CN218464571U - Pull box returning mechanism and storage robot - Google Patents

Abstract

The utility model discloses a draw and go back punch-out equipment to construct for work under the drive of power supply to relative goods shelves are pulled out and are still returned the tray that carries the workbin, should draw and go back punch-out equipment to construct and include: a base which can be driven by a power source to move linearly back and forth along a first set direction; the driving assembly is arranged on the base and moves along with the base; the pull-back component is arranged on the base and moves along with the base, and can move linearly back and forth along a second set direction under the driving of the driving assembly; the pulling-back component comprises an insert which is used for entering and exiting relative to the groove of the tray along a second set direction under the driving of the driving component. Also discloses a storage robot comprising the box pulling and returning mechanism. Use the utility model discloses can improve the crooked adaptability of tray, can show simultaneously and improve storage space utilization.

Description

Pull box returning mechanism and storage robot

Technical Field

The utility model belongs to storage equipment field especially relates to a draw and go back punch-out equipment mechanism and storage robot.

Background

The AGV trolley can travel along a specified navigation path and pass through a row of shelves, and the tray carrying the workbin is pulled out or returned under the command of a set program from the corresponding shelf, so that the carrying efficiency of the workbin in discharging and warehousing processes is greatly improved. AGV dolly is for realizing pulling out or returning the tray that carries the workbin, and the general standardized customization tray among the relevant art, as shown in fig. 1 to 4, can be provided with recess 90 in the both sides of tray 9 among the relevant art, and is corresponding, be provided with pull rod 100 on the AGV dolly, drives pull rod 100 through chain drive mechanism and removes for pull rod 100 gets into in the recess 90, thereby pull tray 9 and remove, realizes pulling out or returning the purpose of workbin. In application, since the whole pull rod 100 needs to enter the groove 90 from bottom to top, the movement of the pull rod 100 is an arc from the approach of the tray to the entering of the groove 90 as shown in fig. 1 to 4. The above structure has two problems in practical application:

1. when the structure is applied, two ends of the whole pull rod need to enter the grooves on two sides of the tray respectively, and when partial trays are placed, the situation that one end of the pull rod cannot enter the groove on the corresponding side is likely to occur, especially the moving track of the pull rod entering the groove is an arc line, the deflection degree of the tray which can be adapted to the pull rod is very low, and when the structure is actually applied, the tray is slightly deflected, and the pull rod is difficult to enter the groove;

2. the tray loaded with the bins is arranged on the multi-layer shelf, and the moving track of the pull rod entering the groove is an arc line, so that a certain space for the pull rod to move is reserved along the vertical direction, otherwise, the pull rod possibly interferes with the bins on the lower-layer shelf in the moving process before entering the groove, so that the space utilization rate in the vertical direction is low, and the space utilization rate of the whole storage is influenced. According to actual measurement, in order to ensure the smooth completion of the box pulling and returning process, the shelf arranged for the box with the height of 230mm needs to be additionally reserved with the height of 48.59mm between shelves, which accounts for 21.13% of the height of the box, and thus, the great space waste is caused.

SUMMERY OF THE UTILITY MODEL

The utility model provides a draw and go back punch-out equipment to construct and storage robot for draw among the solution prior art and go back the punch-out equipment and cause the low and poor problem of tray adaptation ability crooked to having when using of storage space utilization ratio.

The utility model adopts the following technical scheme: a case pulling and returning mechanism for operating under the drive of a power source to pull out and return a pallet carrying a bin relative to a shelf, the case pulling and returning mechanism comprising: a base which can be driven by the power source to move linearly back and forth along a first set direction; the driving assembly is arranged on the base and moves along with the base; the pull-back component is arranged on the base and moves along with the base, and the pull-back component can move linearly back and forth along a second set direction under the driving of the driving assembly; the pull-back component comprises an insert which is used for entering and exiting relative to the groove of the tray along a second set direction under the driving of the driving assembly.

