Robot for transferring goods for warehousing

Abstract

The application relates to the technical field of warehouse goods transfer, in particular to a robot for warehouse goods transfer, which comprises a mechanical arm body and further comprises a U-shaped frame fixedly connected to one end of the mechanical arm body, a supporting frame fixedly connected to the top of the inner wall of the U-shaped frame, a through slot and a hollow box fixedly connected to the top of the supporting frame, and an auxiliary mechanism arranged in the hollow box. The robot can not only fix the two sides of goods, but also reinforce the top and bottom of the goods. The robot can move the goods to the goods shelf through the movement of the outer frame, and the protection mechanism can protect the bottom of the goods. The robot solves the problem that the current part of the goods transfer robot is inconvenient to move the goods to the goods shelf for storage, and the stability of part of the goods and the supportability of the bottom of part of the goods are difficult to guarantee during the transfer process, so that the normal operation of the goods transfer operation is affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse goods transfer, in particular to a robot for warehouse goods transfer. BACKGROUND

[0002] The robot for goods transfer is widely used in warehouse, sorting center and transportation scene, mainly used for goods transfer, handling, storage, sorting and transportation, etc. The common robot for goods transfer is usually composed of mechanical arm, suction cup or grab. The suction cup and grab can limit the position of the goods when used, so as to cooperate with the mechanical arm, so as to achieve the effect of handling the goods.

[0003] At present, the robot for goods transfer used in part of the warehouse is usually used to transfer the goods from the transfer equipment to the warehouse by suction cup or grab. When the goods are transferred to the shelf, it is usually completed by the staff. This process is time-consuming and laborious, and the staff standing on the high place to assist in transferring goods also has certain risk. The robot using grab is not convenient to extend into the shelf to handle the goods because the space required by the grab is large when it is unfolded. When the grab handles the goods, the goods are usually placed in the grab by gravity. The lateral movement of the mechanical arm may affect the stability of the goods during the transfer process. The robot using suction cup is suitable for handling the goods with regular shape of outer packaging, such as goods with paper box outer packaging. This kind of robot has certain limitations when used, and the bottom of the paper box is directly suspended. For heavy goods, the shaking caused by the movement of the mechanical arm during the transfer process may cause the bottom of the paper box to deform or even break under the influence of gravity. SUMMARY

[0004] The purpose of the present application is to provide a robot for warehouse goods transfer. The robot can not only fix the two sides of the goods, but also reinforce the top and bottom of the goods, thereby increasing the stability of the goods during transfer. In addition, the robot can move the goods to the shelf by moving the outer frame during use, and the protection mechanism can protect the bottom of the goods again during transfer, thereby solving the problem that the current part of the robot for goods transfer is not convenient to move the goods to the shelf for storage, and the stability of part of the goods and the support of the bottom of part of the goods are difficult to be guaranteed during transfer, so as to affect the normal operation of the goods transfer work.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a robot for warehouse goods transfer, comprising a mechanical arm body, further comprising:

[0006] The fixed connection is connected to the mechanical arm body one end's frame, the top of the inner wall of the frame is fixedly connected with the support frame, the top of the support frame is provided with a through slot and is fixedly connected with a hollow box, the inside of the hollow box is provided with an auxiliary mechanism, the bottom of the support frame is provided with a protection mechanism and is fixedly connected with a vertical plate, one end of the auxiliary mechanism is fixedly connected with a connecting plate, the bottom of the vertical plate is fixedly connected with a horizontal plate, the top of the horizontal plate is fixedly connected with a thin plate and a gas storage box, the surface of the thin plate is provided with a moving mechanism, the inside of the gas storage box is provided with a reset mechanism, the surface of the gas storage box is fixedly penetrated with a hose, one end of the hose is communicated with the hollow box, the bottom of the moving mechanism is fixedly connected with an outer frame, the top of the horizontal plate is provided with a sliding groove and a moving groove;

