Cargo box removal device and method, handling robot

Abstract

The application provides a kind of box taking-out device and method, handling robot, belongs to handling robot technical field, it aims at solving the problem of wasting part of warehouse storage space when handling box by current handling robot;The box taking-out device includes a taking-out assembly connected with the front of the box to be transferred, and can take the box out from the storage shelf;Since the taking-out assembly is connected with the front of the box, it is not necessary to reserve space for the taking-out assembly to insert and move at the bottom, top and left and right sides of the box, so as to fully utilize the storage space of the warehouse and improve the storage density of the warehouse.

Description

[0001] This invention is a divisional application of application number 2020103986624, filed on May 12, 2020, entitled "Cargo Box Removal Device and Method, Handling Robot". Technical Field

[0002] This invention relates to the field of handling robot technology, and in particular to a cargo box removal device and method, and a handling robot. Background Technology

[0003] 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.

[0004] Based on the different ways their grippers retrieve cargo boxes, material handling robots can be divided into gripping robots and lifting robots. Gripping robots hold the cargo box by its two grippers on both sides, requiring space between adjacent cargo boxes for the grippers to insert and for the grippers to move towards each other, thus wasting horizontal storage space in the warehouse. Lifting robots insert their forks into the bottom of the cargo box, requiring space between the bottom of the cargo box and the rack for the forks to insert, and also requiring space above the cargo box for it to move, thus wasting vertical storage space in the warehouse.

[0005] In other words, when using current handling robots to move boxes, a large amount of operating space needs to be reserved, which wastes some warehouse storage space and reduces the warehouse storage density. Summary of the Invention

[0006] This invention provides a cargo box removal device and method, and a handling robot, which reduces the operating space of the handling robot when handling cargo boxes, thereby making full use of warehouse storage space and increasing warehouse storage density.

[0007] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0008] In a first aspect, embodiments of the present invention provide a cargo box removal device, comprising: a base, a transmission mechanism, and a removal assembly; the removal assembly is used to connect with the front of a cargo box to be transferred to transfer the cargo box; the transmission mechanism includes a fixed wheel assembly, a moving wheel assembly, and a transmission belt, the fixed wheel assembly including at least two fixed wheels spaced apart on the base; the moving wheel assembly includes a slide seat slidably mounted on the base, and at least two moving wheels spaced apart on the slide seat, wherein, along the moving direction of the slide seat toward the cargo box, a first limiting structure is provided at the front end of the slide seat, and a reset mechanism is connected to the rear end of the slide seat; the removal assembly is disposed on the transmission belt, the transmission belt being wound around each of the moving wheels and each of the fixed wheels, when the removal assembly moves toward the cargo box to the first limiting structure under the drive of the transmission belt, the transmission belt drives the removal assembly and the moving wheel assembly to move toward the cargo box together; when the transmission belt moves in the opposite direction, the reset mechanism is used to reset the moving wheel assembly, and after the moving wheel assembly is reset, the transmission belt drives the removal assembly to reset.

[0009] In one alternative embodiment, the base includes two support plates disposed opposite each other and a bottom connecting plate connecting the two support plates; each of the fixed wheels is installed between the two support plates.

[0010] In one optional embodiment, the fixed wheel assembly includes a first fixed wheel and a second fixed wheel; the first fixed wheel is installed between the two support plates and located at the front end of the support plates, and the second fixed wheel is between the two support plates and located at the rear end of the support plates; the first fixed wheel and the second fixed wheel form an installation space for the moving wheel assembly.

[0011] In one optional embodiment, the rear end of the support plate is provided with a bearing seat for mounting the second fixed wheel, and both ends of the axle of the second fixed wheel are respectively connected to the bearings in each of the bearing seats; the front end of the support plate is provided with a mounting hole that mates with the axle of the first fixed wheel.

[0012] In one optional embodiment, the fixed wheel assembly includes a first fixed wheel, a third fixed wheel, and a fourth fixed wheel; the first fixed wheel is mounted on the front end of the support plate, and the third and fourth fixed wheels are spaced apart on the rear end of the support plate along a sliding direction perpendicular to the slide block; the third fixed wheel, the fourth fixed wheel, and the first fixed wheel form an installation space for the moving wheel assembly.

[0013] In one optional embodiment, the moving wheel assembly includes a first moving wheel and a second moving wheel mounted on the slide; the slide includes two oppositely arranged mounting plates and a connecting plate disposed between the two mounting plates; the first moving wheel is mounted between the two mounting plates and located at the front end of the mounting plates, and the second moving wheel is mounted between the two mounting plates and located at the rear end of the mounting plates.

[0014] In one optional embodiment, the mounting plate is provided with a first guide rail on the side facing the support plate, and the support plate is provided with a first guide block that cooperates with the first guide rail.

[0015] In one alternative embodiment, a first buffer is provided at the rear end of the mounting plate, and a collision block is provided at the rear end of the support plate, which is directly opposite the first buffer.

[0016] In one alternative embodiment, the reset mechanism is an elastic element, one end of which is connected to the rear end of the slide, and the other end of which is connected to the rear end of the base.

[0017] In one alternative embodiment, the elastic element is a spring; one end of the spring is connected to the axle of the second moving wheel located at the rear end of the slide, and the other end of the spring is connected to the axle of the fixed wheel located at the rear end of the base.

[0018] In one optional embodiment, the reset mechanism includes a reversing wheel, a counterweight, and a rope; the reversing wheel is located at the rear end of the base, one end of the rope extends horizontally and is connected to the rear end of the slide; the other end of the rope passes around the reversing wheel, extends vertically, and is connected to the counterweight.

[0019] In one optional embodiment, the removal component includes a fixed bracket and a plurality of suction cups; the plurality of suction cups are mounted on the fixed bracket, and the suction surface of the suction cups faces the front of the cargo box; the fixed bracket is connected to the transmission belt and moves together with the transmission belt.

[0020] In one optional embodiment, the removal assembly includes a fixed bracket and a magnet disposed at one end of the fixed bracket; the end of the fixed bracket away from the magnet is fixed to the transmission belt, and the surface of the cargo box facing the fixed bracket is a magnetic adsorption surface.

[0021] In one optional embodiment, the take-out component includes a fixed bracket and a buckle disposed at one end of the fixed bracket; the end of the fixed bracket away from the buckle is fixed to the transmission belt, and the surface of the cargo box facing the fixed bracket is provided with a slot for engaging with the buckle.

[0022] In one optional embodiment, the transmission belt is a synchronous belt, and the fixed bracket is provided with a clamp at one end facing the synchronous belt; the fixed bracket is fixed to the synchronous belt by the clamp.

[0023] In one optional embodiment, the clamp includes a first clamping assembly, the first clamping assembly including a first pressure plate and a first toothed plate disposed on both sides of the timing belt; the first toothed plate is located on the toothed side of the timing belt and meshes with the drive teeth of the timing belt, the first pressure plate is located on the toothless side of the timing belt, and the first pressure plate and the first toothed plate are connected together.

[0024] In one optional embodiment, the clamp further includes a second clamping component that is opposite to and spaced apart from the first clamping component; the second clamping component includes a second pressure plate and a second toothed plate disposed on both sides of the timing belt; wherein the second toothed plate is located on the toothed side of the timing belt and meshes with the drive teeth of the timing belt, the second pressure plate is located on the toothless side of the timing belt, and the second pressure plate and the second toothed plate are connected together; the second pressure plate and the first pressure plate are connected together by a connector, and the fixing bracket is fixed on the first pressure plate and / or the second pressure plate.

[0025] In one optional embodiment, a second guide block is provided at one end of the second pressure plate facing the slide; the mounting plate of the slide includes a vertical plate and a horizontal plate, the vertical plate and the horizontal plate are connected to form an L-shaped mounting plate, the vertical plate is used to mount the moving wheel assembly, and the horizontal plate is provided with a second guide rail that cooperates with the second guide block.

