Locking mechanism, supporting assembly, transfer robot and warehousing system

Abstract

The invention discloses a locking mechanism, a supporting assembly, a carrying robot and a warehousing system, and belongs to the technical field of warehousing. The locking mechanism comprises a locking body connected with the end effector, a friction piece arranged outside the guide rod in a sleeving mode, a first elastic piece and an unlocking piece, the friction piece is connected with the locking body and can move along the guide rod in the first direction, the friction piece can rotate between a static position and a movable position, and when the friction piece is located at the static position, the friction piece can move along the guide rod in the first direction. The friction piece and the guide rod are in limiting fit in the opposite direction of the first direction; under the condition that the friction piece is located at the movable position, the friction piece can move relative to the guide rod in the direction opposite to the first direction; the two ends of the first elastic piece are connected with the friction piece and the locking body correspondingly, and the first elastic piece is used for driving the friction piece to rotate to a static position; the unlocking piece is movably arranged on the locking body and used for driving the friction piece to rotate to the movable position. According to the scheme, the end effector can be kept in the stop state, and the power device can be protected.

Description

Technical Field

[0001] The present application belongs to the field of warehousing technology, and specifically relates to a locking mechanism, a support assembly, a handling robot and a warehousing system. Background Art

[0002] In the warehousing system, the handling robot is the main equipment that can realize the automated handling operation. The handling robot can reduce the heavy physical labor of humans. The handling robot includes a support assembly, which includes a power device and an end effector. The end effector can be a support member and abut against two adjacent shelves to provide support force for the support assembly. Among them, the power device can drive the end effector to move so that the end effector can be extended or retracted.

[0003] In the prior art, the holding force or brake of a power device is generally used to maintain the end effector in a stopped state. However, since the holding force or brake capacity of the power device is limited, when the end effector is subjected to a large external force, the holding force or brake of the power device may not be able to maintain the end effector in a stopped state, and the power device is easily damaged due to the large reaction force of the end effector.

[0004] Therefore, the existing power device of the support assembly has the defects that it may not be able to keep the end effector in a stopped state and is easily damaged by force. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a locking mechanism, a support assembly, a handling robot and a warehousing system, which can solve the problem in the related art that the power device may not be able to keep the end effector in a stopped state and is easily damaged by force.

[0006] In a first aspect, an embodiment of the present application provides a locking mechanism, comprising: A locking body, used to connect with the end effector of the support assembly; A friction member, which is used to be sleeved outside the guide rod of the support assembly and can move along the guide rod in a first direction, the friction member is connected to the locking body, and the friction member can rotate between a static position and a movable position. When the friction member is in the static position, the friction member cooperates with the guide rod in an upper limit position in a direction opposite to the first direction; when the friction member is in the movable position, the friction member can move relative to the guide rod in a direction opposite to the first direction; a first elastic member, wherein two ends of the first elastic member are respectively connected to the friction member and the locking body, and the first elastic member is used to drive the friction member to rotate to the static position; An unlocking member is movably disposed on the locking body, and the unlocking member is used to drive the friction member to rotate to the active position.

[0007] In a second aspect, an embodiment of the present application further provides a support assembly, comprising an end actuator, a guide rod and the above-mentioned locking mechanism, wherein the friction member of the locking mechanism is sleeved outside the guide rod, and the end actuator is connected to the locking body of the locking mechanism.

[0008] In a third aspect, an embodiment of the present application further provides a transport robot, comprising a gantry, a transport device and the above-mentioned support assembly, wherein the transport device is escalably arranged on the gantry, the support assembly is arranged on the transport device, and the support assembly comprises at least two end effectors, each of which can be respectively extended and retracted relative to the transport device, and the at least two end effectors can be extended and respectively abutted against two shelves located on opposite sides of a moving channel of a storage system; When the end effector is in contact with the shelf, the friction member of the locking mechanism of the support assembly cooperates with the guide rod in the upper limit position in the contraction direction of the end effector; In the case that a portion of the at least two end effectors first abuts against one of the two shelves, another portion of the at least two end effectors may continue to extend until abutting against the other of the two shelves.

[0009] In a fourth aspect, an embodiment of the present application further provides a warehousing system, comprising at least two shelves and the above-mentioned transport robot, wherein a moving passage for the transport robot to pass through is formed between two adjacent shelves.

[0010] In the embodiment of the present application, when the friction member is in the static position, the friction member and the guide rod can be limitedly matched in the opposite direction of the first direction, that is, the friction member and the guide rod can be relatively fixed in the opposite direction of the first direction, no matter how much force the friction member is subjected to in the opposite direction of the first direction, the friction member and the guide rod can remain static in the opposite direction of the first direction, so that the end effector and the guide rod can remain relatively static in the opposite direction of the first direction. In this way, when the end effector encounters an obstacle or encounters resistance and stops during the movement along the first direction, due to the limited position matching of the friction member and the guide rod in the opposite direction of the first direction, the friction member can play a locking role, so that the end effector is not easy to move in the opposite direction of the first direction, and thus the end effector can be maintained in a stopped state. In addition, the end effector can transmit the reaction force or resistance of the obstacle to the friction member, that is, the force in the opposite direction of the first direction is transmitted to the friction member, and the friction member transmits the force to the guide rod, thereby isolating the transmission of the force to the power device, so that the power device is protected, thereby ensuring the service life of the power device. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1It is one of the front views of the locking mechanism disclosed in the embodiment of the present application (when the safety member, the driving member and the second elastic member are hidden and the friction member is in a static position); Figure 2 is a three-dimensional diagram of the locking mechanism disclosed in the embodiment of the present application; Figure 3 This is the second front view of the locking mechanism disclosed in the embodiment of the present application (when the safety member, the driving member and the second elastic member are hidden, and the protruding portion of the cam of the unlocking member is in contact with the friction member); Figure 4 This is the third front view of the locking mechanism disclosed in the embodiment of the present application (when the driving member and the second elastic member are hidden, and the unlocking member is engaged with the safety member); Figure 5 This is the fourth front view of the locking mechanism disclosed in the embodiment of the present application (when the driving member and the second elastic member are hidden and the unlocking member is separated from the safety frame); Figure 6 This is the fifth front view of the locking mechanism disclosed in the embodiment of the present application (when the driving member is hidden and the unlocking member is engaged with the safety frame); Figure 7 This is the sixth front view of the locking mechanism disclosed in the embodiment of the present application (when the driving member is hidden and the unlocking member is in the first position); Figure 8 This is the seventh front view of the locking mechanism disclosed in the embodiment of the present application (when the safety member is in contact with the first mating surface of the driving member); Fig. 9 This is the eighth front view of the locking mechanism disclosed in the embodiment of the present application (when the unlocking member is in contact with the second mating surface of the driving member); Fig.10 This is the ninth front view of the locking mechanism disclosed in the embodiment of the present application (when the hook portion is in contact with the unlocking member); Fig.11 This is the tenth front view of the locking mechanism disclosed in the embodiment of the present application (when the driving member drives the locking body and the friction member to move); Fig.12 is a schematic diagram of the structure of the driving member disclosed in the embodiment of the present application; Fig.13 It is one of the structural schematic diagrams of the support assembly disclosed in the embodiment of the present application (including an end effector and a locking mechanism); Fig.14 This is the second structural schematic diagram of the support assembly disclosed in the embodiment of the present application (including an end effector and a locking mechanism); Fig.15 This is the third structural schematic diagram of the support assembly disclosed in the embodiment of the present application (including an end effector and a locking mechanism); Fig.16This is the fourth structural schematic diagram of the support assembly disclosed in the embodiment of the present application (including an end effector and a locking mechanism); Fig.17 This is the fifth structural diagram of the support assembly disclosed in the embodiment of the present application (including two end effectors and a locking mechanism); Fig.18 This is the sixth structural schematic diagram of the support assembly disclosed in the embodiment of the present application (including two end effectors and a locking mechanism); Fig.19 It is a force analysis diagram of the friction member and the guide rod in cooperation disclosed in the embodiment of the present application; Fig. 20 This is a schematic diagram of the transport robot disclosed in the embodiment of the present application being located between two shelves.

