A front-moving transfer robot for high-bay storage

Abstract

The application discloses a front-moving carrying robot for high-position shelves and relates to the technical field of carrying robots, which comprises a walking mechanism, a base, a portal, a fork and a stabilizing mechanism. The base is movably arranged on a chassis girder of the walking mechanism along the advancing direction of the walking mechanism. The portal is fixedly connected to the base. The fork is vertically movably arranged on the portal. The stabilizing mechanism comprises a stabilizing rod movably arranged on the chassis girder. The stabilizing rod has a first station overlapping the chassis girder, a second station moving from the first station to the front of the chassis girder and a third station rotating 90 degrees from the first station to align with the front end of the chassis girder in the movable stroke of the stabilizing rod relative to the chassis girder. The front and back movement of the base and the walking mechanism is matched, and the stabilizing mechanism is arranged. When the fork is used to pick up goods on the high-position shelves, the carrying efficiency, accuracy and safety of the high-position shelves can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of material handling robot technology, specifically a forward-moving material handling robot for high-bay racks. Background Technology

[0002] In modern warehouses, the height of the racks often exceeds five meters. Traditional rack operation methods, such as manual operation or the use of simple lifting equipment, are no longer sufficient to meet the requirements for efficiency, safety and accuracy.

[0003] For example, in patent application CN115504145A, with the applicant being Future Robotics (Shenzhen) Co., Ltd., and titled "Cargo Handling Method, Apparatus, Equipment, and Automated Handling System," the cargo handling method includes: according to an inventory instruction, dispatching a first autonomous mobile robot to transport goods to a first receiving area located in a target aisle; controlling the first autonomous mobile robot and a first intelligent forklift docking with it in the first receiving area to transfer the goods to the first intelligent forklift; and controlling the first intelligent forklift to transport the goods to a target shelf; the target shelf includes a high-bay rack. In this way, the first intelligent forklift does not need to leave the warehouse aisles, achieving not only highly efficient high-bay storage and retrieval transfer but also high flexibility.

[0004] In existing technologies such as those described in the aforementioned patents, the forks can typically only move up and down and cannot move forward independently. The entire handling robot needs to move forward so that the forks can pick up the goods. Since the handling robot is relatively bulky, it is not conducive to handling goods on high shelves. It is lacking in handling efficiency, accuracy, and safety. Furthermore, when handling goods on high shelves, the center of gravity of the handling robot is significantly higher, especially in poor handling environments, which poses a risk of swaying and tipping over. Summary of the Invention

[0005] The purpose of this invention is to provide a forward-moving transport robot for high-bay racks to overcome the shortcomings of the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a forward-moving handling robot for high-bay racks, comprising: a walking mechanism; a base, which is movably mounted on the chassis beam of the walking mechanism along the traveling direction of the walking mechanism; a mast, which is fixedly connected to the movable base; forks, which are vertically movably mounted on the mast; and a stabilizing mechanism, comprising a stabilizing rod movably mounted on the chassis beam, wherein the stabilizing rod has the following movement strokes relative to the chassis beam: a first station overlapping with the chassis beam, a second station moving from the first station to the front of the chassis beam, and a third station rotating 90 degrees from the first station to align with the front end of the chassis beam.

[0007] Furthermore, it also includes a first drive assembly for driving the base to move relative to the chassis beam.

[0008] Furthermore, it also includes a second drive assembly for driving the forks to move up and down along the mast.

[0009] Furthermore, a positioning photoelectric sensor is provided at the front end of the chassis beam.

[0010] Furthermore, a fork tip photoelectric sensor is provided below the front end of the fork.

