Transfer robot for logistics

Abstract

The invention relates to the technical field of warehouse logistics, and provides a logistics transfer robot which comprises a goods shelf assembly, a material storage assembly and a transfer assembly, a plurality of material receiving assemblies are slidably mounted on a bottom frame, and a plurality of first positioning assemblies which are linearly and uniformly distributed are arranged on a first supporting frame; the material receiving device has the beneficial effects that the second driving part is started to drive the material receiving assembly to move up and down along the first supporting frame through the first transmission mechanism, the material receiving assembly is driven to move up and down through the second transmission mechanism, and the material receiving assembly is driven to move up and down through the second transmission mechanism; through cooperation of the first positioning assembly and the second positioning assembly, automatic positioning of the material receiving assembly and the material storage bin is achieved, the third driving component is started to drive the connecting assembly to be fixedly connected with the material storage bin, the automatic material taking function is achieved, and therefore the functions of local automatic material taking and goods carrying are achieved; and the intelligent and efficient logistics cargo carrying function is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of warehousing and logistics, and in particular relates to a handling robot for logistics. Background Art

[0002] Currently in the field of warehousing and logistics, handling robots that use transport shelves are widely used. They can transport the shelves to the sorting area for sorting personnel to pick up goods, and then move the shelves back to their original positions after the sorting personnel have finished picking up the goods.

[0003] Patent document with application number 201910789215.9 discloses a lifting drive assembly of a handling robot for warehousing and logistics and a handling robot, the lifting drive assembly includes two groups of lifting assemblies arranged symmetrically on the left and right, each group of lifting assemblies includes two groups of mirror-arranged connecting rod mechanisms and a group of driving devices; the handling robot for warehousing and logistics of the present invention performs lifting operations through the lifting drive assembly, and the lifting drive assembly is composed of multiple groups of connecting rod mechanisms. The structural cost of the connecting rod mechanism is low and the reliability is high. The lifting drive assembly of the present invention supports the four corners of the lifting platform through four groups of connecting rod mechanisms, and the lifting stability is high.

[0004] However, during use, the above technical solution requires the entire shelf to be moved, and the functions of retrieving, storing and moving materials from a single storage bin on the shelf cannot be realized. In addition, during use, only a single type of goods can be moved, and multiple types of goods cannot be moved simultaneously. Summary of the invention

[0005] In view of this, the present invention provides a logistics handling robot, which starts the second driving component to drive the material receiving component to move up and down along the first support frame through the first transmission mechanism, and realizes automatic positioning of the material receiving component and the material storage bin through the cooperation of the first positioning component and the second positioning component. The third driving component is started to drive the connecting component to connect and fix with the material storage bin to realize the function of automatic material picking, thereby realizing the function of local automatic material picking and carrying goods, and realizing intelligent and efficient logistics goods handling function.

[0006] The technical solution is as follows: a logistics handling robot comprises a shelf assembly, a material storage assembly and a handling assembly, the shelf assembly comprises a multi-layer material storage rack, the material storage assembly comprises a material storage bin, the material storage bin is slidably mounted on the material storage rack, a second sliding slot is fixedly provided at the end of the material storage bin, a second limiting slot is provided in the second sliding slot of the material storage bin, the handling assembly comprises a bottom frame, a walking mechanism and a steering mechanism are arranged on the bottom frame, the bottom frame is driven to move by the walking mechanism, and the bottom frame is driven to adjust the rotation direction by the steering mechanism, four evenly distributed first support frames are fixedly arranged on the bottom frame, a plurality of material receiving assemblies are slidably mounted on the four first support frames, the material receiving assembly comprises a material receiving plate, a second driving component is detachably mounted on the material receiving plate, and the second driving component is driven by the The first transmission mechanism is connected to the first support frame through transmission, and the second driving component is started to drive the receiving plate to move along the first support frame through the first transmission mechanism, and the first support frame is provided with a plurality of linearly evenly distributed first positioning components, and the plurality of the first positioning components correspond to the material storage bin. The receiving plate is detachably provided with a second positioning component corresponding to the first positioning component, and the positioning function of the receiving plate and the storage bin is realized through the cooperation of the second positioning component and the first positioning component. A connecting component is slidably installed on the receiving plate, and the connecting component includes a second supporting frame slidably installed on the receiving plate, and the second supporting frame is detachably installed with a third driving component, and the third driving component is connected to the receiving plate through transmission of the second transmission mechanism, and the third driving component is started to drive the second supporting frame to move along the receiving plate through the second transmission mechanism; A connecting plate is fixedly arranged on the second supporting frame, a first piston cavity and a second piston cavity are formed on the connecting plate, a second gas supply cavity is passed between the first piston cavity and the second piston cavity, an exhaust pipe is fixedly arranged on the connecting plate, an electromagnetic valve is arranged on the exhaust pipe, the first piston cavity is sealed and connected with the exhaust pipe through the first gas supply cavity, a second limiting assembly is arranged in the first piston cavity, a first limiting assembly is arranged in the second piston cavity, the first limiting assembly includes a first piston plate sealingly and slidably mounted in the second piston cavity, a limiting plate is arranged on the first piston plate, a second elastic component is arranged between the first piston plate and the second piston cavity, the second limiting assembly has the same structure as the first limiting assembly, the connecting plate corresponds to the second sliding groove, the operating connecting plate drives the limiting plate on the first limiting assembly to contact with the material storage bin, and pushes the limiting plate on the second limiting assembly to be inserted into the second limiting groove, so that the material storage bin is connected and fixed to the connecting assembly; The connecting plate is provided with a second positioning component, and the second positioning component corresponds to the third driving component. The connecting plate and the material storage bin are positioned by the second positioning component, and the third driving component is adjusted.

[0007] During use of the above technical solution: starting the second driving component drives the material receiving component to move up and down along the first support frame through the first transmission mechanism, and realizing automatic positioning of the material receiving component and the material storage bin through the cooperation of the first positioning component and the second positioning component, and starting the third driving component drives the connecting component to connect and fix the material storage bin to realize the function of automatic material picking, thereby realizing the function of local automatic material picking and cargo handling, and realizing intelligent and efficient logistics cargo handling function.

