Warehousing cargo transfer robot

Abstract

The invention relates to the technical field of warehouse cargo transfer, in particular to a warehouse cargo transfer robot which comprises a mechanical arm body and further comprises a [-shaped frame fixedly connected to one end of the mechanical arm body, a bearing frame is fixedly connected to the top of the inner wall of the [-shaped frame, a through groove is formed in the top of the bearing frame, and a hollow box is fixedly connected to the top of the bearing frame; an auxiliary mechanism is arranged in the hollow box; according to the robot, the two sides of goods can be fixed, meanwhile, the top and the bottom of the goods can be reinforced, in addition, the robot can transfer the goods into a goods shelf through movement of the outer frame, the protection mechanism can protect the bottom of the goods, and the problem that when an existing robot for transferring part of the goods is used, the goods cannot be transferred easily is solved. The problems that in the prior art, goods are inconvenient to transfer to a goods shelf for storage, and in the transferring process, the stability of part of goods and the supporting performance of the bottom of part of goods are difficult to guarantee, so that normal goods transferring operation is prone to being affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse cargo transfer, in particular to a warehouse cargo transfer robot. Background Art

[0002] Cargo transfer robots are widely used in warehouses, sorting centers, and in transit. They are mainly used for tasks such as transferring, handling, storing, sorting, and transporting cargo. Currently, common cargo transfer robots are usually composed of robotic arms, suction cups, or grippers. When in use, the suction cups and grippers can limit the position of the cargo so that they can be used in conjunction with the robotic arms to achieve the effect of handling the cargo.

[0003] At present, the cargo transfer robots used in some warehouses usually use suction cups or grippers to move the cargo from the transfer equipment to the warehouse. When transferring the cargo to the shelf, it is usually completed with the cooperation of staff. This process is time-consuming and labor-intensive, and there are certain risks for staff to stand at high places to assist in the transfer of cargo. Among them, the robots using grippers require a large space when the grippers are unfolded, so it is inconvenient for the grippers to extend into the shelf to move the cargo. When the grippers move the cargo, the cargo is usually placed in the grippers by gravity. During the transfer process, the lateral movement of the robotic arm can easily affect the stability of the cargo. Robots using suction cups are mostly suitable for moving cargo with a relatively regular outer packaging shape, such as cargo with an outer packaging of paper boxes. Such robots have certain limitations when used, and the bottom of the paper box is directly suspended in the air. For heavier cargo, during the transfer process, the shaking caused by the movement of the robotic arm can easily cause the bottom of the paper box to be deformed or even damaged due to the influence of gravity. Summary of the invention

[0004] The purpose of the present invention is to provide a cargo transfer robot for warehousing. The present invention can not only fix the two sides of the cargo, but also reinforce the top and bottom of the cargo to increase the stability of the cargo during transportation. In addition, when the robot is in use, the cargo can be transferred to the shelf by moving the outer frame, and during the transportation process, the protective mechanism can protect the bottom of the cargo again, which solves the problem that some current cargo transfer robots are inconvenient to transfer the cargo to the shelves used for warehousing when in use, and during the transportation process, the stability of some cargo and the support of the bottom of some cargo are difficult to guarantee, which can easily affect the normal progress of the cargo transfer operation.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a warehouse cargo transfer robot, comprising a robot arm body, and further comprising:

[0006] The cam frame is fixedly connected to one end of the mechanical arm body, the top of the inner wall of the cam frame is fixedly connected to a supporting frame, the top of the supporting frame is provided with a through groove and fixedly connected to a hollow box, an auxiliary mechanism is arranged inside the hollow box, a protective mechanism is installed at the bottom of the supporting frame and fixedly connected to a vertical plate, one end of the auxiliary mechanism is fixedly connected to a connecting plate, the bottom of the vertical plate is fixedly connected to a horizontal plate, the top of the horizontal plate is fixedly connected to a thin plate and an air storage box, a moving mechanism is installed on the surface of the thin plate, a reset mechanism is arranged inside the air storage box, a hose is fixedly passed through the surface of the air storage box, one end of the hose is communicated with the hollow box, the bottom of the moving mechanism is fixedly connected to an outer frame, and the top of the horizontal plate is provided with a sliding groove and a moving groove;

[0007] A fixing frame fixedly connected to the inner wall of the outer frame and an exhaust mechanism and a supporting mechanism installed on the surface of the outer frame, the top of the fixing frame is fixedly connected to a top plate, the top of the top plate is installed with a driving mechanism and an adjusting mechanism, the surface of the adjusting mechanism is fixedly sleeved with a worm gear, the inner wall of the fixing frame is slidably connected to a T-plate, the bottom of the T-plate is fixedly connected to a sinking plate, the top of the exhaust mechanism is connected to an exhaust pipe, the exhaust pipe is embedded in the interior of the outer frame, the top of the inner wall of the outer frame is installed with a pressing mechanism, the surface of the supporting mechanism is provided with a slot, the surface of the sinking plate is provided with a limiting slot, the inner wall of the limiting slot is hinged with a card plate, the surface of the card plate is in contact with the inner wall of the slot, and the T-plate is provided with a slot.

