A warehouse unmanned yard intelligent control conveying robot

Abstract

The present application relates to the technical field of warehouse transportation, in particular to a warehouse unmanned stockyard intelligent control conveying robot, which comprises a rack, a lifting platform is arranged on the rack, and a lifting assembly is arranged on the rack; a supporting mechanism is arranged on the lifting platform, the supporting mechanism comprises a main plate, a connecting plate and an opening and closing assembly; the main plate is arranged on the lifting platform, the first linear driver has a telescopic driving rod; the connecting plate is provided with a first hinged seat, a connecting guide rail and a side plate, the first hinged seat and the connecting guide rail are fixedly connected with the connecting plate, two side plates are hingedly connected with the first hinged seat and the connecting guide rail respectively, and the side plate is rotatably connected with the connecting plate. The present application realizes the functions of clamping and supporting the heavy square mine box of the mine, adjusting the inclined posture of the side plate to realize step-by-step material falling, and solves the technical problem that the whole pile synchronous material falling mode of the existing conveying robot is easy to cause impact and extrusion damage to the bottom layer goods in the heavy load release moment.

Description

Technical Field

[0001] This invention relates to the field of warehousing and transportation technology, specifically to an intelligent control and conveying robot for unmanned warehouse storage yards. Background Technology

[0002] With the continuous development of unmanned warehousing technology, intelligent control conveying robots are widely used in cargo transfer and palletizing operations in various storage yards. For goods of different weights and materials, the unloading method directly determines the stacking stability and the integrity rate of the goods. For heavy-duty square ore boxes in mining storage scenarios, their large weight and strong rigidity make it easy for the impact load generated at the moment of unloading to cause the bottom ore box to be squeezed and deformed, and the internal ore to spill out when using the conventional overall synchronous unloading method. The unloading structure of existing conveying robots is difficult to adapt to the stable stacking requirements of such heavy-duty rigid materials.

[0003] To address this, Chinese Patent CN118597635B discloses an intelligent control and conveying robot for unmanned warehouse storage yards. By placing packaged tissues into a holding box, the spring deformation generates a return force, stopping the transmission of the screw drive mechanism. When the three sets of force-adjusting components and the connecting plate deform, their combined total torque remains unchanged. Therefore, the force generated by the spring within the force-adjusting components and the load exerted by the tissues on the holding box are always equal. Thus, regardless of the weight of tissues placed on the holding box, the height of the holding box will not change after the transmission of the screw drive mechanism stops. Because tissues are elastic, when too many tissues accumulate on the warehouse shelves, the tissues at the bottom will deform due to the pressure of the tissues at the top. The deformation can be calculated. At this time, by adjusting the screw drive mechanism, the overall height of the top plate is changed to adapt to the overall height of the tissues on the shelf, preventing the tissues on the shelf from collapsing during the process of placing them in the holding box.

[0004] However, this existing technology still has significant shortcomings: its purely mechanical self-weight balancing structure, relying on cross-spring linkages, can only maintain a constant height of the bearing platform. During material unloading, it still uses a method of synchronously lowering the entire stack of goods horizontally, with the bottom of the goods contacting the lower layer simultaneously. For heavy, rigid materials like heavy ore boxes in mines, the instantaneous impact during lowering cannot be mitigated, easily causing pressure and damage to the bottom box, leading to ore box deformation and spillage. Furthermore, the structure has limited load-bearing capacity, only suitable for stacking lightweight, soft paper products, and cannot withstand the harsh working environment of high dust and heavy loads in mines, making it difficult to meet the automated transfer and palletizing requirements of heavy square material boxes in mines. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an intelligent control conveying robot for unmanned warehouse storage yards. Through a main board, side plates, opening and closing components, a first linear driver, support plates, a first hinge seat, and connecting guide rails, it solves the technical problem that existing conveying robots' synchronous unloading method for entire stacks suffers from large impacts and is prone to squeezing and damaging the bottom goods during heavy-load unloading.

[0006] To address the problems of existing technologies, this invention provides an intelligent control and conveying robot for unmanned warehouse storage yards, comprising a frame, a lifting platform on the frame, and a lifting assembly on the frame for driving the lifting platform to move vertically; a supporting mechanism on the lifting platform, the supporting mechanism comprising a main board, a connecting plate, and an opening and closing assembly; two main boards and two connecting plates are provided; the main board is disposed on the lifting platform, each main board having four first linear actuators, the four first linear actuators being distributed in pairs on both sides of the main board, each first linear actuator having a retractable drive rod, the end of the drive rod away from the main board being connected to a support plate; the connecting plate has a first hinge seat, a connecting guide rail, and a side plate, the first hinge seat and the connecting guide rail being fixedly connected to the connecting plate, two support plates located on the same side being hinged to the first hinge seat and the connecting guide rail respectively, and the side plate being rotatably connected to the connecting plate; the opening and closing assembly is used to control the opening and closing of the side plate.

[0007] Preferably, the bottom of the lifting platform is provided with a support mechanism, which includes a fixed roller group and a movable roller group; the fixed roller group is fixedly installed on one side of the bottom of the lifting platform, and the movable roller group is movably arranged on the other side of the bottom of the lifting platform; when stacking ore boxes, the fixed roller group and the movable roller group jointly support the bottom of the ore box, and the ore box is tilted and lowered by the position movement of the movable roller group, so that one side of the ore box first contacts the top surface of the lower ore box, and then gradually completes the overall fitting and stacking.

