CN218620168U

CN218620168U - Container taking and returning device and transfer robot

Info

Publication number: CN218620168U
Application number: CN202222869701.1U
Authority: CN
Inventors: 李晓伟; 肖玉辉
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-03-14
Anticipated expiration: 2032-10-28

Abstract

The utility model discloses a container taking and returning device and a carrying robot, which relate to the technical field of warehouse logistics, and the container taking and returning device comprises a base, and a telescopic fork, a telescopic driving component and a bearing follow-up component which are arranged on the base, wherein the telescopic fork is provided with a locking component, the locking component enables the bearing follow-up component to maintain a retraction state by limiting the telescopic fork to retract, and the telescopic driving component can drive the telescopic fork to be separated from the limitation of the locking component, so that the telescopic fork and the bearing follow-up component can retract; the locking subassembly can restrict flexible fork and stretch out and draw back, loses the power back at flexible drive assembly, and the locking subassembly can provide the locking power, makes flexible fork maintain the contraction state for flexible fork and bearing follow-up subassembly can not stretch out forward, and after the power failure of transfer robot, the withdrawal state can still be maintained to the bearing follow-up subassembly, avoids the bearing follow-up subassembly to cause the damage to personnel or peripheral equipment.

Description

Container retrieval and retrieval device and transfer robot

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a container is got and is returned device, transfer robot and storage logistics system.

Background

This section provides background information related to the present invention only and is not necessarily prior art.

In storage logistics system, when transfer robot's flexible fork got the small dimension workbin that returns, for preventing that the small workbin from dropping to the gap between goods shelves and the flexible fork, generally can design the follow-up tray in the flexible fork subassembly for get, the in-process of returning the case, stretch out the follow-up tray and get the small workbin in order to connect, prevent to drop. The design requirement of the follow-up tray is that the extension and retraction actions of the follow-up tray are carried out in the process of taking and returning the box by the telescopic fork, in order to reduce the cost, an independent and complex control unit is generally not designed to control the corresponding actions, a tension spring is simply additionally arranged to serve as the power for extending the follow-up tray, and the retraction of the follow-up tray is completed by the retraction follow-up action of the telescopic fork.

In the above design, when the follow-up tray is in the withdrawal state, the telescopic fork is also in the withdrawal state, and the telescopic fork can limit the follow-up tray to extend out under the action of the tension spring, that is, under the normal working condition, the follow-up tray can be limited by the position of the telescopic fork and can only follow the telescopic action of the telescopic fork. However, when the transfer robot is powered off, the retractable fork usually loses the braking force for keeping the retractable state, and at this time, the follow-up tray may extend out under the action of the tension spring, and the extending part of the follow-up tray easily hurt people. In order to avoid the situation, a band-type brake motor is adopted as a telescopic driving power device of the telescopic fork in part of the carrying robots, so that after the carrying robots are powered off, the telescopic fork is kept in a retraction state by the band-type brake motor, locking force of the follow-up tray is further provided, the follow-up tray is prevented from popping out, but the scheme can influence the flexibility of maintenance personnel during overhauling of the telescopic fork, for example, the band-type brake needs to be removed to pull out the telescopic fork, and maintenance and inspection are carried out.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving at least and carrying the robot outage back, the follow-up tray is difficult to keep the state of retracting and the technical problem who stretches out. The purpose is realized by the following technical scheme:

the utility model discloses a first aspect provides a container is got and is returned device, include:

a base;

the telescopic fork is arranged on the base;

the telescopic driving assembly is used for driving the telescopic fork to stretch and retract along a first direction;

the bearing follow-up component is arranged on the base, stretches along with the stretching of the telescopic fork, and has a retracting state accommodated on the base and an extending state extending forwards relative to the base;

the locking subassembly, the locking subassembly set up in on the flexible fork, the locking subassembly is through the restriction flexible messenger of fork the bearing follow-up subassembly maintains the state of withdrawing, flexible drive assembly can drive flexible fork breaks away from the restriction of locking subassembly makes flexible fork with the bearing follow-up subassembly is flexible.

According to the utility model discloses a device is got still to container, flexible fork and bearing follow-up subassembly can be normally flexible under flexible drive assembly's effect. Bearing follow-up subassembly follows the flexible and flexible of flexible fork, and is specific, when flexible fork stretches out, and bearing follow-up subassembly stretches out forward to the state of stretching out, and when flexible fork retracted, bearing follow-up subassembly resets backward to the state of retracting. After the telescopic driving assembly loses power, the locking assembly can provide locking force to limit the telescopic fork to stretch and retract, so that the telescopic fork can not extend out under the action of the locking assembly; because the bearing follow-up subassembly is flexible along with flexible fork, when flexible fork can not stretch out, the bearing follow-up subassembly also can not stretch out forward. Therefore, after the power of the transfer robot is cut off, the bearing follow-up component can still maintain a retraction state, and the situation that the bearing follow-up component extends out to damage personnel or peripheral equipment is avoided; simultaneously, the locking subassembly sets up on flexible fork, and when overhauing flexible fork, the flexibility is higher.

In addition, according to the utility model discloses a container is got and is returned device still can have following additional technical characterstic:

in some embodiments of the present invention, the retractable fork includes at least two fork plates disposed in sequence, the at least two fork plates are disposed in sequence along a second direction, each fork plate extends along the first direction, and two adjacent fork plates of the at least two fork plates are slidably connected to enable the retractable fork to extend and retract along the first direction;

the second direction is perpendicular to the first direction;

the locking assembly is arranged between two adjacent fork plates in the at least two fork plates.

