CN217705995U

CN217705995U - Split type robot warehouse with support structure and robot

Info

Publication number: CN217705995U
Application number: CN202221852973.4U
Authority: CN
Inventors: 赵博学; 支涛
Original assignee: Henan Yunji Intelligent Technology Co Ltd
Current assignee: Henan Yunji Intelligent Technology Co Ltd
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-11-01
Anticipated expiration: 2032-07-13

Abstract

The utility model relates to the technical field of robot, a take split type robot warehouse and robot of supporting structure is provided, this split type robot warehouse includes: at least one cargo box; the supporting plate comprises a first plate surface and a second plate surface which are opposite up and down, the first plate surface is arranged above the second plate surface, the first plate surface of the supporting plate is connected with the at least one container, and the second plate surface of the supporting plate is detachably connected with the robot main body; the bearing support comprises an upper support and a lower support which are opposite up and down, the upper support is connected with the second surface of the supporting plate, the lower support is connected with the upper support, and an avoiding opening for detachably connecting the second surface of the supporting plate with the robot is formed between the upper support and the lower support. This openly has realized letting robot main part and storehouse can accomplish the effect of being connected and dismantling by oneself.

Description

Split type robot warehouse with support structure and robot

Technical Field

The utility model relates to the technical field of robots, more specifically say, relate to a split type robot storehouse and robot of taking supporting structure.

Background

For some intelligent robots used for transporting articles, the intelligent robots can be separated into two parts, wherein one part of the goods warehouse is used for loading articles to be transported, and the other part of the goods warehouse is a robot main body detachably connected with the goods warehouse. Through the robot with the split structure, the warehouse with the corresponding specification can be matched with the robot main body according to the requirements of the scene, so that the application range of the robot can be widened.

However, when actually connecting the warehouse and the robot main body, or replacing the warehouse of the robot, how to reduce manual assistance and enable the robot main body and the warehouse to be capable of completing docking and dismounting by self, which is a technical problem encountered in the practical application of the split robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a take split type robot warehouse and robot of supporting structure to solve how to reduce artifical assistance, let robot main part and warehouse can accomplish the technical problem of being connected and dismantling by oneself.

In order to achieve the purpose, the technical scheme adopted by the disclosure is as follows:

in one aspect, the present disclosure provides a split type robot warehouse with a support structure, which includes:

at least one cargo box;

the supporting plate comprises a first plate surface and a second plate surface which are opposite up and down, the first plate surface is arranged above the second plate surface, the first plate surface of the supporting plate is connected with the at least one container, and the second plate surface of the supporting plate is detachably connected with the robot main body;

the bearing support comprises an upper support and a lower support which are opposite up and down, the upper support is connected with the second surface of the support plate, the lower support is connected with the upper support, and an avoidance opening for detachably connecting the second surface of the support plate with the robot is formed between the upper support and the lower support.

In one embodiment, a first positioning mechanism and a first limiting mechanism are arranged on the second plate surface of the supporting plate, and the first limiting mechanism is arranged on the first positioning mechanism;

the first positioning mechanism is aligned with the robot main body in a connecting position, and the first limiting mechanism is matched with the robot main body to enable the supporting plate to move or be fixed relative to the robot main body.

In one embodiment, the first positioning mechanism comprises: the positioning device comprises at least one positioning sliding groove, a positioning sliding groove and a positioning mechanism, wherein an opening is arranged on the side wall of the positioning sliding groove at one end of the positioning sliding groove, and the opening extends from the top of the side wall of the positioning sliding groove to the bottom wall of the positioning sliding groove;

first stop gear includes: the limiting hole is arranged on the groove side wall on one side of the positioning sliding groove;

when the second plate surface of the supporting plate is connected with the robot main body, the positioning sliding chute slides into a positioning sliding block arranged on the robot main body from the opening, and a limiting block arranged on the positioning sliding block extends into the limiting hole, so that the supporting plate is fixed relative to the robot main body;

when the second face of backup pad is dismantled with the robot main part, the stopper withdraws from spacing hole makes the backup pad can be relative the robot main part removes.

In one embodiment, the split robotic warehouse further comprises: and the first guide wheel is embedded on the side wall of the other side groove of the positioning sliding groove, which is opposite to the limiting hole.

