CN218987713U

CN218987713U - Robot and warehousing system

Info

Publication number: CN218987713U
Application number: CN202223613487.XU
Authority: CN
Inventors: 詹庆鑫
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-09
Anticipated expiration: 2032-12-30

Abstract

The utility model provides a robot and warehouse system, the robot is arranged in getting in the warehouse system and puts the material case, this robot includes robot main part and fork device, fork device sets up in the robot main part, the robot main part includes the chassis, riser and at least one deposits the unit, the riser sets up on the chassis, deposit unit and fork device set up in the relative both sides of riser, the fork device includes first transport mechanism, it includes second transport mechanism to deposit the unit, first transport mechanism and second transport mechanism dock, in order to pass the material case between fork device and depositing the unit, the transmission direction of first transport mechanism has the contained angle with the flexible direction of expansion plate, thereby can turn to the transmission to the material case when fork device gets to put the material case, and need not whole rotatory fork device, thereby reduced the occupation space of fork device at the during operation, and then reduced the clearance between the goods shelves that the robot marred, storage density has been improved.

Description

Robot and warehousing system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a robot and a warehouse system.

Background

With the development of artificial intelligence and automation technology, robots are widely used in the field of warehouse logistics for picking, placing, transporting and sorting goods. In a logistics system, goods are stored on a goods shelf, and a robot with corresponding functions is in butt joint with the goods shelf or a conveying line to pick up the goods or complete a goods conveying task.

In the related art, a warehouse system generally includes a goods shelf and a robot for picking and placing goods, the robot can move in a roadway between the goods shelf, a fork for picking and placing goods and a basket carried on the goods are generally arranged on the robot, a manipulator which can extend towards a fixed direction relative to a body of the robot is generally arranged on the fork, the whole fork can rotate relative to the body of the robot, the manipulator generally completes goods picking operation on the side of the robot along the advancing direction, and the goods are placed in the basket carried on the goods, therefore, when the robot completes the task of picking and placing goods on the goods shelf on different sides, the fork is required to be rotated to change the direction of the fork.

However, the fork rotation of the robot has a certain rotation diameter, so that in order to provide space for the steering of the fork, the width of the roadway between adjacent shelves needs to be increased, resulting in a reduction in the warehouse density of the warehouse system.

Disclosure of Invention

The application provides a robot and warehouse system can solve the problem that robot during operation occupation space leads to warehouse system's warehouse density to reduce greatly.

In a first aspect, the present application provides a robot for get in warehouse system and put the material case, this robot includes robot main part and fork device, the fork device sets up in the robot main part, the fork device is configured to the storehouse position butt joint with goods shelves, and when the fork device obtains the material case of the entry position of storehouse position, drive other material cases in the storehouse position and remove to the entry of storehouse position, the robot main part includes the chassis, grudging post and at least one storage unit, the grudging post sets up on the chassis, storage unit and fork device set up in the opposite both sides of grudging post, the fork device includes first transport mechanism, storage unit includes second transport mechanism, first transport mechanism and second transport mechanism butt joint, in order to pass the material case between fork device and storage unit, first transport mechanism's transmission direction has the contained angle with the flexible direction of expansion plate.

The utility model provides a robot, through the design to fork device and the position overall arrangement of depositing the unit, cooperation first transport mechanism and second transport mechanism can be when fork device gets and put the material case, turns to the transmission to the material case, and need not whole rotatory fork device to reduced the occupation space of fork device at the during operation, and then reduced the clearance between the goods shelves that the robot marched, improved storage density.

In a second aspect, the present application provides a warehouse system, the warehouse system includes a shelf and a robot in any one of the above technical solutions, the shelf has at least one warehouse layer, the warehouse layer has at least one warehouse location, the warehouse location stores a plurality of material boxes, the plurality of material boxes are sequentially arranged from an inlet of the warehouse location to a direction away from the inlet in the warehouse location, and adjacent material boxes are detachably connected; the fork device can be in butt joint with an inlet of the storage position, and the material box at the position of the inlet in the storage position is taken and placed into the storage unit, or the material box in the storage unit is taken and placed into the storage position.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above in the embodiments of the present application, other technical problems that can be solved by the robot and the warehousing system provided in the present application, other technical features included in the technical solutions, and beneficial effects brought by the technical features, further detailed description will be made in the detailed description of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic diagram of a robot in a warehouse system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a pallet fork device of a robot according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a robot body in the robot according to the embodiment of the present application;

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

fig. 6 is a schematic view of a robot carrying a material box according to an embodiment of the present disclosure;

fig. 7 is a schematic view of a first conveying mechanism on a pallet fork device of a robot according to an embodiment of the present disclosure;

FIG. 8 is a partial schematic view of a first transfer mechanism on a pallet fork assembly of a robot according to an embodiment of the present disclosure;

Fig. 9 is a schematic layout view of a telescopic mechanism in a fork device of a robot according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a picking mechanism in a fork device of a robot according to an embodiment of the present disclosure;

fig. 11 is a schematic layout view of a picking mechanism in a fork device of a robot according to an embodiment of the present disclosure;

FIG. 12 is an assembly schematic diagram of a rotating assembly of a pick mechanism in a robotic fork assembly provided in an embodiment of the present disclosure;

fig. 13 is a cross-sectional view of a rotating assembly of a cargo handling mechanism in a fork device of a robot according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a positioning assembly of a pick mechanism in a robotic fork assembly provided in an embodiment of the present disclosure;

FIG. 15 is a cross-sectional view of a pick mechanism mated with a bin in a robotic fork assembly provided in an embodiment of the present application;

FIG. 16 is a cross-sectional view of a pallet fork assembly of a robot according to an embodiment of the present disclosure from another perspective with a pick mechanism mated with a material container;

FIG. 17 is a front view of a telescoping mechanism in a fork assembly of a robot provided in an embodiment of the present application;

FIG. 18 is an isometric view of a telescoping mechanism in a fork assembly of a robot provided in an embodiment of the present application;

fig. 19 is a schematic view of a telescopic mechanism extending toward a front end in a fork device of a robot according to an embodiment of the present disclosure;

Fig. 20 is a schematic view of a telescopic mechanism extending to a rear end in a fork device of a robot according to an embodiment of the present disclosure;

FIG. 21 is a schematic view of a locking mechanism in a fork assembly of a robot according to an embodiment of the present disclosure;

fig. 22 is a schematic diagram of an unlocking state of a locking mechanism in a fork device of a robot according to an embodiment of the present disclosure;

fig. 23 is a schematic view of a swing arm of a locking mechanism in a fork device of a robot in a first position according to an embodiment of the present disclosure;

FIG. 24 is a schematic view of a swing arm of a locking mechanism in a pallet fork device of a robot in a second position according to an embodiment of the present disclosure;

fig. 25 is a schematic structural diagram of a reset mechanism in a pallet fork device of a robot according to an embodiment of the present disclosure;

fig. 26 is a schematic structural view of a reset mechanism when a fork device of the robot provided in the embodiment of the present application is in an extended state;

FIG. 27 is a schematic view of a detection assembly in a pallet fork device of a robot according to an embodiment of the present disclosure;

fig. 28 is a schematic layout view of a third detection unit in the pallet fork device of the robot according to the embodiment of the present application;

fig. 29 is a schematic structural diagram of a shelf in a warehouse system according to an embodiment of the present disclosure;

fig. 30 is a schematic layout view of a material box on a shelf in a warehouse system according to an embodiment of the present disclosure;

Fig. 31 is a schematic structural diagram of a material box in a warehouse system according to an embodiment of the present disclosure;

fig. 32 is a schematic structural diagram of a material box in a warehouse system according to another embodiment of the present disclosure;

FIG. 33 is a cross-sectional view of a connection of material bins in a warehousing system according to an embodiment of the application;

fig. 34 is a schematic view of a first state of a robot picking process according to an embodiment of the present disclosure;

fig. 35 is a second state schematic diagram of a robot picking process according to an embodiment of the present disclosure;

fig. 36 is a schematic view of a third state of a robot picking process according to an embodiment of the present disclosure;

FIG. 37 is a cross-sectional view of a third state of a robotic pick process provided by an embodiment of the present application;

FIG. 38 is a cross-sectional view of a fourth state of a robotic pick process provided by an embodiment of the present application;

FIG. 39 is a schematic diagram of a fifth state of a robotic pick process provided by an embodiment of the present application;

FIG. 40 is a cross-sectional view of a sixth state of a robotic pick process provided in an embodiment of the present application;

fig. 41 is a schematic diagram of a seventh state of a robot picking process according to an embodiment of the present disclosure.

Reference numerals illustrate:

100-robot; 110-a robot body; 111-chassis; 112-a stand; 113-a storage unit; 1131-a second transfer mechanism; 1132-a second transmission member; 1133-a second drum; 1134-a second stop; 1134 a-avoidance port; 1135-a switching unit; 120-fork means; 121-a telescopic mechanism; 1211-a substrate; 1211 a-a first stop; 1212-telescoping plates; 1212 a-an abutment; 1212 b-detents; 1212 c-guide surface; 1213-a transmission assembly; 1213 a-a first drive wheel; 1213 b-a second drive wheel; 1213 c-a third drive wheel; 1214-flexible transmission member; 1215-a first drive unit; 1216-a first slide rail; 1217-a second slide rail; 122-a pick-up mechanism; 1221-sliding plate; 1221 a-locking holes; 1221 b-a limit; 1222-a rotating assembly; 1222 a-a rotation unit; 1222 b-mount; 1222 c-a rotation axis; 1222 d-a first gear; 1222 e-a second gear; 1222 f-a drive belt; 1222 g-rotating member; 1223-push-pull assembly; 1223 a-push plate; 1223 b-pulling plate; 1223 c-a first driver; 1223 d-guide; 1223 e-guide posts; 1224-a positioning assembly; 1224 a-a second driver; 1224 b-locking the shaft; 1224 c-a first detection unit; 123-a locking mechanism; 1231-locking member; 1231 a-roller; 1232-a first elastic member; 1233-hanging pin; 1234-a second drive unit; 1234 a-rocker arm; 1235-stop pin; 124-a first transfer mechanism; 1241-a first transmission; 1242-a first roller; 1243-mount; 1244-guide wheels; 1245-cushion pad; 125-connecting a bracket; 126-a drive shaft; 127-reset mechanism; 1271-reset barrier; 1272-a second elastic member; 1273-a third elastic member; 1274-guide shaft; 128-a detection component; 1281-a sensing plate; 1281 a-a first sensing section; 1281 b-a second induction section; 1282-a second detection unit; 129-a third detection unit; 130-lifting mechanism;

200-shelf; 201-roadway; 210-a warehouse layer; 211-bin; 220-stand columns; 230-a cross beam; 240-stringers; 241-a support plate; 242-limiting plates;

300-a material box; 301-clamping hooks; 302-card slot.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. Those skilled in the art can adapt it as desired to suit a particular application.

