Material box storage mechanism and transfer robot

Abstract

The utility model is suitable for the technical field of storage, and provides a workbin storage mechanism and a transfer robot. The workbin storage mechanism comprises a storage rack, a limiting piece and a driving assembly, wherein the storage rack is provided with a storage space for containing a workbin and a carrying opening at least allowing the workbin to enter the storage space. The limiting piece is used for abutting against the stacking material box so as to limit the storage position of the stacking material box. The driving assembly is connected to the storage frame and connected with the limiting piece, and the driving assembly is at least used for driving the limiting piece to be separated from the stacking material box so as to relieve limitation of the limiting piece on the stacking material box. Through the arrangement, after the driving assembly drives the limiting piece to be separated from the stacking material box, the material box can be fed into the storage space to execute the stacking action. In the moving process of the carrying robot, the limiting piece abuts against the stacking material box so as to limit the moving freedom degree of the stacking material box, and the probability that the stacking material box topples over is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of warehousing, and in particular relates to a material box storage mechanism and a handling robot. Background Art

[0002] With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence level of terminal logistics is also constantly improving. Intelligent logistics terminals are the development trend of terminal logistics. Handling robots are one of the main equipment that can realize intelligent logistics terminals and perform automated handling operations. Handling robots can reduce the heavy physical labor of humans and improve the efficiency of cargo handling. The handling robots in related technologies temporarily store goods through storage mechanisms to reduce the frequency of frequent round trips of the handling robots to pick up and put away goods. However, during the movement of the handling robots (such as turning and / or going up and downhill), the material boxes in the storage space are prone to tipping over, affecting the stability of the handling robots in handling goods. Utility Model Content

[0003] In view of this, the utility model provides a material box storage mechanism and a handling robot to solve the technical problem of how to improve the handling stability of the handling robot.

[0004] To solve the above problems, the technical solution provided by the embodiment of the present utility model is implemented as follows:

[0005] A material box storage mechanism comprises: a storage rack having a storage space for accommodating a material box and at least a transport opening for the material box to enter the storage space; a limiting member used to abut against a stacking material box to limit the storage position of the stacking material box; a driving assembly connected to the storage rack and to the limiting member, the driving assembly being used to at least drive the limiting member to separate from the stacking material box to release the limitation of the stacking material box by the limiting member.

[0006] In some embodiments, the limiting member is movably arranged in the storage space and connected to the top of the storage rack, and the limiting member has a limiting state and a retracted state; wherein, in the limiting state, the limiting member automatically descends and covers the corresponding stacking box; in the retracted state, the driving assembly drives the limiting member to rise and separate from the stacking box.

[0007] In some embodiments, the driving assembly includes: a driving member installed on the storage rack; a roller connected to the driving member; a traction member wound on the roller; one end of the traction member in the extension direction is connected to the roller, and the other end is connected to the limiting member; wherein, when the limiting member descends, the limiting member drives the roller to unwind through the traction member, so as to drive the driving member to rotate.

[0008] In some embodiments, the storage rack includes a first column group and a second column group that are spaced apart and extend in a vertical direction, the first column group includes two first columns that are opposite and spaced apart, the second column group includes two second columns that are opposite and spaced apart, and the storage space is formed between the two first columns and the two second columns; wherein the carrying port is formed between the two second columns.

[0009] In some embodiments, the material box storage mechanism also includes a guide member having one end connected to the limiting member, and the other end of the guide member is slidably connected to a third column of the storage rack, and the third column is arranged adjacent to the first column and / or the second column.

[0010] In some embodiments, the guide members are respectively connected to the opposite sides of the limit member, and the two guide members are respectively slidably connected to the two opposite third columns, and the two opposite and spaced third columns are arranged as a third column group, and the third column group is located between the first column group and the second column group.

[0011] In some embodiments, the guide member includes: a connecting plate connected to the limiting member; a first roller rollingly connected to the first side surface of the third column; a second roller rollingly connected to the second side surface of the third column; and a third roller rollingly connected to the third side surface of the third column; wherein the first roller, the second roller and the third roller are all mounted on the connecting plate, the cross-section of the third column in the vertical length direction is a rectangle, the first side surface is a side facing the inside of the carrying port, and the second side surface and the third side surface are two sides connected to the first side surface.

[0012] In some embodiments, the limiting member includes: a top plate, used to abut against the top surface of the stacking box; side plates, at least arranged on opposite sides of the top plate and arranged opposite to the transport port; the side plates extend in the direction in which the top plate descends; wherein the traction member is connected to the top plate and / or the side plates.