[0007] The fixed connection is connected to the mechanical arm body one end's frame, the top of the inner wall of the frame is fixedly connected with the support frame, the top of the support frame is provided with a through slot and is fixedly connected with a hollow box, the inside of the hollow box is provided with an auxiliary mechanism, the bottom of the support frame is provided with a protection mechanism and is fixedly connected with a vertical plate, one end of the auxiliary mechanism is fixedly connected with a connecting plate, the bottom of the vertical plate is fixedly connected with a horizontal plate, the top of the horizontal plate is fixedly connected with a thin plate and a gas storage box, the surface of the thin plate is provided with a moving mechanism, the inside of the gas storage box is provided with a reset mechanism, the surface of the gas storage box is fixedly penetrated with a hose, one end of the hose is communicated with the hollow box, the bottom of the moving mechanism is fixedly connected with an outer frame, the top of the horizontal plate is provided with a sliding groove and a moving groove;

[0008] Preferably, the protection mechanism comprises a bottom plate, a light rod, a protection frame and an extension plate, the bottom plate is fixedly connected to the bottom of the support frame, the light rod is rotatably penetrated through the bottom plate, the protection 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 slot, and the connecting plate is hinged to the surface of the extension plate.

[0009] Preferably, the auxiliary mechanism comprises an auxiliary rod, a piston plate and a compression spring, the auxiliary rod is slidably penetrated through the surface of the hollow box, the surface of the piston plate is slidably connected with the inner wall of the hollow box, the compression spring is arranged in the auxiliary rod, and the two ends of the compression spring are fixedly connected with the inner wall of the hollow box and the surface of the piston plate, respectively, 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 comprises a servo motor, a reciprocating screw rod and a moving plate, the servo motor is fixedly connected to the surface of one side plate, the reciprocating screw rod is rotatably penetrated through the plate, the moving plate is threadedly sleeved on the surface of the reciprocating screw rod, one end of the reciprocating screw rod 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 with the inner wall of the moving groove, the surface of the moving plate is fixedly connected with a square block, the bottom of the square block is slidably connected with the top of the horizontal plate, and the surface of the square block is in contact with the surface of the gas storage box.

[0011] Preferably, the reset mechanism comprises a reset plate, a sliding block and an air bag, the surface of the reset plate is slidably connected with the inner wall of the gas storage box, the sliding block is fixedly connected to the bottom of the reset plate, the bottom of the sliding block is fixedly connected with the top of the outer frame, the surface of the sliding block is slidably connected with the inner wall of the sliding groove, the air bag is arranged in the interior of the gas storage box, the surfaces on both sides of the air bag are fixedly connected with the inner wall of the gas storage box and the surface of the reset plate respectively, and one end of the hose is in communication with the air bag.

[0012] Preferably, the driving mechanism comprises an arc-shaped plate, a worm and a driving motor, the number of the arc-shaped plates is two, the arc-shaped plates are fixedly connected to the top of the top plate, the worm is rotatably penetrated through the surface of the top plate and engaged with the worm gear, and the driving motor is fixedly connected to the surface of one side arc-shaped plate.

[0013] Preferably, the adjusting mechanism comprises a rotating shaft, a spur gear and a toothed plate, the rotating shaft is rotatably connected to the top of the fixing frame, the rotating shaft is rotatably penetrated through the top plate, the spur gear is fixedly sleeved below the surface of the rotating shaft, the bottom of the toothed plate is slidably connected with the top of the fixing frame, the top of the toothed plate is slidably connected with the inner wall of the top plate, the toothed plate is engaged with the spur gear, the worm gear is fixedly sleeved above the surface of the spur gear, the T-shaped plate is fixedly connected to the surface of the toothed plate, the bottom of the toothed plate is fixedly connected with a baffle, the surface of the baffle is fixedly connected with a guide rod, one end of the guide rod is fixedly connected with the surface of the T-shaped plate, and the guide rod is slidably penetrated through the surface of the fixing frame.

