Limiting device and three-dimensional storage robot

Abstract

The utility model relates to the technical field of three-dimensional storage robots, in particular to a limiting device and a three-dimensional storage robot. The limiting device comprises a mounting structure, a driving assembly and a limiting assembly; the driving assembly comprises a driving part, a driving structure and a driving push rod, the driving part is connected to the mounting structure, the driving structure is connected to the output end of the driving part, and the driving structure makes contact with the driving push rod; the limiting assembly comprises a limiting rotating shaft and is rotationally connected with the mounting structure through the limiting rotating shaft; the driving push rod is rotationally connected with the limiting assembly through a driving rotating shaft; the driving assembly is used for driving the limiting assembly to protrude or contract from one side of the mounting structure. According to the limiting device, the driving assembly is arranged to be matched with the limiting assembly, the limiting assembly can be driven to protrude or contract relative to the installation structure so as to achieve the limiting or avoiding function, the driving assembly is compact in structure, and compared with a traditional steering engine structure, the reliability can be effectively improved, and the service life can be effectively prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional storage robots, in particular to a limiting device and a three-dimensional storage robot. Background Art

[0002] In modern high-bay warehouses, horizontal high-bay storage robots and the lifting platforms of vertical high-bay storage robots together form an efficient cargo handling system. Horizontal high-bay storage robots shuttle between multiple shelves, performing cargo handling and storage tasks. Their flexibility and efficiency are crucial to maintaining efficient warehouse operations.

[0003] However, as warehouse floor heights change, lift platforms need to adjust their position to accommodate varying shelf heights. Existing lift platforms often rely on servo-driven limiters to ensure the robot's safety during these changes. While these limiters offer some protection, they are often complex, costly, and present structural stability issues. In particular, the common "Z"-shaped servo turnplate design is prone to fracture when subjected to high stress, impacting the lift platform's reliability and service life.

[0004] Therefore, it is necessary to make improvements to the above problems in order to change the current situation. Utility Model Content

[0005] The utility model provides a limiting device and a three-dimensional storage robot, which are used to solve the problems of poor reliability and service life of limiting devices in the field of prior art storage technology.

[0006] The utility model provides a limiting device, comprising:

[0007] Mounting structure;

[0008] a drive assembly comprising a drive member, a drive structure, and a drive push rod, wherein the drive member is connected to the mounting structure, the drive structure is connected to an output end of the drive member, the drive structure is in contact with the drive push rod, and the drive push rod comprises a drive rotation shaft; and

[0009] The limiting assembly includes a limiting rotating shaft, and the limiting assembly is rotatably connected to the mounting structure via the limiting rotating shaft; the driving push rod is rotatably connected to the limiting assembly via the driving rotating shaft; wherein, the line between the contact point between the driving structure and the driving push rod and the driving rotating shaft is located on one side of the limiting rotating shaft; the driving assembly is used to drive the limiting assembly to protrude or retract from one side of the mounting structure.

[0010] According to one embodiment of the present utility model, the limiting assembly includes a limiting structure, a connecting rod and a reset member, the limiting structure includes the limiting rotating shaft, and the limiting structure is rotatably connected to the mounting structure through the limiting rotating shaft, the connecting rod is located between the limiting structure and the driving member, and the connecting rod is rotatably connected to the mounting structure and the driving push rod respectively, and the reset member is respectively connected to the connecting rod and the driving push rod and is used to drive the limiting structure to reset under the elastic force.

[0011] According to one embodiment of the present utility model, the limiting structure also includes a limiting member, the limiting rotating shaft includes a shaft body, a retaining ring and a limiting ring, the shaft body is connected to the mounting structure, the retaining ring and the limiting ring are respectively sleeved on the shaft body and arranged at intervals, the shaft body is passed through the limiting member and is rotatably connected to the limiting member, the retaining ring is arranged between the limiting member and the mounting structure, the limiting ring is located on the side of the limiting member away from the retaining ring, and the limiting member is rotatably connected to the driving push rod through the driving rotating shaft.

[0012] According to one embodiment of the present utility model, the connecting rod includes a first rotating shaft and a second rotating shaft, the connecting rod is rotatably connected to the mounting structure through the first rotating shaft, the connecting rod is rotatably connected to the driving push rod through the second rotating shaft, and the second rotating shaft is located between the contact point between the driving structure and the driving push rod and the driving rotating shaft, and the reset member is respectively connected to the first rotating shaft and the driving rotating shaft.