In one embodiment, the first positioning mechanism comprises: the positioning slide block is internally of a hollow structure and is provided with a limiting through groove penetrating through the side surface of the positioning slide block;

the first limiting mechanism comprises a telescopic limiting block which is arranged in the positioning sliding block and can extend out of or retract into the side surface of the positioning sliding block along the limiting through groove;

when the second plate surface of the supporting plate is connected with the robot main body, the positioning slide block is inserted into a positioning chute arranged on the robot main body, and the telescopic limiting block extends out of the side surface of the positioning slide block and is inserted into a limiting hole arranged on the robot main body, so that the supporting plate is fixed relative to the robot main body;

when the second face of backup pad is dismantled with the robot main part, flexible stopper indentation the side of location slider withdraws from spacing hole makes the backup pad can be relative the robot main part removes.

In one embodiment, the telescopic stopper includes: the limiting block is movably arranged in the limiting through groove, the limiting block is connected with the limiting block, the spring is arranged between the limiting block and the positioning sliding block along the direction of the limiting through groove, the motor is fixedly connected with the positioning sliding block or the supporting plate, and the cam is connected with a rotating shaft of the motor and is in transmission connection with the limiting block;

when the cam pushes the stop block to the first position, the limiting block extends out of the side face of the positioning slide block, and the spring is in a first compression state; when the cam pushes the stop block to the second position, the limiting block retracts into the side face of the positioning sliding block, and the spring is in a second compression state, wherein the elastic force of the spring in the second compression state is larger than that of the spring in the first compression state.

In one embodiment, the telescopic stopper includes: the limiting block is movably arranged in the limiting through groove, the stopping block and the telescopic cylinder are respectively and fixedly connected to the positioning sliding block or the supporting plate, the spring is arranged between the stopping block and the limiting block, and a piston rod of the telescopic cylinder penetrates through the stopping block and is connected with the limiting block;

when the telescopic cylinder drives the limiting block to move to a first position along the limiting through groove, the limiting block extends out of the side face of the positioning sliding block; when telescopic cylinder drive the stopper moves to the second position along spacing logical groove, the stopper indentation the side of location slider.

In one embodiment, the split robotic warehouse further comprises: and the second guide wheel is embedded on the other side surface of the positioning sliding block, and the second guide wheel and a telescopic limiting block extending out of the side surface of the positioning sliding block are respectively positioned on different sides of the positioning sliding block.

In one embodiment, the loadbearing cradle further comprises: the rollers are fixedly connected to the lower support respectively and used for being placed on the ground, and the rolling direction of the rollers on the ground is perpendicular to the length direction of the positioning sliding block or the positioning sliding groove.

On the other hand, this disclosure still provides a robot, including above-mentioned split type robot cargo hold and robot main part, robot main part with split type robot cargo hold can dismantle the connection.

The split type robot warehouse that this disclosure provided lies in at least: the cargo box is supported by connecting the bearing support through the support plate, the cargo box is erected on the ground, and the avoidance opening formed by the upper support and the lower support is utilized, so that the robot main body can enter the lower part of the second plate surface of the support plate from the avoidance opening to be connected with the support plate, and the self-service connection and disassembly effects of the robot main body and the split type robot cargo bin are realized.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is an exploded structural view of a split type robot cargo compartment with a support structure provided in an embodiment of the present disclosure;

fig. 2 is a state diagram of the split-type robot warehouse provided in the embodiment of the present disclosure detached from the robot main body;

fig. 3 is a state diagram of a split type robot warehouse and a robot main body connected together according to the embodiment of the disclosure;

fig. 4 is a structural diagram of a second plate surface of a support plate according to an embodiment of the disclosure;

fig. 5 is a structural diagram of a robot main body connected to the support plate in fig. 4 according to an embodiment of the present disclosure.

Fig. 6 is a structural view of a second plate surface of another supporting plate provided in the embodiment of the present disclosure;

fig. 7 is a structural diagram of a part of a robot main body connected with the support plate in fig. 6 according to an embodiment of the present disclosure;

FIG. 8 is an exploded view of the support plate of FIG. 6 according to an embodiment of the present disclosure;

fig. 9 is an enlarged structural view of a telescopic limiting block shown in fig. 8 according to an embodiment of the present disclosure;

fig. 10 is a schematic structural view of another telescopic stopper provided in the embodiment of the present disclosure;

fig. 11 is an exploded structural view of a split type robot warehouse and a robot main body provided in the embodiment of the present disclosure.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

