CN220375472U

CN220375472U - Stabilizing mean, transfer robot and warehouse system

Info

Publication number: CN220375472U
Application number: CN202321571925.2U
Authority: CN
Inventors: 高明; 李再金
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2023-06-16
Filing date: 2023-06-16
Publication date: 2024-01-23
Anticipated expiration: 2033-06-16

Abstract

The embodiment of the disclosure provides a stabilizing mechanism, a transfer robot and a warehousing system, relates to the technical field of intelligent warehousing, and is used for solving the technical problem that the transfer robot is easy to incline; the support arm component is movably connected to the bottom plate; the limiting assembly comprises a first limiting part and a second limiting part, the first limiting part is arranged on the supporting arm assembly, and the second limiting part is arranged on the bottom plate; when the support arm assembly is in contact with the goods shelf, the first limiting part and the second limiting part move relatively and are fixed relatively so as to lock the support arm assembly. The robot can be prevented from shaking by the robot, and the safety of the robot is improved.

Description

Stabilizing mean, transfer robot and warehouse system

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent storage, in particular to a stabilizing mechanism, a transfer robot and a storage system.

Background

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

In the related art, the transfer robot includes a rack and a fork device disposed on the rack, and the fork device includes a tray and a fork. The fork device can be lifted along the height direction of the rack, and the bin positioned on the storage shelf is placed on the tray by utilizing the fork, or the bin positioned on the tray is placed on the storage shelf.

However, when the transfer robot picks up the discharge box, the transfer robot is liable to shake, resulting in poor stability of the transfer robot.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a stabilizing mechanism, a transfer robot, and a warehouse system, which are used for preventing a bin from being offset, and improving positioning accuracy and working efficiency of the transfer robot.

In order to achieve the above object, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of an embodiment of the present disclosure provides a stabilizing mechanism for mounting on a transfer robot, comprising a base plate and a support device, the support device comprising a support arm assembly and a limit assembly; the support arm component is movably connected to the bottom plate;

the limiting assembly comprises a first limiting part and a second limiting part, the first limiting part is arranged on the supporting arm assembly, and the second limiting part is arranged on the bottom plate;

When the support arm assembly is in contact with the goods shelf, the first limiting part and the second limiting part move relatively and are fixed relatively, so that the support arm assembly is locked.

In an alternative implementation manner, the first limiting part is movably connected to the support arm assembly, and the second limiting part is fixedly connected to the bottom plate;

the support arm assembly comprises a first driving piece, wherein the first driving piece is connected with the first limiting part and used for driving the first limiting part to move towards or away from the second limiting part.

In an alternative implementation, the support arm assembly includes a bar-shaped support arm, an end of the support arm facing away from the shelf including a first mounting slot and a second mounting slot; the second mounting groove is formed in the side wall of the supporting arm in the width direction and penetrates through the side wall, and the second mounting groove is communicated with the first mounting groove;

the first limiting part is movably connected in the second mounting groove.

In an alternative implementation manner, the first limiting portion includes a first limiting rack, the second limiting portion includes a second limiting rack, and the second limiting rack is disposed on the bottom plate through a fixing plate.

In an alternative implementation, the first driving member includes a driving slider and a connecting rod, and the driving slider is slidably disposed on the supporting arm;

one end of the connecting rod is rotationally connected with the driving sliding block, and the other end of the connecting rod is rotationally connected with the first limiting part;

the driving sliding block drives the connecting rod to rotate, and drives the first limiting part to move towards the second limiting part in the second mounting groove through the connecting rod, so that the first limiting part and the second limiting part are relatively fixed.

In an alternative implementation, the support arm assembly further includes a second drive member coupled to the drive slide;

when the support arm assembly is not in contact with a shelf, the second drive is configured to: driving the support arm and the first driving member of the support arm assembly to synchronously move towards or away from the shelf;

when the support arm assembly is in contact with a shelf, the support arms in the support arm assembly cease movement, the second drive configured to: and the driving sliding block is driven to slide towards the goods shelf continuously, the connecting rod is driven to rotate, and the first limiting part is driven to move towards the second limiting part in the second mounting groove through the connecting rod, so that the first limiting part and the second limiting part are relatively fixed.

In an alternative implementation, the second driving member includes a driving motor and a pulley assembly including a driving pulley, a driven pulley, and a transmission belt for connecting the driving pulley and the driven pulley; an output shaft of the driving motor is connected with the driving belt wheel;

the first driving piece is connected with the driving belt through a driving plate.

In an alternative implementation, a blocking member is disposed at a position of the bottom plate opposite to the driven pulley, and the blocking member is used for limiting the driving plate.

