CN217478194U - Storage assembly, carrying robot and warehousing system - Google Patents

Abstract

The application provides a store up position subassembly includes: a tray body having a bearing plane and a hole site having an opening in the bearing plane; the rotor subassembly, it is installed in the tray main part, and the rotor subassembly includes two at least rotors that are located the hole site to, every rotor all has upwards outstanding default phase place on bearing the weight of the plane from the hole site and the avoidance phase place of indentation in the hole site, wherein: when a load is loaded on the loading plane, the rotor positioned in the size range of the load is switched from the default phase to the avoidance phase in response to the extrusion force generated by the load, and the rotor positioned outside the size range is kept in the default phase; and when the extrusion force of the rotor in the avoidance phase disappears, the rotor automatically returns to the default phase. The storage position assembly provided by the application can be suitable for containers of different sizes, and the rotor assembly of the storage position assembly simultaneously has a default phase position and a retraction phase position, so that the pushing-in or pushing-out of the containers on the storage position assembly is not influenced.

Description

Storage assembly, carrying robot and warehousing system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a storage assembly, a carrying robot and a warehousing system.

Background

In the technical field of warehouse logistics, a transfer robot can pick and place a container on a goods shelf. The transfer robot generally includes a body, on which a fork is provided, and the fork is provided with a storage assembly, wherein the fork can be lifted in a vertical direction and also can be extended and retracted in a horizontal direction, so as to take out a container from a shelf or transfer the container to the shelf. However, by adopting the technical scheme, the size of the container is often smaller than the space size of the storage position assembly, so that the container is difficult to be limited in the storage position assembly, and the efficiency and the precision of the transfer robot are not improved.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present application is directed to a storage assembly, a transfer robot, and a warehousing system.

The application provides a store up position subassembly includes: a tray body having a bearing plane and a hole site with an opening in the bearing plane; a rotor assembly mounted on the tray body, the rotor assembly including at least two rotors located in the hole sites, and each rotor having a default phase protruding upward from the hole sites above the bearing plane and an avoidance phase retracted into the hole sites, wherein: when a load is borne on the bearing plane, the rotor located in the size range of the load is switched from the default phase to the avoidance phase in response to the pressing force generated by the load, and the rotor located outside the size range is kept in the default phase; and when the extrusion force of the rotor in the avoidance phase disappears, the rotor automatically returns to the default phase.

In one embodiment, the storage assembly further comprises: a rotation shaft disposed below the tray main body; wherein the rotor is eccentrically mounted to the rotating shaft, and: and when the extrusion force of the rotor in the avoidance phase disappears, the rotor automatically returns to the default phase in response to eccentric rotation under the action of gravity, and the return torque formed by the gravity on the rotor is smaller than the driving torque formed by the extrusion force on the rotor.

In one embodiment, the magazine assembly further comprises: the bracket is fixed below the tray main body, and the rotating shaft is arranged on the bracket.

In one embodiment, the carrier generates the squeezing force by translating in the first direction in the carrier plane; the plane of rotation of each said rotor is parallel to said first direction; the rotor assembly includes at least one rotor set including at least two of the rotors spaced apart in a second direction, the second direction being perpendicular to the first direction.

In one embodiment, the tray body further has a stopper wall protruding above the bearing plane; the limiting wall is arranged at the edge of the tray main body along the first direction.

In one embodiment, one end of the limiting wall in the first direction is expanded to form a guide wall for guiding the carrier to translate to the carrying plane.

In one embodiment, at least two of said rotors of the same set of rotors are arranged in the same bore.

In one embodiment, the number of the rotor sets is at least two, and at least two of the rotor sets are arranged at intervals in the first direction and/or the second direction.

In one embodiment, at least two rotor sets arranged at intervals along the second direction are respectively arranged on two opposite sides of the bearing plane in the second direction.

Another aspect of this application provides a transfer robot, including base, stand, elevating gear, fork and a plurality of storage position subassembly, the stand is vertical to be set up on the base, and elevating gear sets up on the stand, and the fork setting is connected in one side of stand and with elevating gear, and the fork can move along vertical direction under elevating gear's drive, and a plurality of storage position subassemblies set up the opposite side at the stand, and at least one of a plurality of storage position subassemblies adopts as above storage position subassembly.

