CN218539139U - Material closing device and storage robot - Google Patents

Abstract

The application relates to a material closing device and storage robot. The material pressing device comprises a vertical support, a plurality of pressing plates and a driving mechanism, wherein the pressing plates and the driving mechanism are arranged at intervals along the vertical direction; the driving mechanism is connected with the transmission mechanism and is used for driving the transmission mechanism to move so as to drive at least part of the pressing plate to lift along the vertical direction; when the material pressing device is installed on the storage robot, one end of the pressing plate, which is far away from the vertical support, extends to the upper side of the corresponding material placing layer, and the pressing plate can be driven by the driving mechanism to lift so as to press or release the material on the corresponding material placing layer. The application provides a scheme can compress tightly the material at material robot area material walking in-process, prevents that the material from empting and shifting, keeps storage robot's stability.

Description

Material closing device and storage robot

Technical Field

The application relates to the technical field of logistics equipment, in particular to a material pressing device and a storage robot.

Background

With the continuous development of warehousing technology, the demand for quick disassembly and efficient transportation of goods is increasing. In the field of warehouse logistics, containers are often transported through the jacking and jacking operations of the lifting type warehousing robots so as to realize automatic transportation operation and improve the efficiency of the transportation operation.

However, the existing lifting type storage robot does not have the function of pressing materials. In the traveling process of materials, the lifting type storage robot is prone to toppling, shifting and the like in all directions under the conditions of starting, stopping, turning, sudden stopping and the like, and the lifting type storage robot is prone to shaking.

SUMMERY OF THE UTILITY MODEL

For solving or partly solve the problem that exists among the correlation technique, this application provides a material closing device and storage robot, can take the material walking in-process at material robot and compress tightly the material, prevents that the material from toppling over and shifting, keeps storage robot's stability.

This application first aspect provides a material closing device for storage robot, storage robot includes the goods tray of keeping in, the goods tray of keeping in has a plurality of vertical direction intervals of edge settings, and is used for depositing the material put the thing layer, and this material closing device includes:

a vertical support;

the pressing plates are arranged at intervals along the vertical direction, one end of at least part of the pressing plates is movably arranged on one side of the vertical support through a transmission mechanism, and the other end of the pressing plates extends towards the direction far away from the vertical support along the horizontal direction;

the driving mechanism is connected with the transmission mechanism and is used for driving the transmission mechanism to move so as to drive at least part of the pressing plate to lift along the vertical direction;

when the material pressing device is installed on the storage robot, one end of the pressing plate, which is far away from the vertical support, extends to the upper side of the corresponding material placing layer, and the pressing plate can be driven by the driving mechanism to lift so as to press or release the material on the corresponding material placing layer.

The second aspect of the application provides a storage robot, which comprises a movable base, a temporary goods storage tray and the material pressing device;

the temporary goods storage tray is vertically arranged on the movable base and is provided with a plurality of material placing layers which are arranged at intervals along the vertical direction and used for storing materials;

the vertical support is fixed on the movable base and/or the temporary goods storage tray, one end of the pressing plate, far away from the vertical support, horizontally extends to the upper side of the corresponding goods storage layer, and the pressing plate can be driven by the driving mechanism to lift so as to press or release materials on the corresponding goods storage layer.

The technical scheme provided by the application can comprise the following beneficial effects: in the embodiment of the application, the material pressing device is additionally arranged on the storage robot, so that the pressing plate is arranged above at least part of the material accommodating layer. When materials need to be stored on the material placing layer, the driving mechanism drives the transmission mechanism to drive at least part of the pressing plates to synchronously ascend, and the distance between each pressing plate and the corresponding material placing layer is increased so that the materials can be stored on the material placing layer or can be taken away from the material placing layer; after the material layer of the storage robot is stored with the material, the driving mechanism drives the transmission mechanism to drive at least part of the pressing plates to descend synchronously, so that the pressing plates press the material on the corresponding material layer under the action of gravity. Like this at storage robot area material walking in-process, put the material on the layer and can not take place to empty and shift, prevent that storage robot from rocking, guaranteed storage robot walking's stability.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic structural diagram of a warehousing robot (not including a material pressing device) shown in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a material pressing device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a warehousing robot (including a material pressing device) according to an embodiment of the present application;

fig. 4 is a schematic structural view of the material pressing device and the temporary cargo pallet shown in fig. 3;

