Tray assembly, handling robot and warehousing system

Abstract

This disclosure provides a pallet assembly, a handling robot, and a warehousing system, relating to the field of intelligent warehousing technology, to solve the problem of easy displacement of material bins. The pallet assembly includes a pallet, two adjustment mechanisms, and a limiting mechanism. The pallet has a bearing surface for supporting the material bins. The two adjustment mechanisms are movably connected to the bearing surface and symmetrically arranged on both sides of the direction in which the material bins enter and exit the pallet. The two adjustment mechanisms can move towards or away from each other to keep the material bins in the center of the pallet. The limiting mechanism is disposed on the pallet and connected to the adjustment mechanisms, and is configured to: lock the adjustment mechanisms in a first state; and release the locking of the adjustment mechanisms in a second state. This disclosure can prevent the material bins from shifting, improving the positioning accuracy and working efficiency of the handling robot.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, and in particular to a pallet assembly, a handling robot, and a warehousing system. Background Technology

[0002] With the development of the logistics industry, handling robots are gradually being applied to cargo handling, which can improve the efficiency of cargo handling; therefore, handling robots have become a research hotspot in the logistics industry.

[0003] In related technologies, a handling robot includes a frame and a pallet assembly and forks mounted on the frame, wherein the forks are used to place boxes located on storage racks onto the pallet assembly, or to place boxes located on the pallet assembly onto the storage racks.

[0004] However, when the handling robot moves the material box, the material box is prone to inertial displacement, which affects the positioning accuracy and working efficiency of the handling robot. Summary of the Invention

[0005] In view of the above problems, this disclosure provides a pallet assembly, a handling robot, and a warehousing system to prevent the material bin from shifting, thereby improving the positioning accuracy and working efficiency of the handling robot.

[0006] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0007] A first aspect of this disclosure provides a tray assembly, which includes: a tray, two adjustment mechanisms, and a limiting mechanism;

[0008] The pallet has a bearing surface for supporting the material bin;

[0009] The two adjustment mechanisms are movably connected to the bearing surface and are symmetrically arranged on both sides of the direction in which the material box enters and exits the pallet; the two adjustment mechanisms can move towards or away from each other so that the material box is located in the center of the pallet;

[0010] The limiting mechanism is disposed on the tray and connected to the adjusting mechanism. The limiting mechanism is configured to: lock the adjusting mechanism in a first state; and release the locking of the adjusting mechanism in a second state.

[0011] In one alternative implementation, each of the adjusting mechanisms includes a first baffle, a second baffle, and a third baffle; one of the first baffle and the third baffle is connected to the limiting mechanism.

[0012] One end of the first baffle is hinged to the tray, and the other end of the first baffle is hinged to the second baffle;

[0013] The end of the second baffle that faces away from the first baffle is hinged to one end of the third baffle;

[0014] The end of the third baffle away from the second baffle is hinged to the tray, and each hinge point forms the vertices of a quadrilateral.

[0015] In one alternative implementation, the length of the second baffle is greater than the lengths of the first baffle and the third baffle.

[0016] In one alternative implementation, the first baffle is connected to the limiting mechanism, and the third baffle is provided with a clearance area for avoiding the second baffle.

[0017] In one optional implementation, the adjustment mechanism further includes a first hinge shaft and a second hinge shaft, the first baffle is rotatably connected to the tray via the first hinge shaft, and the end of the first hinge shaft facing away from the first baffle is connected to the limiting mechanism.

[0018] The third baffle is rotatably connected to the tray via the second hinge shaft.

[0019] In one alternative implementation, the adjustment mechanism further includes two first elastic reset members, one of which is sleeved on the first hinge shaft and the other of which is sleeved on the second hinge shaft. When the hopper is moved out of the pallet, the two first elastic reset members are used to drive one of the adjustment mechanisms to move toward the other adjustment mechanism.

[0020] In one alternative implementation, the first elastic reset element includes a torsion spring;

[0021] The tray is provided with a torsion spring limiting plate, one end of the torsion spring abuts against the torsion spring limiting plate, and the other end of the torsion spring abuts against the first baffle.

[0022] In one optional implementation, the limiting mechanism includes a first limiting member and a second limiting member, the first limiting member being disposed on the tray and the second limiting member being connected to the adjusting mechanism;

[0023] The first state is when the first limiting member and the second limiting member are fixed to each other, thus locking the adjustment mechanism;

[0024] The second state is that the first limiting member and the second limiting member are separated from each other, releasing the locking of the adjustment mechanism.