[0013] According to one embodiment of the present invention, the driving push rod includes a driving part and a connecting part that are connected to each other, and the driving part is in contact with the driving structure, and the connecting part is connected to the driving part and is rotatably connected to the limiting member through the driving rotating shaft; wherein, the driving rotating shaft is provided with a first clamping groove, and the first rotating shaft is provided with a second clamping groove, and the opposite ends of the reset member are respectively clamped with the first clamping groove and the second clamping groove.

[0014] According to one embodiment of the present invention, the driving structure includes a rolling wheel and a guide member, the rolling wheel and the guide member are respectively connected to the output end of the driving member, and the rolling wheel is in rolling contact with the driving push rod; the mounting structure is provided with a guide groove, and the guide member is slidingly engaged with the guide groove.

[0015] According to one embodiment of the present invention, the mounting structure includes a base, a mounting frame and a guide block, the base is used to be connected and fixed with an external component, the mounting frame is detachably connected to the base, and the driving member is connected to the mounting frame; the base is provided with a mounting groove, the mounting frame is provided with an avoidance groove, the guide groove is provided on the guide block, and the guide block is embedded in the mounting groove, the guide member is passed through the avoidance groove and is in sliding contact with the guide groove.

[0016] According to one embodiment of the present utility model, the limiting device also includes a positioning assembly, which is connected to the mounting structure; at the end of the moving path of the limiting assembly, the positioning assembly is used to abut against the limiting assembly; the positioning assembly includes a positioning pin and a buffer member, the positioning pin is connected to the mounting structure, the buffer member is connected to the limiting assembly, and the buffer member is used to contact the positioning pin.

[0017] According to one embodiment of the present invention, the limiting assembly is provided with a first accommodating groove and a second accommodating groove, and the buffer member includes a first buffer member and a second buffer member, the first buffer member is arranged in the first accommodating groove, and the second buffer member is arranged in the second accommodating groove; wherein, when the limiting assembly protrudes from the mounting structure, the first buffer member is used to contact the positioning pin, and when the limiting assembly is retracted into the mounting structure, the second buffer member is used to contact the limiting assembly.

[0018] The utility model also provides a three-dimensional storage robot, comprising:

[0019] a frame having a conveying channel for conveying storage devices; and

[0020] As described in any one of the above-mentioned limiting devices, the limiting device is connected to the frame, and the driving component is used to drive the limiting component to at least partially extend into or leave the conveying channel.

[0021] The implementation of the present invention has the following beneficial effects:

[0022] When using the limiting device of this embodiment, the driving member can output power as a power output unit and drive the driving structure to drive the driving push rod to move relative to the mounting structure. At this time, through the contact between the driving structure and the driving push rod, the power output direction of the driving member can be changed so that the driving push rod drives the limiting component to rotate relative to the limiting rotation axis, so that the limiting component protrudes or retracts from the mounting structure. When the limiting component protrudes from the mounting structure, it can block and limit the external object to be limited. When the limiting component retracts into the mounting structure, the object can continue to be transported. Moreover, since the line between the contact point between the driving structure and the driving push rod and the driving rotation axis is on one side of the limiting rotation axis, the self-locking problem of the limiting component during rotation can also be avoided.

[0023] In the limiting device of this embodiment, by setting up a driving component and a limiting component to cooperate, the limiting component can be driven to protrude or retract relative to the mounting structure to achieve a limiting or avoidance function, and the driving component structure is compact, which can effectively improve reliability and service life compared to the traditional servo structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] in:

[0026] Figure 1 This is a schematic structural diagram of a storage robot in an embodiment of the present utility model;

[0027] Figure 2 It is a three-dimensional view of the limiting device in the embodiment of the utility model;

[0028] Figure 3 This is a three-dimensional view of the limiting device in the embodiment of the utility model from another perspective;

[0029] Figure 4 This is a front view of the limiting device in the limiting state in the embodiment of the utility model;

[0030] Figure 5 This is a front view of the limiting device in the released state in the embodiment of the present utility model;

[0031] Figure 6 This is an exploded view of the limiting structure in the embodiment of the present utility model;