Further, it should be noted that, in the description of the present application, terms such as "upper," "lower," "left," "right," "front," "rear," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or component must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Various robots are widely used in various fields such as industry and life, and the robots play an important role in the industries such as transportation, logistics and the like, goods are usually stored by a goods shelf in a storage logistics system, and the robots can pick up and place the goods by docking with the goods shelf or a conveying line and can convey the goods. The robot for getting and putting goods can remove in the tunnel between goods shelves, is provided with the fork of getting and putting goods and the basket carried on the back of depositing goods on the robot generally, is provided with the manipulator that can stretch out for a fixed direction of the body of robot on the fork, and the fork is whole can rotate for the body of robot, and the manipulator is usually accomplished getting and putting goods operation in the side of robot along the direction of advance, therefore, when the robot is to the task of getting and putting goods and put goods in basket carried on the back of goods to the goods completion of different sides, need rotatory fork transfer the orientation of fork.

Therefore, in the related art, when the carrying robot performs a cargo carrying task, if the carrying robot needs to be in butt joint with other equipment, the side of the carrying robot along the advancing direction needs to be guaranteed to be opposite to the other equipment, and when the cargo taking and placing operation is performed from different sides of the robot, the position of the fork needs to be rotated at first, so that the cargo taking direction of the fork is opposite to the target goods shelf, telescopic cargo taking and placing can be performed, the cargo taking and placing efficiency of the robot is lower, and secondly, the fork of the robot rotates to have a certain rotation diameter, in order to provide space for turning of the fork, the width of a roadway between adjacent goods shelves needs to be increased, the storage density is reduced, and the whole space utilization rate of the storage system is reduced. In addition, the goods stored in each storage position of the goods shelf in the storage system are limited, the depth of the storage position is shallow, the storage amount is low, for the goods shelf with the deep storage position, the robot needs to extend the mechanical arm into the storage position when taking goods, the travel distance and the operation range are limited, and the space at the edges of two sides of the storage position can be occupied, so that the storage density of the storage position of the goods shelf is reduced.

According to the storage system, the goods taking and placing method and the robot, through the storage mode of the material box on the goods shelf and the design of the structure of the goods fork device on the robot, the material box can be deeply stored in the storage position of the goods shelf, the material box can be deeply taken and placed by the goods fork device, the material box is transferred and stored under the condition of no rotation, and then when the robot is in a roadway, the goods taking and placing operation can be completed in the lateral direction of the robot without rotating to adjust the posture of the goods fork, the roadway of the goods shelf does not need to reserve rotating position space for the carrying robot, the roadway width is small, and the space utilization rate and the storage efficiency are improved.

For easy understanding, an application scenario of the embodiments of the present application will be described first.

The robot provided by the embodiment of the application is applied to a warehouse system for picking and placing goods, wherein the robot can be applied to different fields such as logistics distribution of an industrial production line, in-out warehouse of inventory products in manufacturing industry, in-out warehouse of products in retail industry, and the like, and the products or goods related to transportation can be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books and the like, and can be used for directly transporting the goods, and can also be used for transporting a material box filled with the goods.

Fig. 1 is a schematic diagram of a robot in a warehouse system, fig. 2 is a schematic diagram of a structure of the robot, fig. 3 is a schematic diagram of a fork device of the robot, fig. 4 is a schematic diagram of a structure of a robot main body in the robot, fig. 5 is a schematic diagram of a storage unit of the robot, and fig. 6 is a schematic diagram of a material box carried by the robot.

As shown in fig. 1 to 6, an embodiment of the present application provides a robot 100 for picking and placing a material box 300 in a warehouse system, the robot 100 includes a robot main body 110 and a fork device 120, the fork device 120 is disposed on the robot main body 110, and the fork device 120 can move along a height direction of the robot main body 110, so that the fork device 120 can finish picking and placing operations at different heights.

Wherein the robot main body 110 includes a chassis 111, a stand 112, and a storage unit 113, the stand 112 is disposed on the chassis 111, the storage unit 113 and the fork device 120 are disposed at opposite sides of the stand 112, the fork device 120 includes a first transfer mechanism 124, and the first transfer mechanism 124 is docked with the storage unit 113 to transfer the material box 300 between the fork device 120 and the storage unit 113.

It should be noted that, when the robot 100 provided in this embodiment of the present application is docked with the material box 300, after the material box 300 is taken by the fork device 120, the fork device 120 is not required to be rotated to be opposite to the storage unit 113, but the transfer direction of the material box 300 can be changed through the first transfer mechanism 124 on the fork device 120, so that the material box 300 is transferred to the storage unit 113, and the rotation diameter of the fork device 120 is prevented from occupying a larger space, which is further beneficial to reducing the interval between the shelves 200 when the robot 100 takes and places the goods, and improving the storage witness.

The structure, installation position, and docking method with the storage unit 113 of the first conveying mechanism 124 will be described below.

Fig. 7 is a schematic diagram of a first conveying mechanism on a fork device of a robot provided in an embodiment of the present application, fig. 8 is a partial schematic diagram of the first conveying mechanism on the fork device of the robot provided in an embodiment of the present application, fig. 9 is a schematic diagram of an arrangement of a telescopic mechanism in the fork device of the robot provided in an embodiment of the present application, fig. 10 is a schematic diagram of a structure of a goods taking mechanism in the fork device of the robot provided in an embodiment of the present application, and fig. 11 is a schematic diagram of an arrangement of a goods taking mechanism in the fork device of the robot provided in an embodiment of the present application.

Referring to fig. 7 to 11, in combination with fig. 1 to 5, in one possible implementation, the fork apparatus 120 may further include a telescopic mechanism 121, where the telescopic mechanism 121 includes a base plate 1211 and a telescopic plate 1212, the telescopic plate 1212 is capable of bi-directionally telescoping with respect to the base plate 1211 along a length direction of the base plate 1211, the first conveying mechanism 124 is connected to the telescopic plate 1212, and the first conveying mechanism 124 is configured to support the material box 300.

It can be appreciated that when the robot 100 moves between the two shelves 200, the fork device 120 can perform picking and placing operations in different directions, namely, picking and placing operations can be performed on the shelves 200 on two sides, and the fork device 120 does not need to be rotated, and only the telescopic plate 1212 needs to be telescopic in different directions, so that the picking and placing efficiency is improved, the space occupation can be reduced, and the storage density is improved.

It should be noted that, the first conveying mechanism 124 performs telescopic movement synchronously with the telescopic plate 1212, the first conveying mechanism 124 plays a role of a tray, the storage unit 113 is located at a side of the fork device 120 along the telescopic direction of the telescopic plate 1212, where the side refers to a side of the storage unit 113 located at a width direction of the fork device 120 when the fork device 120 is opposite to the storage unit 113, and the storage unit 113 may include the second conveying mechanism 1131, where the first conveying mechanism 124 is abutted with the second conveying mechanism 1131, the driving directions of the first conveying mechanism 124 and the second conveying mechanism 1131 are the same, and an included angle is formed between the driving direction of the first conveying mechanism 124 and the telescopic direction of the telescopic plate 1212, so that the turning movement of the material box 300 can be realized by abutting the first conveying mechanism 124 and the second conveying mechanism 1131, so as to avoid the storage unit 113 occupying the space of the width direction of the laneway 201 of the shelf 200.

The first conveying mechanism 124 and the second conveying mechanism 1131 may implement the movement of the material tank 300 by using a drum, a track, etc., which is not specifically limited in this embodiment of the present application, and a drum will be described as an example.

In one possible implementation, the first conveying mechanism 124 may include a first transmission member 1241 and a plurality of first rollers 1242 disposed at parallel intervals, adjacent first rollers 1242 are connected by the first transmission member 1241, the first rollers 1242 extend along the length direction of the expansion plate 1212, and the second conveying mechanism 1131 may include a second transmission member 1132 and a plurality of second rollers 1133 disposed at parallel intervals, adjacent second rollers 1133 are connected by the second transmission member 1132, and the second rollers 1133 are disposed parallel to the first rollers 1242 to ensure that the transmission directions between the first rollers 1242 and the second rollers 1133 are consistent, so that good butt joint between the first conveying mechanism 124 and the second conveying mechanism 1131 can be ensured, so that the movement of the material box 300 remains smooth.

It will be appreciated that the number of first rollers 1242 may be two, three, four or more, and the plurality of first rollers 1242 may be located on the same horizontal plane to maintain good support for the bin 300, and the plurality of first rollers 1242 may be symmetrically distributed with respect to the width direction of the fork, for example, four first rollers 1242 may be symmetrically distributed with a gap therebetween, so that the first conveying mechanism 124 performs an avoiding function when moving with the expansion plate 1212, and avoids interference with a component that is relatively fixed with the base 1211.

In addition, the first transmission member 1241 may be a flexible member such as a belt or a chain, the first transmission member 1241 may be disposed at an end of the first roller 1242, and at least one of the plurality of first rollers 1242 may be an electric roller, so as to be used as a driving roller to drive other first rollers 1242 to rotate, so as to improve the transmission efficiency of the material box 300.

It should be noted that the number of the second rollers 1133 is not specifically limited in this application, the plurality of second rollers 1133 may be mounted on a side of the stand 112 through a frame structure, and a connection manner and a transmission manner of the second transmission member 1132 and the second rollers 1133 may be similar to those of the first transmission member 1241, which is not described herein again.

In some embodiments, a side of the fork device 120 facing away from the storage unit 113 may be provided with a first stopper 1211a, the first stopper 1211a is connected to the base plate 1211, and the first stopper 1211a protrudes from an upper side of the first roller 1242 in a vertical direction, so that when the first roller 1242 supports the material box 300, the first stopper 1211a may be blocked at a side of the material box 300, thereby preventing the material box 300 from falling from the side of the fork device 120.

Correspondingly, a second limiting member 1134 may be disposed on a side of the storage unit 113 away from the fork device 120, where the second limiting member 1134 is connected to an edge of the storage unit 113, and the second limiting member 1134 protrudes above the second roller 1133 along a vertical direction, so that when the second roller 1133 supports the material box 300, the second limiting member 1134 is blocked and disposed on a side of the material box 300, so that the material box 300 can be prevented from falling from the side of the storage unit 113.

