A buffer positioning protection device for a warehouse bin robot

Abstract

The application belongs to the technical field of warehousing, and specifically discloses a buffer positioning protection device for a warehousing bin robot, which comprises a control unit, a cooperation unit, a positioning unit, a buffer unit and a protection unit. The cooperation unit is used for cooperating with the positioning unit to position. The cooperation unit comprises a limiting cross beam, a baffle and a baffle driving element. The positioning unit comprises a positioning driving element, a stable sliding frame, a force storage cylinder, a contraction rod and a sliding positioning end. The buffer unit comprises a buffer frame, a sliding middle block, a buffer sliding rod, an elastic buffer element, a butt joint frame and a damping mechanism. The protection unit is used for protecting the collision between two adjacent warehousing bin robots. The application can solve the problem of insufficient repeated accuracy of the parking position of the warehousing bin robot in the prior art, and cannot meet the docking requirements.

Description

Technical Field

[0001] This invention belongs to the field of warehousing technology, and in particular relates to a buffer positioning and protection device for a warehousing bin robot. Background Technology

[0002] As automated warehousing systems evolve towards higher density and efficiency, warehousing bin robots, as the core execution equipment for achieving automated bin transfer and precise docking at storage locations, have become critical factors restricting warehousing operation efficiency and material safety due to their docking and positioning accuracy and the stability of their stopping and stopping processes. In actual operation, robots need to frequently start and stop and precisely dock with conveyor platforms and rack locations while carrying large bins at high speeds. This places stringent requirements on the dynamic response characteristics and control precision of the walking mechanism.

[0003] Currently, existing docking and positioning solutions for warehouse bin robots mainly rely on the braking system of the walking mechanism for direct positioning. Specifically, they typically use a combination of electric deceleration braking of the drive motor and mechanical locking of the walking wheels to achieve stopping and positioning. To compensate for the shortcomings of pure braking in terms of absolute positioning accuracy, some technical solutions introduce external sensing devices such as visual recognition, QR code navigation, and LiDAR. After the robot has achieved coarse positioning and stabilized, secondary position calibration is performed by recognizing position markers on the ground or in the surrounding environment.

[0004] However, the aforementioned existing technical solutions still have significant technical shortcomings in practical applications. First, regarding the positioning method of direct braking of the walking mechanism, when the robot carries a large weight of the material box and travels at a high speed, the static friction margin between the walking wheels and the walking surface (such as the ground or track surface) is insufficient, making it prone to slippage at the moment of braking. Coupled with the inherent response delay of the electromechanical braking system itself, the combined effect directly causes the actual stopping position to deviate from the target stopping point, resulting in a significant positioning deviation. This deviation manifests as insufficient repeatability of the stopping position in long-term reciprocating operations, making it difficult to meet the high-precision docking requirements between the material box and the shelf location, thus affecting the automation efficiency of the entire warehousing and logistics system.

[0005] Secondly, the instantaneous inertial load generated during braking is not only consumed by the friction between the wheels and the ground; its significant impact component is directly transmitted and acts on the positioning structure and the robot's overall frame. Long-term operation under high-frequency, high-load start-stop conditions will accelerate the wear of the vehicle's structural components, wheel axles, and brake friction pairs, leading to increased mechanical clearance, decreased positioning stiffness, further reducing positioning reliability, and significantly increasing the risk of equipment failure due to structural fatigue or positioning failure.

[0006] Furthermore, existing warehouse storage bin robots typically operate in groups, so safety contact edges are installed on the front and rear sides of the robot. In the event of a collision or compression, the internal conductive plates will come into contact, immediately triggering an emergency stop. However, due to the limited energy absorption capacity of the safety contact edges themselves, even with safety contact edges, the warehouse storage bin robot will still experience significant vibration and impact after a large collision, which can easily lead to bin displacement and damage to internal components.

[0007] In conclusion, existing warehouse bin robots are insufficient to meet the high precision and high reliability requirements of modern intelligent warehousing under heavy load and high-speed conditions. Summary of the Invention