The utility model discloses an in some embodiments, lie in two piece at least fork boards the fork board of second direction one end is fixed fork board, and other fork boards are flexible fork boards, fixed fork board is fixed in on the base, flexible fork board slide set up in on the fixed fork board, in the flexible fork board with the adjacent flexible fork board of fixed fork board is the flexible fork board of first order, the locking subassembly set up in with fixed fork board with between the flexible fork board of first order.

In some embodiments of the present invention, the locking assembly comprises a first engaging member and a second engaging member, one of the first engaging member and the second engaging member is disposed on the fixed fork plate, and the other is disposed on the first-stage telescopic fork plate;

the first matching piece is provided with an elastic telescopic piece, the second matching piece is provided with a groove, when the telescopic fork is in a contraction state, the elastic telescopic piece stretches out and is locked in the groove, and when the telescopic driving assembly drives the telescopic fork, the elastic telescopic piece slides out of the groove and retracts.

In some embodiments of the present invention, the first fitting member further comprises an adjusting member, and the adjusting member is connected to the elastic expansion member for adjusting the elasticity of the elastic expansion member.

In some embodiments of the present invention, the first engaging member is disposed on the fixed fork plate, and the second engaging member is disposed on the first-stage retractable fork plate;

the adjusting piece is provided with an operating end, and the operating end faces one side, away from the first-stage telescopic fork plate, of the fixed fork plate.

In some embodiments of the present invention, one of the fixed fork plate and the first stage telescopic fork plate is a first one, the other of the fixed fork plate and the first stage telescopic fork plate is a second one, the first mating member is disposed on the first one, and the second mating member is disposed on the second one;

the second fitting piece comprises a guide block, the guide block is fixed on one side, facing the first piece, of the second piece, and the groove is formed in the side face, facing the first piece, of the guide block.

In some embodiments of the present invention, the guide block is provided with a guide surface at the front end of the groove, the guide surface faces the first one, and along the direction from back to front, the guide surface is gradually close to the second one is provided, and the front end of the guide surface and the second one face the side of the first one.

In some embodiments of the present invention, the elastic expansion member is rollably disposed, and when the telescopic driving assembly drives the telescopic fork to expand and contract, the elastic expansion member can roll on the guide block to enter or slide out the groove.

In some embodiments of the present invention, the first engaging member is a roller plunger, and a roller of the roller plunger forms the elastic expansion member.

The utility model discloses an in some embodiments, the gyro wheel plunger still includes mount pad, swing arm and pressure spring, the first end of swing arm with the mount pad is articulated, the second end of swing arm with the gyro wheel is connected, the both ends of pressure spring respectively with the mount pad with the swing arm is connected, the pressure spring to the orientation is applyed to the swing arm the elasticity of second fitting piece direction, the swing arm can under the effect of pressure spring and external force, wind first end swing and drive the gyro wheel stretches out or returns and contracts.

In some embodiments of the present invention, the supporting and following component includes a bearing component and a driving component, the driving component is connected to the bearing component, and when the telescopic fork extends, the bearing component extends forward under the action of the driving component; when the telescopic fork retracts, the bearing piece is driven to reset backwards.

In some embodiments of the present invention, the driving member includes a tension spring, one end of the tension spring is connected to the base, the other end of the tension spring is connected to the bearing member, and the tension spring applies a forward pulling force to the bearing member.

In some embodiments of the present invention, a first limiting member is fixed to the telescopic fork, a second limiting member is disposed at a rear end of the bearing member, and the first limiting member is disposed at a front end of the second limiting member;

when the telescopic fork retracts, the first limiting part is abutted to the bearing part to drive the bearing part to reset backwards.

In some embodiments of the present invention, the number of the retractable forks is two, two the retractable forks are arranged at an interval along a second direction perpendicular to the first direction, and two at least one of the retractable forks is provided with the locking assembly.

A second aspect of the present invention provides a transfer robot, including:

a chassis assembly;

the lifting mechanism is arranged on the chassis component;

the container is got and is returned the device, with elevating system connects, and can go up and down along vertical direction under elevating system's the effect, the container is got and is returned the device and do the utility model discloses the container that the first aspect provided is got and is returned the device.

The utility model discloses transfer robot has at least the utility model provides a beneficial effect that the device was got to the container.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 is a schematic view of a transfer robot according to an embodiment of the present invention;

fig. 2 is an assembly schematic diagram of a container retrieving device and a rotating mechanism according to an embodiment of the present invention;

fig. 3 is a schematic view of a container retrieving device according to an embodiment of the present invention;

FIG. 4 is a schematic view of another view of FIG. 3;

fig. 5 is a schematic cross-sectional view of a telescopic fork according to an embodiment of the present invention;

FIG. 6 is an enlarged view of section C of FIG. 5;

fig. 7 is a schematic diagram illustrating the first mating member and the second mating member provided by the embodiment of the present invention;

fig. 8 is a schematic front view of a first fitting member according to an embodiment of the present invention;

FIG. 9 is a schematic side view of a first mating member according to an embodiment of the present invention;

fig. 10 shows a cross-sectional view D-D of fig. 9.