[0012] Description of reference numerals: 100-guide rod; 200-locking mechanism; 201-first locking mechanism; 202-second locking mechanism; 210-locking body; 211-carrier; 2111-locking plate; 2112-supporting part; 2113-limiting part; 212-force bearing part; 2121-notch; 220-friction member; 221-first part; 222-second part; 230 - first elastic member; 240 - unlocking member; 241 - cam; 2411 - raised portion; 2412 - slot; 242-protruding rod; 250-first rotating shaft; 260-safety member; 261-connecting portion; 262-protruding portion; 270 - second rotating shaft; 280 - second elastic member; 290 - driving member; 291 - first matching surface; 292 - second mating surface; 293 - hook portion; 294 - receiving groove; 300 - end effector; 310 - first end effector; 320 - second end effector; 400 - power device; 410 - driving motor; 420 - driving wheel; 430 - driven wheel; 440 - transmission belt; 441 - first transmission part; 442-second transmission part; 500-support seat; 600-first plane; 700-moving device; 800-gantry; 900-handling device; 1000-shelf; 1100-mobile channel. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0014] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0015] The locking mechanism, support assembly, handling robot and storage system provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0016] refer to Figure 1-Figure 20 A locking mechanism 200 provided in an embodiment of the present application may include a locking body 210 , a friction member 220 , a first elastic member 230 and an unlocking member 240 .

[0017] Among them, the locking body 210 can be used to connect with the end actuator 300 of the support assembly, the friction member 220 can be used to be mounted outside the guide rod 100 of the support assembly, the friction member 220 can be connected to the locking body 210, and the friction member 220 can move along the guide rod 100 in a first direction to drive the end actuator 300 to move through the locking body 210.

[0018] The friction member 220 can rotate between a static position and a movable position. When the friction member 220 is in the static position, the friction member 220 cooperates with the guide rod 100 in the upper limit position in the opposite direction of the first direction. When the friction member 220 is in the movable position, the friction member 220 can move relative to the guide rod 100 in the opposite direction of the first direction to drive the end actuator 300 to move in the opposite direction of the first direction.

[0019] The two ends of the first elastic member 230 can be connected to the friction member 220 and the locking body 210 respectively. The first elastic member 230 can be used to drive the friction member 220 to rotate to a stationary position so that the friction member 220 cannot move in the opposite direction of the first direction, thereby preventing the end actuator 300 from moving in the opposite direction of the first direction.

[0020] The unlocking member 240 is movably disposed on the locking body 210 , and can be used to drive the friction member 220 to rotate to an active position, so that the friction member 220 can move in the opposite direction of the first direction, thereby enabling the end effector 300 to move in the opposite direction of the first direction.

[0021] In the embodiment of the present application, when the friction member 220 is in the static position, the friction member 220 and the guide rod 100 can be limitedly matched in the direction opposite to the first direction, that is, the friction member 220 and the guide rod 100 can be relatively fixed in the direction opposite to the first direction, and no matter how much force is applied to the friction member 220 in the direction opposite to the first direction, the friction member 220 and the guide rod 100 can remain static in the direction opposite to the first direction, so that the end effector 300 and the guide rod 100 can remain relatively static in the direction opposite to the first direction. In this way, when the end effector 300 stops due to an obstacle or resistance during the movement along the first direction, the friction member 220 and the guide rod 100 are limitedly matched in the direction opposite to the first direction, and the friction member 220 can play a locking role, so that the end effector 300 is not easy to move in the direction opposite to the first direction, and the end effector 300 can be maintained in a stopped state. In addition, the end effector 300 can transmit the reaction force or resistance of the obstacle to the friction member 220, that is, the force in the opposite direction of the first direction is transmitted to the friction member 220, and the friction member 220 transmits the force to the guide rod 100, thereby isolating the transmission of the force to the power device 400, so that the power device 400 is protected, thereby ensuring the service life of the power device 400.

[0022] In an optional embodiment of the present application, the unlocking member 240 can be rotatably connected to the locking body 210 via a first rotating shaft 250, and the unlocking member 240 can rotate between a first position and a second position. When the unlocking member 240 rotates to the first position, the unlocking member 240 pushes the friction member 220 to rotate to an active position, so that the friction member 220 can move in the opposite direction of the first direction; when the unlocking member 240 rotates to the second position, the first elastic member 230 drives the friction member 220 to rotate to a stationary position, so that the friction member 220 can no longer move in the opposite direction of the first direction, so that the end actuator 300 remains in a stopped position.

[0023] Here, the unlocking member 240 is rotatably connected to the locking body 210 via the first rotating shaft 250. Compared with the manner in which the unlocking member 240 is movably arranged on the locking body 210, on the one hand, the unlocking member 240 can achieve a larger range of motion within a limited space. On the other hand, there is no need to provide a slide groove on the locking body 210, which is conducive to simplifying the structure of the locking mechanism 200.

[0024] In other embodiments, the unlocking member 240 is movably disposed on the locking body 210, and the unlocking member 240 can move between a first moving position and a second moving position. When the unlocking member 240 moves to the first moving position, the unlocking member 240 pushes the friction member 220 to rotate to the active position; when the unlocking member 240 moves to the second moving position, the first elastic member 230 drives the friction member 220 to rotate to the static position.