FIG. 5 is a schematic structural view of the material pressing device and the material containing layer shown in FIG. 3;

FIG. 6 is a schematic structural view of a material compaction device (not including a second mounting beam assembly) according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a material compaction device (including a second mounting beam assembly) according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a material compaction device (including a counterweight) according to an embodiment of the application;

fig. 9 is another schematic structural diagram of the material pressing device shown in the embodiment of the present application;

FIG. 10 is a schematic view of the structure of FIG. 9 from another perspective;

fig. 11 is a schematic view of the material pressing device and the temporary pallet shown in fig. 9.

Reference numerals:

1. a vertical support;

2. pressing a plate; 20. a counterweight;

3. a drive mechanism; 30. a lifter; 300. a winding wheel; 301. winding the rope; 302. a drive rod; 31. a driver;

4. a transmission mechanism; 40. an adapter plate; 41. a linkage member; 410. a wire rope; 411. a rigid plate;

5. a guide assembly; 50. a guide bar; 51. a slider;

6. a first mounting beam assembly;

7. a second mounting beam assembly;

8. moving the base;

9. a temporary goods storage tray; 90. placing a layer;

10. material preparation;

11. a sensor mounting seat.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integers; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of 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 the case may be.

The existing lifting type storage robot does not have the function of compressing materials. In the traveling process of materials, the lifting type storage robot is prone to toppling, shifting and the like in all directions under the conditions of starting, stopping, turning, sudden stopping and the like, and the lifting type storage robot is prone to shaking.

To above-mentioned problem, this application embodiment provides a material closing device, can take the material walking in-process to compress tightly the material at material robot, prevents that the material from empting and shifting, keeps storage robot's stability.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 4, an embodiment of the present application provides a material pressing device for a storage robot, where the storage robot includes a temporary storage tray 9, the temporary storage tray 9 has a plurality of material placing layers 90 arranged in a vertical direction and used for storing materials 10, and each material placing layer 90 may have a plurality of cargo spaces. The material pressing device comprises a vertical support 1, a plurality of pressing plates 2 and a driving mechanism 3.

The vertical bracket 1 is arranged along the vertical direction; the pressing plates 2 are arranged at intervals along the vertical direction, one end of at least part of the pressing plates 2 is movably connected to one side of the vertical support 1 through a transmission mechanism 4, and the other end of the pressing plates extends towards the direction far away from the vertical support 1 along the horizontal direction; the driving mechanism 3 is connected with the transmission mechanism 4 and is used for driving the transmission mechanism 4 to move so as to drive at least part of the pressing plate 2 to lift along the extending direction of the vertical support 1.

Referring to fig. 3 and 4, when the material pressing device is installed on the storage robot, one end of the pressing plate 2 away from the vertical bracket 1 extends to above the corresponding material placing layer 90, and the pressing plate 2 can be lifted under the action of the driving mechanism 3 to press or release the material 10 on the corresponding material placing layer 90.

In the embodiment of the present application, a material pressing device is additionally installed on the storage robot, so that a pressing plate 2 is configured above at least a part of the material accommodating layer 90. When the materials 10 need to be stored on the material placing layer 90, the driving mechanism 3 drives the transmission mechanism 4 to drive at least part of the pressing plate 2 to synchronously ascend, and the distance between the pressing plate 2 and the corresponding material placing layer 90 is increased, so that the materials 10 can be stored on the material placing layer 90 or the materials 10 can be taken away from the material placing layer 90; after the material 10 is stored in the material placing layer 90 of the warehousing robot, the driving mechanism 3 drives the transmission mechanism 4 to drive at least part of the pressing plates 2 to synchronously descend, so that the pressing plates 2 tightly press the material 10 on the corresponding material placing layer 90 under the action of gravity. Like this at storage robot area material walking in-process, put the material on the layer 90 and can not take place to empty and shift, prevent that storage robot from rocking, guaranteed storage robot walking stability.

In some embodiments, the driving mechanism 3 includes a lifter 30 and a driver 31, and one end of the lifter 30 is connected to the transmission mechanism 4; the driver 31 is connected to the other end of the lifter 30 and serves to drive the lifter 30 to lower or raise the transmission mechanism 4.