Referring to fig. 1 to 3, the present embodiment provides a split type robot cargo compartment 1 with a bracket structure, as shown in fig. 1, the split type robot cargo compartment 1 with a bracket structure includes: the robot comprises at least one container 11, a supporting plate 12 and a bearing support 13, wherein the supporting plate 12 comprises a first plate surface and a second plate surface which are opposite up and down, the first plate surface is arranged above the second plate surface, the first plate surface of the supporting plate 12 is connected with the at least one container 11, and the second plate surface of the supporting plate 12 is detachably connected with a robot main body 2; the bearing bracket 13 includes an upper bracket 131 and a lower bracket 132 opposite to each other, the upper bracket 131 is connected to the second surface of the support plate 12, the lower bracket 132 is connected to the upper bracket 131, and an avoidance opening 133 for detachably connecting the second surface of the support plate 12 to the robot 2 is formed between the upper bracket 131 and the lower bracket 132.

Specifically, the number of containers 11 may be one or at least two. When the number of the cargo boxes 11 is one, the cargo boxes 11 may be directly attached to the first plate surfaces of the support plates 12; when the number of the containers 11 is at least two, the containers 11 are sequentially stacked and connected to the first surface of the supporting plate 12, for example, two

containers

11A and 11B are connected to the supporting plate in fig. 1, the container 11A is connected to the first surface of the supporting plate, and the container 11B is stacked on the container 11A, so that the containers 11 are sequentially stacked on the supporting plate.

In addition, the connection between the container and between the container and the supporting plate can be clamping, screwing, welding or the like, in the embodiment of the disclosure, the clamping or screwing can be preferably performed between the container and the container, so that the structure of the container can be freely modified to adapt to different specified objects.

Specifically, with reference to fig. 2 and 3, the overall shape of the load carrier 13 is configured as an inverted U-shaped structural frame, with an escape opening 133 formed in the upper bracket 131 and the lower bracket 132. When the robot main body 2 is connected to the support plate 12, the robot main body 2 moves toward the escape opening 133, enters below the second plate surface of the support plate, and is connected to the support plate.

According to split type robot warehouse that this disclosed embodiment provided, connect the bearing support through the backup pad and support the packing box, make somebody's turn to do the space on the ground with the packing box, utilize the opening of dodging of upper bracket and lower carriage formation, make the robot main part can follow the second face below of dodging the opening and entering into the backup pad, come to be connected with the backup pad to realize the effect of self-service being connected and dismantling of robot main part and split type robot warehouse.

In some embodiments, the second plate surface of the supporting plate is provided with a first positioning mechanism and a first limiting mechanism, the first limiting mechanism is arranged on the first positioning mechanism, wherein the first positioning mechanism is aligned with the robot main body at a connecting position, and the first limiting mechanism is matched with the robot main body so that the supporting plate can move or be fixed relative to the robot main body.

Specifically, the robot main body is provided with a second positioning mechanism matched with the first positioning mechanism and a second limiting mechanism matched with the first limiting mechanism. In the embodiment of the disclosure, the first positioning mechanism on the supporting plate is matched with the second positioning mechanism on the robot main body to quickly align the connecting position of the supporting plate and the robot main body, and then the first limiting mechanism on the supporting plate is matched with the second limiting mechanism on the robot main body to limit the movement of the supporting plate relative to the robot main body, so as to realize the fixed connection of the split type robot warehouse and the robot main body; on the contrary, the first limiting mechanism on the supporting plate is not matched with the second limiting mechanism on the robot main body, so that the supporting plate can move relative to the robot main body, and the disassembly of the split type robot warehouse and the robot main body can be realized.

In practical applications, the specific implementation structures of the first positioning mechanism and the first limiting mechanism are not unique, and two specific implementation structures of the first positioning mechanism and the first limiting mechanism will be given below.

