Robot, executing mechanism of robot and warehousing system

Abstract

The utility model relates to a robot, an executing mechanism of the robot and a warehousing system, and the robot comprises a supporting frame which extends in the horizontal direction and is supported on the robot; the moving flat plate is supported on the supporting frame and is driven by the first telescopic assembly to stretch out or retract relative to the supporting frame in the length direction of the supporting frame; the hook claw assembly is supported on the moving flat plate and is driven by the second telescopic assembly to move within the range of the moving flat plate in the length direction; wherein the moving flat plate extends out of the supporting frame from the first end or the second end in the length direction of the supporting frame, and the extending direction of the hook claw assembly is the same as the extending direction of the moving flat plate; the hook claw assembly is driven by the first telescopic assembly and / or the second telescopic assembly to grab the side, facing the hook claw assembly, of the material box so as to drive the material box to move.

Description

Technical Field

[0001] The present application relates to the technical field of robotic equipment, and in particular to a robot, a robot actuator, and a storage system. Background Art

[0002] Robots are automated devices that can be used, for example, in warehousing and logistics to improve the efficiency of cargo handling and sorting. Robots can automatically move goods from one location to another in the warehouse, reducing the need for manual handling.

[0003] A warehousing system usually includes multiple shelves, and one shelf usually requires one or more robots, which greatly increases the cost of the entire warehousing system. Utility Model Content

[0004] An embodiment of the present application provides a robot, an actuator of the robot, and a warehousing system, which moves material boxes in the shelves by driving a hook assembly through a secondary telescopic assembly with a large bidirectional stroke. One robot can be used for shelves on both sides at the same time, which can greatly reduce the number of robots in the warehousing system.

[0005] In one embodiment of the present application, a robot actuator is provided, comprising:

[0006] a supporting frame, the supporting frame extending in a horizontal direction and supported by the robot;

[0007] a moving plate, the moving plate being supported by the supporting frame and being capable of extending or retracting relative to the supporting frame along a length direction of the supporting frame under the drive of a first telescopic assembly;

[0008] a hook assembly, the hook assembly being supported on the moving plate and being driven by the second telescopic assembly to move within the range of the moving plate along the length direction;

[0009] The moving plate extends out of the support frame from a first end or a second end in the longitudinal direction of the support frame, and the extending direction of the hook assembly is the same as that of the moving plate;

[0010] The hook assembly, driven by the first telescopic assembly and / or the second telescopic assembly, drives the material box to move by grabbing the side of the material box facing the hook assembly.

[0011] In one embodiment, the hook assembly includes a fixed hook and a movable hook spaced apart in the vertical direction, a side of the material box facing the actuator has a handle, and the distance between the movable hook and the fixed hook is adjustable to grasp or release the handle.

[0012] In one embodiment, the dropout assembly comprises:

[0013] a hook base, the hook base being supported by the second telescopic assembly;

[0014] A fixed base, the fixed base being mounted on the hook base;

[0015] a first floating assembly, the first floating assembly being movably mounted on the fixed base in a vertical direction,

[0016] The fixed hook is fixedly mounted on the first floating assembly, and the movable hook is movably mounted on the first floating assembly along a vertical direction;

[0017] The movable hook moves in a vertical direction under the drive of the hook driving motor to adjust the distance between the movable hook and the fixed hook.

[0018] In one embodiment, the first floating assembly comprises:

[0019] a first floating support plate, wherein the first floating support plate is movably mounted on the fixed base in a vertical direction, and the fixed hook is fixedly mounted on the first floating support plate;

[0020] A return spring is connected between the first floating support plate and the fixed base. The return spring drives the first floating support plate to move relative to the fixed base in response to the driving force of the hook drive motor, so that the distance between the movable hook and the fixed hook can be adjusted.

[0021] In one embodiment, the hook assembly includes a second floating assembly, and the first floating assembly is mounted on the fixed base via the second floating assembly;

[0022] The second floating assembly includes:

[0023] a second floating support plate, the second floating support plate being movably mounted on the fixed base in a vertical direction;

[0024] The first floating support plate is movably mounted on the second floating support plate along a vertical direction.