In an alternative implementation, the support arm assembly further includes a first guide assembly including a guide shaft and a resilient member;

the guide shaft is arranged between the driving sliding block and the first mounting wall of the first mounting groove, one end of the guide shaft is arranged on the supporting arm in a sliding manner, and the other end of the guide shaft is connected with the driving sliding block; wherein, in the length direction of the supporting arm, the first mounting wall is a wall of the first mounting groove opposite to the driving sliding block;

and two ends of the elastic piece are respectively connected with the first mounting wall and the driving sliding block.

In an optional implementation manner, the support arm assembly further includes a flexible member, where the flexible member is disposed at an end of the support arm facing away from the second limiting portion, and is configured to assist in fixing the first limiting portion and the second limiting portion relative to each other.

In an alternative implementation, the flexible member is rotatably coupled to the support arm.

In an alternative implementation, the support arm assembly further comprises a bar-shaped support arm; the number of the first limiting parts and the number of the second limiting parts are two;

the two second limiting parts are respectively positioned at two sides of the supporting arm in the width direction of the supporting arm; the two first limiting parts are respectively arranged on the side walls of the supporting arm in the width direction and are in one-to-one correspondence with the two second limiting parts.

In an alternative implementation, the mechanism further comprises a second guide assembly comprising a guide rail and a slider; the guide rail is arranged on the bottom plate;

the support arm component is arranged on the guide rail in a sliding way through the sliding block.

In an alternative implementation, the mechanism further comprises a position sensor disposed on the support arm for sensing the position of the drive slider.

A second aspect of an embodiment of the present disclosure provides a transfer robot comprising a mobile chassis, a frame, a fork arrangement, and a stabilizing mechanism as described in the first aspect; the frame is arranged on the movable chassis, and the fork device is vertically and slidably arranged on the frame;

the stabilizing mechanism is arranged on the frame or the fork device. In one possible implementation, the stabilizing mechanism comprises at least two support arm arrangements, the directions in which the support arms of the at least two support arm arrangements extend being opposite. A third aspect of an embodiment of the present disclosure provides a transfer robot comprising a mobile chassis, a frame, a fork device, and a stabilizing mechanism as described in the first aspect, the frame being disposed on the mobile chassis; the fork device is vertically and slidably arranged on the rack;

the fork device comprises a tray for temporarily storing cargoes, and the supporting arm is fixedly connected with the tray, or the supporting arm and the tray are of an integrated structure, so that the tray is driven to be abutted with the goods shelf.

A fourth aspect of an embodiment of the present disclosure provides a warehousing system, including at least two racks arranged side by side and the transfer robot of the second aspect or the third aspect; a channel for the transfer robot to move is formed between two adjacent shelves; the support arm of the transfer robot is abutted with the goods shelf.

In stabilizing mean, transfer robot and warehouse system that this disclosed embodiment provided, when supporting arm subassembly and goods shelves butt, utilize the interact power between goods shelves and the stabilizing mean, support stabilizing mean, and then make the transfer robot who installs this stabilizing mean more firm, prevent transfer robot slope, improved transfer robot's security.

In addition, when the support arm assembly contacts the goods shelf, the first limit part and the second limit part perform relative movement and are relatively fixed, so that the support arm assembly is locked, the support arm assembly is prevented from continuously moving towards the goods shelf, the impact force or impact force of the support arm assembly on the goods shelf is reduced, the goods shelf is prevented from tilting or shaking, and the safety of the goods shelf is improved.

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

Drawings

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

FIG. 1 is a top view of a stabilization mechanism provided by an embodiment of the present disclosure;

FIG. 2 is an enlarged schematic view of area A of FIG. 1;

FIG. 3 is a front view of a stabilization mechanism provided by an embodiment of the present disclosure;

FIG. 4 is a right side view of a stabilization mechanism provided by an embodiment of the present disclosure;

FIG. 5 is an elevation view of a stabilization mechanism provided by an embodiment of the present disclosure;

FIG. 6 is an exploded schematic view of a stabilization mechanism provided by an embodiment of the present disclosure;

fig. 7 is a schematic view of a first driving member and a second limiting portion according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of a portion of a first driver and a second stop provided in an embodiment of the present disclosure;

FIG. 9 is a schematic structural view of a support arm provided in an embodiment of the present disclosure;

FIG. 10 is a schematic view of a support arm and drive slide provided by an embodiment of the present disclosure;

FIG. 11 is an exploded view of the structure of FIG. 10;

fig. 12 is a schematic view of a driving slider according to an embodiment of the present disclosure.

Reference numerals illustrate:

100: a bottom plate;

200: a support arm assembly;

210: a first driving member; 211: driving a sliding block; 2111: a first plate body; 2112: a second plate body; 2113: a third plate body; 212: a first link; 213: a second link; 214: a first rotation shaft;

220: a support arm; 221: a first mounting groove; 2211: a first mounting wall; 222: a second mounting groove;

230: a second driving member; 231: a driving motor; 232: a pulley assembly; 2321: a driving pulley; 2322: a driven pulley; 2323: a transmission belt;

240: a driving plate;

250: a first guide assembly; 251: a guide shaft; 252: an elastic member;

260: a flexible member;

270: a second guide assembly; 271: a guide rail; 272: a slide block;

300: a limit component; 310: a first limit part; 320: a second limit part; 330: a fixing plate;

400: a position sensor.

