CN217576725U - Storage robot - Google Patents

Abstract

The application provides a storage robot, which comprises a movable chassis, a vertical support, a carrying device and a floating protection device, wherein the vertical support comprises a fixed support and a movable support, the carrying device can lift relative to the movable support along the vertical direction, the floating protection device comprises a floating unit, a trigger assembly and a controller, the floating unit is arranged at the top of the movable support, the trigger assembly comprises a first trigger part and a second trigger part, the first trigger part is electrically connected with the controller, the first trigger part is positioned on the carrying device, and the second trigger part is positioned on the floating unit; when the floating unit is pressed, the floating unit moves towards the carrying device, so that the second trigger piece triggers the first trigger piece, and when one of the first trigger piece and the second trigger piece is triggered by the other one, the controller controls the movable support to stop rising. The application provides a storage robot solves and removes other housing structures such as the support collision room ceiling, causes the problem of damage to house and self.

Description

Storage robot

Technical Field

The embodiment of the application relates to an intelligent warehousing technology, in particular to a warehousing robot.

Background

Intelligent warehousing is an important link in the logistics process. The warehousing robot plays an important role in intelligent warehousing, can carry out automatic carrying operation, replaces manual goods carrying operation, and reduces heavy physical labor of human beings.

The warehousing robot comprises a carrying device, a fixed support and a movable support, the carrying device is connected with the movable support, the carrying device is used for carrying goods between the warehousing robot and a goods placing position (such as a goods shelf), the movable support is connected with the fixed support, and the movable support is lifted relative to the fixed support.

However, the moving rack may rise to collide with other structures such as a ceiling of a house ceiling, thereby causing damage to the warehousing robot and the house.

SUMMERY OF THE UTILITY MODEL

The application provides a storage robot to solve and remove other housing structures such as the support collision room ceiling, cause the problem of damage to house and self.

The application provides a storage robot, which comprises a movable chassis, a vertical support, a carrying device and at least one floating protection device, wherein the vertical support comprises a fixed support and a movable support;

the carrying device can lift in the vertical direction relative to the movable support, and when the carrying device rises to the upper part of the movable support, the carrying device drives the movable support to lift in the vertical direction relative to the fixed support;

the floating protection device comprises a floating unit, a trigger assembly and a controller, wherein the floating unit is arranged at the top of the movable support, the trigger assembly comprises a first trigger piece and a second trigger piece, the first trigger piece is electrically connected with the controller, the first trigger piece is positioned on the carrying device, and the second trigger piece is positioned on the floating unit;

when the floating unit is pressed, the floating unit moves towards the carrying device, so that the second trigger piece triggers the first trigger piece, and when one of the first trigger piece and the second trigger piece is triggered by the other one, the controller controls the movable support to stop rising.

In a possible implementation manner, the storage robot provided by the application includes a movable cover and at least one supporting element, the supporting element is connected with the movable cover, the second triggering element is fixedly connected with the supporting element, the supporting element is inserted on the movable support, and when the movable cover is under pressure, the movable cover drives the second triggering element to move towards the first triggering element through the supporting element.

In a possible implementation manner, the warehouse robot provided by the application, the movable support comprises a movable support body and a top support plate, the carrying device is connected with the movable support body in a sliding mode, the carrying device is lifted up and down along the vertical direction relative to the movable support body, the top support plate is fixedly connected to the top end of the movable support body, and the supporting piece is inserted into the top support plate and moves relative to the top support plate.

In a possible implementation manner, the storage robot provided by the application further includes at least one guide member, the guide member is fixedly connected to the top supporting plate, at least one through hole is formed in the top supporting plate, the guide members are inserted into the through hole in a one-to-one correspondence manner, the guide members extend towards the second trigger member, the support members are inserted into the guide members in a one-to-one correspondence manner, and the support members move relative to the guide members.