[0008] Preferably, the protective mechanism includes a base plate, a light rod, a protective frame and an extension plate, the base plate is fixedly connected to the bottom of the supporting frame, the light rod rotates and passes through the base plate, the protective frame is fixedly sleeved on the surface of the light rod, the extension plate is fixedly connected to the surface of the light rod, the surface of the extension plate is in contact with the inner wall of the through groove, and the connecting plate is hinged to the surface of the extension plate.

[0009] Preferably, the auxiliary mechanism includes an auxiliary rod, a piston plate and a compression spring, the auxiliary rod slides through the surface of the hollow box, the surface of the piston plate is slidably connected to the inner wall of the hollow box, the compression spring is arranged inside the auxiliary rod, the two ends of the compression spring are respectively fixedly connected to the inner wall of the hollow box and the surface of the piston plate, the connecting plate is fixedly connected to one end of the auxiliary rod, and the piston plate is fixedly connected to the other end of the auxiliary rod.

[0010] Preferably, the moving mechanism includes a servo motor, a reciprocating screw and a moving plate, the servo motor is fixedly connected to the surface of a thin plate on one side, the reciprocating screw rotates and penetrates the thin plate, the moving plate is threadedly sleeved on the surface of the reciprocating screw, one end of the reciprocating screw is fixedly connected to the output shaft of the servo motor, the outer frame is fixedly connected to the bottom of the moving plate, the surface of the moving plate is slidably connected to the inner wall of the moving groove, a square block is fixedly connected to the surface of the moving plate, the bottom of the square block is slidably connected to the top of the cross plate, and the surface of the square block is in contact with the surface of the air storage box.

[0011] Preferably, the reset mechanism includes a reset plate, a slider and an airbag, the surface of the reset plate is slidably connected to the inner wall of the air storage box, the slider is fixedly connected to the bottom of the reset plate, the bottom of the slider is fixedly connected to the top of the outer frame, the surface of the slider is slidably connected to the inner wall of the slide groove, the airbag is arranged inside the air storage box, the surfaces on both sides of the airbag are respectively fixedly connected to the inner wall of the air storage box and the surface of the reset plate, and one end of the hose is connected to the airbag.

[0012] Preferably, the driving mechanism includes an arc plate, a worm and a driving motor, there are two arc plates, the arc plate is fixedly connected to the top of the top plate, the worm rotates through the surface of the top plate and meshes with the worm wheel, the driving motor is fixedly connected to the surface of one side of the arc plate, and one end of the worm is fixedly connected to the output shaft of the driving motor.

[0013] Preferably, the adjusting mechanism includes a rotating shaft, a spur gear and a toothed plate, the rotating shaft is rotatably connected to the top of the fixed frame, the rotating shaft rotatably passes through the top plate, the spur gear fixed sleeve is arranged below the surface of the rotating shaft, the bottom of the toothed plate is slidably connected to the top of the fixed frame, the top of the toothed plate is slidably connected to the inner wall of the top plate, the toothed plate is meshed with the spur gear, the worm gear fixed sleeve is arranged above the surface of the spur gear, the T-plate is fixedly connected to the surface of the toothed plate, the bottom of the toothed plate is fixedly connected to a baffle, the surface of the baffle is fixedly connected to a guide rod, one end of the guide rod is fixedly connected to the surface of the T-plate, and the guide rod slides through the surface of the fixed frame.

[0014] Preferably, the exhaust mechanism includes an exhaust pipe, a pull rod and a disc, the exhaust pipe is fixedly passed through the surface of the outer frame, the pull rod is slidably passed through the surface of the exhaust pipe, the disc is fixedly connected to one end of the pull rod, the surface of the disc is in contact with the inner wall of the exhaust pipe, one end of the exhaust pipe is connected to the surface of the exhaust pipe, and the other end of the pull rod is fixedly connected to the surface of the sinking plate.