[0013] An embodiment of the utility model also provides a handling robot, comprising the above-mentioned material box storage mechanism, the handling robot also comprising: a mobile chassis, having a stacking area for placing material boxes, the material box storage mechanism being located in the stacking area, the storage rack being at least partially fixed to the mobile chassis; a lifting assembly, at least partially disposed on the storage rack; a fork assembly, connected to the lifting assembly, the lifting assembly being used to drive the fork assembly to move in a vertical direction relative to the storage rack; wherein the stacking area is located on one side of the lifting assembly, the fork assembly is located on the other side of the lifting assembly, and is used to lift the material boxes through the handling port to the stacking area for stacking.

[0014] In some embodiments, the mobile chassis is provided with a positioning structure located in the stacking area and used to define the position of the stacking box, and at least one of the positioning structures is opposite to the transport port and abuts against a side of the stacking box away from the fork assembly.

[0015] The embodiment of the utility model provides a material box storage mechanism and a handling robot, wherein the material box storage mechanism includes a storage rack, a limiter and a drive assembly. The storage rack has a storage space for accommodating material boxes and at least a handling port for the material boxes to enter the storage space. The material boxes are stacked in the storage space to form a stacking material box. The limiter is used to abut against the stacking material box to limit the storage position of the stacking material box. The drive assembly is connected to the storage rack and to the limiter. The drive assembly is at least used to drive the limiter to separate from the stacking material box to release the limitation of the stacking material box by the limiter. In this way, when the handling robot feeds the material box stack into the storage space, the drive assembly drives the limiter to separate from the stacking material box, which does not affect the stacking action of the handling robot in the storage space. During the movement of the handling robot, the limiter abuts against the stacking material box to limit the freedom of movement of the stacking material box, reduce the possibility of the stacking material box tipping over, and improve the handling stability of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional schematic diagram of a transport robot provided by an embodiment of the utility model;

[0017] Figure 2 A schematic diagram of the structure of the material box storage mechanism provided by the embodiment of the utility model in a retracted state;

[0018] Figure 3 A schematic diagram of the structure of the material box storage mechanism provided by the embodiment of the utility model in the limited position state;

[0019] Figure 4 A schematic diagram of the structure of the material box storage mechanism provided by the embodiment of the utility model omitting the storage rack;

[0020] Figure 5 A schematic diagram of the assembly of the guide member and the third column provided in an embodiment of the utility model;

[0021] Figure 6 This is a schematic diagram of an exploded view of a fork assembly provided in an embodiment of the utility model.

[0022] Description of reference numerals:

[0023] 10. Material box storage mechanism; 1. Storage rack; 11. Storage space; 12. Handling port; 13. First column group; 131. First column; 14. Second column group; 141. Second column; 15. Third column group; 151. Third column; 1511. First side surface; 1512. Second side surface; 1513. Third side surface; 2. Stopper; 21. Top plate; 22. Side plate; 23. Clamp; 3. Driving assembly; 31. Driving member; 32. Roller Cylinder; 33, traction member; 4, guide member; 41, connecting plate; 42, first roller; 43, second roller; 44, third roller; 20, mobile chassis; 201, stacking area; 202, positioning structure; 30, fork assembly; 301, rotating mechanism; 302, transport fork; 40, lifting assembly; 401, driving structure; 402, transmission structure; 421, active synchronous wheel; 422, driven synchronous wheel; 423, synchronous belt; 424, slider. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0025] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in the utility model will not be described separately.

[0026] In the following description, the terms "first, second, etc." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the corresponding schematic diagrams, which may or may not be the left and right directions in normal use.

[0027] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0028] It should be noted that the goods in the embodiments of the utility model can be contained in boxes. For the sake of simplicity, the goods are represented by boxes. The boxes are not limited to parameters such as shape and size. All boxes in the warehouse can be one or more standard parts. Of course, in other embodiments, the stored goods may not be contained in boxes, but may be directly represented by the goods themselves or in other forms.

[0029] The utility model embodiment provides a material box storage mechanism 10, referring to Figure 1 The material box storage mechanism 10 is installed in the handling robot. Figure 2 and Figure 3 The material box storage mechanism 10 includes a storage rack 1, a stopper 2 and a drive assembly 3. The storage rack 1 has a storage space 11 for accommodating material boxes and at least a handling port 12 for the material boxes to enter the storage space 11. That is to say, the handling port 12 is at least the entrance for the material boxes to enter the storage space 11. The material boxes can be sent out of the storage space 11 through the handling port 12, and the material boxes can also be sent out of the storage space 11 through another exit opposite to the handling port 12. It should be noted that the storage space 11 and the handling port 12 are both virtual spaces, wherein the storage space 11 represents a blank area where no shelves or cabinets are set, so that multiple material boxes are stacked in the vertical direction to form a row of material boxes. The stacking of material boxes means that the stacking between the material boxes does not need to be supported by shelves or cabinets, and the surfaces of the adjacent material boxes in the same row of material boxes in the vertical direction are at least partially in contact with each other. For simplicity, the material boxes located in the storage space 11 can be understood as stacking material boxes, which include one or more material boxes. It is understandable that the floor of a warehouse is generally a horizontal plane, so the horizontal direction is the direction parallel to the horizontal plane, and the vertical direction is the direction perpendicular to the horizontal plane; of course, the floor of the warehouse may have bumps or slopes in some areas, that is, the horizontal plane is not required to be absolutely horizontal, so the corresponding horizontal direction is not required to be absolutely horizontal, and the vertical direction is not required to be absolutely vertical. It is allowed to have ground level errors, ground bumps and ground slopes, as long as it is roughly horizontal and vertical under normal use.