[0025] In an optional embodiment, the locking mechanism 200 may further include a safety member 260, which may be movably connected to the locking body 210, and when the unlocking member 240 is located at the second position, the safety member 260 may be engaged with the unlocking member 240 to limit the rotation of the unlocking member 240. In this way, the safety member 260 may keep the unlocking member 240 at the second position to prevent the unlocking member 240 from rotating to the first position due to its own gravity or other external forces when there is no need to move in the opposite direction of the first direction, thereby pushing the friction member 220 to rotate to the active position.

[0026] Optionally, a slot 2412 may be provided on one of the unlocking member 240 and the safety member 260 , and a protrusion 262 may be provided on the other one. When the unlocking member 240 is located in the second position, the protrusion 262 may be engaged with the slot 2412 to achieve the engagement between the safety member 260 and the unlocking member 240 .

[0027] In other embodiments, the locking mechanism 200 may not include the safety member 260 .

[0028] Furthermore, the locking mechanism 200 may also include a second elastic member 280, and the two ends of the second elastic member 280 may be connected to the unlocking member 240 and the safety member 260 respectively, wherein, when the line connecting the two ends of the second elastic member 280 is located on the first side of the first plane 600, the second elastic member 280 can drive the unlocking member 240 to rotate toward the first position. Specifically, when the unlocking member 240 and the safety member 260 are relatively far away and drive the second elastic member 280 to move, so that the line connecting the two ends of the second elastic member 280 is located on the first side of the first plane 600, since the line connecting the two ends of the second elastic member 280 is located on the first side of the first plane 600, the second elastic member 280 can apply a force toward the friction member 220 and a force toward the safety member 260 to the unlocking member 240, thereby allowing the unlocking member 240 to rotate to the first position and remain in the first position. In this way, when the locking mechanism 200 moves in the opposite direction of the first direction, sudden locking is not likely to occur. When the line connecting the two ends of the second elastic member 280 is located on the second side of the first plane 600, the second elastic member 280 can cause the unlocking member 240 to rotate to the second position. Specifically, when the unlocking member 240 and the safety member 260 are relatively close and drive the second elastic member 280 to move, so that the line connecting the two ends of the second elastic member 280 is located on the second side of the first plane 600, since the line connecting the second elastic member 280 is located on the second side of the first plane 600, the second elastic member 280 can apply a force toward the safety member 260 to the unlocking member 240, so that the unlocking member 240 rotates to the second position, and the second elastic member 280 can apply a force toward the unlocking member 240 to the safety member 260, thereby limiting the engagement of the unlocking member 240 and the safety member 260.

[0029] It should be noted that the first plane 600 may be a plane where a line connecting two ends of the second elastic member 280 intersects with the axis of the first rotating shaft 250, and the first plane 600 coincides with the axis of the first rotating shaft 250. Here, the first side of the first plane 600 may be a side close to the notch 2121 described later, and the second side of the second plane may be a side away from the notch 2121 described later.

[0030] Optionally, the safety piece 260 can be rotatably connected to the locking body 210 via a second rotating shaft 270. In this way, relative to the manner in which the safety piece 260 is slidably arranged on the locking body 210, on the one hand, the safety piece 260 can achieve a larger range of motion within a limited space, and on the other hand, there is no need to provide a sliding groove on the locking body 210 that is slidably connected to the safety piece 260, which is conducive to simplifying the structure of the locking mechanism 200.

[0031] Of course, the safety member 260 can also be slidably disposed on the locking body 210 .

[0032] Further optionally, the second rotating shaft 270 can be located on the side of the friction member 220 away from the first rotating shaft 250, and the unlocking member 240 can include a cam 241 and a protruding rod 242 connected to the cam 241, and the protruding portion 2411 of the cam 241 can be against the friction member 220 to push the friction member 220 to rotate to an active position, where the protruding direction of the protruding rod 242 can intersect with the protruding direction of the protruding portion 2411 of the cam 241. In addition, a connecting portion 261 can be provided on the safety member 260, and the connecting portion 261 can be located on the side of the friction member 220 away from the first rotating shaft 250, and the connecting portion 261 is also located on the side of the safety member 260 away from the first rotation, wherein one end of the second elastic member 280 can be connected to the end of the protruding rod 242 away from the first rotating shaft 250, and the other end of the second elastic member 280 can be connected to the connecting portion 261. This arrangement can ensure that when the unlocking member 240 is in the first position, the connecting line of the two ends of the second elastic member 280 is located on the first side of the first plane 600, and when the unlocking member 240 is in the second position, the connecting line of the two ends of the second elastic member 280 is located on the second side of the first plane 600, thereby ensuring that the second elastic member 280 can play a role in locking the unlocking member 240 in the first position or the second position. Furthermore, since the other end of the second elastic member 280 is connected to the connecting portion 261, the second elastic member 280 can apply a force to the safety member 260 toward the unlocking member 240, so that the safety member 260 can limit the unlocking member 240. Regardless of whether the unlocking member 240 and the safety member 260 as a whole are subjected to a force in the direction from the unlocking member 240 to the safety member 260 or a force in the direction from the safety member 260 to the unlocking member 240, the unlocking member 240 will not separate from the safety member 260 and rotate to the first position.

[0033] In other embodiments, the unlocking member 240 may also include only the cam 241, and the connecting portion 261 may not be provided on the safety member 260. One end of the second elastic member 280 may be connected to the protruding portion 2411 of the cam 241, and the other end of the second elastic member 280 may be connected to the position of the safety member 260 close to the first rotating shaft 250.

[0034] In an optional embodiment of the present application, the locking mechanism 200 may further include a driving member 290, and the driving member 290 may be provided with a first mating surface 291. In the opposite direction of the first direction, the first mating surface 291 may drive the safety member 260 to move in a direction away from the unlocking member 240, so that the safety member 260 is separated from the unlocking member 240. The driving member 290 may also be provided with a second mating surface 292. In the opposite direction of the first direction, the second mating surface 292 may drive the unlocking member 240 to rotate toward the first position. In this way, it is convenient to drive the unlocking member 240 to rotate to the first position, thereby facilitating unlocking, and automatic unlocking can be achieved by connecting the driving member 290 to the power device 400.

[0035] In other embodiments, the locking mechanism 200 may not include the driving member 290 , and the user may manually rotate the unlocking member 240 .

[0036] In an optional embodiment, the driving member 290 may also be provided with a hook portion 293, which may be located on the side of the second mating surface 292 close to the friction member 220, and a receiving groove 294 may be formed between the first mating surface 291, the second mating surface 292 and the hook portion 293. When the driving member 290 moves in the opposite direction of the first direction, part of the unlocking member 240 may extend into the receiving groove 294, and when the unlocking member 240 is in the second position, the hook portion 293 may be hooked with the unlocking member 240. Specifically, the protruding rod 242 of the unlocking member 240 may extend into the receiving groove 294, and when the unlocking member 240 is in the second position, the hook portion 293 may be hooked with the protruding rod 242. In this way, the driving member 290 can achieve both the unlocking function and the driving function, and there is no need to drive the locking mechanism 200 to move in the first direction through other additional driving components.