[0008] Preferably, the fixed roller group includes a first support shaft and a support roller; the two ends of the first support shaft are rotatably connected to two main plates respectively, and the support roller is sleeved on the outside of the first support shaft.

[0009] Preferably, the movable roller assembly includes a slide block, a support frame, a second support shaft, and a movable roller; two slide blocks and two support frames are provided; an electric guide rail is provided on the main board, and the two slide blocks are slidably mounted on the electric guide rails of the two main boards respectively; the support frame is disposed on the slide block, and the two ends of the second support shaft are rotatably connected to the support frames on the two slide blocks respectively; the movable roller is sleeved on the outside of the second support shaft.

[0010] Preferably, the second support shaft and the movable rollers of the movable roller group are provided in twos; the support frame is rotatably connected to the slide, and the slide is provided with a rotary driver for driving the support frame to rotate; during operation, the rotary driver drives the support frame to rotate to tilt the ore box, and the two movable rollers respectively roll into contact with the bottom surface of the ore box and jointly support the ore box.

[0011] Preferably, the slide is provided with an auxiliary control mechanism, which includes a limiting component and a control component; the limiting component is used to limit the rotation of the support frame relative to the slide; when the movable roller located below abuts against the lower ore box or bearing surface, the control component releases the limiting component from restricting the rotation of the support frame.

[0012] Preferably, the limiting component includes a first support and a second support; the first support is disposed on a slide, a movable piece is slidably mounted on the first support, and a plug rod is connected to the movable piece; the first support is provided with a first elastic element, the two ends of the first elastic element being connected to the first support and the movable piece respectively; the second support is disposed on a support frame, and a slot for cooperating with the plug rod is provided on the second support.

[0013] Preferably, the control component includes a wedge, a pusher, and a pusher; the wedge is fixedly mounted on the movable plate; the pusher is slidably mounted on the first support, and when the pusher moves down, it squeezes the wedge, causing the wedge, the movable plate, and the insert rod to retract synchronously; the pusher is slidably mounted on the slide block, and the pusher is provided with a second elastic element, an extension rod, and a slider; the two ends of the second elastic element are respectively connected to the pusher and the slide block, the two ends of the extension rod are respectively connected to the slider and the pusher, and the slider is connected to the pusher.

[0014] Preferably, the slide is provided with a guide plate, a guide rod, and a movable sleeve; the guide plate is connected to the push frame, the guide rod is slidably installed on the slide, and the end of the guide rod away from the slide is connected to the guide plate; the movable sleeve is slidably engaged with the slide, the electric guide rail is drivenly connected to the movable sleeve, and the guide plate forms a lateral guiding limit for the slide; when the movable roller group abuts against the lower box or the ground, it drives the slide to move upward relative to the movable sleeve, and the guide plate is squeezed by the side wall of the electric guide rail, which drives the push frame to move downward relative to the slide to trigger unlocking.

[0015] Preferably, the opening and closing assembly includes a second hinge seat, a third hinge seat, and a second linear actuator; the second hinge seat is disposed on the support plate, and the third hinge seat is disposed on the side plate; the cylinder of the second linear actuator is hinged to the second hinge seat, and the driving end of the second linear actuator is hinged to the third hinge seat.

[0016] The advantages of this invention compared to the prior art are:

[0017] 1. This invention, through a main board, side plates, opening and closing components, a first linear driver, a support plate, a first hinge seat, and connecting guide rails, achieves the functions of clamping and supporting heavy-duty square ore boxes in mines and adjusting the tilt of the side plates to achieve step-by-step material unloading. It solves the technical problems of existing conveyor robots' synchronous unloading method, which suffers from large impacts and easy crushing damage to the bottom layer of goods during heavy-load unloading. This structure enhances the overall load-bearing rigidity, matches the transfer and stacking requirements of heavy-duty square material boxes in mines, withstands high-dust operating environments, effectively dissipates the impact load during the unloading process of heavy ore boxes, avoids deformation and collisions of ore boxes and ore spillage, and improves the stability of unmanned storage yard stacking operations and the service life of the equipment.

[0018] 2. This invention achieves the function of step-by-step tilting support and stacking of heavy ore boxes, and rolling to mitigate the impact of falling, thus effectively dissipating the instantaneous impact force of heavy-load falling and preventing ore box deformation and ore spillage. Compared with the traditional whole-body stacking method, which requires the side plates to be opened throughout the process and the box body is prone to positional deviation due to lack of restraint, this solution uses rollers to continuously support and guide the ore box throughout the entire falling process, resulting in minimal positional deviation. Even if there is a positional deviation after stacking, it can be finely adjusted and corrected by auxiliary equipment. This step-by-step roller support stacking structure can decompose the overall falling impact of heavy ore boxes into a slow-release process of single-sided contact and gradual fitting, significantly reducing the instantaneous impact load generated by the synchronous falling of the whole box, while reducing the wear and tear on the equipment body, extending the service life of unmanned storage yard equipment, and exhibiting strong operational stability and adaptability in heavy-dust mining environments.