[0025] In one alternative implementation, the first limiting member can move toward or away from the second limiting member to achieve mutual fixation or separation between the first limiting member and the second limiting member.

[0026] In one optional implementation, the limiting mechanism further includes a trigger connected to the first limiting member. The end of the trigger away from the first limiting member is located outside the tray. When the end of the trigger away from the first limiting member is triggered, it can drive the first limiting member to move relative to the tray, so as to separate the first limiting member and the second limiting member.

[0027] In one optional implementation, the trigger includes a trigger rod and a trigger plate connected to the trigger rod, the trigger plate being connected to the first limiting member;

[0028] The tray is provided with a connecting hole, and the end of the trigger rod facing away from the trigger plate passes through the connecting hole and out of the tray.

[0029] In one optional implementation, the first limiting member includes a mounting support, a connecting shaft, a second elastic reset member, and a limiting part;

[0030] The mounting bracket is disposed on the surface of the tray opposite to the adjustment mechanism, the connecting shaft is disposed on the mounting bracket, and the axis of the connecting shaft is parallel to the bearing surface.

[0031] The limiting part is slidably connected to the connecting shaft;

[0032] The second elastic reset member is sleeved on the connecting shaft and located between the limiting part and the mounting support. The second elastic reset member is configured to drive the limiting part to move toward the second limiting member.

[0033] In one optional implementation, the limiting part includes a limiting rack; the second limiting member includes a limiting gear, which is disposed on the mounting support;

[0034] The first hinge shaft of the adjustment mechanism is connected to the limiting gear.

[0035] In one optional implementation, the limiting gear is provided with a limiting hole, and the curvature of the limiting hole is consistent with the curvature of the limiting gear.

[0036] The mounting bracket is provided with a limiting shaft, and the end of the limiting shaft opposite to the mounting bracket passes through the limiting hole and out of the limiting gear.

[0037] In one alternative implementation, the limiting part includes a pawl, and the second limiting member includes a ratchet, the ratchet being disposed on the mounting bracket;

[0038] The first hinge shaft of the adjustment mechanism is connected to the ratchet.

[0039] A second aspect of this disclosure provides a handling robot, including a frame, forks, and a pallet assembly as described in the first aspect;

[0040] The tray assembly is mounted on the frame;

[0041] The forks are mounted on the frame and move up and down along the frame, wherein the forks include a telescopic pallet configured to contact a trigger of the pallet assembly when the telescopic pallet is extended.

[0042] In one alternative implementation, the forks further include a telescopic arm connected to the telescopic pallet for moving the telescopic pallet.

[0043] A third aspect of this disclosure provides a warehousing system including a handling robot as described in the second aspect.

[0044] The pallet assembly, handling robot, and warehousing system provided in this disclosure embodiment, by movably connecting the adjustment mechanism to the pallet, when the material box enters or leaves the pallet, the two adjustment mechanisms can move towards or away from each other by relying on the interaction force between themselves and the material box, in order to correct the material box located on the pallet so that the material box is located in the center of the pallet. In this way, when the material box is subsequently handled by the forks of the handling machine, it can be ensured that the forks can accurately pick up the material box, thereby improving the operating accuracy and work efficiency of the handling robot.

[0045] In addition, the tray is equipped with a limiting mechanism to lock or unlock the adjustment mechanism, thus preventing excessive movement of the adjustment mechanism and ensuring precise limiting of the adjustment mechanism.

[0046] In addition to the technical problems solved by the embodiments of this disclosure, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the pallet assembly, handling robot, and warehousing system provided by the embodiments of this disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A perspective view of the tray assembly provided in an embodiment of this disclosure;

[0049] Figure 2 A top view of the tray assembly provided in an embodiment of this disclosure;

[0050] Figure 3 A front view of the tray assembly provided in an embodiment of this disclosure;

[0051] Figure 4 A bottom view of the tray assembly provided in an embodiment of this disclosure;

[0052] Figure 5 This is a partial structural schematic diagram of the tray assembly provided in an embodiment of the present disclosure;

[0053] Figure 6 for Figure 4 Enlarged diagram of the middle section;

[0054] Figures 7 to 10 Schematic diagrams of the pallet assembly and hopper provided in embodiments of this disclosure under different states;

[0055] Figure 11 This is a schematic diagram of the structure of the handling robot provided in an embodiment of this disclosure.