[0032] Figure 7This is an exploded view of a portion of the structure of the limiting device in the embodiment of the present utility model;

[0033] Reference numerals:

[0034] 1. Three-dimensional storage robot; 10. Limiting device; 100. Mounting structure; 110. Base; 111. Mounting slot; 112. Avoidance slot; 120. Mounting frame; 121. Avoidance slot; 130. Guide block; 131. Guide slot; 200. Drive assembly; 210. Drive member; 220. Drive structure; 221. Roller; 222. Guide member; 230. Drive push rod; 231. Drive rotation axis; 2311. First clamping slot; 232. Drive unit; 233. Connecting unit; 300. Limiting assembly; 310, limiting structure; 311, limiting member; 3111, first accommodating groove; 3112, second accommodating groove; 312, limiting rotating shaft; 3121, shaft body; 3122, retaining ring; 3123, limiting ring; 320, connecting rod; 321, first rotating shaft; 3211, second clamping groove; 322, second rotating shaft; 330, reset member; 400, positioning assembly; 410, positioning pin; 420, first buffer member; 430, second buffer member; 20, frame; 21, conveying channel. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See Figures 1 to 7 As shown, an embodiment of the present invention provides a limiting device 10, which includes a mounting structure 100, a driving assembly 200 and a limiting assembly 300; the driving assembly 200 includes a driving member 210, a driving structure 220 and a driving push rod 230, the driving member 210 is connected to the mounting structure 100, the driving structure 220 is connected to the output end of the driving member 210, the driving structure 220 is in contact with the driving push rod 230, and the driving push rod 230 includes a driving rotating shaft 231; the limiting assembly 300 includes a limiting rotating shaft 312, the limiting assembly 300 is rotatably connected to the mounting structure 100 through the limiting rotating shaft 312; the driving push rod 230 is rotatably connected to the limiting assembly 300 through the driving rotating shaft 231; wherein, the line between the contact point of the driving structure 220 and the driving push rod 230 and the driving rotating shaft 231 is located on one side of the limiting rotating shaft 312; the driving assembly 200 is used to drive the limiting assembly 300 to protrude or retract from one side of the mounting structure 100.

[0037] When the limiting device 10 of this embodiment is used, the driving member 210 can output power as a power output unit and drive the driving structure 220 to drive the driving push rod 230 to move relative to the mounting structure 100. At this time, through the contact between the driving structure 220 and the driving push rod 230, the power output direction of the driving member 210 can be changed so that the driving push rod 230 drives the limiting assembly 300 to rotate relative to the limiting rotation axis 312, so that the limiting assembly 300 protrudes or retracts from the mounting structure 100. When the limiting assembly 300 protrudes from the mounting structure 100, it can block and limit the external object to be limited. When the limiting assembly 300 retracts into the mounting structure 100, the object can continue to be transported. Moreover, since the line between the contact point between the driving structure 220 and the driving push rod 230 and the driving rotation axis 231 is on the side of the limiting rotation axis 312, the self-locking problem of the limiting assembly 300 during rotation can also be avoided.

[0038] In the limiting device 10 of this embodiment, by arranging the driving component 200 and the limiting component 300 to cooperate, the limiting component 300 can be driven to protrude or retract relative to the mounting structure 100 to achieve the limiting or avoidance function, and the driving component 200 has a compact structure, which can effectively improve the reliability and service life compared with the traditional servo structure.

[0039] Specifically, the limiting assembly 300 includes a limiting structure 310, a connecting rod 320 and a reset member 330. The limiting structure 310 includes a limiting rotating shaft 312, and the limiting structure 310 is rotatably connected to the mounting structure 100 through the limiting rotating shaft 312. The connecting rod 320 is located between the limiting structure 310 and the driving member 210, and the connecting rod 320 is rotatably connected to the mounting structure 100 and the driving push rod 230 respectively. The reset member 330 is respectively connected to the connecting rod 320 and the driving push rod 230 and is used to drive the limiting structure 310 to reset under the elastic force.