[0014] Preferably, the exhaust mechanism comprises an exhaust cylinder, a pull rod and a disc, the exhaust cylinder is fixedly penetrated through the surface of the outer frame, the pull rod is slidably penetrated through the surface of the exhaust cylinder, 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 cylinder, one end of the exhaust pipe is in communication with the surface of the exhaust cylinder, and the other end of the pull rod is fixedly connected with the surface of the sinking plate.

[0015] Preferably, the downward pressing mechanism comprises an empty cylinder, a thin rod, a pressing plate, a force receiving plate and a tension spring, the pressing plate is fixedly connected to the top of the inner wall of the outer frame, the thin rod is slidably penetrated through the bottom of the empty cylinder, the pressing plate is fixedly connected to the bottom of the thin rod, the force receiving plate is fixedly connected to the top of the thin rod, the surface of the force receiving plate is slidably connected with the inner wall of the empty cylinder, the tension spring is arranged in the empty cylinder, and two ends of the tension spring are fixedly connected with the top of the inner wall of the empty cylinder and the top of the force receiving plate respectively, and the other end of the exhaust pipe is communicated with the empty cylinder.

[0016] Preferably, the supporting mechanism comprises a protrusion, a long rod and a supporting plate, the protrusion is fixedly connected to the surface of the outer frame, the long rod is rotatably penetrated through the protrusion, and the supporting plate is fixedly sleeved on the surface of the long rod.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] In use, the present application can not only fix the two sides of the goods, but also reinforce the top and bottom of the goods, thereby increasing the stability of the goods during transfer. In addition, the present application can move the goods into the shelf through the movement of the outer frame in use, and the protection mechanism can protect the bottom of the goods again during the transfer process, thereby improving the safety of the transfer process. The present application solves the problem that the existing part of the goods transfer robot is inconvenient to move the goods into the shelf for storage in use, and the stability of part of the goods and the support of the bottom of part of the goods are difficult to be guaranteed during the transfer process, thereby affecting the normal operation of the goods transfer operation. BRIEF DESCRIPTION OF DRAWINGS

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

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the present application with the U-shaped frame cut open;

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

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the present application with the U-shaped frame, the hollow box and the gas storage box cut open;

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the present application with the outer frame and the exhaust cylinder cut open;

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the present application with the outer frame and the exhaust cylinder cut open;

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the present application with the outer frame and the exhaust cylinder cut open;

[0026] Figure 8 Structure schematic view of the outer frame, exhaust cylinder and pressing mechanism of the present application is cut open;

[0027] Figure 9 Structure schematic view of the present application is cut open and the outer frame and reset mechanism are removed;

[0028] Figure 10 Structure schematic view of the present application Figure 6 Enlarged structure schematic view of A in the present application;

[0029] Figure 11 Enlarged structure schematic view of B in the present application. Figure 8