The reference numbers are as follows:

100. a container retrieval and return device; 110. a base; 120. a telescopic fork; 121. a fixed fork plate; 122. a first stage telescopic fork plate; 123. a second stage telescopic fork plate; 125. fixing the push plate; 126. rotating the push plate; 127. a first telescopic fork; 128. a second telescopic fork; 130. a telescopic drive assembly; 131. a first motor; 132. a first drive shaft; 133. a driving pulley; 140. a locking assembly; 141. a first mating member; 1411. an elastic extensible member; 1412. a mounting seat; 1413. a swing arm; 1414. a pressure spring; 1415. a roller; 142. a second mating member; 1421. a groove; 1422. a guide block; 1423. a guide surface; 143. an adjustment member; 1431. a nut; 1432. a stud; 1433. an operation end; 150. a carrier; 151. a second limiting member; 160. a tension spring;

200. a chassis assembly; 300. a temporary storage cargo space assembly; 400. a lifting mechanism; 500. a rotation mechanism; 510. a rotary drive motor; 520. a rotation driving pulley; 530. rotating the synchronous belt; 540. a fixed support pulley;

A. a first direction; B. a second direction; E. the direction of oscillation.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention 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 invention to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "at 8230; \8230; below" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Referring to fig. 1 to 10, the present embodiment provides a container retrieving apparatus 100, which includes a base 110, a telescopic fork 120, a telescopic driving assembly 130, a supporting follower assembly, and a locking assembly 140. The telescopic fork 120 is disposed on the base 110, and the telescopic driving assembly 130 is disposed on the base 110 and used for driving the telescopic fork 120 to extend and retract. The support follow-up member is disposed on the base 110, extends and retracts along with the extension and retraction of the retractable fork 120, and has a retracted state accommodated in the base and an extended state extending forward relative to the base. The locking assembly 140 is disposed on the telescopic fork 120, the locking assembly 140 maintains the retracted state of the support servo assembly by limiting the telescopic fork 120 to extend and retract, and the telescopic driving assembly 130 can drive the telescopic fork 120 to be separated from the limit of the locking assembly 140, so that the telescopic fork 120 and the support servo assembly extend and retract.

In one implementation, the bearer follower assembly includes a carrier 150 and a drive member, and when the telescopic fork 120 is extended, the carrier 150 is extended forward by the drive member. When the telescopic fork 120 retracts, the carrier 150 is driven to return backward. The locking assembly 140 is disposed on the telescopic fork 120, and when the telescopic fork 120 is in a contracted state, the locking assembly 140 can limit the telescopic fork 120 to extend and retract, and the telescopic driving assembly 130 can drive the telescopic fork 120 to disengage from the limit of the locking assembly 140, so that the telescopic fork 120 extends and retracts.

According to the container retrieving and returning device 100 of the present embodiment, the telescopic driving assembly 130 can drive the telescopic fork 120 to disengage from the restriction of the locking assembly 140, so that the telescopic fork 120 and the bearer following assembly can be extended and retracted, and the telescopic fork 120 and the bearer following assembly can be extended and retracted normally under the action of the telescopic driving assembly 130. The bearing member 150 follows the extension and retraction of the telescopic fork 120, specifically, when the telescopic fork 120 extends, the bearing member 150 extends forward under the action of the driving member, and when the telescopic fork 120 retracts, the bearing member 150 is driven to return backward. After the telescopic driving assembly 130 loses power, the locking assembly 140 can provide locking force to enable the telescopic fork 120 to maintain a contraction state, so that the telescopic fork 120 cannot extend out under the action of the locking assembly 140, correspondingly, the bearing piece 150 cannot extend forwards under the action of the driving piece, and after the power of the transfer robot is cut off, the bearing piece 150 can still maintain the contraction state, so that the situation that the bearing piece 150 extends out to damage personnel or peripheral equipment is avoided; meanwhile, the locking assembly 140 is arranged on the telescopic fork 120, so that the flexibility is high when the telescopic fork 120 is overhauled.

The container retrieving apparatus 100 of the present embodiment may be applied to a transfer device such as a transfer robot. The container retrieved by the container retrieving device 100 may be a container, bin, packing box or goods, etc.

The base 110 is a mounting base for the container retrieval apparatus 100, and the telescoping drive assembly 130, the telescoping fork 120, and the support follower assembly are mounted directly or indirectly to the base 110. The base 110 may be configured to exhibit a plate-like structure or a frame structure.

The telescopic fork 120 is a member for completing the retrieval and return of the container. Generally, the telescopic fork 120 includes two telescopic forks 120, and the two telescopic forks 120 are spaced apart from each other in a direction perpendicular to the telescopic direction of the telescopic fork 120. For convenience of description, the sequentially arranging direction of the two telescopic forks 120 is defined as a second direction B, and the telescopic direction of the telescopic forks 120 is defined as a first direction a, and the second direction B and the first direction a are two mutually perpendicular directions on a horizontal plane in general when the transfer robot is in a use state; two telescopic forks 120 are defined as a first telescopic fork 127 and a second telescopic fork 128, respectively. The first telescopic fork 127 and the second telescopic fork 128 are disposed opposite to each other at intervals along the second direction B, and the first telescopic fork and the second telescopic fork 128 can be used for carrying the container onto the carrier 150 or removing the container from the carrier 150 by telescoping. Among them, the process of carrying the container to the carrier 150 may be regarded as a container taking process, and the process of removing the container from the carrier 150 may be regarded as a container returning process.

Wherein, first flexible fork 127 and second flexible fork 128 all include two push plates and two piece at least fork boards, and two piece at least fork boards set gradually along the direction of perpendicular to first direction A, also the second direction B, and every fork board is along first direction A, also first direction A extension, two adjacent fork boards sliding connection in two piece at least fork boards to make flexible fork 120 can stretch out and draw back. Usually, one of at least two fork plates of the same telescopic fork 120 is fixedly disposed, and the other fork plates are telescopic fork plates, in this embodiment, the fork plate located at one end perpendicular to the telescopic direction of the at least two fork plates is a fixed fork plate 121, specifically, the fork plate of the first telescopic fork 127 far away from the second telescopic fork 128 is a fixed fork plate 121, and the fork plate of the second telescopic fork 128 far away from the first telescopic fork 127 is a fixed fork plate 121.