[0037] In other embodiments, the driving member 290 may not be provided with the hook portion 293. Specifically, the locking body 210 and the friction member 220 as a whole may be driven by other driving structures to move along the first direction.

[0038] In the embodiment of the present application, during the process that the driving member 290 slides along the guide rod 100 in the opposite direction of the first direction, as shown in FIG. Figure 8 As shown, the first mating surface 291 of the driving member 290 can contact the safety member 260. As the driving member 290 continues to move in the opposite direction of the first direction, the driving member 290 can push the safety member 260 to rotate clockwise and separate from the unlocking member 240. Fig. 9 As shown, the second mating surface 292 of the driving member 290 can contact the unlocking member 240. When the driving member 290 continues to move in the opposite direction of the first direction, the second mating surface 292 pushes the unlocking member 240 to rotate toward the first position. When the unlocking member 240 drives the connecting line of the two ends of the second elastic member 280 to be located on the first side of the first plane 600, the unlocking member 240 can be separated from the second mating surface 292 and rotated to the first position under the elastic force of the second elastic member 280. At this time, as shown in FIG. Fig.10 As shown, the unlocking member 240 contacts the hook portion 293 and forms a hook connection with the hook portion 293 in the opposite direction of the first direction, and the unlocking member 240 pushes the friction member 220 to rotate to the active position, so that the entire locking mechanism 200 can move along the guide rod 100 in the opposite direction of the first direction.

[0039] In addition, since the hook portion 293 is hooked with the unlocking member 240, when the driving member 290 moves in the first direction, as shown in FIG. Fig.11 As shown, the hook portion 293 of the driving member 290 will move the unlocking member 240 in the first direction, and then can move the locking body 210 in the first direction, so that the end effector 300 moves in the first direction. It should be noted that, because the unlocking member 240 can be kept in the first position under the elastic force of the second elastic member 280, at this time, the unlocking member 240 is subjected to the component force toward the safety member 260 and the component force in the opposite direction of the first direction. As long as the force in the first direction applied by the hook portion 293 of the driving member 290 to the unlocking member 240 is greater than the component force in the opposite direction of the first direction, the locking body 210 can be driven to move in the first direction.

[0040] When the locking body 210 is stopped by an external force during the process of moving in the first direction, the driving member 290 can still apply a force in the first direction to the unlocking member 240, so that the unlocking member 240 can rotate to the second position and escape from the receiving groove 294, so that the driving member 290 is separated from the unlocking member 240, and then the driving member 290 is separated from the locking body 210. At this time, since the friction member 220 is in a static position, the locking body 210 can be kept in a stopped state by the external force and the friction between the friction member 220 and the guide rod 100.

[0041] In an optional embodiment of the present application, the locking body 210 may include a carrier 211, the carrier 211 may include a locking plate 2111 and a support portion 2112, the support portion 2112 may be connected to the locking plate 2111, here, the unlocking member 240 is rotatably disposed on the locking plate 2111, the support portion 2112 may be used to be sleeved outside the guide rod 100, the friction member 220 may be located between the support portion 2112 and the unlocking member 240, and the two ends of the first elastic member 230 may be respectively connected to the friction member 220 and the support portion 2112.

[0042] The locking body 210 may also include a force-bearing portion 212, which may be used to connect to the end actuator 300, and the force-bearing portion 212 may be connected to the locking plate 2111, and the force-bearing portion 212 and the first elastic member 230 may be respectively located on both sides of the guide rod 100, and the edge of the friction member 220 away from the first elastic member 230 may be located between the support portion 2112 and the force-bearing portion 212, and the edge of the friction member 220 away from the first elastic member 230 may respectively abut against the support portion 2112 and the force-bearing portion 212. In this way, when the support portion 2112 is subjected to a force in the first direction, the force in the first direction can be transmitted to the friction member 220, so that the edge of the friction member 220 away from the first elastic member 230 is subjected to the force in the first direction, thereby making the edge of the friction member 220 away from the first elastic member 230 have a tendency to move along the first direction, and making the edge of the friction member 220 close to the first elastic member 230 have a tendency to move in the opposite direction of the first direction, so that the friction member 220 has a tendency to rotate toward the active position or rotates toward the active position, so that the friction member 220 can move toward the first direction, so that the locking body 210 can move toward the first direction.

[0043] In this embodiment, the friction member 220 can be obliquely arranged on the guide rod 100. Specifically, the friction member 220 can form a certain angle with the guide rod 100 and keep in contact with the guide rod 100 under the action of the force-bearing portion 212 and the first elastic member 230. Here, the spacing and size of each position of the friction member 220 relative to the guide rod 100 can be designed according to the friction coefficient between the friction member 220 and the guide rod 100, so that the friction plate and the guide rod 100 can remain relatively stationary in the opposite direction of the first direction, and no matter how much force the force-bearing portion 212 applies to the friction member 220 in the opposite direction of the first direction, the friction member 220 can remain relatively stationary with the guide rod 100 in the opposite direction of the first direction, but when the support portion 2112 applies a force in the first direction to the friction member 220, the friction member 220 can move relative to the guide rod 100.

[0044] It should be noted that if Fig.19 As shown, the friction member 220 may include a first portion 221 and a second portion 222, the first portion 221 and the second portion 222 may be located at opposite sides of the guide rod 100, the first portion 221 may abut against the force-bearing portion 212, the second portion 222 may be connected to the first elastic member 230, and the contact points of the first portion 221 and the second portion 222 with the guide rod 100 are respectively 1 and O 2 Without considering gravity, when the friction member 220 is subjected to a force in the opposite direction of the first direction, the guide rod 100 can provide a supporting force N to the first portion 221. 1 , the guide rod 100 can provide a supporting force N to the second portion 2222 The guide rod 100 can also provide friction force f to the first portion 221 1 and provide friction force f to the second portion 222 2 , assuming that the friction coefficient between the guide rod 100 and the friction member 220 is μ, then, f 1 =μ×N 1 , f 2 =μ×N 2 , since the friction member 220 is stationary, then: N 1 =N 2 , F = f 1 + f 2 , for O 1 Take the moment at a point, then: F×t+ f 2 ×d = N 2 ×k. Here, d is the width of the guide rod 100.

