Transfer Robot and Method for Transferring a Cargo Box

Abstract

The present invention provides a handling robot and a method for transferring a cargo box, belonging to the technical field of robots. It aims to solve the problem that when the cargo box disengages from the picking component, the cargo box may fall to the ground through the gap between the pallet and the storage rack and be damaged. The handling robot includes a pallet, a tension generating mechanism and a base. The pallet is slidably mounted on the base, and under the action of the tension generating mechanism, the pallet can move towards the storage rack and abut against the storage rack, which can eliminate the gap between the storage rack and the pallet and prevent the cargo box from falling to the ground and being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a handling robot and a method for transferring a cargo box. Background Art

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

[0003] The handling robot includes a robot body and a cargo box taking-out device installed on the robot body. The cargo box taking-out device includes a base, a tray and a taking-out assembly installed on the base. The tray is fixedly installed on the base, and a limiting structure is arranged at the rear end of the tray. The taking-out assembly is used to take out the cargo box from the storage shelf and place it on the tray. When transferring the cargo box by using the cargo box taking-out device, in order to prevent the impact force generated when the tray contacts the storage shelf driven by the cargo box taking-out device from causing the storage shelf to overturn, a certain gap needs to be maintained between the tray and the storage shelf; and when the cargo box is transferred to the tray, the limiting structure can abut against the taking-out assembly to prevent the taking-out assembly from disengaging from the tray.

[0004] However, due to the certain gap between the tray and the storage shelf, during the process of transferring the cargo box from the storage shelf to the tray, once the cargo box detaches from the taking-out assembly, it may cause the cargo box to fall to the ground from the gap position and be damaged; and there is a collision between the taking-out assembly and the limiting structure, causing the cargo box to shake between the taking-out assembly, resulting in the cargo box falling off the taking-out assembly and being damaged. Summary of the Invention

[0005] The embodiments of the present invention provide a handling robot and a method for transferring a cargo box. Under the action of a pulling force generating mechanism, the front end of the tray can abut against the storage shelf, which can not only reduce the impact force between the tray and the storage shelf to avoid the overturning of the storage shelf, but also avoid the phenomenon that the cargo box falls to the ground.

[0006] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a handling robot, which includes a base, a tray assembly, a picking component, and a transmission mechanism; the tray assembly and the transmission mechanism are installed on the base, the tray assembly includes a tray, a tension generating mechanism, and a first limiting structure, the tray is slidably installed on the base, the first limiting structure is arranged at the rear end of the tray, and the tension generating mechanism is connected to the tray; the transmission mechanism is connected to the picking component, and the transmission mechanism is used to drive the picking component to reciprocate relative to the base; when the picking component moves towards the direction of the storage rack, the tray moves towards the direction of the cargo box under the pulling of the tension generating mechanism and abuts against the storage rack; when the picking component moves towards the direction away from the storage rack, the picking component abuts against the first limiting structure and drives the tray to reset together; a buffer pad is arranged at the front end of the tray, and the buffer pad is arranged opposite to the storage rack; the first limiting structure is provided with a first buffer corresponding to the picking component; when the picking component moves towards the direction away from the storage rack, the picking component abuts against the first buffer.

[0008] In an optional implementation manner, the base includes two support plates arranged opposite to each other and at intervals, and a bottom connecting plate for connecting the two support plates; the transmission mechanism is installed between the two support plates.

[0009] In an optional implementation manner, the tray includes two pallet boards arranged opposite to each other and at intervals; each pallet board is respectively slidably installed on each support plate, and a channel for the picking component to move is formed between the two pallet boards.

[0010] In an optional implementation manner, the first limiting structure includes a first limiting plate arranged opposite to the picking component; one end of the first limiting plate is fixed to the rear end of the pallet board, and the other end of the first limiting plate is fixed to the rear end of the other pallet board.

[0011] In an optional implementation manner, the tension generating mechanism includes a tension spring; one end of the tension spring is connected to the front end of the support plate, and the other end of the tension spring is connected to the pallet board.

[0012] In an optional implementation manner, the tension generating mechanism includes a first deflecting wheel, a first counterweight, and a first rope; the first deflecting wheel is located at the front end of the support plate, one end of the first rope extends horizontally and is connected to the pallet board; the other end of the first rope bypasses the first deflecting wheel and extends vertically, and is connected to the first counterweight.

[0013] In an alternative embodiment, the transmission mechanism includes a driving wheel assembly, a fixed wheel assembly, and a transmission belt; the fixed wheel assembly includes a first fixed wheel and a second fixed wheel, wherein the first fixed wheel is installed at the front end of the support plate, and the second fixed wheel is installed at the rear end of the support plate; the driving wheel assembly includes a sliding seat, a first driving wheel, and a second driving wheel; wherein the sliding seat is slidably installed on the support plate, the first driving wheel is installed at the front end of the sliding seat, and the second driving wheel is installed at the rear end of the sliding seat; the transmission belt winds around each fixed wheel and each driving wheel, and the transmission belt is fixedly connected to the picking component.

[0014] In an alternative embodiment, the handling robot further includes a reset mechanism; one end of the reset mechanism is connected to the rear end of the sliding seat, and the other end of the reset mechanism is connected to the rear end of the base.

[0015] In an alternative embodiment, the reset mechanism is an elastic belt; one end of the elastic belt is sleeved on the axle of the second driving wheel, and the other end of the elastic belt is connected to the axle of the second fixed wheel.

[0016] In an alternative embodiment, the reset mechanism includes a second deflecting wheel, a second counterweight, and a second rope; the second deflecting wheel is located at the rear end of the base, one end of the second rope extends horizontally and is connected to the rear end of the sliding seat; the other end of the second rope bypasses the second deflecting wheel and extends vertically, and is connected to the second counterweight.

[0017] In an alternative embodiment, a second buffer is provided at the rear end of the sliding seat, and a bumper is provided at the rear end of the base opposite to the second buffer.

[0018] In an alternative embodiment, a second limiting structure is provided at the front end of the sliding seat, and the second limiting structure is disposed opposite to the picking component.

[0019] In an alternative embodiment, the picking component includes a fixed bracket and a plurality of suction cups; the plurality of suction cups are installed on the fixed bracket, and the adsorption surface of the suction cup faces the cargo box to be transferred; the fixed bracket is connected to the transmission belt, and the fixed bracket moves together with the transmission belt.

[0020] In an alternative embodiment, a gripper is provided at one end of the fixed bracket facing the transmission belt; the fixed bracket is fixed to the transmission belt through the gripper.

[0021] In an alternative embodiment, the gripper is provided with a third buffer disposed opposite to the second limiting structure.

[0022] In an alternative embodiment, the handling robot further includes a negative pressure generating device; the negative pressure generating device is communicated with each of the suction cups through an air pipe, and the negative pressure generating device sucks the air in the suction cups to make the suction cups adsorb on the cargo box to be transferred.

[0023] In an alternative embodiment, the handling robot further includes a fault diagnosis system, and the fault diagnosis system includes a gas pressure sensor and a processor; the gas pressure sensor is arranged in the air pipe, and the gas pressure sensor is in signal connection with the processor. The processor determines that the suction cup leaks air when the actual pressure detected by the gas pressure sensor in the air pipe is equal to the atmospheric pressure.

[0024] In an alternative embodiment, the handling robot further includes a first camera; the first camera is installed at the front end of the base and below the base, and the first camera is used to obtain the identification code of the cargo box to be transferred.

[0025] In an alternative embodiment, the handling robot further includes a second camera; the second camera is installed on the rear end of the base through a column, and the second camera is used to collect the physical information and position information of the cargo box to be transferred.

[0026] In a second aspect, an embodiment of the present invention provides a method for transferring a cargo box by using the handling robot. The handling robot includes a base, a tray assembly, a taking-out assembly and a transmission mechanism; the tray assembly includes a tray, a pulling force generating mechanism and a first limiting structure; wherein, the tray is slidably installed on the base, the first limiting structure is arranged at the rear end of the tray, and the pulling force generating mechanism is connected with the tray; the transmission mechanism includes a driving wheel assembly, a fixed wheel assembly and a transmission belt. The driving wheel assembly includes a sliding seat and a second limiting structure installed at the front end of the sliding seat. The transmission belt winds around the driving wheel in the driving wheel assembly and the fixed wheel in the fixed wheel assembly, and the transmission belt is connected with the taking-out assembly; the method includes the following steps:

[0027] The handling robot moves to the front of the storage shelf where the cargo box to be transferred is located;

[0028] The transmission mechanism is used to drive the taking-out assembly to move towards the cargo box, and the tray moves towards the cargo box under the action of the pulling force generating mechanism and abuts against the storage shelf;

[0029] When the taking-out assembly moves to the second limiting structure, the transmission mechanism drives the driving wheel assembly and the taking-out assembly to move towards the cargo box together;

[0030] After the taking-out component contacts the cargo box, the taking-out component is connected to the cargo box to be transferred to transfer the cargo box;

[0031] When the transmission mechanism drives the taking-out component to move in the reverse direction, the reset mechanism drives the moving wheel component to reset;

[0032] When the taking-out component moves to the first limiting structure, the transmission mechanism continues to drive the tray and the taking-out component to move in the reverse direction and reset.