When the first telescopic fork 127 and the second telescopic fork 128 include two fork plates, the two fork plates are respectively a fixed fork plate 121 and a first-stage telescopic fork plate, the first-stage telescopic fork plate is slidably disposed on the fixed fork plate 121 along the first direction a, and the push plate is disposed on the first-stage telescopic fork plate; when the first telescopic fork 127 and the second telescopic fork 128 include three or more fork plates, the first telescopic fork 127 and the second telescopic fork 128 include a fixed fork plate 121 and a multi-stage telescopic fork plate, wherein the fixed fork plate 121 and the multi-stage telescopic fork plate are sequentially arranged, the first stage telescopic fork plate 122 can slide along the first direction a relative to the fixed fork plate 121, the telescopic fork plate of the next stage in the adjacent stage telescopic fork plates can slide along the first direction a relative to the telescopic fork plate of the previous stage, and the push plate is arranged on the last stage telescopic fork plate. The adjacent fork plates can be connected by a telescopic guide rail with a guiding function.

A specific structure of the telescopic fork 120 is given below, and the first telescopic fork 127 and the second telescopic fork 128 are two-stage telescopic structures. The first telescopic fork 127 and the second telescopic fork 128 have the same structure, and the structure will be described in detail below by taking the first telescopic fork 127 as an example.

The two-stage telescopic fork plates are respectively a first-stage telescopic fork plate 122 and a second-stage telescopic fork plate 123, the first-stage telescopic fork plate 122 is arranged on the fixed fork plate 121 and can slide along the first direction A relative to the fixed fork plate 121, and the second-stage telescopic fork plate 123 is arranged on the first-stage telescopic fork plate 122 and can stretch along the first direction A relative to the first-stage telescopic fork plate 122. Wherein, all be provided with telescopic guide between fixed fork board 121 and the first order telescopic fork board 122 and between first order telescopic fork board 122 and second and the telescopic fork board, telescopic guide extends along first direction A to the flexible of first order telescopic fork board 122 and the flexible fork board 123 of second order along first direction A of direction. The second-stage telescopic fork plate 123 is provided with a fixed push plate 125 and a rotary push plate 126, the rotary push plate 126 is arranged at the front end, the fixed push plate 125 is arranged at the rear end, wherein the fixed push plate 125 is used for pushing a container outwards in the container returning process, the rotary push plate 126 is used for pushing the container inwards when the container is taken from a shelf (a shelf of a warehousing system) or a temporary storage position (generally a temporary storage position on a transfer robot), the rotary push plate 126 can rotate around a first direction A to be in vertical and horizontal states, the second-stage telescopic fork plate 123 does not protrude in the vertical state, the telescopic fork 120 can extend out and embrace the container, the container can be contacted with the container in the horizontal state, and thrust is given to the container.

The first telescopic fork 127 and the second telescopic fork 128 may be driven by independent telescopic driving assemblies 130, or may be driven by the same telescopic driving assembly 130. In one implementation, referring to fig. 4, the telescopic drive assembly 130 includes a first motor 131, a first drive shaft 132, and two sets of drive members, one set of drive members being connected to the first telescopic fork 127 and the other set of drive members being connected to the second telescopic fork 128. Wherein, two sets of drive components all include driving pulley 133 and driven pulley, driving pulley 133 and driven pulley arrange in proper order and set up on fixed fork board 121 along first direction A, be connected with the hold-in range between driving pulley 133 and the driven pulley, driving pulley 133 is connected with first transmission shaft 132, first order telescopic fork board 122 is connected with the hold-in range, first motor 131 rotates the first transmission shaft 132 of drive and rotates, thereby drive two driving pulley 133 and rotate, every driving pulley 133 rotates through the hold-in range that the drive corresponds, thereby realize the flexible fork board 122 of first order along first direction A's flexible. The first-stage telescopic fork plate 122 is provided with a pulley and a transmission belt, one end of the transmission belt is connected with the fixed fork plate 121, and the other end of the transmission belt is connected with the second-stage telescopic fork plate 123 after bypassing the pulley.

The driving pulley 133 rotates to drive the synchronous belt to move, under the action of the synchronous belt, the first-stage telescopic fork plate 122 stretches along the first direction a, the pulley on the first-stage telescopic fork plate 122 moves along the first direction a together, and the driving belt arranged on the pulley drives the second-stage telescopic fork plate 123 to stretch along the first direction a at the speed twice the moving speed of the first-stage telescopic fork plate 122. During the container returning process, the container is on the carrier 150, the fixed push plate 125 contacts the container, and the first telescopic fork 127 and the second telescopic fork 128 are controlled to extend forward along the first direction a, so that the container can be pushed out of the carrier 150 and placed on a buffer of the transfer robot or a shelf of the warehousing system. In the process of taking the container, the container is on a shelf or a temporary storage position, when the rotary push plate 126 is in a vertical state, the first telescopic fork 127 and the second telescopic fork 128 extend forwards along the first direction a and embrace the container, then the rotary push plate 126 is controlled to be in a horizontal state, the rotary push plate 126 acts on the container to control the first telescopic fork 127 and the second telescopic fork 128 to retract, and the rotary push plate 126 pushes the container to the bearing part 150.

It should be noted that the switching between the horizontal state and the vertical state of the rotary pushing plate 126 can be realized by a motor cooperating with a transmission member. The driving pulley 133 controls forward rotation and reverse rotation of the first telescopic fork 127 and the second telescopic fork 128 by forward rotation or reverse rotation.

The carrier 150 of this embodiment may be a tray structure or a hollow rod structure, and is used for supporting the container.

The driving member is used for driving the carrier 150 to move forward, and the driving member may be an elastic structure such as a tension spring 160, a pressure spring 1414, a gas spring, a rubber elastic belt, or a controllable mechanism such as an electromagnet, an electric push rod, a motor matching synchronous belt, etc. which can have linear driving capability. It should be noted that the driving force provided by the driving member to the carrier 150 should be less than the resistance of the locking assembly 140 to the telescopic fork 120, so that the locking assembly 140 can limit the telescopic movement of the telescopic fork 120 when the telescopic fork 120 is in the retracted state.