[0025] In one embodiment, the second floating assembly comprises:

[0026] A limit plate is installed on the second floating support plate, and one end of the return spring is limited to the limit plate.

[0027] In one embodiment, the dropout assembly comprises:

[0028] The fixed base is rotatably supported on the hook base via the rotary drive bearing so as to rotate around a vertical direction under the drive of the rotary drive motor.

[0029] In one embodiment, the movable hook is located below the fixed hook;

[0030] The fixed hook is formed into a flat plate shape that fits the top surface of the material box;

[0031] The movable hook has a hook portion extending in a vertical direction.

[0032] In one embodiment, the dropout assembly comprises:

[0033] A positioning rod extends in a vertical direction and is connected between the fixed hook and the movable hook, and the movable hook moves along the positioning rod.

[0034] In one embodiment, the first telescopic assembly includes a first telescopic drive motor and a first transmission chain driven by the first telescopic drive motor, and the moving plate is fixedly connected to the first transmission chain; and / or

[0035] The second telescopic assembly includes a second telescopic drive motor and a rack installed on the moving plate along the length direction. The second telescopic drive motor moves along the length direction relative to the rack. The hook assembly is fixedly connected to the second telescopic drive motor.

[0036] Another embodiment of the present application further provides a robot, comprising:

[0037] A mobile platform having a degree of freedom of movement in a horizontal direction;

[0038] A lifting slide rail, the lifting slide rail is fixedly supported on the mobile platform, and the lifting slide rail extends in a vertical direction;

[0039] In the actuator as described above, the support frame is fixed to the lifting slide rail so as to move up and down along the lifting slide rail.

[0040] In one embodiment, the mobile platform is supported on a mobile track extending in a horizontal direction so as to move horizontally along the mobile track; or

[0041] The movable platform moves along the horizontal surface driven by the horizontal driving device.

[0042] Another embodiment of the present application further provides a warehousing system, comprising:

[0043] A shelf having a plurality of storage locations where containers are stored;

[0044] The robot as described above, wherein the robot is used to transport the container;

[0045] The shelf is located on either side of the robot in the length direction of the support frame, and the extending direction of the moving plate is the side of the actuator facing the target storage location.

[0046] This solution utilizes a novel hook mechanism, employing a two-stage telescopic mechanism, a rotating mechanism, and a floating hook mechanism to achieve bidirectional, long-range bin access. Compared to conventional hook robots, this mechanism offers a greater range, enabling bin access from deep within shelves. Furthermore, its bidirectional telescopic design allows for bin access from shelves on both sides of the robot. Because the hook engages the bin directly via the bin handle, unlike conventional bin robots, there's no need for reserved operating space on either side, improving bin storage efficiency. The hook mechanism utilizes an upper and lower clamping mechanism, which offers greater stability than conventional single-sided hooking solutions, preventing bins from becoming unhooked. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The following drawings are only provided for schematic illustration and explanation of the present application and do not limit the scope of the present application:

[0048] Figure 1 Schematic diagram of the structure of the robot in the embodiment of the present application;

[0049] Figure 2 Schematic diagram of the application environment of the robot in the embodiment of the present application.

[0050] Figure 3 Schematic diagram of the structure of the actuator of the robot in the embodiment of the present application.

[0051] Figure 4a and Figure 4b Schematic diagram of the structure of the hook assembly of the actuator of the robot in the embodiment of the present application.

[0052] Figure 5 This is a schematic diagram of the movement process of the hook assembly of the present application when grabbing a material box.

[0053] Figure 6 This is a schematic diagram of the hook movement process when the hook assembly of the present application is adjusted in height at the edge of the shelf.

[0054] Figure 7 This is a structural diagram of the warehousing system of this application. DETAILED DESCRIPTION

[0055] In order to have a clearer understanding of the technical features, purposes and effects of the utility model, the specific implementation of the utility model is now described with reference to the accompanying drawings, in which the same reference numerals represent the same parts.