First, referring to fig. 4 and 5, the first positioning mechanism includes: at least one positioning sliding chute 121A, an opening 1211 is disposed on a side wall of a groove at one end of the positioning sliding chute 121A, and the opening 1211 extends from a top of the side wall of the groove to a bottom wall of the positioning sliding chute 121A; first stop gear includes: the limiting hole 122A, the limiting hole 122A is arranged on the groove side wall on one side of the positioning sliding groove 121A; when the second plate surface of the supporting plate 12 is connected to the robot main body 2, the positioning sliding groove 121A slides into the positioning sliding block 21A disposed on the robot main body 2 from the opening 1211, and the limiting block 22A disposed on the positioning sliding block 21A extends into the limiting hole 122A, so that the supporting plate 12 is fixed relative to the robot main body 2; when the second plate surface of the support plate 12 is detached from the robot main body 2, the stopper 22A provided on the robot main body 2 exits the stopper hole 122A, so that the support plate 12 can move relative to the robot main body 2.

With continued reference to fig. 4 and 5, the positioning sliding groove 121A may be designed to just accommodate the lower positioning slider 21A, for example, the maximum width of the positioning sliding groove 121A is equal to or slightly greater than the maximum width of the positioning slider 21A, so that the positioning slider 21A cannot move relatively in the width direction after sliding into the positioning sliding groove 121A, thereby achieving positioning.

Specifically, when the second plate surface of the support plate 12 is connected to the robot main body 2, the positioning slide block 21A on the robot main body 2 is inserted into the positioning slide groove 121A, so that the alignment of the connection position of the support plate 12 on the robot main body 2 can be quickly realized; meanwhile, the limiting hole 122A of the positioning chute 121A is automatically aligned with the limiting block 22A of the robot main body 2, so that the limiting block 22A can extend into the limiting hole 122A to limit the support plate 12 to move relative to the robot main body 2, thereby realizing the fixed connection between the support plate 12 and the robot main body 2. In addition, when the second plate surface of the support plate 12 is detached from the robot main body 2, the support plate 12 can move relative to the robot main body 2 only by withdrawing the limiting block 22A from the limiting hole 122A.

As shown in fig. 4, preferably, the first positioning mechanism includes two positioning sliding slots 121A, the two positioning sliding slots 121A are arranged side by side, and a slot sidewall at the same end of each of the two positioning sliding slots 121A is provided with an opening 1211. By setting the number of the positioning chutes to two, the number of the limiting holes 122A on each positioning chute 121A and the limiting blocks 22A on the robot main body 2 can be increased, so that the connection reliability between the support plate 12 and the robot main body 2 is improved. Certainly, in practical application, the first positioning mechanism may also include one positioning chute 121A or more than two positioning chutes 121A, which is not limited in the embodiment of the present disclosure.

In addition, referring to fig. 4, the aperture of the opening 1211 on the positioning chute 121A can be designed to be larger than or equal to the width of the positioning chute 121A, when the positioning slider 21A needs to be inserted into the positioning chute 121A, only one end of the positioning slider 21A needs to be moved toward the opening 1211 on the positioning chute 121A, and the positioning slider 21A can be quickly and accurately inserted into the positioning chute 121A from the opening 1211 without strict alignment between the positioning slider 21A and the opening 1211, so as to position the connection position of the support plate 12 and the robot main body 2.

In some embodiments, referring again to fig. 4, the support plate 12 further comprises thereon: the first guide wheel 14 is embedded in the other side slot sidewall of the positioning sliding slot 121A opposite to the limiting hole 122A.

Specifically, referring to fig. 4 and 5, the rotating surface of the first guide roller 14 is close to the opening 1211 and partially protrudes from the side wall of the slot to contact the positioning slider 21A sliding into the positioning chute 121A, so as to reduce the friction between the positioning chute 121A and the positioning slider 21A, and to allow the positioning slider 21A to slide into the positioning chute 121A more easily.

Secondly, referring to fig. 6-8, the first positioning mechanism includes at least one positioning slider 121B, the inside of the positioning slider 121B is hollow, and a limiting through groove 1211 is formed through the side surface of the positioning slider 121B; the first limiting mechanism comprises a telescopic limiting block 122B which is arranged in the positioning slider 121B and can extend out of or retract into the side surface of the positioning slider 121B along the limiting through groove 1212; when the second surface of the support plate 12 is connected with the robot main body, the positioning slide block 121B is inserted into the positioning slide groove 21B provided on the robot main body, and the telescopic limit block 122B extends out of the side surface of the positioning slide block 121B and is inserted into the limit hole 22B provided on the robot main body, so that the support plate 12 is fixed relative to the robot main body; when the second plate surface of the supporting plate 12 is detached from the robot body, the telescopic limiting block 122B retracts into the side surface of the positioning slider 121B and exits from the limiting hole 22B, so that the supporting plate 12 can move relative to the robot body.