[0008] The purpose of this invention is to provide a buffer positioning and protection device for a warehouse bin robot, so as to solve the problem that the repeatability of the robot's docking position in the prior art is insufficient and cannot meet the docking requirements.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows: a buffer positioning and protection device for a storage bin robot, comprising a control unit, a cooperation unit, a positioning unit, a buffer unit, and a protection unit; the frame of the storage bin robot is driven by the walking mechanism of the storage bin robot, and the controller of the storage bin robot is used to drive the walking mechanism to move; the control unit and the controller are connected. The cooperating unit is used to cooperate with the positioning unit for positioning. The cooperating unit includes a limiting beam, a baffle, and a baffle drive component. The baffle drive component is connected to the control unit. The limiting beam is fixedly installed and has a moving groove along its length, allowing the positioning unit to move within the moving groove. Several positioning grooves are provided on the side of the limiting beam away from the positioning unit, arranged sequentially along the length of the limiting beam. The positioning grooves communicate with the moving grooves, allowing the positioning unit to be inserted into them. The position of each positioning groove corresponds to the position of each cargo slot. The baffle drive component is installed on the limiting beam. A blocking groove is vertically connected to the positioning groove, and the baffle is vertically slidably connected within the blocking groove, with its surface flush with the surface of the moving groove. The driving end of the baffle drive component is connected to the baffle and is used to drive the baffle to move vertically, thus opening or closing the positioning groove. The positioning unit includes a positioning drive component, a stabilizing sliding frame, a accumulator cylinder, a retractable rod, and a sliding positioning end. The positioning drive component is connected to the control unit. The positioning drive component is fixed to the stabilizing sliding frame. The output end of the positioning drive component is connected to the accumulator cylinder. A retractable rod is slidably connected inside the accumulator cylinder. One end of the retractable rod is fixed to the bottom of the accumulator cylinder with an elastic accumulator component. The other end of the retractable rod extends out of the accumulator cylinder and connects to the sliding positioning end. The sliding positioning end can move within the moving groove and abut against the inner wall of the moving groove. The sliding positioning end can be inserted into the positioning groove, and the two cooperate to achieve positioning. The buffer unit includes a buffer frame, a sliding center block, a buffer slide bar, an elastic buffer component, a docking frame, and a damping mechanism. The buffer frame is fixed to the frame of the storage bin robot, and the sliding center block is fixed to the stabilizing sliding frame. The buffer frame has sliding holes on both sides, and buffer slide bars are slidably connected to these holes. The sides of the buffer slide bars that are close to each other are fixed to the sliding center block. The length direction of the buffer slide bars is consistent with the length direction of the moving groove. The buffer frame also has a buffer groove, the length direction of which is consistent with the length direction of the moving groove. The sliding center block has a buffer strip, which is slidably connected to the buffer groove. Two sets of elastic buffer components and a docking frame are provided, with each set located on one side of the buffer frame. One side of each elastic buffer component is fixed to the buffer frame, and the other side is connected to the docking frame. The docking frame is used to transmit the force applied by the elastic buffer component to the damping mechanism for buffering. The protective unit is used to protect against collisions between two adjacent storage bin robots.

[0010] Furthermore, the damping mechanism includes a disc damper, a connecting frame, a movable bar, and two connecting rods. The disc damper and the connecting frame are both fixed on the frame body. The center of the movable bar is rotatably connected to the connecting frame. The center of the movable bar is fixed to the output end of the disc damper. One side of each of the two connecting rods is rotatably connected to both sides of the movable bar, and the other side of each of the two connecting rods is rotatably connected to two sets of docking frames.

[0011] Furthermore, the buffer frame has a concave arc-shaped surface on the side near the sliding center block; the upper and lower sides of the buffer slide are respectively fixed with resistance-increasing frames, which are planar structures with gradually increasing width, with the side with the smallest width being close to the sliding center block; the two sets of resistance-increasing frames are respectively located on the upper and lower sides of the buffer frame and can slide on the surface of the buffer frame; the buffer slide has a cylinder that contacts and cooperates with the arc-shaped surface; the center of the sliding center block has a contraction groove, the opening of the contraction groove faces the buffer slide, the buffer slide has a buffer slider, the buffer slider is slidably connected in the contraction groove, and a contraction elastic element is fixed between the buffer slider and the bottom of the contraction groove; the cylinder can contract into the contraction groove.

[0012] Furthermore, the sliding positioning end is provided with a roller, which can roll on the inner wall of the moving groove.

[0013] Furthermore, the frame is provided with a strip groove, the length direction of which is consistent with the length direction of the moving groove; the stabilizing sliding frame is slidably connected to the strip groove.

[0014] Furthermore, the stable sliding frame includes a first vertical plate, a horizontal plate, and a second vertical plate. The first vertical plate and the second vertical plate are respectively vertically fixed on both sides of the horizontal plate and in opposite directions. The first vertical plate is fixed to the sliding center block, and the second vertical plate is fixed to the positioning drive component. The horizontal plate is slidably connected in the strip groove, and the inner sides of the first vertical plate and the second vertical plate abut against the frame body.

[0015] Furthermore, a first displacement sensor is provided on the sliding center block, and a second displacement sensor is provided on the frame. The first and second displacement sensors are respectively connected to the control unit. The control unit generates an offset signal based on the displacement information sent by the first and second displacement sensors, and converts the offset signal into a control command and sends it to the controller. The controller drives the walking mechanism to adjust the position of the frame according to the control command.

[0016] Furthermore, the docking frame is an L-shaped plate, the vertical side of which is connected to an elastic buffer, and the inflection point of the L-shaped plate is rotatably connected to a connecting rod.

[0017] Furthermore, the protective unit includes two sets of protective mechanisms, located on the front and rear sides of the frame in the direction of travel, respectively. Each set of protective mechanisms includes a main mounting component, a secondary mounting component, a protective frame, a buffer spring, a bent connecting rod, a rocker arm, a stop part, and a rocker spring. The main mounting component is fixed to the frame. At least two sets of buffer springs are provided, with one side of the buffer spring rotatably connected to the side of the main mounting component away from the frame. The other side of the buffer spring is rotatably connected to the protective frame, and the buffer spring is arc-shaped. Vertically arranged bent connecting rods are connected to both the upper and lower sides of the protective frame, and one side of the bent connecting rod is connected to the rocker arm. The connection includes a mating part fixed to the other side of the rocker arm; two sets of secondary mounting components are respectively fixed to the upper and lower sides of the frame; the two sides of the rocker arm are rotatably connected to the secondary mounting components and the rocker arm respectively; the bending connecting rod can support the rocker arm, and the bending connecting rod has elasticity, so that it can bend after being subjected to external force and can return to a vertical state after the external force disappears; the elasticity of the bending connecting rod is less than the elasticity of the rocker arm; when the bending connecting rod is not subjected to external force, there is a gap between the mating part and the docking frame in both the horizontal and vertical directions; after the bending connecting rod is bent by force, it causes the rocker arm to rock up, so that the mating part abuts against the docking frame.