[0019] 3. This invention achieves the function of stable rolling support on one side of the ore box, serving as a fixed turning fulcrum for step-by-step material unloading. This ensures the stability and reliability of the turning fulcrum, reduces frictional resistance during ore box lowering, and mitigates the impact of heavy-load falling. The rolling fulcrum structure has high load-bearing rigidity and can withstand the high dust and heavy-weight working environment of mines. The rolling surface is less prone to jamming due to ore powder accumulation, and it can continuously provide the fulcrum function required for step-by-step material unloading, effectively improving the smoothness of heavy-load ore box stacking operations and the durability of equipment operation. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0021] Figure 2 This is a three-dimensional schematic diagram of the supporting mechanism, auxiliary control mechanism, and auxiliary control mechanism of an intelligent control and conveying robot for unmanned warehouse storage yards during the transportation of ore boxes.

[0022] Figure 3 This is a three-dimensional schematic diagram of the connecting plate, side plate, and opening / closing assembly of an intelligent control conveying robot for unmanned warehouse storage yards according to the present invention.

[0023] Figure 4 This is a three-dimensional schematic diagram of the supporting mechanism, the auxiliary control mechanism, and the supporting structure of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0024] Figure 5 This is a three-dimensional schematic diagram of the main board, side plate, and support mechanism of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0025] Figure 6 This is a three-dimensional exploded view of the movable roller assembly of an intelligent control conveying robot for unmanned warehouse storage yards according to the present invention.

[0026] Figure 7 This is a three-dimensional schematic diagram of the slide and support frame of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0027] Figure 8 This is a three-dimensional exploded view of the slide and support frame of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0028] Figure 9 This is a three-dimensional schematic diagram of the control components of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention.

[0029] Figure 10 This is a three-dimensional schematic diagram of the supporting mechanism, auxiliary control mechanism, and auxiliary control mechanism of an intelligent control and conveying robot for unmanned warehouse storage yards, as shown in the present invention, when stacking ore boxes.

[0030] Figure 11 This is a three-dimensional schematic diagram of the support mechanism and the supporting mechanism of an intelligent control and conveying robot for unmanned warehouse storage yards according to the present invention, when stacking ore boxes.

[0031] The diagram is labeled as follows: 1. Frame; 11. Lifting platform; 12. Lifting assembly; 2. Supporting mechanism; 21. Main board; 211. First linear actuator; 212. Support plate; 213. Electric guide rail; 22. Connecting plate; 221. First hinge seat; 222. Connecting guide rail; 223. Side plate; 23. Opening and closing assembly; 231. Second hinge seat; 232. Third hinge seat; 233. Second linear actuator; 3. Supporting mechanism; 31. Fixed roller group; 311. First support shaft; 312. Support roller; 32. Movable roller group; 321. Slide. 3211, Guide plate; 3212, Guide rod; 3213, Movable sleeve; 322, Support frame; 323, Second support shaft; 324, Movable roller; 4, Auxiliary control mechanism; 41, Limiting component; 411, First support; 4111, Movable piece; 4112, Insert rod; 4113, First elastic element; 412, Second support; 4121, Slot; 42, Control component; 421, Wedge; 422, Push block; 423, Push frame; 4231, Second elastic element; 4232, Extension rod; 4233, Slider; 5, Ore box. Detailed Implementation

[0032] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0033] Reference Figures 1 to 3 , Figure 10 and Figure 11 A smart control and conveying robot for unmanned warehouse storage includes a frame 1, on which a lifting platform 11 is mounted, and a lifting assembly 12 for driving the lifting platform 11 to move vertically. The lifting platform 11 is equipped with a support mechanism 2, which includes a main board 21, a connecting plate 22, and an opening / closing assembly 23. Two main boards 21 and two connecting plates 22 are provided. Each main board 21 is mounted on the lifting platform 11, and each main board 21 is equipped with four first linear actuators 211, which are distributed in pairs on the main board. On both sides of the plate 21, the first linear actuator 211 has a telescopic drive rod, and the end of the drive rod away from the main plate 21 is connected to a support plate 212; the connecting plate 22 is provided with a first hinge seat 221, a connecting guide rail 222 and a side plate 223. The first hinge seat 221 and the connecting guide rail 222 are fixedly connected to the connecting plate 22. The two support plates 212 located on the same side are respectively hinged to the first hinge seat 221 and the connecting guide rail 222. The side plate 223 is rotatably connected to the connecting plate 22; the opening and closing assembly 23 is used to control the opening and closing of the side plate 223.