In the embodiment of the application, the driving mechanism 3 drives the lifter 30 to extend to lower the transmission mechanism 4, so that at least part of the pressing plate 2 is lowered synchronously; the lifter 30 is also driven to shorten by the driving mechanism 3 to lift the transmission mechanism 4, so that at least part of the pressing plate 2 is lifted synchronously.

In one specific implementation, referring to fig. 5 to 8, the lifter 30 includes a winding wheel 300 and a winding rope 301, a top end of the winding rope 301 is wound around the winding wheel 300, and a bottom end of the winding rope 301 is connected to the transmission mechanism 4; the driver 31 is connected to the winding reel 300 and is used for providing a rotational driving force to drive the winding reel 300 to rotate so as to release or wind the winding rope 301.

The winding rope 301 of this application embodiment is wire rope, has certain support intensity when having certain coiling flexibility, realizes flexible transmission, makes clamp plate 2 compress tightly material 10 through the dead weight through transferring clamp plate 2. The driver 31 of the embodiment of the present application may be a rotating electrical machine, and an output shaft of the rotating electrical machine is connected to a speed reducer, and is connected to the rotating shaft of the winding wheel 300 through the speed reducer, and drives the rotating shaft of the winding wheel 300 to rotate, thereby achieving stable rotation of the winding wheel 300.

In addition, when the materials 10 with different heights are switched, the winding reel 300 can be controlled to release the winding rope 301 with corresponding length.

When the material 10 needs to be stored on the material placing layer 90 or the material needs to be taken away from the material placing layer, the driver 31 drives the wire winding wheel 300 to rotate in the positive direction so as to wind the winding rope 301, the winding rope 301 drives the transmission mechanism 4 to ascend, so that at least part of the pressing plate 2 ascends synchronously, the distance between the pressing plate 2 and the corresponding material placing layer 90 is increased, and the material 10 can be stored on the material placing layer 90 or the material 10 can be taken away from the material placing layer 90; after the material 10 is stored in the material placing layer 90 of the warehousing robot, the driver 31 drives the winding wheel 300 to rotate reversely to release the winding rope 301, the winding rope 301 drives the transmission mechanism 4 to descend, so that at least part of the pressing plates 2 descend synchronously, and the pressing plates 2 press the corresponding material 10 on the material placing layer 90 under the action of gravity. Like this at storage robot area material walking in-process, put the material on the layer 90 and can not take place to empty and shift, prevent that storage robot from rocking, guaranteed the stability of storage robot walking.

In some embodiments, referring to fig. 6 to 8, the transmission mechanism 4 includes a plurality of adapter plates 40 and a plurality of linkage members 41, at least a portion of the adapter plates 40 are connected to a side of the pressure plate 2 close to the vertical bracket 1, and the pressure plate 2 is disposed on the vertical bracket 1 through the adapter plates 40; the driving mechanism 3 is connected with the adaptor plate 40 positioned at the uppermost position in at least part of the adaptor plates 40 and is used for driving the adaptor plates 40 to lift along the vertical direction; a linkage 41 is connected between two adjacent adapter plates 40 of at least some of the adapter plates 40.

In one embodiment, referring to fig. 6 to 8, the driver 31 provides a rotational driving force, and the linkage member 41 is made of a flexible material, for example, the linkage member 41 is a steel cable 410. The winding rope 301 is connected with the adaptor plate 40 positioned at the top of at least part of the adaptor plates 40 through the pressing block, and drives the adaptor plate 40 to ascend and descend and drives the rest adaptor plates 40 to ascend and descend synchronously under the connection action of the steel wire rope 410, so that the corresponding pressing plate 2 is driven to ascend and descend.

The linkage 41 of the embodiment of the application is the steel wire rope 410, has certain deformation capacity and certain supporting strength, and realizes flexible transmission. And the wire rope 410 is connected to two adjacent adapter plates 40 through a press block.

In addition, the embodiment of the present application has various transmission mechanisms 4, such as a pulley assembly, which can realize synchronous lifting of the plurality of press plates 2.

In some embodiments, in the initial state, the distance between the upper press plate 2 of the two adjacent press plates 2 and the material 10 to be pressed is greater than the distance between the lower press plate 2 and the material 10 to be pressed.