In one embodiment, the driving member is a tension spring 160, the number of the tension springs 160 is at least one, the tension springs 160 are arranged along the first direction a, one end of each tension spring 160 is fixedly connected with the base 110, the other end of each tension spring 160 is fixedly connected with the bearing member 150, and the tension springs 160 apply a forward tension force to the bearing member 150 along the first direction a, so that when the telescopic fork 120 is extended, the bearing member 150 is extended forward.

It should be noted that, when an elastic structure such as the tension spring 160 is used as the driving member, it should be ensured that when the carrier 150 moves to the maximum stroke, a forward force can still be applied to the carrier 150, so that the carrier 150 can be stably disposed at the maximum stroke.

Further, the base 110 may further include a first limiting portion, the bearing member 150 includes a second limiting portion, the first limiting portion is disposed at a front side of the second limiting portion along the extending path of the sliding portion, and the second limiting portion can abut against the first limiting portion to limit a maximum stroke of the bearing member 150 extending forward along the first direction a.

In order to realize the linkage between the telescopic fork 120 and the bearing member 150, a first limiting member is fixed on the telescopic fork 120, a second limiting member 151 is disposed at the rear end of the bearing member 150, the first limiting member is disposed at the front end of the second limiting member 151, and when the telescopic fork 120 retracts, the first limiting member abuts against the second limiting member 151 to drive the bearing member 150 to reset backwards.

In one implementation, referring to fig. 3 and 4, the fixed push plate 125 at the rear side of the first telescopic fork 127 and the fixed push plate 125 at the rear side of the second telescopic fork 128 form a first limiting member, respectively, and the rear end of the carrier 150 has a vertically disposed second limiting member 151. The fixed push plate 125 is disposed at the front side of the second limiting member 151. When the first telescopic fork 127 and the second telescopic fork 128 retract along the first direction a, the fixed push plate 125 can synchronously push the second limiting member 151, so that the carrier 150 retracts synchronously; when the first and second

telescopic forks

127 and 128 are extended in the first direction a, the carrier 150 is extended forward by a driving member such as a tension spring 160.

The carrier 150 is driven to retract by the retracting action of the fixed push plate 125 of the first telescopic fork 127 and the fixed push plate 125 of the second telescopic fork 128, and this design can ensure that the carrier 150 and the container retract synchronously after the container completely falls on the carrier 150, thereby ensuring that the container cannot be clamped or fall off due to a gap no matter the size of the container.

It should be noted that when the first telescopic fork 127 and the second telescopic fork 128 are in the retracted state, the fixed push plate 125 always acts as a limiting component for the second limiting member 151, so that the carrier 150 cannot extend forward if the telescopic fork 120 is not extended.

The locking assembly 140 of the present embodiment may be provided on one of the first telescopic fork 127 and the second telescopic fork 128, or the locking assembly 140 may be provided on each of the first telescopic fork 127 and the second telescopic fork 128. The locking assembly 140 may be disposed between two fork plates of the first telescopic fork 127 or the second telescopic fork 128 adjacent to each other in the second direction B.

Referring to fig. 5 and 6, in one implementation, the locking assembly 140 is disposed between the fixed yoke plate 121 and a telescopic yoke plate adjacent to the fixed yoke plate 121. Here, the telescopic fork plate adjacent to the fixed fork plate 121 refers to a telescopic fork plate adjacent to the fixed fork plate 121 in the second direction B, that is, the first-stage telescopic fork plate 122.

One locking assembly 140 is described in detail below.

Referring to fig. 5 to 10, the locking assembly 140 includes a first fitting 141 and a second fitting 142, one of the first fitting 141 and the second fitting 142 is disposed on the fixed fork 121, and the other is disposed on the first-stage telescopic fork 122. The first engaging member 141 has an elastic expansion element 1411, the second engaging member 142 has a recess 1421, when the telescopic fork 120 is in a contracted state, the elastic expansion element 1411 extends out and is locked in the recess 1421, and when the telescopic driving assembly 130 drives the telescopic fork 120, the elastic expansion element 1411 slides out of the recess 1421 and retracts.

For convenience of description, one of the fixed fork plate 121 and the first-stage telescopic fork plate 122, on which the second fitting member 142 is provided, is defined as a second one, and the other is defined as a first one. The recess 1421 may be disposed directly on the second one, or may be disposed on the guide block 1422. In one implementation, the second engaging element 142 includes a guiding block 1422, the guiding block 1422 is fixed on the side of the second engaging element facing the first engaging element, and a groove 1421 is disposed on the side of the guiding block 1422 facing the first engaging element.

Specifically, referring to fig. 5 and 6, in the present embodiment, the second is the first stage telescopic fork plate 122, and the first is the fixed fork plate 121. The first mating member 141 is installed on the fixed fork plate 121, the elastic expansion element 1411 is disposed on one side of the first mating member 141 facing the first-stage telescopic fork plate 122, the guide block 1422 is disposed on one side of the first-stage telescopic fork plate 122 facing the fixed fork plate 121, and the groove 1421 is disposed on one side of the guide block 1422 facing the first-stage telescopic fork plate 122. When the first-stage telescopic fork 122 moves forward under the action of the telescopic driving assembly 130, the guide block 1422 moves in the first direction a relative to the first mating member 141, so as to force the elastic telescopic element 1411 to retract and move out of the groove 1421, and the elastic telescopic element 1411 is unlocked from the groove 1421.

