CN219859228U

CN219859228U - Material box carrying robot

Info

Publication number: CN219859228U
Application number: CN202320985999.4U
Authority: CN
Inventors: 周飞; 贾壮军
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-10-20
Anticipated expiration: 2033-04-26

Abstract

The utility model discloses a material box transfer robot.A material box locking mechanism is arranged on a storage device of the material box transfer robot, and a locking piece of the material box locking mechanism is elastically telescopic along the vertical direction and is arranged at the end part of the storage device; the transfer device of the material box transfer robot is provided with an unlocking mechanism, and a pressing piece of the unlocking mechanism can be horizontally and telescopically arranged at the end part of the transfer device; therefore, when the transfer device descends from a position higher than the storage device to be aligned with the storage device, the locking piece is pressed down by the extending pressing piece, so that the locking piece releases the blocking or locking of the material box, and the transfer of the material box is smoothly realized; when the transfer device rises from the plane where the storage device is located or the pressing piece retracts relative to the end part of the transfer device, the locking piece can elastically return to the position of the locking material box, so that the material box is prevented from sliding out or protruding from the storage device towards one end of the transfer device; therefore, on the basis of ensuring smooth transfer of the material box, the technical effect of preventing the material box from sliding out or protruding from the storage device is realized.

Description

Material box carrying robot

Technical Field

The utility model relates to the technical field of logistics equipment, in particular to a material box carrying robot.

Background

In the logistics field, a material box carrying robot can be used for realizing the warehouse entry and the warehouse exit of the material box.

The chassis of the material box carrying robot is usually provided with a lifting portal, on one hand, the lifting portal is fixedly provided with a storage device which is arranged in a plurality of layers, on the other hand, the lifting portal is provided with a lifting transfer device, and the transfer device transfers the material box between the storage device and a goods shelf storage position, so that the material box can be put in and put out of a warehouse.

In the related art, the transfer device is arranged beside the storage device in a lifting manner, and a blocking guardrail and the like are not arranged on one side of the storage device, which faces the transfer device, because the blocking guardrail can block the transfer of the feed box between the storage device and the transfer device.

However, since the barrier fence and the like are not provided, when the bin handling robot carries the bin to move through the storage device, the bin is often caused to slide out or protrude from the storage device toward one end of the transfer device due to acceleration, deceleration, jolt and the like, and the slide out or protruding bin not only has the risk of falling from the storage device, but also can cause obstruction to lifting of the transfer device.

Disclosure of Invention

In view of at least one aspect of the above technical problems, an embodiment of the present utility model provides a bin handling robot, where a storage device of the bin handling robot is provided with a bin locking mechanism, and a locking member of the bin locking mechanism is elastically telescopic along a vertical direction and is mounted at an end of the storage device; the transfer device of the material box transfer robot is provided with an unlocking mechanism, and a pressing piece of the unlocking mechanism can be horizontally and telescopically arranged at the end part of the transfer device; therefore, on one hand, when the transfer device descends from a position higher than the storage device to be aligned with the storage device, the locking piece is pressed down by the extending pressing piece, so that the locking piece releases the blocking or locking of the material box, and the transfer of the material box is smoothly realized; and on the other hand, when the transfer device ascends from the plane of the storage device or the pressing piece retracts relative to the end part of the transfer device, the locking piece can elastically return to the position for locking the feed box, so that the feed box is prevented from sliding out or protruding from the storage device towards one end of the transfer device.

That is, in the bin handling robot provided in this embodiment, by providing the bin locking mechanism and the unlocking mechanism, the technical effect of preventing the bin from sliding out or protruding from the bin storage device is achieved on the basis of ensuring smooth transfer of the bin between the bin storage device and the transfer device, and the technical problem is solved.

The embodiment of the application provides a material box carrying robot, which comprises the following components:

the storage device is fixedly arranged on the bin carrying robot;

the transfer device is arranged on the feed box transfer robot in a lifting manner along the vertical direction, and is arranged beside the storage device along the first direction;

the bin locking mechanism is arranged at one end of the storage device along the first direction and facing the transfer device;

the unlocking mechanism is arranged on one end of the transfer device along the first direction and facing the storage device;

the unlocking mechanism comprises a pressing piece which is arranged at the end part of the transfer device in a telescopic way along the first direction;

the bin locking mechanism comprises a locking piece extending along the vertical direction, and the locking piece is elastically telescopic along the vertical direction and is arranged at the end part of the storage device;

Such that when the transfer device is lowered from a position above the storage device and the hold down extends out of the end of the transfer device opposite the hold down, the hold down is adapted to hold down the lock from a first position to a second position;

and, when the transfer device rises from the plane of the storage device or the hold-down piece is retracted relative to the end of the transfer device, the locking piece is elastically restored to the first position from the second position;

the first position is a position where the upper end part of the locking piece protrudes out of the upper surface of the storage device, and the second position is a position where the upper end part of the locking piece is not higher than the upper surface of the storage device.

In an embodiment, the unlocking mechanism further comprises an unlocking driving piece and a mounting plate arranged at the end part of the transfer device;

wherein the mounting plate is used for fixedly mounting the hold-down piece;

the mounting plate is slidably mounted on the transfer device along the first direction;

the unlocking driving piece is at least used for driving the mounting plate to extend out of the end part of the transfer device, so that the pressing piece extends out of the end part of the transfer device.