In a possible implementation manner, the support piece of the warehousing robot provided by the application is cylindrical, and the guide piece is a linear bearing.

In a possible implementation manner, the warehousing robot provided by the application, the second triggering piece is fixedly connected to one end, facing the first triggering piece, of the supporting piece.

In a possible implementation manner, in the warehousing robot provided by the present application, one of the first trigger and the second trigger is a trigger switch, and the other one is a trigger block.

In one possible implementation manner, the warehousing robot provided by the application further comprises at least one elastic piece, wherein the elastic piece is arranged between the movable cover and the top supporting plate;

when the movable cover is pressed, the elastic piece is compressed, so that the movable cover moves towards the first trigger piece;

when the movable cover releases pressure, the elastic part extends to drive the movable cover to move towards one side departing from the top supporting plate, so that the second trigger part is separated from the first trigger part.

In a possible implementation manner, the storage robot provided by the application further comprises a fixed cross beam, the fixed cross beam is fixedly connected with the inner wall of the movable cover, and the supporting piece and the elastic piece are connected with the fixed cross beam.

In a possible implementation, the storage robot that this application provided, fixed cross beam has at least one first mounting groove towards the one side of top support plate, and the elasticity direction of elastic component is unanimous with vertical direction, and the one end one-to-one of the elasticity direction of elastic component is inserted and is established in first mounting groove.

In a possible implementation manner, the storage robot provided by the application, the floating unit further includes an adjusting assembly, the adjusting assembly is located on the top supporting plate, the other end of the elastic member in the elastic direction is connected with the adjusting assembly, and the adjusting assembly moves in the vertical direction relative to the top supporting plate to adjust the elastic force of the elastic member.

In a possible implementation manner, the storage robot that this application provided, adjusting part includes adjusting nut and adjusting stud, and adjusting stud inserts and establishes on the top sprag board, and adjusting nut passes through threaded connection with adjusting stud, and adjusting stud has the second mounting groove towards the tip of fixed crossbeam, and the second mounting groove is located two relative sides of top sprag board respectively with adjusting stud, and the other end one-to-one of the elasticity direction of elastic component is inserted and is established in the second mounting groove.

In a possible implementation manner, the storage robot provided by the application further comprises a buffer piece, and the buffer piece is fixedly connected with one face, facing the fixed cross beam, of the top supporting plate.

In a possible implementation manner, in the storage robot provided by the application, the number of the elastic elements is two, the buffer element is located between the two elastic elements, the number of the supporting elements is two, and the buffer element and each elastic element are located between the two supporting elements.

In a possible implementation, the storage robot that this application provided, remove the support and still include top shell, and top shell covers in the top of top support plate, top shell and top support plate rigid coupling, and the movable cover covers on top shell, and top shell is located the movable cover towards the projection of movable cover.

In a possible implementation manner, the storage robot provided by the application has the advantages that the top shell and the top supporting plate jointly enclose an accommodating cavity, and the buffer piece is located in the accommodating cavity;

an avoiding groove is formed in the top shell, and when the elastic piece is compressed, at least part of the elastic piece and at least part of the fixed cross beam enter the accommodating cavity through the avoiding groove.

The storage robot provided by the application comprises a vertical support, a carrying device and at least one floating protection device, wherein the vertical support comprises a fixed support and a movable support, the floating protection device comprises a floating unit, a trigger assembly and a controller, in the process that the movable support rises relative to the fixed support, if the movable support meets a ceiling or other structures on the ceiling, the floating unit on the movable support moves towards the carrying device to reduce the height of the storage robot, in the process that the floating unit moves towards the carrying device, a second trigger piece on the floating unit moves towards the carrying device to enable the second trigger piece to trigger a first trigger piece on the carrying device, and when one of the first trigger piece and the second trigger piece is triggered by the other one of the first trigger piece and the second trigger piece, the controller controls the movable support to stop rising, so that the movable support can be prevented from rising continuously and damages to a house and the house, and therefore other structures on the storage robot, the ceiling or the ceiling are protected, and the running reliability of the storage robot is improved.

