

As shown in fig. 3 and 4, the limiting device 100 provided in this embodiment is disposed at the front opening of the storage tray 220, and the limiting device 100 includes a base 10, a trigger rod 20, and at least one set of link-slider mechanisms.

Specifically, the base 10 is used for installing the trigger rod 20 and the link slider mechanism, the base 10 is installed at the front end opening of the storage tray 220, and the base 10 is located on the bottom surface of the storage tray 220 opposite to the bearing surface thereof. The link slider mechanism can be arranged on one side of the base 10, and the link slider mechanism comprises a first link 30, a second link 40 and a slider 50, wherein one end of the first link 30 is hinged to the base 10 and can rotate relative to the base 10, and the hinged position of the first link 30 and the base 10 is located at the front end of the base 10; the other end of the first link 30 is hinged to the second link 40, and the end of the second link 40 away from the first link 30 is hinged to the slider 50.

Along the length direction of the base 10, two ends of the base 10 are defined as the front end and the rear end of the base 10; the trigger bar 20 is slidably installed on the base 10 along the length direction of the base 10, and the first end of the trigger bar 20 is located outside the front end of the base 10 and can protrude to the outside of the storage tray 220.

For example, the first end of the trigger bar 20 is located outside of the mounting plate 222 so that the trigger bar 20 is triggered and slides along the base 10. The second end of the trigger bar 20 is located in the base 10 and connected with a slider 50 in the base 10, and the slider 50 is slidably mounted on the base 10 and can move together with the trigger bar 20 relative to the base 10 to change the initial state of the slider 50 on the base 10.

Further, the limiting device 100 in this embodiment further includes an elastic element 60, the elastic element 60 is disposed between the slider 50 and the base 10, and the elastic element 60 is disposed near the rear end of the base 10, and one end of the elastic element abuts against the slider 50 and the other end abuts against the base 10. When the trigger rod 20 is triggered and slides along the base 10, the second end of the trigger rod 20 drives the slider 50 to move towards the rear end of the base 10, and at this time, the elastic element 60 is in a contracted state; on the contrary, when the trigger lever 20 is not triggered, the elastic member 60 provides a restoring force to the slider 50 to restore the slider 50 to the original position.

It should be noted that, in the embodiment, the fork 300 is disposed opposite to the storage tray 220, and when the telescopic goods taking mechanism of the fork 300 moves towards the storage tray 220, the telescopic goods taking mechanism can collide with the trigger rod 20 protruding out of the storage tray 220 to trigger the trigger rod 20. For example, when the retractable tray 310 of the retractable picking mechanism picks and places the material box 400, the retractable tray 310 may abut against the storage tray 220 and touch the trigger rod 20, so that the limiting device 100 releases its limitation on the material box 400, so as to transfer the material box 400 to the fork 300.

When the storage robot provided by this embodiment is used to transfer the bin 400, when the fork 300 takes out the bin 400 from the storage tray 220, the retractable tray 310 extends to the front end of the storage tray 220, and collides with the trigger rod 20 to make the first end of the trigger rod 20 move, and the second end of the retractable tray drives the slider 50 to move toward the rear end of the base 10, when the slider 50 changes its position on the base 10, one end of the second link 40 far from the slider 50 swings upward or downward, and can drive one end of the second link 40 far from the slider 50 to change its position, so that one end of the second link 40 far from the slider 50 forms the limit end of the limiting device 100.

For example, when the trigger rod 20 is triggered by the collision of the telescopic tray 310, and the end of the second link 40 away from the slider 50 swings downward, the end of the second link 40 away from the slider 50 may be flush with the carrying surface or lower than the carrying surface, so as to release the limit of the limit end on the bin 400, and the bin 400 slides out of the storage tray 220.

On the contrary, when the trigger lever 20 is separated from the retractable tray 310, the sliding block 50 is restored to the initial position under the action of the elastic element 60, and at this time, when the end of the second connecting rod 40 away from the sliding block 50 swings upward, the end of the second connecting rod 40 away from the sliding block 50 may protrude out of the bearing surface, so as to limit the material box 400.

The warehousing robot provided by the embodiment of the disclosure is provided with the limiting device 100 at the front end opening of the storage tray 220, a mechanical connection scheme is adopted between the trigger rod 20 of the limiting device 100 and the link slider mechanism, the trigger rod 20 is triggered by collision to cause the link slider mechanism to act, so that the position of the limiting end is changed, the position of the limiting end relative to the bearing surface is changed, the purposes of limiting and releasing the limitation of the bin 400 by using the limiting device 100 are achieved, and signal transmission among all parts in the limiting device 100 is not needed, so that the limiting device 100 in the embodiment of the disclosure is less influenced by external factors, the reliability is high, the warehousing robot can improve the reliability of limiting the bin 400, and the bin 400 is prevented from falling off the storage tray 220.

As shown in fig. 5, in addition to the above embodiments, the base 10 provided by the present embodiment includes a base body 11, wherein the front end of the base body 11 is fixed on a mounting plate 222, and the front end of the base body 11 is provided with a fastener fixedly connected with the mounting plate 222. The end face of the front end of the base body 11 (the end face opposite to the mounting plate 222) is provided with a socket for inserting the trigger rod 20, the trigger rod 20 may be a round rod, and the hole diameter of the socket is larger than the rod of the trigger rod 20, so that the trigger rod 20 can slide on the base 10.