[0033] Compared with the related art, the handling robot and the method for transferring a cargo box provided by the embodiments of the present invention have the following advantages;

[0034] For the handling robot and the method for transferring a cargo box provided by the embodiments of the present invention, the tray is slidably mounted on the base, and under the action of the pulling force generating mechanism, the tray can move towards the direction of the storage shelf and abut against the storage shelf, so as to eliminate the gap between the storage shelf and the tray, and prevent the cargo box from falling to the ground and being damaged.

[0035] In addition, since the pulling force generated by the pulling force generating mechanism is much smaller than the driving force of the cargo box taking-out device, the impact force generated when the tray contacts the storage shelf under the action of the pulling force generating mechanism is smaller than the impact force generated when the tray contacts the storage shelf driven by the cargo box taking-out device, thereby avoiding the overturning of the storage shelf;

[0036] Furthermore, a buffer pad is provided at the front end of the pallet, and the buffer pad is disposed opposite to the storage shelf. The buffer pad is used to buffer the impact force generated when the tray moves to the storage shelf, so as to avoid the risk of the storage shelf being overturned due to the impact force.

[0037] Moreover, when the taking-out component abuts against the first limiting structure, the first buffer can reduce the impact force between the taking-out component and the tray, reduce the vibration of the taking-out component, and further stably connect the cargo box to the taking-out component to prevent the cargo box from falling off the taking-out component.

[0038] In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions described above, the other technical problems that can be solved by the handling robot and the method for transferring a cargo box provided by the present invention, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manner. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments of the present invention or the prior art. Obviously, the drawings in the following description are only a part of the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0040] Figure 1 Schematic diagram of the working state of the handling robot provided by the embodiment of the present invention;

[0041] Figure 2 Schematic diagram of the structure of the slewing mechanism provided by the embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the connection between the slewing mechanism and the cargo box taking-out device provided by the embodiment of the present invention;

[0043] Figure 4 Schematic diagram of the structure of the cargo box taking-out device provided by the embodiment of the present invention;

[0044] Figure 5 Schematic diagram of the connection between the tension generating mechanism, the base, and the tray provided by the embodiment of the present invention;

[0045] Figure 6 Schematic diagram of the structure of the base provided by the embodiment of the present invention;

[0046] Figure 7 Schematic diagram of the installation of the fixed wheel assembly on the base provided by the embodiment of the present invention Figure 1 ;

[0047] Figure 8 Schematic diagram of the installation of the fixed wheel assembly on the base provided by the embodiment of the present invention Figure 2 ;

[0048] Figure 9 Schematic diagram of the structure of the sliding seat provided by the embodiment of the present invention;

[0049] Figure 10 Schematic diagram of the arrangement of the first driving wheel, the second driving wheel, the second buffer, the first guide rail, and the second guide rail on the sliding seat provided by the embodiment of the present invention;

[0050] Figure 11 Schematic diagram of the installation of the reset mechanism provided by the embodiment of the present invention Figure 1 ;

[0051] Figure 12 Schematic diagram of the installation of the reset mechanism provided by the embodiment of the present invention Figure 2 ;

[0052] Figure 13Schematic diagram of the installation of the second buffer and the striker provided by the embodiment of the present invention;

[0053] Figure 14 Schematic diagram of the connection between the component extraction assembly and the tray assembly provided by the embodiment of the present invention;

[0054] Figure 15 Schematic diagram of the structure of the tensile force generating mechanism provided by the embodiment of the present invention Figure 1 ;

[0055] Figure 16 Schematic diagram of the structure of the tensile force generating mechanism provided by the embodiment of the present invention Figure 2 ;

[0056] Figure 17 Schematic diagram of the structure of the component extraction assembly in the embodiment of the present invention;

[0057] Figure 18 Schematic diagram of the connection between the gripper and the transmission belt provided by the embodiment of the present invention;

[0058] Figure 19 Schematic diagram of the installation of the first camera and the second camera provided by the embodiment of the present invention;

[0059] Figure 20 Schematic diagram of the step flow of the method for transferring the cargo box provided by the embodiment of the present invention.

[0060] Explanation of reference numerals:

[0061] 10 - Base; 11 - Support plate;

[0062] 12 - Bottom connecting plate; 13 - First guide block;

[0063] 14 - Third guide rail; 15 - Striker;

[0064] 16 - First camera; 17 - Second camera;

[0065] 20 - Fixed wheel assembly; 21 - First fixed wheel;

[0066] 22 - Second fixed wheel; 23 - Third fixed wheel;

[0067] 24 - Fourth fixed wheel; 30 - Movable wheel assembly;

[0068] 31 - Slide seat; 32 - First movable wheel;

[0069] 33 - Second movable wheel; 34 - First guide rail;

[0070] 35 - Second guide rail; 36 - Second buffer;

[0071] 37 - Second limiting structure; 40 - Transmission belt;

[0072] 50 - Tray; 51 - First pallet

[0073] 52 - Second pallet; 53 - First buffer pad

[0074] 54 - Second buffer pad; 55 - Third guide block

[0075] 60 - Retrieving component; 61 - Fixed bracket

[0076] 62 - Suction cup; 63 - First clamping component

[0077] 64 - Second clamping component; 65 - Third buffer

[0078] 70 - First limiting structure; 71 - First buffer

[0079] 80 - Tensile force generating mechanism; 81 - Tensile spring

[0080] 82 - First counterweight; 83 - First rope

[0081] 84 - First deflecting wheel; 90 - Reset mechanism

[0082] 91 - Elastic belt; 92 - Second counterweight

[0083] 93 - Second rope; 94 - Second deflecting wheel

[0084] 100 - Cargo box retrieving device; 111 - First bearing plate

[0085] 112 - Second bearing plate; 113 - First mounting hole

[0086] 114 - Second mounting hole; 200 - Rotary mechanism

[0087] 210 - Mounting frame; 220 - Rotary component

[0088] 300 - Base; 311 - Mounting plate

[0089] 312 - Vertical plate; 313 - Horizontal plate

[0090] 314 - Connecting plate; 400 - Robot shelf

[0091] 500 - Storage shelf; 600 - Cargo box

[0092] 611 - Fixed connecting plate; 612 - Horizontal mounting part

[0093] 613 - Suction cup mounting plate; 631 - First pressing plate

[0094] 632 - First toothed plate; 641 - Second pressure plate;

[0095] 642 - Second toothed plate; 643 - Second guiding block. Detailed implementation manner

[0096] The handling robot includes a cargo box taking - out device. The cargo box taking - out device includes a base, a tray and a taking - out assembly installed on the base. The tray is fixedly installed on the base, and the taking - out assembly is used to take out the cargo box from the storage shelf and place it on the tray. When using the cargo box taking - out device to transfer the cargo box, in order to prevent the impact force generated by the contact between the tray and the storage shelf driven by the cargo box taking - out device from causing the storage shelf to overturn, a certain gap needs to be maintained between the tray and the storage shelf. However, due to the gap between the tray and the storage shelf, during the process of transferring the cargo box from the storage shelf to the tray, once the cargo box detaches from the taking - out assembly, it may cause the cargo box to fall to the ground from the gap position and get damaged.

[0097] To solve the above problems, in the handling robot provided by the embodiment of the present invention, the tray can move to the storage shelf under the action of the pulling force generating mechanism to eliminate the gap between the tray and the storage shelf. The tray is located below the cargo box, which can prevent the cargo box from falling to the ground and getting damaged; in addition, the impact force generated by the contact between the tray and the storage shelf under the action of the pulling force generating mechanism is less than the impact force generated by the contact between the tray and the storage shelf driven by the cargo box taking - out device, thereby avoiding the overturning of the storage shelf.

[0098] In order to make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the scope of protection of the embodiments of the present invention.

[0099] Figure 1 It is a schematic diagram of the working state of the handling robot provided by the embodiment of the present invention. As Figure 1 shown, the handling robot provided by the embodiment of the present invention includes: a robot body and a cargo box taking - out device 100 installed on the robot body. The robot body includes a slewing mechanism 200, a base 300 and a robot shelf 400; wherein, the base 300 is used to support the components or devices installed on the base 300, and the base 300 is provided with a traveling mechanism for driving the base 300 to move on the ground in the storage area; the robot shelf 400 is fixedly installed on the base 300, and the robot shelf 400 includes a plurality of cargo box storage spaces for temporarily storing the transferred cargo boxes 600.