Detailed Description

As described in the background art, in the related art, when the handling robot picks up and places the bin, the handling robot is easy to shake, which results in the problem that the stability of the handling robot is poor.

To above-mentioned technical problem, this disclosed embodiment provides a stabilizing mean, transfer robot and warehouse system, when supporting arm assembly and goods shelves butt, utilize the interact power between goods shelves and the stabilizing mean, support stabilizing mean, and then make the transfer robot who installs this stabilizing mean more firm, prevent transfer robot slope, improved transfer robot's security.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of the present disclosure.

Example 1

Referring to fig. 1-12, embodiments of the present disclosure provide a stabilizing mechanism that may be applied to mobile devices in a warehouse system and used with shelves in the warehouse system. For example, the stabilizing mechanism can be arranged on the carrying robot and matched with a goods shelf in the warehouse system for use; for another example, the stabilizing mechanism may be applied to other equipment, such as an elevator, and used in conjunction with shelves in a warehousing system.

With continued reference to fig. 1-3, the stabilizing mechanism includes a base plate 100 and a support device, wherein the base plate 100 is configured to provide support to the support device, and the base plate 100 may have a regular shape, for example, the base plate 100 may have a rectangular shape. The shape of the base plate 100 may also be an irregular shape.

The support device comprises a support arm assembly 200, and the support arm assembly 200 is movably connected to the base plate 100. As an example, the support arm assembly 200 is slidably connected to the base plate 100, and the support arm assembly 200 can move toward the shelf, so that the support arm assembly 200 contacts with the shelf, and the stabilizing mechanism is supported by using the interaction force between the support arm assembly 200 and the shelf, so that the transfer robot provided with the stabilizing mechanism is more stable, the transfer robot is prevented from tilting, and the safety of the transfer robot is improved. For example, referring to fig. 4, the stabilizing mechanism further includes a second guide assembly 270, wherein the second guide assembly includes a guide rail 271 and a slider 272; the guide rail 271 is provided on the base plate 100, and the extending direction of the guide rail 271 and the length direction of the base plate 100 are parallel to each other, i.e., the extending direction of the guide rail 271 extends in the X direction in fig. 1.

The support arm assembly 200 is slidably arranged on the guide rail 271 through the sliding block 272, so that stability of the support arm assembly 200 in a moving process is improved, the support arm assembly 200 is prevented from violently striking the shelf, the shelf is prevented from shaking or tilting, and safety of the shelf is improved.

In the present embodiment, the number of the guide rails 271 may be one or two. When the number of the guide rails 271 is two, the two guide rails 271 are arranged at intervals in the width direction of the base plate 100, wherein the width direction extends in the Y direction in fig. 1. Accordingly, the slider 272 may be simultaneously slidably disposed on the guide rail 271, so that the stability of the support arm assembly 200 during the moving process can be maximized.

The support device further comprises a limiting assembly 300, wherein the limiting assembly 300 comprises a first limiting portion 310 and a second limiting portion 320. The first limiting portion 310 is disposed on the support arm assembly 200 and can move along with the support arm assembly 200, for example, along with the support arm assembly 200 toward the shelf, and along with the support arm assembly 200 away from the shelf.

The second limiting portion 320 is disposed on the base plate 100, and the second limiting portion 320 is matched with the first limiting portion 310. When the support arm assembly 200 contacts the shelf, the first and second limiting portions 310 and 320 relatively move and relatively fix to lock the support arm assembly 200.

When the support arm assembly 200 contacts the shelf, the first limiting portion 310 and the second limiting portion 320 are relatively fixed by relative movement, so as to lock the support arm assembly 200, prevent the support arm assembly 200 from continuously moving towards the shelf, reduce impact force or impact force of the support arm assembly 200 on the shelf, prevent the shelf from tilting or shaking, and improve safety of the shelf.

The number of the supporting devices is at least one. In an example, the number of the supporting devices is one, and the supporting devices are in the length direction of the bottom plate 100, so that the stability of the transfer robot in the length direction of the bottom plate 100 can be ensured by the stabilizing mechanism. In another example, the number of the supporting devices is two, and the two supporting devices are arranged at intervals in the length direction of the bottom plate 100, and the stability of the transfer robot on the left and right sides in the length direction of the bottom plate 100 can be ensured by the stabilizing mechanism. In still another example, the number of the supporting means is three or four, and when the number of the supporting means is three, two of the supporting means are disposed at intervals in the length direction of the base plate 100, and the other supporting means are disposed in the width direction of the base plate 100. When strutting arrangement's number is four, wherein two strutting arrangement interval sets up on the length direction of bottom plate 100, and two other strutting arrangement interval sets up on the width direction of bottom plate 100, so set up, can make the transfer robot who installs this stabilizing mean to the maximum more firm, prevent transfer robot slope, improved transfer robot's security.