[0030] It should be noted that the present invention does not limit the stacking form of the material boxes in the storage space 11. For example, in two adjacent material boxes, the bottom surface of the upper material box is in plane contact with the top surface of the lower material box; in some possible implementation schemes, the two adjacent material boxes can also be nested, such as each material box has a limit groove on the top, and the upper material box is placed in the limit groove of the lower material box. This arrangement reduces the total height of the entire row of stacked material boxes, facilitates the storage of a large number of material boxes in the storage space 11, and increases the storage capacity of the material box storage mechanism 10; at the same time, because the two adjacent material boxes are nested and mutually blocked, it is conducive to the stable placement of the stacked material boxes in the storage space 11.

[0031] Reference Figure 1 The limiting member 2 is used to abut against the stacking box to limit the storage position of the stacking box, so that the stacking box is stably placed in the storage space 11, thereby reducing the possibility of the stacking box tipping over during the movement of the handling robot. Figure 2 and Figure 3 The driving assembly 3 is connected to the storage rack 1 and is connected to the limiting member 2. The driving assembly 3 is at least used to drive the limiting member 2 to separate from the stacking material box to release the limitation of the limiting member 2 on the stacking material box. When the handling robot delivers the stacking material box into the storage space 11, the limiting member 2 separates from the stacking material box (such as Figure 2 As shown), the limiter 2 does not affect the stacking action of the handling robot; during the movement of the handling robot, the limiter 2 abuts against the stacking box (as shown in FIG. Figure 3 As shown in the figure, the stacking boxes are limited in their freedom of movement and the possibility of tipping over is reduced, so that a large number of boxes can be stably stored in the storage space 11, the storage capacity in the storage space 11 is increased, and the stability of the handling robot is also increased. In addition, because the limiter 2 has a relative position change, it can abut against stacking boxes with different heights; when the box storage mechanism 10 stores boxes of different sizes, it only needs to replace or adjust the limiter 2 accordingly, without adjusting the size of the storage rack 1, so that the box storage mechanism 10 can flexibly store boxes of different sizes.

[0032] Specifically, the driving assembly 3 can drive the limiting member 2 to abut against and separate from the stacking material box. For example, the driving assembly 3 can be set at the bottom of the storage rack 1, and the limiting member 2 can be set as a panel surrounding the stacking material box. The driving assembly 3 drives the limiting member 2 to reciprocate in the vertical direction. When the limiting member 2 moves from bottom to top, the side of the stacking material box of the limiting member 2 abuts against the stacking material box and gradually rises, so that the stacking material boxes with different heights can be limited; when the limiting member 2 moves from top to bottom, the limiting member 2 gradually separates from the stacking material box. The driving assembly 3 may also only drive the limit member 2 to separate from the stacking box. For example, the driving assembly 3 may also be arranged on the side of the storage rack 1. When the limit member 2 is separated from the stacking box, it extends in the vertical direction and abuts against the storage rack 1 through a spring. The spring's rebound force drives the limit member 2 to swing from top to bottom so that the limit member 2 abuts against the stacking box. Then, the driving assembly 3 drives the limit member 2 to swing from bottom to top and return to a vertically extended state to separate from the stacking box. It should be noted that the embodiment of the utility model does not limit the form in which the driving assembly 3 drives the limit member 2, nor does it limit the movement mode of the limit member 2, as long as the limit member 2 can abut against the stacking box to limit the position of the stacking box, and the driving assembly 3 can drive the limit member 2 to separate from the stacking box.