[0034] This invention enables the clamping and support of heavy-duty square ore boxes 5 in mines, and the adjustment of the tilting posture of the side plates 223 to achieve step-by-step material unloading. This achieves the effect of mitigating the impact of heavy-load unloading, preventing the ore boxes 5 from being bumped and deformed, and avoiding ore spillage. It solves the technical problem of existing conveyor robots' synchronous unloading method, which suffers from large impact and easy crushing damage to the bottom layer of goods during heavy-load unloading. During stacking operations, the lifting platform 11 moves the ore box 5 down to above the lower ore box 5. First, it controls one side plate 223 to make one side of the bottom of the ore box 5 contact the top surface of the lower box to form a support fulcrum. Then, it controls the first linear actuator 211 on the other side to slowly retract the drive rod, causing the corresponding end of the side plate 223 to slowly rise, so that the ore box 5 tilts and falls slowly around the support fulcrum. During this process, the connection between the first hinge seat 221 and the connecting guide rail 222 allows the side plate 223 to stably fit the tilted side of the ore box 5, improving the stability of the ore box 5's movement, until the bottom surface of the box completely fits the top surface of the lower ore box 5, completing the step-by-step, slow-release material unloading. This structure enhances the overall load-bearing rigidity, matches the transfer and stacking requirements of heavy square material boxes in mines, withstands high-dust working environments, mitigates the impact load during the lowering of heavy ore boxes, and reduces the risk of ore box deformation, collisions, and ore spillage.

[0035] Reference Figure 2 , Figure 4 , Figure 10 and Figure 11 The bottom of the lifting platform 11 is provided with a support mechanism 3, which includes a fixed roller group 31 and a movable roller group 32. The fixed roller group 31 is fixedly installed on one side of the bottom of the lifting platform 11, and the movable roller group 32 is movably arranged on the other side of the bottom of the lifting platform 11. When stacking the ore boxes 5, the fixed roller group 31 and the movable roller group 32 jointly support the bottom of the ore boxes 5. The position movement of the movable roller group 32 drives the ore boxes 5 to tilt and fall down, so that one side of the ore box 5 first contacts the top surface of the lower ore box 5, and then gradually completes the overall fitting and stacking.

[0036] This invention achieves the function of supporting and stacking heavy ore boxes 5 in stages with tilting, and rolling to mitigate the impact of falling, thus eliminating the instantaneous impact force of heavy-load placement and preventing the ore boxes 5 from being bumped and deformed and ore from spilling. During operation, the lifting platform 11 carries the supported square ore boxes 5 down to the stacking position. The fixed roller group 31 and the movable roller group 32 jointly support the bottom of the ore box 5, first adjusting the ore box 5 to an inclined position, so that one bottom edge of the ore box 5 first contacts the top surface of the ore box 5 already stacked below, forming a stable support edge. Then, the movable roller group 32 moves horizontally, carrying the side of the ore box 5 that is not in contact to slowly move down towards the top surface of the ore box 5 below, until the bottom surface of the ore box 5 completely detaches from the fixed roller group 31 and the movable roller group 32 and fully fits the top surface of the ore box 5 below, completing the stable stacking. Compared to traditional whole-body stacking, which requires the side panels 223 to be fully opened throughout the process and is prone to positional deviation due to the lack of constraint on the box, this solution uses rollers to continuously support and guide the ore box 5 throughout the entire lowering process, resulting in minimal positional deviation. Even if there is a positional deviation after stacking, it can be finely adjusted and corrected using auxiliary equipment. This step-by-step roller-bearing stacking structure breaks down the overall impact of the heavy ore box 5's fall into a slow-release process of single-sided contact and gradual fitting, significantly reducing the instantaneous impact load generated by the synchronous fall of the entire box. It is particularly suitable for the high-reliability stacking requirements of heavy-duty square ore boxes 5 in mining scenarios, effectively protecting the structural integrity of the ore box 5, preventing ore spillage, reducing the wear and tear on the equipment body from impact loads, and extending the service life of unmanned storage yard equipment. It also has strong operational stability and adaptability in heavy-dust mining environments.

[0037] Reference Figure 4 and Figure 5 The fixed roller group 31 includes a first support shaft 311 and a support roller 312; the two ends of the first support shaft 311 are rotatably connected to two main plates 21 respectively, and the support roller 312 is sleeved on the outside of the first support shaft 311.

[0038] This invention achieves the function of stable rolling support on one side of the ore box 5, serving as a fixed turning fulcrum for step-by-step material unloading. This ensures the stability and reliability of the turning fulcrum, reduces frictional resistance during the lowering of the ore box 5, and mitigates the impact of heavy-load descent. During the stacking process of the ore box 5, the support roller 312 first contacts the top surface of the lower stacked ore box 5, forming a stable rolling turning fulcrum. The ore box 5 is slowly tilted and lowered along the roller surface of the support roller 312. This rolling contact significantly reduces the frictional resistance between the bottom surface of the ore box 5 and the fulcrum, preventing scratches and wear on the bottom surface of the ore box 5 and ensuring smooth and even tilting descent. This rolling fulcrum structure has high load-bearing rigidity and can withstand the high dust and heavy-weight working environment of mines. The rolling roller surface is less prone to jamming due to ore powder accumulation, continuously providing the fulcrum function required for step-by-step material unloading, effectively improving the smoothness of heavy-load ore box 5 stacking operations and the durability of the equipment.

[0039] Reference Figure 5 and Figure 6 The movable roller assembly 32 includes a slide block 321, a support frame 322, a second support shaft 323, and a movable roller 324; two slide blocks 321 and two support frames 322 are provided; an electric guide rail 213 is provided on the main board 21, and the two slide blocks 321 are slidably mounted on the electric guide rails 213 of the two main boards 21 respectively; the support frame 322 is disposed on the slide block 321, and the two ends of the second support shaft 323 are rotatably connected to the support frames 322 on the two slide blocks 321 respectively; the movable roller 324 is sleeved on the outside of the second support shaft 323.