[0030] In the figure: 1, mechanical arm body; 2, U-shaped frame; 3, supporting frame; 4, through slot; 5, protection mechanism; 51, bottom plate; 52, light pole; 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, sliding block; 173, air bag; 18, sliding groove; 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, toothed plate; 24, worm wheel; 25, baffle; 26, guide rod; 27, T-shaped plate; 28, sunken plate; 29, exhaust mechanism; 291, exhaust cylinder; 292, pull rod; 293, disc; 30, exhaust pipe; 31, pressing mechanism; 311, empty cylinder; 312, thin rod; 313, pressing plate; 314, force receiving plate; 315, tension spring; 32, supporting mechanism; 321, protruding block; 322, long rod; 323, supporting plate; 33, clamping slot; 34, clamping plate; 35, slot. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0032] Please refer to Figures 1-11 ​The application relates to a robot for transferring goods in storage, which comprises a mechanical arm body 1, a U-shaped frame 2 fixedly connected to one end of the mechanical arm body 1, a supporting frame 3 fixedly connected to the top of the inner wall of the U-shaped frame 2, two supporting frames 3, a surface of the supporting frame 3 being fixedly connected with the inner wall of the U-shaped frame 2, a through groove 4 being formed in the top of the supporting frame 3, a protection mechanism 5 being arranged at the bottom of the supporting frame 3, a hollow box 6 being fixedly connected to the top of the supporting frame 3, an auxiliary mechanism 7 being arranged in the hollow box 6, a connecting plate 8 being fixedly connected to one end of the auxiliary mechanism 7 and connected with the protection mechanism 5, a vertical plate 9 being fixedly connected to the bottom of the supporting frame 3, a horizontal plate 10 being fixedly connected to the bottom of the vertical plate 9, a thin plate 11 being fixedly connected to the top of the horizontal plate 10 on both sides, a moving mechanism 12 being arranged on the surface of the thin plate 11, another two sides of the top of the horizontal plate 10 being fixedly connected with a gas storage box 16, the bottom of the moving mechanism 12 being fixedly connected with an outer frame 14, the top of the outer frame 14 being slidably connected with the bottom of the horizontal plate 10, the inside of the gas storage box 16 being provided with a reset mechanism 17, a soft pipe 19 being fixedly penetrated through the surface of the gas storage box 16 and communicated with the hollow box 6, a sliding groove 18 and a moving groove 13 being formed in the top of the horizontal plate 10, a fixing frame 20 being fixedly connected to the inner wall of the outer frame 14, a top plate 21 being fixedly connected to the top of the fixing frame 20, a driving mechanism 22 and an adjusting mechanism 23 being arranged on the top of the top plate 21, a worm wheel 24 being fixedly sleeved on the surface of the adjusting mechanism 23, a T-shaped plate 27 being slidably connected to the inner wall of the fixing frame 20, a sinking plate 28 being fixedly connected to the bottom of the T-shaped plate 27, an exhaust mechanism 29 being arranged on the surface of the outer frame 14 on both sides, an exhaust pipe 30 being arranged on the top of the exhaust mechanism 29 and embedded in the inside of the outer frame 14, a pressing mechanism 31 being arranged on the top of the inner wall of the outer frame 14 on both sides, a supporting mechanism 32 being arranged on the surface of the outer frame 14 on both sides, a clamping groove 33 being formed in the surface of the supporting mechanism 32, a limiting groove being formed in the surface of the sinking plate 28, a clamping plate 34 being hingedly connected to the inner wall of the limiting groove, the surface of the clamping plate 34 being in contact with the inner wall of the clamping groove 33, the state of the supporting mechanism 32 can be adjusted when the sinking plate 28 moves, so that the bottom of the goods is supported by the supporting mechanism 32, a slot 35 being formed in the T-shaped plate 27, the moving range of the T-shaped plate 27 can be increased by the slot 35, the movement of each joint of the mechanical arm body 1 is realized by a control device and a transmission device, so that various complex tasks are completed, which is a mature technology and is well known to those skilled in the art and will not be described here.

[0033] The protection mechanism 5 comprises a bottom plate 51, a light pole 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 pole 52 is rotatably penetrated through the bottom plate 51, the protection frame 53 is fixedly sleeved on the surface of the light pole 52, the extension plate 54 is fixedly connected to the surface of the light pole 52, the surface of the extension plate 54 is in contact with the inner wall of the through groove 4, the connecting plate 8 is hingedly connected 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 pole 52 can drive the protection frame 53 to rotate, so that the protection mechanism 5 can be opened and used in cooperation with the subsequent movement of the goods when loading, and the state of the protection mechanism 5 can be adjusted to Figure 1 the state shown in the figure during the transfer, so that the protection mechanism 5 can support or clamp the bottom of the goods or the lower part of the surface of the goods.