[0100] Figure 2 This is a schematic structural diagram of the slewing mechanism provided by an embodiment of the present invention. As Figure 2 shown, the slewing mechanism 200 is installed on the cross beam of the robot shelf 400 and can move up and down along the robot shelf 400. The slewing mechanism 200 includes a mounting frame 210 and a slewing assembly 220; among them, one end of the mounting frame 210 is fixedly connected to the above-mentioned cross beam by screws and bolts and can move up and down along the robot shelf 400 following the cross beam. It can be understood that in this embodiment, the connection method between the mounting frame 210 and the cross beam is not limited. The mounting frame 210 can not only be fixed on the cross beam by the above-mentioned screws and bolts, but also be fixed on the cross beam by other methods, for example, snap connection.

[0101] The slewing assembly 220 is installed on the mounting frame 210 and can rotate relative to the mounting frame 210 around the rotation axis of the slewing assembly 220. Exemplarily, taking Figure 2 the placement orientation of the slewing mechanism in the figure as an example, the mounting frame 210 is arranged approximately parallel to the ground, that is, the mounting frame 210 extends in the horizontal direction, and the rotation axis L1 of the slewing assembly 220 is perpendicular to the ground. When the slewing assembly 220 rotates relative to the mounting frame 210 around its rotation axis, the slewing assembly 220 rotates in a space approximately parallel to the ground.

[0102] Figure 3 This is a schematic connection diagram of the slewing mechanism and the container taking-out device provided by an embodiment of the present invention. As Figure 3 shown, a container taking-out device 100 is installed on the slewing assembly 220. When the slewing assembly 220 rotates relative to the mounting frame 210 around its rotation axis, driven by the slewing assembly 220, the container taking-out device 100 can rotate relative to the mounting frame 210 around the rotation axis of the slewing assembly 220, so that after the container taking-out device 100 takes out the container 600, it can rotate a certain angle, for example, 90°; and place the container 600 on the robot shelf 400. When the slewing mechanism 200 moves up and down along the robot shelf 400, the container taking-out device 100 follows the slewing mechanism 200 to move up and down along the robot shelf 400 to adjust the height of the container taking-out device 100 from the ground, so as to facilitate taking out or placing the containers 600 at different heights on the storage shelf 500.

[0103] Figure 4 This is a schematic structural diagram of the container taking-out device provided by an embodiment of the present invention; Figure 5Schematic diagram of the connection between the tension generating mechanism provided by the embodiment of the present invention and the base and the tray. The following further describes the cargo box taking-out device with reference to the accompanying drawings. First, the first direction and the second direction defined in this embodiment are described: When the taking-out component 60 takes out the cargo box 600 located on the storage shelf 500, the moving direction of the taking-out component 60 towards the storage shelf 500 is the first direction, such as Figure 1 and Figure 4 The moving direction of the taking-out component 60 shown is the first direction; the moving direction of the taking-out component 60 towards away from the storage shelf 500 is the second direction, that is, the first direction and the second direction are opposite.

[0104] In addition, in the state of the cargo box taking-out device 100 as shown in Figure 1 For the convenience of describing the motion state of the transmission mechanism and the taking-out component 60, the two ends of the base 10 along the first direction are respectively defined as the rear end of the base 10 and the front end of the base 10; when using the taking-out component 60 to take out the cargo box 600 located on the storage shelf 500, the front end of the base 10 needs to be close to the storage shelf 500, and the end opposite to the front end of the base 10 is the rear end of the base 10; as shown in Figure 4 In the state of the cargo box taking-out device 100 shown, when the taking-out component 60 is located at the rear end of the base 10, it can be defined as the initial position of the taking-out component 60.

[0105] As shown in Figure 4 and Figure 5 The cargo box taking-out device 100 includes: a base 10, a transmission mechanism, a tray assembly, a taking-out component 60 and a driving device; wherein, the base 10 is installed on the above-mentioned slewing component 220 and can rotate following the slewing component 220. The tray assembly is installed on the side of the base 10 away from the slewing component 220. The tray assembly is used to carry the cargo box 600 to be transferred. The tray assembly includes a tray 50, a first limiting structure 70 and a tension generating mechanism 80; wherein, the tray 50 is slidably installed on the base 10. One end of the tension generating mechanism is connected to the tray 50 and can provide a pulling force for the tray 50 to move towards the storage shelf direction. Along the first direction, the end of the tray 50 close to the storage shelf 500 is defined as its front end, and the end of the tray 50 away from the storage shelf 500 is defined as its rear end; the first limiting structure 70 is located at the rear end of the tray 50. The first limiting structure 70 is closer to the rear end of the tray 50 than the taking-out component 60, and the first limiting structure 70 abuts against the taking-out component 60.

[0106] The transmission mechanism and the driving device are both installed on the base 10. The driving device is connected to the transmission mechanism and is used to drive the transmission mechanism for power transmission. The transmission mechanism includes a fixed-wheel assembly 20, a moving-wheel assembly 30, and a transmission belt 40 that winds around the fixed wheel of the fixed-wheel assembly 20 and the moving wheel of the moving-wheel assembly 30. The taking-out assembly 60 is fixed on the transmission belt 40. When the driving device drives the transmission mechanism for power transmission, the taking-out assembly 60 moves towards the cargo box 600 under the drive of the transmission belt 40. At this time, the first limiting structure 70 is disengaged from the taking-out assembly 60. Under the action of the pulling force generating mechanism 80, the tray 50 moves towards the storage shelf 500 and can abut against the storage shelf 500. When the taking-out assembly 60 moves to the set position, the taking-out assembly 60 can be connected to the cargo box 600.

[0107] As the transmission mechanism drives in the reverse direction and drives the taking-out assembly 60 to move away from the storage shelf 500, the taking-out assembly 60 transfers the cargo box 600 onto the tray 50. The taking-out assembly 60 continues to move, and the taking-out assembly 60 can move to the first limiting structure 70 located on the tray 50 and abut against the first limiting structure 70, thereby driving the tray 50 and the taking-out assembly 60 to reset together. Further, the cargo box 600 can be transferred from the tray 50 to the robot shelf 400 or other storage shelves 500.

[0108] When using the transfer robot provided in the embodiment of the present invention to transfer the cargo box, the tray 50 can move towards the storage shelf 500 under the action of the pulling force generating mechanism 80, and the tray 50 can abut against the storage shelf 500, which can eliminate the gap between the storage shelf 500 and the tray 50. Thus, during the transfer process of the cargo box 600, it can prevent the phenomenon that the cargo box 600 drops to the ground and is damaged. In addition, the pulling force of the pulling force generating mechanism 80 on the tray 50 is much smaller than the driving force of the cargo box taking-out device. Therefore, the impact force generated when the tray 50 contacts the storage shelf 500 under the action of the pulling force generating mechanism 80 is smaller than the impact force generated when the tray 50 contacts the storage shelf driven by the cargo box taking-out device, thereby avoiding the overturning of the storage shelf.

[0109] Figure 6 It is a schematic structural diagram of the base provided in the embodiment of the present invention. As Figure 6 shown, the base 10 provided in this embodiment includes two support plates 11 and a bottom connecting plate 12 connecting the two support plates 11. The two support plates 11 are arranged parallel and spaced apart in the first direction, and an installation space for the fixed-wheel assembly 20 and the moving-wheel assembly 30 is formed between the two support plates 11. Among them, the fixed-wheel assembly 20 is fixedly installed between the two support plates 11, and the moving-wheel assembly 30 is connected through a sliding seat 31 (refer to Figure 9The shown sliding seat is slidably mounted between two support plates 11; a bottom connecting plate 12 is disposed at the bottom of the two support plates 11 and connects the two support plates 11 together; the bottom connecting plate 12 is connected to the above-mentioned slewing assembly 220 so that the base 10 can rotate following the slewing assembly 220.

[0110] For the convenience of description, the two support plates 11 can be respectively defined as a first support plate and a second support plate. Among them, both the first support plate and the second support plate include a first bearing plate 111 and a second bearing plate 112. The first bearing plate 111 is arranged in the horizontal direction, the second bearing plate 112 is arranged in the vertical direction, and the first bearing plate 111 and the second bearing plate 112 are perpendicularly connected together to form an L-shaped support plate 11. Or it can be said that each support plate 11 can be made of angle steel.

[0111] The first bearing plate 111 is used to carry the tray 50 disposed above the base 10. The tray 50 is slidably arranged on the first bearing plate 111, and a third guide rail 14 for the tray 50 to slide relative to the base 10 can be provided on each first bearing plate 111. The second bearing plate 112 can be used to install the fixed wheel assembly 20. Along the first direction, mounting holes for installing the fixed wheels in the fixed wheel assembly 20 are respectively provided at the front end and the rear end of the second bearing plate 112, and the rotation axes of the respective fixed wheels are perpendicular to the second bearing plate 112.