[0056] In this document, “illustrative” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “illustrative” should not be interpreted as a more preferred or more advantageous technical solution.

[0057] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure and do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically shown or labeled.

[0058] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0059] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0060] In this document, "equal" and "same" are not strictly limited in the mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use. Unless otherwise specified, the numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges contained therein.

[0061] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0062] like Figures 1 to 6 As shown, one embodiment of the present application provides a robot, comprising:

[0063] The mobile platform 2 has the freedom to move in the horizontal direction;

[0064] A lifting rail 3 is fixedly supported on the mobile platform 2 and extends in a vertical direction;

[0065] The actuator 4 has a support portion fixed to the lifting rail 3 so as to be movable up and down along the lifting rail 3 .

[0066] Actuator 4 is mounted on lifting rail 3 and moves along it to adjust the height. The bottom mobile platform 2 is responsible for horizontal movement. Under normal operating conditions, the mobile platform 2 and lifting rail 3 work together to move actuator 4 to the vicinity of the target bin 1. Actuator 4 then moves to bring bin 1 into actuator 4. The robot carries bin 1 to the target location and pushes bin 1 into the actuator 4.

[0067] The robot of this embodiment can be applied as a CTU (bin robot) or an STU (shelf robot, bin overhead rail robot). When implemented as a bin robot, the mobile platform 2 can move along a horizontal surface (e.g., the ground) driven by a horizontal drive mechanism. Its horizontal movement direction can be a free direction or one or two limited directions. When implemented as a shelf robot, such as Figure 2 As shown, the mobile platform 2 can be installed on a track 5 extending in the horizontal direction, and moved along the track 5 driven by the horizontal driving mechanism, and its moving direction is limited to the extension direction of the track 5.

[0068] In a specific example, the present application provides an actuator of a robot, comprising:

[0069] The support frame 10 can be formed into a rectangular shape and extend in the horizontal direction. The support frame 10 is fixedly supported on the support frame 10. Figure 1 The robot shown is specifically supported on a lifting track 3;

[0070] The movable plate 20 has a shape corresponding to the support frame 10. The movable plate 20 is slidably supported on the support frame 10 so as to extend or retract relative to the support frame 10 along the length direction under the drive of the first telescopic assembly 31. The top of the movable plate 20 can support a support plate 33 for supporting the material box 1;

[0071] The hook assembly 40 is slidably supported on the moving plate 20 and moves within the range of the moving plate 20 along the length direction under the drive of the second telescopic assembly 32 .

[0072] The moving plate 20 can extend from the support frame 10 at the first or second end in the longitudinal direction of the support frame 10. Correspondingly, the extending direction of the hook assembly 40 relative to the moving plate 20 is the same as the extending direction of the moving plate 20.

[0073] The hook assembly 40 that grabs the material box 1 changes the relative position of the material box 1 and the support frame 10 under the drive of the first telescopic assembly 31 and / or the second telescopic assembly 32. The material box 1 is brought into the range of the support frame 10, specifically placed on the support plate 33 on the top of the moving plate 20.

[0074] In this example, the first and second telescopic assemblies achieve forward and backward motion, transporting the hook assembly to the target location. The hook assembly is the end-of-line mechanism, used to clamp and release the container. The container pallet is fixed to the actuator and serves as a support plate after the container is retrieved.

[0075] In this example, the side of the container 1 facing the actuator has a handle, which can be referred to as the front surface of the container 1. The actuator 4 can then remove or place the container 1 on the shelf simply by pulling or pushing the handle. The actuator 4 is completely within the area occupied by the container 1, without needing to extend beyond it. Accordingly, when the container 1 is stored on the shelf, there is no need to provide operating space for the hook assembly on either side of the container 1. The container 1 can be stored snugly on the shelf, significantly saving storage space.

