CN219949346U - Stabilizing device, storage robot and storage system - Google Patents

Abstract

The utility model relates to a stabilizing device, a storage robot and a storage system. The stabilizing device comprises: the mounting base plate and the at least one group of supporting mechanisms are arranged on the mounting base plate; the support mechanism includes: a first movable member that is extendable or retractable with respect to the mounting base plate; the driving mechanism comprises a power source and a second moving part connected with the output end of the power source; the connecting seat is slidably arranged on the mounting bottom plate and is connected with the first moving piece; the transmission limiting mechanism is connected between the second moving part and the connecting seat, and is used for moving the connecting seat under the drive of the second moving part and limiting the connecting seat at a preset position of the mounting bottom plate in the telescopic direction. The scheme provided by the embodiment of the utility model can stabilize the moving object and avoid or reduce the shaking of the moving object.

Description

Stabilizing device, storage robot and storage system

Technical Field

The utility model relates to the technical field of storage, in particular to a stabilizing device, a storage robot and a storage system.

Background

The storage robot is one of main equipment capable of realizing automatic carrying operation of the intelligent logistics terminal, and can reduce heavy manual labor of human beings and improve carrying operation efficiency; therefore, the warehousing robot becomes a research hotspot of the warehousing system.

In the related art, when the storage robot operates, the storage robot shuttles into a channel formed between two adjacent storage shelves, so that containers on the two adjacent storage shelves can be taken and placed. However, when the storage robot takes and places the cargo box, the storage robot is easy to shake and has poor stability.

Disclosure of Invention

In order to solve or partially solve the problems existing in the related art, the utility model provides a stabilizing device, a storage robot and a storage system, which can stabilize a moving object and prevent or reduce the shaking of the moving object.

A first aspect of the present utility model provides a stabilising arrangement comprising:

the mounting base plate and the at least one group of supporting mechanisms are arranged on the mounting base plate;

the support mechanism includes:

a first moving member which is extendable or retractable with respect to the mounting base plate and acts on an external supporting point in an extended state to stabilize the moving object;

the driving mechanism comprises a power source and a second moving part connected with the output end of the power source;

the connecting seat is movably arranged on the mounting bottom plate and is connected with the first moving piece;

the transmission limiting mechanism is connected between the second moving part and the connecting seat; the connecting seat is used for moving under the drive of the second moving piece and limiting the connecting seat to a preset position of the mounting bottom plate in the extending and contracting direction.

In one embodiment, the transmission limiting mechanism comprises a third moving member and a fourth moving member, and the connecting seat is driven by the third moving member or the fourth moving member; the second moving part is connected with the third moving part and is used for driving the third moving part to move along a first direction, and the first direction is the expansion direction;

the fourth moving part is contacted with the third moving part and is used for moving along a second direction under the driving of the third moving part; when the fourth moving member moves to a preset stop position along the second direction, the connecting seat is limited at the preset position.

In one embodiment, the third moving member and the fourth moving member are movably disposed on the connection seat, and the third moving member drives the fourth moving member to drive the connection seat to extend outwards in the process of moving along the connection seat.

In one embodiment, the transmission limiting mechanism further includes a fixing member fixed relative to the mounting base plate, and the fourth moving member moves to the preset stop position when moving to abut against the fixing member along the second direction.

In one embodiment, the third moving member is provided with a sliding contact portion, the fourth moving member is provided with a guiding inclined surface, and the sliding contact portion is in sliding contact with the guiding inclined surface, so that the third moving member pushes the fourth moving member to move along the second direction.

In one embodiment, the mounting base plate is provided with a first guide rail, the first guide rail is arranged along the first direction, and the connecting seat is in sliding fit with the first guide rail;

the connecting seat is provided with a second guide rail and a third guide rail, the second guide rail is arranged along the first direction, and the third guide rail is arranged along the second direction; the driving part is in sliding fit with the second guide rail, and the driven part is in sliding fit with the third guide rail.