[0112] It can be understood that since the number of fixed wheels of the fixed wheel assembly 20 located between the two bearing plates 112 can be arranged according to actual needs. In some embodiments, the fixed wheel assembly can include two fixed wheels. The installation schematic diagram of the fixed wheel assembly and the base is as Figure 7 shown; in some embodiments, the fixed wheel assembly can further include three or more fixed wheels; when the fixed wheel assembly includes three fixed wheels, the installation schematic diagram of the fixed wheel assembly and the base is as Figure 8 shown.

[0113] Figure 7 This is the installation schematic diagram of the fixed wheel assembly and the base provided by the embodiment of the present invention Figure 1 . As Figure 7 shown, the fixed wheel assembly 20 includes two fixed wheels, which are a first fixed wheel 21 and a second fixed wheel 22 respectively. The first fixed wheel 21 and the second fixed wheel 22 are respectively installed at the front end and the rear end of the base 10, and the space formed by the transmission belt 40 respectively wound around the first fixed wheel 21 and the second fixed wheel 22 is the moving wheel installation space in the moving wheel assembly 30.

[0114] Among them, the first fixed pulley 21 is installed at the front end of each second bearing plate 112 and is located between the two second bearing plates 112. The first fixed pulley 21 is used to guide the transmission belt 40. The first fixed pulley 21 includes a wheel body and a wheel shaft connected to the wheel body. The two ends of the wheel shaft can be respectively installed on the second bearing plate 112. Each second bearing plate 112 is provided with a first mounting hole 113 that cooperates with the wheel shaft of the first fixed pulley 21. The wheel shaft of the first fixed pulley 21 is installed in the first mounting hole 113, and the first fixed pulley 21 can rotate relative to the second bearing plate 112.

[0115] The second fixed pulley 22 is installed at the rear end of the second bearing plate 112. The rear ends of each second bearing plate 112 are respectively provided with second mounting holes 114, and bearing seats are arranged in each second mounting hole 114. The wheel shaft of the second fixed pulley 22 is installed in the bearing located in the bearing seat. Driven by the transmission belt 40, the second fixed pulley can rotate relative to the base 10. The second fixed pulley can be used as a driving pulley and drive the first fixed pulley to rotate through the transmission belt 40.

[0116] Furthermore, as Figure 7 shown, the second fixed pulley 22 is installed at the rear end of the base 10, and the second fixed pulley 22 is connected to the driving device through its wheel shaft. Driven by the driving device, the second fixed pulley 22 can rotate relative to the base 10, thereby driving the transmission belt 40 to move relative to the base 10. In addition, the driving device includes a motor and a reducer connected to the motor. The motor is connected to the wheel shaft of the second fixed pulley 22 through the reducer. By controlling the forward and reverse rotation of the motor, the transmission belt 40 can move in the first direction or be transmitted in the second direction. The moving direction of the transmission belt 40 can be consistent with the moving direction of the extraction assembly 60. Refer to Figure 4 the first direction and the second direction shown.

[0117] Figure 8 is the installation schematic diagram of the fixed pulley assembly and the base provided by the embodiment of the present invention Figure 2 As Figure 8 shown, the fixed pulley assembly 20 includes three fixed pulleys, which include a first fixed pulley 21, a third fixed pulley 23, and a fourth fixed pulley 24. The first fixed pulley 21 is installed at the front end of the base 10, the third fixed pulley 23 and the fourth fixed pulley 24 are installed at the rear end of the base 10. The third fixed pulley 23 and the fourth fixed pulley 24 are spaced apart in a direction perpendicular to the first direction at the rear end of the base 10, and the transmission belt 40 is respectively wound around the first fixed pulley 21, the third fixed pulley 23, and the fourth fixed pulley 24 to form a moving pulley installation space of the moving pulley assembly 30.

[0118] For the installation method of the first fixed pulley 21 at the front end of the base 10, it remains unchanged and will not be elaborated here; for Figure 8 the embodiment shown and Figure 7The differences in the embodiments are as follows: Third mounting holes and fourth mounting holes are respectively provided at the rear end of the base 10, and the third mounting hole and the fourth mounting hole are arranged at intervals in the vertical direction at the rear end of the base 10. The axle of the third fixed pulley 23 is mounted in the third mounting hole of the base 10, and the third fixed pulley 23 can rotate relative to the base 10; the axles of the fourth fixed pulleys 24 are respectively mounted in the fourth mounting holes of the base 10, and the fourth fixed pulleys 24 can rotate relative to the base 10; moreover, the driving device can be selectively connected to one of the third fixed pulley 23 and the fourth fixed pulley 24, so as to drive the transmission belt 40 to move relative to the base 10.

[0119] The second bearing plate 112 is not only used for mounting the fixed pulley assembly 20, but also for mounting the moving pulley assembly 30. A first guiding block 13 for mounting the moving pulley assembly 30 is provided on the second bearing plate 112. The first guiding block 13 is arranged in a strip shape along the first direction on the second bearing plate 112, so that the moving pulley assembly 30 can slide relative to the base 10 along the first direction.

[0120] Figure 9 It is a schematic structural diagram of the sliding seat provided by the embodiment of the present invention; Figure 10 It is a schematic layout diagram of the first moving pulley, the second moving pulley, the second buffer, the first guide rail and the second guide rail on the sliding seat provided by the embodiment of the present invention.

[0121] As Figure 9 and Figure 10 shown, the moving pulley assembly 30 includes a sliding seat 31, a first moving pulley 32 and a second moving pulley 33; along the first direction (such as the first direction shown in Figure 10 ), the two ends of the sliding seat 31 can be respectively defined as the front end and the rear end of the sliding seat 31; the first moving pulley 32 is mounted at the front end of the sliding seat 31, and the second moving pulley 33 is mounted at the rear end of the sliding seat 31; the sliding seat 31 is slidably mounted on the base 10, and the sliding seat 31 is provided with a first guide rail 34 slidably connected to the base 10. The first guide rail 34 cooperates with the first guiding block 13 provided on the second bearing plate 112, so that the sliding seat 31 can move along the base 10 in the first direction or the second direction.

[0122] The sliding seat 31 includes two mounting plates 311 and a connecting plate 314 located between the two mounting plates 311. A connecting plate 314 is provided at the front end and the rear end of the two mounting plates 311 respectively to enhance the structural strength of the sliding seat 31. For the convenience of description, the two mounting plates 311 can be respectively the first mounting plate and the second mounting plate. The first mounting plate and the second mounting plate both include a vertical plate 312 and a horizontal plate 313. The vertical plate 312 and the horizontal plate 313 are perpendicularly connected together to form an L-shaped mounting plate 311. Among them, the length direction of the first mounting plate and the second mounting plate is the same as the first direction (such as Figure 9parallel to the first direction shown, the first mounting plate and the second mounting plate are spaced apart and arranged in parallel, forming an installation space for the first driving wheel 32 and the second driving wheel 33.

[0123] Both ends of the axle of the first driving wheel 32 are respectively connected to the front ends of the vertical plates 312, and the first driving wheel 32 mounted on the slide base 31 is rotatable relative to the slide base 31; both ends of the axle of the second driving wheel 33 are respectively connected to the rear ends of the vertical plates 312, and the second driving wheel 33 mounted on the slide base 31 is rotatable relative to the slide base 31.

[0124] The first guide rail 34 is located on the vertical plate 312. The length direction of the first guide rail 34 is parallel to the first direction. The first guide rail 34 cooperates with the first guide block 13 on the base 10, enabling the slide base 31 to be slidably mounted on the base 10. The horizontal plate 313 is provided with a second guide rail 35. The second guide rail 35 cooperates with the second guide block provided on the taking-out assembly 60, enabling the taking-out assembly 60 to slide relative to the slide base 31 in the first direction or the second direction along the second guide rail 35.

[0125] A second limiting structure 37 abutting against the taking-out assembly 60 is further provided at the front end of the slide base 31. The second limiting structure 37 can be a second limiting plate. Both ends of the second limiting plate are respectively fixed on the horizontal plates 313, that is, the second limiting plate straddles between the two mounting plates 311, enabling the second limiting plate to abut against the taking-out assembly 60.

[0126] When the taking-out assembly 60 moves towards the direction of the cargo box 600, the second limiting plate can abut against the taking-out assembly 60. As the conveyor belt 40 continues to drive towards the direction of the cargo box 600, the taking-out assembly 60 drives the second limiting plate and the slide base 31 to continue moving towards the cargo box 600 together, enabling the taking-out assembly 60 to move towards the inside of the storage shelf 500 and connect with the cargo box 600 to be transferred, thereby expanding the moving stroke of the taking-out assembly 60, being able to take out the cargo box 600 located deeper in the storage shelf 500, and enhancing the reliability of the work of the taking-out assembly 60.