[0076] In the actuator 4, the hook assembly 40 is used to grab or release the handle of the container 1, establishing a connection between the actuator 4 and the container 1. After grabbing the handle of the container 1, the hook assembly 40 drives the container 1 to move within the range of the support frame 10 through the telescopic movement of one or more of the first telescopic assembly 31 and the second telescopic assembly 32. Specifically, the movable plate 20 is retracted within the range of the support frame 10, and the container 1 is supported on the support plate 33 on the top of the movable plate 20. It is understood that the actuator 4 can also perform the action of pushing the container 1 supported on the support plate 33 on the top of the movable plate 20 into the shelf. These two actions are mutually opposite and will not be described in detail here.

[0077] The support frame 10 is fixed to the lifting rail 3 of the robot. In a preferred embodiment, the first end of the support frame 10 in the longitudinal direction serves as a support portion, and the support frame 10 is entirely located on one side of the lifting rail 3. Optionally, the middle position of the support frame 10 in the longitudinal direction can serve as a support portion to achieve a balanced weight configuration.

[0078] The direction in which the moving plate 20 extends relative to the support frame 10 can be from the second end in the longitudinal direction of the support frame 10 toward the first end, that is, it extends from the first end in the longitudinal direction of the support frame 10 to outside the support frame 10. Similarly, when the hook assembly 40 is extended from the support frame 10 under the drive of the second telescopic assembly 32, the direction in which the second telescopic assembly 32 drives the hook assembly 40 to extend is also from the second end in the longitudinal direction of the support frame 10 toward the first end. The combination of the first telescopic assembly 31 and the second telescopic assembly 32 can enable the extended length of the hook assembly 40 to be approximately twice the length of the support frame 10.

[0079] Optionally, the direction in which the moving plate 20 extends relative to the support frame 10 may be from the first end toward the second end in the longitudinal direction of the support frame 10, that is, extending from the second end in the longitudinal direction of the support frame 10 to outside the support frame 10. Similarly, when the hook assembly 40 is extended from the support frame 10 under the drive of the second telescopic assembly 32, the direction in which the second telescopic assembly 32 drives the hook assembly 40 to extend is also from the first end toward the second end in the longitudinal direction of the support frame 10.

[0080] Telescopic movement is achieved through primary and secondary telescopic assemblies. The primary telescopic assembly primarily utilizes a drive motor and chain drive to achieve bidirectional telescopic movement. A moving plate is mounted at the end of the primary telescopic assembly, upon which a secondary telescopic motor and associated rack and pinion drive are mounted, enabling forward and backward movement on the plate. This extends the range of the telescopic movement beyond the primary telescopic assembly.

[0081] The robot's configuration actions for the bins can include both picking and delivering. The picking action involves the robot extending the first and / or second telescopic assemblies to enable the hook assembly to grab the target bin to be configured from the shelf, and then retracting the first and / or second telescopic assemblies to move the target bin into the actuator, specifically onto the pallet 33 of the motion platform 20 within the support frame 10. The delivering action involves the robot extending the first and / or second telescopic assemblies to push the bin within the actuator to the target storage location on the shelf. The robot can switch between the picking and delivering actions by combining the mobile platform 2 and the lifting rail 3 to move between the picking and delivering positions.

[0082] Specifically, the hook assembly 40 includes a fixed hook 41 and a movable hook 42 spaced apart in the vertical direction. A side surface of the material box 1 facing the actuator has a handle, and the distance between the movable hook 42 and the fixed hook 41 is adjustable to grab or release the handle.

[0083] Specifically, the dropout assembly 40 includes:

[0084] The hook base 43 is supported by the second telescopic assembly 32;

[0085] A fixed base 44, the fixed base 44 is mounted on the hook base 43;

[0086] The first floating assembly 45 is movably mounted on the fixed base 44 along the vertical direction.

[0087] The fixed hook 41 is fixedly mounted on the first floating assembly 45, and the movable hook 42 is movably mounted on the first floating assembly 45 along the vertical direction.

[0088] The movable hook 42 is driven by the hook driving motor 46 to move in the vertical direction to adjust the distance between the movable hook 42 and the fixed hook 41 .