[0008] Preferably, the material receiving plate is provided with two symmetrical sixth sliding grooves, the second supporting frame is fixedly provided with two symmetrical sixth sliding blocks, the sixth sliding blocks are slidably installed in the sixth sliding grooves, the storage rack is provided with a first sliding groove, the material storage bin is provided with a first sliding rod, the first sliding rod is slidably installed in the first sliding groove, the first sliding rod corresponds to the sixth sliding block, and the operating connecting assembly drives the first sliding rod on the material storage bin to slide in the sixth sliding groove.

[0009] Preferably, a seventh groove is provided on the material receiving plate between the two sixth sliding grooves, a second spur rack is fixedly arranged in the seventh groove of the material receiving plate, an eighth groove is provided on the second supporting frame, the second transmission mechanism includes a second transmission gear rotatably installed in the eighth groove, the second transmission gear is meshed with the second spur rack, the output end of the third driving component is connected to the second transmission gear, and starting the third driving component will drive the connecting assembly to move along the material receiving assembly through the cooperation of the second transmission gear and the second spur rack.

[0010] Preferably, the first piston cavity and the second piston cavity on the connecting plate are respectively provided with a first guide frame and a second guide frame, and the two limit plates are respectively slidably installed in the first guide frame and the second guide frame, and the first limit assembly drives the limit plate to extend out of the second guide frame through the second elastic component, and the second limit assembly drives the limit plate to retract into the first guide frame through the second elastic component.

[0011] During use, the above technical solution realizes the function of automatic and quick connection between the connecting plate and the storage bin, improves the stability of cargo handling, and prevents materials from falling during the handling process.

[0012] Preferably, a third sliding groove is provided on the first support frame, a third sliding block is provided on the material receiving plate, and the third sliding block is slidably installed in the third sliding groove, the first transmission mechanism includes a first spur rack fixedly installed on the first support frame, two symmetrical first transmission shafts are rotatably installed on the material receiving plate, first transmission gears are fixedly provided at both ends of the two first transmission shafts, and the four first transmission gears are respectively meshed with the four first spur racks, and a fourth transmission gear is fixedly mounted on the two first transmission shafts, two symmetrical second transmission shafts are rotatably installed on the material receiving plate, third transmission gears are fixedly provided on the two second transmission shafts, the third transmission gear is meshed with the fourth transmission gear, and the output end of the second driving component is transmission-connected to the two second transmission shafts.

[0013] Preferably, the second positioning assembly includes a positioning cavity, a first detection contact is fixedly arranged in the positioning cavity, a positioning sliding frame is slidably installed in the positioning cavity, a second detection contact corresponding to the first detection contact is arranged on the positioning sliding frame, a positioning rod is fixedly arranged on the positioning sliding frame, the length of the positioning rod extending out of the positioning cavity corresponds to the distance between the first detection contact and the second detection contact, a first elastic component is arranged between the positioning sliding frame and the positioning cavity, and the second detection contact is driven away from the first detection contact by the first elastic component.

[0014] Preferably, the first support frame is provided with a plurality of linearly evenly distributed through holes, the first positioning assembly includes a first mounting frame fixedly mounted on the first support frame, a first driving component is detachably mounted on the first mounting frame, a positioning head is slidably mounted in the through hole, an output end of the first driving component is fixedly connected to the positioning head, and the first driving component is started to drive the positioning head to move along the through hole, and the positioning head corresponds to the positioning rod.

[0015] Preferably, a first limit frame is fixedly provided on the storage rack at the lower end, a first sliding groove is provided on the first limit frame, a first limit groove is provided in the first sliding groove of the first limit frame, a fixing component is slidably installed on the bottom frame, a fourth driving component is detachably installed on the bottom frame, an output end of the fourth driving component is transmission-connected with the fixing component, and the fourth driving component is started to drive the fixing component to be inserted into the first sliding groove, so that the shelf component is connected and fixed to the bottom frame.

[0016] Preferably, the fixing assembly includes a second limit frame, a fourth sliding block is fixedly provided on the second limit frame, a fourth sliding groove is provided on the bottom frame, the fourth sliding block is slidably installed in the fourth sliding groove, a third piston cavity is provided on the second limit frame, a third guide frame is provided on the third piston cavity, a third gas delivery cavity is provided on the second limit frame, an air pump is detachably installed on the second limit frame, the air pump is connected with the third gas delivery cavity through an air delivery pipe, a third limit assembly is sealingly and slidably installed in the third piston cavity, the third limit assembly has the same structure as the first limit assembly, the limit plate on the third limit assembly is retracted into the third piston cavity by the second elastic component, and starting the air pump to inflate the third piston cavity will push the limit plate to be inserted into the first limit groove.

[0017] During use of the above technical solution: the fourth driving component is started to drive the fixing component to be inserted into the first sliding groove, and the shelf component is connected and fixed to the bottom frame to prevent the bottom frame from shifting its center of gravity when the connecting component moves the storage bin to the receiving component or moves it back to the storage rack, thereby causing the bottom frame to tip over, thereby improving the stability of cargo handling.

[0018] Preferably, the front end face and the left end face of the second limit frame are both provided with a second mounting hole, and the second positioning component is installed in the second mounting hole, and the front end face and the left end face of the second limit frame are respectively positioned with the first sliding groove of the storage rack through the second positioning component.

[0019] During use of the above technical solution: the walking mechanism and the steering mechanism are started to drive the second limit frame to be initially inserted into the first sliding groove, so that the second positioning component on the left end face of the second limit frame positions the left end face of the second limit frame with the left inner wall of the first sliding groove on the first limit frame, and the fourth driving component is started to drive the second limit frame to move along the first sliding groove, and the front end face of the second limit frame is positioned with the first limit frame through the second positioning component on the front end face of the second limit frame, thereby realizing the positioning of the bottom frame and the shelf assembly on the X and Y axes, and cooperating with the first positioning component and the second positioning component to realize the positioning of the material receiving assembly and the shelf assembly on the Z axis, thereby realizing comprehensive automatic positioning and improving the accuracy of picking up or storing goods.