[0026] In one alternative embodiment, a second buffer is provided on the second pressure plate, and the second buffer is positioned opposite to the first limiting structure.

[0027] In one optional embodiment, the base is further provided with a tray, the tray including a first tray and a second tray disposed opposite to each other; the first tray and the second tray are respectively mounted on each of the support plates, and a channel for the fixed bracket to move is formed between the first tray and the second tray; the end of the fixed bracket away from the transmission belt is located above the tray.

[0028] In one optional embodiment, a first buffer pad is provided at the front end of the first pallet, and the first buffer pad is located on the end face of the first pallet facing the cargo box; a second buffer pad is provided at the front end of the second pallet, and the second buffer pad is located on the end face of the second pallet facing the cargo box.

[0029] In one optional embodiment, a first guide surface is provided on the front end of the first tray and the surface facing away from the base, the first guide surface extending obliquely downward toward the ground; a second guide surface is provided on the front end of the second tray and the surface facing away from the base, the second guide surface extending obliquely downward toward the ground.

[0030] In one alternative embodiment, the cargo box removal device further includes a motor and a reducer, wherein the motor is connected to the axle of the fixed wheel located at the rear end of the base via the reducer.

[0031] Secondly, embodiments of the present invention provide a handling robot, including a robot body and a cargo box removal device; the cargo box removal device is mounted on the robot body.

[0032] Thirdly, embodiments of the present invention provide a method for retrieving a cargo box using a handling robot. The handling robot includes a cargo box retrieval device, which includes a base, a transmission mechanism, and a retrieval assembly. The retrieval assembly is used to connect with the front of the cargo box to be transferred to transfer the cargo box. The transmission mechanism includes a fixed wheel assembly, a moving wheel assembly, and a transmission belt. The moving wheel assembly includes a slide block slidably mounted on the base. Along the moving direction of the slide block toward the cargo box, a first limiting structure is provided at the front end of the slide block, and a reset mechanism is connected to the rear end of the slide block. The method includes the following steps:

[0033] A handling robot equipped with a cargo box retrieval device moves to the warehouse shelf where the cargo box to be transferred is located;

[0034] The transmission mechanism is used to move the take-out component toward the front of the cargo box;

[0035] When the take-out component moves to the first limiting structure, the transmission mechanism drives the drive wheel assembly and the take-out component to move together toward the front of the cargo box;

[0036] Once the removal component contacts the front of the cargo box, the removal component connects to the front of the cargo box to be transferred to transfer the cargo box.

[0037] When the transmission mechanism drives the extraction component to move in the opposite direction, the reset mechanism drives the moving wheel component to reset.

[0038] After the moving wheel assembly is reset, the transmission mechanism continues to drive the extraction assembly to move in the opposite direction and reset.

[0039] Compared with related technologies, the cargo box removal device and method and the handling robot provided in the embodiments of the present invention have the following advantages;

[0040] In the cargo box removal device provided in this embodiment of the invention, the removal component is used to connect with the front of the cargo box to be transferred, thereby enabling the cargo box to be removed from the storage rack and transferred to the robot rack or other storage areas of the storage rack. During the transfer of the cargo box, since the removal component is connected to the front of the cargo box, there is no need to reserve horizontal operating space on the left and right sides of the cargo box, nor is there a need to reserve space for fork insertion at the bottom of the cargo box, or space for lifting the cargo box when lifting it. That is, when using the cargo box removal device provided in this embodiment of the invention to transfer the cargo box, the operating space of the removal component when the handling robot moves the cargo box can be significantly reduced, thereby making full use of the storage space of the warehouse and improving the storage density of the warehouse.

[0041] In addition, in the cargo box retrieval device provided in the embodiments of the present invention, the drive wheel assembly in the transmission mechanism is mounted on the base via a slide. The front end of the slide is provided with a first limiting structure. When the retrieval component moves toward the cargo box and abuts against the first limiting structure, the retrieval component and the slide can move together toward the front of the cargo box, increasing the stroke of the retrieval component. This makes it easier for the retrieval component to extend into the interior of the storage rack, so as to retrieve the cargo box located deep in the storage rack, thereby improving the reliability of the handling robot in handling cargo boxes.

[0042] In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, the cargo box removal device and method provided by the embodiments of the present invention, other technical problems that can be solved by the handling robot, 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 embodiments. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are only a part of the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the working state of the handling robot provided in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the rotary mechanism provided in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram showing the connection between the rotary mechanism and the cargo box removal device provided in an embodiment of the present invention;

[0047] Figure 4This is a schematic diagram of the structure of the cargo box removal device provided in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure of the base provided in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the installation of the fixed wheel assembly and the base provided in an embodiment of the present invention. Figure 1 ;

[0050] Figure 7 This is a schematic diagram of the installation of the fixed wheel assembly and the base provided in an embodiment of the present invention. Figure 2 ;

[0051] Figure 8 A schematic diagram showing the arrangement of the first moving wheel, the second moving wheel, the first buffer, the first guide rail, and the second guide rail on the slide block, provided for an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the structure of the slide provided in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the installation of the first buffer and the bumper provided in an embodiment of the present invention;

[0054] Figure 11 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 1 ;

[0055] Figure 12 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 2 ;

[0056] Figure 13 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 3 ;

[0057] Figure 14 This is a schematic diagram illustrating the connection between the component and the tray in an embodiment of the present invention;

[0058] Figure 15 A schematic diagram of the guide surface structure located at the front end of the tray according to an embodiment of the present invention;

[0059] Figure 16 This is a schematic diagram of the structure of the component being removed in an embodiment of the present invention;

[0060] Figure 17 This is a schematic diagram of the connection between the extraction component and the transmission belt provided in an embodiment of the present invention. Figure 1 ;

[0061] Figure 18 This is a schematic diagram of the connection between the extraction component and the transmission belt provided in an embodiment of the present invention. Figure 2 ;

[0062] Figure 19 This is a flowchart illustrating the steps of the cargo box removal method provided in an embodiment of the present invention.

[0063] Explanation of reference numerals in the attached figures:

[0064] 10-Base; 11-Support plate;

[0065] 12-Bottom connecting plate; 13-First guide block;

[0066] 14-Third guide rail; 15-Bumper block;

[0067] 20 - Fixed wheel assembly; 21 - First fixed wheel;

[0068] 22 - Second fixed wheel; 23 - Third fixed wheel;

[0069] 24 - Fourth fixed wheel; 30 - Moving wheel assembly;

[0070] 31-Slide; 32-First moving wheel;

[0071] 33-Second driving wheel; 34-First guide rail;

[0072] 35 - Second guide rail; 36 - First buffer;

[0073] 37 - First limiting structure; 40 - Transmission belt;

[0074] 50 - Pallet; 51 - First pallet;

[0075] 52 - Second pallet; 53 - First buffer pad;

[0076] 54 - Second buffer pad; 55 - Second limiting plate;

[0077] 56 - Third guide block; 57 - Guide surface;

[0078] 60 - Remove the component; 61 - Fix the bracket;

[0079] 62-Suction cup; 63-First clamping assembly;

[0080] 64-Second clamping assembly; 65-Second buffer;

[0081] 70 - Drive mechanism; 81 - Return spring;

[0082] 82 - Belt; 83 - Counterweight;

[0083] 84- Rope; 85- Directional pulley;

[0084] 100 - Cargo container removal device; 111 - First support plate;

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

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

[0087] 210 - Mounting bracket; 220 - Rotary assembly;

[0088] 300 - Base; 311 - Mounting plate;

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

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

[0091] 500 - Warehouse racks; 600 - Cargo boxes;

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

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

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

[0095] 642 - Second toothed plate; 643 - Second guide block. Detailed Implementation

[0096] When using clamping or lifting robots to move boxes, a large operating space is required, wasting warehouse storage space and reducing storage density. To solve this problem, the retrieval device provided in this embodiment of the invention connects the retrieval component for transferring the box to the front of the box, eliminating the need to reserve space at the bottom, top, and left and right sides of the box for the retrieval component to insert and move. Therefore, it can fully utilize warehouse storage space and improve storage density.