In addition, a switch unit 1135 may be disposed at an edge of a side of the storage unit 113 facing away from the fork device 120, and an avoidance opening 1134a is disposed on the second limiting member 1134, where the switch unit 1135 at least partially protrudes through the avoidance opening 1134a to a side of the second limiting member 1134 facing the second conveying mechanism 1131, so as to accurately detect whether the material box 300 has entered the storage unit 113.

For example, the switch unit 1135 may be a touch switch, where the triggering end of the touch unit protrudes to a side of the second limiting member 1134 facing the second conveying mechanism 1131, and when the material box 300 is transferred to the storage unit 113 during the picking process, the sidewall of the material box 300 abuts against the switch unit 1135, so that an electrical signal of the material box 300 for storing in place may be obtained. The switch unit 1135 may also be a non-touch switch, such as a photoelectric switch, which is not specifically limited in the embodiment of the present application.

It should be noted that, the mounting bracket 1243 may be provided with at least one guide wheel 1244, the guide wheel 1244 is located between two adjacent first rollers 1242, and the guide wheel 1244 is abutted to the outer side of the first transmission member 1241, the guide wheel 1244 plays a guiding role in the transmission of the first transmission member 1241, and changes the shape enclosed by the first transmission member 1241, so that the occupied space of the first transmission member 1241 is smaller, and in the telescoping process of the fork device 120, other components (such as a camera) between the first transmission member 1241 moving along with the telescoping plate 1212 and the adjacent first rollers 1242 are prevented from interfering.

The specific structure and picking and placing modes of the fork assembly 120 are described in detail below.

With continued reference to fig. 7 to 11, in one possible implementation manner, the fork apparatus 120 may further include a sliding plate 1221 and a pickup mechanism 122, the sliding plate 1221 is slidably disposed on the telescopic plate 1212, the pickup mechanism 122 is connected to the sliding plate 1221, the telescopic mechanism 121 may further include a transmission assembly 1213, the transmission assembly 1213 is disposed between the telescopic plate 1212 and the base plate 1211, the pickup mechanism 122 is connected to the transmission assembly 1213, and the pickup mechanism 122 is configured to drive the telescopic plate 1212 to bidirectionally stretch along the length direction of the base plate 1211 relative to the base plate 1211 when the transmission assembly 1213 is driven, so that the operation of picking and placing the material box 300 may be automatically and efficiently completed.

The moving stroke of the picking mechanism 122 relative to the sliding plate 1221 may be approximately the length of the expansion plate 1212, that is, the picking mechanism 122 may move between two ends of the expansion plate 1212, since the picking mechanism 122 is connected to the transmission assembly 1213, when the transmission assembly 1213 transmits, the picking mechanism 122 may move relative to the expansion plate 1212, and when the picking mechanism 122 moves to the end of the stroke, that is, when moving to two ends of the expansion plate 1212, the picking mechanism 122 may push the expansion plate 1212 to move relative to the base plate 1211 under the driving of the transmission assembly 1213.

Therefore, the robot 100 provided in this embodiment of the present application drives the pickup mechanism 122 to move relative to the expansion plate 1212 through the transmission assembly 1213, so that the pickup mechanism 122 may pick up the material box 300, and meanwhile, the pickup mechanism 122 may be utilized to drive the expansion plate 1212 to perform bidirectional expansion relative to the base plate 1211, so that the fork device 120 may also complete the pickup operation in the front and rear directions without rotating, thereby reducing the occupied space of the fork device 120, reducing the distance between the shelves 200 in the warehouse system, and improving the warehouse density.

The extension and retraction direction of the expansion and contraction plate 1212 with respect to the base plate 1211 is defined as an X direction, the movement direction of the pickup mechanism 122 with respect to the expansion and contraction plate 1212 is also defined as an X direction, the width direction of the fork device 120 is defined as a Y direction, and the direction perpendicular to the XY plane is defined as a Z direction, that is, the height direction of the fork device 120.

In some embodiments, the transmission assembly 1213 may include a locking mechanism 123, a first driving unit 1215, a flexible driving member 1214, and a driving wheel set, where the driving wheel set includes a plurality of driving wheels, the first driving unit 1215 drives the plurality of driving wheels to rotate, the plurality of driving wheels are respectively located on the base plate 1211 and the expansion plate 1212, the flexible driving member 1214 surrounds the outer sides of the plurality of driving wheels and moves along with the rotation of the driving wheels, the locking mechanism 123 is connected between the base plate 1211 and the expansion plate 1212, and when the locking mechanism 123 is unlocked, the driving wheels drive the base plate 1211 and the expansion plate 1212 to move relatively under the driving of the flexible driving member 1214.

It will be appreciated that when the locking mechanism 123 is locked, the expansion plate 1212 is fixed relative to the base plate 1211, and at this time, the relative positions of the driving wheels on the base plate 1211 and the expansion plate 1212 remain unchanged, the flexible driving member 1214 sequentially rolls circumferentially around the plurality of driving wheels and can drive the pickup mechanism 122 to move, and when the locking mechanism 123 is unlocked, the driving wheels drive the base plate 1211 and the expansion plate 1212 to move relatively under the driving of the flexible driving member 1214.

It should be noted that, during the transmission process of the transmission component 1213, according to the locking state of the locking mechanism 123, the pickup mechanism 122 or the expansion plate 1212 may be driven to move, and the power for moving both of them comes from the transmission of the flexible rotating member, so as to complete the operations of expanding and picking and placing.

The goods taking mechanism 122 is relatively fixed with the sliding plate 1221, the flexible transmission piece 1214 is indirectly connected with the goods taking mechanism 122 through the sliding plate 1221, smoothness of movement of the goods taking mechanism 122 relative to the telescopic plate 1212 is guaranteed, the sliding plate 1221 can move along the X direction under the driving of the flexible transmission piece 1214, and the moving stroke of the sliding plate 1221 is the moving stroke of the goods taking mechanism 122.

For example, the flexible transmission member 1214 may be a flexible member such as a belt, a chain, or the like, and the driving wheel may be a belt wheel, a sprocket, or the like, which is not specifically limited in this embodiment, and the belt wheel are exemplified by the sliding plate 1221 may be connected with the belt through a toothed plate, the sliding plate 1221 abuts against the outer side of the belt, the toothed plate is engaged with the inner side of the belt, the belt is clamped between the toothed plate and the sliding plate 1221, the toothed plate and the sliding plate 1221 may be connected and fixed by a fastener such as a screw, and the toothed plate and the sliding plate 1221 are made to compress the belt, so as to ensure the connection reliability of the sliding plate 1221 and the flexible transmission member 1214.

In one possible implementation, the two telescopic mechanisms 121 may be two, the fork device 120 may further include a connecting bracket 125 and a transmission shaft 126, the two telescopic mechanisms 121 are symmetrically distributed on two sides of the first conveying mechanism 124, the first conveying mechanism 124 may further include two mounting frames 1243, the two mounting frames 1243 are located at two ends of the first roller 1242, and the first roller 1242 is rotationally connected with the mounting frames 1243.

Wherein, two ends of the mounting rack 1243 are respectively connected with the expansion plates 1212 of the two expansion mechanisms 121; the base plates 1211 of the two telescopic mechanisms 121 are connected through the connecting bracket 125; two ends of the sliding plate 1221 are respectively connected with the telescopic plates 1212 of the two telescopic mechanisms 121 in a sliding manner; the first driving unit 1215 is disposed between the two telescopic mechanisms 121, and an output end of the first driving unit 1215 is connected with the transmission shaft 126, and two ends of the transmission shaft 126 are respectively connected with driving wheels of the two telescopic mechanisms 121, so that a reasonable layout of an overall structure of the fork device 120 can be ensured, a space utilization rate is improved, and the telescopic mechanisms 121 are symmetrically distributed, so that the overall movement of the first conveying mechanism 124 is stable and reliable.

Because the plurality of driving wheels are respectively arranged on the base plate 1211 and the telescopic plate 1212, when the locking mechanism 123 is unlocked, the telescopic plate 1212 can move relative to the base plate 1211, and the driving wheels on the telescopic plate 1212 have variable relative positions relative to the driving wheels on the base plate 1211, so that the flexible driving element 1214 drives the telescopic plate 1212 to stretch relative to the base plate 1211 when moving.

It can be appreciated that by using the flexible transmission member 1214 to drive, i.e. using only the first driving unit 1215, the relative movement of the expansion plate 1212 and the base plate 1211 can be achieved, and the relative movement of the sliding plate 1221 and the expansion plate 1212 can be achieved, thereby improving the compactness and transmission efficiency of the overall structure of the transmission assembly 1213.

In some embodiments, the two base plates 1211 and the two telescopic arms are all arranged in parallel, the sliding plate 1221 may extend along the Y direction, two ends of the sliding plate 1221 are respectively connected with the telescopic plates 1212 of the two telescopic mechanisms 121 in a sliding manner, the first driving unit 1215 may be disposed between the two telescopic mechanisms 121, and the output end of the first driving unit 1215 is connected with the transmission shaft 126, the transmission shaft 126 may extend along the Y direction, and two ends of the transmission shaft 126 may be respectively connected with the driving wheels of the two telescopic mechanisms 121, so that a reasonable layout of the overall structure of the fork device 120 may be ensured, the space utilization rate may be improved, and the telescopic mechanisms 121 distributed symmetrically may enable the movement of the first conveying mechanism 124 to be stable and reliable.

The first driving unit 1215 may be a motor, the motor may be mounted on the connection bracket 125 of the two brackets of the substrate 1211, and an output shaft of the motor may be connected to the transmission shaft 126 through a gear or a transmission component of a speed reducer, so that the motor drives the transmission shaft 126 to rotate when working, and the motor may be disposed at a side of the transmission shaft 126 to improve space utilization, and in this embodiment, the model, the output power, and the transmission ratio between the first driving unit 1215 and the transmission shaft 126 are not limited specifically.

In some embodiments, the two ends of the first conveying mechanism 124 along the telescopic direction of the telescopic plate 1212 may be provided with cushion pads 1245, that is, cushion pads 1245 may be provided at the front end and the rear end of the telescopic plate 1212 along the telescopic direction of the telescopic plate 1212, so that when the telescopic plate 1212 is docked with the external shelf 200, a buffering effect may be achieved, and rigid impact is avoided.