[0045] Solving the above equation, we can get μ=k / (2t+d) which is the coefficient of static friction between the guide rod 100 and the friction member 220. max If the maximum static friction coefficient μ is greater than this value, the maximum static friction force that can be generated is greater than F, that is, no matter how large the value of F is, the friction member 220 can remain stationary. max In the case of 1 and O 2 The spacing in the first direction is k / (2t+d)<μ max , no matter how large the force F in the direction opposite to the first direction is, the friction member 220 can remain stationary while ensuring that the friction member 220 is in a stationary position.

[0046] In this embodiment, the edge of the friction member 220 away from the first elastic member 230 is located between the support portion 2112 and the force-bearing portion 212, and the edge of the friction member 220 away from the first elastic member 230 is respectively abutted against the support portion 2112 and the force-bearing portion 212. Compared with the method of fixedly connecting the edge of the friction member 220 away from the first elastic member 230 and the support portion 2112 described later, on the one hand, it is convenient to disassemble and assemble the friction member 220, and on the other hand, space can be reserved between the support portion 2112 and the force-bearing portion 212 for the edge of the friction member 220 away from the first elastic member 230 to rotate, so as to facilitate the rotation of the friction member 220, which is beneficial to avoid deformation and damage of the friction member 220.

[0047] In other embodiments, the locking body 210 may also only include the carrier 211, but not the force-bearing part 212. Specifically, the first elastic member 230 is located on one side of the guide rod 100, and the two ends of the first elastic member 230 are respectively connected to the support part 2112 and the friction member 220 of the carrier 211, and the edge of the friction member 220 away from the first elastic member 230 can be fixedly connected to the support part 2112.

[0048] Optionally, a notch 2121 may be provided at one end of the force-bearing portion 212 close to the supporting portion 2112, and an edge of the friction member 220 away from the first elastic member 230 may be located in the notch 2121 and abut against the inner wall of the notch 2121 and the supporting portion 2112 respectively, so that the friction member 220 can be easily disassembled and assembled.

[0049] In some embodiments, the force-bearing portion 212 can be detachably connected to the carrier 211, so that it is easy to disassemble and assemble the friction member 220. Of course, the force-bearing portion 212 and the carrier 211 can also be an integrated structure. Optionally, in order to improve the stability of the connection between the force-bearing portion 212 and the carrier 211, the carrier 211 can also include a limiting portion 2113, the limiting portion 2113 is connected to the locking plate 2111, and the force-bearing portion 212 can be located between the supporting portion 2112 and the limiting portion 2113, and the supporting portion 2112 and the limiting portion 2113 can play a clamping role on the force-bearing portion 212.

[0050] Based on the locking mechanism 200 provided in the embodiment of the present application, the embodiment of the present application also provides a support assembly, which may include an end actuator 300, a guide rod 100 and the locking mechanism 200 described in any of the above embodiments, the friction member 220 of the locking mechanism 200 may be sleeved on the outside of the guide rod 100, and the end actuator 300 may be connected to the locking body 210 of the locking mechanism 200.

[0051] The beneficial effects achieved by the support assembly provided in the embodiment of the present application are consistent with the beneficial effects achieved by the locking mechanism 200 provided in the embodiment of the present application, and will not be described in detail here.

[0052] Optionally, the end effector 300 may be a support member, which is used to abut against two adjacent shelves 1000 to provide a supporting force for the support assembly. The movement of the locking mechanism 200 may drive the support member to move, so as to achieve the extension and retraction of the support member.

[0053] In an optional embodiment, the support assembly may further include a power device 400, and the locking mechanism 200 may include a driving member 290, which may be connected to the unlocking member 240 of the locking mechanism 200 to unlock the unlocking member 240, and drive the locking body 210 and the friction member 220 of the locking mechanism 200 to move through the unlocking member 240 to achieve the movement of the end effector 300. In addition, the power device 400 may be connected to the driving member 290 and used to drive the driving member 290 to move along the length direction of the guide rod 100. In this way, the power device 400 can be used as a power to unlock the unlocking member 240 and as a power to drive the locking mechanism 200 to move, which is conducive to simplifying the structure of the support assembly and reducing the cost of the support assembly. In other embodiments, the power device 400 may not drive the locking body 210 and the friction member 220 to move through the driving member 290. Specifically, the power device 400 may be directly connected to the locking body 210, the driving member 290 may only be used to push the unlocking member 240 to unlock, and the support assembly may also include a power component that provides power to the driving member 290.

[0054] Optionally, the support assembly may include at least two end effectors 300 , which may include a first end effector 310 and a second end effector 320 . The support assembly may also include at least two locking mechanisms 200 , which may include a first locking mechanism 201 and a second locking mechanism 202 .

[0055] The first end effector 310 can be connected to the locking body 210 of the first locking mechanism 201, the second end effector 320 can be connected to the locking body 210 of the second locking mechanism 202, and the driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 can both be connected to the power device 400.

[0056] The driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 move in opposite directions. Specifically, the power device 400 can drive the driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 to move in opposite directions, thereby making the first locking mechanism 201 and the second locking mechanism 202 move in opposite directions as a whole, thereby making the first end effector 310 and the second end effector 320 move in opposite directions. In this way, the first end effector 310 and the second end effector 320 can be extended in opposite directions, so that the first end effector 310 and the second end effector 320 can be respectively abutted against two adjacent shelves 1000, so that the support assembly can play a supporting role, and the movement of the first end effector 310 and the second end effector 320 can be realized simultaneously by one power device 400, which can effectively reduce the number of power devices 400 and thus reduce the driving cost.

[0057] In this embodiment, the support assembly may also include at least two guide rods 100, which may include a first guide rod and a second guide rod. The friction member 220 of the first locking mechanism 201 may be sleeved outside the first guide rod, and the friction member 220 of the second locking mechanism 202 may be sleeved outside the second guide rod.

[0058] Optionally, the support assembly may include two end effectors 300 , two guide rods 100 and two locking mechanisms, and the two end effectors 300 may respectively abut against two adjacent shelves 1000 to fix the support assembly between the two adjacent shelves 1000 .

[0059] Of course, the support assembly may also include only one end effector 300, one guide rod 100 and one locking mechanism 200. Alternatively, the support assembly may include at least two end effectors 300, at least two guide rods 100 and at least two locking mechanisms 200, but the driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 have the same moving direction.

[0060] Further optionally, the power device 400 may include a drive motor 410 and a transmission assembly, and the drive motor 410 may be connected to the drive member 290 of each locking mechanism 200 through the transmission assembly, and the drive motor 410 may simultaneously drive each drive member 290 to move, so as to simultaneously drive each locking mechanism 200 to move. In this way, it is helpful to reduce the number of drive motors, thereby simplifying the structure of the power device and reducing the driving cost. Of course, the power device 400 may also include at least two drive motors 410 and at least two transmission assemblies, and each drive motor 410 is connected to the drive member 290 of each locking mechanism 200 through each transmission assembly.