[0127] After the taking-out assembly 60 is connected to the cargo box 600 and fixes the cargo box 600, when the taking-out assembly 60 starts to return and is ready to transfer the cargo box 600 to the pallet 50, the reset mechanism starts to work, enabling the slide base 31 to move in the second direction under the restoring force of the reset mechanism and quickly return to the initial position, enhancing the efficiency of the handling robot in handling the cargo box.

[0128] Further, the reset mechanism provided in this embodiment may be a reset spring, an elastic belt or a counterweight provided at the rear end of the slide seat 31; of course, the reset mechanism may also be other elements or components capable of providing a restoring force, as long as it can provide a restoring force when the slide seat 31 moves in the second direction; according to the different structural forms of the reset mechanism in this embodiment, it may exemplarily include but is not limited to the following implementation manners, such as Figure 11 and Figure 12 as shown.

[0129] Figure 11 Schematic diagram of the installation of the reset mechanism provided by the embodiment of the present invention Figure 1 . As Figure 11 shown, the reset mechanism may also be an elastic belt 91. One end of the elastic belt 91 is sleeved on the axle of the second moving wheel 33 at the rear end of the slide seat 31, and the other end of the elastic belt 91 is sleeved on the axle of the second fixed wheel 22; alternatively, the other end of the elastic belt 91 is sleeved on the axle of one of the third fixed wheel 23 and the fourth fixed wheel 24. When the extraction assembly 60 moves to the cargo box 600 together with the slide seat 31, the elastic belt 91 is continuously stretched during the forward movement of the slide seat 31. When the extraction assembly 60 returns, the elastic belt 91 provides a restoring force for the slide seat 31 to quickly return it to the initial position.

[0130] Figure 12 Schematic diagram of the installation of the reset mechanism provided by the embodiment of the present invention Figure 2 . As Figure 12 shown, the reset mechanism includes a second counterweight 92, a second rope 93 and a second deflecting wheel 94, which uses the gravity generated by the second counterweight 92 to change the direction of the force through the second deflecting wheel 94 to provide a pulling force for the slide seat 31 when it moves in the second direction.

[0131] Exemplarily, the second deflecting wheel 94 is installed at the rear end of the base 10. One second deflecting wheel 94 may be installed on each of the two support plates 11 of the base 10, and the two second deflecting wheels 94 may be oppositely arranged and located on the second bearing plate 112. The axis of the rotating shaft of the second deflecting wheel 94 is perpendicular to the second bearing plate 112; correspondingly, each second deflecting wheel 94 is provided with a second rope 93; that is, a set of reset mechanisms 90 are respectively arranged on both sides of the slide seat 31, and the two sets of reset mechanisms 90 are symmetrically arranged on the slide seat 31.

[0132] One end of the second rope 93 is wound around the second deflecting pulley 94 and then horizontally connected to the rear end of the sliding seat 31, and can be connected to the horizontal plates of the mounting plates 311 of the sliding seat 31; the other end of the second rope 93 passes through the second deflecting pulley 94 and then extends in a direction perpendicular to the ground and is connected to the second counterweight 92; further, the gravity generated by the second counterweight 92 is transmitted along the second rope 93 to the sliding seat 31 to provide a pulling force for the sliding seat 31 in the second direction, so that the sliding seat 31 can be restored to the initial position.

[0133] In some embodiments, when the sliding seat 31 moves toward the second direction and retreats to the initial position under the action of the reset mechanism, in order to prevent the sliding seat 31 from sliding out of the base 10 and to make it reach the preset initial position, a limiting device cooperating with the sliding seat 31 is usually provided on the base 10, such as Figure 13 shown.

[0134] Figure 13 Schematic diagram of the installation of the second buffer and the bumper provided by the embodiment of the present invention. As Figure 13 shown, when the sliding seat 31 moves rapidly toward the rear end of the base 10, in order to limit the sliding seat 31; two bumpers 15 are provided at the rear end of the base 10; each bumper 15 is a rectangular block, and each bumper 15 is disposed opposite to the vertical plate 312 of the sliding seat 31; the two bumpers 15 are respectively fixed to the rear ends of the first support plate and the second support plate of the base 10, and the bumper 15 can be located on the second bearing plate 112 of the support plate 11.

[0135] In order to reduce the impact force when the sliding seat 31 contacts the bumper 15, two second buffers 36 are provided at the rear end of the sliding seat 31, and the two second buffers 36 are respectively located at the rear ends of the first mounting plate and the second mounting plate of the sliding seat 31. The second buffer 36 can be located on the vertical plate 312 of each mounting plate 311, and the second buffer 36 is disposed opposite to the bumper 15; that is, when the second buffer 36 moves with the sliding seat 31 toward the rear end of the base 10, the bumper 15 is located on the sliding path of the second buffer 36; the second buffer 36 can abut against the bumper 15, and the second buffer 36 reduces the impact force between the sliding seat 31 and the base 10, thereby reducing the vibration of the cargo taking-out device, so that the cargo box 600 can be stably fixed on the taking-out assembly 60 during the process of transferring the cargo box 600.

[0136] Figure 14 Schematic diagram of the connection between the tray assembly and the taking-out assembly provided by the embodiment of the present invention. As Figure 14 shown and combined with Figure 1, on the basis of the above embodiments, to further improve the stability of the cargo box 600 during the transfer process and prevent the cargo box 600 from being damaged during the transfer process, the pallet assembly provided in this embodiment includes a pallet 50, a tension generating mechanism 80, and a first limiting structure 70 provided at the rear end of the pallet 50; wherein, a channel for the component 60 to be taken out to slide along is formed in the middle part of the pallet 50, and the first limiting structure 70 is located at the rear end of the slide seat.

[0137] When the component 60 to be taken out is in the initial position, the first limiting structure 70 does not slide relative to the base 10 under the limitation of the component 60 to be taken out; as the component 60 to be taken out moves towards the storage shelf 500, under the pulling force generated by the tension generating mechanism 80, the pallet 50 moves towards the storage shelf 500 and can abut against the edge of the storage shelf 500, thereby being able to eliminate the gap between the storage shelf 500 and the pallet, and being able to prevent the phenomenon that the cargo box falls to the ground and is damaged.

[0138] Among them, the pallet 50 includes a first pallet 51 and a second pallet 52; along the first direction, the first pallet 51 and the second pallet 52 are parallel and oppositely arranged, and a certain interval is maintained between the first pallet 51 and the second pallet 52 to form a channel for accommodating the component 60 to be taken out and the transmission mechanism; one end of the component 60 to be taken out is fixedly connected to the transmission belt 40 located in the channel, and the end of the component 60 to be taken out far from the transmission belt 40 protrudes from the pallet 50, so as to facilitate placing the taken-out cargo box 600 on the pallet 50.

[0139] The first pallet 51 and the second pallet 52 are strip-shaped plates, and third guiding blocks 55 are provided on the bottom surface of one side of the first pallet 51 and the second pallet 52. The third guiding blocks 55 can cooperate with the third guide rails 14 on the base 10, so that the first pallet 51 is slidably installed on the first support plate of the base 10, the second pallet 52 is slidably installed on the second support plate of the base 10, and both the first pallet 51 and the second pallet 52 are located on the first bearing plate 111 of each support plate 11.

[0140] Further, a first limiting structure 70 is provided at the rear end of the first pallet 51 and the second pallet 52. The first limiting structure 70 can be a first limiting plate, and the first limiting plate connects the first pallet 51 and the second pallet 52 together; that is, the first limiting plate straddles between the first pallet 51 and the second pallet 52 and is oppositely arranged with the component 60 to be taken out; the first limiting plate is located on the side of the component 60 to be taken out far from the storage shelf 500, and when the component 60 to be taken out is in the initial position, the second limiting plate abuts against the component 60 to be taken out.

[0141] A first buffer 71 is provided on the first limit plate. The first buffer 71 is used to reduce the impact force when the first limit plate abuts against the extraction component 60, can reduce the vibration of the extraction component 60, and thus can stably connect the cargo box 600 to the extraction component 60. For example, when the extraction component 60 is fixed to the cargo box 600 to be transferred, the extraction component 60 moves in the second direction driven by the conveyor belt 40. After moving a certain distance, the extraction component 60 abuts against the first limit plate, and under the action of the first buffer 71, the impact force between the extraction component 60 and the tray can be reduced.

[0142] In addition, flanges are provided at the front ends of the first pallet 51, the second pallet 52, the side of the first pallet 51 away from the second pallet 52, and the side of the second pallet 52 away from the first pallet 51. Providing flanges on the first pallet 51 and the second pallet 52 can not only form a protective space below the pallet 50, but also facilitate the setting of protective devices at the edge positions of each pallet; for example, anti-collision rubber pads are provided on the flanges facing the outside of each pallet, etc., to provide effective protection when the handling robot collides with pedestrians or other objects during the process of transferring the cargo box.