[0011] Furthermore, the stabilizing mechanism also includes: a support wheel rotatably mounted on the first end of the stabilizing rod; a limiting rod slidably mounted on the base along the traveling direction of the traveling mechanism, one end of the limiting rod being rotatably connected to the axle of the support wheel; a slider fixedly connected to the side of the second end of the stabilizing rod, the end face of the second end being inclined, and in the first station, the second end being the end closer to the base and the first end being the end farther from the base; a chute formed on the side of the chassis beam, the stabilizing rod moving from the first station to the second station through the sliding engagement of the slider and the chute; a relief groove formed on the top of the chassis beam and communicating with the chute; a shaft slidably mounted on the stabilizing rod along the axial direction of the support wheel, the shaft having a wedge-shaped groove; and a circular groove formed on the chassis beam, the shaft having a rotating position for inserting into the circular groove during its movement relative to the stabilizing rod, the stabilizing rod rotating through the shaft and the circular groove. The mechanism involves rotating the slider from the first station to the third station, with the slider disengaging from the groove. A first elastic element, during its deformation recovery process, drives the shaft to slide away from the circular groove. A trigger rod, slidably mounted on the stabilizer rod along its length, has a sliding contact surface on one side, comprising a connected first and second inclined surfaces. A protrusion is formed at the junction of the first and second inclined surfaces, and the sliding contact surface slides and abuts against the inclined surface of the wedge-shaped groove. A second elastic element exerts its elastic force from the first end of the stabilizer rod towards the second end onto the trigger rod. A sliding rod, slidably mounted on the stabilizer rod along its length, has one end fixedly connected to the trigger rod, and the other end abutting against the base in the first station. A first reset assembly drives the stabilizer rod to move from the second station back to the first station. A second reset assembly drives the stabilizer rod to rotate from the third station back to the first station.

[0012] Furthermore, the first reset assembly includes: a staged guide structure, which is disposed on the chassis beam along the direction of travel of the traveling mechanism, and includes connected inclined guide sections and flat guide sections from back to front; a sliding pin, which is slidably disposed on a stabilizer bar, and the sliding pin slides in cooperation with the staged guide structure when the stabilizer bar moves between the first station and the second station; a third elastic element, whose elastic force drives the sliding pin to abut against the staged guide structure; and a pull rod, which is fixedly connected to the base, and the pull rod has a sleeve groove, which drives the sliding pin to insert into the sleeve groove during the process of sliding from the inclined guide section to the flat guide section.

[0013] Furthermore, the second reset assembly includes: a stop bar fixedly connected to the slide bar; a hook fixedly connected to the base, the hook being capable of hooking and pulling the stop bar; and a fourth elastic member whose elastic force acts between the axle of the support wheel and the limiting rod.

[0014] Furthermore, the support wheel has the same diameter as the front wheel of the traveling mechanism, and in the first and third working positions, the support wheel is coaxial with the front wheel of the traveling mechanism.

[0015] Furthermore, there are two chassis beams that are parallel and aligned, and there are two stabilizing mechanisms, with each stabilizing mechanism corresponding to one of the two chassis beams.

[0016] In the above technical solution, the present invention uses the back-and-forth movement of the base and the traveling mechanism to cooperate, and sets the mast on the base. When transporting goods on the high-level rack, the traveling mechanism is first moved forward to fit against the high-level rack, and then the base moves forward relative to the chassis beam, so that the mast and forks move forward relative to the traveling mechanism, which makes it easier for the forks to pick up the goods on the high-level rack. This improves the handling efficiency, accuracy and safety of the high-level rack.

[0017] A stabilizing mechanism is incorporated. During transport, whether unloaded or with goods already picked up, the stabilizing bar retracts to the first position, overlapping with the chassis beam, reducing the overall size and turning radius of the invention. When picking up goods from a high-level rack, if the bottom of the rack is open, the base moves the forks forward to pick up the goods, simultaneously moving the stabilizing bar forward to the second position. The stabilizing bar increases the support capacity of the traveling mechanism. Although the center of gravity of the goods extends forward beyond the traveling mechanism, it does not extend beyond the stabilizing bar, effectively improving the stability of the forks when picking up goods from the high-level rack. If the bottom of the high-level rack is not open, the base moves the forks forward to pick up the goods, simultaneously rotating the stabilizing bar 90 degrees to the third position. The rotation axis coincides with the axle of the front wheel of the traveling mechanism, causing the stabilizing bar to abut against the rack, effectively improving the stability of the forks when picking up goods from the high-level rack, especially reducing the risk of tipping forward. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0020] Figure 2A partial structural diagram of the stabilizing mechanism provided in an embodiment of the present invention. Figure I ;