[0061] Furthermore, the driving motor 410 can drive the driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 to move in opposite directions through the transmission assembly, thereby driving the first end effector 310 and the second end effector 320 to move in opposite directions.

[0062] In this embodiment, the transmission assembly may include a driving wheel 420, a driven wheel 430 and a transmission belt 440. The transmission belt 440 can transmit and connect the driving wheel 420 and the driven wheel 430. The driving motor 410 can be connected to the driving wheel 420 and drive the driving wheel 420 to rotate. Each driving member 290 can be connected to the transmission belt 440, and the transmission belt 440 can include a first transmission part 441 and a second transmission part 442 connected to the first transmission part 441. The running directions of the first transmission part 441 and the second transmission part 442 are opposite. Here, the driving member 290 of the first locking mechanism 201 can be connected to the first transmission part 441, and the driving member 290 of the second locking mechanism 202 can be connected to the second transmission part 442. In this way, the driving members 290 of the first locking mechanism 201 and the second locking mechanism 202 can be driven to move in opposite directions by a driving motor 410, thereby causing the first end effector 310 and the second end effector 320 to move in opposite directions.

[0063] Specifically, when the drive motor 410 rotates forward, the first locking mechanism 201 can drive the first end effector 310 to extend in the first direction, and the second locking mechanism 202 can drive the second end effector 320 to extend in the opposite direction of the first direction; when the drive motor 410 rotates reversely, the first locking mechanism 201 can drive the first end effector 310 to move in the opposite direction of the first direction, and the second locking mechanism 202 can drive the second end effector 320 to move in the first direction, so that the first end effector 310 and the second end effector 320 are retracted to their initial positions.

[0064] It should be noted that since the driving member 290 can be detached from the locking body 210, at least one of the first end effector 310 and the second end effector 320 can stop by itself when encountering an obstacle, and the first end effector 310 and the second end effector 320 do not interfere with each other, that is, when one of them stops, it will not affect the movement of the other.

[0065] Optionally, the support assembly may further include a support seat 500, each guide rod 100 may be connected to the support seat 500, and the power device 400 may be arranged on the support seat 500. Specifically, the drive motor 410 may be installed on the support seat 500, and the driving wheel 420 and the driven wheel 430 may be rotatably arranged on the support seat 500.

[0066] Based on the support assembly provided in the embodiment of the present application, the embodiment of the present application also provides a transport robot, such as Fig. 20 As shown, the transport robot may include a gantry 800, a transport device 900 and the support assembly described in any of the above embodiments. The transport device 900 can be raised and lowered on the gantry 800 and is used to pick up and place goods on the shelf 1000. Specifically, the transport device 900 may include a seat body and a telescopic assembly. The seat body can be slidably connected to the gantry 800. The telescopic assembly can be telescopically arranged on the seat body. Here, the telescopic assembly can be horizontally telescopic relative to the seat body. For example, the telescopic assembly can be extended to the shelf 1000 so as to be able to grab the goods on the shelf 1000. The telescopic assembly can be retracted to its original position to facilitate the transport device 900 to drive the goods to rise and fall along the gantry 800 to achieve the transport of the goods. The support assembly can be arranged on the handling device 900. Specifically, the support base 500 of the support assembly can be connected to the base body of the handling device 900. The support assembly can include at least two end effectors 300. Each end effector 300 can be retracted relative to the handling device 900, and at least two end effectors 300 can be extended and retracted relative to the handling device 900, and at least two end effectors 300 can be extended and respectively abutted against two shelves 1000 located on opposite sides of the moving channel 1100 of the storage system, that is, at least two end effectors 300 can respectively abut against two opposite shelves 1000, so that the support assembly is supported between the two opposite shelves 1000, and then can play a role in supporting the handling device 900, so as to avoid the handling device 900 being subjected to excessive force during the process of the handling device 900 handling the goods, thereby causing the door frame 800 to shake, which is beneficial to improve the stability of the handling robot during operation and enhance the safety of handling.

[0067] When the end effector 300 is in contact with the shelf 1000, the friction member 220 of the locking mechanism 200 of the support assembly and the guide rod 100 can cooperate with each other in the upper limit position in the contraction direction of the end effector 300. In this way, the friction member 220 can lock the locking body 210 on the guide rod 100, thereby preventing the end effector 300 from contracting, thereby making the end effector 300 pressed tightly against the shelf 1000.

[0068] It should be noted that the support assembly can be raised and lowered along with the transport device 900 to move to a corresponding position of the shelf 1000 so as to provide support for the transport device 900 and the shelf 1000 .

[0069] In the case where part of the at least two end effectors 300 first abuts against one of the two shelves 1000 mentioned above, another part of the at least two end effectors 300 can continue to extend until it abuts against the other of the two shelves 1000 mentioned above, that is, after part of the end effector 300 abuts against one of the shelves 1000, the other part of the end effector 300 can continue to extend until it abuts against the other shelf 1000, so that the two parts of the end effector 300 can stop at different distances, and the supporting self-locking force of each end effector 300 is maintained by the limiting cooperation between the friction member 220 of each locking mechanism 200 and the guide rod 100, so that the end effector 300 can achieve self-locking at different distances.

[0070] Specifically, when the first end effector 310 is close to the adjacent shelf 1000 and the second end effector 320 is far from the adjacent shelf 1000, the first end effector 310 first contacts with one shelf 1000 and realizes self-locking through the limited position cooperation between the friction member 220 of the first locking mechanism 201 and the guide rod 100. At this time, the second end effector 320 continues to extend until it contacts with the adjacent shelf 1000 and realizes self-locking through the limited position cooperation between the friction member 220 of the second locking mechanism 202 and the guide rod 100. In this way, the self-locking of the first end effector 310 and the second end effector 320 at different distances can be realized.

[0071] Optionally, the transport robot may further include a moving device 700, and the gantry 800 may be disposed on the moving device 700. Here, the moving device 700 may be an intelligent mobile vehicle to facilitate the movement of the transport robot.

[0072] The beneficial effects achieved by the transport robot provided in the embodiment of the present application are consistent with the beneficial effects achieved by the support assembly provided in the embodiment of the present application, and will not be described in detail here.