[0020] After adopting the above technical solution, the beneficial effects of the present invention are: 1. Start the second driving component to drive the material receiving component to move up and down along the first support frame through the first transmission mechanism, and realize the automatic positioning of the material receiving component and the material storage bin through the cooperation of the first positioning component and the second positioning component. Start the third driving component to drive the connecting component to connect and fix with the material storage bin to realize the function of automatic material picking, thereby realizing the function of local automatic material picking and cargo handling, and realizing the intelligent and efficient logistics cargo handling function; 2. The function of automatic and quick connection between the connecting plate and the storage bin is realized to improve the stability of cargo handling and prevent the falling of materials during the handling process; 3. Start the fourth driving component to drive the fixing component to be inserted into the first sliding groove, and connect and fix the shelf component to the bottom frame to prevent the bottom frame from shifting its center of gravity when the connecting component moves the storage bin to the receiving component or moves it to the storage rack in the opposite direction, thereby causing the bottom frame to tip over, thereby improving the stability of cargo handling; 4. Start the walking mechanism and the steering mechanism to drive the second limit frame to be initially inserted into the first sliding groove, so that the second positioning component on the left end face of the second limit frame positions the left end face of the second limit frame with the left inner wall of the first sliding groove on the first limit frame, start the fourth driving component to drive the second limit frame to move along the first sliding groove, and position the front end face of the second limit frame with the first limit frame through the second positioning component on the front end face of the second limit frame, thereby realizing the positioning of the bottom frame and the shelf assembly on the X and Y axes, and cooperating with the first positioning component and the second positioning component to realize the positioning of the material receiving assembly and the shelf assembly on the Z axis, thereby realizing comprehensive automatic positioning and improving the accuracy of picking up or storing goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the exploded structure of the shelf assembly and the material storage assembly of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 5 It is a cross-sectional structural schematic diagram of the present invention; Figure 6 It is a schematic diagram of the explosion structure of the present invention; Figure 7 It is a bottom view structural schematic diagram of the material receiving assembly of the present invention; Figure 8 It is a cross-sectional structural schematic diagram of the material receiving assembly of the present invention; Fig. 9 For the present invention Figure 8 A partial enlarged view of the middle A; Fig.10 It is a schematic diagram of the exploded structure of the material receiving assembly and the connecting assembly of the present invention; Fig.11 It is a schematic diagram of the exploded structure of the fixing assembly of the present invention; Fig.12 It is a schematic diagram of the three-dimensional structure of the connection assembly of the present invention; Fig.13 It is a schematic cross-sectional structural diagram of the connection assembly of the present invention; Fig.14 It is a cross-sectional structural schematic diagram of the material receiving assembly of the present invention; Fig.15 is a schematic cross-sectional structural diagram of the second positioning assembly of the present invention; Fig.16 is a schematic cross-sectional structural diagram of the first positioning assembly of the present invention; In the figure, 1, shelf assembly; 101, support leg; 102, material storage rack; 103, first sliding groove; 104, first limiting rack; 105, first sliding groove; 106, first limiting groove; 2, material storage assembly; 201, material storage bin; 202, first sliding rod; 203, second sliding groove; 204, second limiting groove; 3, bottom frame; 4, walking mechanism; 5, steering mechanism; 6, first support rack; 7, third sliding groove; 8, first straight rack; 9, through hole; 10, fourth sliding groove; 11, fifth groove; 12, controller; 13, first positioning group 1301, first mounting bracket; 1302, first driving component; 1303, positioning head; 14, receiving assembly; 1401, receiving plate; 1402, third sliding block; 1403, sixth sliding groove; 1404, seventh groove; 1405, second spur rack; 1406, first mounting hole; 1407, first transmission shaft; 1408, first transmission gear; 1409, second driving component; 1410, second transmission shaft; 1411, third transmission gear; 1412, fourth transmission gear; 15, connecting assembly; 1501, second support bracket; 1 502, sixth sliding block; 1503, eighth groove; 1504, third driving component; 1505, second transmission gear; 1506, connecting plate; 1507, first guide frame; 1508, first piston cavity; 1509, first gas delivery cavity; 1510, exhaust pipe; 1511, solenoid valve; 1512, second guide frame; 1513, second piston cavity; 1514, second gas delivery cavity; 16, fixing assembly; 1601, second limiting frame; 1602, fourth sliding block; 1603, third guide frame; 1604, third piston cavity; 16 05, third gas delivery cavity; 1606, gas delivery pipe; 1607, air pump; 1608, fourth driving component; 1609, second mounting hole; 17, second positioning assembly; 1701, positioning cavity; 1702, first detection contact; 1703, positioning sliding frame; 1704, second detection contact; 1705, first elastic component; 1706, positioning rod; 1707, sliding hole; 18, first limiting assembly; 1801, first piston plate; 1802, limiting plate; 1803, second elastic component; 19, second limiting assembly; 20, third limiting assembly; DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0024] like Figures 1 to 16 As shown, a logistics handling robot includes a shelf assembly 1, a storage assembly 2 and a handling assembly, wherein the shelf assembly 1 includes a multi-layer storage rack 102, the storage assembly 2 includes a storage bin 201, the storage bin 201 is slidably mounted on the storage rack 102, a second sliding groove 203 is fixedly opened at the end of the storage bin 201, a second limiting groove 204 is opened in the second sliding groove 203 of the storage bin 201, the handling assembly includes a bottom frame 3, a walking mechanism 4 and a steering mechanism 5 are arranged on the bottom frame 3, and the bottom frame 3 is driven by the walking mechanism 4. The upper frame 3 moves, and the steering mechanism 5 drives the bottom frame 3 to adjust the rotation direction. The walking mechanism 4 and the steering mechanism 5 are both existing well-known technologies and are not introduced in detail here. The walking mechanism 4 and the steering mechanism 5 also appear in the comparative documents mentioned in the background technology. Four evenly distributed first support frames 6 are fixedly arranged on the bottom frame 3, and a plurality of material receiving components 14 are slidably installed on the four first support frames 6. The material receiving component 14 includes a material receiving plate 1401, and a second driving component 1409 is detachably installed on the material receiving plate 1401. The second driving component 1409 is transmission-connected to the first support frame 6 through a first transmission mechanism. When the second driving component 1409 is started, the material receiving plate 1401 is driven to move along the first support frame 6 through the first transmission mechanism. A plurality of linearly evenly distributed first positioning components 13 are arranged on the first support frame 6, and the plurality of first positioning components 13 correspond to the storage bin 201. A second positioning component 17 corresponding to the first positioning component 13 is detachably arranged on the material receiving plate 1401. The connection assembly 15 is slidably mounted on the receiving plate 1401, and the connection assembly 15 includes a second support frame 1501 slidably mounted on the receiving plate 1401. A third driving component 1504 is detachably mounted on the second support frame 1501. The third driving component 1504 is transmission-connected to the receiving plate 1401 through a second transmission mechanism. When the third driving component 1504 is started, the second support frame 1501 is driven to move along the receiving plate 1401 through the second transmission mechanism. A connecting plate 1506 is fixedly provided on the second support frame 1501, and a first piston cavity 1508 and a second piston cavity 1513 are provided on the connecting plate 1506. A second gas delivery cavity 1514 is passed between the first piston cavity 1508 and the second piston cavity 1513. An exhaust pipe 1510 is fixedly provided on the connecting plate 1506, and a solenoid valve 1511 is provided on the exhaust pipe 1510. The first piston cavity 1508 is sealed and connected with the exhaust pipe 1510 through the first gas delivery cavity 1509. A second limiting assembly 19 is provided in the first piston cavity 1508, and a first limiting assembly 18 is provided in the second piston cavity 1513. The first limiting assembly 19 is provided in the first piston cavity 1508, and a first limiting assembly 18 is provided in the second piston cavity 1513. Component 18 includes a first piston plate 1801 sealingly and slidably installed in the second piston cavity 1513, a limiting plate 1802 is arranged on the first piston plate 1801, a second elastic component 1803 is arranged between the first piston plate 1801 and the second piston cavity 1513, the second limiting component 19 has the same structure as the first limiting component 18, the connecting plate 1506 corresponds to the second sliding groove, the connecting plate 1506 is operated to drive the limiting plate 1802 on the first limiting component 18 to contact with the storage bin 201, and push the limiting plate 1802 on the second limiting component 19 to be inserted into the second limiting groove 204, so as to connect and fix the storage bin 201 to the connecting component 15; The connecting plate 1506 is provided with a second positioning assembly 17 , which corresponds to the third driving component 1504 . The connecting plate 1506 and the material storage bin 201 are positioned and the third driving component 1504 is adjusted by the second positioning assembly 17 .