[0015] Preferably, the pressing mechanism includes an empty cylinder, a thin rod, a pressure plate, a force plate and a tension spring, the pressure plate is fixedly connected to the top of the inner wall of the outer frame, the thin rod slides through the bottom of the empty cylinder, the pressure plate is fixedly connected to the bottom of the thin rod, the force plate is fixedly connected to the top of the thin rod, the surface of the force plate is slidably connected to the inner wall of the empty cylinder, the tension spring is arranged inside the empty cylinder, the two ends of the tension spring are respectively fixedly connected to the top of the inner wall of the empty cylinder and the top of the force plate, and the other end of the exhaust pipe is connected to the empty cylinder.

[0016] Preferably, the support mechanism includes a protrusion, a long rod and a support plate, the protrusion is fixedly connected to the surface of the outer frame, the long rod rotates through the protrusion, the support plate is fixedly sleeved on the surface of the long rod, and the slot is opened on the surface of the support plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] When the present invention is in use, it can not only fix the two sides of the goods, but also reinforce the top and bottom of the goods, so as to increase the stability of the goods during transportation. In addition, when the present robot is in use, the goods can be transferred to the shelf by moving the outer frame, and during the transportation process, the protective mechanism can protect the bottom of the goods again to improve the safety of the transportation process, which solves the problem that some of the current goods transfer robots are inconvenient to transfer the goods to the shelves used for storage, and during the transportation process, the stability of some goods and the support of the bottom of some goods are difficult to guarantee, which can easily affect the normal progress of the goods transfer operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 The three-dimensional structure schematic diagram of the cut-away mold frame of the present invention;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of a hollow box with one side cut open;

[0022] Figure 4 The present invention is a schematic diagram of a three-dimensional structure of a cut-away mold frame, a hollow box and a gas storage box;

[0023] Figure 5 This is a schematic diagram of the three-dimensional structure of the present invention with the outer frame and the exhaust pipe cut away;

[0024] Figure 6 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0025] Figure 7 This is a schematic diagram of the three-dimensional structure of the fixed frame cut open in the present invention;

[0026] Figure 8 This is a schematic structural diagram of the present invention in which the outer frame, the exhaust pipe and the downward pressing mechanism are cut apart;

[0027] Fig. 9 This is a three-dimensional structural schematic diagram of the present invention in which the horizontal plate and the air storage box are cut open and the outer frame and the reset mechanism are removed;

[0028] Fig.10 For the present invention Figure 6 A schematic diagram of the enlarged structure at A in the middle;

[0029] Fig.11 For the present invention Figure 8 Schematic diagram of the enlarged structure at point B in the middle.

[0030] In the figure: 1, robot arm body; 2, profile frame; 3, support frame; 4, through slot; 5, protection mechanism; 51, bottom plate; 52, light rod; 53, protection frame; 54, extension plate; 6, hollow box; 7, auxiliary mechanism; 71, auxiliary rod; 72, piston plate; 73, compression spring; 8, connecting plate; 9, vertical plate; 10, horizontal plate; 11, thin plate; 12, moving mechanism; 121, servo motor; 122, reciprocating screw rod; 123, moving plate; 13, moving slot; 14, outer frame; 15, square block; 16, gas storage box; 17, reset mechanism; 171, reset plate; 172, slider; 173, air bag; 18, slide slot; 19, hose; 20, fixed frame; 21. Top plate; 22. Driving mechanism; 221. Arc plate; 222. Worm; 223. Driving motor; 23. Adjusting mechanism; 231. Rotating shaft; 232. Spur gear; 233. Tooth plate; 24. Worm wheel; 25. Baffle; 26. Guide rod; 27. T-plate; 28. Sinking plate; 29. ​​Exhaust mechanism; 291. Exhaust pipe; 292. Pull rod; 293. Disc; 30. Exhaust pipe; 31. Pressing mechanism; 311. Empty cylinder; 312. Thin rod; 313. Pressure plate; 314. Force plate; 315. Tension spring; 32. Support mechanism; 321. Bump; 322. Long rod; 323. Support plate; 33. Slot; 34. Card plate; 35. Slot. DETAILED DESCRIPTION

[0031] 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.