[0033] The embodiment of the utility model provides a material box storage mechanism 10, which includes a storage rack 1, a limiter 2 and a drive assembly 3. The storage rack 1 has a storage space 11 for accommodating material boxes and at least a transport port 12 for the material boxes to enter the storage space 11. The material boxes are stacked in the storage space 11 to form stacking material boxes. The limiter 2 is used to abut against the stacking material box to limit the storage position of the stacking material box. The drive assembly 3 is connected to the storage rack 1 and to the limiter 2. The drive assembly 3 is at least used to drive the limiter 2 to separate from the stacking material box to release the limit of the stacking material box by the limiter 2. In this way, when the handling robot delivers the material box stack into the storage space 11, the drive assembly 3 drives the limiter 2 to separate from the stacking material box, which does not affect the stacking action of the handling robot in the storage space 11. During the movement of the transport robot, the limiter 2 abuts against the stacking box to limit the freedom of movement of the stacking box, reduce the possibility of the stacking box tipping over, improve the stability of the transport robot's handling, and also allow a larger number of boxes to be stably stored in the storage space 11, thereby increasing the storage capacity in the storage space 11.

[0034] In some embodiments, reference Figure 2 and Figure 3 The limiting member 2 is movably arranged in the storage space 11 and connected to the top of the storage rack 1. That is, the limiting member 2 is lifted and lowered in the vertical direction to switch between the limiting state and the retracted state. According to the height of the stacking box, the driving assembly 3 adaptively changes the relative position of the limiting member 2 in the vertical direction, so that the limiting member 2 can abut against the stacking boxes with different heights. Figure 2 As shown), the driving assembly 3 drives the limit member 2 to rise and separate from the stacking box, that is to say, the limit member 2 moves from top to bottom when switching from the retracted state to the limited state. In some other embodiments, the limit member moves from bottom to top until it abuts the stacking box. It can be understood that in order to reduce the frequency of the transport robot going back and forth to place the boxes as much as possible, a large number of boxes need to be stored in the storage space. The height of the stacking box is relatively high, and the travel of the limit member from bottom to top to the topmost box is relatively long, making it difficult to abut the stacking box in time when the transport robot starts. The limit member 2 in the embodiment of the utility model of the present application moves from top to bottom until it abuts the stacking box, and the travel of the limit member 2 to the topmost box is relatively short, which facilitates the limit member 2 to quickly switch to the limited state to achieve the limitation of the stacking box, reducing the possibility of the stacking box tipping over due to the failure of the limit member 2 to abut the stacking box in time when the transport robot switches from the standby state to the moving state.

[0035] like Figure 3As shown, in the limited state, the limiter 2 automatically descends and covers the corresponding stacking box. That is to say, when the limiter 2 switches from the retracted state to the limited state, the drive assembly 3 does not provide a power source, and the limiter 2 automatically descends by gravity, saving the energy consumption of the drive assembly 3. And because the limiter 2 is not subject to the braking torque of the drive assembly 3 during the descent process, the descent speed of the limiter 2 is relatively fast, which makes it easy for the limiter 2 to quickly abut against the stacking box and block the stacking box, so that the handling robot can quickly switch from the standby state to the mobile state, thereby quickly transporting the box to the designated position, thereby improving the operation efficiency of the handling robot.

[0036] In some embodiments, reference Figure 3 and Figure 4 The driving assembly 3 includes a driving member 31, a roller 32 and a traction member 33. The driving member 31 is installed on the storage rack 1, the roller 32 is connected to the driving member 31, and the traction member 33 is wound on the roller 32; one end of the traction member 33 in the extension direction is connected to the roller 32, and the other end is connected to the limit member 2. It can be understood that the extension direction of the traction member 33 represents the length direction of the traction member 33, that is, the direction of the maximum size of the traction member 33 in the three-dimensional coordinate system. In the schematic diagram of the present application, the extension direction of the traction member 33 is the up and down direction, that is, the upper end of the traction member 33 is wound on the roller 32, and the lower end of the traction member 33 is connected to the limit member 2. When the limit member 2 descends, the limit member 2 drives the roller 32 to unwind through the traction member 33 to drive the driving member 31 to rotate. That is to say, during the descent of the stopper 2, the driving member 31 does not provide driving force and does not provide braking torque to the roller 32. The driving member 31 does not need to be connected to tension control elements such as magnetic powder brakes and magnetic powder clutches, which simplifies the structure of the driving member 31 and saves tension control elements in the driving assembly 3. This arrangement makes it unnecessary for the traction member 33 to maintain a constant tension during the descent of the stopper 2. The entire descent process of the stopper 2 is not subject to braking torque, and the descent speed is fast, which facilitates the handling robot to quickly switch from the standby state to the mobile state, and realizes the rapid response of the handling robot and high operating efficiency.