[0056] Explanation of reference numerals in the attached figures:

[0057] 100: Pallet assembly;

[0058] 110: Pallet; 111: Bearing surface; 112: Connecting hole;

[0059] 120: Adjustment mechanism; 121: First baffle; 122: Second baffle; 123: Third baffle; 124: First hinge shaft; 125: Second hinge shaft; 126: First elastic reset element; 127: Torsion spring limiting plate;

[0060] 130: First limiting component; 131: Mounting support; 132: Connecting shaft; 133: Second elastic reset component; 134: Limiting rack;

[0061] 140: Second limiting component; 141: Limiting hole; 142: Limiting shaft;

[0062] 150: Trigger element; 151: Trigger lever; 152: Trigger plate;

[0063] 200: Rack; 210: Movable base; 220: Lifting frame;

[0064] 300: Forks; 310: Telescopic pallet;

[0065] 400: Material bin. Detailed Implementation

[0066] As described in the background section, there is a problem in the related technology where the position of the bin on the pallet shifts. The inventors have found that the reason for this problem is that the size of the pallet is larger than the size of the bin, and there is no limiting mechanism on the pallet. As a result, when the handling robot moves the bin, the bin is prone to inertial shift, causing the bin to deviate from the center position of the pallet. When using the forks to move the bin located on the pallet, it is difficult to accurately pick up the bin, which reduces the positioning accuracy and working efficiency of the handling robot.

[0067] To address the aforementioned technical problems, this disclosure provides a pallet assembly, a handling robot, and a warehousing system. By movably connecting adjustment mechanisms to the pallet, when a bin enters or leaves the pallet, the two adjustment mechanisms can move in opposite directions or away from each other due to the interaction force between themselves and the bin. This is used to correct the bin located on the pallet so that the bin is positioned in a relatively centered position on the pallet. In this way, when the forks of the handling robot are used to handle the bin, it can be ensured that the forks can accurately pick up the bin, thus improving the operating accuracy and work efficiency of the handling robot.

[0068] In addition, the tray is equipped with a limiting mechanism to lock or unlock the adjustment mechanism, thus preventing excessive movement of the adjustment mechanism and ensuring precise limiting of the adjustment mechanism.

[0069] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0070] Example 1

[0071] Please refer to the attached document. Figure 1 To be continued Figure 10This disclosure provides a pallet assembly 100 that can be applied to equipment in a warehousing system, such as a handling robot; or to other equipment, such as an elevator.

[0072] Please refer to Figure 1 and Figure 3 The pallet assembly 100 includes a pallet 110, two adjustment mechanisms 120 and a limiting mechanism; the two adjustment mechanisms 120 and the limiting mechanism are all disposed on the pallet 110.

[0073] Pallet 110 has a bearing surface 111 for bearing the hopper 400, so as to... Figure 1 Taking the orientation shown as an example, the bearing surface 111 can be the upper surface of the pallet 110. The pallet 110 can be a regular shape, such as a rectangle.

[0074] Two adjustment mechanisms 120 are movably connected to the bearing surface 111. For example, the two adjustment mechanisms 120 are rotatably connected to the bearing surface 112 respectively, so as to facilitate the relative or opposite movements of the two adjustment mechanisms 120.

[0075] Two adjusting mechanisms 120 are also symmetrically arranged on both sides of the material bin 400 in the direction of entering and exiting the pallet 110, that is, the two adjusting mechanisms 120 are symmetrically arranged on the bearing surface 111 with respect to the direction of entering and exiting the material bin 400 on the pallet 110. It should be noted that the direction of entering and exiting the material bin 400 on the pallet 110 can be the length direction of the pallet 110, that is, attached... Figure 1 In the S1 direction.

[0076] The two adjustment mechanisms 120 can move towards or away from each other to center the bin 400 on the pallet 110. For example, when the bin 400 moves in or out of the pallet 110 along its length, it comes into contact with the pallet 110. Through the interaction force between them, the position of the bin 400 on the pallet 110 is corrected, so that the bin 400 is relatively centered on the pallet 110. In this way, when the forks of the handling robot are used to move the bin, it can be ensured that the forks can accurately pick up the bin, improving the operating accuracy and efficiency of the handling robot.

[0077] With attachment Figure 1Taking the orientation shown as an example, the tray 110 has a first wide side and a second wide side that are set opposite to each other along its length direction. The tray 110 has a first center line S1 extending along its length direction and a second center line S2 extending along its width direction. The tray 110 is symmetrical with respect to the first center line S1. The distance between the second center line S2 and the first wide side is equal to the distance between the second center line S2 and the second wide side. At this time, the position where the first center line S1 and the second center line S2 intersect is the center of the tray 110. Based on this center, a certain range around this center can be the relatively central position of the tray 110.