In one embodiment, the supporting mechanism includes two fourth moving members and two fixing members fixed relative to the mounting base plate, and two sides of the third moving member are respectively provided with one fourth moving member and one fixing member;

the third moving part is provided with two sliding contact parts, the two sliding contact parts are respectively in sliding contact with the guide inclined planes of the two fourth moving parts, and when the third moving part stretches out along the first direction, the two fourth moving parts are pushed to respectively move to be abutted against the corresponding fixed parts.

In one embodiment, the device further comprises an elastic member connected with the fourth moving member, wherein the elastic member is used for resetting the fourth moving member when the third moving member retracts along the first direction;

wherein, the both ends of elastic component respectively with two the fourth moving part links to each other.

In one embodiment, the device further comprises a position sensor and a controller, wherein the position sensor is fixedly arranged relative to the connecting seat, and the position sensor is used for sensing the movement position of the third moving part in the first direction;

the controller is electrically connected with the position sensor and the power source and is used for controlling the power source to run according to the position information acquired by the position sensor.

In one embodiment, the stabilizing device includes two groups of supporting mechanisms, the two groups of supporting mechanisms are mounted at two ends of the mounting base plate along a first direction, and the running directions of the first moving parts of the two groups of supporting mechanisms are along the same straight line and opposite.

In one embodiment, the driving mechanism further comprises a driving wheel and a driven wheel, the driving wheel is connected with the output shaft of the power source, and the second moving part is a synchronous belt wound around the driving wheel and the driven wheel.

A second aspect of the present utility model provides a warehousing robot, including:

the movable base and install in the stand subassembly of movable base, the stand subassembly is equipped with liftable fork device, the stand subassembly and/or the fork device installs the stabilising arrangement of above first aspect.

In one embodiment, the first mobile member includes a support roller for acting on the storage rack.

A third aspect of the present utility model provides a warehousing system comprising:

at least two storage shelves; and

the storage robot according to the second aspect, wherein the storage robot walks in a passage between the two storage racks, and the stabilizing device of the storage robot is supported by the storage racks.

The technical scheme provided by the utility model can comprise the following beneficial effects:

according to the embodiment of the utility model, when the moving object moves to the target position, the first moving part of the supporting mechanism of the stabilizing device extends out to act on an external supporting point, and the movement of the first moving part is limited by the transmission limiting mechanism, so that the moving object is stabilized, and the shaking of the moving object is avoided or reduced.

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

Drawings

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

FIG. 1 is a schematic view showing the overall structure of a stabilization device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a supporting mechanism of a stabilizing device according to an embodiment of the present utility model;

FIG. 3 is a top view of a stabilization device according to one embodiment of the present utility model;

FIG. 4 is a cross-sectional view at A-A in FIG. 3;

FIG. 5 is a schematic view of a transmission limiting mechanism of a stabilizing device according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view of a connecting seat of a stabilizing device according to an embodiment of the application.

Reference numerals: 100. a support mechanism; 110. a driving mechanism; 120. a connecting seat; 130. a transmission limiting mechanism; 140. a support; 111. a power source; 112. a driving wheel; 113. driven wheel; 114. a second moving member; 1141. a connecting piece; 121. a second guide rail; 122. a support base; 123. a third guide rail; 124. a sliding mounting part; 125. a blocking portion; 131. a third moving member (driving member); 132. a fourth moving member (passive member); 133. a fixing member; 1311. a sliding contact portion; 1321. a guide slope; 141. a connecting rod; 142. supporting rollers; 150. a mounting base plate; 151. a first guide rail; 160. an elastic member; 170. a position sensor.

Detailed Description

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

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

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the related art, when the storage robot operates, the storage robot shuttles in a channel formed between two adjacent storage shelves, and can pick and place containers on the two adjacent storage shelves, however, when the storage robot picks and places the containers, the storage robot easily shakes, so that the stability of the storage robot is poor.

In view of the above problems, the utility model provides a stabilizing device, a storage robot and a storage system, which can stabilize a moving object and prevent or reduce shaking of the moving object.

The following describes the technical scheme of the embodiment of the present utility model in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view showing the overall structure of a stabilization device according to an embodiment of the present utility model; fig. 2 is a schematic structural view of a supporting mechanism of a stabilizing device according to an embodiment of the present utility model. The stabilizing device of the present utility model is applied to a moving object, for example, a storage robot, and the stabilizing device may be fixed to a column assembly and/or a fork device of the storage robot, but is not limited thereto.