[0040] In this embodiment, the driving member 210 is preferably a linear driving member, which cooperates with the driving push rod 230 by setting a limiting structure 310. When the driving member 210 is started, the driving member 210 can move in a linear direction and exert pressure along the driving push rod 230. Figure 4The driving force is shown by the middle arrow. At this time, the driving push rod 230 can rotate relative to the mounting structure 100 under the driving action of the driving member 210, thereby driving the push rod 230 to drive the limiting structure 310 to rotate. Since the limiting structure 310 is respectively connected to the mounting structure 100 and the driving push rod 230 through the connecting rod 320, the connecting rod 320, the limiting structure 310 and the driving push rod 230 form a four-bar structure, and finally drive the limiting structure 310 to rotate so that the limiting structure 310 moves to the released state. At the same time, the reset member 330 generates elastic deformation and stores elastic potential energy in this process; at this time, the limiting device 10 releases the limiting function to prevent the external storage device from continuing to transport.

[0041] When the storage device needs to be limited, the driving member 210 stops and releases the driving force on the driving push rod 230. At this time, since the external driving force of the reset member 330 is removed, the reset member 330 can release the elastic potential energy and drive the limiting structure 310 to reset through the linkage structure of the limiting assembly 300 and the driving assembly 200. Even if the limiting structure 310 moves to the limited state, when the storage device moves to the limiting device 10, it can be limited by the limiting structure 310 protruding from the mounting structure 100. In a preferred embodiment, the driving member 210 is preferably a linear push rod motor, and the moving direction of the driving member 210 is parallel to the length direction of the mounting structure 100, thereby making the overall structure of the limiting device 10 more compact. When the limiting device 10 is applied to the three-dimensional storage robot 1, the limiting device 10 can have a smaller thickness as a whole.

[0042] In one embodiment, the limiting structure 310 also includes a limiting member 311, and the limiting rotating shaft 312 includes a shaft body 3121, a retaining ring 3122 and a limiting ring 3123. The shaft body 3121 is connected to the mounting structure 100, and the retaining ring 3122 and the limiting ring 3123 are respectively sleeved on the shaft body 3121 and arranged at intervals. The shaft body 3121 is passed through the limiting member 311 and is rotatably connected to the limiting member 311. The retaining ring 3122 is arranged between the limiting member 311 and the mounting structure 100. The limiting ring 3123 is located on the side of the limiting member 311 away from the retaining ring 3122, and the limiting member 311 is rotatably connected to the driving push rod 230 through the driving rotating shaft 231.

[0043] When assembling the limiting structure 310 of this embodiment, first install the shaft body 3121 on the mounting structure 100, and then sequentially sleeve the retaining ring 3122 and the limiting member 311 on the shaft body 3121. At this time, the retaining ring 3122 is located between the limiting member 311 and the mounting structure 100, and positions the installation of the limiting member 311. At the same time, when the retaining ring 3122 adopts parts such as Teflon retaining rings, graphite sleeves, etc., it can also lubricate the rotation of the limiting member 311 and improve the durability of the limiting member 311. After the limiting member 311 is installed in place, the limiting ring 3123 is sleeved on the shaft body 3121, and the limiting ring 3123 is located on the outside of the limiting member 311. The retaining ring 3122 and the limiting ring 3123 cooperate with the limiting member 311 to position the installation of the limiting member 311. The structure is simple and the assembly is convenient. In addition, the limiting ring 3123 can be connected to the shaft 3121 through fasteners such as spring pins, screws, etc., to further improve the assembly convenience of the limiting structure 310.

[0044] Specifically, the connecting rod 320 includes a first rotating shaft 321 and a second rotating shaft 322. The connecting rod 320 is rotatably connected to the mounting structure 100 through the first rotating shaft 321, and the connecting rod 320 is rotatably connected to the driving push rod 230 through the second rotating shaft 322. The second rotating shaft 322 is located between the contact point between the driving structure 220 and the driving push rod 230 and the driving rotating shaft 231, and the reset member 330 is respectively connected to the first rotating shaft 321 and the driving rotating shaft 231.

[0045] In this embodiment, the connecting rod 320 is connected to the mounting structure 100 via the first rotating shaft 321, which can be used to position the installation of the connecting rod 320. At the same time, because the driving push rod 230 is also connected via the connecting rod 320, the limiting assembly 300 and the driving assembly 200 can be installed and supported as a whole via the first rotating shaft 321 and the limiting rotating shaft 312, forming a connection structure with two rotating shafts. As a result, when the driving push rod 230 drives the limiting member 311 to rotate, the limiting member 311 has only a specific movement direction, thereby improving the control accuracy of the limiting assembly 300. At the same time, because the reset member 330 is respectively connected to the first rotating shaft 321 (which is fixed to the mounting structure 100) and the driving rotating shaft 231 (which is movable relative to the mounting structure 100), the elastic reset function of the reset member 330 can be achieved.