[0018] The working principle and beneficial effects of this technical solution are as follows: The control unit activates the corresponding baffle drive component based on the position of the cargo trough. The baffle drive component pushes the baffle to move vertically, thus opening the positioning slot. Simultaneously, the positioning drive component pushes the accumulator cylinder towards the moving slot, with the sliding positioning end abutting against the inner wall of the moving slot via rollers. The accumulator cylinder slides outside the retraction rod, compressing the elastic accumulator inside, thereby completing the accumulating operation. As the frame moves via the traveling mechanism, the sliding positioning end moves synchronously within the moving slot on the limiting beam via rollers. When the frame approaches the designated cargo trough, the controller drives the traveling mechanism to decelerate and brake. Once the sliding positioning end moves to an open positioning slot at the entrance, the compressed elastic accumulator directly pushes out the retraction rod, allowing the sliding positioning end to enter the positioning slot and complete the positioning operation.

[0019] When the positioning of the braking components on the traveling mechanism deviates, causing the inertial force of the frame to continue moving forward, the positioning unit, sliding center block, and buffer slide rod will stop directly at the designated position through the positioning of the sliding positioning end and the positioning groove. The forward-moving frame will drive the buffer frame to slide on the buffer slide rod. One side of the buffer frame pushes the docking frame through the elastic buffer, and the other side pulls the docking frame through the elastic buffer, causing the docking frame to rotate. The docking frame drives the movable bar to rotate through the connecting rod, thereby achieving buffering through the elastic buffer and the disc damper.

[0020] The damping force of the disc damper, combined with the weight of the frame itself and the braking friction between the traveling mechanism and the traveling track, is greater than all the elastic forces with a buffering effect in the buffer unit. After the buffer unit and the damping mechanism work together to achieve buffering, the overall swaying and shaking of the frame is avoided.

[0021] The first displacement sensor and the second displacement sensor can detect the actual movement distance of the sliding center block relative to the frame and generate an offset signal. After receiving the offset signal, the control unit generates a control command based on the offset signal and sends it to the controller. The controller drives the walking mechanism to make fine adjustments to the position of the frame until the offset signal indicates that the sliding center block returns to the preset center position.

[0022] The above method replaces the traditional method of direct braking and positioning of the walking mechanism of the storage bin robot, which improves the positioning and buffering effect. It effectively avoids the problems of positioning deviation and poor docking repeatability caused by the slippage of the walking wheel and the delay in braking response. At the same time, it avoids the risk of structural wear and positioning failure caused by the direct impact of braking inertia on the positioning unit, which significantly improves the operating efficiency and stability of the equipment.

[0023] During the buffering process involving the buffer frame, sliding center block, and buffer slide bar, the contact surface between the resistance-increasing frame and the outer wall of the buffer frame provides resistance, thereby improving the buffering effect of the buffer unit and damping mechanism. As the end of the buffer frame moves closer to the resistance-increasing frame, the arc-shaped surface gradually pushes the resistance-increasing frame and buffer slide bar towards the contraction groove through the cylinder. The buffer slide bar compresses the contraction elastic element inside the contraction groove. Because the contact surfaces between the resistance-increasing frame and the top and bottom of the buffer frame are planar structures with gradually increasing widths, the contact area between the resistance-increasing frame and the buffer frame gradually increases as the resistance-increasing frame moves towards the contraction groove. This gradually increases the resistance of the resistance-increasing frame, improving the buffering effect while allowing the buffering force to gradually increase from small to large, avoiding excessive initial force that could cause damage during the buffering process.

[0024] When two storage bin robots collide during operation, the protective frame absorbs the impact, and the elastic deformation of the buffer springs further protects the frame. By maintaining a gap between the docking frame and the contact point, contact between the contact point and the docking frame can be avoided during normal operation, thus preventing interference with the buffer unit and damping mechanism's buffering effect.

[0025] When the protective frame is subjected to excessive impact, the elasticity of the lifting spring is greater than that of the bending connecting rod. During the initial deformation of the buffer spring as the entire protective frame moves towards the frame body to absorb the impact force, the lifting spring will push the lifting rod to bend from the bending connecting rod, causing the mating part to lift up and then abut against the connecting frame. Afterwards, the lifting spring and the buffer unit, together with the damping mechanism, achieve the buffering effect. Together with the buffer spring, they absorb the impact force, greatly improving the anti-collision buffering effect of the protective unit, effectively weakening the impact force on the frame body, internal components and the material box, and reducing the risk of equipment collision damage and the probability of material spillage.