[0034] The auxiliary mechanism 7 comprises an auxiliary rod 71, a piston plate 72 and a compression spring 73, the auxiliary rod 71 is slidably penetrated through the surface of the hollow box 6, the surface of the piston plate 72 is slidably connected with the inner wall of the hollow box 6, the compression spring 73 is arranged in the auxiliary rod 71, the two ends of the compression spring 73 are fixedly connected with the inner wall of the hollow box 6 and the surface of the piston plate 72 respectively, the connecting plate 8 is fixedly connected to one end of the auxiliary rod 71, the piston plate 72 is fixedly connected to the other end of the auxiliary rod 71, when the piston plate 72 is driven by the air to move the auxiliary rod 71, the connecting plate 8 can pull the extension plate 54, at this time, the protection frame 53 can be adjusted to Figure 1 the state shown in the figure, so as to support the bottom of the goods, and then under the cooperation of the elastic force of the compression spring 73, the piston plate 72 can be reversely moved to open the protection frame 53, so as to cooperate with the subsequent transfer of goods.

[0035] 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 one side of the thin plate 11, the reciprocating screw rod 122 is rotatably penetrated through 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 with the output shaft of the servo motor 121, the outer frame 14 is fixedly connected with the bottom of the moving plate 123, the surface of the moving plate 123 is slidably connected with the inner wall of the moving groove 13, the surfaces of the square blocks 15 on both sides of the moving plate 123 are fixedly connected, the bottom of the square block 15 is slidably connected with the top of the horizontal plate 10, the surface of the square block 15 is in contact with the surface of the gas storage box 16, the staff starts the servo motor 121, 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 during movement.

[0036] The reset mechanism 17 comprises a reset plate 171, a sliding block 172 and an air bag 173, the surface of the reset plate 171 is slidably connected with the inner wall of the gas storage box 16, the bottom of the sliding block 172 is fixedly connected with the bottom of the reset plate 171, the bottom of the sliding block 172 is fixedly connected with the top of the outer frame 14, the surface of the sliding block 172 is slidably connected with the inner wall of the sliding groove 18, the air bag 173 is arranged in the inner part of the gas storage box 16, the surfaces on both sides of the air bag 173 are fixedly connected with the inner wall of the gas storage box 16 and the surface of the reset plate 171 respectively, one end of the soft tube 19 is communicated with the air bag 173, when the outer frame 14 drives the sliding block 172 to move, the air in the air bag 173 is extruded, at this time, the air in the air bag 173 is communicated into the inner part of the hollow box 6 through the soft tube 19, so as to adjust the state of the protection mechanism 5.

[0037] The driving mechanism 22 comprises an arc-shaped plate 221, a worm 222 and a driving motor 223, the number of the arc-shaped plate 221 is two, the arc-shaped plate 221 is fixedly connected with the top of the top plate 21, the worm 222 is rotatably penetrated through the surface of the top plate 21 and is engaged with the worm gear 24, the driving motor 223 is fixedly connected with the surface of one arc-shaped plate 221, one end of the worm 222 is fixedly connected with the output shaft of the driving motor 223, 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-shaped plate 27, accordingly, the T-shaped plate 27 drives the sinking plate 28 to move, the sinking plate 28 can clamp the two 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, so as to increase the stability of the goods during the transfer.

[0038] 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 with the top of the fixed frame 20, the rotating shaft 231 is rotatably penetrated 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 with the top of the fixed frame 20, the top of the toothed plate 233 is slidably connected with the inner wall of the top plate 21, the toothed plate 233 is engaged with the spur gear 232, the worm gear 24 is fixedly sleeved above the surface of the spur gear 232, the T-shaped plate 27 is fixedly connected with the surface of the toothed plate 233, the worm gear 24 drives the rotating shaft 231 to rotate, the spur gear 232 rotates accordingly, accordingly, the toothed plate 233 drives the T-shaped plate 27 to move, the bottom of the toothed 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 with the surface of the T-shaped plate 27, the guide rod 26 is slidably penetrated through the surface of the fixed frame 20, the cooperation of the baffle 25 and the guide rod 26 can guide the movement of the toothed plate 233, so as to increase the stability of the toothed plate 233 during the movement.