[0037] In some embodiments, reference Figure 1 and Figure 2The storage rack 1 includes a first column group 13 and a second column group 14 which are arranged at intervals and extend in the vertical direction. The first column group 13 includes two first columns 131 which are arranged oppositely and at intervals, and the second column group 14 includes two second columns 141 which are arranged oppositely and at intervals, that is, the two first columns 131 and the two second columns 141 are symmetrically arranged on both sides of the stopper 2. The transport port 12 is formed between the two second columns 141, that is, the material box enters the storage space 11 along the direction from the first column 131 to the second column 141. The storage space 11 is formed between the two first columns 131 and the two second columns 141, that is, the first column 131 and the second column 141 enclose the outer side of the storage space 11. This arrangement makes the storage rack 1 a frame structure, saving materials for making the storage rack 1. The first column group 13 and the second column group 14 work together to enclose a prism-like space. The four columns respectively block the material boxes at a corner of the space to further block the stacked material boxes from tipping over at the periphery of the limit member 2, thereby further reducing the possibility of the stacked material boxes tipping over.

[0038] In some embodiments, reference Figure 3 The material box storage mechanism 10 further includes a guide member 4 having one end (left end) connected to the stopper 2, and the other end (right end) of the guide member 4 is slidably connected to the third column 151 of the storage rack 1. The third column 151 is arranged adjacent to the first column 131 and / or the second column 141, that is, the third column 151 can be arranged on the side of the first column 131 away from the second column 141 (the front side of the first column 131), the third column 151 can be arranged on the side of the second column 141 away from the first column 131 (the rear side of the second column 141), or the third column 151 can be arranged between the first column 131 and the second column 141. The guide member 4 is slidably connected to the third column 151 to reduce the possibility of the stopper 2 being displaced forward and backward during the lifting process, so that the stopper 2 slides linearly in the vertical direction, so that the stopper 2 can accurately abut the corresponding position on the stacking material box to stably block the stacking material box.

[0039] In some embodiments, reference Figure 3 The two opposite sides of the limiter 2 are respectively connected with guide members 4, and the two guide members 4 are respectively slidably connected with two opposite third columns 151. Figure 3The position of the limiter 2 is symmetrically limited in the left and right directions as shown, and the left and right ends of the limiter 2 are evenly supported by the guide member 4, which reduces the possibility of the limiter 2 tilting up and down during the sliding process and improves the stability of the limiter 2 sliding in a straight line in the vertical direction. Two opposite and spaced third columns 151 form a third column group 15, wherein the third column group 15 is located between the first column group 13 and the second column group 14, that is, the support torque of the guide member 4 for the limiter 2 is located between the first column group 13 and the second column group 14. As can be seen from the above, the material box is sent into the storage space 11 along the direction from the first column group 13 to the second column group 14, so one end (front end) of the limiter 2 is between the two first columns 131, and the other end (rear end) of the limiter 2 is between the two second columns 141, so the opposite ends of the stacking material box in the feeding direction (front and rear direction) are respectively between the first column 131 and the second column 141. That is to say, the position where the stacking box applies torque to one end (front end) of the limit member 2 is between the two first columns 131, and the position where the stacking box applies torque to the other end (rear end) of the limit member 2 is between the two second columns 141. The guide member 4 limits the limit member 2 between the first column group 13 and the second column group 14, so that the distance from the support point of the limit member 2 to the first column 131 and the second column 141 is relatively small, that is, the distance from the support position of the limit member 2 supported by the guide member 4 to both ends is relatively small, thereby reducing the torque arm of the stacking box on the limit member 2, reducing the possibility of the limit member 2 flipping upward and / or downward in the front-to-back direction, thereby reducing the possibility of the stacking box detaching from one end (and / or the other end) of the limit member 2, and the limit member 2 stabilizes the stacking box and improves the handling stability of the handling robot.

[0040] In some embodiments, reference Figure 4 and Figure 5 The guide member 4 includes a connecting plate 41, a first roller 42, a second roller 43 and a third roller 44. The connecting plate 41 is connected to the stopper 2, and the first roller 42, the second roller 43 and the third roller 44 are all mounted on the connecting plate 41. The first roller 42 is rollingly connected to the first side surface 1511 of the third column 151, the second roller 43 is rollingly connected to the second side surface 1512 of the third column 151, and the third roller 44 is rollingly connected to the third side surface 1513 of the third column 151. In addition, compared with sliding friction, the contact area of ​​rolling friction is smaller, which facilitates the smooth sliding of the stopper 2 relative to the third column 151.