[0026] After the impact force disappears, the protective unit resets, the abutting part disengages from the docking frame, and the restoring force of all the elastic elements in the buffer unit that have undergone deformation can gradually pull the disc damper back to its original position. Attached Figure Description

[0027] Figure 1 This is a first structural schematic diagram of a buffer positioning and protection device for a warehouse bin robot according to the present invention; Figure 2 This is a schematic diagram of the second structure of a buffer positioning and protection device for a warehouse bin robot according to the present invention; Figure 3 This is a schematic diagram of the structure of a buffer positioning and protection device for a warehouse bin robot of the present invention, without the mating unit. Figure 4 for Figure 3 Schematic diagram of the upper middle section; Figure 5 for Figure 3 Schematic diagram of the lower middle section; Figure 6 for Figure 1 Schematic diagram of the structure of the intermediate coordinating unit and the positioning unit; Figure 7 for Figure 6 Enlarged view of point B in the middle; Figure 8 This is a structural diagram showing an open positioning slot in the unit; Figure 9 for Figure 1 Schematic diagram of the positioning unit and buffer unit; Figure 10 For Figure 9 Schematic diagram of the middle buffer frame, buffer slide bar, and resistance-increasing frame; Figure 11 for Figure 9 A schematic diagram of the positioning unit and the buffer frame; Figure 12 for Figure 9 A schematic diagram of the centrally stabilized sliding frame and the sliding mid-position block; Figure 13 for Figure 11 Enlarged view of point A in the middle; Figure 14 for Figure 1 Schematic diagram of the structure of the central protection unit; Figure 15 for Figure 14 A magnified view of point C in the middle. Detailed Implementation

[0028] The following detailed description illustrates the specific implementation method: The reference numerals in the accompanying drawings include: mating unit 1, limiting beam 101, baffle 102, baffle drive 103, moving groove 104, positioning groove 105, positioning unit 2, positioning drive 201, stabilizing sliding frame 202, first vertical plate 2021, horizontal plate 2022, second vertical plate 2023, strip groove 2024, energy storage cylinder 203, retraction rod 204, sliding positioning end 205, roller 206, elastic energy storage component 207, sliding groove 208, sliding rod 209, buffer unit 3, buffer frame 301, sliding center block 302, buffer slide rod 303, elastic buffer component. 304. Connecting frame; 305. Damping mechanism; 306. Disc damper; 3061. Connecting frame; 3062. Movable bar; 3063. Connecting rod; 3064. Buffer groove; 307. Buffer slide bar; 308. Arc surface; 309. Resistance increasing frame; 310. Cylinder; 311. Shrinkage groove; 312. Buffer slider; 313. Shrinkage elastic element; 314. Slide hole; 315. Protective unit; 401. Main mounting component; 402. Secondary mounting component; 403. Protective frame; 404. Buffer spring sheet; 405. Bending connecting rod; 406. Rocker arm; 407. Abutting part; 408. Rocker spring sheet; 409. Bending notch; 5. Frame body.

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The basic implementation examples are as follows: Figure 1-15 As shown: Figure 1-5 As shown, a buffer positioning and protection device for a storage bin robot is disclosed. In this embodiment, the buffer positioning device of the present invention is provided on both the upper and lower sides of the storage bin robot. Each set of buffer positioning devices includes a control unit, a cooperating unit 1, a positioning unit 2, a buffer unit 3, and a protection unit 4. The frame 5 of the storage bin robot is driven by the walking mechanism of the storage bin robot, and the controller inside the storage bin robot is used to drive the movement of the walking mechanism. The control unit and the controller are wirelessly connected to exchange data.

[0031] The mating unit 1 is used to cooperate with the positioning unit 2 for positioning, such as... Figure 6-8 As shown, the cooperating unit 1 includes a limiting beam 101, a baffle 102, and a baffle drive component 103 (specifically, an electric retractable rod 204). The baffle drive component 103 is connected to the control unit. The limiting beam 101 is fixedly installed and can be fixed to a frame, wall, etc. A moving groove 104 is provided along the length of the limiting beam 101, allowing the positioning unit 2 to move within the moving groove 104. Several positioning grooves 105 are provided on the side of the limiting beam 101 away from the positioning unit 2. These positioning grooves 105 are arranged sequentially along the length of the limiting beam 101, communicating with the moving groove 104. The positioning unit 2 can be inserted into the positioning groove 105 for positioning. The position of each positioning groove 105 corresponds to the position of each cargo slot. The baffle drive component 103 and the baffle 102 each correspond one-to-one with a positioning groove 105. The baffle drive 103 is mounted on the limiting beam 101. The positioning groove 105 is vertically connected to a blocking groove. The baffle 102 is vertically slidably connected in the blocking groove, and the surface of the baffle 102 is flush with the bottom of the moving groove 104. The drive end of the baffle drive 103 is connected to the baffle 102 and is used to drive the baffle 102 to move vertically, thereby opening or closing the positioning groove 105.

[0032] The positioning unit 2 includes a positioning drive component 201 (specifically an electric push rod), a stabilizing sliding frame 202, a power storage cylinder 203, a retracting rod 204, and a sliding positioning end 205. The positioning drive component 201 is connected to the control unit. The positioning drive component 201 is fixed to the stabilizing sliding frame 202 and can be placed on a support plate on the frame 5. The output end of the positioning drive component 201 is connected to the power storage cylinder 203. The stabilizing sliding frame 202 has a through hole, and the power storage cylinder 203 is slidably connected in the through hole. The retracting rod 204 is slidably connected inside the power storage cylinder 203. One end of the retracting rod 204 is fixed between the bottom of the power storage cylinder 203 and an elastic power storage component 207 (specifically a power storage spring); the other end of the retracting rod 204 extends out of the power storage cylinder 203 and is connected to the sliding positioning end 205. The sliding positioning end 205 has a sliding groove 208 on its outer periphery, and the accumulator 203 has a sliding rod 209 on its outer side. The sliding rod 209 is slidably connected in the sliding groove 208, and the length direction of the sliding groove 208 is consistent with the driving direction of the positioning drive component 201. The sliding positioning end 205 can move within the moving groove 104 and can be inserted into the positioning groove 105. The sliding positioning end 205 is provided with a roller 206, which can roll on the inner wall of the moving groove 104. After the sliding positioning end 205 is inserted into the positioning groove 105, the two cooperate to achieve positioning, so that the sliding positioning end 205 cannot deviate in the length direction of the moving groove 104.