In one embodiment, the mounting plates include a first mounting plate and a second mounting plate;

the first mounting plate extends along a second direction perpendicular to the first direction, two ends of the first mounting plate along the second direction are fixedly connected with the second mounting plate respectively, and the second mounting plate extends along the first direction;

and the transportation bottom plate of the transportation device is provided with a first sliding rail extending along the first direction, the second mounting plate is fixedly provided with a first sliding block, and the first sliding block is in sliding connection with the first sliding rail, so that the mounting plate is in sliding mounting with the transportation device along the first direction.

In one embodiment, the unlocking drive comprises a drive motor and a rack assembly extending in the first direction;

wherein the drive shaft of the drive motor is arranged along a second direction perpendicular to the first direction;

the rack assembly is slidably mounted on the transfer device along the first direction;

the driving shaft is in meshed transmission connection with the rack assembly through a transmission gear;

the end part of the rack assembly is used for abutting against the mounting plate, or the end part of the rack assembly is fixedly connected with the mounting plate;

So that by driving the rack assembly to slide, the drive motor is at least used for driving the mounting plate to extend out relative to the end of the transfer device.

In one embodiment, the rack assembly comprises a transmission rack extending along the first direction, and a rack connecting plate is fixedly connected to the end part of the transmission rack, which faces the mounting plate;

the transfer bottom plate of the transfer device is provided with a second sliding rail extending along the first direction, the rack connecting plate is fixedly provided with a second sliding block, and the second sliding block is in sliding connection with the second sliding rail, so that the rack assembly is in sliding installation with the transfer device along the first direction.

In an embodiment, the unlocking mechanism further comprises a first elastic member extending along the first direction;

the two ends of the first elastic piece are respectively and fixedly installed on the mounting plate and the transferring bottom plate of the transferring device through the mounting support, and the first elastic piece is configured to drive the mounting plate which extends out of the end part of the transferring device to reset.

In one embodiment, the bin locking mechanism further comprises a mounting bracket fixed to an end of the storage device, the mounting bracket being configured for elastic telescopic mounting of the locking member;

The locking piece comprises a blocking guide post and a guide post bracket which are fixedly connected, wherein the blocking guide post is arranged along the vertical direction, and the guide post bracket is arranged along a second direction perpendicular to the first direction;

and the blocking guide post is movably inserted into a first guide post through hole of the mounting bracket, and two ends of the guide post bracket along the second direction are respectively mounted on the mounting bracket through second elastic pieces, so that the blocking guide post is elastically telescopic along the vertical direction and mounted at the end part of the storage device.

In one embodiment, the second elastic member includes a spring;

the second elastic piece extends along the vertical direction, a spring guide post is inserted into the second elastic piece, one end of the spring guide post is fixedly mounted on the guide post support, and the other end of the spring guide post is movably inserted into a second guide post through hole of the mounting support.

In one embodiment, the guide post support is provided with a pressing groove at two sides of the blocking guide post respectively;

the pressing piece comprises a pair of pressing hooks which are arranged in parallel, and the pressing hooks are used for pressing the pressing grooves, so that the pressing piece presses the locking piece from the first position to the second position.

In an embodiment, a first docking gear is fixedly mounted on the mounting plate, and a second docking gear is fixedly mounted on the storage device along the first direction and towards the end part of the transfer device;

the transfer device is provided with a first conveying mechanism, the first conveying mechanism is used for moving the feed box along the first direction, and the first conveying mechanism is in transmission connection with the first butt joint gear;

the storage device is provided with a second conveying mechanism, the second conveying mechanism is used for moving the feed box along the first direction, and the second conveying mechanism is in transmission connection with the second butt-joint gear;

and when the unlocking driving piece drives the mounting plate to extend out relative to the end part of the transfer device, the first butt-joint gear is in meshed transmission connection with the second butt-joint gear, so that the first conveying mechanism is in transmission connection with the second conveying mechanism.

In an embodiment, the first conveying mechanism comprises a plurality of conveying rollers, the conveying rollers extend along a second direction perpendicular to the first direction, the plurality of conveying rollers are arranged in parallel, and adjacent conveying rollers are connected through belt transmission;

And at least one of the conveying rollers is a power roller, and the conveying roller positioned at the end part of the transfer device is in transmission connection with the first butt joint gear, so that the first conveying mechanism is in transmission connection with the first butt joint gear.

In one embodiment, the second conveying mechanism comprises a conveying belt and a pulley driving the conveying belt;

the belt wheel is fixed with a transmission shaft extending along a second direction, and the second butt-joint gear is fixedly sleeved on the transmission shaft so as to enable the second conveying mechanism to be in transmission connection with the second butt-joint gear; the second direction is perpendicular to the first direction.

In an embodiment, the bin handling robot comprises a walking chassis provided with a lifting portal along a vertical direction;

the transfer device is arranged in the middle of the lifting portal in a lifting manner, the storage devices are respectively arranged at two ends of the lifting portal along the first direction, and the storage devices are arranged on the lifting portal in multiple layers;

and the unlocking mechanisms are respectively arranged at two ends of the transfer device along the first direction.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

the embodiment of the application provides a material box transfer robot, which comprises a fixedly installed storage device and a vertically lifting and installing transfer device, wherein the transfer device is arranged beside the storage device along a first horizontal direction, and an unlocking mechanism and a material box locking mechanism are respectively arranged at two ends, close to each other, of the transfer device and the storage device; the locking piece of the feed box locking mechanism is elastically telescopic and installed at the end part of the storage device along the vertical direction, and the pressing piece of the unlocking mechanism is telescopically installed at the end part of the transfer device along the first direction; thus, it can be understood that:

on the one hand, when the storage device bears the bin and does not need to be transported to the transport device, the locking piece of the storage device is positioned at a first position that the upper end part of the locking piece protrudes out of the upper surface of the storage device, so that the locking piece can prevent the bin from sliding out or protruding out from one end of the storage device towards the transport device, and the bin is prevented from falling or blocking the lifting of the transport device;

on the other hand, when the material box is required to be transported between the transporting device and the storage device, the transporting device firstly descends from a position higher than the storage device, and the pressing piece of the transporting device stretches out from the end part of the transporting device, so that when the transporting device descends to be aligned with the storage device, the pressing piece can press down the locking piece from the first position to a second position, the upper end part of the locking piece is not higher than the upper surface of the storage device, and therefore the blocking effect of the locking piece on the material box is eliminated, and the material box can be transported between the transporting device and the storage device.

That is, the workbin transfer robot of this embodiment through setting up workbin locking mechanism and unlocking mechanism, can realize preventing that the workbin from storing up the one end roll-off or convex technical effect of position device orientation transfer device on the basis of guaranteeing that the workbin is transported smoothly between position device and transfer device, solved workbin transfer robot and had fallen or cause the hindrance to transfer device's lift from storing up the one end roll-off or convex technical problem of position device orientation transfer device owing to acceleration and deceleration or jolt etc. lead to the workbin, and then avoided roll-off or convex workbin.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments of the present utility model will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of the storage device disposed on two sides of the transfer device according to an embodiment of the present utility model.

Fig. 2 is a partial enlarged view of fig. 1.

Fig. 3 is a schematic structural view of a transfer device according to an embodiment of the application.

Fig. 4 is a schematic structural view of a transfer bottom plate of the transfer device according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a storage device according to an embodiment of the application.

Fig. 6 is a partial enlarged view of fig. 5.

Fig. 7 is a schematic structural view of the storage device disposed at one side of the transfer device according to an embodiment of the present application.

Wherein, the reference numerals:

10-a storage device, 11-a second butt joint gear, 12-a transmission belt, 13-a belt wheel, 14-a transmission shaft, 15-a blocking guardrail,

20-transferring devices, 21-transferring bottom plates, 22-first butt gears, 23-conveying rollers, 24-belts, 25-limiting seats, 26-shock pads,

30-bin locking mechanism, 31-mounting bracket, 32-blocking guide post, 33-guide post bracket, 34-second elastic piece, 36-pressing groove,

40-unlocking mechanism, 41-first mounting plate, 42-second mounting plate, 43-pressing piece, 45-first slider, 46-driving motor, 47-driving gear, 48-driving rack, 49-rack connecting plate, 411-second slider, 412-first elastic piece, 413-mounting support,

x-first direction, Y-second direction.

Detailed Description

In order that the above-recited aspects may be better understood, a detailed description of exemplary embodiments of the application will be presented below with reference to the drawings, it being apparent that the described embodiments are only a subset of the embodiments of the application, and not all of the embodiments of the application, it being understood that the application is not limited by the exemplary embodiments described herein.

In the related art, the transfer device is arranged beside the storage device in a lifting way so as to facilitate the transfer of the material box between the transfer device and the storage device; and, store up the trilateral guardrail that can set up of position device to prevent that the workbin from dropping, and one side towards transfer device can not set up and block the guardrail, because the existence that blocks the guardrail can hinder the workbin to store up the transportation between position device and the transfer device.

However, it is because the storage device is not set up the barrier towards one side of transfer device, when the workbin transfer robot bears the workbin through the storage device and removes, often can be because acceleration and deceleration or jolt etc. lead to the workbin to slide out or the convex condition from storage device towards transfer device's one end to, slide out or convex workbin not only has the risk that drops from storage device, and it can also cause the hindrance to transfer device's lift.

According to the bin handling robot, the bin locking mechanism is arranged at one end, facing the transfer device, of the storage device, and meanwhile, the unlocking mechanism is arranged at one end, facing the transfer device, of the transfer device, so that the technical problem is solved.

The utility model provides a bin transfer robot, bin transfer robot includes storage device 10 and workbin locking mechanism 30, transfer device 20 of installation on it and the release mechanism 40 of installation on it.

Referring to fig. 1, a storage device 10 is fixedly installed on a bin handling robot; the transfer device 20 is arranged on the bin transfer robot in a lifting manner along the vertical direction, and the transfer device 20 is arranged beside the storage device 10 along the horizontal first direction X; the bin lock mechanism 30 is mounted to the bin 10 in a first direction X and toward one end of the transfer device 20; the unlocking mechanism 40 is mounted to the transfer device 20 along the first direction X and towards one end of the storage device 10.

Wherein, referring to fig. 2, the unlocking mechanism 40 comprises a pressing piece 43, and the pressing piece 43 is telescopically arranged at the end part of the transferring device 20 along a first direction X; the bin locking mechanism 30 comprises a locking piece extending along the vertical direction, and the locking piece is elastically telescopic along the vertical direction and is arranged at the end part of the storage device 10; such that when the transfer device 20 is lowered from a position above the storage device 10 and the hold-down 43 extends out of the end of the transfer device 20, the hold-down 43 acts to hold down the lock from the first position to the second position; and, when the transfer device 20 rises from the plane of the storage device 10 or the hold-down 43 is retracted relative to the end of the transfer device 20, the locking member elastically returns from the second position to the first position; the first position is a position where the upper end of the locking member protrudes from the upper surface of the storage device 10, and the second position is a position where the upper end of the locking member is not higher than the upper surface of the storage device 10.