Referring to fig. 5 and 6, in one possible embodiment, the first limiting portion 310 is movably connected to the support arm assembly 200, and the second limiting portion 320 is fixedly connected to the base plate 100; the second limiting portion 320 may be directly and fixedly connected to the base plate 100, or may be fixedly connected to the base plate 100 through other components. Illustratively, the second stopper 320 is disposed on the base plate 100 through the fixing plate 330, and the second stopper 320 is disposed on a surface of the fixing plate 330 facing the first stopper 310.

The support arm assembly 200 includes a first driving member 210, where the first driving member 210 is connected to the first limiting portion 310, and is used to drive the first limiting portion 310 to move toward or away from the second limiting portion 320.

When the support arm assembly 200 does not contact the shelf, the first driving member 210 does not work, and the first limiting portion 310 moves along with the support arm assembly 200, for example, moves along with the support arm assembly 200 toward the shelf or away from the shelf, at this time, the first limiting portion 310 and the second limiting portion 320 are separated from each other, and are in an unlocked state.

When the support arm assembly 200 initially contacts the shelf, the first driving member 210 starts to work, drives the first limiting portion 310 to move towards the second limiting portion 320, and the first limiting portion and the second limiting portion are relatively fixed, so as to lock the support arm assembly 200, prevent the support arm assembly 200 from continuously moving towards the shelf, and reduce the impact force or the impact force of the support arm assembly 200 on the shelf.

As an example, referring to fig. 7, the first limiting portion 310 includes a first limiting rack, the second limiting portion 320 includes a second limiting rack, and the first driving member 210 is connected to the first limiting rack and is configured to drive the first limiting rack to move.

The second limiting rack is disposed on the base plate 100 through the fixing plate 330, for example, the second limiting rack is fixedly connected to a surface of the fixing plate 330 facing the first limiting rack.

When the first driving piece 210 drives the first limiting rack to move towards the second limiting rack, the first limiting rack is meshed with the second limiting rack, and further, the relative fixation of the first limiting rack and the second limiting rack is achieved.

It should be noted that the structures of the first limiting portion 310 and the second limiting portion 320 are not limited to the above description, for example, the first limiting portion 310 may include a limiting post, and the second limiting portion 320 may include a limiting hole. For another example, the first and second limiting portions 310 and 320 may also be friction plates.

In one possible embodiment, referring to fig. 9 and 10, the support arm assembly 200 further includes a bar-shaped support arm 220; the length direction of the support arm 220 coincides with the extending direction of the guide rail 271.

The end of the support arm 220 facing away from the shelf includes a first mounting slot 221 and a second mounting slot 222. As an example, along the length of the support arm 220, the support arm 220 includes a first surface and a second surface that are oppositely disposed, the second surface being the surface that is closest to the pallet when the transfer robot is located between adjacent pallets, i.e., the left surface in fig. 9.

The first mounting groove 221 is disposed at an end of the support arm 220 facing away from the shelf and penetrates one surface of the support arm 220 in the length direction of the support arm 220, i.e., the first mounting groove 221 penetrates the first surface of the support arm 220 in the length direction of the support arm 220; in addition, the first mounting groove 221 further penetrates through the top surface of the support arm 220 along the height direction of the support arm 220, so that the first mounting groove 221 forms two open groove bodies, thereby facilitating the mounting and dismounting of the first driving member 210 and improving the dismounting convenience of the stabilizing mechanism.

The second mounting groove 222 is provided on and penetrates the side wall of the support arm 220 in the width direction, such that the second mounting groove 222 penetrates the through groove of the support arm 220 in the width direction of the support arm 220 and communicates with the first mounting groove 221, wherein the width direction extends in the Y direction in fig. 1.

The first limiting portion 310 is movably connected in the second mounting groove 222. The first driving member 210 may drive the first limiting portion 310 to move in the second mounting groove 222 and move towards the second limiting portion 320, so that a moving path of the first limiting portion 310 may be limited, so that the first limiting portion 310 and the second limiting portion 320 are relatively fixed.

The number of the second mounting grooves 222 may be one or two. When the number of the second mounting grooves 222 is two, the number of the first limiting portions 310 and the number of the second limiting portions 320 are two accordingly.

Illustratively, in the width direction of the support arm 220, two second limiting portions 320 are respectively located at two sides of the support arm 220; the two first limiting portions 310 are respectively disposed on the side walls of the support arm 220 in the width direction, and are disposed in one-to-one correspondence with the two second limiting portions 320. That is, two second mounting grooves 222 are provided on and penetrate through the side walls of the support arm 220 in the width direction, respectively, such that the second mounting grooves 222 penetrate through the through grooves of the support arm 220 in the width direction of the support arm 220.