[0039] The exhaust mechanism 29 comprises an exhaust cylinder 291, a pull rod 292 and a disc 293, the exhaust cylinder 291 is fixedly penetrated through the surface of the outer frame 14, the pull rod 292 is slidably penetrated through the surface of the exhaust cylinder 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 cylinder 291, one end of the exhaust pipe 30 is in communication with the surface of the exhaust cylinder 291, the other end of the pull rod 292 is fixedly connected with the surface of the sinking plate 28, when the sinking plate 28 moves with the T-shaped plate 27, the pull rod 292 drives the disc 293 to move, at this time, the air in the exhaust cylinder 291 is extruded and injected into the inside of the downward pressing mechanism 31 through the exhaust pipe 30, so as to fix the top of the goods through the downward pressing mechanism 31.

[0040] The downward pressing mechanism 31 comprises an empty cylinder 311, a thin rod 312, a pressing disc 313, a stress disc 314 and a stretching spring 315, the pressing disc 313 is fixedly connected to the top of the inner wall of the outer frame 14, the thin rod 312 is slidably penetrated through the bottom of the empty cylinder 311, the pressing disc 313 is fixedly connected to the bottom of the thin rod 312, the stress disc 314 is fixedly connected to the top of the thin rod 312, the surface of the stress disc 314 is slidably connected with the inner wall of the empty cylinder 311, the stretching spring 315 is arranged in the inside of the empty cylinder 311, the two ends of the stretching spring 315 are respectively fixedly connected with the top of the inner wall of the empty cylinder 311 and the top of the stress disc 314, the other end of the exhaust pipe 30 is in communication with the empty cylinder 311, the air in the exhaust cylinder 291 is input into the inside of the empty cylinder 311 through the exhaust pipe 30, at this time, the stress disc 314 is driven to descend with the force, the pressing disc 313 is lowered to extrude the top of the goods, so as to increase the stability of the position of the goods, thereafter, the stress disc 314 is reset under the action of the elasticity of the stretching spring 315.

[0041] The supporting mechanism 32 comprises a protruding block 321, a long rod 322 and a supporting plate 323, the protruding block 321 is fixedly connected to the surface of the outer frame 14, the long rod 322 is rotatably penetrated through the protruding block 321, the supporting plate 323 is fixedly sleeved on the surface of the long rod 322, the clamping groove 33 is opened on the surface of the supporting plate 323, when the clamping plate 34 moves with the sinking plate 28, the clamping plate 34 is matched with the clamping groove 33 to drive the supporting plate 323 to rotate, accordingly, the bottom of the goods can be supported through the supporting plate 323, so as to increase the stability of the goods in the transfer process.

[0042] The working principle is that: the staff can move one end of the mechanical arm body 1 to one side above the goods to be transported, then the staff starts the servo motor 121, 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 gas storage box 16, and under the action of the compression spring 73, the piston plate 72 pushes the air inside the hollow box 6, 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 is driven by the compression spring 73 to move the auxiliary rod 71, the connecting plate 8 pushes the extension plate 54 to adjust the state of the protection frame 53, the protection mechanism 5 is opened to reduce the obstruction caused by the descent of the outer frame 14, the protection mechanism 5 can not only support and protect the bottom of the goods with low height in the subsequent process, but also can clamp and fix the lower surface of the higher goods again, so as to increase the stability of the goods during transportation, the outer frame 14 extends into the goods shelf to place the supporting mechanism 32 on both sides of the goods, the staff starts the drive motor 223, the worm 222 cooperates with the worm gear 24 to drive the rotating shaft 231 to rotate, the toothed plate 233 moves with the rotation of the spur gear 232, the spur gear 232 drives the T-shaped plate 27 and the sinking plate 28 to move, the sinking plate 28 can limit the two sides of the goods, and in this process, the clamping groove 33 cooperates with the clamping plate 34 to drive the supporting plate 323 to rotate, the supporting plate 323 rotates to support the bottom of the goods, so as to increase the stability of the goods during transportation, at the same time, the sinking plate 28 moves, the exhaust pipe 30 can inject the air inside the exhaust cylinder 291 into the inside of the empty cylinder 311, so that the pressure plate 313 can press and fix the top of the goods, then the staff starts the servo motor 121 again, the moving plate 123 can retract the outer frame 14 to the lower side of the horizontal plate 10, in this process, the protection 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 table by adjusting the mechanical arm body 1, which is convenient for subsequent transportation of goods;