[0073] In some embodiments, the above-mentioned gantry 800 can be a single-stage gantry or a two-stage gantry or a multi-stage gantry, wherein the single-stage gantry can include only one frame, and the handling device 900 is slidably connected to the frame. The two-stage gantry can include two frames, the two frames are respectively a first frame and a second frame, and the second frame can be lifted or folded on the first frame. When it is necessary to carry higher goods, the second frame can be lifted above the first frame or unfolded above the first frame to increase the height of the gantry 800. Here, the handling device 900 can be slidably connected to the first frame and the second frame respectively. Specifically, the handling device 900 slides from the first frame to the second frame to move to a higher position. The multi-stage gantry can include at least three frames, each frame can be lifted or folded, and each frame can be lifted or unfolded in turn along the height direction to increase the height of the gantry 800. Here, the handling device 900 can be slidably connected to each frame respectively, and the handling device 900 can be moved to each frame in turn. In terms of functions and application scenarios, two-stage or multi-stage gantry can provide greater lifting height and better stability, and can be used in places that require higher lifting height and stronger load-bearing capacity, such as warehouses and logistics centers. Single-stage gantry is suitable for places with lower lifting height requirements, such as small warehouses and shops.

[0074] Based on the handling robot provided in the embodiment of the present application, the embodiment of the present application also provides a warehousing system, which may include at least two shelves 1000 and a handling robot. A moving channel 1100 may be formed between two adjacent shelves 1000 for the handling robot to pass through. In this way, it is convenient for the handling robot to carry the goods on each shelf 1000. Here, the shelf 1000 may be a container transfer unit (CTU), which is a type of automated stereoscopic warehouse, mainly used to realize automated storage and retrieval of goods. The container transfer unit is particularly suitable for warehouses with shorter heights and lighter goods, which can greatly save labor costs and improve storage efficiency.

[0075] The beneficial effects achieved by the warehousing system provided in the embodiment of the present application are consistent with the beneficial effects achieved by the handling robot provided in the embodiment of the present application, and will not be repeated here.

[0076] The process of the handling robot carrying goods is as follows: When the transport robot moves to the target position in the moving channel 1100, the transport device 900 of the transport robot can rise to the same height as the goods to be transported, and then the power device 400 of the support assembly drives the first end effector 310 and the second end effector 320 to extend respectively until the first end effector 310 and the second end effector 320 respectively abut against the two shelves 1000 located on the opposite sides of the moving channel 1100. At this time, the first end effector 310 and the second end effector 320 are respectively supported by two The resistance of the shelf 1000 stops extending, and the locking body 210 of the first locking mechanism 201 of the supporting assembly stops moving, and the locking body 210 of the second locking mechanism 202 of the supporting assembly stops moving. As the power device 400 continues to operate, the unlocking member 240 of the first locking mechanism 201 can return to the second position, and the power device 400 drives the driving member 290 of the first locking mechanism 201 to separate from the unlocking member 240. Moreover, since the friction member 220 of the first locking mechanism 201 is in a static position at this time, the first locking mechanism 201 is in a static position. The friction member 220 of the first locking mechanism 201 cooperates with the first guide rod in the upper limit position in the contraction direction of the first end effector 310, so that the locking body 210 and the friction member 220 of the first locking mechanism 201 cannot move in the contraction direction of the first end effector 310, thereby preventing the first end effector 310 from contracting, thereby keeping the first end effector 310 in a position abutting against the shelf 1000; similarly, the unlocking member 240 of the second locking mechanism 202 returns to the second position, and the power device 400 drives the driving device 400 of the second locking mechanism 202 to return to the second position. The member 290 is separated from the unlocking member 240, and since the friction member 220 of the second locking mechanism 202 is in a static position at this time, the friction member 220 of the second locking mechanism 202 cooperates with the second guide rod in the upper limit position in the contraction direction of the second end effector 320, so that the locking body 210 and the friction member 220 of the second locking mechanism 202 cannot move in the contraction direction of the second end effector 320, and thus the second end effector 320 cannot be contracted, so that the second end effector 320 is kept in a position abutting against the shelf 1000. In this way, the supporting assembly supports the transport device 900.

[0077] Afterwards, the telescopic component of the transport device 900 can be extended until it contacts and grabs the goods, and then the telescopic component is retracted to move the goods to the seat of the transport device 900, thereby completing the grabbing of the goods.

[0078] Then, the power device 400 of the supporting assembly drives the driving member 290 of the first locking mechanism 201 to move in the contraction direction of the first end effector 310, and drives the driving member 290 of the second locking mechanism 202 to move in the contraction direction of the second end effector 320, so that the driving member 290 of the first locking mechanism 201 pushes the unlocking member 240 to rotate to the first position, so that the unlocking member 240 of the first locking mechanism 201 pushes the friction member 220 of the first locking mechanism 201 to rotate to the active position. At this time, the friction member 220 of the first locking mechanism 201 is no longer limited by the first guide rod, so that the locking body 210 and the friction member 220 of the first locking mechanism 201 move in the contraction direction of the first end effector 310, thereby bringing The first end actuator 310 is driven to move in its contraction direction to achieve the separation of the first end actuator 310 from the shelf 1000; similarly, the driving member 290 of the second locking mechanism 202 pushes the unlocking member 240 to rotate to the first position, so that the unlocking member 240 of the second locking mechanism 202 pushes the friction member 220 of the second locking mechanism 202 to rotate to the active position. At this time, the friction member 220 of the second locking mechanism 202 is no longer limited by the second guide rod, so that the locking body 210 and the friction member 220 of the second locking mechanism 202 move in the contraction direction of the second end actuator 320, thereby driving the second end actuator 320 to move in its contraction direction to achieve the separation of the second end actuator 320 from the shelf 1000.

[0079] Finally, the transporting device 900 of the transporting robot drives the cargo and the supporting assembly to descend to lower the position of the cargo, and then the transporting robot is moved out of the moving channel 1100 through the moving device 700 of the transporting robot and moved to the position where the cargo needs to be placed.

[0080] It should be noted that the transport robot disclosed in the embodiment of the present application can also be used to transport goods to the shelf 1000. The transport process is similar to the above process and will not be repeated here.

[0081] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A locking mechanism, characterized in that: include: A locking body (210) used to be connected to an end effector (300) of the support assembly; a friction member (220) for being sleeved outside the guide rod (100) of the support assembly and being movable along the guide rod (100) in a first direction; the friction member (220) being connected to the locking body (210); the friction member (220) being rotatable between a static position and a movable position; when the friction member (220) is located at the static position, the friction member (220) and the guide rod (100) are engaged in an upper limit position in a direction opposite to the first direction; when the friction member (220) is located at the movable position, the friction member (220) is movable relative to the guide rod (100) in a direction opposite to the first direction; a first elastic member (230), wherein two ends of the first elastic member (230) are respectively connected to the friction member (220) and the locking body (210), and the first elastic member (230) is used to drive the friction member (220) to rotate to the static position; An unlocking member (240) is movably disposed on the locking body (210), and the unlocking member (240) is used to drive the friction member (220) to rotate to the active position.