In one embodiment, a storage position assembly as described above is provided within the forks.

Another aspect of the present application provides a storage system, which includes a rack, a transfer robot as described above, and a passage for the transfer robot to move, and the transfer robot can move along the passage to the side of the rack to pick and place the carriers.

According to the technical scheme, the storage position assembly provided by the application can be suitable for containers with different sizes, and the rotor assembly of the storage position assembly simultaneously has the default phase and the retraction phase, so that the pushing-in or pushing-out of the containers on the storage position assembly is not influenced.

Drawings

The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention:

FIG. 1 is a schematic view of a storage assembly according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a storage assembly according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a rotating shaft and a rotor provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by referring to the accompanying drawings and examples.

In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.

It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "including," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Further, when a statement such as "at least one of …" appears after the list of listed features, the entire listed feature is modified rather than modifying an individual element in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.

As used herein, the terms "substantially," "about," and the like are used as terms of table approximation and not as terms of table degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

FIG. 1 is a schematic view of a storage assembly according to an embodiment of the present application from a first perspective; FIG. 2 is a schematic view of a storage assembly according to an embodiment of the present application from a second perspective;

referring to fig. 1 and fig. 2, the bit storage assembly provided in this embodiment includes:

the tray body 10, the tray body 10 has a bearing plane 11, and the tray body 10 further has a hole site 100 having an opening on the bearing plane 11.

A rotor assembly 20, the rotor assembly 20 being mounted to the tray body 10, the rotor assembly 20 including at least two rotors 200 located at the hole sites 100, and each rotor 200 having a default phase protruding upward from the hole sites 100 above the bearing plane 11 (the rotors 200 in the default phase are shown in fig. 1 and 2), and an escape phase retracted into the hole sites 100 (the escape phase may be perpendicular to the default phase), wherein:

when a load is loaded on the loading plane 11, the rotor 200 located within the size range of the load is switched from the default phase to the avoidance phase in response to the pressing force generated by the load, and the rotor 200 located outside the size range can still be kept at the default phase;

the rotor 200 in the avoidance phase can automatically return to the default phase when the pressing force generated by the load carried on the carrying plane 11 disappears.

In the embodiment of the present application, only the tray main body 10 has a rectangular overall contour and the bearing plane 11 is a rectangular plane as an example, in this case, the tray main body 10 may be more suitable for an application scenario of a regular bearing object such as a rectangular box, but it can be understood that the contour shape of the tray main body 10 and the plane shape of the bearing plane 11 may be arbitrarily set according to actual needs, which does not constitute a limitation to the scheme of the embodiment of the present application.

In the embodiment of the present application, the load is carried on the carrying plane 11 by being pushed into the tray body 10, and is separated from the carrying plane 11 by being pushed out of the tray body 10 from the carrying plane 11 (i.e. the pressing force generated by the load carried on the carrying plane 11 disappears). Also, in the case where the tray main body 10 has an overall rectangular contour and the loading plane 11 is a rectangular plane, a direction in which the load is pushed into and out of the tray main body 10 may be a first direction X parallel to one side of the rectangle, and accordingly, in an embodiment of the present application, another direction parallel to another side adjacent to and perpendicular to the one side of the rectangle may be referred to as a second direction Y, that is, the first direction X and the second direction Y may be perpendicular to each other.

In one possible embodiment, the storage position assembly of the present embodiment may further include a rotating shaft 22, the rotating shaft 22 is disposed below the tray body 10 in parallel to the second direction Y, and the rotor assembly 20 includes a rotor 200 rotatably mounted on the rotating shaft 200. The number of the rotating shafts 22 may be less than the number of the rotors 200, that is, at least two rotors 200 may be installed on the same rotating shaft 22, and each rotor 200 installed on the same rotating shaft 22 is limited in the second direction Y to avoid the rotor 200 from moving in the second direction Y.