[0025] Specifically: the first support frame 6 is installed with the controller 12 through bolts and nuts, the second positioning component 17 on the connecting plate 1506 is electrically connected to the third driving component 1504 through the controller 12, a first mounting hole 1406 is opened on the receiving plate 1401, and the second positioning component 17 is fixedly installed in the first mounting hole 1406.

[0026] Two symmetrical sixth sliding grooves 1403 are provided on the material receiving plate 1401, and two symmetrical sixth sliding blocks 1502 are fixedly arranged on the second supporting frame 1501. The sixth sliding block 1502 is slidably installed in the sixth sliding groove 1403. A first sliding groove 103 is provided on the storage shelf, and a first sliding rod 202 is provided on the material storage bin 201. The first sliding rod 202 is slidably installed in the first sliding groove 103. The first sliding rod 202 corresponds to the sixth sliding block 1502. The operating connection component 15 drives the first sliding rod 202 on the material storage bin 201 to slide and be installed in the sixth sliding groove 1403.

[0027] Specifically: a support leg 101 is fixedly provided at the lower end of the storage rack 102, the cross-sections of the first sliding groove 103 and the sixth sliding groove 1403 are both in a "concave" shape, the cross-sections of the first sliding rod 202 and the sixth sliding block 1502 are in a "convex" shape corresponding to the first sliding groove 103, the multi-layer storage racks 102 are distributed at equal intervals, and a baffle is fixedly provided at one end of the storage rack 102 away from the first limiting frame 104, which is used to prevent the storage bin 201 from leaving the storage rack 102, and a first permanent magnet block is provided on the baffle, and a second permanent magnet block corresponding to the first permanent magnet block is provided on the storage bin 201, and the storage bin 201 is installed on the storage bin 201 by magnetic attraction between the first permanent magnet block and the second permanent magnet block, and the magnetic attraction force of the first permanent magnet block and the second permanent magnet block is less than the pulling force of the connecting plate 1506 to drive the storage bin 201 to move.

[0028] In actual operation: the material storage bin 201 is moved along the material storage rack 102, and at the same time the first sliding rod 202 is moved along the first sliding groove 103, the material storage bin 201 is installed on the material storage bin 201 by magnetic attraction between the first permanent magnet block and the second permanent magnet block, the connecting component 15 drives the connecting plate 1506 to be inserted into the second sliding groove 203, and the limiting plate 1802 is inserted into the second limiting groove 204, the connecting plate 1506 is connected and fixed to the material storage bin 201, the material storage bin 201 is driven to move along the receiving plate 1401 by the connecting plate 1506, and moves along the sixth sliding groove 1403 by the first sliding rod 202.

[0029] A seventh groove 1404 is provided on the receiving plate 1401 between the two sixth sliding grooves 1403, a second spur rack 1405 is fixedly arranged in the seventh groove 1404 of the receiving plate 1401, an eighth groove 1503 is provided on the second support frame 1501, the second transmission mechanism includes a second transmission gear 1505 rotatably installed in the eighth groove 1503, the second transmission gear 1505 is meshed with the second spur rack 1405, the output end of the third driving component 1504 is transmission-connected with the second transmission gear 1505, starting the third driving component 1504 cooperates with the second spur rack 1405 through the second transmission gear 1505, which will drive the connecting assembly 15 to move along the receiving assembly 14.