[0097] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the embodiments of the present invention.

[0098] Figure 1 This is a schematic diagram illustrating the working state of the handling robot provided in an embodiment of the present invention. Figure 1As shown, the handling robot provided in this embodiment of the invention includes: a robot body and a cargo box retrieval device 100 installed on the robot body. The robot body includes a rotating mechanism 200, a base 300, and a robot shelf 400. The base 300 is used to support components or devices installed on the base 300. The base 300 is provided with a walking mechanism to drive the base 300 to move on the ground of the storage area. The robot shelf 400 is fixedly installed on the base 300 and includes multiple cargo box storage spaces for temporarily storing cargo boxes 600 for transfer.

[0099] Figure 2 This is a schematic diagram of the structure of the rotary mechanism provided in an embodiment of the present invention. Figure 2 As shown, the rotary mechanism 200 is mounted on the crossbeam of the robot shelf 400 and can move up and down along the robot shelf 400. The rotary mechanism 200 includes a mounting frame 210 and a rotary assembly 220. One end of the mounting frame 210 is fixedly connected to the crossbeam by screws and bolts and can move up and down along the robot shelf 400 along with the crossbeam. The rotary assembly 220 is mounted on the mounting frame 210 and can rotate relative to the mounting frame 210 about the rotation axis of the rotary assembly 220. For example, using... Figure 2 Taking the placement of the slewing mechanism as an example, the mounting frame 210 is roughly parallel to the ground, that is, the mounting frame 210 extends in the horizontal direction, and the rotation axis L1 of the slewing component 220 is perpendicular to the ground. When the slewing component 220 rotates relative to the mounting frame 210 around its rotation axis, the slewing component 220 rotates in a space that is roughly parallel to the ground.

[0100] Figure 3 This is a schematic diagram showing the connection between the rotating mechanism and the cargo box removal device provided in an embodiment of the present invention. Figure 3 As shown, a box-retrieving device 100 is mounted on the rotary assembly 220. When the rotary assembly 220 rotates relative to the mounting frame 210 around its rotation axis, the box-retrieving device 100 can rotate relative to the mounting frame 210 around the rotation axis of the rotary assembly 220, so that after the box-retrieving device 100 retrieves the box 600, it can rotate a certain angle, such as 90°, and place the box 600 on the robot shelf 400. When the rotary mechanism 200 moves up and down along the robot shelf 400, the box-retrieving device 100 follows the rotary mechanism 200 and moves up and down along the robot shelf 400 to adjust the height of the box-retrieving device 100 from the ground, so as to facilitate the retrieval or placement of the box 600 located at different heights on the storage rack 500.

[0101] Figure 4 This is a schematic diagram of the structure of the cargo box removal device provided in an embodiment of the present invention. Figure 4As shown, the cargo box removal device 100 includes: a base 10, a transmission mechanism, a removal component 60, and a drive device 70. The base 10 is mounted on the aforementioned rotating component 220 and can rotate with the rotating component 220. The transmission mechanism and the drive device 70 are both mounted on the base 10, and the drive device 70 is connected to the transmission mechanism 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 take-out assembly 60 is fixed on the transmission belt 40. When the drive device 70 drives the transmission mechanism to transmit power, the take-out assembly 60 moves toward the front of the cargo box 600 under the drive of the transmission belt 40. When the take-out assembly 60 moves to the set position, the take-out assembly 60 connects with the front of the cargo box 600, thereby taking the cargo box 600 out of the storage rack 500 and transferring it to the robot rack 400 or other storage racks 500. Similarly, the cargo box take-out device 100 can also be used to transfer the cargo box 600 located on the handling robot grid to the storage rack 500.

[0102] When transferring a cargo box using the cargo box removal device provided in this embodiment of the invention, its removal component 60 is connected to the front of the cargo box 600, eliminating the need to reserve operating space at the bottom, top, and left and right sides of the cargo box 600. Compared with related technologies, where the gripping arms of a clamping handling robot hold the cargo box on the left and right sides, wasting storage space in the horizontal direction, and the forks of a lifting handling robot insert into the bottom of the cargo box, wasting storage space in the vertical direction, the present invention fully utilizes warehouse storage space and increases warehouse storage density because it eliminates the need to reserve operating space at the bottom, top, and left and right sides of the cargo box 600.

[0103] The cargo box removal device will be further described below with reference to the accompanying drawings. First, the first direction and the second direction defined in this embodiment will be explained: When the removal component 60 removes the cargo box 600 located on the storage rack 500, the direction in which the removal component 60 moves toward the front of the cargo box 600 is the first direction, such as... Figure 1 and Figure 4 The direction of movement of the removal component 60 shown is the first direction; the direction in which the removal component 60 moves away from the storage rack 500 is the second direction, that is, the first direction and the second direction are opposite. In this embodiment, the front of the cargo box 600 refers to the side of the cargo box 600 facing the outside of the storage rack 500 when the cargo box 600 to be transferred is placed on the storage rack 500, or in other words, the side exposed to the outside of the storage rack 500.

[0104] In addition, such as Figure 1In the state of the cargo box removal device 100 shown, for ease of description of the movement state of the transmission mechanism and the removal component 60, the two ends of the base 10 along the first direction are defined as the rear end and the front end of the base 10, respectively; when the cargo box 600 located on the storage rack 500 is removed using the removal component 60, the front end of the base 10 needs to be close to the storage rack 500, and the end opposite to the front end of the base 10 is the rear end of the base 10; as shown Figure 4 In the state of the cargo box removal device 100 shown, the initial position of the removal component 60 can be defined as when it is located at the rear end of the base 10.

[0105] Figure 5 This is a schematic diagram of the structure of the base provided in an embodiment of the present invention. Figure 5 As 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 parallel and spaced apart along a first direction, and an installation space for a fixed wheel assembly 20 and a moving wheel assembly 30 is formed between the two support plates 11. The fixed wheel assembly is fixedly installed between the two support plates 11, and the moving wheel assembly 30 is connected by a slide block 31 (see...). Figure 9 The slide shown 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 aforementioned rotary assembly 220 so that the base 10 can rotate with the rotary assembly 220.

[0106] For ease of description, the two support plates 11 can be defined as the first support plate and the second support plate, respectively. The first support plate and the second support plate both include a first bearing plate 111 and a second bearing plate 112. The first bearing plate 111 is arranged in the horizontal direction, and the second bearing plate 112 is arranged in the vertical direction. The first bearing plate 111 and the second bearing plate 112 are vertically connected together to form an L-shaped support plate 11. Alternatively, each support plate 11 can be made of angle steel.

[0107] The first support plate 111 is used to support components or devices disposed above the base 10. For example, a tray 50 is disposed above the base 10. The tray 50 can be fixed on the first support plate 111 or slidably disposed on the first support plate 111. If the tray 50 is slidably mounted on the base 10, a third guide rail 14 is provided on each first support plate 111 for the tray 50 to slide relative to the base 10.

[0108] The second support plate 112 can be used to install the fixed wheel assembly 20. Along the first direction, the front and rear ends of the second support plate 112 are respectively provided with mounting holes for installing the fixed wheels in the fixed wheel assembly 20. The rotation axis of each fixed wheel is perpendicular to the second support plate 112. It is understood that, since the number of fixed wheels in the fixed wheel assembly 20 located between the two support plates can be arranged according to actual needs, in some embodiments, the fixed wheel assembly includes two fixed wheels. A schematic diagram of the installation of the fixed wheel assembly and the base is shown below. Figure 6 As shown; in some embodiments, the fixed wheel assembly may further include three or more fixed wheels; when the fixed wheel assembly includes three fixed wheels, the installation diagram of the fixed wheel assembly and the base is shown below. Figure 7 As shown.