The base body 11 is further provided with a mounting groove and a mounting hole 12, and the mounting groove and the mounting hole 12 are communicated with the jack. The length direction of the mounting groove and the mounting hole 12 is the same as the length direction of the base 10, the depth direction of the mounting groove is the same as the width direction of the base 10, and the mounting hole 12 penetrates the entire base 10 along the width direction of the base 10.

The slide block 50 is slidably mounted in the mounting groove or the mounting hole 12; for example, if the slider 50 is mounted in a mounting slot, a portion of the slider 50 is embedded in the mounting slot and connected to the second end of the trigger rod 20 extending into the mounting slot or mounting hole 12. Part of the sliding block 50 is located at the outer side of the base 10 and is hinged with one end of the second connecting rod 40, so that the position of the limiting end can be changed along with the position change of the sliding block 50 in the mounting groove.

The elastic member 60 may be a coil spring, one end of which abuts against one side of the slider 50, and the other end of which abuts against a wall surface of the mounting groove or the mounting hole 12, and the slider 50 may be restored to an initial position by an elastic force of the elastic member 60.

In other embodiments, as shown in fig. 6, the second end of the trigger rod 20 passes through the front end of the base 10, the sliding block 50 and the rear end of the base 10 in sequence, and is located outside the rear end of the base 10, and the rear end and the front end of the base 10 are provided with opposite insertion holes for the trigger rod 20 to pass through.

The spiral spring can be sleeved on the second end of the trigger rod 20, one end of the spiral spring is abutted against one side of the sliding block 50, the other side of the spiral spring is abutted against the wall surface of the mounting groove or the mounting hole 12, and the sliding block 50 can be restored to the initial position under the action of the elastic force of the elastic element 60. So set up, the jack of accessible base 10 front and back both ends is spacing to the slip direction of trigger bar 20, guarantees the stability of connecting rod slider mechanism motion.

In a possible embodiment, the limiting device 100 includes two sets of link slider mechanisms, the two sets of link slider mechanisms are respectively symmetrically disposed on two sides of the base 10, and the sliders 50 in the two link slider mechanisms can be respectively disposed in the mounting grooves, that is, the two sides of the base 10 are respectively provided with the mounting grooves for the sliders 50 to slide.

On the basis of the above embodiment, in order to ensure the synchronous operation of the two sets of link-slider mechanisms, the second links 40 of the two sets of link-slider mechanisms can be connected to the same slider 50. The base body 11 is provided with the above-mentioned mounting hole 12, the slider 50 is embedded in the mounting hole 12, and a side of the slider 50 facing the second link 40 may be hinged with the second link 40. For example, a side of the slider 50 facing the second link 40 may protrude from a side surface of the base body 11 to facilitate the second link 40 to be hinged with the slider 50.

With reference to fig. 6, in the present embodiment, the first link 30 is located outside the second link 40, an end of the first link 30 is hinged to the second link 40, one end of the second link 40 is hinged to the sliding block 50, and one end of the second link 40 away from the sliding block 50 forms a limiting end.

As shown in fig. 7, in order to improve the limiting effect of the limiting end on the material box 400, the second connecting rod 40 in this embodiment includes a rod 41 and a hook 42, wherein one end of the rod 41 is hinged to the sliding block 50, the other end of the rod 41 is hinged to the first connecting rod 30, one end of the hook 42 is disposed near the hinged portion of the rod 41 and the first connecting rod 30, and the other end of the hook 42 is bent toward one side of the storage tray 220 to form the limiting end. With such an arrangement, when the limit end receives the impact force from the material box 400, the hook 42 can decompose the impact force, thereby preventing the second connecting rod 40 from rotating downwards to cause the limit end to be lower than the bearing surface, and improving the reliability of the limit device 100.

Further, this embodiment is provided with the locating part at spacing end, and the locating part can be the limiting block etc. for example, spacing end can be provided with the rubber limiting block, when workbin 400 slides on storage tray 220 and when butt with the locating part, can prevent that workbin 400 from damaging. Preferably, the limiting member may be a limiting wheel 70, and the limiting wheel 70 is rotatably disposed at the limiting end. So set up, frictional force when can reduce workbin 400 roll-off, it is smooth and easy to guarantee to slide when workbin 400 takes out, moreover, spacing wheel 70 can decompose the impact force that comes from workbin 400, promotes stop device 100's reliability.

As shown in fig. 8, when the bin 400 is transferred by the warehousing robot provided by this embodiment, when the fork 300 takes out the bin 400 from the storage tray 220, the retractable tray 310 of the fork 300 collides with the trigger rod 20, and the first end of the trigger rod 20 drives the slider 50 and moves toward the rear end of the base 10 against the elastic force of the elastic element 60, and the second end penetrates out of the rear end of the base 10. The slide block 50 is close to the rear end of the base 10, and the second connecting rod 40 swings downwards, so that the limiting wheel 70 is lowered and positioned below or flush with the bearing surface of the storage tray 220, and the limitation on the bin 400 is released.