Therefore, the pressing plate 2 located below in the two adjacent pressing plates 2 can press the material 10 to be pressed through self weight, then the pressing plate 2 located above is continuously descended, and the pressing plate 2 located below is not descended at the moment until the pressing plate 2 located above presses the material 10 to be pressed. The pressing plate 2 located above can be prevented from pressing the material 10 first, so that the pressing plate 2 located below can not descend any more to press the material 10.

Taking two pressing plates 2 as an example, the material pressing process in the embodiment of the present application is exemplarily described as follows:

initial state: the distance between the upper laminate and the material 10 is greater than the distance between the lower laminate and the material 10.

The lower layer is in a compressed state: when the driver 31 drives the winding wheel 300 to rotate to release the winding rope 301, the lower pressing plate firstly falls on the material 10, and the material 10 is pressed by the dead weight.

Two-layer compaction state: the winding wheel 300 continues to rotate, the laminated board is placed on the material 10 after being loaded, and the material 10 is pressed by the dead weight of the laminated board 2.

Two-layer release state: the drive 31 is reversed and the upper and lower laminates are pulled up in sequence to release the material 10.

In another embodiment, as shown in fig. 9 to 11, the lifter 30 includes a driving rod 302, and the driver 31 is used for providing a linear driving force and driving the driving rod 302 to extend out of the driver 31 or retract into the driver 31.

The driver 31 of the embodiment of the present application may be a linear motor, a linear cylinder, etc., preferably a linear motor, and has a simpler structure. The driver 31 can be positioned above or below the pressure plate 2, when the driver 31 is positioned above the pressure plate 2, the driving rod 302 extends, and the pressure plate 2 compresses the material 10; the drive rod 302 is shortened and the platen 2 releases the material 10. Conversely, when the driver 31 is located below the pressing plate 2, the driving rod 302 extends, and the pressing plate 2 releases the material 10; the drive rod 302 is shortened and the platen 2 compresses the material 10.

In addition, when the materials 10 with different heights are switched, the pressing position of the pressing plate 2 needs to be adjusted. The control of the pressing position (end of movement condition) can be controlled by the actuator 31 by torque control or stroke control, or by a combination of both. The embodiment of the application preferably controls the pressing plate state of the pressing plate 2 through independent moment to determine whether to press or not, so that the aim of consistent pressing force of materials with different heights is fulfilled.

In some embodiments, referring to fig. 9, the driver 31 provides a linear driving force, and the linking member 41 is made of a rigid material, such as a rigid plate 411. The driving rod 302 is connected to at least some of the adapter plates 40 located at the top or the bottom, and drives the adapter plates 40 to move up and down, and drives the remaining adapter plates 40 to move up and down synchronously under the connection action of the adapter plates 40.

In some embodiments, in the initial state, the distance between the upper pressing plate 2 and the material 10 to be compressed in the two adjacent pressing plates 2 is equal to the distance between the lower pressing plate 2 and the material 10 to be compressed, and since the link 41 is made of a rigid material, synchronous compression of multiple layers of the material 10 can be achieved.

Taking two pressing plates 2 as an example, the material pressing process of the embodiment of the present application is exemplarily described as follows:

initial state: the distance between the upper laminate and the material 10 is equal to the distance between the lower laminate and the material 10.

Two-layer compaction state: the driver 31 drives the driving rod 302 to extend out, the upper laminated plate and the lower laminated plate are synchronously pressed downwards to reach corresponding positions for pressing, and the pressing state is kept by the driving force of the driver 31;

two-layer release state: the actuator 31 drives the actuator rod 302 to retract, and the upper and lower laminates are simultaneously pulled up to release the corresponding two layers of material 10.

In some embodiments, the driver 31 is configured to control the output torque to a preset torque, and/or to control the movement of the platen 2 to a preset position, so as to stop the lowering of the platen 2.

When the output torque of the driver 31 reaches the preset torque and/or the pressing plate 2 moves to the preset position, it indicates that the pressing plate 2 has pressed the material 10 on the corresponding material placing layer 90.

That is, when the driver 31 provides the linear driving force, the pressing position of the pressing plate 2 can be controlled (i.e., the lowering is stopped) in several ways:

1. the output torque is controlled independently or the movement position of the pressure plate 2 is controlled independently;

2. the output torque and the movement position of the platen 2 are controlled in combination.