It will be appreciated that there may be one or more cushion pads 1245, and the cushion pads 1245 may protrude from the ends of the expansion plate 1212, and when the expansion plate 1212 protrudes relative to the base plate 1211 and abuts against the edge of the storage location 211 of the rack 200, the cushion pads 1245 abut against the edge of the storage location 211 of the rack 200, and the cushion pads 1245 may have elasticity, so as to slow down the impact force and avoid the impact force from being transmitted to the expansion plate 1212.

For example, two cushion pads 1245 may be disposed at each end of the expansion board 1212 and arranged at intervals along the Y direction, and the cushion pads 1245 may be made of materials including, but not limited to, rubber, silica gel, sponge, etc., which are not specifically limited in this embodiment.

The specific structure and operation of the pick-up mechanism 122 will be described in detail below.

Fig. 12 is an assembly schematic diagram of a rotating component of a goods taking mechanism in a fork device of a robot provided by an embodiment of the present application, fig. 13 is a cross-sectional view of the rotating component of the goods taking mechanism in the fork device of the robot provided by an embodiment of the present application, fig. 14 is a schematic diagram of a positioning component of the goods taking mechanism in the fork device of the robot provided by an embodiment of the present application, fig. 15 is a cross-sectional view of the goods taking mechanism and a material box in the fork device of the robot provided by an embodiment of the present application, and fig. 16 is a cross-sectional view of another view of the goods taking mechanism and the material box in the fork device of the robot provided by an embodiment of the present application.

Referring to fig. 12 to 16, in one possible implementation, the pickup mechanism 122 may include a rotating assembly 1222 and a push-pull assembly 1223, the rotating assembly 1222 may include a rotating unit 1222a, a mounting base 1222b, and a rotating shaft 1222c, the rotating shaft 1222c is connected to the sliding plate 1221, the mounting base 1222b is rotatably connected to the rotating shaft 1222c, the rotating unit 1222a is disposed on the mounting base 1222b, and drives the mounting base 1222b to rotate relative to the rotating shaft 1222 c; the push-pull assembly 1223 is disposed on the mount 1222b such that the picking mechanism 122 may be turned to perform picking operations in different directions.

It will be appreciated that the power source for rotating the mount 1222b may be even on the mount 1222b, the space layout may be improved, the rotating unit 1222a may be a motor, and the output shaft of the motor may drive the mount 1222b to rotate by means of a belt or chain transmission.

Illustratively, the rotary assembly 1222 may further include a first gear 1222d, a second gear 1222e, and a driving belt 1222f, the first gear 1222d being connected to an output end of the rotary unit 1222a, the second gear 1222e being connected to the rotary shaft 1222c and coaxially disposed, the driving belt 1222f being wound around the outer sides of the first gear 1222d and the second gear 1222e, the second gear 1222e being held stationary with the rotary shaft 1222c when the rotary assembly 1222 drives the first gear 1222d to rotate, such that the mount 1222b may rotate around the rotation.

In some embodiments, the mounting base 1222b has a connection portion, the connection portion may be sleeved on the outer side of the rotating shaft 1222c, and the connection portion is coaxially disposed with the rotating shaft 1222c, and at least one rotating member 1222g is disposed between an inner wall of the connection portion and an outer wall of the rotating shaft 1222c, so as to improve the smoothness of rotation of the mounting base 1222 b.

Illustratively, the connection portion may be integrally provided with the mount 1222b, the connection portion may be cylindrical, the rotating member 1222g may be a bearing, an inner ring of the bearing may be interference-fitted with an outer wall of the rotating shaft 1222c, and an outer ring of the bearing may be interference-fitted with an inner wall of the connection portion. In addition, the rotating members 1222g may be one, two or more, and a plurality of rotating members 1222g may be arranged at intervals, so as to improve the capability of bearing radial force, and the number of the rotating members 1222g is not specifically limited in the embodiment of the present application.

To achieve rapid insertion and separation of the push-pull assembly 1223 from the material container 300, and to improve pick and place efficiency, the push-pull assembly 1223 may include a push plate 1223a, a pull plate 1223b, and a first driver 1223c, the push plate 1223a being coupled to the mount 1222b, the first driver 1215 may be disposed on the push plate 1223a, the pull plate 1223b being coupled to the first driver 1223c, the first driver 1223c being configured to drive the pull plate 1223b to move relative to the mount 1222b to insert or separate the pull plate 1223b from the material container 300.

The push-pull assembly 1223 may further include at least one guide portion 1223d and a guide column 1223e, wherein the guide portion 1223d is disposed on the push plate 1223a, the guide column 1223e passes through the guide portion 1223d to be connected with the pull plate 1223b, and the guide column 1223e extends along the moving direction of the pull plate 1223b, thereby improving the smoothness of the movement of the pull plate 1223 b.

For example, two guide posts 1223e may be provided in parallel with the two guide posts 1223e and located on both sides of the first driving member 1223c, respectively, to thereby improve the balance of the movement of the pull plate 1223 b. In addition, the first driving member 1223c may be telescopic with respect to the motor, and the cooperation between the guide post 1223e and the guide portion 1223d may enable the guide post 1223e and the guide portion 1223d to bear a radial tension when the pulling plate 1223b pulls the animal feed box 300, so as to avoid the first driving member 1223c from bearing a tension, and prolong the service life of the first driving member 1223 c.

In some embodiments, the pick mechanism 122 can further include a positioning assembly 1224, the positioning assembly 1224 can include a second driver 1224a and a locking shaft 1224b, the second driver 1224a coupled to the mount 1222b, the locking shaft 1224b coupled to an output of the second driver 1224a, and a locking aperture 1221a can be provided in the skid plate 1221, the second driver 1224a configured to drive movement of the locking shaft 1224b to cause the locking shaft 1224b to engage or disengage the locking aperture 1221 a.

It can be appreciated that when the pickup mechanism 122 rotates to the target position, the positioning component 1224 can keep the pickup mechanism 122 stable, so as to avoid deflection or shaking of the pickup mechanism 122 during the process of matching the pickup mechanism 122 with the material box 300, the second driving member 1224a can be a telescopic motor, and the locking shaft 1224b can be driven by the second driving member 1224a to move along the Z direction.

In addition, the positioning assembly 1224 may further include a first detecting unit 1224c, where the first detecting unit 1224c is disposed on one of the sliding plate 1221 and the mount 1222b, and when the locking shaft 1224b is opposite to the locking hole 1221a, the first detecting unit 1224c is opposite to the other of the sliding plate 1221 and the mount 1222b, so as to ensure positioning accuracy of a starting point of a rotational stroke of the pickup mechanism 122.

For example, the first detecting unit 1224c may be a photoelectric sensor, since the picking mechanism 122 may perform bidirectional picking according to the telescopic direction of the telescopic plate 1212, the conversion of two picking directions may be achieved by controlling the mount 1222b to rotate 180 °, and both ends of the slider may be provided with locking holes 1221a, when the picking mechanism 122 is in different picking directions, the locking shafts 1224b may be in plug-in fit with the locking holes 1221a, and the photoelectric sensor may feel the mount 1222b or the sliding plate 1221.

It should be noted that, the sliding plate 1221 may be provided with a limiting portion 1221b, when the locking shaft 1224b is opposite to the locking hole 1221a, the limiting portion 1221b abuts against the mounting base 1222b, and the limiting portion 1221b may have a plate-like structure, so as to provide limitation for rotation of the cargo picking mechanism 122, and avoid occurrence of alignment deviation.

In one possible implementation manner, the sliding plate 1221 is connected to the flexible driving member 1214 and moves along with the flexible driving member 1214, the cargo taking mechanism 122 is relatively fixed to the sliding plate 1221, the flexible driving member 1214 is indirectly connected to the cargo taking mechanism 122 through the sliding plate 1221, smoothness of movement of the cargo taking mechanism 122 relative to the expansion plate 1212 is ensured, the sliding plate 1221 can move along the X direction under the driving of the flexible driving member 1214, and the movement stroke of the sliding plate 1221 is that of the cargo taking mechanism 122.

The specific arrangement positions and transmission modes of the transmission wheel sets are described below.

Fig. 17 is a front view of a telescopic mechanism in a fork device of a robot provided in an embodiment of the present application, fig. 18 is an isometric view of a telescopic mechanism in a fork device of a robot provided in an embodiment of the present application, fig. 19 is a schematic view of a telescopic mechanism extending toward a front end in a fork device of a robot provided in an embodiment of the present application, and fig. 20 is a schematic view of a telescopic mechanism extending toward a rear end in a fork device of a robot provided in an embodiment of the present application.

Referring to fig. 17 to 20, in one possible implementation, the plurality of driving wheels includes two driving wheel sets symmetrically disposed, each driving wheel set includes a first driving wheel 1213a, a second driving wheel 1213b and a third driving wheel 1213c, the first driving wheel 1213a and the second driving wheel 1213b are disposed on the expansion plate 1212, the third driving wheel 1213c is disposed on the substrate 1211, and the flexible driving member 1214 sequentially bypasses the first driving wheel 1213a, the second driving wheel 1213b and the third driving wheel 1213c of one driving wheel set and then passes through the third driving wheel 1213c, the second driving wheel 1213b and the first driving wheel 1213a of the other driving wheel set, thus forming a closed loop.

Wherein the first driving wheel 1213a and the third driving wheel 1213c have different positions in the moving direction of the expansion plate 1212, the flexible driving member 1214 surrounds the first driving wheel 1213a and the third driving wheel 1213c of the two driving wheel sets, and the second driving wheel 1213b of the two driving wheel sets is located outside the closed loop shape, thereby providing a travel space for the relative position change between the driving wheels on the base plate 1211 and the driving wheels on the expansion plate 1212.

It will be appreciated that the two driven wheel sets are symmetrically distributed along the moving direction of the expansion plate 1212, and the distance between the two second driving wheels 1213b in the two driving wheel sets is smaller than the distance between the two first driving wheels 1213a, so as to ensure that the expansion plate 1212 has a sufficient expansion stroke relative to the base plate 1211, and the expansion plate 1212 has a symmetrical bidirectional expansion stroke relative to the base plate 1211.

Illustratively, the second driving wheel 1213b may be located at or near the middle of the expansion plate 1212, the two first driving wheels 1213a may be located at two ends of the expansion plate 1212, and the two third driving wheels 1213c may be located at two ends of the base plate 1211, respectively, so that when the expansion plate 1212 moves relative to the base plate 1211, the annular profile of the flexible driving member 1214 may provide a stroke space for the relative position changes of the driving wheels on the expansion plate 1212 and the base plate 1211.