In this embodiment, on the bin handling robot, the storage device is fixedly mounted, for example, the storage device is arranged in multiple layers, and the transfer device is mounted in a vertically liftable manner.

Thus, for example, in the process of delivering the material box to a warehouse, the transfer device firstly lifts to the height of a storage position of a goods shelf for storing the material box, and the transfer device can transfer the material box onto the transfer device; then, the transfer device is lifted (the transfer device in the embodiment should be specifically lifted) to the height of the storage device, and the transfer device can transfer the feed box on the transfer device to the storage device; finally, the bin handling robot can walk to a target position through the bin carried by the bin carrying device; similarly, for the warehouse-in process of the material box, the transfer device transfers the material box placed on the storage device to the goods shelf storage position through lifting movement.

It can be seen that to the warehouse in and out process of the workbin, the workbin all needs to be transported between storage device and transfer device, and in order to make things convenient for this kind of transportation, the locking piece of this embodiment is along vertical direction elastic extension's installation on storage device, like this, when the workbin needs to be transported, the locking piece is pushed down to can not cause the hindrance to the workbin, and when the workbin does not need to transport, locking piece elastic recovery, perhaps said to play to the upper surface of protrusion storage device, thereby the locking piece can cause the jam to the workbin, prevents that the workbin from the tip protrusion.

In particular, the transfer device and the storage device are arranged in close proximity along the first direction.

The lower pressing piece is arranged at the end part of the transfer device, which faces the storage device, and is arranged in a telescopic way along the first direction, that is, the lower pressing piece can extend out from the end part of the transfer device, and the extended lower pressing piece can retract; the locking piece is installed in the end that stores up position device towards transfer device, and the locking piece sets up along vertical direction to the locking piece can stretch out and draw back elastically between first position and second position, and wherein, first position is the upper end of locking piece and is protruded the position of storing up the upper surface of position device, and the upper end of second position is the upper end of locking piece and is not higher than the position of storing up the upper surface of position device.

It will thus be appreciated that the hold-down member first extends from the end of the transfer device and then the transfer device is lowered, such that the locking member can be depressed by the hold-down member from the first position to the second position; as for the elastic return of the locking member from the second position to the first position, the transfer device is only required to be lifted, or the extended pressing member may be retracted from the end of the transfer device.

In other words, the locking element not depressed by the hold-down should be in the first position, so that it can act as a stop for the bin placed on the storage device, preventing the bin from sliding out or protruding from the end facing the transfer device; and as far as the blocking effect of the storage device against the bin in the other direction is concerned, this can be achieved by blocking the guard rail.

The embodiment of the application provides a material box transfer robot, which comprises a fixedly installed storage device and a vertically lifting and installing transfer device, wherein the transfer device is arranged beside the storage device along a first horizontal direction, and an unlocking mechanism and a material box locking mechanism are respectively arranged at two ends, close to each other, of the transfer device and the storage device; the locking piece of the feed box locking mechanism is elastically telescopic and installed at the end part of the storage device along the vertical direction, and the pressing piece of the unlocking mechanism is telescopically installed at the end part of the transfer device along the first direction; thus, it can be understood that: on the one hand, when the storage device bears the bin and does not need to be transported to the transport device, the locking piece of the storage device is positioned at a first position that the upper end part of the locking piece protrudes out of the upper surface of the storage device, so that the locking piece can prevent the bin from sliding out or protruding out from one end of the storage device towards the transport device, and the bin is prevented from falling or blocking the lifting of the transport device; on the other hand, when the material box is required to be transported between the transporting device and the storage device, the transporting device firstly descends from a position higher than the storage device, and the pressing piece of the transporting device stretches out from the end part of the transporting device, so that when the transporting device descends to be aligned with the storage device, the pressing piece can press down the locking piece from the first position to a second position, the upper end part of the locking piece is not higher than the upper surface of the storage device, and therefore the blocking effect of the locking piece on the material box is eliminated, and the material box can be transported between the transporting device and the storage device.

In one possible embodiment, the unlocking mechanism 40 further includes an unlocking drive and a mounting plate provided at an end of the transfer device 20; wherein the mounting plate is used for fixedly mounting the hold-down piece 43; the mounting plate is slidably mounted on the transfer device 20 along the first direction X; the unlocking drive is used at least to drive the extension of the mounting plate relative to the end of the transfer device 20, so that the hold-down 43 extends relative to the end of the transfer device 20.

That is, for a transfer device, the hold down mounted thereon may be specifically fixedly mounted on a mounting plate, which is then slidably mounted to the transfer device in a first direction; thus, the unlocking driving piece can extend the mounting plate from the end part of the transfer device by driving the mounting plate to slide along the first direction, namely, the pressing piece extends from the end part of the transfer device.

In terms of the retraction of the extended mounting plate from the end of the transfer device, this can be achieved by the unlocking drive, but of course also by means of the elastic restoring force of the first elastic element, see in particular the description below.