Drawings

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

Fig. 1 is a schematic structural diagram of a warehousing robot provided in an embodiment of the present application;

fig. 2 is a front view of a warehousing robot provided in an embodiment of the present application;

FIG. 3 is an enlarged view of a portion of FIG. 1 at A;

fig. 4 is a schematic structural diagram of a floating protection device and a part of a movable bracket in the warehousing robot provided by the embodiment of the application;

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a top view of FIG. 5;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a cross-sectional view taken along line C-C of FIG. 5;

fig. 9 is an exploded view of fig. 4.

Description of reference numerals:

100-a mobile chassis;

200-vertical support; 210-a fixed support; 220-moving the support; 221-moving the stent body; 222-a top support plate; 2221-a through hole; 223-a top shell; 2231-avoidance slots;

300-a handling device;

400-a floating guard; 410-a floating cell; 411-a movable cover; 412-a support; 413-a guide; 414-a resilient member; 415-a fixed beam; 4151-first mounting groove; 416-an adjustment assembly; 4161-adjusting the nut; 4162-adjusting the stud; 4163-a second mounting groove; 417-a buffer; 420-a trigger component; 421-a first trigger; 422-second trigger.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may for example be fixed or indirectly connected through intervening media, or may be interconnected between two elements or may be in the interactive relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like refer to orientations or positional relationships based on the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present application.

The terms "first," "second," and "third," if any, in the description and claims of this application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

Intelligent warehousing is an important link in the logistics process. The application of intelligent storage ensures the speed and accuracy of data input of the packing box in each link of warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. The intelligent storage can comprise a storage robot, a goods shelf and a transport line, the storage robot plays an important role in the intelligent storage, and the storage robot can carry out automatic carrying operation instead of manual carrying of goods, so that heavy physical labor of human beings is reduced.

The warehousing robot can comprise a carrying device, a movable chassis, a fixed support and a movable support, wherein the fixed support is connected with the movable chassis, the carrying device is connected with the movable support, and the carrying device is used for carrying goods between the warehousing robot and a goods placement position (such as a goods shelf); the movable chassis drives the fixed support to move on the ground; the movable support is connected with the fixed support and is lifted relative to the fixed support, so that the carrying device carries goods on different layers of the goods shelf.

The storage robot and the racks are located in the house, and the lifting of the mobile rack may collide with the ceiling of the house or other structures on the ceiling (e.g., lighting lamps or support beams), thereby causing damage to the storage robot and the house.

Based on this, this application embodiment provides a storage robot, through setting up floating protection device, when floating protection device runs into ceiling or other structures on the ceiling, floating protection device can move towards handling device to reduce storage robot's height, and control storage robot and stop rising, from this, solved and moved other structures such as house ceiling that the support collides, cause the problem of damage to house and self.

The present application will now be described in detail with reference to the drawings and specific examples.

Fig. 1 is a schematic structural diagram of a warehousing robot provided in an embodiment of the present application; fig. 2 is a front view of a warehousing robot provided by an embodiment of the application; fig. 3 is a partially enlarged view of a portion a in fig. 1. Referring to fig. 1 to 3, the present application provides a storage robot including a moving chassis 100, a vertical stand 200, a carrying device 300, and at least one floating guard 400, wherein the vertical stand 200 includes a fixed stand 210 and a moving stand 220, the fixed stand 210 is disposed on the moving chassis 100, the moving stand 220 is mounted on the fixed stand 210, and the carrying device 300 is mounted on the moving stand 220.

The carrying device 300 can be lifted up and down along the vertical direction relative to the moving rack 220, and when the carrying device 300 is lifted up to the upper part of the moving rack 220, the carrying device 300 drives the moving rack 220 to lift up and down along the vertical direction relative to the fixed rack 210.