[0046] In one embodiment, the driving push rod 230 includes a driving portion 232 and a connecting portion 233 connected to each other, and the driving portion 232 is in contact with the driving structure 220, and the connecting portion 233 is connected to the driving portion 232 and is rotatably connected to the limit member 311 through the driving rotating shaft 231; wherein, the driving rotating shaft 231 is provided with a first clamping groove 2311, and the first rotating shaft 321 is provided with a second clamping groove 3211, and the opposite ends of the reset member 330 are respectively clamped with the first clamping groove 2311 and the second clamping groove 3211.

[0047] In this embodiment, the driving portion 232 and the connecting portion 233 can be connected to form an L-shaped structure, and the connecting portion 233 is located on the long side of the L-shape, and the driving portion 232 is located on the short side of the L-shape. When the driving member 210 drives the driving push rod 230 to move, the driving push rod 230 can drive the limiting structure 310 to rotate along the direction of the long side of the L-shape. Specifically, the driving portion 232 and the connecting portion 233 can be an integrally formed structure or a split structure. When the driving portion 232 and the connecting portion 233 are an integrally formed structure, the processing of the driving push rod 230 can be facilitated; when the driving portion 232 and the connecting portion 233 are a split structure, the driving portion 232 can be replaced separately when the driving portion 232 is worn. The driving portion 232 and the connecting portion 233 can be combined by plugging, screw connection, etc., which is not limited here.

[0048] In addition, by respectively opening a first snap-fitting groove 2311 on the driving rotating shaft 231 and a second snap-fitting groove 3211 on the first rotating shaft 321 to cooperate with the reset member 330, when the reset member 330 adopts a tension spring, the opposite ends of the reset member 330 can be snap-fitted with the first snap-fitting groove 2311 and the second snap-fitting groove 3211 respectively, so as to position the installation of the reset member 330, and the assembly is convenient.

[0049] Specifically, the driving structure 220 includes a rolling wheel 221 and a guide member 222, the rolling wheel 221 and the guide member 222 are respectively connected to the output end of the driving member 210, and the rolling wheel 221 is in rolling contact with the driving push rod 230; the mounting structure 100 is provided with a guide groove 131, and the guide member 222 is slidably matched with the guide groove 131.

[0050] In this embodiment, a rolling wheel 221 is provided at the end of the driving member 210 to cooperate with the driving push rod 230. When the driving member 210 moves in a straight line direction, the driving push rod 230 will swing relative to the mounting structure 100 under the driving action of the rolling wheel 221. Since rolling contact is adopted between the rolling wheel 221 and the driving push rod 230, motion interference between the driving push rod 230 and the driving structure 220 can be avoided to ensure the smooth operation of the driving assembly 200.

[0051] By providing a guide member 222 on the scroll wheel 221 to cooperate with the guide groove 131, and the extension direction of the guide groove 131 is parallel to the driving direction of the driving member 210, when the driving member 210 drives the scroll wheel 221 to move relative to the mounting structure 100, the guide member 222 can slide and cooperate with the guide groove 131 to guide the movement of the scroll wheel 221. This not only improves the operational stability of the driving structure 220, but also distributes the force applied to the driving member 210 through the guide member 222, effectively reducing the radial load of the driving member 210, thereby improving the durability of the driving member 210. Specifically, in one embodiment, the guide member 222 can be a bushing that slides and cooperates with the guide groove 131 to achieve the guiding function of the guide member 222. In a preferred embodiment, the guide member 222 can also be a graphite bushing or a Teflon bushing to further improve the wear resistance of the guide member 222. At the same time, it can also lubricate the movement of the guide member 222, thereby improving the operational stability of the driving assembly 200.

[0052] Specifically, the mounting structure 100 includes a base 110, a mounting frame 120 and a guide block 130. The base 110 is used to be connected and fixed with an external component. The mounting frame 120 is detachably connected to the base 110, and the driving member 210 is connected to the mounting frame 120. The base 110 is provided with a mounting groove 111, the mounting frame 120 is provided with an avoidance groove 121, the guide groove 131 is provided on the guide block 130, and the guide block 130 is embedded in the mounting groove 111. The guide member 222 is passed through the avoidance groove 121 and slides with the guide groove 131.