[0078] A limiting mechanism is mounted on pallet 110 and connected to adjusting mechanism 120. The limiting mechanism is configured to: lock the adjusting mechanism in a first state; and release the locking of adjusting mechanism 120 in a second state. This configuration prevents the hopper 400 from moving within the pallet when the limiting mechanism locks the adjusting mechanism, thus facilitating better control of the hopper 400. When the limiting mechanism releases the locking of the adjusting mechanism, it indirectly releases the control of the hopper 400, allowing it to move on pallet 110 and facilitating the removal of the hopper by the forks of the handling robot.

[0079] It should be noted that in this embodiment, the first state can be understood as the working state of the limiting mechanism when the material box 400 is in a relatively central position on the pallet 110; the second state can be understood as the working state of the limiting mechanism when the material box 400 is moving.

[0080] In one possible implementation, please refer to the appendix. Figure 2 Each adjustment mechanism 120 includes a first baffle 121, a second baffle 122, and a third baffle 123. One end of the first baffle 121 is hinged to the tray 110, and the other end of the first baffle 121 is hinged to the second baffle 122. The end of the second baffle 122 away from the first baffle 121 is hinged to one end of the third baffle 123. The end of the third baffle 123 away from the second baffle 122 is hinged to the tray 110. Each hinge point forms the vertex of a quadrilateral, preferably the vertex of a parallelogram.

[0081] One of the first baffle 121 and the third baffle 123 is connected to the limiting mechanism, such that one of the first baffle 121 and the third baffle 123 serves as the driving end of the adjusting mechanism 120. For example, please refer to the appendix. Figure 5The first baffle 121 is connected to the limiting mechanism, and the third baffle 123 is provided with a clearance area 1231. When the first baffle 121 drives the second baffle 122 to rotate counterclockwise around the hinge point of the two, the second baffle 122 will interfere with the third baffle 123, hindering the movement of the second baffle 122. Therefore, in this embodiment, a clearance area 1231 is provided on the third baffle 123 to avoid the second baffle 122; that is, when the second baffle 122 rotates counterclockwise, part of the second baffle 122 will be accommodated in the clearance area 1231 so that the second baffle 122 can rotate normally, thereby enabling the two adjusting mechanisms to move in opposite directions.

[0082] Please refer to the attached document. Figure 7 To be continued Figure 10 When the hopper 400 enters the pallet 110 along its length, it first contacts the first baffle 121, applying a force to it. This force causes the first baffle 121 to rotate counterclockwise relative to its hinge axis, which in turn causes the second baffle 122 and the third baffle 123 to rotate counterclockwise as well. This causes the two adjusting mechanisms 120 to move in opposite directions until the mid-distance between the second baffle 122 and the second baffle 122 aligns with the width of the hopper 400, placing the hopper 400 in a relatively centered position on the pallet 110. In this way, when the forks of the handling robot are used to move the hopper, it can be ensured that the forks can accurately pick up the hopper, improving the operational accuracy and efficiency of the handling robot.

[0083] In one possible implementation, the length of the second baffle 122 is greater than the lengths of the first baffle 121 and the third baffle 123. For example, the lengths of the first baffle 121 and the third baffle 123 are equal and less than the length of the second baffle 122. This reduces the resistance during the rotation of the second baffle 122, thereby saving time and effort.

[0084] In one possible implementation, please continue to refer to the appendix. Figure 5 The adjustment mechanism 120 also includes a first hinge shaft 124 and a second hinge shaft 125. The first baffle 121 is rotatably connected to the tray 110 via the first hinge shaft 124, and the end of the first hinge shaft 124 facing away from the first baffle 121 is connected to the limiting mechanism. The third baffle 123 is rotatably connected to the tray 110 via the second hinge shaft 125.

[0085] The first hinge shaft 124 is rotatably connected to the pallet 110 and extends through the pallet 110 along its thickness, with its two ends positioned on the upper and lower sides of the pallet 110, respectively. For example, one end of the first hinge shaft 124 may be above the pallet 110, and the other end may be below it. This facilitates the connection of the first baffle 121 to the bearing surface 111 of the pallet 110, and the connection of the limiting mechanism to the lower surface of the pallet 110, preventing both the first baffle 121 and the limiting mechanism from being simultaneously located on the bearing surface 111 and thus preventing interference between the limiting mechanism and the material box located on the bearing surface 111. Furthermore, this design improves the aesthetics of the pallet assembly 100 and enhances the user experience.