Note that, the second transmission wheel 1213b and the third transmission wheel 1213c have a pitch in the X direction, when the expansion plate 1212 is projected from the front end with respect to the base plate 1211, the pitch between the second transmission wheel 1213b and the third transmission wheel 1213c of the transmission wheel group at the front end is reduced, and the pitch between the second transmission wheel 1213b and the third transmission wheel 1213c of the transmission wheel group at the rear end is increased; while the expansion plate 1212 extends from the rear end with respect to the base plate 1211, the distance between the second and

third driving wheels

1213b and 1213c of the driving wheel set at the front end becomes large, and the distance between the second and

third driving wheels

1213b and 1213c of the driving wheel set at the rear end becomes small. And, the sum of the pitches of the second and

third driving wheels

1213b and 1213c of the two driving wheel sets remains unchanged.

In addition, one of the driving wheels may be a driving wheel, and the other driving wheels may be driven wheels, for example, the third driving wheel 1213c of any one of the two driving wheel sets may be a driving wheel, and the first driving unit 1215 is connected with the driving wheel to drive the driving wheel to rotate, and the driving wheel drives the flexible driving member 1214 to drive the driven wheel to rotate.

In some embodiments, the expansion plate 1212 and the base plate 1211 may extend in the same direction, i.e. extend in the X direction, the two ends of the expansion plate 1212 are respectively provided with an abutment portion 1212a, when the sliding plate 1221 abuts against the abutment portion 1212a, the flexible driving member 1214 pushes the expansion plate 1212 to move through the sliding plate 1221, so as to provide a limit for the movement of the sliding plate 1221 relative to the expansion plate 1212, and the sliding plate 1221 may abut against the abutment portion 1212a to drive the expansion plate 1212 to move.

It will be appreciated that as the flexible drive 1214 is driven about a first direction (counter-clockwise), the expansion plate 1212 extends from a first end (front end) of the base plate 1211 or the expansion plate 1212 retracts from a second end (rear end) of the base plate 1211; and when the flexible drive 1214 is driven about the second direction (clockwise), the expansion plate 1212 extends from the second end of the base plate 1211 or the expansion plate 1212 retracts from the first end of the base plate 1211.

It should be noted that, the telescopic mechanism 121 may further include a first slide rail 1216 and a second slide rail 1217, the first slide rail 1216 may be disposed between the base plate 1211 and the telescopic plate 1212, the first slide rail 1216 extends along the length direction of the base plate 1211, the second slide rail 1217 is disposed on the telescopic plate 1212, the second slide rail 1217 extends along the length direction of the telescopic plate 1212, and the sliding plate 1221 is configured to move along the second slide rail 1217.

It is to be understood that the first slide rail 1216 and the second slide rail 1217 extend along the X direction, the base plate 1211 can support the expansion plate 1212 through the first slide rail 1216, and the expansion plate 1212 can support the sliding plate 1221 through the second slide rail 1217, so that the smoothness of movement of the expansion plate 1212 and the sliding plate 1221 can be ensured.

The specific structure and the locking manner of the locking mechanism 123 will be described in detail below.

Fig. 21 is a schematic view of a locking mechanism in a fork device of a robot provided in an embodiment of the present application, fig. 22 is a schematic view of an unlocking state of the locking mechanism in the fork device of the robot provided in an embodiment of the present application, fig. 23 is a schematic view of a rocker arm of the locking mechanism in the fork device of the robot in a first position, and fig. 24 is a schematic view of a rocker arm of the locking mechanism in the fork device of the robot in a second position provided in an embodiment of the present application.

Referring to fig. 21 to 24, in one possible implementation manner, the locking mechanism 123 may be disposed on the base plate 1211, the locking mechanism 123 may include a locking member 1231, and the expansion plate 1212 may be provided with a positioning slot 1212b, where the locking member 1231 may be inserted into the positioning slot 1212b or separated from the positioning slot 1212b, so as to lock or unlock the expansion plate 1212 with the base plate 1211, thereby ensuring reliability of the locking and unlocking process of the expansion plate 1212 with respect to the base plate 1211, and avoiding occurrence of loose locking or locking.

The locking member 1231 can move along a vertical direction relative to the positioning slot 1212b, that is, the locking member 1231 can move along a Z direction, when the locking member 1231 is inserted into the positioning slot 1212b, the expansion plate 1212 is locked with the base plate 1211, and when the flexible transmission member 1214 drives, the sliding plate 1221 can be driven to move relative to the expansion plate 1212, so that the material box 300 can be pulled onto the fork device 120, or the material box 300 can be pushed away from the fork device 120, and when the locking member 1231 is pulled out from the positioning slot 1212b, the expansion plate 1212 is unlocked from the base plate 1211, and when the flexible transmission member 1214 drives, the expansion plate 1212 can be driven to extend or retract.

It will be appreciated that the locking mechanism 123 may be located in the middle of the fork device 120, i.e. the locking member 1231 may be mounted in the middle of the base 1211, and the middle of the expansion plate 1212 is provided with a positioning slot 1212b, when the locking member 1231 may be inserted into the positioning slot 1212b for locking, the middle of the expansion plate 1212 is opposite to the middle of the base 1211, i.e. the expansion plate 1212 is in a retracted state, so that when the pickup mechanism 122 pulls the animal feed box 300 onto the fork device 120, the expansion plate 1212 is prevented from extending beyond the middle position in the opposite direction under the friction force of the feed box 300, thereby maintaining the expansion plate 1212 in the middle position relative to the base 1211 after each pickup or discharge operation.

In some embodiments, the locking mechanism 123 may further include a first elastic member 1232, where the locking member 1231 is slidably disposed on the base plate 1211, and the locking member 1231 is provided with a hanging pin 1233, a first end of the first elastic member 1232 is connected to the hanging pin 1233, a second end of the first elastic member 1232 is connected to the base plate 1211, and the first elastic member 1232 applies an elastic force to the locking member 1231 toward the positioning slot 1212 b.

It is understood that the base plate 1211 may be provided with a guide hole in which the locking member 1231 may be inserted, and the first elastic member 1232 may provide the locking member 1231 with elastic force in the Z direction, so that the reliability of the locked state of the locking member 1231 may be maintained by the elastic force provided by the first elastic member 1232.

For example, the first elastic member 1232 may be a tension spring, the hanging pin 1233 may be a protruding structure on the side of the locking member 1231, the hanging pin 1233 may be integrally formed with the locking member 1231, or the hanging pin 1233 may be welded or inserted with the locking member 1231, which is not limited in the embodiment of the present application.

In order to realize the initiative locking and unlocking of locking structure, improve the efficiency that locking piece 1231 moved, locking mechanism 123 can also include second drive unit 1234, the output of second drive unit 1234 is provided with rocking arm 1234a, second drive unit 1234 can drive rocking arm 1234a and rotate, be provided with stop pin 1235 on the locking piece 1231, when rocking arm 1234a is located the first position, rocking arm 1234a and stop pin 1235 butt to make locking piece 1231 and constant head tank 1212b break away from, when rocking arm 1234a is located the second position, rocking arm 1234a and stop pin 1235 separation, locking piece 1231 and constant head tank 1212b joint under the elasticity effect of first elastic component 1232.

The second driving unit 1234 may be a steering engine, the end of the rocker arm 1234a is connected to a rotating shaft of the steering engine, and the rocker arm 1234a swings between the first position and the second position through the forward and backward rotation of the rotating shaft of the second driving unit 1234, and the magnitude of the swing amplitude of the rocker arm 1234a between the first position and the second position may be determined by the moving stroke of the locking member 1231 relative to the positioning slot 1212b, which is not limited in this embodiment of the present application.

It should be noted that the second driving unit 1234 may be disposed at a side of the locking member 1231, and the second driving unit 1234 and the first elastic member 1232 may be disposed at opposite sides of the locking member 1231, and accordingly, the blocking pin 1235 and the hanging pin 1233 may be disposed at opposite sides of the locking member 1231, and the structure of the blocking pin 1235 and the connection manner with the locking member 1231 are similar to those of the hanging pin 1233, which is not described herein.

In addition, one end of the locking member 1231 facing the positioning slot 1212b may be provided with a roller 1231a, two opposite sides of the positioning slot 1212b along the moving direction of the expansion plate 1212 are provided with guide surfaces 1212c, and the guide surfaces 1212c at two sides of the positioning slot 1212b are inclined into the positioning slot 1212b to guide the roller 1231a to roll, so as to provide guidance for the roller 1231a when the roller 1231a slides out of the positioning slot 1212 b.

It can be appreciated that the second driving unit 1234 mainly unlocks the locking element 1231 from the positioning slot 1212b, so that the expansion plate 1212 can move relative to the base plate 1211, and when the expansion plate 1212 moves relative to the base plate 1211, the locking element 1231 can abut against the expansion plate 1212 through the rollers 1231a at the end portion and roll along the expansion plate 1212 along with the movement of the expansion plate 1212.

When the expansion plate 1212 needs to return to the neutral position, when the roller 1231a contacts the guide surface 1212c, the first elastic element 1232 applies an elastic force to the locking element 1231 due to the inclination of the guide surface 1212c with respect to the horizontal direction, i.e., the inclination with respect to the X direction, and the component force of the abutment force of the roller 1231a of the locking element 1231 to the guide surface 1212c in the horizontal direction can force the expansion plate 1212 to return to the neutral position, i.e., the roller 1231a rolls into the positioning slot 1212b with respect to the expansion plate 1212.

For example, the two guide surfaces 1212c may be symmetrically disposed on both sides of the positioning groove 1212b, and different positions of the guide surface 1212c along the extending direction thereof may have different inclination angles, and an inclination angle of an end of the guide surface 1212c near the positioning groove 1212b with respect to the horizontal direction may be greater than an inclination angle of an end facing away from the positioning groove 1212b with respect to the horizontal direction, and the inclination angle of the guide surface 1212c with respect to the horizontal direction may range from 0 ° to 90 °, for example, may be 10 °, 20 °, 30 °, 45 °, 60 °, 80 °, etc. In addition, the guide surface 1212c may be a plane or an arc surface, which is not limited in this embodiment, and when the guide surface 1212c is an arc surface, the inclination angle of the guide surface 1212c is the angle between the tangent line and the horizontal direction.

The retraction of the expansion plate 1212 during the picking and placing of the bin 300 may be assisted by the provision of the reset mechanism 127 as the expansion plate 1212 is retracted from the retracted position, in addition to the retraction to the neutral position which may be accomplished by the drive assembly 1213, the configuration of the reset mechanism 127 will be described below.