The two second mounting grooves 222 communicate with the first mounting groove 221, respectively. Each of the second mounting grooves 222 is movably connected with a first limiting portion 310. For example, one of the first limiting portions 310 is movably connected in one of the second mounting grooves 222, and the other of the first limiting portions 310 is movably connected in the other of the second mounting grooves 222, so that the first driving member 210 is connected with the first limiting portion 310, and further the first driving member 210 drives the first limiting portion 310 to move.

According to the embodiment, the left side and the right side of the support arm 220 are fixed relative to the second limiting portion 320, so that the lateral inclination force of the support arm 220 in the width direction can be eliminated, the stability of the support arm assembly 200 is improved, the lateral inclination force of the transfer robot in the width direction of the support arm 220 is further reduced, and further guarantee is provided for preventing the transfer robot from shaking.

In one possible embodiment, referring to fig. 5, 7 and 8, the first driving member 210 includes a driving slider 211, and the driving slider 211 is slidably disposed on the supporting arm 220; for example, the driving slider 211 is slidably coupled to the support arm 220 through the first guide assembly 250.

Referring to fig. 12, the driving slider 211 includes a first plate 2111 and a second plate 2112 opposite to each other and spaced apart from each other, and a third plate 2113 is disposed between the first plate 2111 and the second plate 2112, so that the driving slider 211 forms a U-shaped structure, and an inner cavity of the driving slider 211 is used for accommodating a portion of the first link 212 and the second link 213.

Referring to fig. 11, the first guiding assembly 250 includes a guiding shaft 251; the guide shaft 251 is disposed between the driving slider 211 and the first mounting wall 2211 of the first mounting groove 221; wherein, in the length direction of the support arm 220, the first mounting wall 2211 is a wall of the first mounting groove 221 opposite to the driving slider 211. That is, the first mounting wall 2211 is the left side wall of the first mounting groove 221 shown in fig. 9.

The guide shaft 251 is slidably provided on the support arm 220, for example, the support arm 220 is provided with a guide hole, which is exposed on the first mounting wall 2211; one end of the guide shaft 251 is slidably disposed in the guide hole, and the other end of the guide shaft 251 is connected to the third plate 2113, so as to realize sliding arrangement of the guide shaft 251 and the support arm 220, and further realize sliding arrangement of the driving slider 211 and the support arm 220. The present embodiment can improve the stability of the driving slider 211 in the moving process towards or away from the shelf through the cooperation of the guide shaft 251 and the guide hole.

The first guide assembly 250 further includes an elastic member 252, and both ends of the elastic member 252 are connected to the first mounting wall 2211 and the driving slider 211, respectively. When the support arm assembly 200 is not in contact with the shelf, the elastic member 252 is used to apply a force to the driving slider 211 away from the shelf, i.e., the elastic member 252 has a certain pre-tightening force at this time, and the pre-tightening force can make the driving slider 211 in a static and motionless state.

In addition, the elastic member 252 can buffer and reduce the impact of the support arm assembly 200 on the shelf and reduce the damage to the shelf during the process of contacting the support arm assembly 200 with the shelf.

In this embodiment, the elastic member 252 may include a tension spring, a compression spring, or a torsion spring. In an example, when the elastic member 252 is a tension spring, the elastic member 252 changes from a stretched state to a compressed state. For another example, when the elastic member 252 is a compression spring, the elastic member 252 changes from a compressed state to a stretched state.

The first driving member 210 further includes a link, one end of which is rotatably connected to the driving slider 211, and the other end of which is rotatably connected to the first limiting portion 310.

When the supporting arm 220 contacts with the rack, the driving slider 211 continues to move towards the rack and drives the connecting rod to rotate; and the first limiting portion 310 is driven by the connecting rod to move towards the second limiting portion 320 in the second mounting groove 222, so that the first limiting portion 310 and the second limiting portion 320 are relatively fixed. For example, the connecting rod rotates clockwise to drive the first limiting part 310 connected with the connecting rod to move towards the second limiting part 320, so that the first limiting part 310 and the second limiting part 320 are meshed, and the connecting rod is relatively fixed to lock the support arm assembly 200, so that the support arm assembly 200 is prevented from continuously moving towards the goods shelf, and the impact force or the impact force of the support arm assembly 200 on the goods shelf is reduced. Meanwhile, when the connecting rod rotates anticlockwise, the first limiting part 310 connected with the connecting rod is driven to move along the direction deviating from the second limiting part 320, so that the first limiting part 310 and the second limiting part are separated from each other.

In this embodiment, the first limiting portion 310 is driven to move by the slider connecting rod structure, so that the stability of the first limiting portion 310 in the moving process can be improved.