The floating guard 400 includes a floating unit 410, a triggering assembly 420 and a controller, the floating unit 410 is disposed on the top of the movable bracket 220, the triggering assembly 420 includes a first triggering member 421 and a second triggering member 422, the first triggering member 421 is electrically connected to the controller, the first triggering member 421 is disposed on the carrying device 300, and the second triggering member 422 is disposed on the floating unit 410.

When the floating unit 410 receives a pressure, it moves toward the conveying device 300, so that the second trigger 422 triggers the first trigger 421, and when one of the first trigger 421 and the second trigger 422 is triggered by the other, the controller controls the moving bracket 220 to stop rising.

In the present application, the mobile chassis 100 may enable the warehousing robot to move on a support surface (e.g., the ground); specifically, the mobile chassis 100 realizes the actions of the warehousing robot such as advancing, retreating, turning around and the like on the ground. The mobile chassis 100 may be a mobile structure known to those skilled in the art, and the structure of the mobile chassis 100 is not limited in this application.

The bottom of the fixed bracket 210 is connected to the movable chassis 100, the fixed bracket 210 extends in a vertical direction, and the movable bracket 220 may be slidably connected or rollably connected to the fixed bracket 210, so that the movable bracket 220 may smoothly move up and down in the extending direction of the fixed bracket 210.

It is understood that the stocker robot may include a driving device, and the carrying device 300 may be driven by the driving device to ascend and descend in the extending direction of the moving rack 220 while the height of the stocker robot is maintained. When the carrying device 300 rises to the highest position of the movable rack 220, the carrying device 300 can continuously drive the movable rack 220 to lift along the extending direction of the fixed rack 210, thereby increasing the height of the warehousing robot, so that the warehousing robot can take goods at a higher position of the shelf. The driving device can be a chain wheel and chain driving device, and can also be a driving device consisting of a roller, a driving rope and a pulley.

In the present application, the handling device 300 may be a robot arm, a clamp fork, a claw, or other devices for accessing the goods, which are well known to those skilled in the art. The present application does not limit the structure of the conveying device 300.

During the process that the moving bracket 220 ascends along the extending direction of the fixed bracket 210, since the floating unit 410 of the floating protection device 400 is located at the top of the moving bracket 220, the floating unit 410 may touch the ceiling or other structures (such as lighting lamps or supporting beams) on the ceiling of the house, at this time, the floating unit 410 is pressed by the ceiling or other structures on the ceiling, and when the floating unit 410 is subjected to the above-mentioned pressure, the floating unit 410 may move toward the carrying device 300 so that the second trigger 422 triggers the first trigger 421, and when one of the first trigger 421 and the second trigger 422 is triggered by the other, the controller controls the moving bracket 220 to stop ascending.

It should be noted that, in the present application, the controller may be electrically connected to the first triggering member 421 and the driving device through control lines, and the controller may also be wirelessly connected to both the first triggering member 421 and the driving device.

The warehousing robot provided by the embodiment of the application is provided with a vertical support 200, a carrying device 300 and at least one floating protection device 400, wherein the vertical support 200 comprises a fixed support 210 and a movable support 220, the floating protection device 400 comprises a floating unit 410, a trigger assembly 420 and a controller, during the process that the movable support 220 ascends relative to the fixed support 210, if the floating unit 410 on the movable support 220 touches a ceiling or other structures on the ceiling, the floating unit 410 moves towards the carrying device 300 to reduce the height of the warehousing robot, and during the process that the floating unit 410 moves towards the carrying device 300, a second trigger 422 on the floating unit 410 moves towards the carrying device 300 to enable the second trigger 422 to trigger a first trigger 421 on the carrying device 300, and when one of the first trigger 421 and the second trigger 422 is triggered by the other one, the controller controls the movable support 220 to stop ascending, so that the movable support 220 can be prevented from continuously ascending and damage the house and the house can be caused to the ceiling, thereby protecting the warehousing robot, the ceiling or other structures on the ceiling and improving the reliability of the operation of the warehousing robot.