[0109] Figure 6 This is a schematic diagram of the installation of the fixed wheel assembly and the base provided in an embodiment of the present invention. Figure 1 .like Figure 6 As shown, the fixed wheel assembly 20 includes two fixed wheels, namely a first fixed wheel 21 and a second fixed wheel 22. 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 transmission belt 40 is respectively wound around the first fixed wheel 21 and the second fixed wheel 22. The space formed by the transmission belt 40 and the first fixed wheel 21 and the second fixed wheel 22 is the moving wheel installation space in the moving wheel assembly 30.

[0110] The first fixed wheel 21 is installed at the front end of each of the second bearing plates 112 and is located between the two second bearing plates 112. The first fixed wheel 21 is used to guide the transmission belt 40. The first fixed wheel 21 includes a wheel body and a wheel axle connected to the wheel body. The two ends of the wheel axle can be installed on the second bearing plate 112 respectively. Each second bearing plate 112 is provided with a first mounting hole 113 that mates with the wheel axle of the first fixed wheel 21. The wheel axle of the first fixed wheel 21 is installed in the first mounting hole 113, and the first fixed wheel 21 can rotate relative to the second bearing plate 112.

[0111] The second fixed wheel 22 is installed at the rear end of the second bearing plate 112. Each rear end of the second bearing plate 112 is provided with a second mounting hole 114, and a bearing seat is provided in each second mounting hole 114. The axle of the second fixed wheel 22 is installed in a bearing located in the bearing seat. Under the action of external force, the second fixed wheel can rotate relative to the base 10. The second fixed wheel can act as a driving wheel and drive the first fixed wheel to rotate through the transmission belt 40.

[0112] Furthermore, such as Figure 6As shown, the second fixed wheel 22 is mounted at the rear end of the base 10, and the second fixed wheel can be connected to the drive device 70 through its axle. Under the drive of the drive device 70, the second fixed wheel 22 can rotate relative to the base 10, thereby driving the transmission belt 40 to move relative to the base 10. Furthermore, the drive device 70 includes a motor and a reducer connected to the motor. The motor is connected to the axle of the second fixed wheel 22 through the reducer. By controlling the forward and reverse rotation of the motor, the transmission belt 40 can be moved in a first direction or a second direction. The direction of movement of the transmission belt 40 can be consistent with the direction of movement of the extraction component 60. (See reference...) Figure 4 The first and second directions are shown.

[0113] Figure 7 This is a schematic diagram of the installation of the fixed wheel assembly and the base provided in an embodiment of the present invention. Figure 2 .like Figure 7 As shown, the fixed wheel assembly 20 includes three fixed wheels, namely a first fixed wheel 21, a third fixed wheel 23, and a fourth fixed wheel 24. The first fixed wheel 21 is installed at the front end of the base 10, and the third fixed wheel 23 and the fourth fixed wheel 24 are installed at the rear end of the base 10. The third fixed wheel 23 and the fourth fixed wheel 24 are distributed at intervals at the rear end of the base 10 in a direction perpendicular to the first direction, and the transmission belt 40 is wound around the first fixed wheel 21, the third fixed wheel 23, and the fourth fixed wheel 24 to form the moving wheel mounting space of the moving wheel assembly 30.

[0114] The method by which the first fixed wheel 21 is installed at the front end of the base 10 remains unchanged, and will not be described again here; for Figure 7 The illustrated embodiments and Figure 6 The difference in this embodiment is that the rear end of the base 10 is provided with a third mounting hole and a fourth mounting hole, and the third mounting hole and the fourth mounting hole are arranged vertically at intervals at the rear end of the base 10. The axle of the third fixed wheel 23 is installed in the third mounting hole of the base 10, and the third fixed wheel 23 can rotate relative to the base 10; the axle of the fourth fixed wheel 24 is installed in the fourth mounting hole of the base 10, and the fourth fixed wheel 24 can rotate relative to the base 10; moreover, the drive device 70 can be selectively connected to one of the third fixed wheel 23 and the fourth fixed wheel 24, thereby driving the transmission belt 40 to move relative to the base 10.

[0115] The second support plate 112 can be used not only to install the fixed wheel assembly 20, but also to install the moving wheel assembly. The second support plate 112 is provided with a first guide block 13 for installing the moving wheel assembly 30. The first guide block 13 is arranged in a strip along the first direction on the second support plate 112 so that the moving wheel assembly 30 can slide relative to the base 10 along the first direction.

[0116] Figure 8A schematic diagram showing the arrangement of the first moving wheel, the second moving wheel, the first buffer, the first guide rail, and the second guide rail on the slide block, provided for an embodiment of the present invention; Figure 9 This is a schematic diagram of the slide provided in an embodiment of the present invention.

[0117] like Figure 8 As shown, the drive wheel assembly 30 includes a first drive wheel 32, a second drive wheel 33, and a slide 31; along the first direction (the first direction is as shown in the image), ... Figure 8 (As shown in the direction), the two ends of the slide 31 can be defined as the front end and the rear end. The first moving wheel 32 is installed at the front end of the slide 31, and the second moving wheel 33 is installed at the rear end of the slide 31. The slide 31 is slidably installed on the base 10. The slide 31 is provided with a first guide rail 34 that is slidably connected to the base 10. The first guide rail 34 cooperates with the first guide block 13 provided on the second bearing plate 112 so that the slide 31 can move along the base 10 in the first direction or the second direction.

[0118] like Figure 9 As shown, the slide 31 includes two mounting plates 311 and a connecting plate 314 located between the two mounting plates 311. A connecting plate 314 can be provided at the front and rear ends of the two mounting plates 311 respectively to enhance the structural strength of the slide 31. For ease of description, the two mounting plates 311 can be a first mounting plate and a second mounting plate, each including a vertical plate 312 and a horizontal plate 313. The vertical plate 312 and the horizontal plate 313 are vertically connected together to form an L-shaped mounting plate 311. The length direction of the first mounting plate and the second mounting plate is parallel to a first direction (as shown in the image). Figure 9 (In the direction shown) The first mounting plate and the second mounting plate are spaced apart and parallel to each other, forming the mounting space for the first moving wheel 32 and the second moving wheel 33.

[0119] The two ends of the axle of the first moving wheel 32 are respectively connected to the front end of each vertical plate 312, and the first moving wheel 32 installed on the slide 31 can rotate relative to the slide 31; the two ends of the axle of the second moving wheel 33 are respectively connected to the rear end of each vertical plate 312, and the second moving wheel 33 installed on the slide 31 can rotate relative to the slide 31.

[0120] The first guide rail 34 is located on the vertical plate 312, and its length direction is parallel to the first direction. The first guide rail 34 cooperates with the first guide block 13 on the base 10. The horizontal plate 313 is equipped with a second guide rail 35, which cooperates with the second guide block provided on the extraction assembly 60, so that the extraction assembly 60 can slide along the second guide rail 35 relative to the slide block 31 in the first direction or the second direction.

[0121] The front end of the slide 31 is also provided with a first limiting structure 37 that abuts against the take-out component 60. The first limiting structure 37 can be a first limiting plate, with both ends of the first limiting plate fixed to each horizontal plate 313, that is, the first limiting plate spans between two mounting plates 311 so that the first limiting plate can abut against the take-out component 60. When the take-out component 60 moves toward the front of the cargo box 600, the first limiting plate can abut against the take-out component 60. As the transmission belt 40 continues to drive toward the cargo box 600, the take-out component 60 drives the first limiting plate and the slide 31 to continue moving toward the front of the cargo box 600, so that the take-out component 60 moves toward the interior of the storage rack 500 and connects with the cargo box 600 to be transferred, thereby expanding the travel of the take-out component 60 and enabling the take-out of the cargo box 600 located deeper in the storage rack 500, improving the reliability of the take-out component 60's operation.