Fig. 25 is a schematic structural view of a return mechanism in a pallet fork device of a robot according to an embodiment of the present application, and fig. 26 is a schematic structural view of the return mechanism in an extended state of the pallet fork device of the robot according to an embodiment of the present application.

Referring to fig. 25 and 26, in one possible implementation manner, the fork apparatus 120 may further include a return mechanism 127, where the return mechanism 127 may include a return plate 1271, a second elastic member 1272 and a third elastic member 1273, the return plate 1271 is connected to the base plate 1211, the second elastic member 1272 and the third elastic member 1273 are disposed on the expansion plate 1212, the second elastic member 1272 and the third elastic member 1273 are abutted against the return plate 1271, and when the expansion plate 1212 extends relative to the base plate 1211, one of the second elastic member 1272 and the third elastic member 1273 applies an elastic force to the expansion plate 1212 in a retracting direction of the expansion plate 1212.

It will be appreciated that when retraction is required after extension of the expansion plate 1212 relative to the base plate 1211, the return mechanism 127 provides a spring force to achieve quick return, and the second and third

elastic members

1272 and 1273 provide the return spring force required for extension in both the front and rear directions, respectively, due to the bi-directional expansion and contraction of the expansion plate 1212 relative to the base plate 1211.

In some embodiments, the reset mechanism 127 may further include a guide shaft 1274, the guide shaft 1274 is disposed on the expansion plate 1212, the guide shaft 1274 extends along the expansion direction of the expansion plate 1212, the second elastic element 1272 and the third elastic element 1273 are both sleeved on the guide shaft 1274 and are arranged along the extending direction of the guide shaft 1274, and the reset baffle 1271 is located between the second elastic element 1272 and the third elastic element 1273.

It will be appreciated that the two ends of the guide shaft 1274 may be respectively connected to the two ends of the expansion plate 1212, and the guide shaft 1274 may extend along the X direction to provide guidance for the compression and rebound of the second elastic member 1272 and the third elastic member 1273, so as to ensure that the provided elastic force direction is consistent with the retracting direction of the expansion plate 1212.

For example, the second elastic member 1272 and the third elastic member 1273 may be springs, and the reset shield 1271 may be provided with through holes, so that the guide shaft 1274 may pass through the through holes of the reset shield 1271 when the guide shaft 1274 is assembled, and the second elastic member 1272 and the third elastic member 1273 may have the same damping coefficient, and the specific damping coefficients of the second elastic member 1272 and the third elastic member 1273 are not specifically limited in this embodiment.

Since the expansion plate 1212 can expand and contract bi-directionally with respect to the base plate 1211, i.e., back and forth along the X direction, the expansion plate 1212 is retracted with respect to the center position of the base plate 1211 with respect to the extended position of the two sides, and the detection mode of the detection assembly 128 is described in detail below in order to accurately determine the extending direction and the extending state of the expansion plate 1212 with respect to the base plate 1211.

Fig. 27 is a schematic diagram of a detection assembly in a fork device of a robot provided in an embodiment of the present application, and fig. 28 is a schematic diagram of an arrangement of a third detection unit in the fork device of a robot provided in an embodiment of the present application.

Referring to fig. 27 and 28, in one possible implementation, the fork apparatus 120 may further include a detecting assembly 128, where the detecting assembly 128 may include a controller, a sensing board 1281 and two second detecting units 1282, the second detecting units 1282 are disposed on the sliding board 1221, the second detecting units 1282 are electrically connected to the controller, the sensing board 1281 is disposed on the expansion board 1212, the sensing board 1281 extends along a length direction of the expansion board 1212, the detecting signal is fed back when the second detecting unit 1282 is opposite to the sensing board 1281, and the controller is configured to determine a position of the sliding board 1221 relative to the expansion board 1212 according to the detecting signal.

It will be appreciated that the sensing plate 1281 may extend along the X direction, when the expansion plate 1212 moves relative to the base plate 1211, the second detecting unit 1282 moves relative to the sensing plate 1281, and when the second detecting unit 1282 is opposite to the sensing plate 1281 at different positions, different detecting signals may be fed back, so that the state of extension or retraction of the expansion plate 1212 relative to the base plate 1211 in different directions may be accurately determined.

In some embodiments, the sensing plate 1281 may include a first sensing section 1281a and two second sensing sections 1281b connected to opposite ends of the first sensing section 1281a, the first sensing section 1281a passing through a midpoint of the sensing plate 1281 in a length direction, and the two second sensing sections 1281b being arranged offset with respect to a width direction of the expansion plate 1212; the two second detecting units 1282 are arranged in a staggered manner in the width direction of the expansion plate 1212, and when the sliding plate 1221 moves, one of the two second detecting units 1282 is opposite to the second sensing section 1281b, or both the two second detecting units 1282 are opposite to the first sensing section 1281a, so as to determine whether the expansion plate 1212 is at the neutral position.

For example, the first sensing section 1281a is located at a middle position of the base 1211, the two second sensing sections 1281b extend along the X direction, the two second sensing sections 1281b are staggered in the Y direction, the second detecting units 1282 may be disposed at a middle position of the expansion plate 1212, and the two second detecting units 1282 may be staggered with respect to the Y direction, when the expansion plate 1212 extends, only one of the two second detecting units 1282 is opposite to the second sensing section 1281b, and according to different signals for determining that the two second detecting units 1282 are opposite to the feedback, the extending direction of the expansion plate 1212 may be determined, and when the expansion plate 1212 retracts, the two second detecting units 1282 are opposite to the first sensing section 1281a at the same time and feedback the same signal, thereby determining whether the expansion plate 1212 returns to the neutral position.

It should be noted that, the locking mechanism 123, the reset mechanism 127 and the detecting component 128 are all located at the side of the fork device 120, the detecting component 128 may be disposed at a single side of the fork device 120, and the locking mechanism 123, the reset mechanism 127 and the detecting component 128 may be disposed at both sides of the fork device 120, which is not limited in this embodiment.

In addition, the robot 100 may further include at least two third detecting units 129, where the at least two third detecting units 129 are respectively disposed at two ends of the fork device 120, so as to detect the material boxes 300 of different picking and placing directions of the fork device 120, and accurately identify the information of the bin 211 and the material boxes 300 when picking and placing the material boxes 300.

For example, the third detecting unit 129 may be a visual sensor such as a camera, a scanner, etc. for identifying the marks of the storage locations 211 of the material box 300 and the shelf 200, two third sensors may be installed on the connection bracket 125 between the substrates 1211, and two third sensors may be respectively located at two ends of the fork device 120.

In addition, it should be noted that, in order to enable the fork device 120 to perform operations of picking and placing goods at different height positions, the robot 100 may further include a lifting mechanism 130, the robot body 110 may include a chassis 111 and a stand 112, the stand 112 may be disposed on the chassis 111, the fork device 120 is connected to the lifting mechanism 130, and the lifting mechanism 130 is configured to move along a height direction of the stand 112.

The lifting mechanism 130 may be connected to the stand 112 through a chute, the lifting mechanism 130 may be located on two opposite sides of the pickup device, and the lifting mechanism 130 may perform lifting movement along the Z direction relative to the stand 112 through chain transmission or belt transmission, which is not limited to a specific driving manner of the lifting mechanism 130 in this embodiment.

Fig. 29 is a schematic structural view of a storage rack in a storage system provided in an embodiment of the present application, fig. 30 is a schematic structural view of a material box on a storage rack in a storage system provided in an embodiment of the present application, fig. 31 is a schematic structural view of a material box in a storage system provided in an embodiment of the present application, fig. 32 is a schematic structural view of another view angle of a material box in a storage system provided in an embodiment of the present application, and fig. 33 is a cross-sectional view of a connection mode of a material box in a storage system provided in an embodiment of the present application.

Referring to fig. 29 to 33, and referring to fig. 1 to 9, the embodiment of the present application provides a warehouse system, which includes a shelf 200 and a robot 100, wherein the shelf 200 has at least two warehouse layers 210, each warehouse layer 210 has at least one warehouse location 211, the warehouse locations 211 are configured to store at least two material boxes 300, the material boxes 300 in the same warehouse location 211 are sequentially arranged and connected from an inlet of the warehouse location 211 to an inside of the warehouse location 211, so that each warehouse location 211 has a certain storage depth, storage density is improved, and the robot 100 can pick and place the material boxes 300.

It will be appreciated that, since the material boxes 300 in the same bin 211 are arranged from the mouth of the bin 211 to the inside along the depth direction of the bin 211, and the adjacent material boxes 300 are connected to each other, when the robot 100 is docked with the bin 211, the material boxes 300 at the entrance of the bin 211 can be obtained, or the material boxes 300 are placed at the entrance of the bin 211, when the robot 100 removes one material box 300 from the entrance of the bin 211, the remaining material boxes 300 in the bin 211 are driven to the entrance to displace one material box 300, so that the material boxes 300 in the bin 211 are still arranged from the entrance of the bin 211 to the inside next time when the robot 100 places one material box 300 at the entrance of the bin 211, and accordingly, the material boxes 300 existing in the bin 211 are pushed to move one material box 300 toward the inside of the bin 211.

In some embodiments, the robot 100 includes a robot body 110 and a fork device 120, the robot body 110 includes a chassis 111, a stand 112, and a storage unit 113, the stand 112 is disposed on the chassis 111, the chassis 111 is movable on the ground, the fork device 120 is disposed on the robot body 110, the storage unit 113 and the fork device 120 are located at opposite sides of the stand 112, the fork device 120 includes a first transfer mechanism 124, the first transfer mechanism 124 interfaces with the storage unit 113, the fork device 120 is configured to interface with an entrance of the storage location 211, and take a bin 300 at the entrance position in the storage location 211 to the storage unit 113, or take a bin 300 in the storage unit 113 to the storage location 211.

In order to reduce the occupation of the robot 100 on the space between the shelves 200, the storage unit 113 is located at the side of the picking direction of the fork device 120, the transfer of the material boxes 300 between the storage unit 113 and the fork device 120 can be achieved through the first transfer mechanism 124, the first transfer mechanism 124 not only has the function of transferring the material boxes 300, but also can provide bearing and supporting for the material boxes 300, and the first transfer mechanism 124 can also move along the picking and placing direction along with the picking and placing operation of the fork device 120 from the storage place 211, so that when the robot 100 picks up the material boxes 300 on the shelves 200, the transfer of the material boxes 300 from the shelves 200 to the storage unit 113 can be completed without rotating the fork device 120, the width of the space between the shelves 200 is reduced, and the storage density of the storage system is improved.