[0040] This invention enables the horizontal displacement adjustment of the movable roller group 32 and the controlled tilting and step-by-step lowering of the ore box 5, achieving the effect of smoothly and gradually releasing the impact force of heavy-load falling. During operation, the slide 321 moves horizontally back and forth along the electric guide rail 213 on the main board 21. Through the support frame 322, the second support shaft 323 and the movable roller 324 are moved synchronously, adjusting the relative distance between the movable roller 324 and the fixed roller group 31, thereby changing the supporting posture of the bottom of the ore box 5. When stacking the square ore box 5, the slide 321 moves slowly and uniformly along the electric guide rail 213 towards the side of the fixed roller group 31, and the movable roller 324 moves backward synchronously, so that the ore box 5 gradually tilts and falls with the fixed roller group 31 as a stable fulcrum. The bottom surface of the ore box 5 gradually transitions from single-sided contact to full contact with the top surface of the lower ore box 5, and finally completely detaches from the roller group support, completing the step-by-step slow-release stacking. The electric guide rail 213 drives the active roller group 32, which has strong load-bearing rigidity and high displacement control accuracy. It can withstand the high dust environment of mining operations, fundamentally eliminating the instantaneous impact load of the entire box falling synchronously, effectively avoiding the deformation of the ore box 5 and the spillage of ore, and adapting to the automated heavy-duty palletizing requirements of unmanned storage yards.

[0041] Reference Figure 5 and Figure 6 The movable roller group 32 has two second support shafts 323 and two movable rollers 324; the support frame 322 is rotatably connected to the slide 321, and the slide 321 is provided with a rotary driver for driving the support frame 322 to rotate; during operation, the rotary driver drives the support frame 322 to rotate so as to tilt the ore box 5, and the two movable rollers 324 respectively roll in contact with the bottom surface of the ore box 5 and jointly support the ore box 5.

[0042] This invention realizes the functions of double-roller rolling support for the ore box 5 and active driving of the tilt adjustment of the ore box 5. During operation, the rotary driver drives the support frame 322 to rotate around the hinge point of the slide 321, which drives the two second support shafts 323 and the corresponding movable rollers 324 to adjust their angles synchronously, so that the square ore box 5 supported by the movable rollers 324 and the fixed roller group 31 tilts. The two movable rollers 324 roll along the bottom surface of the ore box 5 and form a two-point distributed support, which, together with the fixed roller group 31, maintains the stability of the ore box 5 during the tilting process. After one side of the bottom edge of the ore box 5 contacts the top surface of the lower ore box 5 to form a support edge, the slide 321 moves at a constant speed along the electric guide rail 213 to one side of the fixed roller group 31, driving the movable rollers 324 to gradually retract, so that the other side of the ore box 5 is slowly lowered to fit against the lower box, until the ore box 5 is completely separated from the roller group and the ore box is stably stacked. The double-roller rolling support can disperse the local pressure of the heavy-duty ore box 5, preventing the bottom surface of the ore box 5 from being crushed and deformed. The active rotation drive tilting method can accurately control the lowering angle and rhythm of the ore box 5. Compared with the traditional whole material dropping method, which requires the side plate 223 to be opened throughout the process and the box body is prone to large positional deviation, this solution uses roller groups to continuously support and guide the ore box 5 throughout the lowering process, with minimal positional deviation. Even if there is a slight positional deviation after stacking, it can be finely adjusted and corrected by auxiliary equipment. This structure has strong load-bearing rigidity and high support stability, and can withstand the harsh working environment of high dust and heavy weight in the mine. It effectively avoids the deformation of the ore box 5 due to collision and the leakage of ore, and fundamentally eliminates the instantaneous impact load of the whole box falling synchronously.

[0043] Reference Figures 7 to 9 The slide block 321 is provided with an auxiliary control mechanism 4, which includes a limiting component 41 and a control component 42. The limiting component 41 is used to limit the rotation of the support frame 322 relative to the slide block 321. When the movable roller 324 located below abuts against the lower ore box 5 or the bearing surface, the control component 42 releases the limiting component 41 from restricting the rotation of the support frame 322.

[0044] This invention achieves the functions of rotational locking and automatic unlocking of the support frame 322, and graded control of the transport and stacking posture of the ore box 5. During operation, during the transport and lifting of the heavy-duty square ore box 5 in the mine, the limiting component 41 forms a locking constraint on the relative rotation of the support frame 322 and the slide 321, so that the two movable rollers 324 maintain a fixed supporting posture, and together with the fixed roller group 31, they stably support the ore box 5, avoiding the ore box 5 tilting and spilling due to the misrotation of the support frame 322 during equipment movement and lifting operations. When the stacking operation reaches the point where the movable roller 324 located below touches the top surface of the lower ore box 5 or the supporting ground, the control component 42 triggers an action to release the rotation restriction of the support frame 322 by the limiting component 41. The support frame 322 can adaptively rotate with the lowering action of the ore box 5, and together with the horizontal movement of the slide 321, it drives the ore box 5 to gradually tilt and lower with the fixed roller group 31 as the fulcrum, so that the bottom surface of the ore box 5 slowly transitions from contact with one side to fully adhering to the lower box, completing the step-by-step slow-release stacking. This structure can lock the supporting posture during the transfer stage to ensure the stability of heavy-load transportation. During the stacking stage, it automatically unlocks to adapt to the step-by-step material dropping action. The entire process of lowering the ore box 5 is continuously supported and guided by the roller group, with minimal positional deviation. Even if there is a slight positional deviation after stacking, it can be finely adjusted and corrected by auxiliary equipment.