[0086] In one possible implementation, please continue to refer to the appendix. Figure 5 The adjustment mechanism 120 also includes two first elastic reset members 126, one of which is sleeved on the first hinge shaft 124 and the other is sleeved on the second hinge shaft 125.

[0087] In a specific implementation, when the hopper 400 is removed from the tray 110, the two first elastic reset members 126 are used to drive one of the adjustment mechanisms 120 to move toward the other adjustment mechanism 120, so that the two adjustment mechanisms 120 move relative to each other, so that the two adjustment mechanisms 120 return to their initial state, so as to receive the next hopper 400.

[0088] It should be understood that the two adjustment mechanisms 120 return to their initial state when the second baffle 122 of the two adjustment mechanisms 120 is closest to each other.

[0089] The first elastic reset member 126 includes a tension spring, a compression spring, or a torsion spring. In one example, the first elastic reset member 126 is a torsion spring; a torsion spring limiting plate 127 is provided on the tray 110, one end of the torsion spring abuts against the torsion spring limiting plate 127, and the other end of the torsion spring abuts against the first baffle 121.

[0090] When the two adjustment mechanisms 120 move in opposite directions, the torsion spring is subjected to the force of the first baffle 121, and will undergo elastic deformation. The elastic deformation is stored in the torsion spring. Later, when the tray is removed from the hopper, the elastic deformation stored in the torsion spring will be released, and the two adjustment mechanisms 120 will return to their initial state.

[0091] It should be noted that one end of the torsion spring can directly abut against the surface of the torsion spring limiting plate 127, or it can be configured in other ways. For example, the torsion spring limiting plate 127 is provided with a limiting groove, and one end of the torsion spring is located in the limiting groove and abuts against the inner wall of the limiting groove. In this way, one end of the torsion spring can be prevented from detaching from the torsion spring limiting plate 127, while ensuring the timeliness and effectiveness of force transmission between the torsion spring and the first baffle 121.

[0092] In addition, the first elastic reset member 126 can also be in other forms. For example, when the first elastic reset member 126 is a tension spring, the first elastic reset member 126 changes from a stretched state to a compressed state. As another example, when the first elastic reset member 126 is a compression spring, the first elastic reset member 126 changes from a compressed state to a stretched state.

[0093] In one possible implementation, please refer to the appendix. Figure 4 The limiting mechanism includes a first limiting member 130 and a second limiting member 140. The first limiting member 130 is disposed on the tray 110, for example, on the surface of the tray 110 opposite to the bearing surface 111. The second limiting member 140 is connected to the adjusting mechanism 120, for example, the second limiting member 140 is connected to the first hinge shaft 124 of the adjusting mechanism 120.

[0094] When the limiting mechanism is in the first state, that is, when the first limiting member 130 and the second limiting member 140 are fixed to each other, the second limiting member 140 can be prevented from continuing to move, and the limiting mechanism can be used to lock the adjusting mechanism 120.

[0095] When the limiting mechanism is in the second state, that is, when the first limiting member 130 and the second limiting member 140 are separated from each other, the first limiting member 130 releases the lock on the first hinge shaft 124, and thus can release the lock on the adjusting mechanism 120.

[0096] This configuration, by locking or unlocking the adjustment mechanism through a limit mechanism, can prevent the adjustment mechanism from moving excessively, thus ensuring precise limiting of the adjustment mechanism.

[0097] In one possible implementation, the first limiting member 130 is movable relative to the second limiting member 140, either toward or away from the second limiting member 140. When the first limiting member 130 moves toward the second limiting member 140, the first limiting member 130 and the second limiting member 140 are fixed together. When the first limiting member 130 moves away from the second limiting member 140, the first limiting member 130 and the second limiting member 140 are separated. It should be noted that the drive component for providing power to the first limiting member 130 can be a motor mounted on the tray 110, with its output shaft connected to the first limiting member 130, thereby driving the first limiting member 130 to move. Other drive structures are also possible.

[0098] For example, the limiting mechanism also includes a trigger 150 connected to the first limiting member 130. The end of the trigger 150 away from the first limiting member 130 is located outside the tray 110. When the end of the trigger 150 away from the first limiting member 130 is triggered, it can drive the first limiting member to move relative to the tray 110, so as to separate the first limiting member 130 and the second limiting member 140.