Fig. 4 is a schematic structural diagram of a floating protection device and a part of a movable bracket in the warehousing robot provided by the embodiment of the application; FIG. 5 is a front view of FIG. 4; FIG. 6 is a top view of FIG. 5; fig. 7 is a cross-sectional view of section B-B in fig. 6. Referring to fig. 4 to 7, in the warehouse robot provided by the present application, the floating unit 410 includes a movable cover 411 and at least one supporting member 412, the supporting member 412 is connected to the movable cover 411, the second triggering member 422 is fixedly connected to the supporting member 412, the supporting member 412 is inserted into the moving bracket 220, and when the movable cover 411 is pressed, the movable cover 411 drives the second triggering member 422 to move towards the first triggering member 421 through the supporting member 412.

In a particular implementation, the moveable cover 411 may be a cover body having a support plane, the support plane of the moveable cover 411 bearing the pressure of a ceiling or other structure on the ceiling. The supporting member 412 is used for supporting the movable cover 411, and the supporting member 412 provides a mounting position for the second trigger 422. The support member 412 is inserted into the moving bracket 220 to connect the movable cover 411 and the second trigger 422 to the moving bracket 220.

Next, a connection mode of the floating unit 410 and the moving bracket 220 will be described with reference to the structure of the moving bracket 220.

With continued reference to fig. 4 to 7, in the present application, the movable rack 220 includes a movable rack body 221 and a top support plate 222, the carrying device 300 is slidably connected to the movable rack body 221, and the carrying device 300 is vertically lifted relative to the movable rack body 221, the top support plate 222 is fixedly connected to the top end of the movable rack body 221, and the support member 412 is inserted on the top support plate 222 and moves relative to the top support plate 222.

Specifically, the carrying device 300 and the moving bracket body 221 may be slidably connected through a roller and a sliding slot, and the carrying device 300 may also be slidably connected with the moving bracket body 221 through a slider and a sliding slot, wherein the extending direction of the sliding slot is the same as the vertical direction, so that the carrying device 300 can be smoothly lifted relative to the bracket body 221.

Wherein the supporting member 412 is inserted on the top supporting plate 222, the movable cover 411 and the second triggering member 422 are respectively located at two opposite sides of the top supporting plate 222, the supporting member 412 can be perpendicular to the top supporting plate 222, the supporting member 412 provides a guide for the lifting and lowering of the movable cover 411, and the supporting member 412 moves relative to the top supporting plate 222 so as to vertically lower the movable cover 411 relative to the top supporting plate 222.

In some embodiments, the floating unit 410 further includes at least one guiding element 413, the guiding element 413 is fixedly connected to the top supporting plate 222, the top supporting plate 222 has at least one through hole 2221, the guiding elements 413 are inserted into the through holes 2221 in a one-to-one correspondence manner, the guiding element 413 extends towards the second triggering element 422, the supporting elements 412 are inserted into the guiding elements 413 in a one-to-one correspondence manner, and the supporting elements 412 move relative to the guiding elements 413. Thereby, a guide function is provided for the movement of the support member 412 by the guide 413 so that the movable hood 411 can be smoothly vertically lowered with respect to the top support plate 222.

In a specific implementation, the support 412 is cylindrical and the guide 413 is a linear bearing. That is, the support member 412 may be a cylinder inserted in the linear bearing. The linear bearing is a linear motion system with high precision, low cost, small friction resistance and high stability. In this way, friction to which the support member 412 is subjected can be reduced, thereby improving the smoothness of movement of the support member 412.