[0032] See also Figure 1-Figure 11A cargo transfer robot for warehousing includes a robot arm body 1, one end of the robot arm body 1 is fixedly connected to a profile frame 2, the top of the inner wall of the profile frame 2 is fixedly connected to a support frame 3, the number of the support frames 3 is two, the surface of the support frame 3 is fixedly connected to the inner wall of the profile frame 2, the top of the support frame 3 is provided with a through groove 4, the bottom of the support frame 3 is installed with a protective mechanism 5, the top of the support frame 3 is fixedly connected to a hollow box 6, the interior of the hollow box 6 is provided with an auxiliary mechanism 7, one end of the auxiliary mechanism 7 is fixedly connected to a connecting plate 8 connected to the protective mechanism 5, the bottom of the support frame 3 is fixedly connected to a vertical plate 9, and the bottom of the vertical plate 9 is fixedly connected There is a horizontal plate 10, both sides of the top of the horizontal plate 10 are fixedly connected with thin plates 11, a moving mechanism 12 is installed on the surface of the thin plate 11, and the other two sides of the top of the horizontal plate 10 are fixedly connected with gas storage boxes 16, the bottom of the moving mechanism 12 is fixedly connected with an outer frame 14, the top of the outer frame 14 is slidably connected to the bottom of the horizontal plate 10, and a reset mechanism 17 is arranged inside the gas storage box 16, and a hose 19 is fixedly penetrated through the surface of the gas storage box 16, and one end of the hose 19 is connected to the hollow box 6, a slide groove 18 and a moving groove 13 are opened on the top of the horizontal plate 10, and a fixed frame 20 is fixedly connected to the inner wall of the outer frame 14, and the top of the fixed frame 20 is fixedly connected There is a top plate 21, a driving mechanism 22 and an adjusting mechanism 23 are installed on the top of the top plate 21, a worm gear 24 is fixedly sleeved on the surface of the adjusting mechanism 23, a T-plate 27 is slidably connected to the inner wall of the fixing frame 20, a sinking plate 28 is fixedly connected to the bottom of the T-plate 27, exhaust mechanisms 29 are installed on the surfaces of both sides of the outer frame 14, an exhaust pipe 30 is connected to the top of the exhaust mechanism 29, and the exhaust pipe 30 is embedded in the inner part of the outer frame 14, pressing mechanisms 31 are installed on both sides of the top of the inner wall of the outer frame 14, supporting mechanisms 32 are provided on the surfaces of both sides of the outer frame 14, and a card slot 33 is opened on the surface of the supporting mechanism 32. A limit groove is provided on the surface of 28, and a card plate 34 is hinged on the inner wall of the limit groove. The surface of the card plate 34 contacts the inner wall of the card groove 33. Through the setting of the card plate 34, the state of the support mechanism 32 can be adjusted when the sinking plate 28 moves, so that the bottom of the goods can be supported by the support mechanism 32. The T-plate 27 is provided with a slot 35. Through the setting of the slot 35, the moving range of the T-plate 27 can be increased. The robot body 1 realizes the movement of each joint through the control device and the transmission device, thereby completing various complex tasks. This is an existing mature technology and is well known to those skilled in the art, and will not be elaborated here.

[0033] The protection mechanism 5 includes a bottom plate 51, a light rod 52, a protection frame 53 and an extension plate 54. The bottom plate 51 is fixedly connected to the bottom of the support frame 3, the light rod 52 rotates and penetrates the bottom plate 51, the protection frame 53 is fixedly sleeved on the surface of the light rod 52, and the extension plate 54 is fixedly connected to the surface of the light rod 52. The surface of the extension plate 54 contacts the inner wall of the through groove 4, and the connecting plate 8 is hinged to the surface of the extension plate 54. When the connecting plate 8 moves with the auxiliary mechanism 7, the extension plate 54 rotates accordingly. At this time, the light rod 52 can drive the protection frame 53 to rotate, so that when loading goods, the protection mechanism 5 can be opened and used in conjunction with the subsequent movement of the goods, and the state of the protection mechanism 5 can be adjusted to Figure 1 The protective mechanism 5 is in the state shown so that it can support or clamp and reinforce the bottom of the cargo or the bottom of the cargo surface.

[0034] The auxiliary mechanism 7 includes an auxiliary rod 71, a piston plate 72 and a compression spring 73. The auxiliary rod 71 slides through the surface of the hollow box 6, the surface of the piston plate 72 is slidably connected to the inner wall of the hollow box 6, the compression spring 73 is arranged inside the auxiliary rod 71, and the two ends of the compression spring 73 are respectively fixedly connected to the inner wall of the hollow box 6 and the surface of the piston plate 72. The connecting plate 8 is fixedly connected to one end of the auxiliary rod 71, and the piston plate 72 is fixedly connected to the other end of the auxiliary rod 71. When the piston plate 72 is pushed by the air to drive the auxiliary rod 71 to move, the connecting plate 8 can pull the extension plate 54, and at this time the protective frame 53 can be adjusted to Figure 1 The state shown is used to support the bottom of the goods. Thereafter, with the cooperation of the elastic force of the compression spring 73, the piston plate 72 can be driven to move in the opposite direction so that the protective frame 53 can be opened for use in the subsequent transfer of goods.