[0122] After the take-out component 60 is connected to the transfer box 600, the take-out component 60 needs to move in the second direction to remove the transfer box from the storage rack 500. At this time, the take-out component 60 and the slide 31 need to move quickly away from the storage rack 500. In some embodiments, when the slide 31 moves in the second direction and retracts to the initial position, to prevent the slide 31 from sliding off the base and to make it reach the preset initial position, a limiting device that cooperates with the slide 31 is usually provided on the base 10, such as... Figure 10 As shown.

[0123] Figure 10 This is a schematic diagram illustrating the installation of the first buffer and the impact block according to an embodiment of the present invention. Figure 10 As shown, when the slide 31 moves rapidly toward the rear end of the base 10, two impact blocks 15 are provided at the rear end of the base 10 to limit the movement of the slide 31. Each impact block 15 is a rectangular block and is opposite to the vertical plate 312 of the slide 31. The two impact blocks 15 are respectively fixed to the rear ends of the first support plate and the second support plate of the base 10, and the impact blocks 15 can be located on the second bearing plate 112 of the support plate 11.

[0124] To reduce the impact force when the slide 31 contacts the base 10, two first buffers 36 are provided at the rear end of the slide 31. The two first buffers 36 are located at the rear ends of the first mounting plate and the second mounting plate of the slide 31, respectively. The first buffers 36 can be located on the vertical plate 312 of each mounting plate 311, and the first buffers 36 are directly opposite the impact block 15. When the slide 31 moves to the rear end of the base 10 along the second direction, the first buffers 36 abut against the impact block 15. The first buffers 36 reduce the impact force between the slide 31 and the base 10, thereby reducing the vibration of the cargo removal device, so that the cargo box 600 can be stably fixed on the removal component 60 during the transfer of the cargo box 600.

[0125] In another embodiment, a reset mechanism is provided at the rear end of the slide 31 to enable it to quickly retract to its initial position. When the take-out component 60 moves toward the front of the cargo box 600 and abuts against the first limiting structure 37, the slide 31 needs to overcome the restoring force of the reset mechanism and move to the front end of the base 10; that is, when the take-out component 60 abuts against the first limiting structure 37 at the front end of the slide 31, the transmission belt 40 continues to drive along the first direction, and the slide 31 and the take-out component 60 will move as a whole toward the front of the cargo box 600 relative to the base 10 and move to the cargo box 600.

[0126] After the removed component 60 contacts the front of the cargo box 600 and secures the cargo box 600, the removed component 60 starts its return journey and prepares to transfer the cargo box 600 to the pallet 50. At this time, the reset mechanism starts to work, so that the slide 31 moves along the second direction under the action of the restoring force of the reset mechanism and can quickly return to the initial position, thereby improving the efficiency of the handling robot in handling cargo boxes.

[0127] Furthermore, the reset mechanism provided in this embodiment can be an elastic element or a counterweight disposed at the rear end of the slide 31. Of course, the reset mechanism can also be other elements or components capable of providing restoring force, as long as it can provide restoring force when the slide 31 moves in the second direction. Depending on the structural form of the reset mechanism, this embodiment may include, but is not limited to, the following exemplary implementation methods: Figures 11 to 13 As shown.

[0128] Figure 11 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 1 For example, the reset mechanism may be a reset spring 81, one end of which is connected to the rear end of the slide 31 and the other end of which is connected to the rear end of the base 10. When the take-out component 60 moves together with the slide 31 to the cargo box 600, the reset spring 81 is continuously stretched during the forward movement of the slide 31. When the take-out component 60 returns, the reset spring 81 provides a restoring force to the slide 31, causing it to quickly return to its initial position.

[0129] Figure 12 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 2 .like Figure 12As shown, the reset mechanism can also be a belt 82. One end of the belt 82 is sleeved on the axle of the second moving pulley 33 at the rear end of the slide 31, and the other end of the belt 82 is sleeved on the axle of the second fixed pulley 22. Alternatively, the other end of the belt 82 can be sleeved on the axle of one of the fixed pulleys, the third fixed pulley 23 and the fourth fixed pulley 24. When the removal component 60 moves together with the slide 31 to the cargo box 600, the belt 82 is continuously stretched during the forward movement of the slide 31. When the removal component 60 returns, the belt 82 provides a restoring force to the slide 31, causing it to quickly return to its initial position.

[0130] Figure 13 Installation diagram of the reset mechanism provided in the embodiment of the present invention Figure 3 .like Figure 13 As shown, the reset mechanism includes a counterweight 83, a rope 84, and a reversing wheel 85. The counterweight 83 utilizes gravity, which is redirected by the reversing wheel 85 to provide tension to the slide block 31 as it moves in the second direction. Exemplarily, the reversing wheel 85 is mounted at the rear end of the base 10. One reversing wheel 85 can be mounted on each of the two support plates 11 of the base 10, and the two reversing wheels 85 can be arranged opposite each other and located on the second support plate 112. The axis of rotation of the reversing wheel 85 is perpendicular to the second support plate 112.

[0131] One end of the rope 84 is wound around the deflector 85 and then horizontally connected to the rear end of the slide block 31, which can be connected to the horizontal plate of each mounting plate 311 of the slide block 31; the other end of the rope 84 extends in a direction perpendicular to the ground after passing through the deflector 85 and is connected to the counterweight 83; then the gravity generated by the counterweight 83 is transmitted to the slide block 31 along the rope 84 to provide a pulling force in the second direction for the slide block 31, which can restore the slide block 31 to the initial position.

[0132] Figure 14 This is a schematic diagram illustrating the connection between the component removal device and the tray according to an embodiment of the present invention. Figure 14 As shown and combined Figure 1 Above the base 10, a pallet 50 is provided for supporting the cargo box 600. The middle part of the pallet 50 forms a channel for the component to be retrieved 60 to slide along it. After the retrieved component 60 is fixedly connected to the cargo box 600 to be transferred, the retrieved component 60 moves in the second direction and moves to the initial position. The cargo box 600 to be transferred is completely detached from the storage rack 500 and placed on the pallet 50.

[0133] For example, the pallet 50 includes a first tray 51 and a second tray 52 that are opposite to and spaced apart, forming a channel for accommodating the movement of the take-out component 60. Similarly, the first limiting structure 37 and the transmission mechanism are also located within the channel. One end of the take-out component 60 is fixedly connected to the transmission belt 40 located within the channel, and the end of the take-out component 60 away from the transmission belt 40 protrudes from the pallet 50 to facilitate placing the taken-out box 600 on the pallet 50.

[0134] The first tray 51 and the second tray 52 are strip-shaped plates. The first tray 51 is mounted on the first support plate of the base 10, and the second tray 52 is mounted on the second support plate of the base 10. Both the first tray 51 and the second tray 52 are located on the first bearing plate 111 of each support plate 11. It is understood that the pallet 50 is slidably mounted on the base 10. Each tray of the pallet 50 has a third guide block 56 on one side facing each support plate 11 of the base 10. The third guide block 56 cooperates with the third guide rail 14 on the support plate 11 to allow the pallet 50 to be slidably mounted on the base 10.

[0135] Furthermore, a second limiting plate 55 is provided at the rear end of the first tray 51 and the second tray 52. ​​The second limiting plate 55 connects the first tray 51 and the second tray 52 together, and the second limiting plate 55 can also limit the removal component 60.

[0136] The front end of the first pallet 51, the front end of 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 are all provided with flanges. Providing flanges on the first pallet 51 and the second pallet 52 not only creates a protective space under the pallet 50, but also facilitates the installation of protective devices at the edges of each pallet. For example, anti-collision pads can be provided on the flanges facing outwards of each pallet to provide effective protection against collisions with pedestrians or other objects during the handling of the cargo box by the handling robot.