[0053] In this embodiment, the base 110 can be used to be connected and fixed to external components such as the frame 20 of the three-dimensional storage robot 1. The mounting frame 120 can be combined with the driving component 200 externally to form a modular structure and then combined with the base 110, which makes assembly convenient. At the same time, since the driving component 210 is supported by the mounting frame 120, the installation position of the mounting frame 120 on the base 110 can also be adjusted according to actual usage requirements.

[0054] By detachably connecting the guide block 130 with the guide member 222 in the base 110, when the guide block 130 is worn, the guide block 130 can be replaced separately. At the same time, the guide block 130 can also be made of a material different from the base 110 to meet the relevant design requirements of the guide block 130 such as strength, wear resistance, and lubricity; by providing an avoidance groove 121 on the mounting frame 120, the guide member 222 can be easily moved in the avoidance groove 121 and connected to the guide groove 131.

[0055] Furthermore, the base 110 is further provided with an air-avoiding groove 112 . The air-avoiding groove 112 is connected to the mounting groove 111 and is at least partially located outside the guide block 130 .

[0056] It can be understood that by providing a connected air avoidance groove 112 on one side of the installation groove 111, when the guide block 130 is installed in the installation groove 111, part of the structure of the guide block 130 can be suspended in the air avoidance groove 112. When the guide block 130 needs to be disassembled, assembled or adjusted, the operator can insert his fingers or tools into the air avoidance groove 112 and then perform corresponding operations on the guide block 130, thereby improving the convenience of operation.

[0057] Furthermore, the limiting device 10 further includes a positioning assembly 400 , which is connected to the mounting structure 100 ; at the end of the moving path of the limiting assembly 300 , the positioning assembly 400 is used to abut against the limiting assembly 300 .

[0058] In this embodiment, a positioning assembly 400 and a limiting assembly 300 are arranged on the mounting structure 100. For example, when the limiting structure 310 moves to the limiting state, the end of the limiting structure 310 can abut against the positioning assembly 400, and the positioning assembly 400 can limit the rotation of the limiting structure 310 to prevent the limiting structure 310 from exceeding the range of the moving path; similarly, when the limiting structure 310 moves in the opposite direction, it can also be positioned by the positioning assembly 400, which will not be elaborated here.

[0059] Specifically, the positioning assembly 400 includes a positioning pin 410 and a buffer. The positioning pin 410 is connected to the mounting structure 100 , and the buffer is connected to the limiting assembly 300 . The buffer is used to contact the positioning pin 410 .

[0060] With this arrangement, when the limiting structure 310 cooperates with the positioning pin 410, the buffer member can contact the positioning pin 410 to reduce the impact force between the limiting structure 310 and the positioning pin 410. This arrangement can not only improve the operating stability of the limiting assembly 300, but also reduce the wear and impact damage of the limiting assembly 300.

[0061] In one embodiment, the limiting assembly 300 is provided with a first accommodating groove 3111 and a second accommodating groove 3112, and the buffer member includes a first buffer member 420 and a second buffer member 430, the first buffer member 420 is arranged in the first accommodating groove 3111, and the second buffer member 430 is arranged in the second accommodating groove 3112; wherein, when the limiting assembly 300 protrudes from the mounting structure 100, the first buffer member 420 is used to contact the positioning pin 410, and when the limiting assembly 300 is retracted into the mounting structure 100, the second buffer member 430 is used to contact the limiting assembly 300.

[0062] In this embodiment, by providing a first receiving groove 3111 and a second receiving groove 3112 on the limiting structure 310 to respectively install the first buffer 420 and the second buffer 430, when the limiting structure 310 rotates to the end of the path of the limiting state, the first buffer 420 can abut against the positioning pin 410; when the limiting structure 310 rotates to the end of the path of the release state, the second buffer 430 can abut against the first rotating shaft 321 of the limiting assembly 300 and limit the rotation of the limiting structure 310; at this time, by providing a buffer in each of the two rotation directions of the limiting structure 310 and cooperating with other components, the wear and impact damage of the limiting structure 310 can be effectively reduced. Specifically, the buffer can be a flexible part such as a rubber pad, a silicone pad, etc., which is not limited here. Specifically, the first receiving groove 3111 and the second receiving groove 3112 can be provided on the limiting member 311.