[0035] The moving mechanism 12 includes a servo motor 121, a reciprocating screw rod 122 and a moving plate 123. The servo motor 121 is fixedly connected to the surface of a thin plate 11 on one side, and the reciprocating screw rod 122 rotates and penetrates the thin plate 11. The moving plate 123 is threadedly sleeved on the surface of the reciprocating screw rod 122. One end of the reciprocating screw rod 122 is fixedly connected to the output shaft of the servo motor 121. The outer frame 14 is fixedly connected to the bottom of the moving plate 123. The surface of the moving plate 123 is slidably connected to the inner wall of the moving groove 13. The surfaces on both sides of the moving plate 123 are fixedly connected with square blocks 15. The bottom of the square block 15 is slidably connected to the top of the cross plate 10. The surface of the square block 15 contacts the surface of the air storage box 16. The staff starts the servo motor 121, and the reciprocating screw rod 122 rotates accordingly. At this time, the moving plate 123 can drive the outer frame 14 to move, and the square block 15 can increase the stability of the outer frame 14 when it moves.

[0036] The reset mechanism 17 includes a reset plate 171, a slider 172 and an airbag 173. The surface of the reset plate 171 is slidably connected to the inner wall of the air storage box 16. The slider 172 is fixedly connected to the bottom of the reset plate 171. The bottom of the slider 172 is fixedly connected to the top of the outer frame 14. The surface of the slider 172 is slidably connected to the inner wall of the slide groove 18. The airbag 173 is arranged inside the air storage box 16. The surfaces on both sides of the airbag 173 are respectively fixedly connected to the inner wall of the air storage box 16 and the surface of the reset plate 171. One end of the hose 19 is connected to the airbag 173. When the outer frame 14 drives the slider 172 to move, the air in the airbag 173 is squeezed. At this time, the air inside the airbag 173 is passed into the interior of the hollow box 6 through the hose 19 to adjust the state of the protective mechanism 5.

[0037] The driving mechanism 22 includes an arc plate 221, a worm 222 and a driving motor 223. There are two arc plates 221. The arc plates 221 are fixedly connected to the top of the top plate 21. The worm 222 rotates through the surface of the top plate 21 and meshes with the worm gear 24. The driving motor 223 is fixedly connected to the surface of the arc plate 221 on one side. One end of the worm 222 is fixedly connected to the output shaft of the driving motor 223. When the staff starts the driving motor 223, the worm 222 rotates accordingly. The worm 222 cooperates with the worm gear 24 to drive the rotating shaft 231 to rotate, so as to adjust the position of the T-plate 27. Based on this, the sinking plate 28 can be driven to move by the T-plate 27. The sinking plate 28 can clamp both sides of the goods, the supporting mechanism 32 can support the bottom of the goods, and the pressing mechanism 31 can press the top of the goods to increase the stability of the goods during transportation.

[0038] The adjusting mechanism 23 includes a rotating shaft 231, a spur gear 232 and a toothed plate 233. The rotating shaft 231 is rotatably connected to the top of the fixing frame 20. The rotating shaft 231 rotates through the top plate 21. The spur gear 232 is fixedly sleeved below the surface of the rotating shaft 231. The bottom of the toothed plate 233 is slidably connected to the top of the fixing frame 20. The top of the toothed plate 233 is slidably connected to the inner wall of the top plate 21. The toothed plate 233 is meshed with the spur gear 232. The worm gear 24 is fixedly sleeved above the surface of the spur gear 232. The T-plate 27 is fixedly connected to the toothed plate 2 The worm gear 24 drives the rotating shaft 231 to rotate, and the spur gear 232 rotates accordingly, thereby the tooth plate 233 can drive the T-shaped plate 27 to move, and the bottom of the tooth plate 233 is fixedly connected with a baffle 25, and the surface of the baffle 25 is fixedly connected with a guide rod 26, one end of the guide rod 26 is fixedly connected to the surface of the T-shaped plate 27, and the guide rod 26 slides through the surface of the fixed frame 20, and the movement of the tooth plate 233 can be guided by the cooperation of the baffle 25 and the guide rod 26 to increase the stability of the tooth plate 233 when moving.