Referring to fig. 1 and 2, a stabilizing device according to an embodiment of the present utility model includes a mounting base 150 and at least one set of support mechanisms 100 provided on the mounting base, the support mechanisms 100 including: the first moving member 140 is extendable or retractable in a first direction (also referred to as a telescopic direction) with respect to the mounting base 150, for acting on an external supporting point in an extended state to stabilize the moving object; a driving mechanism 110 including a power source 111 and a second moving member 114 driven by the power source 111; the connecting seat 120 is movably installed on the installation base 150 and is connected with the first moving member 140; the transmission limiting mechanism 130 is connected between the transmission limiting mechanism of the second moving member 114 and the connecting seat 120, and is used for moving the connecting seat 120 under the driving of the second moving member 114, and limiting the connecting seat 120 to a preset position of the mounting base plate 150 in the first direction. The first direction of the drive limiter mechanism may be, for example, the direction shown by X in fig. 1.

In the present utility model, the first moving member 140 may also be referred to as a support member, and the support member may include, but is not limited to, a support plate, a support block, or a roller, etc., through which the support plate, the support block, or the roller acts on an external support point. In some embodiments, the second moving member is a transmission member connected to an output end of the power source, and may include, but is not limited to, a gear, a rack, a synchronous belt, or the like.

It will be appreciated that in the practice of the present utility model, the external support points also include the case of external support surfaces, which may be, for example, warehouse racks.

According to the embodiment of the utility model, when the moving object moves to the target position, the supporting member 140 of the supporting mechanism of the stabilizing device is extended to act on an external supporting point, and the movement of the supporting member 140 is limited by the transmission limiting mechanism, so that the moving object is stabilized, and the shaking of the moving object is avoided or reduced.

In the related art, when the fork devices take and put the cargo box at different heights, the vertical load opposite to the running direction of the fork devices can be received, so that the storage robot shakes, and the stability of the storage robot is affected. According to the scheme provided by the embodiment of the utility model, when the storage robot is close to the storage shelf and is shifted to the container on the storage shelf, the supporting piece 140 of the supporting mechanism 100 can be supported with the storage shelf, so that the storage robot can be prevented from shaking, and the stability of the storage robot in taking and placing goods is improved.

According to the embodiment of the utility model, when the stabilizing device is fixed to the column assembly and/or the fork device of the warehousing robot, the driving mechanism 110 can drive the supporting member 140 to extend or retract relative to the column assembly in the first direction X. When the pallet fork device of the storage robot takes and places a container on the storage shelf, the driving mechanism 110 can drive the supporting piece 140 to extend out relative to the upright post assembly, and the supporting piece 140 is limited at a preset position in the first direction X through the transmission limiting mechanism 130, so that the supporting piece 140 can be supported on the storage shelf in the first direction X, shaking of the storage robot in the first direction X can be avoided, and stability of the storage robot in taking and placing the container is improved.

In some embodiments, the end of the supporting member 140 near the connecting seat 120 is fixedly connected to the connecting seat 120 through a connecting rod 141, and the supporting member 140 includes a supporting roller 142 disposed at an end far from the connecting seat 120. When being applied to storage robot, the supporting roller 142 can support in the goods shelves, and when storage robot moved, the supporting roller 142 can roll along the goods shelves, and then when storage robot moved, also can realize continuous side direction support.

In some embodiments, the stabilizing device may be disposed near the top of the pillar assembly of the storage robot, so that the storage robot has better stability.

In some embodiments, the stabilizing device is provided with two sets of support mechanisms 100, the two sets of support mechanisms 100 are mounted at two ends of the mounting base plate 150 along the first direction, and the running directions of the support members 140 of the two sets of support mechanisms 100 are along the same straight line and opposite. When the storage robot is positioned in a channel between two adjacent storage shelves, the supporting pieces 140 of the two stabilizing devices can respectively move linearly towards the storage shelves at two sides, so that the two supporting pieces 140 are simultaneously or successively abutted against the storage shelves at two sides. Like this, storage robot receives the support in both sides, has further promoted storage robot's stability.