In this application, the second triggering member 422 is fixed to an end of the supporting member 412 facing the first triggering member 421. In a specific implementation, a mounting hole may be formed in the second trigger 422, a mounting hole may also be formed in an end of the supporting member 412 facing the first trigger 421, and a screw passes through the mounting hole in the second trigger 422 and the mounting hole in the supporting member 412 to fix the second trigger 422 to the supporting member 412. By fixing the second trigger member 422 on the end of the supporting member 412 facing the first trigger member 421, the second trigger member 422 is nearest to the first trigger member 421, so that the first trigger member 421 is triggered by the second trigger member 422 in time.

In this application, one of the first trigger 421 and the second trigger 422 is a trigger switch, and the other is a trigger block. The trigger block is in contact with the trigger switch, and the trigger block triggers the trigger switch.

In some embodiments, the first trigger 421 is a trigger switch, the trigger portion of the trigger switch faces the second trigger 422, and the second trigger 422 is a trigger block. That is, the trigger switch is provided on the conveying device 300, so that the first trigger 421 can be supplied with power by using the power supply line provided on the conveying device 300.

In other embodiments, the second trigger 422 is a trigger block, the first trigger 421 is a trigger switch, and the trigger portion of the trigger switch faces the second trigger 422.

In the warehousing robot provided by the present application, the floating unit 410 further includes at least one elastic member 414, and the elastic member 414 is disposed between the movable cover 411 and the top support plate 222.

When the movable cover 411 is pressed, the elastic member 414 is compressed to move the movable cover 411 toward the first triggering member 421, thereby reducing the overall height of the warehousing robot.

When the movable cover 411 releases the pressure, the elastic member 414 extends to drive the movable cover 411 to move toward a side away from the top supporting plate 222, and the movable cover 411 drives the second triggering member 422 to move through the supporting member 412, so that the second triggering member 422 is separated from the first triggering member 421. That is, when the movable cover 411 releases the pressure, the elastic member 414 returns the movable cover 411 to the position where the movable cover is not pressed.

In a specific implementation, the elastic member 414 may be a spring or a sleeve having elasticity. The number of the elastic members 414 may be two or more, thereby allowing the movable cover 411 to move smoothly.

The storage robot provided by the application, floating unit 410 still includes fixed crossbeam 415, and fixed crossbeam 415 and movable cover 411's inner wall rigid coupling, support piece 412 and elastic component 414 all are connected with fixed crossbeam 415. The movable cover 411 may be a thin-walled housing, and the fixed cross beam 415 is provided to increase the local thickness of the movable cover 411, so that the supporting member 412 and the elastic member 414 are both connected to the fixed cross beam 415, thereby firmly connecting the supporting member 412 and the elastic member 414 to the movable cover 411 through the fixed cross beam 415.

In a specific implementation, one surface of the fixing beam 415 facing the top support plate 222 has at least one first mounting groove 4151, the elastic direction of the elastic member 414 is consistent with the vertical direction, and one end of the elastic direction of the elastic member 414 is inserted into the first mounting groove 4151 in a one-to-one correspondence manner. Thereby, the elastic member 414 is easily mounted on the fixing beam 415.

In some embodiments, the floating unit 410 further includes an adjusting member 416, the adjusting member 416 is located on the top support plate 222, the other end of the elastic member 414 in the elastic force direction is connected to the adjusting member 416, and the adjusting member 416 moves in the vertical direction with respect to the top support plate 222 to adjust the elastic force of the elastic member 414.

In a specific implementation, the adjusting assembly 416 includes an adjusting nut 4161 and an adjusting stud 4162, the adjusting stud 4162 is inserted into the top support plate 222, the adjusting nut 4161 is connected with the adjusting stud 4162 through a thread, the end portion of the adjusting stud 4162 facing the fixed cross beam 415 is provided with a second mounting groove 4163, the second mounting groove 4163 and the adjusting stud 4162 are respectively located on two opposite sides of the top support plate 222, and the other end of the elastic member 414 in the elastic direction is inserted into the second mounting groove 4163 in a one-to-one correspondence manner.