[0039] The exhaust mechanism 29 includes an exhaust pipe 291, a pull rod 292 and a disc 293. The exhaust pipe 291 is fixedly passed through the surface of the outer frame 14, the pull rod 292 slides through the surface of the exhaust pipe 291, and the disc 293 is fixedly connected to one end of the pull rod 292. The surface of the disc 293 contacts the inner wall of the exhaust pipe 291. One end of the exhaust pipe 30 is connected to the surface of the exhaust pipe 291, and the other end of the pull rod 292 is fixedly connected to the surface of the sinking plate 28. When the sinking plate 28 moves with the T-plate 27, the pull rod 292 drives the disc 293 to move. At this time, the air inside the exhaust pipe 291 is squeezed and injected into the interior of the pressing mechanism 31 through the exhaust pipe 30, so that the top of the cargo can be fixed by the pressing mechanism 31.

[0040] The pressing mechanism 31 includes an empty cylinder 311, a thin rod 312, a pressure plate 313, a force plate 314 and a tension spring 315. The pressure plate 313 is fixedly connected to the top of the inner wall of the outer frame 14. The thin rod 312 slides through the bottom of the empty cylinder 311. The pressure plate 313 is fixedly connected to the bottom of the thin rod 312. The force plate 314 is fixedly connected to the top of the thin rod 312. The surface of the force plate 314 is slidably connected to the inner wall of the empty cylinder 311. The tension spring 315 is arranged inside the empty cylinder 311. The two ends of the spring 315 are fixedly connected to the top of the inner wall of the empty cylinder 311 and the top of the force disk 314 respectively. The other end of the exhaust pipe 30 is connected to the empty cylinder 311. The air inside the exhaust cylinder 291 is input into the interior of the empty cylinder 311 through the exhaust pipe 30. At this time, the force disk 314 is forced to drive the thin rod 312 to descend, and the pressure plate 313 descends accordingly to squeeze the top of the cargo to increase the stability of the cargo position. Thereafter, under the action of the elastic force of the tension spring 315, the force disk 314 can be reset.

[0041] The supporting mechanism 32 includes a protrusion 321, a long rod 322 and a supporting plate 323. The protrusion 321 is fixedly connected to the surface of the outer frame 14. The long rod 322 rotates and passes through the protrusion 321. The supporting plate 323 is fixedly sleeved on the surface of the long rod 322. The card slot 33 is opened on the surface of the supporting plate 323. When the card plate 34 moves with the sinking plate 28, the card plate 34 cooperates with the card slot 33 to drive the supporting plate 323 to rotate, thereby the bottom of the goods can be supported by the support plate 323 to increase the stability of the goods during transportation.

[0042] Working principle: When the staff starts the robot arm body 1, one end of the robot arm body 1 can be moved to the side above the goods to be transferred. Thereafter, the staff starts the servo motor 121, and the moving plate 123 drives the outer frame 14 to move above the goods. At the same time, the reset plate 171 moves with the outer frame 14 inside the air storage box 16, and under the action of the elastic force of the compression spring 73, the piston plate 72 pushes the air inside the hollow box 6, and the air inside the hollow box 6 is discharged to the inside of the air bag 173 through the hose 19. The piston plate 72 drives the auxiliary rod 71 to move under the action of the elastic force of the compression spring 73, and the connecting plate 8 pushes the extension plate 54 to adjust the state of the protective frame 53. The protective mechanism 5 is opened to reduce the obstruction caused by the protective frame 53 to the descent of the outer frame 14. The protective mechanism 5 can not only support and protect the bottom of the goods with lower height in the future, but also the protective mechanism 5 can clamp and fix the lower surface of the higher goods again in the future, so as to increase the stability of the goods during transportation. The outer frame 14 extends into the shelf to place the supporting mechanism 32 On both sides of the cargo, the staff starts the driving motor 223, the worm 222 cooperates with the worm wheel 24 to drive the rotating shaft 231 to rotate, the tooth plate 233 moves with the rotation of the spur gear 232, and the spur gear 232 drives the T-plate 27 and the sinking plate 28 to move. The sinking plate 28 can limit the two sides of the cargo, and in this process, the card slot 33 cooperates with the card plate 34 to drive the support plate 323 to rotate, and the support plate 323 can support the bottom of the cargo by rotating, so as to increase the stability of the cargo during transportation. At the same time, the sinking plate 28 moves, the exhaust pipe 30 can inject the air inside the exhaust tube 291 into the inside of the empty tube 311, so that the pressure plate 313 can press down and fix the top of the goods. After that, the staff starts the servo motor 121 again, and the moving plate 123 can retract the outer frame 14 to the bottom of the horizontal plate 10. In this process, the protective frame 53 rotates to protect the bottom of the goods or clamp and reinforce the lower surface of the goods. The staff can place the goods on the transfer platform by adjusting the mechanical arm body 1 to facilitate the subsequent transportation of goods.