[0033] like Figure 12As shown, the frame 5 is provided with a strip groove 2024, the length direction of which is consistent with the length direction of the moving groove 104. The stabilizing sliding frame 202 is slidably connected to the strip groove 2024. Specifically, the stabilizing sliding frame 202 includes a first vertical plate 2021, a horizontal plate 2022, and a second vertical plate 2023. The first vertical plate 2021 and the second vertical plate 2023 are respectively vertically fixed on both sides of the horizontal plate 2022 and in opposite directions. The first vertical plate 2021 is fixed to the sliding center block 302, and the second vertical plate 2023 is fixed to the positioning drive member 201. The horizontal plate 2022 is slidably connected in the strip groove 2024, and the inner sides of the first vertical plate 2021 and the second vertical plate 2023 abut against the frame 5.

[0034] like Figure 9 , 10 As shown in Figure 11, the buffer unit 3 includes a buffer frame 301, a sliding center block 302, a buffer slide bar 303, an elastic buffer element 304 (specifically a buffer spring), a docking frame 305, and a damping mechanism 306. The buffer frame 301 is fixed to the frame 5 of the storage bin robot, and the sliding center block 302 is fixed to the stabilizing sliding frame 202. The buffer frame 301 has sliding holes 315 on both sides, and buffer slide bars 303 are slidably connected in the sliding holes 315 on both sides. The sides of the buffer slide bars 303 that are close to each other are fixed to the sides of the sliding center block 302. The length direction of the buffer slide bar 303 is consistent with the length direction of the moving groove 104. The buffer frame 301 also has a buffer groove 307, the length direction of which is consistent with the length direction of the moving groove 104. The sliding center block 302 has a buffer strip 308, which is slidably connected in the buffer groove 307. Two sets of elastic buffer members 304 and docking frames 305 are provided respectively. The two sets of elastic buffer members 304 are respectively located on both sides of the buffer frame 301. One side of the elastic buffer member 304 is fixed to the buffer frame 301, and the other side is connected to the docking frame 305. The docking frame 305 is used to transmit the force applied by the elastic buffer member 304 to the damping mechanism 306 for buffering. The sliding center block 302 is located at the middle position in the moving direction of the frame 5 and the buffer frame 301.

[0035] The damping mechanism 306 includes a disc damper 3061, a connecting frame 3062, a movable bar 3063, and two connecting rods 3064. The disc damper 3061 and connecting frame 3062 are both fixed to the frame 5. The center of the movable bar 3063 is rotatably connected to the connecting frame 3062. The center of the movable bar 3063 is fixed to the output end of the disc damper 3061; that is, the connecting frame 3062 has a through hole through which the output end of the disc damper 3061 passes and connects to the center of the movable bar 3063. One side of each of the two connecting rods 3064 is rotatably connected to both sides of the movable bar 3063, and the other side of each connecting rod 3064 is rotatably connected to two sets of docking frames 305. Specifically, the docking frame 305 is an L-shaped plate. The vertical side of the L-shaped plate is connected to the elastic buffer 304, and the inflection point of the L-shaped plate is rotatably connected to the connecting rods 3064.

[0036] The buffer frame 301 has a concave arc-shaped surface 309 on the side near the sliding center block 302; the buffer slide bar 308 has resistance-increasing frames 310 fixed on its upper and lower sides respectively. The resistance-increasing frame 310 is a planar structure with a gradually increasing width, and the side with the smallest width is close to the sliding center block 302. In this embodiment, the resistance-increasing frame 310 is triangular. The two sets of resistance-increasing frames 310 are located on the upper and lower sides of the buffer frame 301 respectively and can slide on the upper and lower surfaces of the buffer frame 301. The buffer slide bar 308 is provided with a cylinder 311 that contacts and engages with the arc surface 309; the center of the sliding center block 302 is provided with a contraction groove 312, the opening of the contraction groove 312 faces the buffer slide bar 308, the buffer slide bar 308 is provided with a buffer slider 313, the buffer slider 313 is slidably connected in the contraction groove 312, and a contraction elastic element 314 (specifically a contraction spring) is fixed between the buffer slider 313 and the bottom of the contraction groove 312; the cylinder 311 can contract into the contraction groove 312, and two sets of resistance-increasing frames 310 are located outside the contraction groove 312 (vertical direction).

[0037] The sliding center block 302 is equipped with a first displacement sensor, and the frame 5 is equipped with a second displacement sensor. The first displacement sensor and the second displacement sensor are respectively connected to the control unit. The control unit generates an offset signal based on the displacement information sent by the first displacement sensor and the second displacement sensor, and converts the offset signal into a control command and sends it to the controller. The controller drives the walking mechanism to adjust the position of the frame 5 according to the control command, so that the sliding center block 302 returns to the center position of the frame 5.