It is understood that the groove 1421 is disposed on the guide block 1422, and the guide block 1422 is disposed on the side of the second facing the first (in this embodiment, the second is the first stage telescopic fork 122, and the first is the fixed fork 121), so that the guide block 1422 protrudes from the surface of the second. When the telescopic fork 120 is extended and contracted until the elastic telescopic piece 1411 and the guide block 1422 are dislocated, the elastic telescopic piece 1411 is opposite to the side of the second, and because the distance between the side of the second and the first is larger than the distance between the guide block 1422 and the first, the resistance between the elastic telescopic piece 1411 and the second is smaller. Thus, when the telescopic fork 120 is extended or retracted, the resistance between the elastic expansion piece 1411 and the guide block 1422 is only required to be overcome in the early stage of extension or the later stage of retraction of the telescopic fork 120, and in the later stage of extension and the early stage of retraction, the telescopic fork 120 is basically not subjected to the resistance of the elastic expansion piece 1411, so that the problem of the continuous too large telescopic resistance is avoided.

With continued reference to fig. 6 and 7, further, the guide block 1422 is provided with a guide surface 1423 at the front end of the groove 1421, the guide surface 1423 is disposed facing the first, the guide surface 1423 is disposed gradually closer to the second in the rear-to-front direction, and the front end of the guide surface 1423 is flush with the side of the second facing the first.

The front and rear are defined by the telescopic operation of the telescopic fork 120, and in the first direction a, the direction of the telescopic fork 120 when extended is the front, and the direction when retracted and reset is the rear.

The guide surface 1423 is configured to enable the elastic expansion element 1411 to gradually fall into the second, i.e., the side surface of the first stage telescopic fork 120, so that the resistance of the elastic expansion element 1411 to the expansion of the telescopic fork 120 changes smoothly, which is beneficial to the stable expansion of the telescopic fork 120.

In this embodiment, the elastic expansion/contraction member 1411 may be an elastic member such as a rubber block or may be a member having elasticity by an elastic mechanism such as a spring. There are various elastic members depending on an elastic mechanism such as a spring, for example, the second mating member 142 is provided with a spring, the spring supports the elastic expansion element 1411, the elastic expansion element 1411 can be retracted by the compression spring 1414 under the action of external force, and the spring extends the elastic expansion element 1411 again after the external force is reduced or removed. Specifically, in the present embodiment, the first engaging element 141 is a roller plunger, and the roller 1415 of the roller plunger has elasticity under the action of the internal structure of the roller plunger, and the roller 1415 is also an elastic expansion element 1411.

Further, the first mating member 141 may be further provided with an adjusting member 143, and the adjusting member 143 is connected with the elastic expansion member 1411 for adjusting the elastic force of the elastic expansion member 1411.

Generally, the adjusting element 143 has an operating end 1433, and in order to facilitate the adjusting operation of the adjusting element 143, as shown in fig. 5 and fig. 6, the first mating element 141 may be disposed on the fixed fork plate 121 (i.e., the first fixed fork plate 121), the corresponding second mating element 142 is disposed on the first stage telescopic fork plate 122, and the operating end 1433 of the adjusting element 143 is disposed toward a side of the fixed fork plate 121 away from the first stage telescopic fork plate 122, that is, the operating end 1433 is disposed toward an outer side of the fixed fork plate 121.

It is understood that the elastic force of the elastic expansion element 1411 refers to the force applied by the elastic expansion element 1411 to the recess 1421 when the elastic expansion element 1411 is located in the recess 1421.

For the elastic expansion element 1411 in the form of a rubber block, the adjusting element 143 can adjust the elastic force of the rubber block by changing the position of the rubber block, for example, the protrusion of the rubber block facing the recess 1421 can be increased, so that when the rubber block abuts against the recess 1421, the pressing force of the rubber block on the recess 1421 is increased; conversely, the protrusion of the rubber block facing the recess 1421 is reduced, such that when the rubber block abuts within the recess 1421, the pressing force of the rubber block against the recess 1421 is reduced. For a member having elasticity by an elastic mechanism such as a spring, the elasticity of the elastic expansion piece 1411 can be adjusted by adjusting the length of the spring, for example, the spring is a compression spring 1414, and one end of the spring, which is far away from the elastic expansion piece 1411, can be moved close to the elastic expansion piece 1411, so that the length of the spring is further shortened, and the elasticity provided by the spring to the elastic expansion piece 1411 is increased; conversely, the end of the spring remote from the elastic expansion member 1411 is moved closer to the elastic expansion member 1411, so that the length of the spring is further elongated and the spring provides a reduced elastic force to the elastic expansion member 1411.

The elastic force of the elastic expansion element 1411 is adjusted by the adjusting element 143, so that the locking assembly 140 can be adjusted according to the force of the driving element, i.e. the tension spring 160, on the carrier 150. When the acting force of the tension spring 160 on the carrier 150 is selected to be larger, the elastic force of the elastic expansion element 1411 is adjusted to be larger, so as to avoid that the locking assembly 140 is forced to be unlocked by the action of the tension spring 160, and the carrier 150 is caused to extend forwards. Thus, the locking assembly 140 can be applied to the tension springs 160 with different tension forces, and the application range is wide; the same type of locking assembly 140 can be used even if the tension force of the tension spring 160 is poorly consistent when the device is assembled.

In one implementation, the elastic expansion element 1411 is rollably disposed, and when the telescopic driving assembly 130 drives the telescopic fork 120 to expand and contract, the elastic expansion element 1411 can roll on the guide block 1422 to enter or slide out of the groove 1421, so as to reduce the resistance between the elastic expansion element 1411 and the guide block 1422.

In this embodiment, the first engaging member 141 may be a roller plunger having its own spring force adjusting mechanism, which forms the adjusting member 143. When actually arranging, the adjusting part 143 can be arranged on one side of the fixed fork plate 121 far away from the movable fork plate, that is, arranged outside the fixed fork plate 121, so that an operator can conveniently adjust the adjusting part 143.