[0137] For example, the first pallet 51 is provided with a first cushioning pad 53, which is located at the front end of the first pallet 51 and faces the end face of the cargo box 600. The first cushioning pad 53 can cover the entire front end face of the first pallet 51. It is used to cushion the impact force generated when the pallet 50 moves to the storage rack 500 and comes into contact with the storage rack 500, so as to avoid the risk of the storage rack 500 tipping over due to the impact force. The first cushioning pad 53 can be made of elastic rubber and has a certain thickness. Similarly, the front end of the second pallet 52 is provided with a second cushioning pad 54, which is located on the end face of the second pallet 52 facing the cargo box 600. This arrangement can be referred to the connection method between the first cushioning pad 53 and the first pallet 51, and will not be described again here.

[0138] Figure 15 This is a schematic diagram of the guide surface located at the front end of the tray, provided as an embodiment of the present invention. Figure 15 As shown, the pallet 50 is used to carry the cargo box 600. To facilitate the transfer of the cargo box 600 onto the pallet 50, each pallet has a guide surface 57 at its front end. For example, the front end of the first pallet 51 has a first guide surface to reduce the friction when the pallet 50 moves along the first pallet 51. The first guide surface is located on the surface of the first pallet 51 facing away from the base 10, and extends obliquely downward from the bearing surface of the front end portion of the first pallet 51 toward the bottom surface, extending to the front end of the first pallet 51. Similarly, a second guide surface is located on the front end of the second pallet 52 and on the surface facing away from the base 10. The second guide surface extends obliquely downward toward the ground, and its arrangement is the same as that of the first guide surface, which will not be described again here. It is understood that in other embodiments, such as Figure 14 The structure of the pallet 50 shown has a bearing surface at the front end of the first pallet 51 that can be a plane extending to its end face and perpendicular to its end face; the structure of the bearing surface at the front end of the second pallet 52 can be the same as that of the first pallet, and will not be described again here.

[0139] The removal component 60 provided in this embodiment can move between the first tray 51 and the second tray 52. ​​The removal component 60 can contact the front of the cargo box 600 and fix the cargo box 600. Depending on the connection method between the removal component 60 and the front of the cargo box 600, this embodiment may include, but is not limited to, the following implementation methods.

[0140] Figure 16 This is a schematic diagram of the structure of the component being removed in an embodiment of the present invention. For example... Figure 16 As shown, the removal component 60 includes a fixed bracket 61 and several suction cups 62. Each suction cup 62 can be connected to a negative pressure generating device. When the suction cup 62 contacts the front of the cargo box 600, the negative pressure generating device draws air from the suction cup 62, making the pressure inside the suction cup 62 less than atmospheric pressure. Under the action of atmospheric pressure, the suction cup 62 can be firmly attached to the front of the cargo box 600, thus fixing the cargo box 600.

[0141] Each suction cup 62 is located at the end of the fixed bracket 61 away from the transmission belt 40. The fixed bracket 61 includes a fixed connecting plate 611 extending in the vertical direction and a suction cup mounting plate 613. The fixed connecting plate 611 can be an L-shaped plate or a T-shaped plate. One end of the plate with a horizontal mounting part 612 is fixed to the transmission 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 and can be a rectangular plate. Multiple suction cups 62 can be evenly distributed on the suction cup mounting plate 613, and the adsorption surface of each suction cup 62 faces the front of the cargo box 600.

[0142] In another embodiment, the removal component 60 includes a fixing bracket 61 and a magnet; wherein the fixing bracket 61 can be the same as the fixing bracket 61 used to install the suction cups 62, and will not be described in detail here; the difference is that the multiple suction cups 62 on the suction cup mounting plate 613 can be replaced with multiple or one magnet, which is used to adhere to the front of the cargo box 600. It is understood that the cargo box 600 must at least ensure that its front is a magnetic adsorption surface. To facilitate the use of magnets to fix the cargo box 600, the cargo box 600 can be an iron box. The magnet can be an electromagnet, which has magnetism when energized and can attract the cargo box 600, and loses its magnetism when de-energized, so that the cargo box 600 can be easily detached from the fixing bracket 61 when needed.

[0143] In another embodiment, the removal component 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 used to install the suction cups 62, which will not be described in detail here. The difference is that the multiple suction cups 62 on the suction cup mounting plate 613 can be replaced with buckles, and the front of the cargo box 600 is provided with a slot for engaging with the buckle. When the fixing bracket 61 moves to the cargo box 600 and contacts the cargo box 600, the buckle can be engaged into the slot to fix the cargo box 600 to the removal component. It is understood that the suction cups 62 on the suction cup mounting plate 613 can also be replaced with hooks, and the front of the cargo box 600 is provided with hook holes for engaging with the hooks.

[0144] Based on the above embodiments, in order to facilitate fixing one end of the fixed bracket 61 facing the transmission belt 40 to the transmission belt 40, a clamp is provided below the fixed connecting plate 611 of the fixed bracket 61, and the horizontal mounting part 612 of the fixed connecting plate 611 can be fixed on the surface of the clamp; the transmission belt 40 can be a synchronous belt with transmission teeth on one side, and the clamp is provided with a toothed plate that meshes with the transmission teeth on the side facing the transmission teeth, and the transmission belt 40 is fixed in the clamp to prevent slippage between the transmission belt 40 and the clamp, thereby enhancing the fixing effect between the clamp and the transmission belt 40, so that the transmission belt 40 and the take-out component 60 move synchronously.

[0145] Figure 17 This is a schematic diagram of the connection between the extraction component and the transmission belt provided in an embodiment of the present invention. Figure 1 .like Figure 17As shown, the clamp provided in this embodiment includes at least one set of clamping components. For example, the clamp includes a first clamping component 63, which includes a first pressure plate 631 and a first toothed plate 632 disposed opposite to each other. The first pressure plate 631 is located on the toothless side of the synchronous belt and fits against it, while the first toothed plate 632 is located on the toothed side of the synchronous belt and meshes with the transmission teeth of the synchronous belt. The first toothed plate 632 and the first pressure plate 631 are fixed together by a connector, thereby fixing the transmission belt 40 between the first pressure plate 631 and the first toothed plate 632, realizing the synchronous movement of the fixed bracket 61 and the transmission belt 40.

[0146] The clamp also includes a second clamping assembly 64, which is positioned opposite and spaced apart from the first clamping assembly 63 along a first direction, with the second clamping assembly 64 being closer to the cargo box 600. The second clamping assembly 64 includes a second pressure plate 641 and a second toothed plate 642, which are positioned opposite each other. The second pressure plate 641 is located on and fits against the toothless side of the timing belt, while the second toothed plate 642 is located on the toothed side of the timing belt and meshes with the drive teeth of the timing belt. The second toothed plate 642 and the second pressure plate 641 are fixed together by a connector to fix the timing belt in the second clamping assembly 64. The first clamping assembly 63 and the second clamping assembly 64 are connected together by a connector to enhance the fixing effect between the lifting bracket 61 and the transmission belt 40. In other words, the first pressure plate 631 in the first clamping assembly 63 and the second pressure plate 641 in the second clamping assembly 64 are connected together by a connector. The fixing plate 611 of the fixing bracket 61 can be fixed to the first pressure plate 631, or to the second pressure plate 641, or the bottom of the fixing plate 611 can be fixed to both the first pressure plate 631 and the second pressure plate 641.

[0147] Furthermore, to improve the stability of the removal component 60 moving along the first direction, second guide blocks 643 are respectively provided at both ends of the second pressure plate 641 in the second clamping component 64. The two ends of the second pressure plate 641 extend toward the slide 31 and form extensions. The second guide blocks 643 are located on the extensions and are opposite to the slide 31. The slide 31 is provided with a second guide rail 35 that cooperates with the second guide blocks 643. The second guide rail 35 is set on the horizontal plate 313 of the slide 31 and is located at the edge of the horizontal plate 313 near the fixed bracket 61. The length direction of the second guide rail 35 is parallel to the first direction. Thus, the fixed bracket 61 moves along the second guide rail 35 of the slide 31 under the drive of the transmission belt 40, which can improve the sliding stability of the fixed bracket 61, reduce the vibration of the fixed bracket 61 during the movement, and effectively prevent the cargo box 600 from falling off the removal component 60.