When the number of the first limiting portions 310 is two, the number of the links is two, for example, the links include the first link 212 and the second link 213; one end of the first connecting rod 212 is rotationally connected with the driving sliding block 211, and the other end of the first connecting rod 212 is rotationally connected with one of the first limiting parts 310; the first connecting rod 212 is rotatably connected with the driving sliding block 211 and the first limiting part 310 through a first rotating shaft respectively. Illustratively, one of the first rotational shafts 214 is disposed between the first plate 2111 and the second plate 2112 and is rotatably coupled to the first plate 2111 and the second plate 2112, respectively. The first limiting portion 310 includes a U-shaped opening, and the other first rotating shaft 214 is located in the opening and is rotatably connected to the first limiting portion 310.

One end of the second connecting rod 213 is rotationally connected with the driving sliding block 211, and the other end of the second connecting rod 213 is rotationally connected with the other first limiting part 310; it should be noted that, the connection manner between the second link 213 and the driving slider 211, and the connection manner between the second link 213 and the first limiting portion 310 may refer to the above description, and the description of this embodiment is omitted herein.

With continued reference to fig. 5, the driving slider 211 can simultaneously drive the first link 212 and the second link 213 to rotate. The first connecting rod 212 drives the first limiting part 310 connected with the first connecting rod to move in the corresponding second mounting groove 222, so that the first limiting part 310 and the second limiting part 320 are relatively fixed. The second connecting rod 213 drives the first limiting part 310 connected with the second connecting rod to move in the corresponding second mounting groove 222, so that the first limiting part 310 and the second limiting part 320 are relatively fixed.

In one possible embodiment, with continued reference to fig. 5 and 6, the support arm assembly 200 further includes a second drive member 230, the second drive member 230 being coupled to the drive slider 211. Wherein the second driver 230 comprises a drive motor 231 and a pulley assembly 232. The pulley assembly 232 includes a driving pulley 2321, a driven pulley 2322, and a drive belt 2323, the drive belt 2323 connecting the driving pulley 2321 and the driven pulley 2322. An output shaft of the driving motor 231 is connected with a driving pulley 2321;

the first driving member 210 is connected with the driving belt 2323 through the driving plate 240, so as to realize linkage between the second driving member 230 and the first driving member 210, and the second driving member 230 drives the supporting arm 220 to move towards or away from the shelf.

When the support arm assembly 200 is not in contact with a pallet, the second drive 230 is configured to: the support arm 220 and the first drive 210 in the drive support arm assembly 200 move synchronously toward and away from the shelf;

when the support arm assembly 200 is in contact with the shelf, the support arm 220 in the support arm assembly 200 stops moving and the second drive 230 is configured to: the drive slider 211 is driven to slide toward the shelf, i.e., the drive slider 211 is driven to slide relative to the support arm 220.

The driving sliding block 211 can drive the connecting rod to rotate in the sliding process, and the first limiting part 310 can be driven by the connecting rod to move towards the second limiting part 320 in the second mounting groove 222, so that the first limiting part 310 and the second limiting part 320 are relatively fixed, the supporting arm assembly 200 is locked, the supporting arm assembly 200 is prevented from continuously moving towards the goods shelf, and the impact force or the impact force of the supporting arm assembly 200 on the goods shelf is reduced.

In one possible embodiment, a stop is provided on the base plate 100 opposite the driven pulley 2322 for limiting the drive plate 240. For example, the bottom plate 100 is provided with a blocking plate, the blocking plate is perpendicular to the bottom plate 100, and the top surface of the blocking plate is at least flush with the top surface of the driving plate 240 or higher than the top surface of the driving plate 240, wherein the blocking plate is disposed between the end of the driven pulley 2322 opposite to the projection position of the bottom plate 100 and the projection position.

When the support arm assembly 200 moves toward the shelf and the movement path of the driving plate 240 reaches the maximum value, that is, the driving plate 240 moves right above the driven pulley 2322, the blocking plate contacts with the driving plate 240, so as to prevent the driving plate 240 from continuing to move and avoid damaging the stabilizing mechanism.

The stopper is provided not only at a position where the base plate 100 faces the driven pulley 2322, but also at a position where the base plate 100 faces the driving pulley 2321, and this stopper is also used to limit the driving plate 240.

In one possible embodiment, with continued reference to fig. 1 and 11, the support arm assembly 200 further includes a flexible member 260, the flexible member 260 being disposed at an end of the support arm 220 facing away from the second limiting portion 320, i.e., the flexible member 260 being disposed at an end of the support arm 220 facing toward the shelf.