In some embodiments, the transmission mechanism 4 is disposed on the vertical support 1 via the guide assembly 5. Specifically, the guide assembly 5 comprises two guide rods 50 and two sliding blocks 51, and the two guide rods 50 are respectively arranged on two sides of the vertical support 1; the two sliding blocks 51 are respectively arranged at two ends of one side of the transmission mechanism 4 close to the vertical support 1, and the transmission mechanism 4 is respectively arranged on the two guide rods 50 in a sliding manner through the two sliding blocks 51.

Specifically, every keysets 40 disposes two sliders 51, and keysets 40 goes up and down through slider 51 on guide bar 50 to reduce the lift resistance of clamp plate 2, improve lift efficiency, and prevent to carry and lead to the clamp plate 2 to block up and the card shell condition.

The slider 51 of the embodiment of the application is a box-type linear bearing slider which has the characteristics of light and fast movement, low friction resistance, large rated load and high stability.

The top and the bottom of guide bar 50 all are fixed in vertical support 1 through guide shaft support piece, and the guide shaft supporting shoe passes through the fix with screw on vertical support 1, and has seted up the through hole on the guide shaft supporting shoe, and the guide shaft supporting shoe passes through the through hole cover in guide bar 50 to pass the both sides and the guide bar 50 of guide shaft supporting shoe through the screw, in order to lock guide shaft support piece on guide bar 50.

In some embodiments, referring to fig. 4 and 5, and fig. 10 and 11, the material pressing device further includes a sensor mounting seat 11, the sensor mounting seat 11 is disposed on the vertical bracket 1, and a sensor mounted on the sensor mounting seat 11 is used for detecting a limit position of the rising of the pressing plate 2.

The mounting position of the sensor mount 11 may correspond to any one of the pressure plates 2, and the limit position at which each pressure plate 2 is lifted is determined by detecting the lifted position of the corresponding pressure plate 2. In the embodiment of the present application, the sensor mounting seat 11 is preferably disposed on the uppermost pressure plate 2 or the adaptor plate 40 to detect whether the uppermost pressure plate 2 is lifted to the limit position, so as to prevent the uppermost pressure plate 2 from being lifted continuously and being jammed.

In some embodiments, as shown in fig. 8, at least a portion of the platens 2 have weights 20 disposed therein, the weights 20 being adapted to the weight of the material 10 to be compacted by the platens 2.

Be hollow structure in the clamp plate 2, the centre is separated into two impartial cavities by the baffle, is equipped with the counter weight strip in the both sides of baffle to change the weight of clamp plate 2, make the weight looks adaptation of clamp plate 2 and material 10, make even material 10 topples over and also can not push away clamp plate 2.

In some embodiments, referring to fig. 6, the material pressing device further comprises a first mounting beam assembly 6, the first mounting beam assembly 6 is arranged at the top end of the vertical bracket 1, and the driving mechanism 3 is arranged on the first mounting beam assembly 6; and when the material pressing device is installed on the warehousing robot, the vertical support 1 is connected with the top end of the temporary storage tray 9 of the goods through the first installation beam assembly 6.

The first mounting beam assembly 6 comprises longitudinal beams which are respectively arranged on two sides of the vertical support 1, one end of each longitudinal beam is connected with the vertical support 1, and the other end of each longitudinal beam extends towards the direction far away from the vertical support 1 along the horizontal direction; first installation roof beam subassembly 6 still includes the crossbeam board, and the both ends of crossbeam board are connected respectively in the middle part of two longerons. And the driver 31 is installed on the beam plate through the L-shaped mounting bracket, playing a role in damping the driver 31.

The top of the temporary storage tray 9 for goods of the storage robot is provided with a first cross beam, and when the material pressing device is installed on the storage robot, the two ends of the first cross beam are respectively connected to the two longitudinal beams to keep away from the two ends of the vertical support 1 so as to fix the top end of the vertical support 1.

In some embodiments, referring to fig. 7, the material pressing device further includes a plurality of second mounting beam assemblies 7, the plurality of second mounting beam assemblies 7 are arranged on the vertical support 1 at intervals along the vertical direction, wherein a part of the second mounting beam assemblies 7 are located between two adjacent pressing plates 2, and another part of the second mounting beam assemblies 7 are located at the bottom end of the vertical support 1; and when the material pressing device is installed on the warehousing robot, the vertical support 1 is connected with the temporary storage tray 9 of the goods through a plurality of second installation beam assemblies 7.