[0043] When the staff needs to place the transported goods on the shelf, they can extend the outer frame 14 into the shelf, and then move the T-plate 27 and the sinking plate 28. At this time, the tooth plate 233 moves in the opposite direction, and the goods can be stably placed on the shelf under the action of gravity. In this process, the tilting rotation of the support plate 323 can facilitate the smooth fall of the goods, thereby reducing the problem of damage to the goods during transportation.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cargo transfer robot for warehousing, comprising a robot arm body (1), characterized in that: Also includes: A profile frame (2) is fixedly connected to one end of a robot arm body (1), a support frame (3) is fixedly connected to the top of the inner wall of the profile frame (2), a through slot (4) is provided on the top of the support frame (3) and a hollow box (6) is fixedly connected thereto, an auxiliary mechanism (7) is arranged inside the hollow box (6), a protective mechanism (5) is installed at the bottom of the support frame (3) and a vertical plate (9) is fixedly connected thereto, one end of the auxiliary mechanism (7) is fixedly connected to a connecting plate (8), and the bottom of the vertical plate (9) is fixedly connected to a horizontal plate (1 0), the top of the horizontal plate (10) is fixedly connected with a thin plate (11) and an air storage box (16), the surface of the thin plate (11) is installed with a moving mechanism (12), the interior of the air storage box (16) is provided with a reset mechanism (17), the surface of the air storage box (16) is fixedly penetrated with a hose (19), one end of the hose (19) is connected with the hollow box (6), the bottom of the moving mechanism (12) is fixedly connected with an outer frame (14), and the top of the horizontal plate (10) is provided with a slide groove (18) and a moving groove (13); A fixing frame (20) fixedly connected to the inner wall of the outer frame (14) and an exhaust mechanism (29) and a supporting mechanism (32) installed on the surface of the outer frame (14); a top plate (21) is fixedly connected to the top of the fixing frame (20); a driving mechanism (22) and an adjusting mechanism (23) are installed on the top of the top plate (21); a worm gear (24) is fixedly sleeved on the surface of the adjusting mechanism (23); a T-shaped plate (27) is slidably connected to the inner wall of the fixing frame (20); a sinking plate (27) is fixedly connected to the bottom of the T-shaped plate (27); 28), the top of the exhaust mechanism (29) is connected to an exhaust pipe (30), the exhaust pipe (30) is embedded in the interior of the outer frame (14), the top of the inner wall of the outer frame (14) is installed with a pressing mechanism (31), the surface of the supporting mechanism (32) is provided with a card slot (33), the surface of the sinking plate (28) is provided with a limiting groove, the inner wall of the limiting groove is hinged with a card plate (34), the surface of the card plate (34) is in contact with the inner wall of the card slot (33), and the T-shaped plate (27) is provided with a slot (35).

2. The warehousing cargo transfer robot according to claim 1, characterized in that: The protection mechanism (5) comprises a base plate (51), a light rod (52), a protection frame (53) and an extension plate (54); the base plate (51) is fixedly connected to the bottom of the support frame (3); the light rod (52) rotates and passes through the base plate (51); the protection frame (53) is fixedly sleeved on the surface of the light rod (52); the extension plate (54) is fixedly connected to the surface of the light rod (52); the surface of the extension plate (54) contacts the inner wall of the through groove (4); and the connecting plate (8) is hinged to the surface of the extension plate (54).

3. The warehousing cargo transfer robot according to claim 1, characterized in that: The auxiliary mechanism (7) comprises an auxiliary rod (71), a piston plate (72) and a compression spring (73); the auxiliary rod (71) slides through the surface of the hollow box (6); the surface of the piston plate (72) is slidably connected to the inner wall of the hollow box (6); the compression spring (73) is arranged inside the auxiliary rod (71); the two ends of the compression spring (73) are respectively fixedly connected to the inner wall of the hollow box (6) and the surface of the piston plate (72); the connecting plate (8) is fixedly connected to one end of the auxiliary rod (71); and the piston plate (72) is fixedly connected to the other end of the auxiliary rod (71).

4. The warehousing cargo transfer robot according to claim 1, characterized in that: The moving mechanism (12) comprises a servo motor (121), a reciprocating screw rod (122) and a moving plate (123); the servo motor (121) is fixedly connected to the surface of a thin plate (11) on one side; the reciprocating screw rod (122) rotates and penetrates the thin plate (11); the moving plate (123) is threadedly sleeved on the surface of the reciprocating screw rod (122); one end of the reciprocating screw rod (122) is fixedly connected to the output shaft of the servo motor (121); the outer frame (14) is fixedly connected to the bottom of the moving plate (123); the surface of the moving plate (123) is slidably connected to the inner wall of the moving groove (13); a square block (15) is fixedly connected to the surface of the moving plate (123); the bottom of the square block (15) is slidably connected to the top of the horizontal plate (10); and the surface of the square block (15) contacts the surface of the air storage box (16).