For the mounting plates described above, referring to fig. 4, in one embodiment, the mounting plates include a first mounting plate 41 and a second mounting plate 42; wherein, the first mounting plate 41 extends along a second direction Y perpendicular to the first direction X, two ends of the first mounting plate 41 along the second direction Y are fixedly connected with second mounting plates 42 respectively, and the second mounting plates 42 extend along the first direction X; the transfer bottom plate 21 of the transfer device 20 is provided with a first sliding rail extending along the first direction X, the second mounting plate 42 is fixedly provided with a first sliding block 45, and the first sliding block 45 is slidably connected with the first sliding rail, so that the mounting plate is slidably mounted on the transfer device 20 along the first direction X.

In particular, the first mounting plate extends in a second direction, i.e. the first mounting plate is parallel to the end of the transfer device facing the storage device; then, two ends of the first mounting plate are fixedly connected with second mounting plates, and the second mounting plates extend along the first direction; and two parallel second mounting plates specifically can be fixed in the transfer device through first slide rail (being fixed in the transfer bottom plate) and first slider (being fixed in the second mounting plate) slidable mounting, promoted sliding connection's stability.

With respect to the unlocking drive described above, and with continued reference to FIG. 4, in one embodiment, the unlocking drive includes a drive motor 46 and a rack assembly extending in a first direction X; wherein the drive shaft of the drive motor 46 is arranged in a second direction Y perpendicular to the first direction X; the rack assembly is slidably mounted on the transfer device 20 along a first direction X; the drive shaft is in meshed transmission connection with the rack assembly through a transmission gear 47; the end part of the rack assembly is used for being abutted against the mounting plate, or the end part of the rack assembly is fixedly connected with the mounting plate; such that by sliding the drive rack assembly, the drive motor 46 is used to drive at least the extension of the mounting plate relative to the end of the transfer device 20.

That is, on the one hand, the end of the rack assembly may be fixedly connected to the mounting plate, and it is understood that in this way, the drive motor drives the rack assembly to slide in the first direction through the drive gear, thereby enabling extension and retraction of the end of the mounting plate from the transport device simultaneously.

On the other hand, the end of the rack assembly is not fixedly connected to the mounting plate, and the end of the rack assembly is only used for abutting the mounting plate, and it can be understood that in this way, the driving motor drives the rack assembly to slide along the first direction through the transmission gear, so that only the extension of the end of the mounting plate from the transporting device can be realized, and in the case of retraction of the extended mounting plate, the extension can be realized through the first elastic member 412.

With continued reference to fig. 4, with respect to the particular construction in which the rack assembly is slidably mounted to the transfer device 20 in the first direction X, in one embodiment the rack assembly includes a drive rack 48 extending in the first direction X, the end of the drive rack 48 toward the mounting plate having a rack attachment plate 49 fixedly attached thereto; the transferring bottom plate 21 of the transferring device 20 is provided with a second sliding rail extending along the first direction X, the rack connecting plate 49 is fixedly provided with a second sliding block 411, and the second sliding block 411 is slidably connected with the second sliding rail, so that the rack assembly is slidably installed on the transferring device 20 along the first direction X.

That is, considering that the travel of the mounting plate extending from the end of the transfer device is smaller, a smaller distance of the driving rack may be used, and then the rack connecting plate is fixed at the end of the driving rack facing the mounting plate, at this time, the rack mounting plate is specifically slidably connected to the transfer base plate through the second slide rail and the second slider.

In addition, referring to fig. 1 and 4, when the storage device 10 is disposed on both sides of the transfer device 20, the mounting plates are required to be disposed on both ends of the transfer device 20 along the first direction X, at this time, both ends of the driving rack 48 are required to be fixedly connected with the rack connecting plates 49, and both rack connecting plates 49 are slidably connected to the transfer base 21 by means of sliding rails and sliding blocks.

Further, when the transfer device all sets up the mounting panel along the both ends of first direction, can adopt the tip butt mounting panel of rack component and the mode of not fixed connection mounting panel, namely, specifically be that the rack connecting plate is used for the butt mounting panel and not fixed connection mounting panel, prevent like this that the mounting panel of leading to the other end when the mounting panel protrusion of one end stretches into relative transfer device of mounting panel.

In a specific embodiment, the unlocking mechanism further includes a first elastic member 412 extending along the first direction X; wherein, both ends of the first elastic member 412 are fixedly mounted to the mounting plate and the transfer bottom plate 21 of the transfer device 20 through the mounting support 413, respectively, and the first elastic member 412 is configured to drive the mounting plate extended from the end of the transfer device 20 to be reset.

That is, when the end of the rack assembly is not fixedly connected with the mounting plate, the driving motor drives the rack assembly to slide along the first direction through the transmission gear, so that only the end of the mounting plate can extend out from the transporting device; the first elastic piece is used for retracting the end part of the extended mounting plate self-transferring device, namely, the first elastic piece extends along the first direction, and two ends of the first elastic piece are respectively and fixedly mounted on the mounting plate and the transferring bottom plate through mounting supports; thus, after the driving motor drives the rack assembly to slide reversely, the mounting plate can be reset under the action of the restoring force of the first elastic piece, namely, the mounting plate is restored to a position that the end of the mounting plate is aligned with the end of the transferring device.

The above-mentioned mounting plates are combined to include the first mounting plate 41 and the second mounting plate 42 of fixed connection to this second mounting plate 42 is through first slide rail and first slider 45 slidable mounting in the transportation bottom plate 21 of transfer device 20, preferably, the one end of this first elastic component 412 is fixed on transportation bottom plate 21, and the other end can specifically be fixed on second mounting plate 42, thereby through specifically setting up the application point of first elastic component 412 on second mounting plate 42, can guarantee the gliding smoothness of mounting plate in the reset process, prevents the dead phenomenon of slip card when restoring to the throne to appear.