[0099] In practical implementation, when the material bin 400 is placed on the pallet 110, the forks of the handling robot will touch the trigger 150. As the forks continue to move toward the pallet assembly 100, the forks will push the trigger 150 to move along the length of the pallet 110, thereby causing the first limiting member 130 to move away from the second limiting member 140, so that the first limiting member 130 and the second limiting member 140 are separated, thereby unlocking the adjusting mechanism 120 by the limiting mechanism.

[0100] When the bin 400 moves along the length of the pallet 110, it comes into contact with the pallet 110. Through their relative interaction, the bin 400's position on the pallet 110 is corrected, ensuring it is relatively centered. This allows the forks of the handling robot to accurately pick up the bin, improving the robot's operational accuracy and efficiency.

[0101] In some embodiments, the trigger 150 may include a trigger rod 151, or a trigger plate 152 connected to the trigger rod 151.

[0102] For example, please continue to refer to the appendix. Figure 6The trigger element 150 includes a trigger rod 151 and a trigger plate 152 connected to the trigger rod 151, wherein one end of the trigger rod 151 facing away from the trigger plate 152 protrudes from the pallet 110. For example, the pallet 110 is provided with a connecting hole 112, and the end of the trigger rod 151 facing away from the trigger plate 152 passes through the connecting hole 112 to protrude from the pallet 110, so that the end of the trigger rod 151 facing away from the trigger plate 152 can contact the forks.

[0103] The trigger plate 152 is connected to the first limiting member 130. In this embodiment, by setting the trigger plate 152, the contact area between the trigger member 150 and the first limiting member 130 can be increased, thereby improving the stability of the tray assembly 100.

[0104] In addition, the trigger plate 152 can be connected to two first limiting members 130 at the same time, thereby enabling one trigger plate 152 to be connected to two adjusting mechanisms 120 at the same time. This simplifies the structure of the tray assembly 100 and reduces the manufacturing difficulty of the tray assembly 100.

[0105] In this embodiment, the number of trigger rods 151 can be one or two. When there are two trigger rods 151, the two trigger rods 151 can be arranged at intervals on the trigger plate 152. In this way, the contact area between the trigger member 150 and the fork can be increased, thereby ensuring that the first limiting member 130 is triggered in a timely and effective manner.

[0106] In some embodiments, please continue to refer to the appendix. Figure 4 and attached Figure 6 The first limiting member 130 includes a mounting support 131, a connecting shaft 132, a second elastic reset member 133, and a limiting part. The mounting support 131 is disposed on the surface of the tray 110 facing away from the adjustment mechanism 120. For example, the mounting support 131 can be welded or bolted to the surface of the tray 110 facing away from the adjustment mechanism 120. The connecting shaft 132 is disposed on the mounting support 131, with its axis parallel to the bearing surface and its extension direction parallel to the length direction of the tray 110. The limiting part is slidably connected to the connecting shaft 132. The second elastic reset member 133 is sleeved on the connecting shaft 132 and located between the limiting part and the mounting support 131. The second elastic reset member 133 is configured to drive the limiting part to move towards the second limiting member 140.

[0107] When the forks of the handling robot trigger the trigger 150, the limiting part compresses the second elastic reset member 133, so that the second elastic reset member 133 is in a compressed state; when the forks of the handling robot release the trigger 150, the second elastic reset member 133, during the elastic recovery process, drives the limiting part to move toward the second limiting member 140, so as to achieve mutual fixation of the first limiting member 130 and the second limiting member 140.

[0108] It should be noted that in this embodiment, the first limiting member 130 and the second limiting member 140 can be connected by meshing or by plugging.

[0109] In one example, please refer to the appendix. Figure 4 To be continued Figure 6 The limiting part includes a limiting rack 134; the second limiting member 140 includes a limiting gear, which is mounted on the mounting support 131; the first hinge shaft 124 of the adjusting mechanism 120 is connected to the limiting gear. That is, the end of the first hinge shaft 124 facing away from the first baffle 121 passes through the shaft hole of the limiting gear. Through the meshing of the limiting rack 134 and the limiting gear, the first limiting member 130 and the second limiting member 140 are mutually fixed.

[0110] The limiting gear is provided with a limiting hole 141, and the curvature of the limiting hole 141 is consistent with the curvature of the limiting gear; the mounting support 131 is provided with a limiting shaft 142, and the end of the limiting shaft 142 facing away from the mounting support 131 passes through the limiting hole 141 and exits the limiting gear.