The utility model discloses following beneficial effect has: through setting up base and drive assembly, utilize the base to drive assembly and draw the component that returns and follow first settlement direction rectilinear movement, the removal action of base can be used to transport plug-in components to aim at and drive the tray removal and realize drawing the operation of returning with the recess of tray, utilizes drive assembly can drive plug-in components along the second settlement direction rectilinear movement, the removal action of plug-in components can be used to get into and deviate from by the recess of the relative tray of lateral part of tray. Also this application uses the pull rod among the plug-in components replacement prior art to plug-in components along rectilinear movement, get into and deviate from by the relative recess of tray of lateral part of tray, the removal process of plug-in components need not too much to occupy the space on the vertical direction like this, can show and promote storage space utilization. Simultaneously, the plug-in components get into the recess with rectilinear movement track, for among the prior art pull rod with pitch arc movement track entering recess, the plug-in components are higher to the adaptability that has crooked tray, also when facing the tray of certain crooked degree within range, when the pull rod can't get into the recess, the plug-in components in this application still can get into the recess.

Preferably, the pull-back member further includes a mounting plate disposed on the base, the plug-in is disposed on the mounting plate, and the mounting plate has an urging surface for urging the tray to set the tray upright. Through setting up the mounting panel, the setting of plug-in components of being convenient for on the one hand, on the other hand when the mounting panel sets for the direction along the second under drive assembly's drive, the top push surface on the mounting panel can push away the tray so that the tray is ajusted, just so can further promote and pull back the adaptability of punch-out equipment to the tray that has the skew. Meanwhile, after the plug-in is inserted into the groove, the pushing surface can clamp the tray, and the stability of the material box in the pulling and returning process is improved.

Preferably, the driving assembly comprises a motor and a first transmission mechanism, and the motor drives the pull-back member to move along the second set direction through the first transmission mechanism.

Preferably, a limiting assembly for limiting the pull-back member to move along the second set direction is arranged between the pull-back member and the base.

Preferably, the base and/or the pull back member is provided with a detection sensor for detecting the position of the insert relative to the recess on the tray. Through setting up the detection sensor, when the recess on the plug-in components aim at the tray, accessible detection sensor signals and reminds, realizes the function of automatic location.

Preferably, the box pulling and returning mechanism further comprises a guide rail, and the base is arranged on the guide rail in a sliding mode.

In order to solve the technical problem, the utility model discloses following technical scheme has still been adopted: the utility model provides a warehouse robot, includes the support body and set up in power supply on the support body still includes two sets ofly draw back case mechanism as in any one of above-mentioned technical scheme, two sets ofly draw back case mechanism symmetry and set up on the support body, and draw back case mechanism receive the power supply drive moves along first settlement direction.

Preferably, the power source includes a driving motor and a second transmission mechanism driven by the driving motor, and the base is disposed on the second transmission mechanism and driven by the second transmission mechanism to move along the first set direction.

Preferably, the second transmission mechanism comprises a driving wheel arranged on an output shaft of the driving motor, a transmission wheel arranged opposite to the driving wheel, and a transmission belt arranged between the driving wheel and the transmission wheel, the transmission belt is provided with a first connecting plate, and the base is provided with a second connecting plate fixedly connected with the first connecting plate. Through the structural design, the pull-return box mechanism provided by the application of being very convenient for is installed with the existing AGV dolly, the effective connection of the base and the power source can be realized by additionally installing the first connecting plate on the transmission belt, the large structural change of the existing AGV dolly is not required, and the popularization and the application are facilitated.