In one possible embodiment, referring to fig. 5 and 6, the bin lock mechanism 30 further includes a mounting bracket 31 secured to an end of the bin 10, the mounting bracket 31 for resiliently telescopically mounting the lock member; the locking piece comprises a blocking guide post 32 and a guide post bracket 33 which are fixedly connected, wherein the blocking guide post 32 is arranged along the vertical direction, and the guide post bracket 33 is arranged along a second direction Y which is perpendicular to the first direction X; and, the blocking guide post 32 is movably inserted into the first guide post through hole of the mounting bracket 33, and two ends of the guide post bracket 33 along the second direction Y are respectively mounted on the mounting bracket 31 through the second elastic member 34, so that the blocking guide post 32 is elastically telescopic along the vertical direction and mounted at the end of the storage device 10.

That is, the end of the storage device is provided with a mounting bracket, and the locking member is mounted on the mounting bracket in a manner that the locking member can be elastically stretched in the vertical direction.

The locking piece can specifically comprise a blocking guide post which extends vertically and a guide post bracket fixedly connected with the blocking guide post, and two ends of the guide post bracket are specifically arranged on the mounting bracket through the elastic extension of the second elastic piece, namely, the blocking guide post is arranged on the end part of the storage device in an elastic extension mode.

The guide pillar support is installed through the elastic extension of the second elastic piece at two ends of the guide pillar support along the second direction, and the elastic extension stability is improved.

The blocking guide post extends vertically, and the technical effect of preventing the feed box from sliding out or protruding from one end of the storage device towards the transfer device is achieved mainly through the blocking guide post; therefore, in the whole, when the transfer device is required to be in butt joint with the storage device, the pressing down piece of the transfer device needs to directly or indirectly (the pressing down piece directly presses down the blocking guide post, or the pressing down piece is fixedly connected with the blocking guide post through the pressing down guide post support, so that the effect of indirectly pressing down the blocking guide post is realized), and the blocking guide post is pressed down into the mounting support, so that the transfer of the transfer box can be performed, namely, the blocking guide post is mainly unlocked.

It will be appreciated that the upper end of the locking member is the top end of the blocking guide post, and the first position is a position where the top end of the blocking guide post protrudes from the upper surface of the storage device (or the conveyor belt 12 may be combined with the following description), and the second position is a position where the top end of the blocking guide post is not higher than the upper surface of the storage device or the conveyor belt 12. With respect to the second elastic body 34 described above, in one embodiment, the second elastic member 34 includes a spring; the second elastic member 34 extends along the vertical direction, a spring guide post (not shown in fig. 6) is inserted into the second elastic member 34, one end of the spring guide post is fixedly mounted on the guide post bracket 33, and the other end of the spring guide post is movably inserted into a second guide post through hole of the mounting bracket 31.

In this embodiment, a spring guide post is disposed in the second elastic member, the upper end of the spring guide post is fixedly mounted on the guide post bracket, and the lower end of the spring guide post is movably inserted into the mounting bracket through the second guide post through hole, so as to ensure the vertical directivity of the up-down expansion of the spring (i.e. the second elastic member).

In a specific embodiment, the guide post bracket 33 is provided with a depression groove 36 at two sides of the blocking guide post 32 respectively; wherein the hold-down piece 43 includes a pair of hold-down hooks disposed in parallel for holding down the hold-down groove 36 such that the hold-down piece 43 holds down the locking member from the first position to the second position.

Namely, the pressing of the pressing piece to the locking piece can be realized specifically through the pressing hook and the pressing groove, so that the pressing accuracy can be ensured, and the condition that the pressing piece cannot accurately press the locking piece due to installation errors or accumulated errors in the use process is prevented.

In a possible embodiment, referring to fig. 1 and 2, a first docking gear 22 is also fixedly mounted on the mounting plate, and a second docking gear 11 is also fixedly mounted on the storage device 10 along the first direction X and towards the end of the transfer device 20; wherein the transfer device 20 is provided with a first conveying mechanism for moving the feed box along a first direction X, the first conveying mechanism being in driving connection with a first docking gear 22; the storage device is provided with a second conveying mechanism which is used for moving the feed box along the first direction X, and the second conveying mechanism is in transmission connection with a second butt joint gear 11; and, when the unlocking driving member drives the end portion of the mounting plate opposite to the transfer device 20 to extend, the first docking gear 22 is in meshed transmission connection with the second docking gear 11, so that the first conveying mechanism is in transmission connection with the second conveying mechanism.

That is, on the basis that the unlocking driving piece drives the end part of the mounting plate, which is opposite to the transfer device, to extend out, the first butt-joint gear can be fixedly arranged on the mounting plate, so that when the mounting plate extends out, the first butt-joint gear can be meshed and connected with the second butt-joint gear of the storage device in a transmission manner; therefore, the two butting gears are respectively connected with the respective conveying mechanisms in a transmission way; thus, the transmission connection of the two conveying mechanisms respectively arranged on the transfer device and the storage device can be realized.

That is, on the basis that the unlocking driving member drives the mounting plate to extend out relative to the end part of the transfer device, when the transfer device descends to be aligned with the storage device, not only the pressing member can press the locking member downwards, but also transmission connection between the first conveying mechanism of the transfer device and the second conveying mechanism of the storage device can be realized, so that the number of driving devices can be saved.