Because vertical support 1 has certain height and weight, in order to improve vertical support 1 and storage robot's joint strength, this application embodiment still is equipped with a plurality of second installation roof beam subassemblies 7 on vertical support 1, and the structure of second installation roof beam subassembly 7 can be the same with the structure of first installation roof beam subassembly 6, is equipped with the first crossbeam with a plurality of second installation roof beam subassemblies 7 one-to-one on storage robot's the goods tray 9 of keeping in. When material closing device installed on the storage robot, the both ends of second crossbeam were connected respectively in the both ends that vertical support 1 was kept away from to two longerons that correspond to firmly fix the middle part and the bottom of vertical support 1.

In addition, the beam plate structure can be omitted since no other parts are arranged on the second mounting beam assembly 7.

Corresponding to the embodiment of the application function realization device, the application also provides a warehousing robot and a corresponding embodiment.

Referring to fig. 1 to 4, the warehousing robot includes a moving base 8, a temporary goods storage tray 9 and a material pressing device.

The temporary storage tray 9 is vertically arranged on the movable base 8, and the temporary storage tray 9 is provided with a plurality of layers 90 which are arranged at intervals along the vertical direction and used for storing the materials 10. The vertical support 1 is fixed on the movable base 8 and/or the temporary goods storage tray 9, one end of the pressing plate 2 far away from the vertical support 1 horizontally extends to the upper part of the corresponding storage layer 90, and the pressing plate 2 can press or release the materials 10 stored on the corresponding storage layer 90 under the action of the driving mechanism 3.

The vertical bracket 1 is arranged along the vertical direction; the pressing plates 2 are arranged at intervals along the vertical direction, one end of at least part of the pressing plates 2 is movably connected to one side of the vertical support 1 through a transmission mechanism 4, and the other end of the pressing plates 2 extends towards the direction far away from the vertical support 1 along the horizontal direction; the driving mechanism 3 is connected with the transmission mechanism 4 and is used for driving the transmission mechanism 4 to move so as to drive at least part of the pressing plate 2 to lift along the extending direction of the vertical support 1.

In some embodiments, referring to fig. 1 and 3, the lifting device includes a telescoping assembly for accessing the material 10 on the material layer 90.

In the smart warehouse logistics system, the warehousing robot can move back and forth relative to the warehousing goods temporary storage tray to carry the materials 10 between different warehousing goods temporary storage trays. In handling, material 10 is placed on the layer 90 of putting of tray 9 is kept in to goods, when the storage robot reachd the position of target storage goods tray of keeping in, the extending direction of tray 9 is kept in to the goods can be followed to the lifting device, vertical direction goes up and down promptly, in order to reach the height that need get to put material 10 place, the lifting device can be rotatory for the robot, flexible subassembly has on the lifting device, flexible subassembly can extend to put 90 below in layer and stretch out outside the robot, in order to put on layer 90 and the target storage goods on the layer between the tray of keeping in carry material 10.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (17)

1. The utility model provides a material closing device for storage robot, storage robot includes the goods tray of keeping in, the goods tray of keeping in has a plurality of vertical direction intervals of edge and sets up, and is used for depositing putting the thing layer of material, and its characterized in that, this material closing device includes:

a vertical support;

the pressing plates are arranged at intervals along the vertical direction, one end of at least part of the pressing plates is movably arranged on one side of the vertical support through a transmission mechanism, and the other end of the pressing plates extends towards the direction far away from the vertical support along the horizontal direction;

the driving mechanism is connected with the transmission mechanism and is used for driving the transmission mechanism to move so as to drive at least part of the pressing plate to lift along the vertical direction;

when the material pressing device is installed on the storage robot, one end of the pressing plate, which is far away from the vertical support, extends to the upper side of the corresponding material placing layer, and the pressing plate can be driven by the driving mechanism to lift so as to press or release the material on the corresponding material placing layer.

2. The material compaction device of claim 1 wherein the drive mechanism comprises:

one end of the lifter is connected with the transmission mechanism;

and the driver is connected with the other end of the lifter and is used for driving the lifter to lower or lift the transmission mechanism.