It should be noted that, in the warehouse system provided in this embodiment of the present application, through the storage manner of the material boxes 300 on the shelf 200 and the design of the picking and placing process of the material boxes 300 of the robot 100, the deep storage of the material boxes 300 at the storage position 211 of the shelf 200 is realized, so that a plurality of material boxes 300 can be stored at one storage position 211, and when the material boxes 300 are obtained by controlling the fork device 120 of the robot 100, the material boxes 300 at the inlet of the storage position 211 are disconnected from the material boxes 300 inside the storage position 211, and when the material boxes 300 are placed, the placed material boxes 300 are connected with the original material boxes 300 inside the storage position 211, so that the warehouse system has better flexibility and expandability.

The specific structure of the shelf 200 will be described in detail first.

With continued reference to fig. 1 to 9 and fig. 29 to 33, in one possible implementation manner, the storage layers 210 may be arranged along the height direction of the shelf 200, and each storage layer 210 may be parallel to each other, the storage positions 211 of each storage layer 210 may be arranged along the horizontal direction, the height of the storage layer 210 may be matched with the height direction of the material box 300, and the width of the storage positions 211 may be matched with the width of the material box 300, so that the layer height of the storage layer 210 and the width of the storage positions 211 are reduced as much as possible while the material box 300 is ensured to be placed in, so as to improve the storage density.

The robot 100 may further include a lifting mechanism 130, where the fork device 120 may be connected to the lifting mechanism 130, and the lifting mechanism 130 may be connected to the stand 112, and the lifting mechanism 130 is configured to drive the fork device 120 to move along a height direction of the stand 112, that is, the height of the fork device 120 may be adjusted, so that the fork device 120 may dock with the storage layers 210 with different heights to take and place the material boxes 300 with different positions.

In some embodiments, the pallet 200 may be a frame structure, and the pallet 200 may include a plurality of columns 220, a plurality of beams 230, and a plurality of stringers 240, wherein the plurality of beams 230 are connected between the plurality of columns 220, and the beams 230 are spaced apart along a height direction of the columns 220 to form a plurality of warehouse levels 210, the plurality of stringers 240 are connected to the beams 230, and are spaced apart along a length direction of the beams 230, and a warehouse 211 is formed between adjacent stringers 240.

It will be appreciated that the columns 220, the beams 230 and the stringers 240 correspond to the height, width and length of the pallet 200, respectively, the columns 220 are arranged in the vertical direction, the bottom ends of the columns 220 are supported on the ground, the height of the top ends of the columns 220 is dependent on the number of the storage floors 210, the more the number of the storage floors 210 is, the higher the height of the top ends of the columns 220 is, the length of the beams 230 is dependent on the number of the storage floors 211 of each storage floor 210, the more the number of the storage floors 211 is, the longer the beams 230 are, and in addition, the length of the stringers 240 is dependent on the depth of each storage floor 211, the more the material boxes 300 can be stored in the storage floors 211, and the longer the stringers 240 are, so that a compact multi-layer multi-storage floor 211 structure of the pallet 200 is formed, and space utilization is improved.

Illustratively, the number of bins 211 per warehouse may be two, three, four, or more, which is not specifically limited in this embodiment, and the number of storable bins 300 per bin 211 may be two, three, four, or more, which is not specifically limited in this embodiment.

In some embodiments, the stringers 240 may include a support plate 241 and a limiting plate 242, where the support plate 241 may be horizontally disposed, and the support plates 241 of adjacent stringers 240 are supported on opposite sides of the bottom of the material box 300, and the limiting plate 242 is blocked on the side of the material box 300, so that a good supporting effect can be provided for the material box 300 through the support plate 241, and meanwhile, a limit is provided for movement of the material box 300 during picking and placing through the limiting plate 242. In addition, the storage space and the structural strength of the goods shelf 200 are ensured, and meanwhile, the use of materials of the goods shelf 200 is reduced, and the cost is reduced.

It can be understood that the width of the bin 211 is matched with the width of the material box 300, the side walls at two ends of the material box 300 can be provided with a clamping hook 301 and a clamping groove 302, the side walls at the end parts of the adjacent material boxes 300 are mutually abutted, and the clamping hooks 301 of the adjacent material boxes 300 are opposite to the clamping grooves 302, so that the material boxes 300 in the same bin 211 can be connected, and synchronous displacement can be performed in the processes of delivering and warehousing.

Illustratively, when the adjacent material boxes 300 are located on the same horizontal plane, the hooks 301 of the adjacent material boxes 300 are fastened to the slots 302, and the layer height of the storage layer 210 may be slightly higher than the height of the material boxes 300, and when the adjacent material boxes 300 are staggered in the vertical direction, that is, when the layer height direction of the storage layer 210 is staggered, the hooks 301 of the adjacent material boxes 300 are disengaged from the slots 302.

It should be noted that, when the robot 100 takes and places the material boxes 300, the material boxes 300 arranged in the same bin 211 can move synchronously, so that the material boxes 300 outside the bin 211 are always kept at the entrance of the bin 211, the box spacing of the material boxes 300 is reduced, and the storage density is further improved. In addition, during the process of taking and placing the material boxes 300, the material boxes 300 to be taken or placed and the movement of the material boxes 300 in the vertical direction inside the storage place 211 can be operated by the fork device 120 of the robot 100, so that the material boxes 300 are fastened to or separated from each other.

In one possible implementation, the storage unit 113 and the fork device 120 may be disposed on opposite sides of the stand 112, and the storage unit 113 may include a second conveying mechanism 1131, where the first conveying mechanism 124 and the second conveying mechanism 1131 interface to transfer the material box 300 between the fork device 120 and the storage unit 113, and where the conveying direction of the first conveying mechanism 124 is at an angle to the picking and placing direction of the fork device 120.

It can be appreciated that, on the one hand, the storage units 113 and the fork devices 120 are arranged in a staggered manner, the width of the interval between the adjacent shelves 200 is not increased, that is, the interval width between the shelves 200 only needs to be used for the chassis 111 of the robot 100 to walk and for accommodating the fork devices 120, and on the other hand, the first conveying mechanism 124 and the second conveying mechanism 1131 are utilized to butt-joint the material boxes 300, so that the material boxes 300 are transferred between the fork devices 120 and the storage units 113.

In the process of acquiring the material box 300, the material box 300 is first acquired from the storage location 211 by the fork device 120, and then the moving direction of the material box 300 is changed by the first conveying mechanism 124 and the second conveying mechanism 1131, so that the material box 300 is moved into the storage unit 113, and the process of inserting the material box 300 is the reverse of the process of acquiring the material box 300, which will not be described herein.

In some embodiments, the storage units 113 may be multiple, where the storage units 113 may be arranged at intervals along the height direction of the stand 112, and when the fork device 120 takes the material box 300 in the storage place 211, at least one storage unit 113 is used to store the material box 300 at the entrance position of the storage place 211, so that the storage unit 113 may function to temporarily store the material box 300, so that the robot 100 may obtain the material box 300 in the deep interior of the storage place 211.

It will be appreciated that, since the material boxes 300 may be stored in a plurality of storage locations 211, when the target material box 300 to be fetched is located near the inside of the storage locations 211, all the material boxes 300 outside need to be fetched, so that the target material box 300 is located at the entrance of the storage locations 211, while the first-out material boxes 300 may be stored in the storage units 113 when not only being stored in the storage units 113, but also may be temporarily stored in other storage locations 211, which may be specifically determined according to the storage state of the forks and the idle state of the storage units 113.

It should be noted that, the shelves 200 of the warehouse system may be multiple, the multiple shelves 200 are arranged at intervals, the lanes 201 are arranged between the adjacent shelves 200, the width of the lanes 201 is matched with the width of the robot 100, the robot 100 moves in the lanes 201, and the fork devices 120 of the robot 100 can bidirectionally stretch along the width direction of the lanes 201 to take and put the material boxes 300 on the shelves 200 at two sides of the lanes 201, so that under the condition that the fork devices 120 do not need to rotate, the taking and putting operations in two directions can be performed, thereby improving the logistics efficiency, reducing the width of the lanes 201 and improving the warehouse density.

Fig. 34 is a schematic view of a first state of a robot picking process provided in an embodiment of the present application, fig. 35 is a schematic view of a second state of the robot picking process provided in an embodiment of the present application, fig. 36 is a schematic view of a third state of the robot picking process provided in an embodiment of the present application, fig. 37 is a cross-sectional view of the third state of the robot picking process provided in an embodiment of the present application, fig. 38 is a cross-sectional view of a fourth state of the robot picking process provided in an embodiment of the present application, fig. 39 is a schematic view of a fifth state of the robot picking process provided in an embodiment of the present application, fig. 40 is a cross-sectional view of a sixth state of the robot picking process provided in an embodiment of the present application, and fig. 41 is a schematic view of a seventh state of the robot picking process provided in an embodiment of the present application.

Next, the operation of the robot 100 will be described with reference to fig. 34 to 41, taking a picking process of the robot 100 on the shelf 200 as an example.

(1) The robot 100 moves to the position of the target bin 211 in the lane 201, and the fork device 120 moves to the height position corresponding to the target bin 211.

(2) The pick mechanism 122 of the fork device 120 moves towards the material box 300 and drives the expansion plate 1212 to extend forward to abut against the edge of the pallet 200, and the pick mechanism 122 abuts against the end surface of the material box 300.

(3) The return movement of the pick mechanism 122 moves the bin 300 onto the fork assembly 120, and the expansion plate 1212 is retracted relative to the base plate 1211, whereby the pull plate 1223b engages the slot 302 of the bin 300.

(4) The fork device 120 is wholly driven by the lifting mechanism 130 to be lifted by a certain height, so that the clamping hooks 301 and the clamping grooves 302 of the material boxes 300 on the fork device 120 and the material boxes 300 inside the warehouse 211 are separated from each other.

(5) Retracting the expansion plate 1212 to a neutral position relative to the base plate 1211, at which point the bin 300 is positioned opposite the storage unit 113, removes the pull plate 1223b from the card slot 302 of the bin 300.

(6) The material box 300 is transferred from the fork device 120 to the storage unit 113 through the first conveying mechanism 124 and the second conveying mechanism 1131, and the picking process is completed.

The process of storing the material box 300 on the shelf 200 is the reverse of the process of acquiring the material box 300, and will not be described herein.