[0089] Preferably, the dropout assembly 40 includes:

[0090] The positioning rod 422 extends in a vertical direction and is connected between the fixed hook 41 and the movable hook 42 . The movable hook 42 moves along the positioning rod 422 .

[0091] On the first floating assembly 45, the fixed hook 41 is fixed relative to the first floating assembly 45, while the movable hook 42 is vertically movable relative to the first floating assembly 45, thereby changing the distance between the movable hook 42 and the fixed hook 41. Furthermore, the first floating assembly 45 is vertically movably mounted on the fixed base 44, so that when the position of the movable hook 42 is adjusted, the first floating assembly 45 follows the movement of the movable hook 42 to grasp the container 1.

[0092] The first floating assembly 45 includes:

[0093] A first floating support plate 451 is movably mounted on the fixed base 44 along a vertical direction, and the fixed hook 41 is fixedly mounted on the first floating support plate 451;

[0094] The return spring 452 is connected between the first floating support plate 451 and the fixed base 44. The return spring 452 drives the first floating support plate 451 to move relative to the fixed base 44 in response to the driving force of the hook drive motor 46, so that the distance between the movable hook 42 and the fixed hook 41 can be adjusted.

[0095] The movable installation of the first floating support plate 451 can be realized in the form of a slide rail slider, that is, the fixed base 44 is formed with protruding slide rails on both side edges extending in the vertical direction, and the two side edges of the first floating support plate 451 extending in the vertical direction have sliders that cooperate with the slide rails, so that the first floating support plate 451 can be movably installed on the fixed base 44 in the vertical direction.

[0096] The driving force for the movement of the first floating support plate 451 relative to the fixed base 44 comes from the elastic deformation of the return spring 452 . However, the elastic deformation of the return spring 452 responds to the change of the driving force of the hook driving motor 46 .

[0097] Combine Figure 4a 、 Figure 4b and Figure 5As shown, when the actuator grabs the material box 1, the hook assembly 40 first moves to the vicinity of the material box 1 through the combination of the first telescopic assembly 31 and the second telescopic assembly, and as shown in FIG. Figure 5 As shown, the fixed hook 41 is located above the top surface of the material box 1, and the movable hook 42 moves horizontally toward the material box 1 at a position lower than the handle, so that the movable hook 42 extends into the handle. Subsequently, the movable hook 42 is lifted in the vertical direction under the drive of the hook drive motor 46 to hook the handle. During this process, the first floating support plate 451 does not move relative to the fixed base 44 until the movable hook 42 abuts the handle and, under the action of the gravity of the material box 1, can no longer be lifted in the vertical direction under the drive of the hook drive motor 46. At this time, the vertical position of the movable hook 42 can no longer change due to the action of the material box 1. In response to the driving force of the hook drive motor 46, the return spring 452 is compressed. One end of the return spring 452 is connected to the fixed base 44, and the other end is connected to the first floating support plate 451 as a whole. When the return spring 452 is compressed, the first floating support plate 451 moves relative to the fixed base 44 under the action of the return spring 452, based on the fixed position of the fixed base 44, and the movement direction is along the vertical direction toward the movable hook 42 until it clamps the top surface of the material box 1. Therefore, while only the movable hook 42 is driven to move toward the fixed hook, the movable hook and the fixed hook simultaneously move toward each other via the first floating assembly, ultimately achieving stable grasping of the material box.

[0098] When the hook assembly 40 releases the handle of the container 1, the hook drive motor 46 lowers the movable hook 42 vertically, causing it to move away from the fixed hook 41, releasing the handle. Simultaneously, the driving force of the hook drive motor 46 releases the pressure on the return spring 452, and the first floating support plate 451, under the resilient force of the return spring 452, moves relative to the fixed base 44 in a direction vertically away from the movable hook 42, thereby releasing the pressure on the top surface of the container 1. Subsequently, the movable hook 42 moves to a position below the handle. Under the combined action of the first and second telescopic assemblies, it moves horizontally away from the container 1, releasing the container 1.

[0099] In this example, the first floating assembly is not only used for grabbing the container 1, but also can prevent the container from being unhooked when it is dragged across an undulating surface and encounters bumpy conditions.