[0021] Figure 3 A partial structural diagram of the stabilizing mechanism provided in an embodiment of the present invention. Figure II ;

[0022] Figure 4-5 This is a schematic diagram of the structure at the first working station according to an embodiment of the present invention;

[0023] Figure 6 Provided for embodiments of the present invention Figure 4 Enlarged view of a local structure in the image;

[0024] Figure 7 The following is provided for the embodiments of the present invention: Figure 4 Structural cross-sectional view of line AA in the middle;

[0025] Figure 8 Provided for embodiments of the present invention Figure 7 Enlarged view of a local structure in the image;

[0026] Figure 9-10 This is a schematic diagram of the structure at the second working station according to an embodiment of the present invention;

[0027] Figure 11 Provided for embodiments of the present invention Figure 8 Enlarged view of a local structure in the image;

[0028] Figure 12-13 This is a schematic diagram of the structure at the third working station provided in an embodiment of the present invention;

[0029] Figure 14 The following is provided for the embodiments of the present invention: Figure 11 A partial sectional view of the middle BB line;

[0030] Figure 15 The following is provided for the embodiments of the present invention: Figure 11 A partial sectional view of the CC line.

[0031] Explanation of reference numerals in the attached drawings: 1. Walking mechanism; 1.1. Chassis beam; 1.2. Front wheel; 2. Base; 3. Mast; 4. Forks; 5. Stabilizer bar; 5.1. Support; 5.2. Through hole; 5.3. Inclined surface; 5.4. Bottom surface; 6. Position photoelectric sensor; 7. Fork tip photoelectric sensor; 8. Support wheel; 9. Slider; 10. Slide groove; 11. Groove; 12. Shaft; 13. Wedge groove; 4. Circular groove; 15. First elastic element; 16. Trigger rod; 16.1. First inclined surface; 16.2. Second inclined surface; 16.3. Protrusion; 17. Second elastic element; 18. Slide rod; 19. Inclined guide section; 20. Flat guide section; 21. Sliding pin; 22. Third elastic element; 23. Pull rod; 24. Sleeve groove; 25. Roller; 26. Limiting rod; 27. Fourth elastic element; 28. Stop bar; 29. ​​Hook. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] Please see Figure 1-15 This invention provides a forward-moving handling robot for high-bay racking, comprising a walking mechanism 1, a base 2, a mast 3, forks 4, and a stabilizing mechanism. The walking mechanism 1 includes a chassis beam 1.1, front wheels 1.2 and rear wheels mounted on the chassis beam 1.1. The base 2 is movable on the chassis beam 1.1 along the traveling direction of the walking mechanism 1. Specifically, the base 2 is driven to move relative to the chassis beam 1.1 by a first driving component, which is a mechanism capable of outputting reciprocating motion, such as a hydraulic device, cylinder, or electric push rod. The mast 3 is fixedly connected to the movable base 2, and the forks 4 are vertically movable on the mast 3. Specifically, the forks 4 are driven to rise and fall along the mast 3 by the second drive component. The first drive component is also a mechanism capable of outputting reciprocating motion, such as a hydraulic device, cylinder, electric push rod, etc. The second drive component is preferably a lifting chain mechanism, which is driven by a motor to move the chain, and the chain drives the forks 4 to rise and fall. The stabilizing mechanism includes a stabilizing bar 5 movably mounted on the chassis beam 1.1. The stabilizing bar 5 has the following movement strokes relative to the chassis beam 1.1: a first station overlapping with the chassis beam 1.1, a second station moving from the first station to the front of the chassis beam 1.1, and a third station rotating 90 degrees from the first station to align with the front end of the chassis beam 1.1.

[0034] Furthermore, there are two chassis beams 1.1, which are parallel and aligned, and two stabilizing mechanisms, with each of the two stabilizing mechanisms corresponding to one of the two chassis beams 1.1.