On the contrary, as shown in fig. 9, when the triggering rod 20 is separated from the retractable tray 310, the sliding block 50 is restored to the initial position under the action of the elastic element 60, and at this time, when the second connecting rod 40 swings upward, the height of the limiting wheel 70 rises and protrudes out of the bearing surface of the storage tray 220, so as to limit the position of the bin 400.

The warehousing robot provided by the embodiment of the disclosure can limit the position of the material box 400 by the limiting wheel 70 when the material box 400 is placed on the storage tray 220. When the work bin 400 needs to be transferred to the pallet fork 300, or the work bin 400 is transferred from the pallet fork 300 to the storage tray 220, the telescopic tray 310 of the pallet fork 300 collides with the trigger rod 20, the trigger rod 20 is collided and is triggered to cause the action of the connecting rod-slider mechanism, so that the position of the limiting end is changed, and the position of the limiting end relative to the bearing surface is changed, so that the purposes of limiting and releasing limiting the work bin 400 by using the limiting device 100 are achieved, signal transmission among all parts in the limiting device 100 is not needed, therefore, the limiting device 100 in the embodiment of the disclosure is less affected by external factors, the reliability is high, and further, the warehousing robot can improve the reliability of limiting the work bin 400, and the work bin 400 is prevented from falling from the storage tray 220.

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, terms should be understood at least in part by their use in 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 its broadest sense such that "on … …" means not only "directly on something", but also includes the meaning of "on something" with intervening features or layers therebetween, and "above … …" or "above … …" includes not only the meaning of "above something" or "above" but also includes the meaning of "above something" or "above" with no intervening 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; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (11)

1. A limiting device is arranged at an open port at one end of a storage tray and is characterized by comprising a base, a trigger rod and at least one group of connecting rod and sliding block mechanisms;

the base is arranged at an opening at one end of the storage tray, the connecting rod slider mechanism is arranged on one side of the base and comprises a first connecting rod, a second connecting rod and a slider which are sequentially hinged, one end, far away from the second connecting rod, of the first connecting rod is hinged with the base, one end, far away from the slider, of the second connecting rod forms a limiting end, and the limiting end protrudes out of the bearing surface of the storage tray and is used for limiting a material box on the bearing surface;

the trigger rod is slidably mounted in the base along the direction from the front end to the rear end of the base, the first end of the trigger rod is positioned outside the base and extends to the outer side of the storage tray, the second end of the trigger rod is fixedly connected with the sliding block slidably mounted in the base, and an elastic element is arranged between the sliding block and the rear end of the base;

the trigger rod is configured to slide relative to the base when the first end of the trigger rod is triggered, and the limiting end is lower than the bearing surface or flush with the bearing surface.

2. The spacing device of claim 1, wherein said base is provided with mounting slots or holes;

the sliding block is slidably mounted in the mounting groove or the mounting hole, one end of the elastic element is abutted to the sliding block, and the other end of the elastic element is abutted to the wall surface of the mounting groove or the mounting hole.

3. The spacing device of claim 2, wherein said second end of said trigger rod passes through said mounting slot or said mounting hole and is located outside the rear end of said base.

4. A spacing device according to claim 3 wherein said resilient element is a helical spring;

the elastic element is sleeved on the trigger rod, one end of the elastic element is abutted to the sliding block, and the other end of the elastic element is abutted to the mounting groove or the wall surface of the mounting hole.

5. A spacing device according to any of claims 2 to 4, wherein said spacing device comprises two sets of said link-slider mechanisms;

and the two groups of connecting rod sliding block mechanisms are respectively and symmetrically arranged on two sides of the base.

6. A spacing device according to claim 5 wherein said base is provided with said mounting aperture;

and the second connecting rods in each connecting rod sliding block mechanism are hinged on the same sliding block together.

7. The spacing device of claim 1, wherein said second link comprises a rod and a hook;

the hook body is positioned at one end, far away from the sliding block, of the second connecting rod, and the hook body is bent towards one side of the storage tray;

the first connecting rod is hinged with the rod body, and one end, far away from the rod body, of the hook body forms the limiting end.

8. A spacing device according to claim 7, characterized in that the spacing end is provided with a spacing member.

9. The stop device according to claim 8, wherein the stop member is a stop wheel rotatably disposed on the hook body.

10. A warehousing robot comprising a crane, a fork and a position limiting device of any one of claims 1 to 9;

the lifting frame comprises a plurality of storage trays arranged at intervals, an opening is formed in the front end of each storage tray, and at least one limiting device is arranged at the opening;

the fork comprises a telescopic goods taking mechanism, and the telescopic goods taking mechanism can be contacted with the trigger rod of the limiting device when extending out.

11. The warehousing robot of claim 10, wherein the telescopic pickup mechanism comprises a telescopic tray;

an opening of the storage tray is provided with a mounting plate for fixing the limiting device, and the trigger rod extends out of the mounting plate;

the flexible tray with the mounting panel sets up relatively, just flexible tray configuration is for can moving towards the mounting panel and collide the trigger bar.

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