[0111] When the limiting rack 134 and the limiting gear separate, the limiting mechanism releases the lock on the adjusting mechanism 120. At this time, the first baffle 121 will drive the limiting gear to rotate around the first hinge shaft 124. In this embodiment, by setting the limiting shaft 142 and the limiting hole 141, the movement path of the limiting gear can be limited, thereby limiting the movement path of the first baffle 121, preventing the first baffle 121 from rotating excessively, and improving the stability of the tray assembly 100.

[0112] In another example, the limiting part includes a pawl (not shown in the figure), the second limiting member includes a ratchet (not shown in the figure), the ratchet is disposed on the mounting support 131; the first hinge shaft 124 of the adjusting mechanism 120 is connected to the ratchet.

[0113] When the trigger 150 is activated, it can move the pawl. When the pawl engages in the slot of the ratchet, the first limiting member 130 and the second limiting member 140 can be fixed to each other. The ratchet can only rotate when the pawl disengages from the slot of the ratchet.

[0114] Example 2

[0115] Please refer to the attached document. Figure 11 This embodiment provides a handling robot, including a frame 200, forks 300, and a pallet assembly 100 as described in Embodiment 1.

[0116] Pallet assembly 100 is mounted on frame 200; forks 300 are mounted on frame 200 and move up and down along frame 200. Forks 300 include telescopic pallet 310, which is configured such that when telescopic pallet 310 is extended, it can contact trigger 150 of pallet assembly 100, causing forks 300 to push trigger 150 to move along the length of pallet 110, thereby causing first limiting member 130 in pallet assembly 100 to move away from second limiting member 140, so that first limiting member 130 and second limiting member 140 are separated, thereby unlocking the adjusting mechanism 120 by limiting mechanism.

[0117] When the bin 400 moves along the length of the pallet 110, it comes into contact with the pallet 110. Through the interaction force between them, the position of the bin 400 on the pallet 110 is corrected, ensuring that the bin 400 is in a relatively centered position on the pallet 110. This ensures that the forks of the handling robot can accurately pick up the bin, improving the robot's operational accuracy and efficiency.

[0118] In one possible implementation, the frame 200 includes a movable base 210 and a lifting frame 220. The movable base 210 may include a base plate and a walking mechanism (not shown in the figure) disposed on the side of the base plate facing the ground. The walking mechanism may include multiple walking wheels and a drive mechanism. The multiple walking wheels include driving wheels and driven wheels. The driving wheels are connected to the drive mechanism. Under the drive of the drive mechanism, the movable base 210 can move or turn, thereby moving the handling robot to the working position.

[0119] The bottom end of the lifting frame 220 is mounted on the movable base 210. For example, the bottom end of the lifting frame 220 is welded to the upper surface of the movable base 210. The lifting frame 220 may include two spaced columns, the bottom ends of which are fixed to the movable base 210.

[0120] The forks 300 are slidably mounted on the lifting frame 220. For example, the forks can be slidably mounted on the column, and the forks can move in a direction perpendicular to the movable base 210 to adjust the height of the forks 300 from the ground, thereby facilitating the forks 300 to pick up and place goods at different heights.

[0121] The fork 300 also includes a telescopic arm (not shown in the figure), which is connected to the telescopic pallet 310 and is used to move the telescopic pallet 310. That is, the telescopic arm is used to move the telescopic pallet 310 back and forth along its own length.

[0122] It should be noted that the structure of the telescopic arm is the same as that in related technologies, and will not be described in detail here.

[0123] Example 3

[0124] This embodiment provides a warehousing system including the handling robot of Embodiment 2 and at least two shelves (not shown in the figure), with a passageway formed between adjacent shelves for the handling robot to walk in; the handling robot can walk in the passageway to place the bin 400 on the shelf, or to stack the goods located on the shelf to other locations.

[0125] The structure and working principle of the handling robot have been described in detail in the above embodiments, and will not be repeated here.