[0035] In the above technical solution, the present invention provides a forward-moving handling robot for high-bay racks. Through the coordinated forward and backward movement of the base 2 and the traveling mechanism 1, and with the mast 3 mounted on the base 2, when handling goods on the high-bay rack, the traveling mechanism 1 first moves forward to align with the high-bay rack, and then the base 2 moves forward relative to the chassis beam 1.1. This causes the mast 3 and forks 4 to move forward relative to the traveling mechanism 1, facilitating the forks 4 to pick up goods from the high-bay rack. This improves the handling efficiency, accuracy, and safety of the high-bay rack. A stabilizing mechanism is provided; during unloaded or already picked-up goods transfer, the stabilizing rod 5 retracts to the first position overlapping with the chassis beam 1.1, reducing the size and turning radius of the invention. When picking up goods from a high-level rack, if the bottom of the rack is open, the base 2 moves the forks 4 forward to pick up the goods, and at the same time, the base 2 moves the stabilizer bar 5 forward to the second position. The stabilizer bar 5 increases the support capacity of the traveling mechanism 1. Although the center of gravity of the goods moves forward beyond the traveling mechanism 1, it will not exceed the stabilizer bar 5, thus effectively improving the stability of the forks 4 when picking up goods from the high-level rack. If the bottom of the high-level rack is not open, the base 2 moves the forks 4 forward to pick up the goods, and at the same time, the base 2 rotates the stabilizer bar 5 90 degrees to the third position. The rotation axis coincides with the axle of the front wheel 1.2 of the traveling mechanism 1, so that the stabilizer bar 5 abuts against the rack, which can effectively improve the stability of the forks 4 when picking up goods from the high-level rack, especially reducing the risk of tipping forward.

[0036] As a preferred technical solution of the present invention, a positioning photoelectric sensor 6 is provided at the front end of the chassis beam 1.1. The positioning photoelectric sensor 6 can provide feedback on the distance between the front wheel 1.2 and the high shelf when detecting obstacles in front of the walking mechanism 1 and when transporting goods on the high shelf.

[0037] As a preferred technical solution of the present invention, a fork tip photoelectric sensor 7 is provided below the front end of the fork 4. When moving goods on the high-level shelf, the fork tip photoelectric sensor 7 can provide real-time feedback on the position of the fork tip of the fork 4, so as to improve the accuracy of the fork 4 moving forward and lifting.

[0038] In another embodiment of the present invention, the stabilizing mechanism further includes a support wheel 8, a limiting rod 26, a slider 9, a sliding groove 10, a relief groove 11, a shaft 12, a circular groove 14, a first elastic element 15, a trigger rod 16, a second elastic element 17, a sliding rod 18, a first reset assembly, and a second reset assembly. The support wheel 8 is rotatably mounted on the first end of the stabilizing rod 5. The diameter of the support wheel 8 is the same as that of the front wheel 1.2 of the traveling mechanism 1. At the first and third working positions, the support wheel 8 is coaxial with the front wheel 1.2 of the traveling mechanism 1. The limiting rod 26 is slidably mounted on the base 2 along the traveling direction of the traveling mechanism 1. One end of the stabilizer 5 is rotatably connected to the axle of the support wheel 8; the slider 9 is fixedly connected to the side of the second end of the stabilizer 5, and the end face of the second end is inclined surface 5.3. For the first end and the second end of the stabilizer 5, it means that in the first station, the second end is the end closer to the base 2, and the first end is the end away from the base 2; the slide groove 10 is opened on the side of the chassis beam 1.1, and the stabilizer 5 moves from the first station to the second station by sliding cooperation between the slider 9 and the slide groove 10; the groove 11 is opened on the top of the chassis beam 1.1 and communicates with the slide groove 10; the shaft 12 is slidably mounted on the stabilizer 5 along the axial direction of the support wheel 8. A wedge-shaped groove 13 is provided on the 2nd part; a circular groove 14 is provided on the chassis beam 1.1. During the movement of the shaft 12 relative to the stabilizer 5, it has a rotating position that inserts into the circular groove 14. The stabilizer 5 rotates from the first position to the third position by means of the rotational engagement between the shaft 12 and the circular groove 14. The slider 9 drives the shaft 12 to slide out of the circular groove 14 by disengaging the groove 11 from the slide groove 10. The process of the first elastic element 15 restoring its deformation drives the shaft 12 to slide out of the circular groove 14. The trigger rod 16 is slidably disposed on the stabilizer 5 along the length direction of the stabilizer 5. One side of the trigger rod 16 is a sliding contact surface, which includes a connected first inclined surface 16.1 and a second inclined surface 16.2. A protrusion 16.3 is formed at the junction of the first inclined surface 16.1 and the second inclined surface 16.2, and the sliding contact surface slides and abuts against the inclined surface of the wedge groove 13; the elastic force of the second elastic element 17 acts on the trigger rod 16 from the first end to the second end of the stabilizer rod 5; the slide rod 18 is slidably disposed on the stabilizer rod 5 along the length direction of the stabilizer rod 5, one end of the slide rod 18 is fixedly connected to the trigger rod 16, and the other end can abut against the base 2 in the first working position; the first reset assembly is used to drive the stabilizer rod 5 to move and reset from the second working position to the first working position; the second reset assembly is used to drive the stabilizer rod 5 to rotate and reset from the third working position to the first working position.