Preferably, the warehousing robot further comprises a controller, the power source drives the box pulling and returning mechanism to work under the control of the controller, the power source comprises a first power source and a second power source, one of the two groups of box pulling and returning mechanisms is driven by the first power source to work, the other group of box pulling and returning mechanisms is driven by the second power source to work, and the first power source and the second power source synchronously or independently drive the box pulling and returning mechanism to work under the control of the controller. When the first power source and the second power source respectively and independently drive the box pulling and returning mechanisms to work under the control of the controller, the problem of adaptation of placing the tray in a skew mode can be thoroughly solved, even if the tray is skewed to a large extent, and because the two groups of box pulling and returning mechanisms can respectively and independently move under the drive of the corresponding power sources, the two groups of box pulling and returning mechanisms can move by different distances, so that the plug-ins in the two groups of box pulling and returning mechanisms are respectively aligned with the grooves on the corresponding sides.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a first schematic diagram of a prior art AGV utilizing a pull rod for a tray pull operation;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1;

FIG. 3 is a second schematic diagram of a related art AGV utilizing a drawbar for tray pull-out operation;

FIG. 4 is an enlarged schematic view of portion B of FIG. 3;

fig. 5 is an overall schematic view of a storage robot according to an embodiment of the present invention;

FIG. 6 is a first schematic structural diagram of a case returning mechanism in the embodiment;

FIG. 7 is a second structural schematic view of the case returning mechanism in the embodiment;

FIG. 8 is an exploded view of the case returning mechanism in the embodiment;

FIG. 9 is an enlarged schematic view of portion C of FIG. 8;

fig. 10 is an exploded view of a warehousing robot provided by an embodiment;

fig. 11 is an enlarged schematic view of a portion D in fig. 10.

The device comprises a base 1, a transmission plate 10, a second connecting plate 11, a driving assembly 2, a motor 20, an eccentric component 21, a shaft sleeve 210, a transmission shaft 211, a rolling bearing 2110, a pull-down component 3, an insertion piece 30, a first insertion piece 300, a second insertion piece 301, an installation plate 31, a limiting assembly 4, a limiting block 40, a guide rod 41, a detection sensor 5, a guide rail 6, a frame body 7, a transmission chain 8, a bent plate 80, a tray 9, a groove 90 and a pull rod 100.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary intended for explaining the present invention, and should not be construed as limiting the present invention.

Embodiments of the present invention are described below with reference to the drawings.

Example (b): this embodiment provides a warehouse robot, as shown in fig. 5, this warehouse robot includes support body 7 and the power supply of setting on support body 7, and specifically to this embodiment, the power supply includes driving motor and the chain drive who is driven by driving motor, and chain drive includes the sprocket that sets up on driving motor's output shaft and sets up drive chain 8 on the sprocket. The present embodiment also provides a box pulling and returning mechanism for operating under the drive of a power source to pull out and return a pallet carrying a bin relative to a shelf. Specifically, draw and go back punch-out equipment to the case mechanism has two sets ofly to two sets of drawing and going back punch-out equipment symmetry sets up on support body 7, and the during operation, two sets of drawing and going back punch-out equipment move back and forth relative tray under the drive of power supply to two sets of drawing and going back punch-out equipment cooperate and will carry the tray of workbin to pull out from the goods shelves or return it to the goods shelves on. It is understood that, in other embodiments, the chain transmission mechanism may be replaced by a belt transmission mechanism or a synchronous wheel transmission mechanism, and the power of the driving motor may be transmitted to the base to drive the base to move in the first setting direction.

As shown in fig. 6 and 7, the box pulling and returning mechanism includes a base 1, a driving assembly 2, and a box pulling and returning member 3, wherein the base 1 is used for carrying the driving assembly 2 and the box pulling and returning member 3, and the whole box pulling and returning mechanism is mounted through the base 1 and a frame body 7, and the base 1 can be driven by a power source to move back and forth in a straight line in a first set direction. The driving assembly 2 and the pull-back member 3 are both arranged on the base 1 and can move along with the base 1, wherein the pull-back member 3 can also move in a reciprocating straight line along a second set direction under the driving of the driving assembly 2. The pull-back member 3 includes an insert 30, the insert 30 being adapted to be moved in and out of the recess of the tray by the side of the tray under the drive of the drive assembly 2. Specifically, in the present embodiment, the first setting direction means as follows: when the storage robot works, the storage robot pulls out or returns a tray loaded with a bin relative to the goods shelf, and in the process, the moving direction of the tray is the first set direction or the direction opposite to the first set direction. The meaning of the second setting direction described above is as follows: the first set direction and the opposite direction are taken as the front and back directions, and the left and right directions of the tray are the second set direction or the direction opposite to the second set direction. It can be understood that the first setting direction is approximately perpendicular to the second setting direction, so that the plug-in unit can be smoothly inserted into the groove on the tray.