[0100] In a preferred example, the movable hook 42 is located below the fixed hook 41 .

[0101] The fixed hook 41 is formed into a flat plate that fits against the top surface of the container 1. The movable hook 42 has a vertically extending hook portion 421 that limits the handle horizontally to prevent the container from unhooking. Specifically, the hook portion 421 extends toward the fixed hook 41 to enclose the handle within the range of the movable hook 42 in the pulling direction.

[0102] Furthermore, the hook assembly 40 includes a second floating assembly 47 , and the first floating assembly 45 is mounted on the fixed base 44 via the second floating assembly 47 ;

[0103] The second floating assembly 47 includes:

[0104] A second floating support plate 471 is movably mounted on the fixed base 44 along a vertical direction;

[0105] The first floating support plate 451 is movably mounted on the second floating support plate 471 along a vertical direction.

[0106] The movable installation of the second floating support plate 471 can be realized in the form of a slide rail slider, that is, the fixed base 44 is formed with protruding slide rails on both side edges extending in the vertical direction, and the second floating support plate 471 has slide blocks cooperating with the slide rails on both side edges extending in the vertical direction, so that the second floating support plate 471 can be movably installed on the fixed base 44 in the vertical direction.

[0107] At the same time, the movable installation of the first floating support plate 451 can be realized in the form of a sliding rail slider, that is, the second floating support plate 471 is formed with protruding sliding rails on both side edges extending in the vertical direction, and the two side edges of the first floating support plate 451 extending in the vertical direction have sliders that cooperate with the sliding rails, so that the first floating support plate 451 can be movably installed on the second floating support plate 471 in the vertical direction.

[0108] The driving force for the movement of the second floating support plate 471 relative to the fixed base 44 comes from gravity. The function of the second floating component is to participate in the height adjustment of the hook component. Figure 6 The process shown.

[0109] The actuator stroke is long, and there will be a working condition of picking up goods from inside the shelf, such as Figure 6As shown. At this time, there is a height difference between the material box 1 and the material box pallet 33, and the height needs to be adjusted at the edge of the shelf before the material box 1 can be stretched into the interior of the actuator 4. At this time, the actuator 4 drops as a whole, and the second floating assembly compensates for the height difference between the hook assembly and the material box pallet 33 under the action of the gravity of the material box 1. Specifically, the second floating assembly performs a lifting action relative to the fixed base 44, and then the material box 1 can be dragged into the interior of the actuator through the telescopic mechanism. When the material box 1 is placed on the shelf, the actuator rises at the edge of the shelf, and under the action of its own gravity and the gravity of the material box, the second floating support plate 471 is reset. At this time, the material box 1 can be pushed into the interior of the shelf through the telescopic mechanism.

[0110] Furthermore, in one embodiment, the second floating assembly 47 includes: a limiting plate, which is installed on the second floating support plate 471, and one end of the return spring 452 is limited by the limiting plate, specifically, the return spring 452 is limited in the vertical direction.

[0111] In one embodiment, the dropout assembly 40 includes:

[0112] The fixed base 44 is rotatably supported on the hook base 43 via the rotation driving bearing 481 so as to rotate around the vertical direction under the drive of the rotation driving motor 482 .

[0113] The fixed base 44 and the first floating assembly, the second floating assembly, and the hook assembly mounted thereon rotate together in a vertical direction under the drive of the rotary drive motor 482 to achieve alignment with the position of the material box 1 .

[0114] Combine Figure 2 As shown, the first telescopic assembly 31 includes a first telescopic drive motor 311 and a first transmission chain 312 driven by the first telescopic drive motor 311, and the moving plate 20 is fixedly connected to the first transmission chain 312;

[0115] The second telescopic assembly 32 includes a second telescopic drive motor 321 and a rack 322 mounted on the moving plate 20 along the length direction. The second telescopic drive motor 321 moves along the length direction relative to the rack 322. The hook assembly 40 is fixedly connected to the second telescopic drive motor 321.