[0043] When the staff needs to place the transported goods on the goods shelf, the outer frame 14 can be extended into the goods shelf, and the T-shaped plate 27 and the sinking plate 28 are moved, at this time, the toothed plate 233 moves reversely, and the goods can be stably placed on the goods shelf under the action of gravity, in this process, the inclined rotation of the supporting plate 323 can facilitate the stable falling of the goods, so as to reduce the damage of the goods during transportation.

[0044] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it should be taken in a descriptive sense and not a limiting sense.

[0045] While the embodiments of the application have been shown and described herein, it is to be understood that the application is not limited to these embodiments. Rather, many modifications, changes, substitutions, and alterations can be made to the embodiments of the application without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A robot for transferring goods in a warehouse, comprising a robot body (1), characterized in that, Also include: The fixed connection in the mechanical arm body (1) one end of the frame (2), the top of the inner wall of the frame (2) is fixedly connected with the support frame (3), the top of the support frame (3) is provided with a through slot (4) and is fixedly connected with a hollow box (6), the inside of the hollow box (6) is provided with an auxiliary mechanism (7), the bottom of the support frame (3) is provided with a protection mechanism (5) and is fixedly connected with a vertical plate (9), one end of the auxiliary mechanism (7) is fixedly connected with a connecting plate (8), the bottom of the vertical plate (9) is fixedly connected with a horizontal plate (10), the top of the horizontal plate (10) is fixedly connected with a thin plate (11) and a gas storage box (16), the surface of the thin plate (11) is provided with a moving mechanism (12), the inside of the gas storage box (16) is provided with a reset mechanism (17), the surface of the gas storage box (16) is fixedly penetrated by a hose (19), one end of the hose (19) is communicated with the hollow box (6), the bottom of the moving mechanism (12) is fixedly connected with an outer frame (14), the top of the horizontal plate (10) is provided with a sliding groove (18) and a moving groove (13); The fixed connection in the outer frame (14) inner wall of the fixed frame (20) and installed on the surface of the outer frame (14) exhaust mechanism (29) and support mechanism (32), the top of the fixed frame (20) is fixedly connected with the top plate (21), the top of the top plate (21) is provided with a driving mechanism (22) and an adjusting mechanism (23), the surface of the adjusting mechanism (23) is fixedly sleeved with a worm wheel (24), the inner wall of the fixed frame (20) is slidably connected with a T-shaped plate (27), the bottom of the T-shaped plate (27) is fixedly connected with a sinking plate (28), the top of the exhaust mechanism (29) is communicated with an exhaust pipe (30), the exhaust pipe (30) is embedded in the inner wall of the outer frame (14), the top of the inner wall of the outer frame (14) is provided with a pressing mechanism (31), the surface of the support mechanism (32) is provided with a clamping groove (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 clamping plate (34), the surface of the clamping plate (34) is in contact with the inner wall of the clamping groove (33), the T-shaped plate (27) is provided with a slot (35).

2. The warehouse goods transfer robot according to claim 1, characterized in that: 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) is rotatably penetrated through the bottom 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) is in contact with the inner wall of the through slot (4), the connecting plate (8) is hinged to the surface of the extension plate (54).

3. The warehouse goods 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) is slid through the surface of the hollow box (6), the surface of the piston plate (72) is slidably connected with the inner wall of the hollow box (6), the compression spring (73) is arranged in the auxiliary rod (71), the two ends of the compression spring (73) are fixedly connected with the inner wall of the hollow box (6) and the surface of the piston plate (72) respectively, the connecting plate (8) is fixedly connected with one end of the auxiliary rod (71), and the other end of the auxiliary rod (71) is fixedly connected with the piston plate (72).