[0148] When the take-out component 60 moves towards the cargo box 600 under the drive of the transmission belt 40, and reaches the first limiting structure 37, the take-out component 60 can drive the slide 31 to move towards the cargo box 600 as a whole. To reduce the impact force when the take-out component 60 comes into contact with the first limiting structure 37, a second buffer 65 can be provided at the bottom of the fixed bracket 61. The second buffer 65 is located on the second pressure plate 641 of the second clamping component 64. The second clamping component 64 is closer to the first limiting structure 37 than the first clamping component 63, and the second buffer 65 is directly opposite the first limiting structure 37, that is, the first limiting structure 37 and the second buffer 65 have opposing parts at the same height. When the take-out component 60 moves to the first limiting structure 37, the second buffer 65 can come into contact with the first limiting structure 37 to reduce the impact force between the take-out component 60 and the slide 31.

[0149] As can be seen from the above embodiments, a transmission belt 40 is provided in the channel formed by the first pallet and the second pallet, and the transmission belt 40 can be centrally arranged between the first pallet 51 and the second pallet 52; in another embodiment, two transmission belts 40 are provided in the channel formed between the first pallet 51 and the second pallet 52, and the two transmission belts 40 are arranged in parallel, forming an arrangement space for accommodating various electrical components between the two transmission belts 40.

[0150] Figure 18 This is a schematic diagram of the connection between the extraction component and the transmission belt provided in an embodiment of the present invention. Figure 2 .like Figure 18 As shown, two synchronously driven transmission belts 40 are arranged between the first pallet 51 and the second pallet 52. One transmission belt 40 is positioned close to the first pallet 51, and the other transmission belt 40 is positioned close to the second pallet 52. The take-out component 60 is connected to the two transmission belts 40 respectively via the aforementioned clamps and can move together with the transmission belts 40. The two parallel and oppositely arranged transmission belts form an installation space between the power supply components. For example, a camera device can be placed between the two transmission belts 40. The camera device is mounted on the front end of the base 10 via a mounting bracket. This embodiment optimizes the arrangement of the transmission belts, thereby reducing the overall size of the handling robot and making the handling robot more compact and flexible.

[0151] Furthermore, to further optimize the structure of the handling robot, based on the above embodiments, the slide 31, the first pallet 51, and the second pallet 52 can be manufactured as a single unit. The first pallet 51 and the second pallet 52 are slidably mounted on the base 10 via the slide 31, eliminating the need for a third guide rail 14 slidably mounted on the base 10 to the pallet 50, thereby simplifying the structure of the handling robot and saving manufacturing costs.

[0152] Figure 19This is a schematic flowchart illustrating the steps of a cargo box removal method provided in an embodiment of the present invention. Figure 19 As shown, the cargo box removal method of this embodiment includes the following steps:

[0153] Step S100: The handling robot with the cargo box retrieval device 100 moves to the warehouse shelf where the cargo box to be transferred is located; for example, after receiving the instruction to transfer a cargo box 600, the handling robot uses the walking mechanism of its base 300 to move to the position of the warehouse shelf 500 where the cargo box 600 is located, and adjusts the height of the cargo box retrieval device 100 so that the retrieval component 60 of the cargo box retrieval device 100 is facing the front of the cargo box 600.

[0154] Step S200: The transmission mechanism drives the take-out component 60 to move toward the front of the cargo box 600; for example, after the take-out component 60 is facing the front of the cargo box 600, the drive device 70 drives the transmission mechanism and drives the transmission belt 40 in the transmission mechanism to move along the first direction, thereby causing the take-out component 60 to move toward the front of the cargo box 600.

[0155] Step S300: After the take-out component 60 moves to the first limiting structure 37, the transmission mechanism drives the moving wheel assembly 30 and the take-out component 60 to move together toward the front of the cargo box 600. For example, the take-out component 60 moves toward the front of the cargo box 600 under the drive of the transmission belt 40. The take-out component 60 moves to the first limiting structure 37 located at the front end of the slide block 31 and abuts against it. The transmission belt 40 continues to drive in the first direction and overcomes the restoring force of the reset mechanism, so that the take-out component 60 and the moving wheel assembly 30 move together toward the front of the cargo box 600 and move to the cargo box 600.

[0156] Step S400: After the removal component 60 contacts the front of the contact box 600, the removal component connects to the front of the box 600 to transfer the box 600. For example, after the removal component 60 moves to the front of the box 600, it contacts and connects to the front of the box 600. For instance, after the removal component 60 moves to the box 600, the suction cup 62 in the removal component 60 contacts the front of the box 600, and the suction cup 62 adheres to the front of the box 600, thereby fixing the box 600 to the removal component.

[0157] Step S500: When the transmission mechanism drives the take-out component 60 to move in the reverse direction, the reset mechanism drives the moving wheel assembly 30 to reset. For example, after the take-out component 60 secures the cargo box 600, the drive device 70 drives the transmission mechanism and drives the transmission belt 40 to move in the second direction. At this time, under the restoring force of the reset mechanism, the moving wheel assembly returns to its initial position. That is, the motor reverses and drives the transmission belt 40 in the direction away from the storage rack 500. At this time, the first moving wheel 32 and the second moving wheel 33, which are mounted on the slide 31, return to their initial positions under the restoring force of the reset mechanism.

[0158] Step S600: After the moving wheel assembly 30 is reset, the transmission mechanism continues to drive the take-out assembly 60 to move in the opposite direction and reset. For example, after the moving wheel assembly 30 moves back to the initial position, the transmission belt 40 continues to drive along the second direction, thereby driving the take-out assembly 60 to continue to move in the direction away from the storage rack 500 and move to the initial position.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. A cargo box removal device, characterized in that, include: Base, transmission mechanism, and extraction assembly; The transmission mechanism includes a transmission belt, which is used to drive the take-out component to move; the take-out component is disposed on the transmission belt and is used to connect with the front of the cargo box to be transferred in order to transfer the cargo box. The removal assembly includes a fixed bracket, and the base includes two opposing support plates and a tray. The tray includes a first tray and a second tray that are opposite to each other. The first tray and the second tray are respectively mounted on the support plates and form a channel for the fixed bracket to move. The removal component moves toward the cargo box under the drive of the transmission mechanism, and can be reset when the transmission mechanism moves in the opposite direction; The transmission mechanism also includes a fixed wheel assembly and a moving wheel assembly; The fixed wheel assembly includes at least two fixed wheels spaced apart on the base; the movable wheel assembly includes a slide mounted slidably on the base, and at least two movable wheels spaced apart on the slide. Wherein, along the moving direction of the slide towards the cargo box, the front end of the slide is provided with a first limiting structure, and the rear end of the slide is connected to a reset mechanism; The transmission belt is wound around each of the moving wheels and each of the fixed wheels. When the take-out component moves toward the cargo box and moves to the first limiting structure, the first limiting structure abuts against the take-out component, and the transmission belt drives the take-out component and the moving wheel assembly to move toward the cargo box together. When the transmission belt moves in the opposite direction, the reset mechanism is used to reset the moving wheel assembly, and after the moving wheel assembly is reset, the transmission belt drives the take-out assembly to reset.

2. The cargo box removal device according to claim 1, characterized in that, The base includes a bottom connecting plate that connects the two support plates; Each of the fixed wheels is installed between the two support plates.

3. The cargo box removal device according to claim 1, characterized in that, The fixed wheel assembly includes a first fixed wheel and a second fixed wheel; The first fixed wheel is installed between the two support plates and at the front end of the support plates, and the second fixed wheel is between the two support plates and at the rear end of the support plates; An installation space for the moving wheel assembly is formed between the first fixed wheel and the second fixed wheel.

4. The cargo box removal device according to claim 3, characterized in that, The rear end of the support plate is provided with a bearing seat for mounting the second fixed wheel, and the two ends of the wheel axle of the second fixed wheel are respectively connected to the bearings in each of the bearing seats. The front end of the support plate is provided with a mounting hole that mates with the axle of the first fixed wheel.