Continuing with fig. 6-8, in contrast to the above-described embodiment of fig. 4 and 5, the first positioning mechanism is configured as a positioning slider 121B, the first limiting mechanism is configured as a telescopic limiting block 122B, and correspondingly, the second positioning mechanism and the second limiting mechanism provided on the robot main body are respectively configured as a positioning chute 21B and a limiting hole 22B. When the second plate surface of the support plate 12 is connected with the robot main body, the positioning slide block 121B on the support plate 12 is inserted into the positioning slide groove 21B on the robot main body, the telescopic limiting block 122B is aligned with and extends into the limiting hole 22B, and the positioning slide block 121B is limited from moving relative to the positioning slide groove 21B, so that the support plate 12 is fixedly connected with the robot main body; when the second plate surface of the support plate 12 is detached from the robot main body, only the telescopic limiting block 122B needs to be withdrawn from the limiting hole 22B, so that the positioning sliding block 121B can move relative to the positioning sliding groove 21B, thereby detaching the support plate 12 from the robot main body.

In some embodiments, referring to fig. 8 and 9, the telescoping stop block 122B includes: a stop 1221, a stop 1222, a spring 1223, a cam 1224, and a motor 1225. The limiting block 1221 is movably arranged in the limiting through groove 1212, the stopper 1222 is connected with the limiting block 1221, the spring 1223 is arranged between the limiting block 1221 and the positioning slider 121B along the direction of the limiting through groove 1212, the motor 1225 is fixedly connected to the positioning slider 121B or the support plate 12, and the cam 1224 is connected with a rotating shaft of the motor 1225 and is in transmission connection with the stopper 1222; when cam 1224 pushes stop 1222 to the first position, stopper 1221 extends out of the side of positioning block 121B, and spring 1223 is in the first compressed state; when the cam 1224 pushes the stopper 1222 to the second position, the stopper 1221 retracts to the side of the positioning slider 121B, and the spring 1223 is in the second compressed state, wherein the elastic force of the spring 1223 in the second compressed state is greater than the elastic force of the spring 1223 in the first compressed state.

Specifically, the stop 1222 is in the first position in fig. 9. With reference to fig. 8 and 9, the working principle of the telescopic stopper 122B is as follows: the cam 1224 connected with the motor 1225 can rotate along with the rotating shaft, and the stopper 1222 serves as a driven member in transmission connection with the cam 1224, and will reciprocate along the direction of the limiting through groove 1212 under the driving of the cam 1224, so that the limiting block 1221 reciprocates along the direction of the limiting through groove 1212, thereby achieving the effect that the limiting block 1221 extends out of or retracts into the side surface of the limiting slider 121B along the limiting through groove 1212.

In other embodiments, as shown in fig. 8 and 10, the telescopic limiting block 122B may further include: stopper 1221, dog 1222, spring 1223 and telescopic cylinder 1226. The limiting block 1221 is movably arranged in the limiting through groove 1212, the stopper 1222 and the telescopic cylinder 1226 are respectively and fixedly connected to the positioning slider 121B or the support plate 12, the spring 1223 is arranged between the stopper 1222 and the limiting block 1221, a piston rod of the telescopic cylinder 1226 penetrates through the stopper 1222 and is connected with the limiting block 1221, and when the telescopic cylinder 1226 drives the limiting block 1221 to move to the first position along the limiting through groove 1221, the limiting block extends out of the side face of the positioning slider 121B; when the telescopic cylinder 1226 drives the limiting block 1221 to move to the second position along the limiting through groove 1212, the limiting block 1221 retracts into the side surface of the positioning slider 121B.

Specifically, telescopic cylinder's piston rod is along spacing logical groove direction reciprocating motion to drive the stopper along spacing logical groove reciprocating motion together, at reciprocating motion's in-process, the spring is in compression state all the time, keeps the stopper along with telescopic cylinder's damping of removing with this.

Specifically, the above spring may preferably be a coil spring capable of generating an elastic force in a length direction of the coil spring when the spring is in a compressed state.