Specifically, the adjustment stud 4162 is rotated with respect to the top support plate 222 with the second mounting groove 4163 facing the fixing beam 415 to place the elastic member 414 in a compressed state, at which the current position of the adjustment stud 4162 is fixed by the adjustment nut 4161, thereby increasing the elastic force of the elastic member 414. The adjustment stud 4162 is rotated in the opposite direction with respect to the top support plate 222, and the second mounting groove 4163 is moved toward the top support plate 222 to place the elastic member 414 in a relaxed state, at which the current position of the adjustment stud 4162 is fixed by the adjustment nut 4161, thereby reducing the elastic force of the elastic member 414.

In the storage robot provided by the present application, the floating unit 410 further includes a buffer 417, and the buffer 417 is fixedly connected to a surface of the top supporting plate 222 facing the fixed cross beam 415. Thus, when the movable cover 411 faces the top support plate 222, the force applied to the top support plate 222 can be buffered by the buffer member 417, so that the impact of the movable cover 411 on the top support plate 222 is reduced, and the movable bracket 220 is prevented from shaking.

In particular implementations, the vertical height of the bumper 417 compressed is greater than the distance between the end of the adjustment stud 4162 facing the fixed beam 415 and the top support plate 222, thus preventing the fixed beam 415 from contacting the adjustment stud 4162.

In the storage robot provided by the present application, the number of the elastic elements 414 is two, the buffer 417 is located between the two elastic elements 414, the number of the supports 412 is two, and the buffer 417 and each elastic element 414 are located between the two supports 412.

In a specific implementation, the buffer member 417 may be located between the two elastic members 414, that is, the elastic members 414 and the support member 412 are symmetrically disposed with respect to the buffer member 417, thereby smoothly supporting the movable cover 411 by the elastic members 414 and the support member 412.

FIG. 8 is a cross-sectional view taken along line C-C of FIG. 5; fig. 9 is an exploded view of fig. 4. Referring to fig. 3 to 9, in the storage robot provided by the present application, the moving rack 220 further includes a top housing 223, the top housing 223 covers the top support plate 222, the top housing 223 is fixedly connected to the top support plate 222, the movable cover 411 covers the top housing 223, and a projection of the top housing 223 facing the movable cover 411 is located in the movable cover 411.

Specifically, the top housing 223 and the top support plate 222 together enclose an accommodating cavity, and the buffer piece 417 is located in the accommodating cavity; the top housing 223 has an escape slot 2231, and when the elastic member 414 is compressed, at least a portion of the elastic member 414 and at least a portion of the fixed cross-beam 415 enter the accommodating cavity through the escape slot 2231. Therefore, the top housing 223 and the top support plate 222 together enclose a receiving cavity protection buffer 417, the elastic member 414 and the support member 412, so that foreign matters are prevented from entering the receiving cavity, thereby affecting the compression of the elastic member 414 and the movement of the support member 412.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (16)

1. A storage robot is characterized by comprising a movable chassis, a vertical support, a carrying device and at least one floating protection device, wherein the vertical support comprises a fixed support and a movable support;

the carrying device can lift relative to the movable support along the vertical direction, and when the carrying device rises to the upper part of the movable support, the carrying device drives the movable support to lift relative to the fixed support along the vertical direction;

the floating protection device comprises a floating unit, a trigger assembly and a controller, the floating unit is arranged at the top of the movable support, the trigger assembly comprises a first trigger piece and a second trigger piece, the first trigger piece is electrically connected with the controller, the first trigger piece is positioned on the carrying device, and the second trigger piece is positioned on the floating unit;

the floating unit moves towards a carrying device when being pressed, so that the second trigger piece triggers the first trigger piece, and when one of the first trigger piece and the second trigger piece is triggered by the other one, the controller controls the movable support to stop rising.