Referring to fig. 2 and 5, in one implementation, the transmission limiting mechanism includes a third moving member (also called a driving member) 131 and a fourth moving member (also called a driven member) 132, and the connecting seat 120 is driven by the driving member 131 or the driven member 132. The second moving member 114 is connected with the driving member 131 to drive the driving member 131 to move along the first direction X, the driving member 131 contacts with the driven member 132, and the driven member 132 is used for moving along the second direction Y under the driving of the driving member 131; when the passive element 132 moves to the preset stop position along the second direction Y, the connection seat 120 is limited to the preset position.

In this embodiment, the first direction X is the expansion and contraction direction of the support 140, and the second direction Y is perpendicular to the first direction X.

In some embodiments, the driving member 131 and the driven member 132 are movably disposed on the connecting base 120, and the driving member 131 drives the driven member 132 to extend out of the mounting base 150 along the first direction X in the moving process of the connecting base 120.

In this embodiment, the driving limiting mechanism further includes a fixing member 133 fixed relative to the mounting base 150, and the passive member 132 moves to a predetermined stop position when moving to abut against the fixing member 133 along the second direction Y, i.e. the connecting seat 120 is locked at the predetermined position of the mounting base 150.

The fixing member 133 is fixedly disposed with respect to the mounting base plate 150, and the passive member 132 is disposed between the active member 131 and the fixing member 133 in the second direction Y; the second moving member 114 is connected to the driving member 131, and the driving member 131 is provided with a sliding contact portion 1311, and the driving member 131 is configured to push the driven member 132 to move in a direction approaching the fixed member 133 through the sliding contact portion 1311.

In some embodiments, the passive element 132 is provided with a guiding inclined surface 1321, and the sliding contact portion 1311 of the active element 131 is in sliding contact with the guiding inclined surface 1321 of the passive element 132.

In some embodiments, the second moving member 114 is disposed on one side of the driving member 131 along the second direction; the driving member 131 is connected to the second moving member 114 through a connecting member 1141, and the connecting member 1141 may be, for example, but not limited to, a fixed block.

In some embodiments, the second moving member 114 is provided with a linear running portion, where the second moving member 114 is fixedly connected to the driving member 131, and the running direction of the linear running portion is along the first direction X, and when the linear running portion runs, the driving member can be driven to run along the first direction X.

By disposing the sliding contact portion 1311 of the driving member 131 in sliding contact with the guide slope 1321 of the driven member 132, when the driving member 131 protrudes in the first direction X, a pushing force in the second direction is applied to the driven member 132 by the guide slope 1321, thereby pushing the driven member 132 to move in the second direction Y; since the passive element 132 is disposed between the active element 131 and the fixed element 133, when the passive element 132 moves to contact the fixed element 133, the passive element 132 can abut against the fixed element 133, and the active element 131 is limited by the passive element 132, so that the supporting element 140 moves to the limit position in the first direction X.

In some embodiments, the driving member 131 and the driven member 132 are disposed on the connecting base 120. The driving part 131 and the connecting seat 120 are mutually limited in the second direction Y and can move relatively in the first direction X; the passive component 132 and the connecting seat 120 are limited in the first direction X and can move relatively in the second direction Y.

Referring to fig. 3, 4 and 6, in some embodiments, the mounting base 150 is provided with a first rail 151, the first rail 151 is disposed along a first direction X, and the connecting seat 120 is slidably engaged with the first rail 151; in one implementation, a supporting seat 122 is disposed at the bottom of the connecting seat 120, and the supporting seat 122 is slidably matched with the first guide rail 151.

The connecting seat 120 is provided with a second guide rail 121 and a third guide rail 123; the second guide rail 121 is disposed along the first direction X, and the driving member 131 is slidably engaged with the second guide rail 121. For example, a sliding groove is formed at the bottom of the driving member 131, and the driving member 131 is mounted on the second rail 121 through the sliding groove. The third rail 123 extends along the second direction Y, and the passive component 132 is slidably engaged with the third rail 123, for example, a chute is formed at the bottom of the passive component 132, and the passive component 132 is mounted on the third rail 123 through the chute.