[0063] The present utility model also provides a three-dimensional storage robot 1, which includes a frame 20 and a limiting device 10 in any one of the above embodiments; the frame 20 is provided with a conveying channel 21 for conveying the storage device; the limiting device 10 is connected to the frame 20, and the driving component 200 is used to drive the limiting component 300 to at least partially extend into or leave the conveying channel 21.

[0064] It is understandable that in the three-dimensional storage robot 1 of the present embodiment, the storage device can be a movable storage device with a wheeled conveying mechanism, or it can be other types of transfer devices, and this is not the only limitation here. When the three-dimensional storage robot 1 of the present embodiment is in operation, when the vertical three-dimensional storage device reaches the designated storage layer, the driving member 210 runs and drives the driving push rod 230 to be pushed out through the driving structure 220, and the linkage between the driving push rod 230 and the limiting structure 310 drives the limiting structure 310 to rotate to the released state, so that the limiting structure 310 is approximately parallel to the upper edge of the mounting structure 100, providing travel space for the horizontal three-dimensional storage device; when the horizontal three-dimensional storage device is driven out, the limiting structure 310 can be reset under the action of the reset member 330, so that the limiting structure 310 is reset to the limited state again. During the working process, the driving member 210 slides with the guide block 130 on the base 110 through the guide member 222, thereby limiting the slight rotation of the driving member 210, so that the rolling wheel 221 is in a state of close fit with the driving push rod 230 during the process of pushing the driving push rod 230, making the working process of the entire limiting device 10 more stable.

[0065] In the three-dimensional storage robot 1 of this embodiment, by setting the limiting device 10 in any one of the above embodiments, the limiting device 10 of this embodiment can drive the limiting component 300 to protrude or retract relative to the mounting structure 100 to achieve the limiting or avoidance function by setting the driving component 200 and the limiting component 300, and the driving component 200 has a compact structure. Compared with the traditional servo structure, it can effectively improve the reliability and service life, thereby improving the operation reliability and durability of the three-dimensional storage robot 1.

[0066] In one embodiment, the driving component 200 in the limiting device 10 includes two rolling wheels 221, and the two rolling wheels 221 are coaxially arranged. The limiting device 10 in any of the above embodiments is provided on the lifting platform of the three-dimensional storage robot 1, and a second limiting device is provided on the shelf platform of the three-dimensional storage robot 1. With reference to the limiting device 10 in any of the above embodiments, the difference between the second limiting device and any of the above embodiments is that the driving member 210 is cancelled in the second limiting device, and the limiting device 10 and the second limiting device are symmetrically arranged; when the lifting platform drives the three-dimensional storage robot 1 to move to the shelf platform When the driving push rod 230 in the limiting device 10 is symmetrical with the driving push rod 230 in the second limiting device, the two rolling wheels 221 in the limiting device 10 are in contact with the driving push rod 230 in the limiting device 10 and the driving push rod 230 in the second limiting device respectively. By driving the driving member 210 in the limiting device 10, the two rolling wheels 221 can be driven to move at the same time and the two driving push rods 230 can be driven to move synchronously, so that the limiting component 300 in the limiting device 10 and the limiting component 300 in the second limiting device are moved to the released state at the same time, and the three-dimensional storage robot 1 can be transferred between the shelf platform and the lifting platform.

[0067] Therefore, only one driving component 210 is required in the limiting device 10 and the second limiting device to realize synchronous driving, which has a simple structure and convenient driving. At the same time, when the three-dimensional storage robot 1 is on the shelf platform or the lifting platform, there can be a set of limiting components 300 to limit the three-dimensional storage robot 1 to prevent the three-dimensional storage robot from falling from the shelf platform or the lifting platform, and the use effect is good.

[0068] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0069] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0070] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A limiting device, characterized in that: include: Mounting structure; a drive assembly comprising a drive member, a drive structure, and a drive push rod, wherein the drive member is connected to the mounting structure, the drive structure is connected to an output end of the drive member, the drive structure is in contact with the drive push rod, and the drive push rod comprises a drive rotation shaft; and The limiting assembly includes a limiting rotating shaft, and the limiting assembly is rotatably connected to the mounting structure via the limiting rotating shaft; the driving push rod is rotatably connected to the limiting assembly via the driving rotating shaft; wherein, the line between the contact point between the driving structure and the driving push rod and the driving rotating shaft is located on one side of the limiting rotating shaft; the driving assembly is used to drive the limiting assembly to protrude or retract from one side of the mounting structure.