[0143] For example, the first pallet 51 is provided with a first buffer pad 53. The first buffer pad 53 is located at the front end of the first pallet 51 and on the end face of the first pallet 51 facing the cargo box 600. The first buffer pad 53 can cover the entire front end face of the first pallet 51. The first buffer pad 53 is used to buffer the impact force generated when the pallet 50 moves the storage rack 500, so as to avoid the risk of the storage rack 500 tipping over due to the impact force; the first buffer pad 53 can be made of an elastic rubber pad and has a certain thickness. Similarly, a second buffer pad 54 is provided at the front end of the second pallet 52, and the second buffer pad 54 is located on the end face of the second pallet 52 facing the cargo box 600. The connection method of the second buffer pad 54 and the second pallet 52 can refer to the connection method of the first buffer pad 53 and the first pallet 51, which will not be elaborated here.

[0144] Refer to Figure 5 , the pulling force generating mechanism 80 provided in this embodiment can be a tension spring or a counterweight provided on the pallet 50. Of course, the pulling force generating mechanism can also be other components or assemblies that can provide a restoring force, as long as it can provide a pulling force when the pallet moves towards the storage rack; according to the different structural forms of the reset mechanism in this embodiment, it can exemplarily include but is not limited to the following implementation manners, such as Figure 15 and Figure 16 shown.

[0145] Figure 15 is a schematic diagram of the structure of the pulling force generating mechanism provided by the embodiment of the present invention Figure 1 . As Figure 15As shown, the pulling force generating mechanism 80 can also be a pulling spring. One end of the pulling spring 81 can be fixed to the front end of the base 10, and the other end of the pulling spring 81 can be fixed to the rear end of the tray 50. When the picking component 60 starts to move towards the storage shelf 500, the picking component 60 unlocks from the first limiting plate of the tray 50. Under the action of the pulling spring 81, the tray 50 moves towards the storage shelf 500, and the front end of the tray 50 abuts against the storage shelf 500.

[0146] Figure 16 Schematic diagram of the installation of the pulling force generating mechanism provided by the embodiment of the present invention Figure 2 As Figure 16 shown, the pulling force generating mechanism 80 includes a first counterweight 82, a first rope 83, and a first deflecting wheel 84. It uses the gravity generated by the first counterweight 82 to change the direction of the force through the first deflecting wheel 84 to provide a pulling force for the tray 50 when it moves in the first direction. Exemplarily, the first deflecting wheel 84 is installed at the front end of the base 10. One first deflecting wheel 84 can be installed on each of the two support plates 11 of the base 10, and the two first deflecting wheels 84 can be oppositely arranged and located on the second bearing plate 112. The axis of the rotating shaft of the first deflecting wheel 84 is perpendicular to the second bearing plate 112. Correspondingly, each first deflecting wheel 84 is provided with a first rope 83; that is, a set of pulling force generating mechanisms 80 are respectively arranged on both sides of the base 10, and the two sets of pulling force generating mechanisms 80 are symmetrically arranged on the base.

[0147] One end of the first rope 83 is wound around the first deflecting wheel 84 and then horizontally connected to the rear end of the tray 50. The end of the first rope 83 facing the tray 50 can be connected to the first support plate 51 and the second support plate 52; the other end of the first rope 83 extends in a direction perpendicular to the ground after passing through the first deflecting wheel 84 and is connected to the first counterweight 82. Then, the gravity generated by the first counterweight 82 is transmitted along the first rope 83 to the tray 50 to provide a pulling force for the tray 50 in the first direction, enabling the tray 50 to move to the storage shelf.

[0148] Figure 17 Schematic diagram of the structure of the picking component in the embodiment of the present invention. As Figure 17 shown, the picking component 60 includes a fixed bracket 61 and several suction cups 62. Among them, each suction cup 62 can be connected to a negative pressure generating device through an air pipe. When the suction cup 62 contacts the cargo box 600, the negative pressure generating device sucks the air in the suction cup 62, making the pressure in the suction cup 62 less than the atmospheric pressure. Under the action of the atmospheric pressure, the suction cup 62 can firmly adsorb on the cargo box 600, realizing the fixation of the cargo box 600.

[0149] With Figure 14 the installation orientation of the picking component in Figure 17As shown, the lower end of the fixed bracket 61 is connected to the conveyor belt 40 and can move together with the conveyor belt 40. Each suction cup 62 is installed at the upper end of the fixed bracket 61 and is located above the tray 50. The fixed bracket 61 includes a fixed connection plate 611 extending in the vertical direction and a suction cup mounting plate 613. The fixed connection plate 611 can be a T-shaped plate. One end thereof with a horizontal mounting portion 612 is fixed to the conveyor belt 40, and the other end is fixedly connected to the suction cup mounting plate 613. The suction cup mounting plate 613 faces the front of the cargo box 600. The suction cup mounting plate 613 can be a rectangular plate. A plurality of suction cups 62 can be evenly arranged on the suction cup mounting plate 613, and the adsorption surfaces of the suction cups 62 can be arranged facing the front of the cargo box 600.

[0150] In this embodiment, the taking-out assembly 60 is connected to the front of the cargo box to be transferred, and there is no need to reserve spaces for the taking-out assembly 60 to insert and move at the bottom, above, left and right sides of the cargo box, thus making full use of the storage space of the warehouse and improving the storage density of the warehouse. For this embodiment, the front of the defined cargo box 600 refers to the side of the cargo box 600 facing the outside of the storage shelf 500 or the surface exposed outside the storage shelf 500 when the cargo box 600 to be transferred is placed on the storage shelf 500.

[0151] On the basis of the above embodiment, to improve the reliability of the suction cup 62 for adsorbing the cargo box 600 to be transferred, the handling robot further includes a fault diagnosis system. The fault diagnosis system includes a gas pressure sensor and a processor. The gas pressure sensor is signal-connected to the processor. The gas pressure sensor is arranged in the air pipe. The actual pressure of the gas in the air pipe is detected by the gas pressure sensor. The processor can judge whether the suction cup leaks according to the detection result. When the actual pressure is equal to the atmospheric pressure, it is determined that the suction cup leaks.

[0152] In another embodiment, the taking-out assembly 60 includes a fixed bracket 61 and a magnet. Among them, the fixed bracket 61 can be the same as the fixed bracket 61 for installing the suction cup 62, which will not be elaborated here. The difference is that a plurality of suction cups 62 on the suction cup mounting plate 613 can be replaced with a plurality of or one magnet, and the magnet is used to adsorb the front of the cargo box 600. It can be understood that at least the front of the cargo box 600 is guaranteed to be a magnetic adsorption surface. To facilitate fixing the cargo box 600 with a magnet, the cargo box 600 can be an iron box. The magnet can be an electromagnet, which has magnetism when energized and can adsorb the cargo box 600, and the magnetism disappears when powered off, so as to facilitate the separation of the cargo box 600 from the fixed bracket 61 when needed.

[0153] In another embodiment, the extraction assembly 60 includes a fixing bracket 61 and a buckle disposed on the fixing bracket 61. The fixing bracket 61 can be the same as the fixing bracket 61 for mounting the suction cup 62, which will not be elaborated here. The difference lies in that: a plurality of suction cups 62 on the suction cup mounting plate 613 can be replaced with buckles, and a card slot matching with the buckle is provided on the front surface of the cargo box 600; when the fixing bracket 61 moves to the cargo box 600 and contacts the cargo box 600, the buckle can be snapped into the card slot to fix the cargo box 600 on the extraction assembly. It can be understood that the suction cups 62 on the suction cup mounting plate 613 can also be replaced with hooks, and a hook hole matching with the hook is provided on the front surface of the cargo box 600.

[0154] Figure 18 Schematic diagram of the connection between the gripper and the conveyor belt provided by the embodiment of the present invention. As Figure 18 shown, on the basis of the above embodiment, in order to facilitate fixing one end of the fixing bracket 61 facing the conveyor belt 40 on the conveyor belt 40, a gripper is provided below the fixing connection plate 611 of the fixing bracket 61, and the horizontal mounting portion 612 of the fixing connection plate 611 can be fixed on the surface of the gripper; the conveyor belt 40 can be a synchronous belt with transmission teeth on one side, and a toothed plate meshing with the transmission teeth is provided on the side of the gripper facing the transmission teeth, and the conveyor belt 40 is fixed in the gripper to prevent sliding between the conveyor belt 40 and the gripper, enhancing the fixing effect between the gripper and the conveyor belt 40, so that the conveyor belt 40 and the extraction assembly 60 move synchronously.

[0155] The gripper provided in this embodiment includes at least one set of clamping assemblies. Exemplarily, the gripper includes a first clamping assembly 63, and the first clamping assembly 63 includes a first pressing plate 631 and a first toothed plate 632 arranged oppositely; wherein, the first pressing plate 631 is located on the toothless side of the synchronous belt and fits with it, the first toothed plate 632 is located on the toothed side of the synchronous belt, and the first toothed plate 632 meshes with the transmission teeth of the synchronous belt. The first toothed plate 632 and the first pressing plate 631 are fixed together by a connecting member, thereby fixing the conveyor belt 40 between the first pressing plate 631 and the first toothed plate 632, realizing the synchronous movement of the fixing bracket 61 and the conveyor belt 40.