[0030] Specifically: the third driving component 1504 is a forward and reverse servo motor, and the third driving component 1504 is installed on the first supporting frame 6 through bolts and nuts.

[0031] In actual operation: starting the third driving component 1504 drives the second transmission gear 1505 to rotate, and through the transmission of the second transmission gear 1505 and the second spur rack 1405, the first support frame 6 will be driven to move along the receiving plate 1401, and the sixth sliding block 1502 will move along the sixth sliding groove 1403.

[0032] The first piston cavity 1508 and the second piston cavity 1513 on the connecting plate 1506 are respectively provided with a first guide frame 1507 and a second guide frame 1512, and two limit plates 1802 are respectively slidably installed in the first guide frame 1507 and the second guide frame 1512. The first limit assembly 18 drives the limit plate 1802 to extend out of the second guide frame 1512 through the second elastic component 1803, and the second limit assembly 19 drives the limit plate 1802 to retract into the first guide frame 1507 through the second elastic component 1803.

[0033] In actual operation: the second elastic component 1803 is a return spring, one end of the second elastic component 1803 on the first limiting assembly 18 is connected and fixed to the first piston plate 1801, and the other end is connected and fixed to the second piston cavity 1513, one end of the second elastic component 1803 on the second limiting assembly 19 is connected and fixed to the first piston plate 1801, and the other end is connected and fixed to the first piston cavity 1508, the connecting plate 1506 is provided with a first gas delivery cavity 1509 and a second gas delivery cavity 1514, the second gas delivery cavity 1514 connects the first piston cavity 1508 with the second piston cavity 1513, the first gas delivery cavity 1509 connects the exhaust pipe 1510 with the first piston cavity 1508, and the solenoid valve 1511 is electrically connected to the controller 12.

[0034] In actual operation: start the third driving component 1504 to drive the connecting plate 1506 to move along the receiving plate 1401, so that the connecting plate 1506 is inserted into the second sliding groove 203, and with the movement of the connecting plate 1506, the limiting plate 1802 on the first limiting assembly 18 contacts the storage bin 201, and the limiting plate 1802 pushes the first piston plate 1801 to move along the second piston cavity 1513, compressing the gas pressure in the second piston cavity 1513 and the first piston cavity 1508, and compressing the second elastic component 1803 on the first limiting assembly 18, when the limiting plate 1802 on the second limiting assembly 19 is aligned with the second limiting groove 204, through the first limiting assembly 19, the limiting plate 1802 is pressed against the second limiting groove 204, and the limiting plate 1802 is pressed against the second limiting groove 204. The gas pressure in a piston cavity 1508 pushes the limit plate 1802 to insert into the second limit groove 204, and stretches the second elastic component 1803, so as to connect and fix the connecting plate 1506 to the material storage bin 201. At this time, the positioning rod 1706 of the second positioning assembly 17 on the connecting plate 1506 contacts the material storage bin 201, and pushes the second detection contact 1704 to contact the first detection contact 1702. The controller 12 controls the forward and reverse switching of the third driving component 1504, and drives the first support frame 6 and the connecting plate 1506 to move along the material receiving plate 1401. The connecting plate 1506 drives the material storage bin 201 to move along the material receiving plate 1401, so as to realize the function of automatic material taking. When it is necessary to store the storage bin 201, the third driving component 1504 is adjusted to drive the connecting plate 1506 to push the storage bin 201 to be inserted onto the storage rack 102, and move along the first sliding groove 103 through the first sliding rod 202. When the storage bin 201 is moved to the specified position, the solenoid valve 1511 door is opened, and the gas in the first piston cavity 1508 is discharged through the first gas delivery cavity 1509 and the exhaust pipe 1510. Under the action of the second elastic component 1803 of the second limiting assembly 19, the limiting plate 1802 is retracted into the first piston cavity 1508. The third driving component 1504 is adjusted to drive the connecting plate 1506 to reset, thereby quickly taking the connecting plate 1506 out of the second sliding groove 203 to achieve rapid storage of the storage bin 201. At this time, the limiting plate 1802 is pushed to reset under the second elastic component 1803 of the first limiting assembly 18. Finally, the solenoid valve 1511 door is closed.

[0035] A third sliding groove 7 is provided on the first supporting frame 6, and a third sliding block 1402 is provided on the receiving plate 1401. The third sliding block 1402 is slidably installed in the third sliding groove 7. The first transmission mechanism includes a first spur rack 8 fixedly installed on the first supporting frame 6. Two symmetrical first transmission shafts 1407 are rotatably installed on the receiving plate 1401. First transmission gears 1408 are fixedly provided at both ends of the two first transmission shafts 1407. The four first transmission gears 1408 are respectively meshed with the four first spur racks 8. A fourth transmission gear 1412 is fixedly mounted on the two first transmission shafts 1407. Two symmetrical second transmission shafts 1410 are rotatably installed on the receiving plate 1401. Third transmission gears 1411 are fixedly provided on the two second transmission shafts 1410. The third transmission gear 1411 is meshed with the fourth transmission gear 1412. The output end of the second driving component 1409 is transmission-connected to the two second transmission shafts 1410.

[0036] Specifically: the cross section of the third sliding groove 7 is in a "concave" shape, the cross section of the third sliding block 1402 is in a "convex" shape corresponding to the third sliding groove 7, the second driving component 1409 is a dual-output forward and reverse servo motor, and the second driving component 1409 is installed on the receiving plate 1401 by bolts and nuts.

[0037] In actual operation: starting the second starting component drives the third transmission gear 1411 to rotate through the second transmission shaft 1410, and through the transmission of the third transmission gear 1411 and the fourth transmission gear 1412, drives the first transmission shaft 1407 to rotate, and through the first transmission shaft 1407 drives the first transmission gear 1408 to rotate in coordination with the first straight rack 8, thereby driving the third sliding block 1402 to move up and down along the third sliding groove 7.