2. The warehousing robot as claimed in claim 1, wherein the floating unit includes a movable cover and at least one support member, the support member is connected to the movable cover, the second triggering member is fixedly connected to the support member, the support member is inserted into the movable bracket, and when the movable cover is pressed, the movable cover drives the second triggering member to move towards the first triggering member through the support member.

3. The warehousing robot as claimed in claim 2, wherein the movable rack includes a movable rack body and a top support plate, the handling device is slidably connected to the movable rack body and vertically ascends and descends relative to the movable rack body, the top support plate is fixedly connected to a top end of the movable rack body, and the support member is inserted into the top support plate and moves relative to the top support plate.

4. The warehousing robot as claimed in claim 3, wherein the floating unit further comprises at least one guide member fixedly connected to the top support plate, the top support plate has at least one through hole, the guide members are inserted into the through holes in a one-to-one correspondence, the guide members extend toward the second triggering member, the support members are inserted into the guide members in a one-to-one correspondence, and the support members move relative to the guide members.

5. The warehousing robot of claim 4, wherein the support member is cylindrical and the guide member is a linear bearing.

6. The warehousing robot of claim 2, wherein the second trigger is affixed to an end of the support toward the first trigger.

7. The warehousing robot of any of claims 1-6, wherein one of the first trigger and the second trigger is a trigger switch and the other is a trigger block.

8. The warehousing robot of any of claims 3-5, wherein the floating unit further comprises at least one elastic member disposed between the movable hood and the top support plate;

when the movable cover is pressed, the elastic piece is compressed, so that the movable cover moves towards the first trigger piece;

when the movable cover releases pressure, the elastic piece stretches to drive the movable cover to move towards one side departing from the top supporting plate, so that the second trigger piece is separated from the first trigger piece.

9. The warehousing robot of claim 8, wherein the floating unit further comprises a fixed cross beam fixedly connected with an inner wall of the movable cover, and the support piece and the elastic piece are connected with the fixed cross beam.

10. The warehousing robot as claimed in claim 9, wherein one side of the fixed beam facing the top support plate is provided with at least one first mounting groove, the elastic direction of the elastic member is consistent with the vertical direction, and one end of the elastic direction of the elastic member is inserted into the first mounting groove in a one-to-one correspondence manner.

11. The warehousing robot of claim 9, wherein the floating unit further comprises an adjustment assembly positioned on the top support plate, the other end of the elastic member in the direction of the elastic force is connected to the adjustment assembly, and the adjustment assembly moves in a vertical direction relative to the top support plate to adjust the elastic force of the elastic member.

12. The warehousing robot as claimed in claim 11, wherein the adjusting assembly includes an adjusting nut and an adjusting stud, the adjusting stud is inserted into the top support plate, the adjusting nut is connected with the adjusting stud through a thread, a second mounting groove is formed in an end portion of the adjusting stud facing the fixed cross beam, the second mounting groove and the adjusting stud are respectively located on two opposite sides of the top support plate, and the other end of the elastic member in the elastic direction is inserted into the second mounting groove in a one-to-one correspondence manner.

13. The warehousing robot of claim 9, wherein the floating unit further comprises a buffer fixedly connected to a surface of the top support plate facing the fixed cross beam.

14. The warehousing robot of claim 13, wherein the number of springs is two, the buffer is located between two springs, the number of supports is two, and the buffer and each spring are located between two supports.

15. The warehousing robot of claim 13, wherein the mobile rack further comprises a top housing, the top housing covers over the top support plate, the top housing is fixedly attached to the top support plate, the movable cover covers the top housing, and a projection of the top housing toward the movable cover is located within the movable cover.

16. The warehousing robot of claim 15, wherein the top housing and the top support plate together enclose a housing cavity, and the buffer is located in the housing cavity;

an avoidance groove is formed in the top shell, and when the elastic piece is compressed, at least part of the elastic piece and at least part of the fixed cross beam enter the accommodating cavity through the avoidance groove.

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