The two telescopic limiting block structures can realize the effect that the limiting blocks extend out of or retract into the side faces of the positioning sliding blocks. Specifically, when the support plate is connected with the robot main body, the limiting block can be retracted into the side face of the positioning sliding block, the positioning sliding block is inserted into the positioning sliding groove, the limiting block is aligned with the limiting hole in the positioning sliding groove, the limiting block extends out of the side face of the positioning sliding block to enter the limiting hole, and the positioning sliding block is limited to move relative to the positioning sliding groove, so that the support plate is connected with the robot main body; when the support plate is detached from the robot main body, the limiting block is only required to be retracted into the side face of the positioning sliding block to withdraw from the limiting hole, so that the positioning sliding block can move relative to the positioning sliding groove, and the support plate and the robot main body are detached.

In some embodiments, in conjunction with fig. 6 and 7, in the case where the positioning chute 21B of the robot main body is provided with an opening, the split robot cargo compartment 1 provided in fig. 1 may further include: and the second guide wheel 15 is embedded on the other side surface of the positioning slider 121B, wherein the second guide wheel 15 and the telescopic limiting block 122B extending out of the side surface of the positioning slider 121B are respectively located on different sides of the positioning slider 121B.

Specifically, referring to fig. 5 and 6, the width of one end of the positioning slider 121B is designed to be variable, that is, the width of the positioning slider 121B gradually increases from one end to the other end thereof to form a tip-like structure, so that the positioning slider 121B can be more easily aligned with and inserted into the positioning chute 21B on the robot body. Meanwhile, the second guide wheel 15 is disposed on the side surface of the narrow end of the positioning slider 121B and protrudes out of the side surface of the positioning slider 121B, and when the positioning slider 121B slides into the positioning sliding groove 21B, the second guide wheel 15 contacts with the groove side wall of the positioning sliding groove 21B, so that the friction between the positioning slider 121B and the positioning sliding groove 21B is reduced, and the positioning slider 121B can slide into the positioning sliding groove 21B more easily.

In some embodiments, referring to fig. 11, the loadbearing cradle further comprises: the rollers are fixedly connected to the lower support respectively and used for being placed on the ground, and the rolling direction of the rollers on the ground is perpendicular to the length direction of the positioning sliding block or the positioning sliding groove.

Specifically, when the roller rolls on the ground, the roller can reciprocate along the width direction of the positioning chute or the positioning slide block. Referring to fig. 2 and 3, when the split robot warehouse 1 is connected to the robot main body 2, since the split robot warehouse 1 is erected on the ground, the robot main body 2 moves towards the avoiding opening 133 of the bearing support 13 to be actively close to the split robot warehouse 1, when the positioning slide block on the robot main body 2 contacts the positioning slide groove on the support plate, if the positioning slide block is not completely aligned with the positioning slide groove, the positioning slide block can move by pushing against the positioning slide groove to generate force to move the roller on the bearing support 13 under the condition that the robot main body continues to move forward, the positioning slide groove is shifted to align the positioning slide block, and the front end of the positioning slide block slides into the positioning slide groove along the side wall of the groove by itself.

Referring again to fig. 2 and 11, the embodiment of the present disclosure provides a robot, which includes the split-type robot cargo compartment 1 and a robot main body 2, where the robot main body 2 is detachably connected to the split-type robot cargo compartment 1.

Specifically, in order to realize the detachable connection between the split type robot warehouse 1 and the robot main body 2, a second positioning mechanism and a second limiting mechanism can be arranged on the robot main body 2, and correspondingly, a first positioning mechanism matched with the second positioning mechanism and a first limiting mechanism corresponding to the second limiting mechanism can be arranged on the split type robot warehouse 1.

When the split type robot warehouse is connected with the robot main body, the first positioning mechanism on the supporting plate is matched with the second positioning mechanism on the robot main body to quickly align the connecting positions of the supporting plate and the robot main body, and then the first limiting mechanism on the supporting plate is matched with the second limiting mechanism on the robot main body to limit the supporting plate to move relative to the robot main body, so that the split type robot warehouse is fixedly connected with the robot main body; on the contrary, the first limiting mechanism on the supporting plate is not matched with the second limiting mechanism on the robot main body, so that the supporting plate can move relative to the robot main body, and the disassembly of the split type robot warehouse and the robot main body can be realized.

For example, referring to fig. 4, 5 and 11, in some embodiments, the second positioning mechanism on the robot main body 2 may be a positioning slider 21A, and the second limiting mechanism on the robot main body 2 may be a limiting block 22A. Correspondingly, the first positioning mechanism on the split-type robot warehouse 1 is a positioning chute 121A for being matched with the positioning slide block 21A, and the first limiting mechanism on the split-type robot warehouse 1 is a limiting hole 122A, so that the limiting block 22A can be correspondingly inserted into the limiting hole 122A.