[0041] Specifically, refer to Figure 3 and Figure 5, the cross section of the third column 151 in the vertical length direction (the up-down direction shown in the schematic diagram) is a rectangle, that is, the third column 151 has four sides. Among them, the first side 1511 is a side facing the inside of the carrying port 12, that is, the first side is the inner side of the third column 151, and the second side 1512 and the third side 1513 are two sides connected to the first side 1511. In the schematic diagram of the present application, the first side 1511 is the inner side of the third column 151 in the left-right direction, and the second side 1512 and the third side 1513 are the opposite sides of the third column 151 in the front-back direction. The two opposite first rollers 42 abut the first side 1511 to limit the freedom of the limiter 2 to move in the left-right direction; the second roller 43 abuts the second side 1512, and the third roller 44 abuts the third side 1513 to limit the freedom of the limiter 2 to move in the front-back direction. Each roller limits the position of the limit member 2 in multiple degrees of freedom, so that the limit member 2 can slide in a straight line in the vertical direction; and each roller provides a supporting torque to the limit member 2 in multiple degrees of freedom, thereby improving the bearing capacity of the limit member 2, reducing the possibility of the limit member 2 being bent and twisted due to the large tipping force of the stacking box, improving the structural strength of the limit member 2, and enhancing the blocking ability of the limit member 2 to the stacking box.

[0042] In some possible implementation schemes, a plurality of the first roller 42, the second roller 43 and the third roller 44 can be provided so that the guide member 4 abuts against the third column 151 at multiple positions, thereby increasing the supporting force arm of the guide member 4 on the limit member 2, and further increasing the supporting torque of the guide member 4 on the limit member 2, so as to further improve the bearing capacity of the limit member 2.

[0043] In some embodiments, reference Figure 3 and Figure 4 The limiting member 2 includes a top plate 21 and a side plate 22. The top plate 21 is used to abut against the top surface of the stacking box. It can be understood that the aforementioned "top surface of the stacking box" refers to the top surface of the box located at the top layer in the stacking box. The side plates 22 extend in the direction in which the top plate 21 descends, that is, the side plates 22 protrude from the lower end of the top plate 21. The side plates 22 are at least arranged on both sides of the top plate 21 and are arranged opposite to the transport port 12, that is, the side plates 22 are at least parallel and spaced apart from the transport port 12. In the embodiment shown in the schematic diagram of the present application, at least two side plates 22 are arranged in the front-to-back direction to at least abut against the two ends of the stacking box in the front-to-back direction.

[0044] In some possible implementations, the side panels 22 protrude from the four sides of the top panel 21, and the space formed by the four side panels 22 can at least conveniently accommodate the material box, so that the four side panels 22 respectively abut against the four sides of the stacking material box to block the stacking material box in the four directions of front, back, left, and right. The stacking material box is limited in the four directions of front, back, left, and right, and has high stability and is not easy to tip over.

[0045] Reference Figure 4 The traction member 33 is connected to the top plate 21 and / or the side plate 22. The traction member 33 can be connected to the top plate 21, the side plate 22, or the top plate 21 and the side plate 22. In the embodiment shown in the schematic diagram of the present application, the traction member 33 is connected to the top plate 21. The limiter 2 also includes a clamping plate 23 located above the top plate 21. The lower end of the traction member 33 is clamped between the clamping plate 23 and the top plate 21, so that the limiter 2 can be separated from the traction member 33, so as to facilitate the replacement of limiters 2 of different sizes for bins of different sizes.

[0046] The utility model also provides a transport robot, referring to Figure 1 The handling robot includes the above-mentioned material box storage mechanism 10. The handling robot also includes a mobile chassis 20, a lifting assembly 40 and a fork assembly 30. The mobile chassis 20 is provided with rollers on the side close to the ground, and the mobile chassis 20 can be driven to move on the warehouse floor by driving the rollers, so that the handling robot drives the target material box to move in the horizontal direction. After responding to the storage instruction or the outbound instruction of the target material box, the rollers of the mobile chassis 20 can be driven to move, so that the handling robot moves to a position close to the target material box or near the position where the target material box is to be stored according to the position information in the instruction.

[0047] Reference Figure 1 The mobile chassis 20 has a stacking area 201 for placing material boxes, the material box storage mechanism 10 is located in the stacking area 201, and the storage rack 1 is at least partially fixed to the mobile chassis 20. For example, the first column group 13, the second column group 14 and the third column group 15 are all fixed to the mobile chassis 20, or any one or two of the first column group 13, the second column group 14 and the third column group 15 are fixed to the mobile chassis 20. In the embodiment shown in the schematic diagram of the present application, refer to Figure 1 The first column group 13 and the second column group 14 are fixed to the mobile chassis 20, and the third column group 15 is fixed to the first column group 13 and the second column group 14. It can be understood that the stacking area 201 represents a virtual space. Specifically, the stacking area 201 represents a side of the mobile chassis 20 that can support the bottom surface of the stacking box. Figure 1 In the figure, the top surface of the mobile chassis 20 at the front side is the stacking area 201.