[0039] As a preferred technical solution, the first reset assembly includes a staged guide structure, a sliding pin 21, a third elastic element 22, and a pull rod 23. The staged guide structure is mounted on the chassis beam 1.1 along the direction of travel of the traveling mechanism 1, and includes connected inclined guide sections 19 and flat guide sections 20 from back to front. Further, the staged guide structure is mounted on the bottom wall of the slide groove 10. The sliding pin 21 is slidably mounted on the stabilizer rod 5. Specifically, the stabilizer rod 5 has a through hole 5.2, and the sliding pin 21 slidably passes through the through hole 5.2. When moving between the first and second workstations, the sliding pin 21 slides in conjunction with the staged guide structure; the elastic force of the third elastic element 22 drives the sliding pin 21 to abut against the staged guide structure. Specifically, the third elastic element 22 includes a third tension spring, which is sleeved on the sliding pin 21. One end of the third tension spring is connected to the stabilizing rod 5, and the other end is connected to the sliding pin 21; the pull rod 23 is fixedly connected to the base 2, and the pull rod 23 has a sleeve groove 24. During the process of sliding the sliding pin 21 from the inclined guide section 19 to the flat guide section 20, the sliding pin 21 is driven to insert into the sleeve groove 24.

[0040] As a preferred technical solution, the second reset assembly includes a stop bar 28, a hook 29, and a fourth elastic element 27. The stop bar 28 is fixedly connected to the slide bar 18, and the hook 29 is fixedly connected to the base 2. The hook 29 can hook and pull the stop bar 28. The elastic force of the fourth elastic element 27 acts between the axle of the support wheel 8 and the limiting rod 26. Specifically, the axle of the support wheel 8 is fixedly connected to the stabilizing rod 5, and the axle of the support wheel 8 is rotatably connected to the support wheel 8. The fourth elastic element 27 is preferably a torsion spring, which is sleeved on the rotating shaft between the axle of the support wheel 8 and the limiting rod 26. One end of the torsion spring is fixedly inserted into the axle of the support wheel 8, and the other end is fixedly inserted into the limiting rod 26.

[0041] Specifically, the stabilizer bar 5 has a through hole, the shaft 12 is slidably connected in the through hole along the axial direction, and the first elastic element 15 includes a first tension spring located in the through hole. One end of the first tension spring is fixedly connected to the shaft 12, and the other end is fixedly connected to the stabilizer bar 5.

[0042] Specifically, the second elastic element 17 preferably includes a second tension spring. The front end of the second tension spring is fixedly connected to the trigger rod 16, and the rear end is fixedly connected to the stabilizer rod 5. A limit block is fixedly connected to the stabilizer rod 5. During the movement from the first station to the second station, the elastic force of the second tension spring drives the trigger rod 16 to abut against the limit block.

[0043] Preferably, a roller 25 is rotatably provided on the front side of the base 2. The roller 25 can roll and abut against the inclined surface 5.3 and bottom surface 5.4 of the stabilizer bar 5 to reduce the frictional resistance and wear when the base 2 and the stabilizer bar 5 move relative to each other.