4. The warehouse goods 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 with the surface of one side of the thin plate (11), the reciprocating screw rod (122) is rotatably penetrated through 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 with the output shaft of the servo motor (121), the outer frame (14) is fixedly connected with the bottom of the moving plate (123), the surface of the moving plate (123) is slidably connected with the inner wall of the moving groove (13), the surface of the moving plate (123) is fixedly connected with the square block (15), the bottom of the square block (15) is slidably connected with the top of the horizontal plate (10), and the surface of the square block (15) is in contact with the surface of the gas storage box (16).

5. The warehouse-to-warehouse cargo transfer robot of claim 1, wherein: The reset mechanism (17) comprises a reset plate (171), a sliding block (172) and an air bag (173), the surface of the reset plate (171) is slidably connected with the inner wall of the gas storage box (16), the sliding block (172) is fixedly connected with the bottom of the reset plate (171), the bottom of the sliding block (172) is fixedly connected with the top of the outer frame (14), the surface of the sliding block (172) is slidably connected with the inner wall of the sliding groove (18), the air bag (173) is arranged in the gas storage box (16), the surfaces on the two sides of the air bag (173) are fixedly connected with the inner wall of the gas storage box (16) and the surface of the reset plate (171) respectively, and one end of the hose (19) is in communication with the air bag (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 plates (221) are fixedly connected with the top of the top plate (21), the worm (222) is rotatably penetrated through the surface of the top plate (21) and is engaged with the worm gear (24), and the driving motor (223) is fixedly connected with the surface of one side of the arc-shaped plate (221).

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 fixed frame (20), the rotating shaft (231) penetrates the top plate (21), the spur gear (232) is fixedly sleeved on the surface of the rotating shaft (231), the bottom of the toothed plate (233) is slidably connected to the top of the fixed 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 engaged with the spur gear (232), the worm gear (24) is fixedly sleeved on the surface of the spur gear (232), the T-shaped plate (27) is fixedly connected to the surface of the toothed plate (233), the bottom of the toothed plate (233) is fixedly connected with the baffle (25), the surface of the baffle (25) is fixedly connected with the 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) penetrates the surface of the fixed frame (20) in a sliding manner.

8. The warehousing cargo transfer robot according to claim 1, characterized in that: The exhaust mechanism (29) comprises an exhaust cylinder (291), a pull rod (292) and a disc (293), the exhaust cylinder (291) is fixedly penetrated through the surface of the outer frame (14), the pull rod (292) penetrates the surface of the exhaust cylinder (291) in a sliding manner, and 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 cylinder (291), one end of the exhaust pipe (30) is in communication with the surface of the exhaust cylinder (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 pressing disc (313), a stress disc (314) and a tension spring (315), the pressing disc (313) is fixedly connected to the top of the inner wall of the outer frame (14), the thin rod (312) penetrates the bottom of the empty cylinder (311) in a sliding manner, the pressing disc (313) is fixedly connected to the bottom of the thin rod (312), the stress disc (314) is fixedly connected to the top of the thin rod (312), the surface of the stress disc (314) is slidably connected with the inner wall of the empty cylinder (311), the tension spring (315) is arranged in the empty cylinder (311), and the two ends of the tension spring (315) are fixedly connected with the top of the inner wall of the empty cylinder (311) and the top of the stress disc (314) respectively. The other end of the exhaust pipe (30) is in communication with the empty cylinder (311).

10. The warehousing cargo transfer robot according to claim 1, characterized in that: The supporting mechanism (32) comprises a protruding block (321), a long rod (322) and a supporting plate (323), the protruding block (321) is fixedly connected to the surface of the outer frame (14), the long rod (322) penetrates the protruding block (321) in a rotating manner, and the supporting plate (323) is fixedly sleeved on the surface of the long rod (322).

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