[0038] The second positioning assembly 17 includes a positioning cavity 1701, in which a first detection contact 1702 is fixedly arranged, a positioning slide frame 1703 is slidably installed in the positioning cavity 1701, and a second detection contact 1704 corresponding to the first detection contact 1702 is arranged on the positioning slide frame 1703, and a positioning rod 1706 is fixedly arranged on the positioning slide frame 1703, and the length of the positioning rod 1706 extending out of the positioning cavity 1701 corresponds to the distance between the first detection contact 1702 and the second detection contact 1704, and a first elastic component 1705 is arranged between the positioning slide frame 1703 and the positioning cavity 1701, and the second detection contact 1704 is driven away from the first detection contact 1702 by the first elastic component 1705.

[0039] Specifically: a sliding hole 1707 is opened on the positioning cavity 1701, and the positioning rod 1706 slides through the sliding hole 1707. Multiple positioning components are numbered and electrically connected to the controller 12. The first elastic component 1705 is a reset spring. The first elastic component 1705 is movably mounted on the positioning rod 1706. One end of the first elastic component 1705 is connected and fixed to the positioning sliding frame 1703, and the other end is connected and fixed to the positioning cavity 1701. The positioning cavity 1701, the positioning sliding frame 1703 and the positioning rod 1706 are all supported by insulating materials or insulated.

[0040] In actual operation: the positioning rod 1706 receives external force and drives the positioning sliding frame 1703 to move along the positioning cavity 1701, and drives the second detection contact 1704 to contact the first detection contact 1702 through the positioning sliding frame 1703, thereby realizing the function of automatic positioning and compressing the first elastic component 1705. When the external force on the positioning rod 1706 is removed, the positioning rod 1706 is pushed to reset under the action of the first elastic component 1705.

[0041] The first support frame 6 is provided with a plurality of linearly evenly distributed through holes 9, the first positioning assembly 13 includes a first mounting frame 1301 fixedly mounted on the first support frame 6, a first driving component 1302 is detachably mounted on the first mounting frame 1301, a positioning head 1303 is slidably mounted in the through hole 9, an output end of the first driving component 1302 is fixedly connected to the positioning head 1303, and the first driving component 1302 is started to drive the positioning head 1303 to move along the through hole 9, and the positioning head 1303 corresponds to the positioning rod 1706.

[0042] Specifically: the first driving component 1302 is an electric push rod or a hydraulic cylinder. The first driving component 1302 is electrically connected to the controller 12, and multiple first positioning components 13 are numbered. The multi-layer storage rack 102 corresponds to multiple first positioning components 13. When the first positioning component 13 cooperates with the second component for positioning, the connecting plate 1506 and the second sliding groove 203 remain horizontal in height. The first driving component 1302 drives the positioning head 1303 to retract into the through hole 9. When positioning is required, the first driving component 1302 is started to drive the positioning head 1303 to move along the through hole 9 through the output end, and the positioning rod 1706 is pushed by the positioning head 1303 to move along the positioning cavity 1701 to realize the positioning function. Example

[0043] On the basis of Example 1, a first limiting frame 104 is fixedly arranged on the storage rack 102 at the lower end, a first sliding groove 105 is opened on the first limiting frame 104, a first limiting groove 106 is opened in the first sliding groove 105 of the first limiting frame 104, a fixing component 16 is slidably installed on the bottom frame 3, a fourth driving component 1608 is detachably installed on the bottom frame 3, the output end of the fourth driving component 1608 is transmission-connected with the fixing component 16, the fourth driving component 1608 is started to drive the fixing component 16 to be inserted into the first sliding groove 105, and the shelf component 1 is connected and fixed to the bottom frame 3.

[0044] The fixing assembly 16 includes a second limiting frame 1601, a fourth sliding block 1602 is fixedly arranged on the second limiting frame 1601, a fourth sliding groove 10 is provided on the bottom frame 3, the fourth sliding block 1602 is slidably installed in the fourth sliding groove 10, a third piston cavity 1604 is provided on the second limiting frame 1601, a third guide frame 1603 is provided on the third piston cavity 1604, a third gas delivery cavity 1605 is provided on the second limiting frame 1601, and a third gas delivery cavity 1605 is detachably installed on the second limiting frame 1601. The air pump 1607 is connected to the third air delivery cavity 1605 through the air delivery pipe 1606. The third limiting assembly 20 is sealed and slidably installed in the third piston cavity 1604. The third limiting assembly 20 has the same structure as the first limiting assembly 18. The third limiting assembly 20 drives the limiting plate 1802 to retract into the third piston cavity 1604 through the second elastic component 1803. Starting the air pump 1607 to inflate the third piston cavity 1604 will push the limiting plate 1802 to insert into the first limiting groove 106.

[0045] Specifically: the cross-section of the fourth sliding groove 10 is in a "concave" shape, the cross-section of the fourth sliding block 1602 is in a "convex" shape corresponding to the fourth sliding groove 10, a fifth groove 11 connected to the fourth sliding groove 10 is provided on the bottom frame 3, the second limit frame 1601 is slidably installed in the fifth groove 11, the second elastic component 1803 on the third limit assembly 20 is a reset spring, one end of the second elastic component 1803 is connected and fixed to the first piston plate 1801, and the other end is connected and fixed to the third piston cavity 1604, the fourth driving component 1608 is an electric push rod or a hydraulic cylinder, the fourth driving component 1608 is installed on the bottom frame 3 by bolts and nuts, and the output end is connected and fixed to the second limit frame 1601 by bolts and nuts, the fourth driving component 1608 and the air pump 1607 are electrically connected to the uniform controller 12, and an exhaust valve is provided on the air pump 1607, and the gas in the third piston cavity 1604 is discharged by opening the exhaust valve.