Through setting up base 1 and drive assembly 2, utilize base 1 to drive assembly 2 and draw and return component 3 and follow first direction linear motion that sets for, the removal action of base 1 can be used to transport plug-in components 30 to and the recess of tray is aimed at and drive the tray and move and realize drawing and return the operation. The drive assembly 2 can drive the insert 30 to move linearly along the second set direction, and the movement action of the insert 30 can be used for entering and exiting from the side part of the tray relative to the groove of the tray. Also this application uses plug-in components 30 to replace the pull rod among the prior art to plug-in components 30 along linear motion, get into and deviate from by the relative recess of tray of lateral part of tray, and the removal process of plug-in components 30 need not too much to occupy the space on the vertical direction like this, can show promotion storage space utilization. Meanwhile, the plug-in 30 gets into the groove with the straight line movement track, for the pull rod gets into the groove with the arc line movement track among the prior art, the plug-in 30 is higher to the adaptability that has crooked tray, also when facing the tray of certain crooked degree within range, when the pull rod can't get into the groove, the plug-in 30 in this application still can get into the groove.

As shown in fig. 6, the plug 30 in this embodiment is in a block shape, and in other embodiments, the plug 30 may be in a strip shape, a column shape, a fork shape, or other shapes capable of being matched with the groove. When the tray with the work box is pulled out from the shelf, the whole box pulling and returning mechanism is driven by the power source to move along the first set direction, so that the plug-in components 30 move towards the tray and align with the grooves on the tray. The insert 30 is then moved in a second set direction by the drive assembly 2 and enters the recess of the tray from the side of the tray. Then, under the driving of a power source, the box pulling and returning mechanism moves linearly along the direction opposite to the first set direction, the plug-in 30 applies a pulling force to the inner wall of the groove, and the two sets of box pulling and returning mechanisms are matched with each other to pull out the tray loaded with the work bin from the goods shelf onto the frame body 7 of the storage robot. When returning the tray loaded with the bins to the shelf, the driving unit 2 drives the insert 30 to move in the direction opposite to the second set direction and to be removed from the recess of the tray after returning the tray, similarly to the above operation.

In addition, the pull-back member 3 in the present embodiment further includes a mounting plate 31, the mounting plate 31 is provided on the base 1, the plug 30 is provided on the mounting plate 31, and the mounting plate 31 has an urging surface for urging the tray to set the tray upright. Through setting up mounting panel 31, on the one hand the setting of plug-in components 30 of being convenient for, on the other hand when mounting panel 31 along the second direction of setting under the drive of drive assembly 2, the top push face on mounting panel 31 can push away the tray so that the tray is ajusted, just so can further promote and draw the adaptability of box returning mechanism to the tray that has the skew. Meanwhile, after the plug-in unit 30 is inserted into the groove, the pushing surface can clamp the tray, and the stability of the material box in the pulling and returning process is improved. Further, the insert 30 in the present embodiment includes a first insert 300 and a second insert 301, and the first insert 300 and the second insert 301 are disposed on the mounting plate 31 at intervals along the first setting direction. With the arrangement, when the warehousing robot is located between two rows of shelves, one row of shelves is located on the left side of the warehousing robot, the other row of shelves is located on the right side of the warehousing robot, the box pulling and returning mechanism in the embodiment is provided with the first plug-in 300 and the second plug-in 301, the first plug-in 300 is close to the shelf on the left side, and the second plug-in 301 is close to the shelf on the right side. Then, the warehousing robot can not only pull out or return the tray with the bin from the shelf on the left side through the first plug-in 300, but also pull out or return the tray with the bin from the shelf on the right side through the second plug-in 301, and can also pull out the tray from the shelf on the left side and return the tray to the shelf on the right side or pull out the tray from the shelf on the right side and return the tray to the shelf on the left side through the cooperation of the first plug-in 300 and the second plug-in 301.