The flexible member 260 is used for assisting the first limiting portion 310 and the second limiting portion 320 to be relatively fixed. Illustratively, when the support arm assembly 200 is in contact with the pallet, the first and second stop portions 310, 320 are not fully operatively engaged, possibly only partially engaged, at which point the flexible member 260 will see a corresponding deformation as the second drive member continues to operate until the first and second stop portions 310, 320 are fully engaged. In this process, the flexible member 260 provides a certain movement margin for the second driving member, and provides a guarantee for the first limiting portion 310 and the second limiting portion 320 to be completely engaged.

As an example, the flexible member 260 is rotatably connected to the support arm 220, and the friction between the support arm 220 and the shelf is rolling friction, so that the wear on the shelf and the wear on the support arm 220 can be reduced.

Referring to fig. 10 and 11, the stabilizing mechanism further includes a position sensor 400, and the position sensor 400 is disposed on the supporting arm 220 for sensing the position of the driving slider 211. In an example, the position sensor 400 is disposed at a position where the support arm 220 is close to the first mounting groove 221, so that the distance between the position sensor 400 and the driving slider 211 can be shortened, and the position of the driving slider 211 can be sensed better, so that the second driving member 230 can be controlled to stop moving. It should be noted that, the flexible member 260 also cooperates with the position sensor 400, and in view of the problem of sensitivity of the position sensor 400, the position sensor 400 may have a defect that the driving slider 211 cannot be sensed in time, and at this time, the flexible member 260 can provide a certain movement margin for the movement of the support arm assembly 200, so as to provide a guarantee for the position sensor 400 to sense the driving slider 211 better.

Example two

The embodiment provides a transfer robot, which comprises a movable chassis, a rack, a fork device and a stabilizing mechanism in the first embodiment.

The movable chassis can comprise a bottom plate and a traveling mechanism arranged on one side of the bottom plate facing the ground, the traveling mechanism can comprise a plurality of traveling wheels and a driving mechanism, the traveling wheels comprise driving wheels and driven wheels, the driving wheels are connected with the driving mechanism, and the movable base can be moved or turned under the driving of the driving mechanism, so that the transfer robot can be moved to an operation position.

The frame is arranged on the movable chassis. In one example, the bottom end of the frame is mounted on the mobile chassis, e.g., the bottom end of the frame is welded to the upper surface of the mobile chassis, wherein the frame may include two spaced apart posts, the bottom ends of which are secured to the mobile chassis.

The fork device is vertically slidably mounted on the lifting frame, for example, the fork device can be slidably mounted on the upright post, and the fork device can move along the direction perpendicular to the moving chassis so as to adjust the height of the fork device from the ground, and further, the fork device can conveniently pick and place cargoes at different heights.

In one example, the stabilizing mechanism may be disposed on the frame, e.g., the stabilizing mechanism is disposed on the upright. In another example, the stabilizing mechanism may also be provided on the fork device, for example, the stabilizing mechanism is provided on a tray of the fork device.

When the transfer robot needs to place goods on the goods shelf, or remove goods from the goods shelf, the support arm assembly 200 of the stabilizing mechanism moves towards the goods shelf until the support arm 220 of the support arm assembly 200 contacts with the goods shelf, and the first limiting part 310 and the second limiting part 320 are relatively fixed, at this time, the interaction between the goods shelf and the stabilizing mechanism is utilized, so that the transfer robot provided with the stabilizing mechanism is more stable, the transfer robot is prevented from tilting, and the safety of the transfer robot is improved.

In this embodiment, the stabilizing mechanism includes at least two supporting devices, and the at least two supporting devices are disposed on the bottom plate at intervals. For example, the number of the supporting means may be two, and the two supporting means are disposed at intervals along the length direction of the base plate 100. Each supporting device comprises two limiting assemblies, and first limiting portions 310 of the two limiting assemblies are respectively located on two sides of the supporting arm assembly in the width direction and are in one-to-one correspondence with two second limiting portions 320.

The extending directions of the supporting arms in the at least two supporting devices are opposite. Taking the orientation shown in fig. 1 as an example, one of the support arms extends to the right and the other support arm extends to the left. Thus, two interaction points are arranged between the stabilizing mechanism and the goods shelf, so that the stability of the carrying robot is further improved; in addition, the lateral tilting force of the support arm 220 in the width direction can be eliminated, and the stability of the support arm assembly 200 can be improved.

Example III

The embodiment provides a transfer robot, which comprises a movable chassis, a rack, a fork device and a stabilizing mechanism in the first embodiment. The description of the movable chassis, the frame and the fork device can be specifically referred to the description in the second embodiment, and the description of this embodiment is not repeated here.

The fork device comprises a tray for temporarily storing goods, wherein the supporting arm 220 is fixedly connected with the tray, or the supporting arm 220 and the tray are of an integrated structure, so that the tray is driven to be abutted with the goods shelf.