In some embodiments, the connection base 120 is further provided with a sliding mounting portion 124, and when the supporting member 140 extends along the first direction X, the sliding mounting portion 124 is used for supporting the passive member 132 in the first direction X, so as to improve stability of the passive member 132.

In one implementation, the sliding mounting portion 124 is provided with a guide groove, and a guide block is disposed on a side of the passive component 132 facing the support component 140, and is formed integrally with the passive component 132, and the guide block is accommodated in the guide groove and abuts against an inner wall of the guide groove in the first direction X.

In some embodiments, the connecting base 120 is further provided with a blocking portion 125, where the blocking portion 125 is disposed at an end of the driving member 131 away from the supporting member, and when the driving member 131 is retracted along the first direction, the blocking portion 125 is used for blocking the driving member 131 to prevent the driving member 131 from being separated from the connecting base 120.

In some embodiments, the supporting mechanism 100 is provided with two passive members 132 and two fixing members 133, and in the second direction Y, two passive members 132 and one fixing member 133 are respectively disposed on two sides of the driving member 131; the driving member 131 is provided with two sliding contact portions 1311, and the two sliding contact portions 1311 are respectively in sliding contact with the guiding inclined surfaces 1321 of the two moving members 132, so that the driving member 131 pushes the two driven members 132 to respectively move to abut against the corresponding fixing members 133 when running along the first direction.

When the driving member 131 moves in the first direction X in a direction approaching to the driven member 132, i.e., in a direction in which the supporting member 140 extends, the driven member 132 can be respectively pushed to move in opposite directions by the two sliding contact portions 1311, and when the two driven members 132 move to respectively contact the two fixing members 133, the driving member 131 and the driven member 132 are in a limited state, and at this time, the supporting member 140 moves to a limited position in the first direction X.

Two passive components 132 and two fixing components 133 are arranged on two sides of the driving component 131, the stress on two sides of the driving component 131 is more uniform, and when the driving component 131 pushes the passive components 132, the two fixing components 133 can clamp the passive components 132 in a self-adaptive manner, so that the running stability and reliability of the transmission limiting mechanism 130 are further improved.

With continued reference to fig. 2, in some embodiments, the stabilizing device further includes an elastic member 160 connected to the passive members 132 and configured to apply elastic force to the passive members, where two ends of the elastic member 160 are respectively connected to the two passive members 132, so that the passive members 132 elastically contact the active member 131, and the elastic member 160 resets the passive members 132 when the active member 131 retracts along the first direction X.

The elastic member 160 may be a spring, and the spring is provided with two connecting ends, and the two connecting ends are respectively connected to the two fixing members of the passive member 132. When the driving member 131 moves toward the extending direction of the supporting member 140 to push the two driven members 132 away from each other in the second direction Y, the spring 160 is in a stretched state; when the driving member 131 moves toward the retracting direction of the supporting member 140, the two driven members 132 approach each other under the restoring force of the spring, so that the driven members 132 are always in contact with the sliding contact portion 1311 of the corresponding driving member 131, thereby improving the operation accuracy and operation stability of the supporting mechanism 100.

In this embodiment, the first guide rail 151 is fixedly disposed on the mounting base plate 150, the two fixing members 133 may be limiting plates, the limiting plates are disposed along a vertical direction, the bottom of the limiting plates are connected with the mounting base plate 150, and the top extends to a position corresponding to the passive member 132 along the vertical direction. The two limiting plates and the mounting base plate 150 define an accommodating space, and the connection base 120 is accommodated in the accommodating space.

In one implementation, the securing member 133 and the mounting plate 150 may be an integral piece.

In some embodiments, the drive mechanism 110 includes a power source 111 and a transmission coupled to an output of the power source 111. The transmission mechanism may be a belt transmission mechanism, and the belt transmission mechanism includes a driving wheel 112 connected to an output shaft of the power source 111, a driven wheel 113, and a driving belt 114 wound around the driving wheel 112 and the driven wheel 113, where the linear operation portion is disposed on the driving belt 114, and the driving member 131 is fixedly connected to the driving belt 114 through a fixing member.