It is understood that in other embodiments, only one set of inserts 30 may be disposed on one side of the mounting plate 31 to achieve the pull-back operation, but when the double-side pull-out and return operation is performed, in some cases, the warehousing robot needs to adjust the position of the relative shelf by moving and turning itself to enable the pull-back operation of the box mechanism. Alternatively, in other embodiments, the mounting plate 31 may not be provided, that is, the pull-back member 3 includes only the insert 30, and the pull-back operation may be performed by directly mounting the insert 30 on the driving assembly 2. Specifically, the insert 30 in the present embodiment is integrally formed with the mounting plate 31, and in other embodiments, the insert 30 may be fastened to the mounting plate 31 by a bolt and a thread, or may be fixed by a bayonet structure.

As shown in fig. 8 and 9 in combination, the driving assembly 2 in the present embodiment includes a motor 20 and a transmission mechanism provided on an output shaft of the motor 20, and specifically, the transmission mechanism is an eccentric cam mechanism. The eccentric cam mechanism comprises an eccentric component 21, a pull-back component 3 is arranged on the eccentric component 21 and driven by the eccentric component 21 to move, and a limiting component 4 used for limiting the pull-back component 3 to move along a second set direction is arranged between the pull-back component 3 and the base 1. The mounting plate 31 in the pull-back member 3 in this embodiment is slidably connected to the base 1 by the stop assembly 4, and the mounting plate 31 is drivingly connected to the eccentric member 21 for driven movement. Specifically, the eccentric member 21 includes a shaft sleeve 210 and a transmission shaft 211, the shaft sleeve 210 is tightly fitted over the output shaft, the shaft sleeve 210 is provided with an annular boss, the transmission shaft 211 is provided on the annular boss, and the transmission shaft 211 and the output shaft are parallel to each other. Thus, when the output shaft of the motor 20 rotates, the sleeve 210 can be driven to rotate coaxially with the output shaft, and the sleeve 210 rotates along the axis thereof. Because the transmission shaft 211 and the output shaft are arranged in parallel, that is, the transmission shaft 211 is not overlapped with the axis of the output shaft, the transmission shaft 211 can not rotate along the axis of the transmission shaft, but rotates around the axis of the output shaft. Correspondingly, a transmission plate 10 is arranged on the mounting plate 31, the transmission plate 10 is provided with a transmission hole (which may also be a transmission groove) for the transmission shaft 211 to enter, and the transmission shaft 211 is matched with the inner wall of the transmission hole to drive the pull-back member 3 to move linearly along the second set direction. Further, the driving sleeve 210 is provided with a rolling bearing 2110. Through the arrangement of the rolling bearing 2110, the rolling bearing 2110 and the inner wall of the transmission hole are used, so that abrasion of the transmission shaft 211 and the inner wall can be effectively avoided, and the service life of the equipment is prolonged. The limiting component 4 in this embodiment includes a limiting block 40 and a guide rod 41, the limiting block 40 is provided with a limiting hole, the guide rod 41 is slidably disposed in the limiting hole, the limiting block 40 is fixedly mounted on the base 1, and the guide rod 41 is fixedly mounted on the mounting plate 31. In this way, the pull-back member 3, being restrained by the stop assembly 4, can only move in the second set direction when driven by the drive assembly 2.