[0045] Reference Figures 7 to 9 The limiting component 41 includes a first support 411 and a second support 412; the first support 411 is disposed on the slide 321, and a movable piece 4111 is slidably mounted on the first support 4111, and a plug rod 4112 is connected to the movable piece 4111; the first support 411 is provided with a first elastic element 4113, and the two ends of the first elastic element 4113 are respectively connected to the first support 411 and the movable piece 4111; the second support 412 is disposed on the support frame 322, and a slot 4121 that mates with the plug rod 4112 is provided on the second support 412.

[0046] This invention achieves the functions of elastic locking and trigger-based unlocking of the rotation of the support frame 322, achieving the effect of stable locking of the supporting posture under normal conditions and reliable release of rotational constraints when triggered. During operation, the elastic force of the first elastic element 4113 pushes the movable piece 4111 to slide along the first support 411, driving the insertion rod 4112 to insert into the slot 4121 of the second support 412, so that the support frame 322 and the slide 321 remain relatively fixed, maintaining the stable supporting posture of the double movable rollers 324, ensuring the stability of the heavy square ore box 5 during transportation and lifting, and avoiding the ore box 5 tilting and shifting due to accidental rotation of the support frame 322, and preventing ore spillage. When the stacking operation reaches the point where the lower movable roller 324 abuts the top surface of the lower ore box 5, the control component 42 drives the movable piece 4111 to compress the first elastic element 4113, causing the insert rod 4112 to disengage from the slot 4121, releasing the rotation lock on the support frame 322. The support frame 322 can then adaptively rotate with the lowering action of the ore box 5. In conjunction with the horizontal movement of the slide block 321, the ore box 5 is gradually tilted and lowered with the fixed roller group 31 as the fulcrum, completing the step-by-step slow-release stacking. This elastic pin-type locking structure is simple and compact, reliable in operation, resistant to the high dust environment of mining operations, and not prone to jamming due to ore powder accumulation. It can maintain the hierarchical control logic of transfer locking and stacking unlocking for a long time, effectively ensuring the stability of the transfer of heavy-load ore boxes 5 and the smoothness of stacking and lowering, reducing the frequency of on-site equipment maintenance.

[0047] Reference Figures 7 to 9 The control component 42 includes a wedge 421, a pusher 422, and a pusher 423. The wedge 421 is fixedly mounted on the movable piece 4111. The pusher 422 is slidably mounted on the first support 411. When the pusher 422 moves down, it squeezes the wedge 421, causing the wedge 421, the movable piece 4111, and the insert rod 4112 to retract synchronously. The pusher 423 is slidably mounted on the slide block 321. The pusher 423 is provided with a second elastic element 4231, an extension rod 4232, and a slider 4233. The two ends of the second elastic element 4231 are respectively connected to the pusher 423 and the slide block 321. The two ends of the extension rod 4232 are respectively connected to the slider 4233 and the pusher 423. The slider 4233 is connected to the pusher 422.

[0048] This invention achieves the functions of automatic unlocking via purely mechanical contact triggering and adaptive release of the rotation restriction of the support frame 322. During operation, during the transfer and lifting of the heavy-duty square ore box 5 in the mine, the elastic force of the second elastic element 4231 maintains the pusher 423 in the initial downward extension position, the pusher block 422 does not apply lateral thrust to the wedge block 421, the first elastic element 4113 pushes the movable piece 4111 and the insertion rod 4112 into the slot 4121 of the second support 412, keeping the support frame 322 locked, and the double movable rollers 324 maintain a stable supporting posture, working together with the fixed roller group 31 to support the ore box 5, avoiding the ore box 5 tilting and shifting and ore spillage caused by the support frame 322 accidentally rotating during equipment movement and lifting operations. During the stacking operation, the lifting platform 11 moves the ore box 5 downwards. When the movable roller 324 abuts against the top surface of the lower stacked ore box 5, the movable roller 324 and the slide block 321 are subjected to an upward reaction force. Meanwhile, the guide plate 3211 abuts against the side wall of the electric guide rail 213 and is obstructed from moving, compressing the second elastic element 4231. At this time, the pusher 423 and the extension rod 4232 drive the slider 4233 and the push block 422 to move downwards relative to the slider 321. During the downward movement of the push block 422, it squeezes the wedge block 4. The inclined surface of 21 pushes the wedge block 421 to drive the movable piece 4111 to compress the first elastic element 4113, causing the insertion rod 4112 to disengage from the slot 4121, releasing the rotation restriction on the support frame 322. The support frame 322 can then rotate adaptively with the lowering action of the ore box 5. In conjunction with the horizontal movement of the slide block 321, the ore box 5 is driven to gradually tilt and lower with the fixed roller group 31 as the fulcrum, so that the bottom surface of the ore box 5 slowly transitions from contact with one side to fully adhering to the lower box, completing the step-by-step slow-release stacking.