3. The material compaction device of claim 2, wherein:

the lifter comprises a winding wheel and a winding rope, the top end of the winding rope is wound on the winding wheel, and the bottom end of the winding rope is connected with the transmission mechanism;

the driver is connected with the winding wheel and used for providing a rotary driving force to drive the winding wheel to rotate so as to release or wind the winding rope.

4. The material pressing device according to claim 3, wherein in the initial state, the distance between the upper pressing plate of two adjacent pressing plates and the material to be pressed is larger than the distance between the lower pressing plate and the material to be pressed.

5. The material compaction device of claim 2, wherein:

the lifter comprises a driving rod, and the driver is used for providing linear driving force and driving the driving rod to extend out of the driver or retract into the driver.

6. The material pressing device according to claim 5, wherein in the initial state, the distance between the upper pressing plate and the material to be pressed in two adjacent pressing plates is equal to the distance between the lower pressing plate and the material to be pressed.

7. The material compaction device of claim 5 wherein the drive is configured to control the output torque to a preset torque and/or to control the platen to move to a preset position to stop the platen from lowering.

8. A material compaction device according to any one of claims 3 to 7 wherein the transmission mechanism comprises:

at least part of the adapter plates are connected to one side, close to the vertical support, of the pressing plate, and the pressing plate is arranged on the vertical support through the adapter plates; the driving mechanism is connected with at least one part of the adapter plate positioned at the uppermost part and is used for driving the adapter plate to lift along the vertical direction;

the linkage pieces are connected between two adjacent adapter plates in at least part of the adapter plates.

9. The material compaction device of claim 8, wherein:

when the driver provides a rotary driving force, the linkage piece is made of a flexible material and is a steel wire rope;

when the driver provides linear driving force, the linkage piece is made of rigid materials and is a rigid plate.

10. The material pressing device as claimed in any one of claims 1 to 7, wherein the transmission mechanism is provided on the vertical support through a guide assembly, the guide assembly comprising:

the two guide rods are respectively arranged on two sides of the vertical support;

the two sliding blocks are respectively arranged at two ends of one side, close to the vertical support, of the transmission mechanism, and the transmission mechanism is respectively arranged on the two guide rods in a sliding mode through the two sliding blocks.

11. The material pressing device as claimed in any one of claims 1 to 7, further comprising a sensor mounting seat, wherein the sensor mounting seat is arranged on the vertical support, and a sensor mounted on the sensor mounting seat is used for detecting the extreme position of the rising pressure plate.

12. The material compaction device of claim 1 wherein at least some of the platens have weights that are adapted to weight the material to be compacted by the platens.

13. The material pressing device as claimed in claim 1, further comprising a first mounting beam assembly, wherein the first mounting beam assembly is arranged at the top end of the vertical support, and the driving mechanism is arranged on the first mounting beam assembly; and when the material pressing device is installed on the storage robot, the vertical support is connected with the top end of the temporary goods storage tray through the first installation beam assembly.

14. The material compaction device of claim 1 further comprising a plurality of second mounting beam assemblies, the plurality of second mounting beam assemblies being vertically spaced apart from the vertical support, wherein a portion of the second mounting beam assemblies are positioned between two adjacent platens, and another portion of the second mounting beam assemblies are positioned at a bottom end of the vertical support; and when the material pressing device is installed on the storage robot, the vertical support is connected with the middle part and the bottom end of the temporary goods storage tray through a plurality of second installation beam assemblies.

15. A warehousing robot comprising a mobile base, a temporary cargo storage tray and a material pressing device of any one of claims 1 to 14;

the temporary goods storage tray is vertically arranged on the movable base and is provided with a plurality of material placing layers which are arranged at intervals along the vertical direction and used for storing materials;

the vertical support is fixed on the movable base and/or the temporary goods storage tray, one end of the pressing plate, far away from the vertical support, horizontally extends to the upper side of the corresponding goods storage layer, and the pressing plate can be driven by the driving mechanism to lift so as to press or release materials on the corresponding goods storage layer.

16. The warehousing robot as claimed in claim 15, further comprising a lifting device movably connected to the temporary storage pallets or the vertical racks and being liftable in an extending direction of the temporary storage pallets or the vertical racks.

17. The warehousing robot of claim 16, wherein the lifting device includes a telescoping assembly for accessing material on the layer.

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