That is, in the present embodiment, the motor 20 drives the pull-back member 3 to move linearly along the second setting direction through the eccentric cam mechanism, it is understood that a specific eccentric cam mechanism is shown in the present embodiment, and in other embodiments, it can be replaced by other common eccentric cam mechanisms. Alternatively, the driving assembly 2 may use other common transmission mechanisms instead of the eccentric cam mechanism, such as a ball screw mechanism or an electric push rod or a crank-link mechanism, and the driving mechanism can transmit the power of the motor 20 to the pull-back member 3 and drive the pull-back member 3 to move in the second setting direction.

In order to realize the automatic alignment of the plug-in 30 with the groove on the tray, in this embodiment, the mounting plate 31 is further provided with the detection sensor 5, the detection sensor 5 can be used for detecting the position of the plug-in 30 relative to the groove, and when the plug-in 30 is aligned with the groove on the tray, the detection sensor 5 can send out a signal prompt to realize the automatic positioning function. The detection sensor 5 can select a correlation sensor or a diffuse reflection sensor, when the correlation sensor is selected, when the two groups of plug-in units 30 in the box pulling and returning mechanism are aligned with the grooves, one side of the correlation sensor in the two groups of box pulling and returning mechanisms can receive signals sent by the other side, and therefore the signals are sent to remind users. When chooseing for use diffuse reflection sensor, need not two sets of diffuse reflection sensors that draw in the case mechanism of returning and cooperate the use, its self just can detect the recess position to send out signal when plug-in components 30 aim at the recess and remind.

The box pulling and returning mechanism provided by the embodiment further comprises a guide rail 6, and the base 1 is arranged on the guide rail 6 in a sliding mode. The guide rail 6 has two advantages, on one hand, the guide rail 6 is convenient to assemble with the frame body 7, specifically, in the embodiment, the guide rail 6 is provided with a through hole, the frame body 7 is provided with a threaded hole, and the guide rail 6 and the frame body 7 can be fastened and connected through a bolt and a thread; on the other hand, the arrangement of the guide rail 6 can reduce the friction on the base 1 and prolong the service life of the equipment. Furthermore, the two ends of the guide rail 6 are provided with stoppers, which can prevent the base 1 from falling off from the guide rail 6.

Referring to fig. 10 and 11, the base 1 is assembled with the drive chain 8 to be driven by the drive chain 8 in the present embodiment by: the transmission chain 8 is provided with a first connecting plate, specifically, the first connecting plate is a bent plate 80 in the embodiment, and the bent plate 80 is a common chain bent plate, which can be directly purchased. The base 1 is provided with a second connecting plate 11 fixedly connected with the bent plate 80, and particularly in the present embodiment, the second connecting plate 11 and the bent plate 80 are screwed together by bolts. Through above-mentioned structural design, the pulling and returning box mechanism that this application provided of being convenient for very much installs with current AGV dolly, installs additional the bent plate 80 on drive chain 8 and just can realize the effective connection of base 1 and power supply, need not to make great structural change to current AGV dolly, is favorable to popularizing and applying. It can be understood that the warehousing robot provided by the embodiment is an improvement on the existing AGV, and as described above, the pull rod on the existing AGV is replaced by the box pulling and returning mechanism provided by the embodiment. It will be appreciated that in other embodiments, the warehousing robot may be configured other than an AGV cart.

In addition, the warehousing robot further comprises a controller, and the power source drives the box pulling and returning mechanism to work under the control of the controller. The controller can control the box pulling and returning mechanisms to work synchronously through the power source, and can also control the box pulling and returning mechanisms to work independently through the power source. Specifically, the power source in this embodiment includes a first power source and a second power source, one of the two box pulling and returning mechanisms is driven by the first power source to operate, the other is driven by the second power source to operate, and the first power source and the second power source respectively and independently drive the box pulling and returning mechanisms to operate under the control of the controller. When the first power source and the second power source respectively and independently drive the box pulling and returning mechanisms to work under the control of the controller, the problem of adaptation of placing the tray in a skew mode can be thoroughly solved, even if the tray is skewed to a large extent, and because the two groups of box pulling and returning mechanisms can respectively and independently move under the drive of the corresponding power sources, the two groups of box pulling and returning mechanisms can move by different distances, so that the plug-ins in the two groups of box pulling and returning mechanisms are respectively aligned with the grooves on the corresponding sides.