[0046] In actual operation: start the fourth driving component 1608 to drive the fixing component 16 to be inserted into the first sliding groove 105, and connect and fix the shelf component 1 to the bottom frame 3 to prevent the bottom frame 3 from shifting its center of gravity when the connecting component 15 moves the storage bin 201 to the receiving component 14 or moves it in the opposite direction to the storage rack 102, thereby causing the phenomenon of tipping over, thereby improving the stability of cargo handling. Example

[0047] Based on the second embodiment, the front end face and the left end face of the second limiting frame 1601 are both provided with a second mounting hole 1609, and the second positioning component 17 is installed in the second mounting hole 1609. The front end face and the left end face of the second limiting frame 1601 are positioned with the first sliding groove 105 of the storage rack 102 through the second positioning component 17.

[0048] In actual operation: start the walking mechanism 4 and the steering mechanism 5 to drive the second limiting frame 1601 to be initially inserted into the first sliding groove 105, so that the second positioning component 17 on the left end face of the second limiting frame 1601 positions the left end face of the second limiting frame 1601 with the left inner wall of the first sliding groove 105 on the first limiting frame 104, start the fourth driving component 1608, drive the second limiting frame 1601 to move along the first sliding groove 105, and position the front end face of the second limiting frame 1601 with the first limiting frame 104 through the second positioning component 17 on the front end face of the second limiting frame 1601, thereby realizing the positioning of the bottom frame 3 and the shelf assembly 1 on the X and Y axes, and cooperating with the first positioning component 13 and the second positioning component 17 to realize the positioning of the material receiving assembly 14 and the shelf assembly 1 on the Z axis, thereby realizing comprehensive automatic positioning and improving the accuracy of picking up or storing goods.

[0049] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A logistics handling robot, comprising a shelf assembly (1), a material storage assembly (2) and a handling assembly, wherein the shelf assembly (1) comprises a multi-layer material storage rack (102), the material storage assembly (2) comprises a material storage bin (201), the material storage bin (201) is slidably mounted on the material storage rack (102), a second sliding groove (203) is fixedly provided at the end of the material storage bin (201), a second limiting groove (204) is provided in the second sliding groove (203) of the material storage bin (201), the handling assembly comprises a bottom frame (3), a walking mechanism (4) and a steering mechanism (5) are arranged on the bottom frame (3), the bottom frame (3) is driven to move by the walking mechanism (4), and the bottom frame (3) is driven to adjust the rotation direction by the steering mechanism (5), characterized in that: The bottom frame (3) is fixedly provided with four evenly distributed first support frames (6), and a plurality of material receiving components (14) are slidably mounted on the four first support frames (6), and the material receiving components (14) include a material receiving plate (1401), and a second driving component (1409) is detachably mounted on the material receiving plate (1401), and the second driving component (1409) is transmission-connected to the first support frame (6) through a first transmission mechanism, and the second driving component (1409) is started to drive the material receiving plate (1401) to move along the first support frame (6) through the first transmission mechanism, and a plurality of linearly evenly distributed first positioning components (13) are arranged on the first support frame (6), and the plurality of first positioning components (13) correspond to the material storage bin (201), and the material receiving plate (1401) is provided with a plurality of first positioning components (13) disposed on the first support frame (6). A second positioning component (17) corresponding to the first positioning component (13) is detachably provided, and the positioning function of the receiving plate (1401) and the storage bin (201) is realized by the cooperation of the second positioning component (17) and the first positioning component (13); a connecting component (15) is slidably installed on the receiving plate (1401), and the connecting component (15) includes a second support frame (1501) slidably installed on the receiving plate (1401); a third driving component (1504) is detachably installed on the second support frame (1501), and the third driving component (1504) is transmission-connected to the receiving plate (1401) through a second transmission mechanism, and the third driving component (1504) is started to drive the second support frame (1501) to move along the receiving plate (1401) through the second transmission mechanism; A connecting plate (1506) is fixedly provided on the second support frame (1501), and a first piston cavity (1508) and a second piston cavity (1513) are provided on the connecting plate (1506). A second gas transmission cavity (1514) is passed between the first piston cavity (1508) and the second piston cavity (1513). An exhaust pipe (1510) is fixedly provided on the connecting plate (1506), and a solenoid valve (1511) is provided on the exhaust pipe (1510). The first piston cavity (1508) is sealedly connected to the exhaust pipe (1510) through the first gas transmission cavity (1509). A second limiting assembly (19) is provided in the first piston cavity (1508), and a first limiting assembly (18) is provided in the second piston cavity (1513). A limiting assembly (18) comprises a first piston plate (1801) sealingly and slidably mounted in a second piston cavity (1513); a limiting plate (1802) is arranged on the first piston plate (1801); a second elastic component (1803) is arranged between the first piston plate (1801) and the second piston cavity (1513); the second limiting assembly (19) has the same structure as the first limiting assembly (18); the connecting plate (1506) corresponds to the second sliding groove; the connecting plate (1506) is operated to drive the limiting plate (1802) on the first limiting assembly (18) to contact the material storage bin (201), and push the limiting plate (1802) on the second limiting assembly (19) to be inserted into the second limiting groove (204), so as to connect and fix the material storage bin (201) to the connecting assembly (15); The connecting plate (1506) is provided with a second positioning component (17), and the second positioning component (17) corresponds to the third driving component (1504). The connecting plate (1506) and the storage bin (201) are positioned and the third driving component (1504) is adjusted through the second positioning component (17).

2. A pipeline grooving device for water control construction according to claim 1, characterized in that: The receiving plate (1401) is provided with two symmetrical sixth sliding grooves (1403), the second supporting frame (1501) is fixedly provided with two symmetrical sixth sliding blocks (1502), the sixth sliding blocks (1502) are slidably installed in the sixth sliding grooves (1403), the storage rack is provided with a first sliding groove (103), the material storage bin (201) is provided with a first sliding rod (202), the first sliding rod (202) is slidably installed in the first sliding groove (103), the first sliding rod (202) corresponds to the sixth sliding block (1502), and the operating connection component (15) drives the first sliding rod (202) on the material storage bin (201) to be slidably installed in the sixth sliding groove (1403).