It is understood that the transmission mechanism may not be limited to a belt transmission mechanism, but may be a tooth transmission mechanism, such as a mating mechanism of a wheel and a rack.

The power source 111 of the present embodiment may be a gear motor capable of forward and reverse rotation. When the motor rotates in one direction, the driving member 131 moves toward the end near the mounting base plate 150 to extend the supporting member 140 from the mounting base plate 150, and when the motor rotates in the other direction, the driving member 131 moves toward the middle near the mounting base plate 150 to retract the supporting member 140 from the mounting base plate 150.

In this embodiment, when two sets of driving mechanisms 110 are provided, the power sources 111 of the two sets of supporting mechanisms 100 are disposed close to each other and close to the middle of the mounting base 150, and the supporting members 140 of the two sets of supporting mechanisms 100 are disposed far away from each other and are disposed at two ends of the mounting base 150 along the length direction, so as to extend or retract at two ends of the mounting base 150 along the length direction.

Referring to fig. 5, in some embodiments, the device further includes a position sensor 170 and a controller, the position sensor 170 is fixedly disposed relative to the connection base 120, and the position sensor 170 is used for sensing a movement position of the driving member 131 in the first direction X; the controller is electrically connected to the position sensor 170 and the power source 111, and is used for controlling the power source 111 to operate according to the position information collected by the position sensor 170.

It should be understood that in other embodiments, the two sets of supporting members 140 may be driven by one driving mechanism 110, the driving mechanism 110 is provided with two linear running portions with opposite running directions, and the driving members 131 of the two supporting mechanisms 100 are respectively connected to the two linear running portions for driving the two sets of supporting members 140 to move reversely.

The stabilizing device of the storage robot provided by the utility model is introduced, and correspondingly, the utility model also provides the storage robot which comprises the stabilizing device of the embodiment.

The warehousing robot of this embodiment includes: the movable base and the upright post assembly arranged on the movable base, wherein the stabilizing device of the embodiment is arranged on the outer side of the upright post assembly.

The stand column assembly is used for installing a fork device, the stabilizing device can be further installed on the fork device, the fork device is provided with a goods taking mechanical arm, and the goods taking mechanical arm is used for taking and placing a container. Be equipped with a plurality of goods positions of looks spaced on vertical orientation between the stand subassembly, fork device slidable mounting can follow stand subassembly and reciprocate on the stand subassembly to adjust the height that goods put again, and then can get at the not co-altitude on the storage goods shelves and put the packing box, can carry the packing box to the goods position of stand subassembly from storage goods shelves, perhaps carry the packing box on the goods position of stand subassembly to storage goods shelves.

When the storage robot is close to the goods shelf and is shifted to a container on the storage goods shelf, the support piece arranged on the side part of the upright post assembly can support the storage goods shelf in the transverse direction, so that the storage robot can be prevented from shaking, and the stability of the storage robot when the storage robot takes and places goods is improved.

Correspondingly, the utility model also provides a warehousing system, which comprises at least two warehousing racks; and the storage robot walks in the channel between two storage shelves, and at least one stabilizing device of the storage robot is transversely supported with the shelves. When the storage robot walks in the channel and gets and puts goods at the goods space of storage goods shelves, under the supporting effect of stabilising arrangement, the stability of storage robot when getting and putting the packing box can be guaranteed.

The foregoing description of embodiments of the utility model has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (14)

1. A stabilizing device for a moving object, comprising:

the mounting base plate and the at least one group of supporting mechanisms are arranged on the mounting base plate;

the support mechanism includes:

a first moving member which is extendable or retractable with respect to the mounting base plate and acts on an external supporting point in an extended state to stabilize the moving object;

the driving mechanism comprises a power source and a second moving part driven by the power source;

the connecting seat is movably arranged on the mounting bottom plate and is connected with the first moving piece;

the transmission limiting mechanism is connected between the second moving part and the connecting seat, and is used for moving the connecting seat under the drive of the second moving part and limiting the connecting seat at a preset position of the mounting bottom plate in the telescopic direction.