For another example, referring to fig. 6 and 7, in other embodiments, the second positioning mechanism on the robot main body 2 may be a positioning sliding groove 21B, and the second limiting mechanism on the robot main body 2 may be a limiting hole 22B. Correspondingly, the first positioning mechanism on the split-type robot warehouse 1 is a positioning sliding block 121B for matching with a positioning sliding groove 21B on the robot main body, and the first limiting mechanism on the split-type robot warehouse 1 is a telescopic limiting block 122B for extending into or withdrawing from a limiting hole 22B on the robot main body.

The present disclosure is to be considered as limited only by the preferred embodiments and not limited to the specific embodiments described herein, and all changes, equivalents and modifications that come within the spirit and scope of the disclosure are desired to be protected.

Claims

1. The utility model provides a take split type robot warehouse of supporting structure which characterized in that includes:

at least one cargo box;

2. The split type robot warehouse with the support structure as claimed in claim 1, wherein a first positioning mechanism and a first limiting mechanism are arranged on the second plate surface of the support plate, and the first limiting mechanism is arranged on the first positioning mechanism;

3. The split robotic cargo bay of claim 2, wherein the first positioning mechanism comprises: the positioning device comprises at least one positioning sliding groove, a positioning sliding groove and a positioning mechanism, wherein an opening is arranged on the side wall of the positioning sliding groove at one end of the positioning sliding groove, and the opening extends from the top of the side wall of the positioning sliding groove to the bottom wall of the positioning sliding groove;

4. The split robotic cargo bay of claim 3, further comprising:

and the first guide wheel is embedded on the side wall of the other side groove of the positioning sliding groove, which is opposite to the limiting hole.

5. The split robotic cargo bay of claim 2, wherein the first positioning mechanism comprises: the positioning device comprises at least one positioning sliding block, a positioning mechanism and a positioning mechanism, wherein the inside of the positioning sliding block is of a hollow structure and is provided with a limiting through groove penetrating through the side surface of the positioning sliding block;

6. The split robot cargo bin with bracket structure according to claim 5, wherein the telescopic limiting block comprises: the limiting block is movably arranged in the limiting through groove, the limiting block is connected with the limiting block, the spring is arranged between the limiting block and the positioning sliding block along the direction of the limiting through groove, the motor is fixedly connected with the positioning sliding block or the supporting plate, and the cam is connected with a rotating shaft of the motor and is in transmission connection with the limiting block;

when the cam pushes the stop block to the first position, the limiting block extends out of the side face of the positioning slide block, and the spring is in a first compression state; when the cam pushes the stop block to a second position, the limiting block retracts into the side face of the positioning sliding block, the spring is in a second compression state, and the elastic force of the spring in the second compression state is larger than that of the spring in the first compression state.

7. The split robot cargo bin with bracket structure according to claim 5, wherein the telescopic limiting block comprises: the limiting block is movably arranged in the limiting through groove, the stopping block and the telescopic cylinder are respectively and fixedly connected to the positioning sliding block or the supporting plate, the spring is arranged between the stopping block and the limiting block, and a piston rod of the telescopic cylinder penetrates through the stopping block and is connected with the limiting block;

when the telescopic cylinder drives the limiting block to move to a first position along the limiting through groove, the limiting block extends out of the side face of the positioning sliding block; when telescopic cylinder drive the stopper moves to the second position along spacing logical groove, the stopper indents the side of location slider.

8. The split robot cargo bay of claim 5, further comprising: and the second guide wheel is embedded on the other side surface of the positioning sliding block, and the second guide wheel and a telescopic limiting block extending out of the side surface of the positioning sliding block are respectively positioned on different sides of the positioning sliding block.

9. The split robotic warehouse with support structure of any one of claims 3-8, wherein the load bearing support further comprises: the rollers are fixedly connected to the lower support respectively and used for being placed on the ground, and the rolling direction of the rollers on the ground is perpendicular to the length direction of the positioning sliding block or the positioning sliding groove.

10. A robot, comprising:

the split robotic warehouse of any one of claims 1-9;

and the robot main body is detachably connected with the split type robot warehouse.