[0038] like Figure 1 , 14As shown in Figure 15, the protective unit 4 is used to protect against collisions between two adjacent storage bin robots. The protective unit 4 includes two sets of protective mechanisms, located on the front and rear sides of the frame 5 in the direction of travel. Each set of protective mechanisms includes a main mounting component 401, a secondary mounting component 402, a protective frame 403, a buffer spring plate 404, a bent connecting rod 405, a rocker arm 406, a stop part 407, and a rocker spring plate 408. The main mounting component 401 is fixed to the frame 5. At least two sets of buffer spring plates 404 are provided. One side of the buffer spring plate 404 is rotatably connected to the side of the main mounting component 401 away from the frame 5, and the other side of the buffer spring plate 404 is rotatably connected to the protective frame 403. The buffer spring plate 404 is arc-shaped. Vertically arranged bent connecting rods 405 are connected to both the upper and lower sides of the protective frame 403. The bent connecting rods 405 are connected to one side of the rocker arm 406, and the other side of the rocker arm 406 is fixed with a stop part 407. The secondary mounting component 402 has two sets, which are respectively fixed on the upper and lower sides of the frame 5; the two sides of the lifting spring 408 are rotatably connected to the secondary mounting component 402 and the lifting rod 406 respectively. The bending connecting rod 405 can support the lifting rod 406. The bending connecting rod 405 has elasticity. After being subjected to external force, the bending connecting rod 405 can bend and return to a vertical state after the external force is removed. The elasticity of the bending connecting rod 405 is less than that of the lifting spring 408. When the bending connecting rod 405 is not subjected to external force, there is a gap between the abutting part 407 and the docking frame 305 in both the horizontal and vertical directions. After the bending connecting rod 405 is bent by force, it causes the lifting rod 406 to lift, so that the abutting part 407 abuts against the docking frame 305. Specifically, the bending connecting rod 405 is an elastic metal rod. One side of the elastic metal rod is provided with a bending notch 409, so bending can occur at the bending notch 409.

[0039] A collision sensor can be installed on the protective frame 403. The collision sensor is connected to the controller. After the collision sensor detects a collision, it sends a collision signal to the controller, and the controller of the robot behind can then stop moving forward.

[0040] The specific implementation process is as follows: The control unit activates the corresponding baffle drive 103 based on the position of the cargo trough. The baffle drive 103 pushes the baffle 102 to move vertically, thereby opening the positioning slot 105. Simultaneously, the positioning drive 201 pushes the accumulator 203 to move towards the moving slot 104. The sliding positioning end 205 abuts against the inner wall of the moving slot 104 via the roller 206. After abutting, the positioning drive 201 continues to push the accumulator 203 to move, causing the elastic accumulator 207 to be compressed and store energy. The accumulator 203 slides outside the retraction rod 204, compressing the elastic accumulator 207 inside the accumulator 203, thus completing the energy storage operation. During the movement of the frame 5 via the walking mechanism, the sliding positioning end 205 will move synchronously inside the moving groove 104 on the limiting beam 101 via the roller 206. When the frame 5 approaches the designated cargo trough, the controller will drive the walking mechanism to decelerate and brake. When the sliding positioning end 205 moves to a positioning groove 105 that is opened at the entrance, the compressed elastic storage member 207 can directly push out the retracting rod 204, so that the sliding positioning end 205 enters the positioning groove 105 to complete the positioning operation.

[0041] When the positioning of the braking component on the traveling mechanism deviates, causing the inertial force of the frame 5 to continue moving forward, the positioning end 205 and the positioning groove 105 will cause the entire positioning unit 2, the sliding center block 302, and the buffer slide rod 303 to stop directly at the designated position. The forward-moving frame 5 will cause the buffer frame 301 to slide on the buffer slide rod 303. One side of the buffer frame 301 pushes the docking frame 305 through the elastic buffer member 304, and the other side pulls the docking frame 305 through the elastic buffer member 304, causing the docking frame 305 to rotate. The docking frame 305 drives the movable bar 3063 to rotate through the connecting rod 3064, thereby achieving buffering through the elastic buffer member 304 and the disc damper 3061.

[0042] The damping force of the disc damper 3061, combined with the weight of the frame 5 itself and the braking friction between the traveling mechanism and the traveling track, is greater than the elastic force of all the buffer units 3 that have a buffering effect (except for the disc damper 3061). After the buffer unit 3 and the damping mechanism 306 work together to achieve buffering, the overall swaying and shaking of the frame 5 is avoided.

[0043] The first displacement sensor and the second displacement sensor can detect the actual movement distance of the sliding center block 302 relative to the frame 5 and generate an offset signal. After receiving the offset signal, the control unit generates a control command based on the offset signal and sends it to the controller. The controller drives the walking mechanism to make fine adjustments to the position of the frame 5 until the offset signal indicates that the sliding center block 302 returns to the preset center position.

[0044] The above method replaces the traditional method of direct braking and positioning of the walking mechanism of the storage bin robot, which improves the positioning and buffering effect, effectively avoids the problems of positioning deviation and poor docking repeatability caused by the slippage of the walking wheel and the delay in braking response. At the same time, it avoids the risk of structural wear and positioning failure caused by the direct impact of braking inertia on the positioning unit 2, and significantly improves the operating efficiency and operational stability of the equipment.