That is, switching of the rotor 200 between the default phase and the avoidance phase may be achieved by rotation about the rotation shaft 22. Wherein the rotation process of the rotor 200 from the default phase to the avoidance phase is driven around the rotary shaft 22 in response to the pressing force generated by the load; also, the self-returning rotation process of the rotor 200 from the avoidance phase to the default phase may be driven by an elastic member (such as a torsion spring) provided at the rotation shaft 22.

In order to avoid using the elastic element to drive the self-returning of the rotor 200, so as to save the cost of the storage assembly, in the embodiment of the present application, the self-returning can be realized by using the gravity of the rotor 200. In this case, each rotor 200 included in the rotor assembly 20 may be eccentrically mounted to the rotating shaft 22.

When the eccentrically installed rotor 200 does not receive the pressing force generated by the load, the first end (i.e., the distal end) with a larger mass of the rotor 200 may droop in the plumb direction under the gravity, so that the second end (i.e., the proximal end) with a smaller mass of the rotor 200 swings upward from the hole site 100 and protrudes out of the load-bearing plane 11 of the tray body 10, thereby setting the rotor 200 as the default phase;

when the eccentrically-installed rotor 200 receives the pressing force generated by the load pushed into the tray body 10 in the first direction, the second end (i.e., the proximal end) of the rotor 200 swings toward the hole site 100 due to the pressing force generated when the load is pushed in the first direction X, and the drooping first end (i.e., the distal end) also swings toward the hole site 100 from bottom to top against the action of gravity, so that the rotor 200 is switched from the default phase to the avoidance phase, and the rotor 200 in the avoidance phase does not protrude from the bearing plane 11 of the tray body 10 as a whole.

Accordingly, since the switching of the eccentrically installed rotor 200 from the default phase to the avoidance phase is realized by pressing the gravity (i.e. gravity at the far end) borne by the rotor 200 with the pressing force, when the load is pushed out from the tray body 10, the pressing force by the pressing gravity disappears, the first end (i.e. the far end) of the rotor 200 automatically swings out downwards from the hole 100 under the driving of gravity, and drives the second end (i.e. the near end) of the rotor 200 to automatically return to the bearing plane 11 protruding out of the tray body 10, i.e. automatically switches to the default phase.

Obviously, the gravity force generates a return torque to the rotor of the eccentric structure smaller than a driving torque to the rotor by the pressing force when the different-sized load is pushed into or out of the tray main body 10 in the first direction X. The rotors in different corresponding bearing object size ranges are switched from the default phase to the avoidance phase in the pushing process, and are switched from the avoidance phase to the default phase in the pushing process, and the rotors in the default phase cannot move along the second direction Y, so that the bearing objects can be prevented from translating possibly along the second direction Y in the tray main body 10.

In one possible embodiment, the storage position assembly of the present embodiment includes a bracket 30, the bracket 30 is fixed below the tray main body 10, and the rotating shaft 22 is installed on the bracket 30.

In one possible embodiment, the rotor assembly 20 may include at least one rotor set 21, each rotor set 21 may include at least two rotors 200, and the at least two rotors 200 included in the same rotor assembly 20 may be spaced apart in the second direction Y.

Referring to fig. 1 and 3, at least two rotors 200 in each rotor set 21 may be located in the same aperture 100 in the tray body 10, and in order to be able to accommodate different sizes of load-bearing objects, the rotor assembly 20 may include a plurality of rotor sets 21 arranged at intervals in the first direction X and the second direction Y, for example, there may be a plurality of rotating shafts 22 parallel to the second direction Y, the rotating shafts 22 are arranged at intervals below the tray body 10, a plurality of rotor sets 21 may be arranged at intervals in the second direction Y on each rotating shaft 22, for example, two rotor sets 21 may be arranged on two opposite sides of the load-bearing plane 11 in the second direction Y. Thus, the rotor assembly 20 may include a plurality of rotor sets 21 disposed in an array.

In one possible embodiment, the tray body 10 may further have a stopper wall 12 protruding above the bearing plane 11, the stopper wall 12 may be disposed at an edge of the tray body 10 in the first direction X, and the stopper wall 12 may further have a guide wall 13 expanding to both sides at one end of the first direction X for pushing the contents into or out of the bearing plane 11.

Alternatively, the rotor 200 in this embodiment may be a bar or a cam.