[0048] Reference Figure 1 and Figure 2 The lifting assembly 40 includes a driving structure 401 and a transmission structure 402. The driving structure 401 and the transmission structure 402 may be both installed on the storage rack 1, or the driving structure 401 may be installed in the mobile chassis 20 and the transmission structure 402 may be installed on the storage rack 1, so that the lifting assembly 40 is partially arranged on the storage rack 1. Figure 1 The stacking area 201 is located on one side of the lifting assembly 40, and the fork assembly 30 is located on the other side of the lifting assembly 40 and is used to lift the material box to the stacking area 201 for stacking through the transfer port 12. In other words, the lifting assembly 40 is located between the stacking area 201 and the fork assembly 30, that is, the lifting assembly 40 is installed on the second column group 14.

[0049] Specifically, refer to Figure 2 The driving structure 401 of the lifting assembly 40 is located at the top of the first column group 13 and is arranged adjacent to the driving assembly 3 of the material box storage mechanism 10. The transmission structure 402 of the lifting assembly 40 is arranged from the top of the second column group 14 to the bottom of the second column group 14. This arrangement makes the circuit layout position of the lifting assembly 40 adjacent to the circuit layout position of the material box storage mechanism 10, which is convenient for realizing the circuit layout of the two components in an integrated manner, and also makes the circuits in the lifting assembly 40 and the circuits in the material box storage mechanism 10 concentrated on the top of the storage rack 1. The two share the same position for wiring and circuit connection. The structure is compact and does not need to occupy additional space, so that the space utilization rate of the handling robot is high, and it is convenient to reduce the height and volume of the handling robot.

[0050] Reference Figure 1 , the fork assembly 30 is connected to the transmission structure 402 of the lifting assembly 40, and the lifting assembly 40 is used to drive the fork assembly 30 to move in the vertical direction relative to the storage rack 1. The transmission structure 402 in the lifting assembly 40 includes but is not limited to roller wire ropes, synchronous wheel synchronous belts 423, sprocket chains and other structures. The present application does not limit the specific structure of the lifting assembly 40, as long as the lifting assembly 40 can make the fork assembly 30 rise and fall relative to the storage rack 1. Specifically, in the implementation shown in the schematic diagram of the present application, refer to Figure 2 The driving structure 401 in the lifting assembly 40 is a servo motor, and the transmission structure 402 includes an active synchronous wheel 421, a driven synchronous wheel 422, a synchronous belt 423, and a slider 424 connected to the synchronous belt 423. The fork assembly 30 is fixed on the slider 424 (such as Figure 1 As shown in FIG. 4 , after the driving structure 401 is driven, the active synchronous wheel 421 and the driven synchronous wheel 422 drive the synchronous belt 423 to rotate, and the slider 424 drives the fork assembly 30 to rise and fall in the vertical direction.

[0051] From the above, we can see that Figure 1The limiting member 2 in the material box storage mechanism 10 improved by the embodiment of the utility model can abut against the stacking material box to limit the position of the stacking material box, reducing the possibility of the stacking material box tipping over during the movement of the mobile chassis 20; and because the stacking material box is limited by the limiting member 2, the stability is relatively high, and the fork assembly 30 can stack a large number of material boxes in the stacking area 201 to increase the storage capacity in the stacking area 201, thereby reducing the frequency of the mobile chassis 20 frequently going back and forth to place the stacking material box. In addition, because the limiting member 2 can automatically descend and cover the stacking material box, the stacking material box can be limited more quickly, which is convenient for the handling robot to quickly respond and execute the moving command to transport the stacking material box to the specified position, thereby improving the operation efficiency of the handling robot.

[0052] In some possible implementations, reference Figure 6 The fork assembly 30 includes a rotating mechanism 301 connected to the lifting assembly 40 and a transport fork 302 rotatably connected to the rotating mechanism 301, so that the transport fork 302 can be rotated to any direction in the horizontal direction (front, back, left, and right) to pick up and place the material box, so that the transport robot can be used in a variety of scenarios. After the mobile chassis 20 transports the stacked material box to the specified location, the material box in the stacking area 201 can be taken out by the fork assembly 30, and the taken out material box can be placed at the specified location, which improves the operational flexibility of the transport robot and fully utilizes the function of the transport robot.

[0053] In some embodiments, reference Figure 1 The mobile chassis 20 is provided with a positioning structure 202 located in the stacking area 201 and used to limit the position of the stacking box. The positioning structure 202 can be a rib protruding from the mobile chassis 20, or a groove formed on the mobile chassis 20. The utility model does not limit the specific type of the positioning structure 202, as long as the positioning structure 202 can achieve the position limitation of the stacking box. In the embodiment shown in the schematic diagram of the present application, the positioning structure 202 is a rib protruding from the top surface of the mobile chassis 20, and the positioning structure 202 is provided with four and abuts against the four sides of the stacking box. In this way, the positioning structure 202 abuts against the bottom of the stacking box, the limiting member 2 abuts against the top of the stacking box, and the positioning structure 202 cooperates with the limiting member 2 and abuts against the opposite ends of the stacking box in the vertical direction, so that the upper and lower ends of the stacking box are supported, further reducing the possibility of the stacking box tipping over.