The embodiment of the application provides a robot and warehouse system, the robot is arranged in the warehouse system and gets and put the material case, this robot includes robot main part and fork device, fork device sets up in the robot main part, the robot main part includes the chassis, the grudging post and deposits the unit, the grudging post sets up on the chassis, deposit unit and fork device set up in the relative both sides of grudging post, the fork device includes first transport mechanism, it includes second transport mechanism to deposit the unit, first transport mechanism and second transport mechanism dock, in order to pass the material case between fork device and depositing the unit, the transmission direction of first transport mechanism has the contained angle with the flexible direction of expansion plate, thereby can turn to the transfer to the material case when fork device gets and put the material case, and need not whole rotatory fork device, thereby reduced the occupation space of fork device at the during operation, and then reduced the clearance between the goods shelves that the robot marred, storage density has been improved.

It should be noted that, for the application scenario of the warehouse system and the robot provided in this embodiment, according to the type of the specific goods, the warehouse system and the robot may be applied to different fields such as a manufacturing factory production line or warehouse-in and warehouse-out of stock products, retail industry logistics, and fast delivery warehouse-in and warehouse-out of e-commerce logistics, and the products or goods related to transportation may be industrial parts, electronic accessories or products, apparel ornaments, food, etc., but the embodiment of the application is not limited thereto specifically.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions.

Claims

1. The robot is characterized by comprising a robot main body and a fork device, wherein the fork device is arranged on the robot main body, is configured to be in butt joint with a storage position of the goods shelf, and drives other material boxes in the storage position, which are detachably connected with the material boxes in the inlet position of the storage position, to move towards the inlet of the storage position when the fork device acquires the material boxes in the inlet position of the storage position;

The robot main body comprises a chassis, a vertical frame and at least one storage unit, wherein the vertical frame is arranged on the chassis, the storage unit and the fork devices are arranged on two opposite sides of the vertical frame, each fork device comprises a first conveying mechanism, each storage unit comprises a second conveying mechanism, and the first conveying mechanism is opposite to the second conveying mechanism so as to transfer a material box between the fork device and the storage unit.

2. The robot of claim 1, wherein the fork device further comprises a telescoping mechanism comprising a base plate and a telescoping plate, the telescoping plate being bi-directionally telescoping with respect to the base plate along a length of the base plate, the first transfer mechanism being connected to the telescoping plate and the first transfer mechanism being configured to support the material bin; the transmission direction of the first transmission mechanism and the telescopic direction of the telescopic plate form an included angle.

3. The robot of claim 2, wherein the storage unit is located at a side of the fork device along the extension and retraction direction of the extension and retraction plate, the transmission directions of the first transmission mechanism and the second transmission mechanism are the same, and the transmission direction of the first transmission mechanism is perpendicular to the extension and retraction direction of the extension and retraction plate.

4. The robot of claim 2, wherein the first transfer mechanism comprises a first transmission member and a plurality of first rollers arranged in parallel at intervals, adjacent first rollers are connected by the first transmission member, and the first rollers extend along the length direction of the expansion plate;

the second conveying mechanism comprises a second transmission part and a plurality of second rollers which are arranged at intervals in parallel, wherein adjacent second rollers are connected through the second transmission part, and the second rollers are arranged in parallel with the first rollers.

5. The robot of claim 4, wherein a first limiting member is disposed on a side of the fork device facing away from the storage unit, the first limiting member is connected with the base plate, and the first limiting member protrudes from an upper side of the first roller in a vertical direction, so that when the first roller supports the material box, the first limiting member is blocked on a side of the material box.

6. The robot of claim 4, wherein a second limiting member is disposed at a side of the storage unit away from the fork device, the second limiting member is connected to an edge of the storage unit, and the second limiting member protrudes from an upper side of the second drum in a vertical direction, so that when the second drum supports the material box, the second limiting member is blocked at a side of the material box.

7. The robot of any of claims 4-6, wherein the fork device further comprises a sliding plate and a picking mechanism, the sliding plate is slidably disposed on the telescoping plate, the picking mechanism is connected with the sliding plate, the telescoping mechanism further comprises a transmission assembly, the transmission assembly is disposed between the telescoping plate and the base plate, the picking mechanism is connected with the transmission assembly, and the picking mechanism is configured to drive the telescoping plate to bidirectionally retract relative to the base plate along the length direction of the base plate when the transmission assembly is transmitting.

8. The robot of claim 7, wherein the transmission assembly comprises a locking mechanism, a first driving unit, a flexible transmission piece and a transmission wheel set, the transmission wheel set comprises a plurality of transmission wheels, the first driving unit drives the plurality of transmission wheels to rotate, the plurality of transmission wheels are respectively positioned on a base plate and a telescopic plate, and the flexible transmission piece surrounds the outer sides of the plurality of transmission wheels and moves along with the rotation of the transmission wheels;

the locking mechanism is arranged between the base plate and the expansion plate, and when the locking mechanism is unlocked, the driving wheel drives the base plate and the expansion plate to move relatively under the drive of the flexible driving piece.

9. The robot of claim 8, wherein the number of telescopic mechanisms is two, the fork device further comprises a connecting bracket and a transmission shaft, the two telescopic mechanisms are distributed on two opposite sides of the first conveying mechanism, the first conveying mechanism further comprises two mounting frames, the two mounting frames are positioned at two ends of the first roller, and the first roller is rotatably connected with the mounting frames;

the two ends of the mounting frame are respectively connected with the expansion plates of the two expansion mechanisms; the base plates of the two telescopic mechanisms are connected through the connecting bracket; the two ends of the sliding plate are respectively connected with the telescopic plates of the two telescopic mechanisms in a sliding way; the first driving unit is arranged between the two telescopic mechanisms, the output end of the first driving unit is connected with the transmission shaft, and two ends of the transmission shaft are respectively connected with the transmission wheels of the two telescopic mechanisms.

10. The robot of claim 9, wherein at least one guide wheel is provided on the mounting frame, the guide wheel is located between two adjacent first rollers, and the guide wheel abuts against the outer side of the first transmission member.

11. The robot of claim 8, wherein the pick mechanism comprises a rotating assembly and a push-pull assembly, the rotating assembly comprising a rotating unit, a mounting base and a rotating shaft, the rotating shaft being connected to the sliding plate, the mounting base being rotatably connected to the rotating shaft, the rotating unit being disposed on the mounting base and driving the mounting base to rotate relative to the rotating shaft; the push-pull assembly is arranged on the mounting seat.

12. The robot of claim 11, wherein the rotating assembly further comprises a first gear connected to the output end of the rotating unit, a second gear connected to the rotating shaft and coaxially disposed, and a belt wound around the outer sides of the first gear and the second gear.

13. The robot of claim 12, wherein the mounting base has a connection portion, the connection portion is sleeved on the outer side of the rotating shaft, the connection portion is coaxially disposed with the rotating shaft, and at least one rotating member is disposed between an inner wall of the connection portion and an outer wall of the rotating shaft.

14. The robot of any of claims 11-13, wherein the push-pull assembly comprises a push plate, a pull plate, and a first drive member, the push plate being coupled to the mount, the first drive unit being disposed on the push plate, the pull plate being coupled to the first drive member, the first drive member being configured to drive the pull plate to move relative to the mount to engage or disengage the pull plate from the bin.

15. The robot of claim 14, wherein the push-pull assembly further comprises at least one guide portion disposed on the push plate and a guide post connected to the pull plate through the guide portion, the guide post extending in a moving direction of the pull plate.

16. The robot of any one of claims 11-13, wherein the pick mechanism further comprises a positioning assembly including a second drive member coupled to the mount and a locking shaft coupled to an output of the second drive member, the slide plate having a locking aperture therein, the second drive member configured to move the locking shaft to engage or disengage the locking shaft from the locking aperture.

17. The robot of claim 16, wherein the positioning assembly further comprises a first detection unit disposed on one of the slide plate and the mount and opposing the other of the slide plate and the mount when the locking shaft is opposing the locking aperture.

18. The robot of claim 16, wherein the slide plate is provided with a limiting portion, and the limiting portion abuts against the mounting base when the locking shaft is opposite to the locking hole.

19. The robot of any one of claims 8-13, wherein the locking mechanism is disposed on the base plate, the locking mechanism includes a locking member, a positioning slot is disposed on the expansion plate, and the locking member can be inserted into or removed from the positioning slot to lock or unlock the expansion plate and the base plate.

20. The robot of claim 19, wherein the locking mechanism further comprises a first elastic member slidably disposed on the base plate, and the locking member is provided with a hanging pin, a first end of the first elastic member is connected with the hanging pin, a second end of the first elastic member is connected with the base plate, and the first elastic member applies an elastic force to the locking member toward the positioning slot.

21. The robot of claim 20, wherein the locking mechanism further comprises a second driving unit, a rocker is disposed at an output end of the second driving unit, the second driving unit can drive the rocker to rotate, a stop pin is disposed on the locking member, when the rocker is located at a first position, the rocker abuts against the stop pin, so that the locking member is separated from the positioning groove, when the rocker is located at a second position, the rocker is separated from the stop pin, and the locking member is clamped with the positioning groove under the action of elastic force of the first elastic member.

22. The robot of any one of claims 8-13, wherein the fork assembly further comprises a return mechanism comprising a return stop, a second elastic member, and a third elastic member, the return stop being connected to the base plate, the second elastic member and the third elastic member being disposed on the expansion plate, the second elastic member and the third elastic member being in abutment with the return stop, and one of the second elastic member and the third elastic member exerting an elastic force on the expansion plate toward a retraction direction of the expansion plate when the expansion plate is extended relative to the base plate.

23. The robot of claim 22, wherein the reset mechanism further comprises a guide shaft, the guide shaft is disposed on the expansion plate, the guide shaft extends along the expansion direction of the expansion plate, the second elastic member and the third elastic member are both sleeved on the guide shaft and are arranged along the extension direction of the guide shaft, and the reset baffle is disposed between the second elastic member and the third elastic member.

24. A warehouse system, characterized in that the warehouse system comprises a shelf and the robot as claimed in any one of claims 1-23, the shelf has at least one warehouse floor, the warehouse floor has at least one warehouse location, the warehouse location stores a plurality of material boxes, the plurality of material boxes are sequentially arranged from an inlet of the warehouse location to a direction away from the inlet in the warehouse location, and adjacent material boxes are detachably connected; the fork device can be in butt joint with an inlet of the storage position, and any material box in the storage position is taken and placed into the storage unit, or the material box in the storage unit is taken and placed into the storage position.