[0126] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0127] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A tray assembly, characterized by The tray, two adjusting mechanisms and a limiting mechanism are included; The tray has a bearing surface for bearing a material box; The two adjusting mechanisms are movably connected to the bearing surface and symmetrically arranged on both sides of the direction in which the material box enters or exits the tray; the two adjusting mechanisms can move towards or away from each other to make the material box be located at the central position of the tray; The adjusting mechanism includes a first hinge shaft, a second hinge shaft and two first elastic return members, one of the first elastic return members is sleeved on the first hinge shaft, and the other first elastic return member is sleeved on the second hinge shaft, when the material box moves out of the tray, the two first elastic return members are used to drive one of the adjusting mechanisms to move towards the other adjusting mechanism; The limiting mechanism is arranged on the tray and connected with the adjusting mechanism, and is configured to lock the adjusting mechanism in a first state and unlock the adjusting mechanism in a second state; The limiting mechanism includes a first limiting member and a second limiting member, the first limiting member is arranged on the tray, and the second limiting member is connected with the adjusting mechanism; The first state is that the first limiting member and the second limiting member are fixed to each other to lock the adjusting mechanism; The second state is that the first limiting member and the second limiting member are separated from each other to unlock the adjusting mechanism; The first limiting member can move towards or away from the second limiting member to make the first limiting member and the second limiting member be fixed to each other or separated from each other; The limiting mechanism further includes a trigger member connected with the first limiting member, an end of the trigger member away from the first limiting member is located outside the tray, and when the end of the trigger member away from the first limiting member is triggered, the first limiting member can be driven to move relative to the tray to separate the first limiting member and the second limiting member.

2. The tray assembly of claim 1, wherein, Each adjusting mechanism includes a first baffle, a second baffle and a third baffle; one of the first baffle and the third baffle is connected with the limiting mechanism; One end of the first baffle is hingedly connected to the tray, and the other end of the first baffle is hingedly connected with the second baffle; One end of the second baffle away from the first baffle is hingedly connected with one end of the third baffle; The other end of the third baffle away from the second baffle is hingedly connected with the tray, and each hinge point constitutes a vertex of a quadrilateral.

3. The tray assembly of claim 2, wherein, The length of the second baffle is greater than the lengths of the first baffle and the third baffle.

4. The tray assembly of claim 2, wherein, The first baffle is connected with the limiting mechanism, and the third baffle is provided with a avoiding area for avoiding the second baffle.

5. The tray assembly of claim 2, wherein, The first baffle is rotatably connected to the tray through the first hinge shaft, and one end of the first hinge shaft away from the first baffle is connected with the limiting mechanism; The third baffle is rotatably connected to the tray through the second hinge shaft.

6. The tray assembly of claim 5, wherein, The first elastic return member includes a torsion spring; The tray is provided with a torsion spring limiting plate, one end of the torsion spring abuts against the torsion spring limiting plate, and the other end of the torsion spring is used to abut against the first baffle.

7. The tray assembly of any one of claims 1-6, wherein, The trigger piece comprises a trigger rod and a trigger plate connected with the trigger rod, and the trigger plate is connected with the first limiting piece; The tray is provided with a communication hole, and an end of the trigger rod away from the trigger plate penetrates through the tray through the communication hole.

8. The tray assembly of claim 7, wherein, The first limiting piece comprises a mounting support, a connecting shaft, a second elastic reset piece and a limiting part; The mounting support is arranged on a surface of the tray away from the adjusting mechanism, the connecting shaft is arranged on the mounting support, and the axis of the connecting shaft is parallel to the bearing surface; The limiting part is slidingly connected on the connecting shaft; The second elastic reset piece is sleeved on the connecting shaft and located between the limiting part and the mounting support, and the second elastic reset piece is configured to drive the limiting part to move towards the second limiting piece.

9. The tray assembly of claim 8, wherein, The limiting part comprises a limiting rack, and the second limiting piece comprises a limiting gear arranged on the mounting support; The first hinge shaft of the adjusting mechanism is connected with the limiting gear.

10. The tray assembly of claim 9, wherein, The limiting gear is provided with a limiting hole, and the curvature of the limiting hole is consistent with the curvature of the limiting gear; The mounting support is provided with a limiting shaft, and an end of the limiting shaft away from the mounting support penetrates through the limiting gear through the limiting hole.

11. The tray assembly of claim 8, wherein, The limiting part comprises a pawl, and the second limiting piece comprises a ratchet wheel arranged on the mounting support; The first hinge shaft of the adjusting mechanism is connected with the ratchet wheel.

12. A transport robot characterized by The fork truck comprises a rack, a fork and a tray assembly as claimed in any one of claims 1-11; The tray assembly is arranged on the rack; The fork is mounted on the rack and moves up and down along the rack, wherein the fork comprises a telescopic tray configured to be in contact with the trigger piece of the tray assembly when the telescopic tray is extended.

13. The transport robot of claim 12, wherein, The fork further comprises a telescopic arm connected with the telescopic tray for driving the telescopic tray to move.

14. A warehousing system characterized by The handling robot comprises the handling robot as claimed in claim 12 or claim 13.

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