The roller plunger as the first fitting 141 may be a longitudinal bracket type roller plunger, or may be a hinge type roller plunger. Wherein, the roller 1415 of the roller plunger in the longitudinal bracket type is extended and contracted in a straight line manner, and the roller 1415 of the roller plunger in the hinge type is extended and contracted in a rotating manner. The present embodiment is described in terms of a roller piston in the form of a hinge.

Referring to fig. 10, the roller plunger includes a mounting seat 1412, a swing arm 1413, a pressure spring 1414 and a roller 1415, a first end of the swing arm 1413 is hinged to the mounting seat 1412, a second end of the swing arm 1413 is connected to the roller 1415, wherein the roller 1415 is rotatably disposed on the swing arm 1413, two ends of the pressure spring 1414 are respectively connected to the mounting seat 1412 and the swing arm 1413, the pressure spring 1414 applies a resilient force to the swing arm 1413 in a direction towards the second mating member 142, and the swing arm 1413 can swing around the first end under the action of the pressure spring 1414 and the external force and drive the roller 1415 to extend or retract.

Wherein the external force is generally from the roller 1415, i.e., the roller 1415 receives the force from the second fitting element 142 and transmits the force to the swing arm 1413. During the movement of the roller 1415 out of the recess 1421 when the first stage telescopic fork 122 extends relative to the fixed fork 121, the roller 1415 is continuously pressed by the second fitting part 142, and the pressure forces the roller 1415 and the swing arm 1413 to swing in a direction away from the second fitting part 142, that is, referring to fig. 10, the swing arm 1413 carries the roller 1415 to swing to the left in the swing direction E, and the roller 1415 retracts; when the first-stage telescopic fork 122 is retracted relative to the fixed fork 121, the roller 1415 moves into the recess 1421, and the roller 1415 and the swing arm 1413 move toward the second mating member 142 under the elastic force of the compression spring 1414, that is, referring to fig. 10, the swing arm 1413 carries the roller 1415 to swing to the right along the swing direction E, and the roller 1415 extends into the recess 1421.

It can be understood that the roller plunger in the hinged mode adopts hinged point rotary motion, so that the space size is reduced to the maximum extent, and the design and installation are convenient.

For articulated roller plungers, an adjustment 143 may also be provided. In one implementation, the adjustment member 143 includes a threaded stud 1432 and a nut 1431. The mounting seat 1412 is approximately arranged in a groove shape, the stud 1432 is arranged on one side wall of the mounting seat 1412, the stud 1432 is in threaded connection with the mounting seat 1412, one end, penetrating out, of the stud 1432 is in threaded connection with the nut 1431, and one end, inside the mounting seat 1412, of the stud 1432 is connected with the pressure spring 1414. By rotating the stud 1432, the stud 1432 can move along the length direction of the stud 1432, so that the length of the pressure spring 1414 is changed, and the effect of adjusting the elasticity of the pressure spring 1414 is achieved. The present embodiment also provides a transfer robot including a chassis assembly 200, a lifting mechanism 400, and a container retrieving device. The lifting mechanism 400 is arranged on the chassis assembly 200, the container taking and returning device is connected with the lifting mechanism 400 and can lift along the vertical direction under the action of the lifting mechanism 400, and the container taking and returning device is the container taking and returning device provided by the embodiment.

Wherein, chassis subassembly 200 includes chassis and walking drive assembly, and the walking drive assembly includes walking motor, walking drive wheel and walking universal wheel, and the quantity of walking drive wheel can be two, and the quantity of walking universal wheel can set up two or more than two. The walking driving wheel can be arranged in a mode of front-back centering and left-right differential arrangement, or can be arranged in a mode of left-right centering, front-back idle wheels arrangement and the like. The walking universal wheels only play a role in supporting, are relatively random in arrangement position, can be directly arranged below the chassis, can also form wheel sets and are hinged below the chassis.

The lifting mechanism 400 comprises a column guide assembly and a lifting drive assembly, wherein the column guide assembly is fixed on the chassis and can be composed of one, two or more columns, and there is a guiding function in the vertical direction of the movement of the lifting drive assembly. The lifting driving assembly is a component which is arranged on the upright post guide assembly and can move in the vertical direction, and the lifting driving assembly can be realized in a plurality of ways, specifically, a way that a motor is matched with a transmission belt assembly or a way that a motor is matched with a chain assembly, and the like. The lifting driving assembly is used for carrying the container taking and returning device and enabling the container to move up and down, the tail end of the lifting driving assembly can be connected with a mounting seat, a base 110 of the container taking and returning device is arranged on the mounting seat, and the mounting seat can move in the vertical direction under the action of the lifting driving assembly, so that the container taking and returning device is driven to move in the vertical direction.

Further, the transfer robot of this embodiment may further include a rotating mechanism 500, where the rotating assembly is a key component connecting the lifting mechanism 400 and the container retrieving and returning device, and the container retrieving and returning device performs a rotating motion relative to the lifting mechanism 400, where the rotating range may be 220 degrees, and the motion implementation may be implemented by a synchronous belt, a gear set, or other transmission manners. Through rotary mechanism 500, the orientation of the telescopic fork assembly can be adjusted to the container taking and returning device, so that containers in different directions can be taken and returned.

In a specific implementation, the base 110 is mounted on a mounting seat connected to the end of the lifting driving assembly, and only the base 110 is left free to rotate around the vertical direction, so as to ensure that the container retrieving device can rotate around a certain vertical axis relative to the lifting mechanism 400.