2. The stabilizing device of claim 1, wherein:

the transmission limiting mechanism comprises a third moving piece and a fourth moving piece, and the connecting seat is driven by the third moving piece or the fourth moving piece;

the second moving part is connected with the third moving part and is used for driving the third moving part to move along a first direction, and the first direction is the expansion direction;

the fourth moving part is contacted with the third moving part and is used for moving along a second direction under the driving of the third moving part; when the fourth moving member moves to a preset stop position along the second direction, the connecting seat is limited at the preset position.

3. A stabilizing device according to claim 2, wherein the stabilizing device comprises a stabilizing element,

the third moving part and the fourth moving part are movably arranged on the connecting seat, and the third moving part drives the fourth moving part to extend outwards in the process of moving along the connecting seat.

4. The stabilizing device of claim 2, wherein:

the transmission limiting mechanism further comprises a fixing piece which is fixed relative to the mounting bottom plate, and the fourth moving piece moves to the preset stopping position when moving to be abutted with the fixing piece along the second direction.

5. The stabilizing device of claim 2, wherein:

the third moving piece is provided with a sliding contact part, the fourth moving piece is provided with a guide inclined plane, and the sliding contact part is in sliding contact with the guide inclined plane, so that the third moving piece pushes the fourth moving piece to move along the second direction.

6. The stabilizing device of claim 2, wherein:

the mounting base plate is provided with a first guide rail, the first guide rail is arranged along the first direction, and the connecting seat is in sliding fit with the first guide rail;

the connecting seat is provided with a second guide rail and a third guide rail, the second guide rail is arranged along the first direction, and the third guide rail is arranged along the second direction; the third moving piece is in sliding fit with the second guide rail, and the fourth moving piece is in sliding fit with the third guide rail.

7. The stabilizing device of claim 5, wherein:

the supporting mechanism comprises two fourth moving parts and two fixing parts fixed relative to the mounting bottom plate, and one fourth moving part and one fixing part are respectively arranged on two sides of the third moving part;

the third moving part is provided with two sliding contact parts, the two sliding contact parts are respectively in sliding contact with the guide inclined planes of the two fourth moving parts, and when the third moving part stretches out along the first direction, the two fourth moving parts are pushed to respectively move to be abutted against the corresponding fixed parts.

8. The stabilizing device of claim 7, wherein:

the elastic piece is used for resetting the fourth moving piece when the third moving piece retracts along the first direction;

wherein, the both ends of elastic component respectively with two the fourth moving part links to each other.

9. The stabilizing device of claim 2, wherein:

the device also comprises a position sensor and a controller, wherein the position sensor is fixedly arranged relative to the connecting seat and is used for sensing the movement position of the third moving part in the first direction;

the controller is electrically connected with the position sensor and the power source and is used for controlling the power source to run according to the position information acquired by the position sensor.

10. The stabilizing device of any one of claims 1-7, wherein:

the stabilizing device comprises two groups of supporting mechanisms, the two groups of supporting mechanisms are installed at two ends of the installation bottom plate along a first direction, the running directions of the first moving parts of the two groups of supporting mechanisms are along the same straight line, and the running directions are opposite.

11. The stabilizing device of any one of claims 1-7, wherein:

the driving mechanism further comprises a driving wheel and a driven wheel, the driving wheel is connected with an output shaft of the power source, and the second moving part is a synchronous belt wound on the driving wheel and the driven wheel.

12. A warehousing robot, comprising:

a movable base and a column assembly mounted on the movable base, wherein the column assembly is provided with a fork device capable of lifting, and the column assembly and/or the fork device are/is provided with a stabilizing device according to any one of claims 1-11.

13. The warehousing robot of claim 12 wherein,

the first moving member includes a support roller for acting on the storage rack.

14. A warehousing system, comprising:

at least two storage shelves; and

the warehousing robot of claim 12, the warehousing robot walking within a channel between the two warehousing racks, the stabilizing device of the warehousing robot for supporting with the warehousing racks.