[0054] In some embodiments, at least one positioning structure 202 is opposite to the transport port 12 and abuts against a side of the stacking box away from the fork assembly 30, that is, at least one positioning structure 202 can be positioned in the direction of the fork assembly 30. Figure 1One end of the stacking box (in the front-to-back direction as shown) can be pressed against the stacking box. On the one hand, the fork assembly 30 can accurately deliver the box into the storage space 11. On the other hand, the positioning structure 202 can be pressed against one end (front end) of the stacking box, and the fork assembly 30 can be pressed against the other end (right end) of the stacking box. The opposite ends of the stacking box are limited between the positioning structure 202 and the fork assembly 30, and the stability is relatively high.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A material box storage mechanism, characterized in that: include: A storage rack having a storage space for accommodating a material box and a carrying port for at least the material box to enter the storage space; A limiting member, used for abutting against the stacking box to limit the storage position of the stacking box; A driving assembly is connected to the storage rack and to the limiting member, and the driving assembly is at least used to drive the limiting member to separate from the stacking box to release the limitation of the stacking box by the limiting member.

2. The material box storage mechanism according to claim 1, characterized in that: The limiting member is movably arranged in the storage space and connected to the top of the storage rack, and the limiting member has a limiting state and a retracted state; wherein, in the limiting state, the limiting member automatically descends and covers the corresponding stacking box; in the retracted state, the driving assembly drives the limiting member to rise and separate from the stacking box.

3. The material box storage mechanism according to claim 2, characterized in that: The drive assembly comprises: A driving member, mounted on the storage rack; A roller connected to the driving member; A traction member, wound on the roller; one end of the traction member in the extension direction is connected to the roller, and the other end is connected to the limiting member; Wherein, when the limiting member descends, the limiting member drives the roller to unwind through the traction member, so as to drive the driving member to rotate.

4. The material box storage mechanism according to claim 3, characterized in that: The storage rack includes a first column group and a second column group that are spaced apart and extend in a vertical direction, the first column group includes two first columns that are opposite and spaced apart, the second column group includes two second columns that are opposite and spaced apart, the storage space is formed between the two first columns and the two second columns; wherein the carrying port is formed between the two second columns.

5. The material box storage mechanism according to claim 4, characterized in that: The material box storage mechanism also includes a guide member having one end connected to the limit member, and the other end of the guide member is slidably connected to the third column of the storage rack, and the third column is arranged adjacent to the first column and / or the second column.

6. The material box storage mechanism according to claim 5, characterized in that: The guide members are connected to opposite sides of the limit member respectively, and the two guide members are slidably connected to two opposite third columns respectively. The two opposite and spaced third columns are arranged as a third column group, and the third column group is located between the first column group and the second column group.

7. The material box storage mechanism according to claim 6, characterized in that: The guide member comprises: A connecting plate connected to the limiting member; A first roller, rollingly connected to the first side surface of the third column; A second roller is rollingly connected to the second side surface of the third column; a third roller, rollingly connected to the third side surface of the third column; Among them, the first roller, the second roller and the third roller are all installed on the connecting plate, the cross-section of the third column in the vertical length direction is rectangular, the first side surface is the side facing the conveying port, and the second side surface and the third side surface are two sides connected to the first side surface.

8. The material box storage mechanism according to any one of claims 3 to 7, characterized in that: The limiting member comprises: A top plate, used to abut against the top surface of the stacking box; Side plates are arranged at least on two opposite sides of the top plate and are arranged opposite to the transport port; the side plates extend in a direction in which the top plate descends; Wherein, the traction member is connected to the top plate and / or the side plate.

9. A transport robot, characterized in that: The material box storage mechanism according to any one of claims 1 to 8, wherein the handling robot further comprises: A mobile chassis having a stacking area for placing material boxes, the material box storage mechanism is located in the stacking area, and the storage rack is at least partially fixed to the mobile chassis; a lifting assembly, at least partially disposed on the storage rack; A fork assembly connected to the lifting assembly, the lifting assembly being used to drive the fork assembly to move in a vertical direction relative to the storage rack; The stacking area is located on one side of the lifting assembly, and the fork assembly is located on the other side of the lifting assembly and is used to carry the material box to the stacking area through the transport port for stacking.

10. The handling robot according to claim 9, characterized in that: The mobile chassis is provided with a positioning structure located in the stacking area and used to define the position of the stacking box, and at least one of the positioning structures is opposite to the transport port and abuts against a side of the stacking box away from the fork assembly.

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