[0044] In this embodiment, during the transfer process whether the goods are unloaded or have already been forked, the base 2 does not move forward, and the stabilizer bar 5 is in the first position. (See reference...) Figure 4-8 The elastic force of the first elastic element 15 causes the trigger rod 16 to abut against the limiting block. The elastic force of the second elastic element 17 drives the inclined surface of the wedge groove 13 on the shaft 12 to partially abut against the first inclined surface 16.1 of the trigger rod 16, so that the shaft 12 is located outside the circular groove 14. The elastic force of the third elastic element 22 causes the sliding pin 21 to abut against the inclined guide section 19, so that the sliding pin 21 is located outside the sleeve groove 24, and can keep the stabilizing rod 5 in the first position. The elastic force of the fourth elastic element 27 causes the slider 9 on the stabilizing rod 5 to press down into the sliding groove 10, so that the stabilizing rod 5 is kept in the first position. Above the slider 9 and the sliding pin 21 is the groove 11. The end of the sliding rod 18 contacts the front side of the base 2. The support wheel 8 and the front wheel 1.2 are coaxial.

[0045] When picking up goods from a high-bay rack, if the bottom of the rack is open, the traveling mechanism 1 moves forward to be close to the rack, and the stabilizer bar 5 is in the first position. The base 2 moves forward, on one hand driving the forks 4 forward to insert into the bottom of the pallet; on the other hand, the front of the base 2 abuts against the slide bar 18, causing the trigger rod 16 to move forward. The first inclined surface 16.1 of the trigger rod 16 abuts against the inclined surface of the wedge groove 13. Since there is no obstruction in front of the stabilizer bar 5, the trigger rod 16 will not move relative to the shaft 12, but will instead move forward along with the shaft 12. The shaft 12 then drives the stabilizer bar 5 and the support wheel 8 forward together. Simultaneously, the trigger rod 16 will also pull the stabilizer bar 5 forward through the first elastic element 15, thus moving the stabilizer bar 5 from the first position to the second position. (See reference...) Figure 9-11 The stabilizer bar 5 increases the support capacity of the traveling mechanism 1. Although the center of gravity of the goods extends forward beyond the traveling mechanism 1, it will not extend beyond the stabilizer bar 5, thereby effectively improving the stability of the forks 4 when picking up goods on the high shelf, especially reducing the risk of forward tilting. During the movement of the stabilizer bar 5 from the first station to the second station, the sliding pin 21 will slide from the inclined guide section 19 to the flat guide section 20, so that the sliding pin 21 overcomes the elastic force of the third elastic element 22 and inserts into the slot 24 on the pull rod 23. After the forks 4 pick up the goods, the base 2 drives the forks 4 and the pull rod 23 to move backward together. The pull rod 23 pulls the stabilizer bar 5 backward together through the cooperation of the slot 24 and the sliding pin 21, so that the stabilizer bar 5 moves from the second station to the first station. When the sliding pin 21 slides from the flat guide section 20 to the inclined guide section 19, the release of the elastic force of the third elastic element 22 will also cause the stabilizer bar 5 to move backward and reset to the first station.