In view of the above description of the mounting plates including the first mounting plate 41 and the second mounting plate 42, the first mounting plate 41 being parallel to the end of the transfer device facing the storage device, it is preferred that the first docking gear 22 in this embodiment be provided in particular on the first mounting plate 41 to facilitate the protrusion of the first docking gear relative to the end of the transfer device.

In a specific embodiment, referring to fig. 3, the first conveying mechanism includes a plurality of conveying rollers 23, the conveying rollers 23 extend along a second direction Y perpendicular to the first direction X, the plurality of conveying rollers 23 are arranged in parallel, and adjacent conveying rollers 23 are connected in a transmission manner by a belt 24; and, in a plurality of conveying rollers 23, at least one conveying roller 23 is a power roller, and the conveying roller 23 positioned at the end part of the transfer device 20 is in transmission connection with the first butt-joint gear 22 so as to make the first conveying mechanism in transmission connection with the first butt-joint gear 22.

Namely, on the transfer device, the first conveying mechanism can be realized in a mode of a plurality of conveying rollers, so that only one conveying roller is a power roller; adjacent conveying rollers are connected, for example, using a belt drive, and then the outermost conveying roller of the transfer device is connected with the first docking gear drive.

In one embodiment, referring to fig. 5, the second conveyor mechanism includes a conveyor belt 12 and a pulley 13 that drives the conveyor belt 12; wherein, the belt wheel 13 is fixed with a transmission shaft 14 extending along the second direction Y, and the second butt joint gear 11 is fixedly sleeved on the transmission shaft 14 so as to make the second conveying mechanism in transmission connection with the second butt joint gear 11; the second direction Y is perpendicular to the first direction X.

That is, in the storage device, the second conveying mechanism may be realized specifically by means of a conveying belt, so that only the second docking gear is fixedly connected with the transmission shaft driving the conveying belt.

Of course, it can be understood that the first conveying mechanism can also adopt a conveying belt mode to realize the movement of the feed box; the second conveying mechanism can also adopt a mode of a plurality of conveying rollers to realize the movable material box, and the embodiment is not limited to the method.

In one possible implementation mode, the bin handling robot specifically comprises a walking chassis, wherein the walking chassis is provided with a lifting portal frame along the vertical direction; referring back to fig. 1, a transfer device 20 is arranged in the middle of the lifting portal in a lifting and descending manner, two ends of the lifting portal along the first direction X are respectively provided with a storage device 10, and the storage devices 10 are arranged on the lifting portal in multiple layers; further, unlocking mechanisms are respectively mounted at both ends of the transfer device 20 along the first direction X.

In addition, referring to fig. 4, a limiting seat 25 may be disposed between the second mounting plates 42 at two sides to limit the sliding of the second mounting plates 42, and a shock pad 26 may be mounted on the limiting seat 25, so as to absorb shock when the second mounting plates 42 abut against the limiting seat 25.

In addition, similarly, a shock pad 26 may be provided at a position of the first mounting plate 41 corresponding to the rack connecting plate 49, so that shock is absorbed when the rack connecting plate 49 abuts against the first mounting plate 41.

The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.

The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the utility model to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be included within the scope of the utility model.

Claims

1. A bin handling robot, comprising:

the storage device (10) is fixedly arranged on the bin transfer robot;

the transfer device (20) is arranged on the feed box transfer robot in a lifting manner along the vertical direction, and the transfer device (20) is arranged beside the storage device (10) along the first direction;

a bin lock mechanism (30) mounted to one end of the storage device (10) in the first direction and toward the transfer device (20);

an unlocking mechanism (40) which is arranged at one end of the transfer device (20) along the first direction and towards the storage device (10);

wherein the unlocking mechanism (40) comprises a pressing piece (43), and the pressing piece (43) is telescopically arranged at the end part of the transferring device (20) along the first direction;

the bin locking mechanism (30) comprises a locking piece extending along the vertical direction, and the locking piece is elastically telescopic along the vertical direction and is arranged at the end part of the storage device (10);

Such that when the transfer device (20) is lowered from a position above the storage device (10) and the hold-down piece (43) protrudes from the end of the transfer device (20), the hold-down piece (43) is adapted to hold down the locking element from a first position to a second position;

and, when the transfer device (20) rises from the plane of the storage device (10) or the hold-down piece (43) is retracted relative to the end of the transfer device (20), the locking piece is elastically restored to the first position from the second position;

the first position is a position where the upper end part of the locking piece protrudes out of the upper surface of the storage device (10), and the second position is a position where the upper end part of the locking piece is not higher than the upper surface of the storage device (10).

2. The bin handling robot according to claim 1, wherein the unlocking mechanism (40) further comprises an unlocking drive and a mounting plate provided at an end of the transfer device (20);

wherein the mounting plate is used for fixedly mounting the hold-down piece (43);

the mounting plate is slidably mounted to the transfer device (20) along the first direction;

the unlocking driving piece is at least used for driving the end part of the mounting plate, which is opposite to the transferring device (20), to extend out, so that the pressing piece (43) extends out, which is opposite to the end part of the transferring device (20).

3. The bin handling robot of claim 2, wherein the mounting plates comprise a first mounting plate (41) and a second mounting plate (42);

the first mounting plate (41) extends along a second direction perpendicular to the first direction, two ends of the first mounting plate (41) along the second direction are fixedly connected with the second mounting plates (42) respectively, and the second mounting plates (42) extend along the first direction;

and, transfer bottom plate (21) of transfer device (20) are equipped with along first slide rail that extends of first direction, second mounting panel (42) fixed mounting has first slider (45), first slider (45) with first slide rail sliding connection, so that the mounting panel along first direction slidable mounting in transfer device (20).