In one implementation, the rotation mechanism 500 includes a rotation driving motor 510, a rotation driving pulley 520, a rotation timing belt 530, and a fixed supporting pulley 540. The fixed supporting belt wheel 540 is assembled on the mounting seat, the rotary driving belt wheel 520 is assembled at the output end of the rotary driving motor 510 and can rotate along with the output shaft of the rotary driving motor 510, the rotary driving motor 510 is fixed on the base 110, the rotary synchronous belt 530 is connected with the rotary driving belt wheel 520 and the fixed supporting belt wheel 540, and under the action of the rotary driving motor 510, the rotary driving belt wheel 520 rotates and moves circularly around the fixed supporting belt wheel 540 at the same time of rotating, so that the base 110 is driven to rotate around the axis of the fixed supporting belt wheel 540.

Further, the transfer robot of the present embodiment may further temporarily store the cargo space assembly 300, the temporarily stored cargo space assembly 300 is fixed to the column guide assembly, and the temporarily stored cargo space assembly 300 forms a temporary storage space for loading one or more bins, so that the transfer robot can transport a plurality of containers at one time. The temporary storage space assembly 300 may be in the form of plate, comb, rod, or belt.

It should be noted that fig. 10 merely shows the swing principle of the roller plunger in a flexible manner, and the pressure spring, the adjusting element, the hinge element at the first end of the swing arm, etc. are not shown.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A container retrieval and retrieval device, comprising:

a base;

the telescopic fork is arranged on the base;

the telescopic driving assembly is arranged on the base and used for driving the telescopic fork to stretch and retract along a first direction;

the locking subassembly, set up in on the flexible fork, the locking subassembly is through the restriction flexible messenger of flexible fork bearing servo assembly maintains the withdrawal state, flexible drive assembly can drive flexible fork breaks away from the restriction of locking subassembly makes flexible fork with bearing servo assembly is flexible.

2. The container retrieving device according to claim 1, wherein the retractable fork comprises at least two fork plates sequentially arranged, the at least two fork plates sequentially arranged along a second direction, each fork plate extending along the first direction, and two adjacent fork plates of the at least two fork plates are slidably connected to enable the retractable fork to retract along the first direction;

the second direction is perpendicular to the first direction;

3. The device for retrieving and returning containers as claimed in claim 2, wherein the fork plate at one end of the at least two fork plates in the second direction is a fixed fork plate, the other fork plates are retractable fork plates, the fixed fork plate is fixed on the base, the retractable fork plates are slidably disposed on the fixed fork plates, the retractable fork plate adjacent to the fixed fork plate in the retractable fork plates is a first-stage retractable fork plate, and the locking assembly is disposed between the fixed fork plate and the first-stage retractable fork plate.

4. The container retrieving device according to claim 3, wherein the locking assembly comprises a first fitting member and a second fitting member, one of the first fitting member and the second fitting member is disposed on the fixed fork plate, and the other one of the first fitting member and the second fitting member is disposed on the first-stage telescopic fork plate;

5. The container retrieving device according to claim 4, wherein the first engaging member is further provided with an adjusting member connected to the elastic expansion member for adjusting the elastic force of the elastic expansion member.

6. The container retrieving and returning device according to claim 5, wherein the first engaging member is disposed on the fixed fork plate, and the second engaging member is disposed on the first stage telescopic fork plate;

7. The container retrieving device according to claim 4, wherein one of the fixed fork plate and the first stage telescopic fork plate is a first one, the other of the fixed fork plate and the first stage telescopic fork plate is a second one, the first engaging member is disposed on the first one, and the second engaging member is disposed on the second one;

8. The container retrieval device according to claim 7, wherein the guide block is provided with a guide surface at a front end of the groove, the guide surface is provided facing the first, the guide surface is provided gradually closer to the second in a rear-to-front direction, and a front end of the guide surface is flush with a side of the second facing the first.

9. The container retrieving device as claimed in claim 7, wherein the elastic extensible member is arranged to roll, and when the telescopic driving assembly drives the telescopic fork to extend and retract, the elastic extensible member can roll on the guide block to enter or slide out of the groove.

10. A container retrieval and retrieval device according to any one of claims 4 to 9, wherein the first engagement member is a roller plunger, the roller of the roller plunger forming the resilient telescopic member.

11. The device for taking and returning the container as claimed in claim 10, wherein the roller plunger further comprises a mounting seat, a swing arm and a pressure spring, a first end of the swing arm is hinged to the mounting seat, a second end of the swing arm is connected to the roller, two ends of the pressure spring are respectively connected to the mounting seat and the swing arm, the pressure spring applies a spring force to the swing arm in a direction towards the second mating member, and the swing arm can swing around the first end and drive the roller to extend or retract under the action of the pressure spring and the external force.

12. The container retrieval device of claim 1, wherein the backup follower assembly includes a carrier and a driving member, the driving member is connected to the carrier, and when the telescopic fork is extended, the carrier is extended forward by the driving member; when the telescopic fork retracts, the bearing piece is driven to reset backwards.

13. The container retrieval device of claim 12, wherein the actuating member includes a tension spring having one end connected to the base and another end connected to the carrier, the tension spring applying a forward pulling force to the carrier.

14. The device for retrieving and returning containers as claimed in claim 13, wherein a first limiting member is fixed on the retractable fork, a second limiting member is disposed at the rear end of the supporting member, and the first limiting member is disposed at the front end of the second limiting member;

15. The container retrieving and returning apparatus according to any one of claims 1 to 9, wherein the number of the telescopic forks is two, two telescopic forks are provided at an interval in a second direction perpendicular to the first direction, and at least one of the two telescopic forks is provided with the locking assembly.

16. A transfer robot, characterized by comprising:

a chassis assembly;

the lifting mechanism is arranged on the chassis component;

the container taking and returning device is connected with the lifting mechanism and can be lifted and lowered in the vertical direction under the action of the lifting mechanism, and the container taking and returning device is the container taking and returning device according to any one of claims 1 to 14.