3. A pipeline grooving device for water control construction according to claim 2, characterized in that: A seventh groove (1404) is provided on the receiving plate (1401) between the two sixth sliding grooves (1403); a second spur rack (1405) is fixedly arranged in the seventh groove (1404) of the receiving plate (1401); an eighth groove (1503) is provided on the second support frame (1501); the second transmission mechanism comprises a second transmission gear (1505) rotatably mounted in the eighth groove (1503); the second transmission gear (1505) is meshed with the second spur rack (1405); the output end of the third driving component (1504) is transmission-connected with the second transmission gear (1505); starting the third driving component (1504) to cooperate with the second spur rack (1405) through the second transmission gear (1505) will drive the connecting assembly (15) to move along the receiving assembly (14).

4. A pipeline grooving device for water control construction according to claim 3, characterized in that: The first piston cavity (1508) and the second piston cavity (1513) on the connecting plate (1506) are respectively provided with a first guide frame (1507) and a second guide frame (1512); the two limit plates (1802) are respectively slidably installed in the first guide frame (1507) and the second guide frame (1512); the first limit assembly (18) drives the limit plate (1802) to extend out of the second guide frame (1512) through the second elastic component (1803); the second limit assembly (19) drives the limit plate (1802) to retract into the first guide frame (1507) through the second elastic component (1803).

5. A pipeline grooving device for water control construction according to claim 4, characterized in that: The first support frame (6) is provided with a third sliding groove (7), the receiving plate (1401) is provided with a third sliding block (1402), the third sliding block (1402) is slidably mounted in the third sliding groove (7), the first transmission mechanism comprises a first spur rack (8) fixedly mounted on the first support frame (6), two symmetrical first transmission shafts (1407) are rotatably mounted on the receiving plate (1401), both ends of the two first transmission shafts (1407) are fixedly provided with first transmission gears (1408), and the four first transmission gears (1408) are fixedly mounted on the receiving plate (1401). 1408) are respectively meshed with the four first spur racks (8), the two first transmission shafts (1407) are fixedly mounted with a fourth transmission gear (1412), the receiving plate (1401) is rotatably mounted with two symmetrical second transmission shafts (1410), the two second transmission shafts (1410) are fixedly provided with a third transmission gear (1411), the third transmission gear (1411) is meshed with the fourth transmission gear (1412), and the output end of the second driving component (1409) is transmission-connected with the two second transmission shafts (1410).

6. A pipeline grooving device for water control construction according to any one of claims 1 to 5, characterized in that: The second positioning component (17) comprises a positioning cavity (1701), a first detection contact (1702) is fixedly arranged in the positioning cavity (1701), a positioning sliding frame (1703) is slidably installed in the positioning cavity (1701), a second detection contact (1704) corresponding to the first detection contact (1702) is arranged on the positioning sliding frame (1703), a positioning rod (1706) is fixedly arranged on the positioning sliding frame (1703), the length of the part of the positioning rod (1706) extending out of the positioning cavity (1701) corresponds to the distance between the first detection contact (1702) and the second detection contact (1704), a first elastic component (1705) is arranged between the positioning sliding frame (1703) and the positioning cavity (1701), and the second detection contact (1704) is driven away from the first detection contact (1702) by the first elastic component (1705).

7. A pipeline grooving device for water control construction according to claim 6, characterized in that: The first support frame (6) is provided with a plurality of linearly evenly distributed through holes (9); the first positioning assembly (13) comprises a first mounting frame (1301) fixedly mounted on the first support frame (6); a first driving component (1302) is detachably mounted on the first mounting frame (1301); a positioning head (1303) is slidably mounted in the through hole (9); an output end of the first driving component (1302) is fixedly connected to the positioning head (1303); the first driving component (1302) is started to drive the positioning head (1303) to move along the through hole (9); and the positioning head (1303) corresponds to the positioning rod (1706).

8. A pipeline grooving device for water control construction according to claim 1 or 7, characterized in that: A first limiting frame (104) is fixedly arranged on the storage rack (102) at the lower end, a first sliding groove (105) is provided on the first limiting frame (104), a first limiting groove (106) is provided in the first sliding groove (105) of the first limiting frame (104), a fixing assembly (16) is slidably installed on the bottom frame (3), a fourth driving component (1608) is detachably installed on the bottom frame (3), an output end of the fourth driving component (1608) is transmission-connected with the fixing assembly (16), and the fourth driving component (1608) is started to drive the fixing assembly (16) to be inserted into the first sliding groove (105), so that the shelf assembly (1) is connected and fixed to the bottom frame (3).

9. A pipeline grooving device for water control construction according to claim 8, characterized in that: The fixing assembly (16) comprises a second limiting frame (1601), a fourth sliding block (1602) is fixedly arranged on the second limiting frame (1601), a fourth sliding groove (10) is provided on the bottom frame (3), the fourth sliding block (1602) is slidably installed in the fourth sliding groove (10), a third piston cavity (1604) is provided on the second limiting frame (1601), a third guide frame (1603) is provided on the third piston cavity (1604), a third gas transmission cavity (1605) is provided on the second limiting frame (1601), and a detachable An air pump (1607) is installed, and the air pump (1607) is connected to the third air delivery cavity (1605) through an air delivery pipe (1606). A third limiting assembly (20) is sealed and slidably installed in the third piston cavity (1604). The third limiting assembly (20) has the same structure as the first limiting assembly (18). The third limiting assembly (20) drives the limiting plate (1802) to retract into the third piston cavity (1604) through the second elastic component (1803). The air pump (1607) is started to inflate the third piston cavity (1604) to push the limiting plate (1802) to be inserted into the first limiting groove (106).

10. A pipeline grooving device for water control construction according to claim 9, characterized in that: The front end face and the left end face of the second limiting frame (1601) are both provided with a second mounting hole (1609), and the second positioning component (17) is installed in the second mounting hole (1609). The front end face and the left end face of the second limiting frame (1601) are positioned with the first sliding groove (105) of the storage frame (102) through the second positioning component (17).

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