4. The bin handling robot of claim 2, wherein the unlocking drive comprises a drive motor (46) and a rack assembly extending in the first direction;

wherein a drive shaft of the drive motor (46) is arranged in a second direction perpendicular to the first direction;

the rack assembly is slidably mounted to the transfer device (20) along the first direction;

The driving shaft is in meshed transmission connection with the rack assembly through a transmission gear (47);

such that by driving the rack assembly to slide, the drive motor (46) is at least used to drive the mounting plate to extend out relative to the end of the transfer device (20).

5. The bin handling robot of claim 4, wherein the rack assembly includes a drive rack (48) extending in the first direction, the drive rack (48) being fixedly connected with a rack connecting plate (49) toward an end of the mounting plate;

the transfer bottom plate (21) of the transfer device (20) is provided with a second sliding rail extending along the first direction, the rack connecting plate (49) is fixedly provided with a second sliding block (411), and the second sliding block (411) is in sliding connection with the second sliding rail, so that the rack assembly is slidably mounted on the transfer device (20) along the first direction.

6. The bin handling robot according to claim 2, wherein the unlocking mechanism (40) further comprises a first resilient member (412) extending in the first direction;

Wherein both ends of the first elastic member (412) are fixedly mounted on the mounting plate and a transfer bottom plate (21) of the transfer device (20) respectively through mounting supports (413), and the first elastic member (412) is configured to drive the mounting plate protruding from the end of the transfer device (20) to reset.

7. The bin handling robot according to claim 1, wherein the bin locking mechanism (30) further comprises a mounting bracket (31) fixed to an end of the storage device (10), the mounting bracket (31) being for elastic telescopic mounting of the locking member;

the locking piece comprises a blocking guide post (32) and a guide post bracket (33) which are fixedly connected, wherein the blocking guide post (32) is arranged along the vertical direction, and the guide post bracket (33) is arranged along a second direction perpendicular to the first direction;

and, block guide pillar (32) activity peg graft in the first guide pillar through-hole of installing support (31), guide pillar support (33) along the both ends of second direction are installed respectively in installing support (31) through second elastic component (34), so that block guide pillar (32) along the elastic telescopic installation of vertical direction in the tip of storage device (10).

8. The bin handling robot according to claim 7, wherein the second resilient member (34) comprises a spring;

the second elastic piece (34) extends along the vertical direction, a spring guide post is inserted into the second elastic piece (34), one end of the spring guide post is fixedly mounted on the guide post support (33), and the other end of the spring guide post is movably inserted into a second guide post through hole of the mounting support (31).

9. The bin handling robot according to claim 7, wherein the guide post brackets (33) are provided with pressing grooves (36) at both sides of the blocking guide post (32), respectively;

wherein the hold-down piece (43) includes a pair of hold-down hooks disposed in parallel for holding down the hold-down groove (36) so that the hold-down piece (43) holds down the locking piece from the first position to the second position.

10. The bin handling robot according to claim 2, wherein a first docking gear (22) is also fixedly mounted on the mounting plate, and wherein a second docking gear (11) is also fixedly mounted on the end of the storage device (10) in the first direction and towards the transfer device (20);

The transfer device (20) is provided with a first conveying mechanism, the first conveying mechanism is used for moving the feed box along the first direction, and the first conveying mechanism is in transmission connection with the first butt-joint gear (22);

the storage device (10) is provided with a second conveying mechanism, the second conveying mechanism is used for moving the feed box along the first direction, and the second conveying mechanism is in transmission connection with the second butt joint gear (11);

and when the unlocking driving piece drives the end part of the mounting plate, which is opposite to the transfer device (20), to extend out, the first abutting gear (22) is in meshed transmission connection with the second abutting gear (11), so that the first conveying mechanism is in transmission connection with the second conveying mechanism.

11. The bin handling robot according to claim 10, wherein the first conveying mechanism comprises a plurality of conveying rollers (23), the conveying rollers (23) extend in a second direction perpendicular to the first direction, the plurality of conveying rollers (23) are arranged in parallel, and adjacent conveying rollers (23) are in transmission connection through a belt (24);

and in the conveying rollers (23), at least one conveying roller (23) is a power roller, and the conveying roller (23) positioned at the end part of the transfer device (20) is in transmission connection with the first butt-joint gear (22), so that the first conveying mechanism is in transmission connection with the first butt-joint gear (22).

12. The bin handling robot according to claim 10, wherein the second conveying mechanism comprises a conveyor belt (12) and a pulley (13) driving the conveyor belt (12);

the belt wheel (13) is fixedly provided with a transmission shaft (14) extending along a second direction, and the second butt-joint gear (11) is fixedly sleeved on the transmission shaft (14) so as to enable the second conveying mechanism to be in transmission connection with the second butt-joint gear (11); the second direction is perpendicular to the first direction.

13. The bin handling robot of claim 1, wherein the bin handling robot comprises a walking chassis provided with a lifting gantry in a vertical direction;

the transfer device (20) is arranged in the middle of the lifting portal in a vertically lifting manner, the storage devices (10) are respectively arranged at two ends of the lifting portal along the first direction, and the storage devices (10) are arranged on the lifting portal in multiple layers;

and, the unlocking mechanism (40) is respectively arranged at two ends of the transfer device (20) along the first direction.