2. The locking mechanism according to claim 1, characterized in that: The unlocking member (240) is rotatably connected to the locking body (210) via a first rotating shaft (250), and the unlocking member (240) can rotate between a first position and a second position. When the unlocking member (240) rotates to the first position, the unlocking member (240) pushes the friction member (220) to rotate to the active position; when the unlocking member (240) rotates to the second position, the first elastic member (230) drives the friction member (220) to rotate to the static position.

3. The locking mechanism according to claim 2, characterized in that: The locking mechanism (200) further comprises: A safety member (260) is movably connected to the locking body (210), and when the unlocking member (240) is located at the second position, the safety member (260) is engaged with the unlocking member (240) to limit the rotation of the unlocking member (240).

4. The locking mechanism according to claim 3, characterized in that: The locking mechanism (200) further comprises: A second elastic member (280), two ends of the second elastic member (280) are respectively connected to the unlocking member (240) and the safety member (260); when the line connecting the two ends of the second elastic member (280) is located on the first side of the first plane (600), the second elastic member (280) drives the unlocking member (240) to rotate toward the first position; when the line connecting the two ends of the second elastic member (280) is located on the second side of the first plane (600), the second elastic member (280) drives the unlocking member (240) to lock and rotate toward the second position; the first plane (600) is the plane where the line connecting the two ends of the second elastic member (280) intersects with the rotation axis of the first rotation axis (250), and the first plane (600) coincides with the axis of the first rotation axis (250).

5. The locking mechanism according to claim 4, characterized in that: The safety member (260) is rotatably connected to the locking body (210) via a second rotating shaft (270), and the second rotating shaft (270) is located on a side of the friction member (220) facing away from the first rotating shaft (250); The unlocking member (240) comprises a cam (241) connected to the first rotating shaft (250) and a convex rod (242) connected to the cam (241); a convex direction of the convex rod (242) intersects with a convex direction of a convex portion (2411) of the cam (241), and the convex portion (2411) of the cam (241) can abut against the friction member (220); The safety member (260) is provided with a connecting portion (261), and the connecting portion (261) is located on a side of the friction member (220) away from the first rotating shaft (250) and is located on a side of the safety member (260) away from the first rotating shaft (250); One end of the second elastic member (280) is connected to an end of the protruding rod (242) away from the first rotating shaft (250), and the other end of the second elastic member (280) is connected to the connecting portion (261).

6. The locking mechanism according to claim 3, characterized in that: The locking mechanism (200) further comprises: a driving member (290), the driving member (290) being provided with a first mating surface (291), and in a direction opposite to the first direction, the first mating surface (291) can drive the safety member (260) to move in a direction away from the unlocking member (240), so as to separate the safety member (260) from the unlocking member (240); The driving member (290) is further provided with a second matching surface (292); in the opposite direction to the first direction, the second matching surface (292) can drive the unlocking member (240) to rotate towards the first position.

7. The locking mechanism according to claim 6, characterized in that: The driving member (290) is further provided with a hook portion (293), and the hook portion (293) is located on a side of the second mating surface (292) close to the friction member (220). An accommodating groove (294) is formed between the first mating surface (291), the second mating surface (292) and the hook portion (293). When the driving member (290) moves in a direction opposite to the first direction, a portion of the unlocking member (240) can extend into the accommodating groove (294), and when the unlocking member (240) is located at the second position, the hook portion (293) is hooked with the unlocking member (240).

8. The locking mechanism according to claim 1, characterized in that: The locking body (210) comprises: The carrier (211) comprises a locking plate (2111) and a supporting portion (2112) connected to the locking plate (2111), the unlocking member (240) is rotatably arranged on the locking plate (2111), the supporting portion (2112) is used to be sleeved outside the guide rod (100), the friction member (220) is located between the supporting portion (2112) and the unlocking member (240), and two ends of the first elastic member (230) are respectively connected to the friction member (220) and the supporting portion (2112); The force-bearing portion (212) is used to be connected to the end effector (300), the force-bearing portion (212) is connected to the locking plate (2111), the force-bearing portion (212) and the first elastic member (230) are respectively located on two sides of the guide rod (100), and the edge of the friction member (220) away from the first elastic member (230) is located between the support portion (2112) and the force-bearing portion (212) and abuts against the support portion (2112) and the force-bearing portion (212) respectively.

9. A support assembly, characterized in that: The invention comprises an end effector (300), a guide rod (100) and a locking mechanism (200) according to any one of claims 1 to 8, wherein a friction member (220) of the locking mechanism (200) is sleeved outside the guide rod (100), and the end effector (300) is connected to a locking body (210) of the locking mechanism (200).

10. The support assembly according to claim 9, characterized in that The support assembly further comprises a power device (400), the locking mechanism (200) comprises a driving member (290), the driving member (290) being connectable to an unlocking member (240) of the locking mechanism (200) so as to drive the friction member (220) and the locking body (210) to move via the unlocking member (240), and the power device (400) being connected to the driving member (290) and being used to drive the driving member (290) to move along the length direction of the guide rod (100).

11. The support assembly according to claim 10, characterized in that The support assembly comprises at least two end effectors (300), including a first end effector (310) and a second end effector (320); The support assembly further comprises at least two locking mechanisms (200), including a first locking mechanism (201) and a second locking mechanism (202); The first end effector (310) is connected to the locking body (210) of the first locking mechanism (201), the second end effector (320) is connected to the locking body (210) of the second locking mechanism (202), the driving member (290) of the first locking mechanism (201) and the driving member (290) of the second locking mechanism (202) are both connected to the power device (400), and the moving directions of the driving member (290) of the first locking mechanism (201) and the driving member (290) of the second locking mechanism (202) are opposite, so that the first end effector (310) and the second end effector (320) move in opposite directions.

12. A transport robot, characterized in that: The invention comprises a door frame (800), a handling device (900) and a support assembly according to any one of claims 9 to 11, wherein the handling device (900) is movably arranged on the door frame (800), the support assembly is arranged on the handling device (900), and the support assembly comprises at least two end effectors (300), each of the end effectors (300) can be respectively extended and retracted relative to the handling device (900), and the at least two end effectors (300) can be extended and respectively abutted against two shelves (1000) located on opposite sides of a moving channel (1100) of a storage system; When the end effector (300) is in contact with the shelf (1000), the friction member (220) of the locking mechanism (200) of the support assembly cooperates with the guide rod (100) in an upper limit position in the contraction direction of the end effector (300); When a portion of the at least two end effectors (300) first abuts against one of the two shelves (1000), another portion of the at least two end effectors (300) may continue to extend until abutting against the other of the two shelves (1000).

13. A storage system, characterized in that: It comprises at least two shelves (1000) and the transport robot according to claim 12, wherein a moving passage (1100) for the transport robot to pass through is formed between two adjacent shelves (1000).

Images