2. The limiting device according to claim 1, characterized in that: The limiting assembly includes a limiting structure, a connecting rod and a reset member. The limiting structure includes the limiting rotating shaft, and the limiting structure is rotatably connected to the mounting structure through the limiting rotating shaft. The connecting rod is located between the limiting structure and the driving member, and the connecting rod is rotatably connected to the mounting structure and the driving push rod respectively. The reset member is respectively connected to the connecting rod and the driving push rod and is used to drive the limiting structure to reset under the elastic force.

3. The limiting device according to claim 2, characterized in that: The limiting structure also includes a limiting member, and the limiting rotating shaft includes a shaft body, a retaining ring and a limiting ring. The shaft body is connected to the mounting structure, and the retaining ring and the limiting ring are respectively sleeved on the shaft body and arranged at intervals. The shaft body is passed through the limiting member and is rotatably connected to the limiting member. The retaining ring is arranged between the limiting member and the mounting structure, and the limiting ring is located on the side of the limiting member away from the retaining ring, and the limiting member is rotatably connected to the driving push rod through the driving rotating shaft.

4. The limiting device according to claim 3, characterized in that: The connecting rod includes a first rotating shaft and a second rotating shaft. The connecting rod is rotatably connected to the mounting structure through the first rotating shaft. The connecting rod is rotatably connected to the driving push rod through the second rotating shaft. The second rotating shaft is located between the contact point between the driving structure and the driving push rod and the driving rotating shaft. The reset member is respectively connected to the first rotating shaft and the driving rotating shaft.

5. The limiting device according to claim 4, characterized in that: The driving push rod includes a driving part and a connecting part connected to each other, and the driving part is in contact with the driving structure. The connecting part is connected to the driving part and is rotatably connected to the limit member through the driving rotating shaft; wherein, the driving rotating shaft is provided with a first clamping groove, and the first rotating shaft is provided with a second clamping groove, and the opposite ends of the reset member are respectively clamped with the first clamping groove and the second clamping groove.

6. The limiting device according to claim 1, characterized in that: The driving structure includes a rolling wheel and a guide member, the rolling wheel and the guide member are respectively connected to the output end of the driving member, and the rolling wheel is in rolling contact with the driving push rod; the mounting structure is provided with a guide groove, and the guide member is slidingly engaged with the guide groove.

7. The limiting device according to claim 6, characterized in that: The mounting structure includes a base, a mounting frame and a guide block, the base is used to be connected and fixed with an external component, the mounting frame is detachably connected to the base, and the driving member is connected to the mounting frame; the base is provided with a mounting groove, the mounting frame is provided with an avoidance groove, the guide groove is provided on the guide block, and the guide block is embedded in the mounting groove, the guide member is passed through the avoidance groove and is in sliding contact with the guide groove.

8. The limiting device according to claim 1, characterized in that: The limiting device also includes a positioning assembly, which is connected to the mounting structure; at the end of the moving path of the limiting assembly, the positioning assembly is used to abut against the limiting assembly; the positioning assembly includes a positioning pin and a buffer member, the positioning pin is connected to the mounting structure, the buffer member is connected to the limiting assembly, and the buffer member is used to contact the positioning pin.

9. The limiting device according to claim 8, characterized in that: The limiting assembly is provided with a first accommodating groove and a second accommodating groove, and the buffer member includes a first buffer member and a second buffer member, the first buffer member is arranged in the first accommodating groove, and the second buffer member is arranged in the second accommodating groove; wherein, when the limiting assembly protrudes from the mounting structure, the first buffer member is used to contact the positioning pin, and when the limiting assembly is retracted into the mounting structure, the second buffer member is used to contact the limiting assembly.

10. A three-dimensional storage robot, characterized in that: include: a frame having a conveying channel for conveying storage devices; as well as The limiting device according to any one of claims 1 to 9, wherein the limiting device is connected to the frame, and the driving assembly is used to drive the limiting assembly to at least partially extend into or leave the conveying channel.

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