5. The cargo box removal device according to claim 1, characterized in that, The fixed wheel assembly includes a first fixed wheel, a third fixed wheel, and a fourth fixed wheel; The first fixed wheel is installed at the front end of the support plate, and the third and fourth fixed wheels are distributed at intervals on the rear end of the support plate along the sliding direction perpendicular to the slide block; The third fixed wheel, the fourth fixed wheel, and the first fixed wheel form the installation space for the moving wheel assembly.

6. The cargo box removal device according to claim 1, characterized in that, The drive wheel assembly includes a first drive wheel and a second drive wheel mounted on the slide block; The slide includes two mounting plates arranged opposite each other and a connecting plate disposed between the two mounting plates; The first moving wheel is installed between the two mounting plates and at the front end of the mounting plates, and the second moving wheel is installed between the two mounting plates and at the rear end of the mounting plates.

7. The cargo box removal device according to claim 6, characterized in that, The mounting plate is provided with a first guide rail on the side facing the support plate, and the support plate is provided with a first guide block that cooperates with the first guide rail.

8. The cargo box removal device according to claim 6, characterized in that, The mounting plate has a first buffer at its rear end, and the support plate has a collision block at its rear end that is directly opposite the first buffer.

9. The cargo box removal device according to claim 1, characterized in that, The reset mechanism is an elastic element; One end of the elastic element is connected to the rear end of the slide, and the other end of the elastic element is connected to the rear end of the base.

10. The cargo box removal device according to claim 9, characterized in that, The elastic element is a spring; One end of the spring is connected to the axle of the moving wheel located at the rear end of the slide, and the other end of the spring is connected to the axle of the fixed wheel located at the rear end of the base.

11. The cargo box removal device according to claim 1, characterized in that, The reset mechanism includes a reversing wheel, a counterweight, and a rope; The reversing wheel is located at the rear end of the base, and one end of the rope extends horizontally and is connected to the rear end of the slide. The other end of the rope extends vertically around the directional pulley and is connected to the counterweight.

12. The cargo box removal device according to claim 1, characterized in that, The extraction component includes multiple suction cups; Multiple suction cups are mounted on the fixed bracket, and the suction surface of the suction cups faces the front of the cargo box; The fixed bracket is connected to the transmission belt and moves together with the transmission belt.

13. The cargo box removal device according to claim 1, characterized in that, The extraction assembly includes a magnet disposed at one end of the fixed bracket; The end of the fixed bracket away from the magnet is fixed to the transmission belt, and the side of the cargo box facing the fixed bracket is the magnetic attraction surface.

14. The cargo box removal device according to claim 1, characterized in that, The removal component includes a buckle disposed at one end of the fixed bracket; The end of the fixed bracket away from the buckle is fixed to the transmission belt, and the surface of the cargo box facing the fixed bracket is provided with a groove for engaging with the buckle.

15. The cargo container removal device according to any one of claims 12 to 14, characterized in that, The transmission belt is a synchronous belt; The fixed bracket is provided with a clamp at one end facing the timing belt, and the fixed bracket is fixed to the timing belt by the clamp.

16. The cargo box removal device according to claim 15, characterized in that, The clamp includes a first clamping assembly, which includes a first pressure plate and a first toothed plate disposed on both sides of the timing belt; The first toothed plate is located on the toothed side of the synchronous belt and meshes with the drive teeth of the synchronous belt. The first pressure plate is located on the toothless side of the synchronous belt, and the first pressure plate and the first toothed plate are connected together.

17. The cargo box removal device according to claim 16, characterized in that, The clamp further includes a second clamping component that is opposite to and spaced apart from the first clamping component; The second clamping assembly includes a second pressure plate and a second toothed plate disposed on both sides of the timing belt; The second toothed plate is located on the toothed side of the synchronous belt and meshes with the drive teeth of the synchronous belt, the second pressure plate is located on the toothless side of the synchronous belt, and the second pressure plate and the second toothed plate are connected together. The second pressure plate is connected to the first pressure plate by a connector, and the fixing bracket is fixed on the first pressure plate and / or the second pressure plate.

18. The cargo box removal device according to claim 17, characterized in that, A second guide block is provided at one end of the second pressure plate facing the slide block; The mounting plate of the slide includes a vertical plate and a horizontal plate, which are connected to form an L-shaped mounting plate. The vertical plate is used to mount the moving wheel assembly, and the horizontal plate is provided with a second guide rail that cooperates with the second guide block.

19. The cargo box removal device according to claim 17, characterized in that, A second buffer is provided on the second pressure plate; The second buffer is positioned directly opposite the first limiting structure.

20. The cargo box removal device according to claim 1, characterized in that, The end of the fixed bracket away from the transmission belt is located above the tray.

21. The cargo box removal device according to claim 20, characterized in that, The first pallet is provided with a first buffer pad at its front end, and the first buffer pad is located on the end face of the first pallet facing the cargo box; The second pallet has a second cushioning pad at its front end, and the second cushioning pad is located on the end face of the second pallet facing the cargo box.

22. The cargo box removal device according to claim 21, characterized in that, A first guide surface is provided on the front end of the first tray and on the surface away from the base, and the first guide surface extends obliquely downward toward the ground; A second guide surface is provided on the front end of the second tray and on the surface opposite to the base, and the second guide surface extends obliquely downward toward the ground.

23. The cargo box removal device according to claim 1, characterized in that, The cargo box removal device also includes a motor and a reducer; The motor is connected to the axle of the fixed wheel located at the rear end of the base via the reducer.

24. A transport robot, characterized in that, Includes the robot body and the cargo box removal device according to any one of claims 1 to 23; The cargo box removal device is installed on the robot body.

25. A method for retrieving a cargo box using the handling robot of claim 24, the handling robot comprising a cargo box retrieval device, the cargo box retrieval device comprising a base, a transmission mechanism, and a retrieval assembly; the transmission mechanism comprising a transmission belt, the transmission mechanism being used to drive the retrieval assembly to move; the retrieval assembly being disposed on the transmission belt, the retrieval assembly being used to connect with the front of the cargo box to be transferred to transfer the cargo box; The removal assembly includes a fixed bracket, the base includes two opposing support plates and a tray, the tray includes a first tray and a second tray arranged opposite to each other, the first tray and the second tray are respectively mounted on each of the support plates, forming a channel for the fixed bracket to move; characterized in that, Includes the following steps: A handling robot equipped with a cargo box retrieval device moves to the warehouse shelf where the cargo box to be transferred is located; The transmission mechanism is used to move the take-out component toward the front of the cargo box; Once the removal component contacts the front of the cargo box, the removal component connects to the front of the cargo box to be transferred to transfer the cargo box. When the transmission mechanism drives the extraction component to move in the opposite direction, the extraction component resets.

26. The method for removing a cargo box according to claim 25, characterized in that, The transmission mechanism includes a fixed wheel assembly and a moving wheel assembly; The fixed wheel assembly includes at least two fixed wheels spaced apart on the base; the movable wheel assembly includes a slide mounted slidably on the base, and at least two movable wheels spaced apart on the slide; wherein, along the direction of movement of the slide toward the cargo box, the front end of the slide is provided with a first limiting structure, and the rear end of the slide is connected to a reset mechanism; The transmission belt is wound around each of the moving pulleys and each of the fixed pulleys; The method for removing the cargo box also includes: When the take-out component moves to the first limiting structure, the transmission mechanism drives the drive wheel assembly and the take-out component to move together toward the front of the cargo box.

27. The method for removing a cargo box according to claim 26, characterized in that, When the transmission mechanism drives the extraction component to move in the opposite direction and then resets, it includes: When the transmission mechanism drives the extraction component to move in the opposite direction, the reset mechanism drives the moving wheel component to reset. After the moving wheel assembly is reset, the transmission mechanism continues to drive the extraction assembly to move in the opposite direction and reset.

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