[0156] The gripper further includes a second clamping assembly 64. The second clamping assembly 64 is disposed opposite to and spaced apart from the first clamping assembly 63 in the first direction, and the second clamping assembly 64 is closer to the cargo box 600. The second clamping assembly 64 includes a second pressing plate 641 and a second toothed plate 642 which are oppositely arranged. Among them, the second pressing plate 641 is located on the toothless side of the synchronous belt and fits with it. The second toothed plate 642 is located on the toothed side of the synchronous belt, and the second toothed plate 642 meshes with the driving teeth of the synchronous belt. The second toothed plate 642 and the second pressing plate 641 are fixed together by a connecting piece to fix the synchronous belt in the second clamping assembly 64. The first clamping assembly 63 and the second clamping assembly 64 are connected together by a connecting piece to enhance the fixing effect of the fixing bracket 61 and the transmission belt 40. That is, the first pressing plate 631 in the first clamping assembly 63 and the second pressing plate 641 in the second clamping assembly 64 can be connected together by a connecting piece. The fixing connecting plate 611 of the fixing bracket 61 can be selectively fixed to the first pressing plate 631, or can be selectively fixed to the second pressing plate 641, or the bottom of the fixing connecting plate 611 is simultaneously fixed to the first pressing plate 631 and the second pressing plate 641.

[0157] Further, to improve the stability of the extraction assembly 60 moving in the first direction, second guiding blocks 643 are respectively disposed at both ends of the second pressing plate 641 in the second clamping assembly 64. Both ends of the second pressing plate 641 extend towards the sliding seat 31 to form an extension portion. The second guiding blocks 643 are located on the extension portion and are opposite to the sliding seat 31. The sliding seat 31 is provided with a second guide rail 35 that cooperates with the second guiding blocks 643. The second guide rail 35 is provided on the horizontal plate 313 of the sliding seat 31, and the second guide rail 35 is located at the edge of the horizontal plate 313 close to the fixing bracket 61. The length direction of the second guide rail 35 is parallel to the first direction. Further, the fixing bracket 61 moves along the second guide rail 35 of the sliding seat 31 driven by the transmission belt 40, which can improve the sliding stability of the fixing bracket 61, reduce the vibration of the fixing bracket 61 during the movement, and effectively prevent the cargo box 600 from falling off the extraction assembly 60.

[0158] When the component 60 to be removed moves towards the cargo box 600 driven by the conveyor belt 40, when the component 60 to be removed moves to the second limiting structure 37, the component 60 to be removed can drive the entire sliding seat 31 to move towards the cargo box 600. To reduce the impact force when the component 60 to be removed abuts against the second limiting structure 37, a third buffer 65 can be provided at the bottom of the fixed bracket 61. The third buffer 65 is located on the second pressing plate 641 of the second clamping component 64. The second clamping component 64 is closer to the second limiting structure 37 than the first clamping component 63, and the third buffer 65 is arranged opposite to the second limiting structure 37, that is, the second limiting structure 37 and the third buffer 65 have opposite parts at the same height. When the component 60 to be removed moves to the second limiting structure 37, the third buffer 65 can abut against the second limiting structure 37 to reduce the impact force between the component 60 to be removed and the sliding seat 31.

[0159] Figure 19 Schematic diagram of the installation of the first camera and the second camera provided by the embodiment of the present invention. As Figure 19 shown, on the basis of the above embodiment, in order to realize the full automation and multi-function of the handling robot, the handling robot further includes a first camera 16. The first camera 16 is installed on one side of the cargo box removing device facing the cargo box to be transferred. The first camera 16 is used to obtain the identification code on the cargo box to be transferred.

[0160] Exemplarily, in order to enable the first camera 16 to conveniently obtain the identification code on the cargo box 600 to be transferred, the first camera 16 can be fixed to the front end of the base 10 through a camera mounting bracket, and there is no obstruction in the direction of the first camera 16 facing the cargo box 600 to be transferred, which is convenient for the first camera 16 to scan the identification code of the cargo box 600 to be transferred. In this way, when the component 60 approaches the cargo box 600 to be transferred, the first camera 16 can scan the identification code on the cargo box 600 to be transferred, such as a bar code or a two-dimensional code, etc., to obtain relevant information of the cargo box 600 to be transferred, improving the handling efficiency.

[0161] Further, in order to enable the handling robot to quickly handle and sort items, a second camera 17 can also be provided on the handling robot; as Figure 19 shown, the second camera 17 can be installed on the rear end of the base 10 through a column, and the installation height of the second camera 17 is higher than the height of the component 60 to be removed, that is, there is no obstruction in the direction of the second camera 17 facing the cargo box 600 to be transferred. In this way, the second camera 17 can be located at a higher position, so that the physical information such as the volume size and appearance shape of the cargo box to be transferred can be collected in all directions and the position information of the cargo box to be transferred on the storage shelf can be collected, and fast sorting and grasping positioning can be realized, improving the handling efficiency.

[0162] Figure 20The figure is a schematic flow chart of the steps of the method for transferring a cargo box using a handling robot provided by an embodiment of the present invention. As Figure 20 shown, the method for transferring a cargo box according to the embodiment of the present invention includes the following steps:

[0163] Step S100: The handling robot moves in front of the storage shelf 500 where the cargo box 600 to be transferred is located; Exemplarily, after receiving an instruction to transfer a certain cargo box 600, the handling robot uses the traveling mechanism of its base 300 to move to the position of the storage shelf 500 where the cargo box 600 is located, and adjusts the height of the cargo box taking-out device 100 so that the taking-out component 60 in the cargo box taking-out device 100 faces the cargo box 600.

[0164] Before performing step S200, it also includes identifying the cargo box 600 to be transferred using the first camera 16 and / or the second camera 17, and confirming the cargo box 600 to be transferred. For example, the first camera 16 provided at the front end of the base 10 is used to scan the bar code or two-dimensional code on the cargo box 600 to obtain relevant information about the transferred cargo box, and compare it with the information of the cargo box to be transferred in the received instruction to confirm that the current cargo box facing the cargo box taking-out device is the same as the cargo box to be transferred.

[0165] Further, in another embodiment, the physical information and position information of the cargo box 600 can also be obtained through the second camera 17 installed at the rear end of the base 10. For example, the volume size, appearance shape, etc. of the cargo box 600, and the cargo box information obtained by the second camera 17 is used to determine whether this cargo box is the same as the cargo box to be transferred.

[0166] It can be understood that the first camera 16 or the second camera 17 can be used alone to confirm the cargo box 600 to be transferred; and the first camera 16 and the second camera 17 work together to confirm the cargo box 600 to be transferred. For example, the first camera 16 is used for the first judgment, and the second camera 17 is used for auxiliary judgment to ensure the accuracy of the cargo box to be transferred.

[0167] After the cargo box to be transferred is confirmed, step S200 is executed: the drive mechanism drives the extraction assembly 60 to move towards the cargo box 600, and the tray 50 moves towards the cargo box 600 under the action of the tension generating mechanism 80 and abuts against the storage rack 500; Exemplarily, after the extraction assembly 60 faces the cargo box 600, the drive device drives the drive mechanism and drives the conveyor belt 40 to drive in the first direction, so that the extraction assembly 60 moves towards the cargo box 600; At this time, the extraction assembly 60 is separated from the first limit structure 70, and the tension generated by the tension generating mechanism 80 drives the tray 50 to move towards the storage rack 500, and the front end of the tray 50 can abut against the storage rack 500 to eliminate the gap between the storage rack 500 and the tray 50, and prevent the cargo box 600 from falling to the ground and being damaged.

[0168] Step S300: After the extraction assembly 60 moves to the second limit structure 37, the drive mechanism drives the moving wheel assembly 30 and the extraction assembly 60 to move towards the cargo box 600 together; Exemplarily, the extraction assembly 60 moves towards the cargo box 600 driven by the conveyor belt 40. The extraction assembly 60 moves to the second limit structure 37 located at the front end of the sliding seat 31 and abuts against it. The conveyor belt 40 continues to drive in the first direction and overcomes the restoring force of the reset mechanism 90, so that the extraction assembly 60 and the moving wheel assembly 30 move towards the cargo box 600 together and move to the cargo box 600.

[0169] Step S400: When the extraction assembly 60 contacts the cargo box 600 to be transferred, the extraction assembly 60 is connected to the cargo box 600 to transfer the cargo box 600; Exemplarily, after the extraction assembly 60 moves to the cargo box 600, the extraction assembly 60 contacts and connects the cargo box 600 by using the extraction assembly 60. For example, after the extraction assembly 60 moves to the cargo box 600, the suction cup 62 in the extraction assembly 60 contacts the cargo box 600, and the suction cup 62 can be adsorbed on the front of the cargo box 600, so as to fix the cargo box 600 on the extraction assembly 60.