[0046] If the bottom of the high-level rack is not elevated, the stabilizer bar 5 is located at the first work station. The traveling mechanism 1 moves forward and close to the high-level rack until the front wheel 1.2 of the traveling mechanism 1 and the support wheel 8 on the stabilizer bar 5 simultaneously abut against the high-level rack. As the base 2 moves forward, on the one hand, the base 2 drives the forks 4 forward to insert into the bottom of the pallet. On the other hand, the front side of the base 2 abuts against the slide bar 18. Since the support wheel 8 is blocked by the high-level rack and cannot move forward, the slide bar 18 causes the trigger rod 16 to move forward against the elastic force of the first elastic element 15. The first inclined surface 16.1 of the trigger rod 16 slides and abuts against the inclined surface of the wedge groove 13, thereby causing the shaft 12 to move and insert into the circular groove 14 against the elastic force of the second elastic element 17. As the base 2 continues to move forward and press against the slide bar 18, the first inclined surface 16.1 of the trigger rod 16 completely slides over the wedge groove 13, and the second inclined surface 16.2 abuts against the front side of the inclined surface of the wedge groove 13, i.e., the protrusion 1. 6.3 Slides through the wedge groove 13. At this time, the elastic force of the second elastic element 17 will cause the shaft 12 to move out of the circular groove 14 by a part (the shaft 12 is still inserted in the circular groove 14), so that the protrusion 16.3 is equivalent to engaging with the wedge groove 13 of the shaft 12, which can overcome the elastic force of the first elastic element 15 and keep the shaft 12 in the state of being inserted into the circular groove 14; as the base 2 continues to move forward, the slide bar 18 is pressed to be flush with the inclined surface 5.3 of the stabilizer bar 5, and the front side (roller 25) of the base 2 slides and presses the inclined surface 5.3 of the stabilizer bar 5, so that the stabilizer bar 5 rotates around the shaft 12 as the axis and overcomes the elastic force of the fourth elastic element 27. The slider 9 and the slide groove 10 pass through the relief groove 11. Then the front side (roller 25) of the base 2 slides and presses the bottom surface 5.4 of the stabilizer bar 5, further causing the stabilizer bar 5 to rotate to the third station. The support part 5.1 on the stabilizer bar 5 is in contact with the high-level shelf. See Figure 12-15Because of the engagement between the protrusion 16.3 and the wedge groove 13, even if the slide bar 18 loses the pressure of the base 2, the elastic force of the first elastic element 15 will not cause the trigger rod 16 to slide away from the wedge groove 13. At the third station, the support part 5.1 on the stabilizer bar 5 is in close contact with the front side of the high-level rack, which can effectively improve the stability of the fork 4 when picking up goods on the high-level rack, especially reducing the risk of tilting forward. After the fork 4 has picked up the goods, the base 2 drives the fork 4 and the hook 29 to move backward together. The elastic force of the fourth elastic element 27 causes the stabilizer bar 5 to reverse and reset to the first station with the shaft 12 as the axis. At this time, because the protrusion 16.3 and the wedge groove 13 are still engaged, The bottom of the stop bar 28 falls onto the hook head of the hook 29, and the stop bar 28 and the hook 29 engage together. As the base 2 continues to move backward, the hook 29 pulls the stop bar 28, and through the slide bar 18, the second inclined surface 16.2 on the trigger rod 16 overcomes the elastic force of the second elastic element 17 and slides into contact with the front side of the inclined surface of the wedge groove 13, thereby causing the protrusion 16.3 to disengage from the front side of the inclined surface of the wedge groove 13. The force of the second elastic element 17 on the shaft 12 and the force of the first elastic element 15 on the trigger rod 16 both cause the trigger rod 16 to move backward and reset. The slide bar 18 re-engages with the front side of the base 2, and the shaft 12 also slides completely out of the circular groove 14.

[0047] Of course, the first reset component and the second reset component in the above embodiments can also be driven by an active power structure for reset, such as using a hydraulic device, cylinder or electric push rod to drive the stabilizer bar 5 to move and reset or rotate and reset, or even use manual reset, all of which are within the scope of protection of the claims of this invention.