5. The warehousing cargo transfer robot according to claim 1, characterized in that: The reset mechanism (17) comprises a reset plate (171), a slider (172) and an airbag (173); the surface of the reset plate (171) is slidably connected to the inner wall of the air storage box (16); the slider (172) is fixedly connected to the bottom of the reset plate (171); the bottom of the slider (172) is fixedly connected to the top of the outer frame (14); the surface of the slider (172) is slidably connected to the inner wall of the slide groove (18); the airbag (173) is arranged inside the air storage box (16); the surfaces on both sides of the airbag (173) are respectively fixedly connected to the inner wall of the air storage box (16) and the surface of the reset plate (171); one end of the hose (19) is connected to the airbag (173).

6. The warehousing cargo transfer robot according to claim 1, characterized in that: The driving mechanism (22) comprises an arc-shaped plate (221), a worm (222) and a driving motor (223); the number of the arc-shaped plates (221) is two; the arc-shaped plate (221) is fixedly connected to the top of the top plate (21); the worm (222) rotates through the surface of the top plate (21) and meshes with the worm wheel (24); the driving motor (223) is fixedly connected to the surface of one side of the arc-shaped plate (221); and one end of the worm (222) is fixedly connected to the output shaft of the driving motor (223).

7. The warehousing cargo transfer robot according to claim 1, characterized in that: The adjusting mechanism (23) comprises a rotating shaft (231), a spur gear (232) and a toothed plate (233); the rotating shaft (231) is rotatably connected to the top of the fixing frame (20); the rotating shaft (231) rotatably penetrates the top plate (21); the spur gear (232) is fixedly sleeved below the surface of the rotating shaft (231); the bottom of the toothed plate (233) is slidably connected to the top of the fixing frame (20); the top of the toothed plate (233) is slidably connected to the inner wall of the top plate (21); the toothed plate (233) meshes with the spur gear (232), the worm gear (24) is fixedly sleeved above the surface of the spur gear (232), the T-plate (27) is fixedly connected to the surface of the tooth plate (233), the bottom of the tooth plate (233) is fixedly connected with a baffle (25), the surface of the baffle (25) is fixedly connected with a guide rod (26), one end of the guide rod (26) is fixedly connected to the surface of the T-plate (27), and the guide rod (26) slides through the surface of the fixed frame (20).

8. The warehouse cargo transfer robot according to claim 1, characterized in that: The exhaust mechanism (29) includes an exhaust pipe (291), a pull rod (292) and a disc (293), wherein the exhaust pipe (291) is fixedly passed through the surface of the outer frame (14), the pull rod (292) slides through the surface of the exhaust pipe (291), the disc (293) is fixedly connected to one end of the pull rod (292), the surface of the disc (293) is in contact with the inner wall of the exhaust pipe (291), one end of the exhaust pipe (30) is connected to the surface of the exhaust pipe (291), and the other end of the pull rod (292) is fixedly connected to the surface of the sinking plate (28).

9. The warehousing cargo transfer robot according to claim 1, characterized in that: The pressing mechanism (31) comprises an empty cylinder (311), a thin rod (312), a pressure plate (313), a force plate (314) and a tension spring (315); the pressure plate (313) is fixedly connected to the top of the inner wall of the outer frame (14); the thin rod (312) slides through the bottom of the empty cylinder (311); the pressure plate (313) is fixedly connected to the bottom of the thin rod (312); the force plate (314) is fixedly connected to the top of the thin rod (312); the surface of the force plate (314) is slidably connected to the inner wall of the empty cylinder (311); the tension spring (315) is arranged inside the empty cylinder (311); the two ends of the tension spring (315) are respectively fixedly connected to the top of the inner wall of the empty cylinder (311) and the top of the force plate (314); the other end of the exhaust pipe (30) is connected to the empty cylinder (311).

10. The warehouse cargo transfer robot according to claim 1, characterized in that: The support mechanism (32) comprises a protrusion (321), a long rod (322) and a support plate (323); the protrusion (321) is fixedly connected to the surface of the outer frame (14); the long rod (322) rotates and passes through the protrusion (321); the support plate (323) is fixedly sleeved on the surface of the long rod (322); and the slot (33) is provided on the surface of the support plate (323).

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