In the present invention, unless otherwise explicitly specified or limited by the embodiments, the terms "mounted," "connected," and "fixed" appearing in the embodiments are to be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated connection, and it may be understood that the connection may also be a mechanical connection, an electrical connection, or the like; of course, they may be directly connected or indirectly connected through intervening media, or they may be interconnected within one another or in an interactive relationship. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific implementation.

While embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (10)

1. A pull and return mechanism for operating under the drive of a power source to pull out and return a pallet carrying a bin relative to a shelf, the pull and return mechanism comprising:

a base (1) that can be driven by the power source to linearly reciprocate in a first set direction;

the driving component (2) is arranged on the base (1) and moves along with the base (1); and the number of the first and second groups,

the pull-back component (3) is arranged on the base (1) and moves along with the base (1), and the pull-back component (3) can move in a reciprocating straight line along a second set direction under the driving of the driving assembly (2);

wherein the pull-back member (3) comprises an insert (30), and the insert (30) is used for entering and exiting relative to the groove of the tray along a second set direction under the driving of the driving component (2).

2. A box returning mechanism according to claim 1, wherein the returning member (3) further comprises a mounting plate (31), the mounting plate (31) is provided on the base (1), the insert (30) is provided on the mounting plate (31), and the mounting plate (31) has an urging surface for urging the tray to set it upright.

3. A mechanism as claimed in claim 1 or 2, wherein the drive assembly (2) comprises a motor (20) and a first transmission mechanism by which the motor (20) drives the pull-back member (3) in the second set direction.

4. A box returning mechanism according to claim 3, wherein a limiting component (4) for limiting the movement of the returning member (3) in the second set direction is arranged between the returning member (3) and the base (1).

5. A pull-back box mechanism according to claim 1, characterised in that the base (1) and/or the pull-back member (3) is provided with a detection sensor (5), the detection sensor (5) being adapted to detect the position of the insert (30) relative to the recess on the tray.

6. A mechanism as claimed in claim 1, characterized in that it further comprises a guide (6), said base (1) being slidingly arranged on said guide (6).

7. A warehousing robot comprising a frame body (7) and a power source arranged on the frame body (7), and characterized by further comprising two sets of box pulling and returning mechanisms according to any one of claims 1 to 6, wherein the two sets of box pulling and returning mechanisms are symmetrically arranged on the frame body (7), and are driven by the power source to move along a first set direction.

8. The warehousing robot of claim 7, wherein the power source includes a drive motor and a second transmission mechanism driven by the drive motor, the base being disposed on the second transmission mechanism and being driven by the second transmission mechanism to move in a first set direction.

9. The storage robot as claimed in claim 8, wherein the second transmission mechanism comprises a driving wheel arranged on the output shaft of the drive motor, a transmission wheel arranged opposite to the driving wheel and a transmission belt arranged between the driving wheel and the transmission wheel, the transmission belt being provided with a first connection plate, and the base (1) being provided with a second connection plate (11) fixedly connected to the first connection plate.

10. The warehousing robot as claimed in claim 7, further comprising a controller, wherein the power source drives the box pulling and returning mechanisms to operate under the control of the controller, the power source comprises a first power source and a second power source, one of the two sets of box pulling and returning mechanisms is driven by the first power source to operate, the other set of box pulling and returning mechanisms is driven by the second power source to operate, and the first power source and the second power source drive the box pulling and returning mechanisms to operate synchronously or independently under the control of the controller.

Images