[0048] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A front-moving transport robot for a high-bay storage, characterized in that The application relates to a walking mechanism, a base, a portal, a fork, a stabilizing mechanism, a support wheel, a limiting rod, a sliding block, a sliding groove, a letting groove, a shaft rod, a circular groove, a first elastic member, a trigger rod, a second elastic member, a sliding rod, a first reset assembly, a second reset assembly, a first driving assembly, a second driving assembly, a front-end in-position photoelectric sensor, a fork-tip photoelectric sensor, a stage-type guide structure and a sliding pin. The base is movably arranged on a chassis beam of the walking mechanism along a moving direction of the walking mechanism. The portal is fixedly connected to the base. The fork is movably arranged on the portal in a vertical direction. The stabilizing mechanism comprises a stabilizing rod movably arranged on the chassis beam. The stabilizing rod has a first position overlapping the chassis beam, a second position moving to the front of the chassis beam from the first position and a third position rotating 90 degrees from the first position to be aligned with the front end of the chassis beam in the movable stroke of the stabilizing rod relative to the chassis beam. The stabilizing mechanism further comprises: The support wheel is rotatably arranged at the first end of the stabilizing rod. The limiting rod is slidably arranged on the base along the moving direction of the walking mechanism. The sliding block is fixedly connected to the side of the second end of the stabilizing rod. The end surface of the second end is an inclined surface. In the first position, the second end is close to the base and the first end is away from the base. The sliding groove is arranged on the side of the chassis beam. The stabilizing rod moves from the first position to the second position through the sliding cooperation of the sliding block and the sliding groove. The letting groove is arranged on the top of the chassis beam and communicates with the sliding groove. The shaft rod is slidably arranged on the stabilizing rod along the axial direction of the support wheel. The wedge-shaped groove is arranged on the shaft rod. The circular groove is arranged on the chassis beam. The stabilizing rod rotates from the first position to the third position through the rotating cooperation of the shaft rod and the circular groove. The sliding block is separated from the sliding groove through the letting groove.

2. The front-moving transport robot for a high-bay storage according to claim 1, characterized in that The first elastic member drives the shaft rod to slide out of the circular groove in the process of restoring deformation.

3. The front-moving type carrying robot for a high-bay shelf according to claim 1, characterized in that, The trigger rod is slidably arranged on the stabilizing rod along the length direction of the stabilizing rod.

4. The front-moving type carrying robot for a high-bay shelf according to claim 1, characterized by, The side of the trigger rod is a sliding surface.

5. The front-moving type carrying robot for a high-bay shelf according to claim 1, characterized by, The sliding surface comprises the first inclined surface and the second inclined surface.

6. The front-moving transport robot for a high-bay storage according to claim 1, characterized in that The junction of the first inclined surface and the second inclined surface forms a convex. The sliding surface and the inclined surface of the wedge-shaped groove are in sliding and abutting cooperation. The second elastic member is arranged on the trigger rod in the direction from the first end to the second end of the stabilizing rod. The sliding rod is slidably arranged on the stabilizing rod along the length direction of the stabilizing rod. One end of the sliding rod is fixedly connected to the trigger rod. The other end of the sliding rod can abut the base in the first position. The first reset assembly is used for driving the stabilizing rod to move from the second position to the first position. The second reset assembly is used for driving the stabilizing rod to rotate from the third position to the first position. The first driving assembly is used for driving the base to move relative to the chassis beam. The second driving assembly is used for driving the fork to ascend and descend along the portal. The front end of the chassis beam is provided with an in-position photoelectric sensor. The front end of the fork is provided with a fork-tip photoelectric sensor. The first reset assembly comprises: The stage-type guide structure is arranged on the chassis beam along the moving direction of the walking mechanism. The stage-type guide structure comprises the inclined guide segment and the flat guide segment. The sliding pin is slidably arranged on the stabilizing rod. The sliding pin and the stage-type guide structure are in sliding cooperation when the stabilizing rod moves between the first position and the second position. The third elastic member is arranged on the sliding pin. The elastic force of the third elastic member drives the sliding pin to abut the stage-type guide structure. A pull rod is fixedly connected to the base, and the pull rod has a sleeve slot.

7. The front-moving transport robot for high-bay storage according to claim 1, characterized in that The second reset assembly comprises: A stop rod is fixedly connected to the slide rod; A hook is fixedly connected to the base, and the hook can hook the stop rod; A fourth elastic member exerts an elastic force on the wheel shaft of the support wheel between the limiting rods.

8. The front-moving transport robot for high-bay storage according to claim 1, characterized in that The support wheel has the same diameter as the front wheel of the walking mechanism, and the support wheel is coaxial with the front wheel of the walking mechanism in the first and third working positions.

9. The front-moving type carrying robot for a high-bay shelf according to claim 1, characterized by, The number of chassis beams is two, and the two chassis beams are parallel and aligned, the number of stabilizing mechanisms is two, and the two stabilizing mechanisms are set in one-to-one correspondence with the two chassis beams.

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