[0045] During the buffering process of the buffer frame 301, the sliding center block 302, and the buffer slide bar 303, the contact surface between the resistance-increasing frame 310 and the outer wall of the buffer frame 301 has resistance, thereby improving the buffering effect of the buffer unit 3 and the damping mechanism 306. When the end of the buffer frame 301 moves closer to the resistance-increasing frame 310, the arc surface 309 gradually pushes the resistance-increasing frame 310 and the buffer slide bar 308 towards the shrinkage groove 312 through the cylinder 311. The buffer slider 313 compresses the shrinkage elastic element 314 inside the shrinkage groove 312. By using a planar structure with gradually increasing width at the top and bottom contact surfaces of the resistance-increasing frame 310 and the buffer frame 301, the contact area between the resistance-increasing frame 310 and the buffer frame 301 gradually increases as the resistance-increasing frame 310 moves toward the shrinkage groove 312. This gradually increases the resistance of the resistance-increasing frame 310, improving the buffering effect while allowing the buffering force to gradually increase from small to large, avoiding excessive initial force used for buffering that could still cause damage during the buffering process.

[0046] When two storage bin robots collide during operation, the protective frame 403 absorbs the impact, and the elastic deformation of the buffer spring 404 absorbs the impact force to protect the frame 5. The gap between the docking frame 305 and the contact part 407 prevents the contact part 407 from contacting the docking frame 305 during daily operation, thus avoiding interference with the buffer unit 3 and the damping mechanism 306 in producing a buffering effect.

[0047] When the protective frame 403 is subjected to excessive impact force, the elasticity of the lifting spring 408 is greater than that of the bending connecting rod 405. During the process of the protective frame 403 moving towards the frame body 5 and the buffer spring 404 absorbing the impact force and generating initial deformation, the lifting spring 408 will push the lifting rod 406 to bend from the bending connecting rod 405, causing the abutting part 407 to lift up and abut against the docking frame 305. Then, the lifting spring 408 and the buffer unit 3 and the damping mechanism 306 cooperate to achieve the buffering effect. Together with the buffer spring 404, they absorb the impact force, greatly improve the anti-collision buffering effect of the protective unit 4, effectively weaken the impact force on the frame body 5, internal components and the material box, and reduce the risk of equipment collision damage and the probability of material spillage.

[0048] After the collision force disappears, the protective unit 4 resets, the abutting part 407 disengages from the docking frame 305, and the disc damper 3061 is gradually pulled back to its original position by the restoring force of all the elastic elements in the buffer unit 3 that have undergone deformation.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A buffer positioning and protection device for a warehouse bin robot, characterized in that: It includes a control unit, a coordination unit (1), a positioning unit (2), a buffer unit (3), and a protection unit (4); the frame (5) of the storage bin robot is driven by the walking mechanism of the storage bin robot, and the controller of the storage bin robot is used to drive the walking mechanism to move; the control unit and the controller are connected; The cooperating unit (1) is used to cooperate with the positioning unit (2) for positioning. The cooperating unit (1) includes a limiting beam (101), a baffle (102), and a baffle drive (103). The baffle drive (103) is connected to the control unit. The limiting beam (101) is fixedly installed. A moving groove (104) is provided in the length direction of the limiting beam (101). The positioning unit (2) can move in the moving groove (104). A plurality of positioning grooves (105) are provided on the side of the limiting beam (101) away from the positioning unit (2). The plurality of positioning grooves (105) are arranged sequentially along the length direction of the limiting beam (101). The slot (105) is connected to the moving slot (104), and the positioning unit (2) can be inserted into the positioning slot (105); the position of the positioning slot (105) corresponds to the position of each cargo slot; the baffle drive (103) is installed on the limiting beam (101), the positioning slot (105) is vertically connected to a blocking slot, the baffle (102) is vertically slidably connected in the blocking slot, and the surface of the baffle (102) is flush with the surface of the moving slot (104); the driving end of the baffle drive (103) is connected to the baffle (102) and is used to drive the baffle (102) to move vertically, so as to open or close the positioning slot (105); The positioning unit (2) includes a positioning drive (201), a stabilizing sliding frame (202), a power storage cylinder (203), a retracting rod (204), and a sliding positioning end (205). The positioning drive (201) is connected to the control unit. The positioning drive (201) is fixed to the stabilizing sliding frame (202). The output end of the positioning drive (201) is connected to the power storage cylinder (203). The retracting rod (204) is slidably connected inside the power storage cylinder (203). One end of the retractable rod (204) is fixed to the bottom of the accumulator (203) with an elastic accumulator (207); the other end of the retractable rod (204) extends out of the accumulator (203) and is connected to the sliding positioning end (205); the sliding positioning end (205) can move in the moving groove (104) and abut against the inner wall of the moving groove (104); the sliding positioning end (205) can be inserted into the positioning groove (105), and the two cooperate to achieve positioning; The buffer unit (3) includes a buffer frame (301), a sliding center block (302), a buffer slide rod (303), an elastic buffer element (304), a docking frame (305), and a damping mechanism (306). The buffer frame (301) is fixed on the frame (5) of the storage bin robot, and the sliding center block (302) is fixed to the stable sliding frame (202). The buffer frame (301) has sliding holes (315) on both sides, and buffer slide rods (303) are slidably connected in the sliding holes (315) on both sides. The sides of the buffer slide rods (303) that are close to each other are fixed to the sliding center block (302). The length direction of the buffer slide rod (303) is consistent with the length direction of the moving groove (104). The frame (301) is also provided with a buffer groove (307), the length direction of which is consistent with the length direction of the moving groove (104). The sliding center block (302) is provided with a buffer strip (308), which is slidably connected in the buffer groove (307). The elastic buffer (304) and the docking frame (305) are provided in two sets respectively. The two sets of elastic buffers (304) are respectively provided on both sides of the buffer frame (301). One side of the elastic buffer (304) is fixed to the buffer frame (301), and the other side is connected to the docking frame (305). The docking frame (305) is used to transmit the force applied by the elastic buffer (304) to the damping mechanism (306) for buffering. The protective unit (4) is used to protect against collisions between two adjacent storage bin robots.