[0049] Reference Figure 7 and Figure 8 The slide block 321 is provided with a guide plate 3211, a guide rod 3212, and a movable sleeve 3213; the guide plate 3211 is connected to the push frame 423, the guide rod 3212 is slidably mounted on the slide block 321, and the end of the guide rod 3212 away from the slide block 321 is connected to the guide plate 3211; the movable sleeve 3213 is slidably engaged with the slide block 321, and the electric guide rail 213 is drivenly connected to the movable sleeve 3213. The slide block 321 is laterally guided and limited; when the movable roller group 32 comes into contact with the lower box or the ground, it drives the slide block 321 to move upward relative to the movable sleeve 3213. When the slide block 321 moves upward relative to the movable sleeve 3213, the guide plate 3211 contacts the side wall of the electric guide rail 213 to form a guiding constraint. The pusher 423 moves upward synchronously under the drive of the slide block 321. When the pusher 423 comes into contact with the side wall of the electric guide rail 213, its movement is restricted, and it moves downward relative to the slide block 321 to trigger unlocking.

[0050] This invention achieves the functions of auxiliary guidance for the movement of the slide block 321 and distributed load bearing for heavy loads. During operation, the electric guide rail 213 transmits power through the movable sleeve 3213, driving the slide block 321 to reciprocate horizontally. The guide rod 3212 slides along the slide block 321 and cooperates with the guide plate 3211 to form a lateral auxiliary guidance constraint. The sliding fit structure between the movable sleeve 3213 and the slide block 321 distributes the heavy load of the heavy ore box 5 in the mine, avoiding unilateral force deviation of the slide block 321, and ensuring the stability of the slide block 321 and the smooth movement without jamming during the movement of the movable roller group 32. This multi-guided distributed load bearing structure greatly improves the heavy load bearing capacity and operational stability of the slide block 321 and the movable roller group 32. The guide pair is resistant to the high dust working environment of the mine and is not prone to jamming failure due to ore powder accumulation. It can maintain high-precision displacement control for a long time, effectively ensuring the execution of the step-by-step slow release of material, avoiding the deformation of the ore box 5 and the spillage of ore, and reducing the maintenance frequency of unmanned storage yard equipment.

[0051] Reference Figures 1 to 4 The opening and closing assembly 23 includes a second hinge seat 231, a third hinge seat 232, and a second linear actuator 233; the second hinge seat 231 is disposed on the support plate 212, and the third hinge seat 232 is disposed on the side plate 223; the cylinder of the second linear actuator 233 is hinged to the second hinge seat 231, and the driving end of the second linear actuator 233 is hinged to the third hinge seat 232.

[0052] This invention realizes the functions of opening and closing drive and tilt angle adjustment of side plate 223. During operation, the second linear actuator 233 is hinged to the support plate 212 through the second hinge seat 231 and to the side plate 223 through the third hinge seat 232. When the second linear actuator 233 extends or retracts, it drives the side plate 223 to swing around the hinge point, realizing the adjustment of the opening and closing distance and tilt angle of the two side plates 223. During the material handling and transfer stage, the second linear actuator 233 drives the side plate 223 to close and clamp the side wall of the heavy-duty square ore box 5, which, together with the bottom roller support structure, maintains the stability of the box body posture and ensures that the ore box 5 does not deviate or shake during the movement and lifting of the equipment. During the stacking operation, the second linear actuator 233, in conjunction with the horizontal movement of the movable roller group 32, synchronously adjusts the angle of the side plate 223, guiding the ore box 5 to smoothly tilt and descend with the fixed roller group 31 as the fulcrum. This allows the ore box 5 to first contact the lower box on one side and then gradually and completely adhere to it, completing the step-by-step slow-release dropping. Throughout the dropping process, the side plate 223 continuously provides lateral guidance and constraint to the box. Compared to the traditional method of complete dropping that requires the side plate 223 to be fully released, which is prone to significant box displacement, this method results in minimal box position displacement. If there is a slight deviation after stacking, it can be finely adjusted and corrected using auxiliary equipment. This articulated linear drive opening and closing structure has high load-bearing rigidity, smooth and reliable transmission, and can withstand the high dust and heavy load operating environment of mines.

[0053] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A warehouse unmanned storage yard intelligent control conveying robot, including a frame (1), a lifting platform (11) is provided on the frame (1), and a lifting component (12) is provided on the frame (1) to drive the lifting platform (11) to rise and fall in the vertical direction. Its features are, The lifting platform (11) is provided with a support mechanism (2), which includes a main board (21), a connecting plate (22) and an opening and closing assembly (23). Both the main board (21) and the connecting board (22) are provided in two; The main board (21) is set on the lifting platform (11). Each main board (21) is provided with four first linear drivers (211). The four first linear drivers (211) are distributed in pairs on both sides of the main board (21). The first linear driver (211) has a telescopic drive rod. The end of the drive rod away from the main board (21) is connected to a support plate (212). The connecting plate (22) is provided with a first hinge seat (221), a connecting guide rail (222) and a side plate (223). The first hinge seat (221) and the connecting guide rail (222) are fixedly connected to the connecting plate (22). Two support plates (212) located on the same side are respectively hinged to the first hinge seat (221) and the connecting guide rail (222). The side plate (223) is rotatably connected to the connecting plate (22). The opening and closing assembly (23) is used to control the opening and closing of the side panel (223).

2. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 1, characterized in that, The bottom of the lifting platform (11) is provided with a support mechanism (3), which includes a fixed roller group (31) and a movable roller group (32). The fixed roller group (31) is fixedly installed on one side of the bottom of the lifting platform (11), and the movable roller group (32) is movably arranged on the other side of the bottom of the lifting platform (11). When stacking the ore boxes (5), the fixed roller group (31) and the movable roller group (32) jointly support the bottom of the ore box (5). The position of the movable roller group (32) drives the ore box (5) to tilt and fall, so that one side of the ore box (5) first contacts the top surface of the lower ore box (5), and then gradually completes the overall bonding and stacking.

3. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 2, characterized in that, The fixed roller group (31) includes a first support shaft (311) and a support roller (312). The two ends of the first support shaft (311) are rotatably connected to two main boards (21) respectively, and the support roller (312) is sleeved on the outside of the first support shaft (311).

4. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 2, characterized in that, The movable roller assembly (32) includes a slide (321), a support frame (322), a second support shaft (323), and a movable roller (324). Both the slide (321) and the support frame (322) are provided in twos; The main board (21) is provided with an electric guide rail (213), and two slide blocks (321) are slidably mounted on the electric guide rail (213) of the two main boards (21); The support frame (322) is mounted on the slide (321), and the two ends of the second support shaft (323) are rotatably connected to the support frame (322) on the two slides (321); The movable roller (324) is sleeved on the outside of the second support shaft (323).

5. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 4, characterized in that, The movable roller assembly (32) is provided with two second support shafts (323) and two movable rollers (324); The support frame (322) is rotatably connected to the slide (321), and the slide (321) is provided with a rotary driver for driving the support frame (322) to rotate; During operation, the rotary drive drives the support frame (322) to rotate, thereby tilting the ore box (5). The two movable rollers (324) roll into contact with the bottom surface of the ore box (5) and support the ore box (5) together.

6. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 5, characterized in that, The slide (321) is provided with an auxiliary control mechanism (4), which includes a limiting component (41) and a control component (42). The limiting component (41) is used to limit the rotation of the support frame (322) relative to the slide (321); When the lower movable roller (324) comes into contact with the lower ore box (5) or the bearing surface, the control component (42) releases the restriction component (41) from restricting the rotation of the support frame (322).

7. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 6, characterized in that, The limiting component (41) includes a first support (411) and a second support (412); The first support (411) is mounted on the slide (321), and a movable piece (4111) is slidably mounted on the first support (411), and a plug rod (4112) is connected to the movable piece (4111). The first support (411) is provided with a first elastic element (4113), and the two ends of the first elastic element (4113) are respectively connected to the first support (411) and the movable piece (4111); The second support (412) is mounted on the support frame (322), and the second support (412) has a slot (4121) that mates with the insert rod (4112).

8. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 7, characterized in that, The control component (42) includes a wedge (421), a pusher (422), and a pusher (423). The wedge (421) is fixedly mounted on the movable piece (4111); The push block (422) is slidably installed on the first support (411). When the push block (422) moves down, it squeezes the wedge block (421), causing the wedge block (421), the movable piece (4111), and the insertion rod (4112) to retract synchronously. The push frame (423) is slidably mounted on the slide block (321), and the push frame (423) is provided with a second elastic element (4231), an extension rod (4232) and a slider (4233). The two ends of the second elastic element (4231) are respectively connected to the push frame (423) and the slide (321), and the two ends of the extension rod (4232) are respectively connected to the slider (4233) and the push frame (423), and the slider (4233) is connected to the push block (422).

9. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 4, characterized in that, The slide (321) is provided with a guide plate (3211), a guide rod (3212) and a movable sleeve (3213). The guide plate (3211) is connected to the push frame (423), and the guide rod (3212) is slidably installed on the slide block (321). The end of the guide rod (3212) away from the slide block (321) is connected to the guide plate (3211). The movable sleeve (3213) is slidably engaged with the slide (321), the electric guide rail (213) is connected to the movable sleeve (3213) in a transmission manner, and the guide plate (3211) forms a lateral guiding limit on the slide (321). When the movable roller group (32) comes into contact with the lower box or the ground, it drives the slide (321) to move upward relative to the movable sleeve (3213). The guide plate (3211) is squeezed by the side wall of the electric guide rail (213), which drives the push frame (423) to move downward relative to the slide (321) to trigger unlocking.

10. The intelligent control and conveying robot for unmanned warehouse storage yards according to claim 1, characterized in that, The opening and closing assembly (23) includes a second hinge seat (231), a third hinge seat (232), and a second linear actuator (233); The second hinge seat (231) is disposed on the support plate (212), and the third hinge seat (232) is disposed on the side plate (223); The cylinder of the second linear actuator (233) is hinged to the second hinge seat (231), and the drive end of the second linear actuator (233) is hinged to the third hinge seat (232).

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