[0170] Step S500: When the drive mechanism drives the extraction assembly 60 to move in the reverse direction, the reset mechanism 90 drives the moving wheel assembly 30 to reset; Exemplarily, after the extraction assembly 60 fixes the cargo box 600, the drive device drives the drive mechanism and drives the conveyor belt 40 to move in the second direction. At this time, under the action of the restoring force of the reset mechanism 90, the moving wheel assembly 30 returns to the initial position. That is: the motor rotates in reverse and drives the conveyor belt 40 to drive in the direction away from the storage rack 500; At this time, the first moving wheel 32 and the second moving wheel 33 arranged on the sliding seat 31 return to the initial position under the action of the restoring force of the reset mechanism 90.

[0171] Step S600: When the picking component 60 is taken out and moved to the first limiting structure 70, the transmission mechanism continues to drive the tray 50 and the picking component 60 to move in the reverse direction and reset. Exemplarily, after the driven wheel assembly 30 retreats to the initial position, the transmission belt 40 continues to drive in the second direction, thereby driving the picking component 60 to continue to move in the direction away from the storage rack 500. The picking component moves to the first limiting structure 70 of the tray and abuts against the first limiting structure 70. As the transmission belt 40 continues to drive in the second direction and overcomes the pulling force generated by the pulling force generating mechanism 80, the picking component 60 and the tray 50 are restored to the initial position.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A handling robot, characterized in that, It includes a base, a tray assembly, a taking-out assembly and a transmission mechanism; The tray assembly and the transmission mechanism are installed on the base. The tray assembly includes a tray, a tension generating mechanism and a first limiting structure. The tray is slidably installed on the base. The first limiting structure is arranged at the rear end of the tray. The tension generating mechanism is connected to the tray. The transmission mechanism is connected to the taking-out assembly and is used to drive the taking-out assembly to reciprocate relative to the base; When the taking-out assembly moves towards the direction of the storage shelf, the tray moves towards the direction of the cargo box under the pulling of the tension generating mechanism and abuts against the storage shelf. When the taking-out assembly moves towards the direction away from the storage shelf, the taking-out assembly abuts against the first limiting structure and drives the tray to reset together; A buffer pad is arranged at the front end of the tray, and the buffer pad is arranged opposite to the storage shelf; The first limiting structure is provided with a first buffer opposite to the taking-out assembly. When the taking-out assembly moves towards the direction away from the storage shelf, the taking-out assembly abuts against the first buffer; The tray includes two relatively and spaced-apart pallet boards; the first limiting structure includes a first limiting plate arranged opposite to the taking-out assembly; One end of the first limiting plate fixes the rear end of one pallet board, and the other end of the first limiting plate is fixed to the rear end of the other pallet board.

2. The handling robot according to claim 1, characterized in that, The base includes two relatively and spaced-apart support plates and a bottom connecting plate for connecting the two support plates; The transmission mechanism is installed between the two support plates.

3. The handling robot according to claim 2, characterized in that, Each pallet board is respectively slidably installed on each support plate, and a channel for the taking-out assembly to move is formed between the two pallet boards.

4. The handling robot according to claim 3, characterized in that, The tension generating mechanism includes a tension spring; One end of the tension spring is connected to the front end of the support plate, and the other end of the tension spring is connected to the pallet board.

5. The handling robot according to claim 3, characterized in that, The tension generating mechanism includes a first deflecting wheel, a first counterweight and a first rope; The first deflecting wheel is located at the front end of the support plate. One end of the first rope extends horizontally and is connected to the pallet board; The other end of the first rope bypasses the first deflecting wheel and extends vertically, and is connected to the first counterweight.

6. The handling robot according to any one of claims 2 to 5, characterized in that, The transmission mechanism includes a driving wheel assembly, a fixed wheel assembly and a transmission belt; The fixed wheel assembly includes a first fixed wheel and a second fixed wheel. Among them, the first fixed wheel is installed at the front end of the support plate, and the second fixed wheel is installed at the rear end of the support plate; The driving wheel assembly includes a sliding seat, a first driving wheel and a second driving wheel. Among them, the sliding seat is slidably installed on the support plate. The first driving wheel is installed at the front end of the sliding seat, and the second driving wheel is installed at the rear end of the sliding seat; The transmission belt winds around each fixed wheel and each driving wheel, and the transmission belt is fixedly connected to the taking-out assembly.

7. The handling robot according to claim 6, characterized in that, The handling robot further includes a reset mechanism; One end of the reset mechanism is connected to the rear end of the sliding seat, and the other end of the reset mechanism is connected to the rear end of the base.

8. The handling robot according to claim 7, characterized in that, The reset mechanism is an elastic belt; One end of the elastic belt is sleeved on the axle of the second driving wheel, and the other end of the elastic belt is connected to the axle of the second fixed wheel.

9. The handling robot according to claim 7, characterized in that, The reset mechanism includes a second deflecting wheel, a second counterweight, and a second rope; The second deflecting wheel is located at the rear end of the base, and one end of the second rope extends horizontally and is connected to the rear end of the sliding seat; The other end of the second rope extends vertically around the second deflecting wheel and is connected to the second counterweight.

10. The handling robot according to claim 7, characterized in that, A second buffer is provided at the rear end of the sliding seat, and a bumper facing the second buffer is provided at the rear end of the base.

11. The handling robot according to claim 6, characterized in that, A second limiting structure is provided at the front end of the sliding seat, and the second limiting structure is disposed opposite to the taking-out assembly.

12. The handling robot according to claim 11, characterized in that The taking-out assembly includes a fixed bracket and a plurality of suction cups; The plurality of suction cups are mounted on the fixed bracket, and the adsorption surface of the suction cup faces the cargo box to be transferred; The fixed bracket is connected to the conveyor belt, and the fixed bracket moves together with the conveyor belt.

13. The handling robot according to claim 12, characterized in that A gripper is provided at one end of the fixed bracket facing the conveyor belt; The fixed bracket is fixed to the conveyor belt by the gripper.

14. The handling robot according to claim 13, characterized in that The gripper is provided with a third buffer disposed opposite to the second limiting structure.

15. The handling robot according to claim 12, characterized in that The handling robot further includes a negative pressure generating device; The negative pressure generating device is communicated with each of the suction cups through an air pipe, and the negative pressure generating device sucks the air in the suction cup to make the suction cup adsorb on the cargo box to be transferred.

16. The handling robot according to claim 15, characterized in that The handling robot further includes a fault diagnosis system, and the fault diagnosis system includes a gas pressure sensor and a processor; The gas pressure sensor is disposed in the air pipe, and the gas pressure sensor is signal-connected to the processor. The processor determines that the suction cup leaks air when the actual pressure detected by the gas pressure sensor in the air pipe is equal to the atmospheric pressure.

17. The handling robot according to claim 2, characterized in that The handling robot further includes a first camera; The first camera is mounted at the front end of the base and below the base, and the first camera is used to obtain the identification code of the cargo box to be transferred.

18. The handling robot according to claim 2 or 17, characterized in that The handling robot further includes a second camera; The second camera is mounted on the rear end of the base through a column, and the second camera is used to collect the physical information and position information of the cargo box to be transferred.

19. A method for transferring a cargo box using the handling robot according to any one of claims 7 to 16, wherein the handling robot comprises a base, a tray assembly, a picking assembly and a transmission mechanism; The tray assembly comprises a tray, a tension generating mechanism and a first limiting structure; wherein, The tray is slidably mounted on the base, a first limiting structure is provided at the rear end of the tray, and the pulling force generating mechanism is connected to the tray; The transmission mechanism includes a driving wheel assembly, a fixed wheel assembly, and a conveyor belt. The driving wheel assembly includes a sliding seat and a second limiting structure mounted at the front end of the sliding seat. The conveyor belt winds around the driving wheel in the driving wheel assembly and the fixed wheel in the fixed wheel assembly, and the conveyor belt is connected to the taking-out assembly; characterized in that it includes the following steps: The handling robot moves to the front of the storage shelf where the cargo box to be transferred is located; The transmission mechanism is used to drive the taking-out assembly to move towards the cargo box, and the tray moves towards the cargo box under the action of the pulling force generating mechanism and abuts against the storage shelf; When the taking-out component moves to the second limiting structure, the transmission mechanism drives the moving wheel component and the taking-out component to move towards the cargo box together; When the taking-out component contacts the cargo box, the taking-out component is connected to the cargo box to be transferred to transfer the cargo box; When the transmission mechanism drives the taking-out component to move in the reverse direction, the reset mechanism drives the moving wheel component to reset; When the taking-out component moves to the first limiting structure, the transmission mechanism continues to drive the tray and the taking-out component to move in the reverse direction and reset.

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