In summary, the present application provides a position storage assembly that can generate a limiting effect for containers of different sizes on the tray body 10, i.e. can be applied to containers of different sizes, and the rotor assembly 20 has both a default phase and a retraction phase, which does not affect the pushing in or pushing out of the containers on the position storage assembly.

Another aspect of the present application provides a transfer robot, including base, stand, elevating gear, fork and a plurality of storage position subassembly, for example, the stand is vertical to be set up on the base, elevating gear sets up on the stand, the fork setting is in one side of stand and is connected with elevating gear, the fork can move along vertical direction under elevating gear's drive, a plurality of storage position subassemblies set up the opposite side at this stand, at least one in a plurality of storage position subassemblies can be above store up the position subassembly.

In one possible embodiment, a storage position assembly as described above is provided within the forks.

Another aspect of the present application provides a warehousing system, which includes a rack, a transfer robot and a passageway for the transfer robot to move, when the warehousing system is in operation, the transfer robot can move to the side of the rack along the passageway to pick and place the load.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (12)

1. A reservoir assembly, comprising:

a tray body having a bearing plane and a hole site with an opening in the bearing plane;

a rotor assembly mounted on the tray body, the rotor assembly including at least two rotors located in the hole sites, and each rotor having a default phase protruding upward from the hole sites above the bearing plane and an avoidance phase retracted in the hole sites, wherein:

when a load is carried on the carrying plane, the rotor located within the size range of the load is switched from the default phase to the avoidance phase in response to a pressing force generated by the load, and the rotor located outside the size range is kept at the default phase;

and when the extrusion force of the rotor in the avoidance phase disappears, the rotor automatically returns to the default phase.

2. The magazine assembly of claim 1, further comprising:

a rotating shaft disposed below the tray main body;

wherein the rotor is eccentrically mounted to the rotating shaft, and:

and when the extrusion force of the rotor in the avoidance phase disappears, the rotor automatically returns to the default phase in response to eccentric rotation under the action of gravity, and the return torque formed by the gravity on the rotor is smaller than the driving torque formed by the extrusion force on the rotor.

3. The magazine assembly of claim 2, further comprising:

the bracket is fixed below the tray main body, and the rotating shaft is arranged on the bracket.

4. The stowage assembly of claim 1,

the bearing object generates the extrusion force by translating along a first direction on the bearing plane;

the rotation plane of each rotor is parallel to the first direction;

the rotor assembly includes at least one rotor set including at least two of the rotors spaced apart in a second direction, the second direction being perpendicular to the first direction.

5. The stowage assembly of claim 4,

the tray main body is also provided with a limiting wall protruding above the bearing plane;

the stopper wall is disposed at an edge of the tray main body in the first direction.

6. The stowage assembly of claim 5,

one end of the limiting wall in the first direction is expanded to form a guide wall for guiding the bearing object to translate to the bearing plane.

7. The stowage assembly of claim 4,

at least two rotors in the same rotor set are arranged in the same hole site.

8. The magazine assembly of claim 4,

the number of the rotor sets is at least two, and at least two of the rotor sets are arranged at intervals in the first direction and/or the second direction.

9. The magazine assembly of claim 8, comprising:

at least two rotor sets arranged at intervals along the second direction are respectively arranged on two opposite sides of the bearing plane in the second direction.

10. A transfer robot, comprising a base, a vertical column, a lifting device, a fork and a plurality of storage assemblies, wherein the vertical column is vertically arranged on the base, the lifting device is arranged on the vertical column, the fork is arranged on one side of the vertical column and connected with the lifting device, the fork can move in the vertical direction under the driving of the lifting device, the plurality of storage assemblies are arranged on the other side of the vertical column, and at least one of the plurality of storage assemblies adopts the storage assembly as claimed in any one of claims 1 to 9.

11. A transfer robot as claimed in claim 10, wherein the fork has a storage position assembly as claimed in any one of claims 1 to 9 built therein.

12. A storage system comprising a rack, a transfer robot as claimed in any one of claims 10 or 11, and a passage for movement of the transfer robot, the transfer robot being movable along the passage to the side of the rack to access a load.

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