In this embodiment, the supporting arm 220 is fixedly connected with the pallet or is of an integral structure, and in the process that the supporting arm 220 moves towards the goods shelf along the second guiding component, the supporting arm 220 also drives the pallet to move towards the goods shelf, so that the pallet is driven to abut against the goods shelf, gaps between the pallet and the goods shelf are avoided, and goods taking and placing are completed. Therefore, on one hand, low impact and large loading friction force can be realized; on the other hand, the stabilizing mechanism is used as a power mechanism for extending and retracting the tray, so that the inclination of the transfer robot can be prevented, the structure of the transfer robot can be simplified, and the production cost of the transfer robot can be reduced.

Example IV

The present embodiment provides a warehouse system including the transfer robot in the second embodiment or the third embodiment and at least two shelves (not shown in the figure) arranged side by side, and a channel formed by the transfer robot walking is formed between adjacent shelves.

The support arm device of the transfer robot is in contact with any shelf. In one example, the number of the supporting devices of the stabilizing mechanism is one, and accordingly, the supporting device of the transfer robot abuts against one of the shelves. In another example, the number of the support devices of the stabilizing mechanism is two, and accordingly, the support arms of the transfer robot are respectively abutted against one of the racks.

The structure and the working principle of the handling robot are described in detail in the above embodiments, and the description of this embodiment is not repeated here.

In this specification, each embodiment or implementation is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

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

Claims

1. The stabilizing mechanism is used for being installed on the carrying robot and is characterized by comprising a bottom plate and a supporting device, wherein the supporting device comprises a supporting arm assembly and a limiting assembly; the support arm component is movably connected to the bottom plate;

2. The stabilizing mechanism of claim 1, wherein the first limit portion is movably connected to the support arm assembly, and the second limit portion is fixedly connected to the base plate;

3. The stabilizing mechanism of claim 2, wherein the support arm assembly comprises a bar-shaped support arm, an end of the support arm facing away from the shelf comprising a first mounting slot and a second mounting slot; the second mounting groove is formed in the side wall of the supporting arm in the width direction and penetrates through the side wall, and the second mounting groove is communicated with the first mounting groove;

the first limiting part is movably connected in the second mounting groove.

4. The stabilizing mechanism of claim 3, wherein the first stop portion comprises a first stop rack and the second stop portion comprises a second stop rack, the second stop rack being disposed on the base plate by a fixed plate.

5. A stabilizing mechanism according to claim 3, wherein said first drive member comprises a drive slide and a link, said drive slide being slidably disposed on said support arm;

6. The stabilizing mechanism of claim 5, wherein said support arm assembly further comprises a second drive member, said second drive member being coupled to said drive slide;

7. The stabilizing mechanism of claim 6, wherein said second drive member comprises a drive motor and pulley assembly, said pulley assembly comprising a drive pulley, a driven pulley, and a drive belt for connecting said drive pulley and said driven pulley; an output shaft of the driving motor is connected with the driving belt wheel;

8. The stabilizing mechanism of claim 7, wherein a stop is provided at a position of the base plate opposite the driven pulley, the stop being configured to limit the drive plate.

9. The stabilizing mechanism of any one of claims 5-8, wherein the support arm assembly further comprises a first guide assembly comprising a guide shaft and a resilient member;

10. The stabilizing mechanism of any one of claims 1-8, wherein the support arm assembly further comprises a flexible member disposed at an end of the support arm facing away from the second spacing portion for assisting in the relative fixation of the first and second spacing portions.

11. The stabilizing mechanism of claim 10, wherein said flexible member is rotatably connected to said support arm.

12. The stabilizing mechanism of any one of claims 1-8, wherein said support arm assembly further comprises a bar-shaped support arm; the number of the first limiting parts and the number of the second limiting parts are two;

13. The stabilizing mechanism of any one of claims 1-8, wherein the mechanism further comprises a second guide assembly comprising a rail and a slider; the guide rail is arranged on the bottom plate;

14. The stabilizing mechanism of any one of claims 6-8, further comprising a position sensor disposed on said support arm for sensing the position of said drive slide.

15. A transfer robot comprising a mobile chassis, a frame, a fork arrangement and a stabilizing mechanism according to any one of claims 1-14; the frame is arranged on the movable chassis, and the fork device is vertically and slidably arranged on the frame;

the stabilizing mechanism is arranged on the frame or the fork device.

16. The transfer robot of claim 15, wherein the stabilizing mechanism comprises at least two support devices, the support arms of at least two of the support devices extending in opposite directions.

17. A transfer robot comprising a mobile chassis, a frame, a fork device and a stabilizing mechanism according to any one of claims 1-14, said frame being arranged on said mobile chassis; the fork device is vertically and slidably arranged on the rack;

18. A warehousing system comprising at least two shelves arranged side by side and a transfer robot according to any one of claims 15 to 17; a channel for the transfer robot to move is formed between two adjacent shelves; the support arm of the transfer robot is abutted with the goods shelf.