2. The buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The damping mechanism (306) includes a disc damper (3061), a connecting frame (3062), a movable bar (3063), and two connecting rods (3064). The disc damper (3061) and the connecting frame (3062) are both fixed on the frame (5). The center of the movable bar (3063) is rotatably connected to the connecting frame (3062). The center of the movable bar (3063) is fixed to the output end of the disc damper (3061). One side of each of the two connecting rods (3064) is rotatably connected to both sides of the movable bar (3063), and the other side of each of the two connecting rods (3064) is rotatably connected to two sets of docking frames (305).

3. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The buffer frame (301) has a concave arc-shaped surface (309) on the side near the sliding center block (302); the buffer slide (308) is fixed with a resistance-increasing frame (310) on the upper and lower sides respectively, the resistance-increasing frame (310) is a planar structure with gradually increasing width, and the side with the smallest width is close to the sliding center block (302); the two sets of resistance-increasing frames (310) are located on the upper and lower sides of the buffer frame (301) respectively and can slide on the surface of the buffer frame (301); the buffer slide (308) is provided with a concave arc-shaped surface (309) on the side near the sliding center block (302); 09) A cylindrical body (311) in contact with the sliding center block (302) is provided with a shrinkage groove (312) at its center. The opening of the shrinkage groove (312) faces the buffer slide bar (308). A buffer slider (313) is provided on the buffer slide bar (308). The buffer slider (313) is slidably connected in the shrinkage groove (312). A shrinkage elastic element (314) is fixed between the buffer slider (313) and the bottom of the shrinkage groove (312). The cylindrical body (311) can shrink into the shrinkage groove (312).

4. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The sliding positioning end (205) is provided with a roller (206), which can roll on the inner wall of the moving groove (104).

5. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The frame (5) is provided with a strip groove (2024), the length direction of the strip groove (2024) is consistent with the length direction of the moving groove (104); the stabilizing sliding frame (202) is slidably connected to the strip groove (2024).

6. A buffer positioning and protection device for a warehouse bin robot according to claim 5, characterized in that: The stable sliding frame (202) includes a first vertical plate (2021), a horizontal plate (2022), and a second vertical plate (2023). The first vertical plate (2021) and the second vertical plate (2023) are respectively vertically fixed on both sides of the horizontal plate (2022) and in opposite directions. The first vertical plate (2021) is fixed to the sliding center block (302), and the second vertical plate (2023) is fixed to the positioning drive component (201). The horizontal plate (2022) is slidably connected in the strip groove (2024), and the inner sides of the first vertical plate (2021) and the second vertical plate (2023) abut against the frame body (5).

7. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The sliding center block (302) is provided with a first displacement sensor, and the frame (5) is provided with a second displacement sensor. The first displacement sensor and the second displacement sensor are respectively connected to the control unit. The control unit generates an offset signal based on the displacement information sent by the first displacement sensor and the second displacement sensor, and converts the offset signal into a control command and sends it to the controller. The controller drives the walking mechanism to adjust the position of the frame (5) according to the control command.

8. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The docking frame (305) is an L-shaped plate. The vertical side of the L-shaped plate is connected to the elastic buffer (304), and the inflection point of the L-shaped plate is rotatably connected to the connecting rod (3064).

9. A buffer positioning and protection device for a warehouse bin robot according to claim 1, characterized in that: The protective unit (4) includes two sets of protective mechanisms, which are located on the front and rear sides of the frame (5) in the direction of travel, respectively. Each set of protective mechanisms includes a main mounting component (401), a secondary mounting component (402), a protective frame (403), a buffer spring plate (404), a bent connecting rod (405), a rocker arm (406), a mating part (407), and a rocker spring plate (408). The main mounting component (401) is fixed on the frame (5). At least two sets of buffer spring plates (404) are provided. One side of the buffer spring plate (404) is rotatably connected to the side of the main mounting component (401) away from the frame (5). The other side of the buffer spring plate (404) is rotatably connected to the protective frame (403). The buffer spring plate (404) is arc-shaped. The upper and lower sides of the protective frame (403) are connected to vertically arranged bent connecting rods (405). The bent connecting rods (405) and the rocker arm (406) are connected to each other. One side of the rocker arm (406) is connected to the other side of the rocker arm (406), and the other side of the rocker arm (406) is fixed with a mating part (407); the secondary mounting component (402) is provided with two sets and is fixed on the upper and lower sides of the frame (5) respectively; the two sides of the rocker arm (408) are rotatably connected to the secondary mounting component (402) and the rocker arm (406) respectively; the bent connecting rod (405) can support the rocker arm (406), the bent connecting rod (405) has elasticity, and the bent connecting rod (405) It can bend under external force and return to a vertical state after the external force disappears; the elastic force of the bending connecting rod (405) is less than the elastic force of the lifting spring (408); when the bending connecting rod (405) is not subjected to external force, there is a gap between the abutting part (407) and the docking frame (305) in both the horizontal and vertical directions; after the bending connecting rod (405) is bent under force, it causes the lifting rod (406) to lift up, so that the abutting part (407) abuts against the docking frame (305).

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