[0116] This solution utilizes a novel hook mechanism, employing a two-stage telescopic mechanism, a rotating mechanism, and a floating hook mechanism to achieve bidirectional, long-range bin access. Because the hook engages the bin directly via the bin handle, compared to traditional bin robots, there's no need for reserved operating space on either side of the bin, improving bin storage efficiency. Compared to conventional hook robots, it offers a greater range, enabling bin access deep within shelves. The hook mechanism utilizes an upper and lower clamping mechanism, which provides greater stability than conventional single-sided hook solutions, preventing bins from becoming unhooked.

[0117] refer to Figure 7 As shown, another embodiment of the present application further provides a warehousing system, comprising:

[0118] Shelf 100, the shelf 100 includes a plurality of storage locations for storing the bins 1;

[0119] like Figure 1 The robot is shown to transport the container 1 to its position in the shelf 100.

[0120] The shelf 100 can be located on either side of the robot in the length direction of the support frame 10 , that is, facing the first end or the second end of the support frame 10 , and the extension direction of the moving plate 20 depends on the position of the target storage location.

[0121] In this embodiment, the actuator has a bidirectional travel range, meaning the hook assembly can be extended to either side of the support frame 10 along its length. Therefore, if the target bin is located on a different side of the robot, there is no need to adjust the robot's orientation. Instead, the robot can be adjusted by, for example, changing the rotational direction of the drive motor to adjust the movement direction of the first and second telescopic assemblies, thereby adjusting the extension direction of the moving plate and hook assembly. This approach is particularly suitable for racking robots, where the horizontal movement direction is limited.

[0122] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot actuator, characterized in that: include: A support frame (10), the support frame (10) extending in a horizontal direction, the support frame (10) being supported by the robot; a moving plate (20), the moving plate (20) being supported on the supporting frame (10) and being extended or retracted relative to the supporting frame (10) along the length direction of the supporting frame (10) under the drive of a first telescopic assembly (31); a hook assembly (40), the hook assembly (40) being supported on the moving plate (20) and being driven by the second telescopic assembly (32) to move within the range of the moving plate (20) along the length direction; The moving plate (20) extends out of the support frame (10) from a first end or a second end in the longitudinal direction of the support frame (10), and the extending direction of the hook assembly (40) is the same as the extending direction of the moving plate (20); The hook assembly (40), driven by the first telescopic assembly (31) and / or the second telescopic assembly (32), drives the material box (1) to move by grabbing the side of the material box (1) facing the hook assembly (40).

2. The robot actuator according to claim 1, characterized in that: The hook assembly (40) comprises a fixed hook (41) and a movable hook (42) spaced apart in a vertical direction. The side of the material box (1) facing the actuator is provided with a handle. The distance between the movable hook (42) and the fixed hook (41) is adjustable to grasp or release the handle.

3. The robot actuator according to claim 2, characterized in that: The hook assembly (40) includes: a hook base (43), the hook base (43) being supported on the second telescopic assembly (32); A fixed base (44), the fixed base (44) being mounted on the hook base (43); a first floating assembly (45), the first floating assembly (45) being movably mounted on the fixed base (44) in a vertical direction, The fixed hook (41) is fixedly mounted on the first floating assembly (45), and the movable hook (42) is movably mounted on the first floating assembly (45) in a vertical direction. The movable hook (42) moves in a vertical direction under the drive of a hook drive motor (46) to adjust the distance between the movable hook (42) and the fixed hook (41).

4. The robot actuator according to claim 3, characterized in that: The first floating assembly (45) comprises: A first floating support plate (451), the first floating support plate (451) being movably mounted on the fixed base (44) in a vertical direction, and the fixed hook (41) being fixedly mounted on the first floating support plate (451); A return spring (452) is connected between the first floating support plate (451) and the fixed base (44). The return spring (452) drives the first floating support plate (451) to move relative to the fixed base (44) in response to the driving force of the hook drive motor (46), so that the distance between the movable hook (42) and the fixed hook (41) can be adjusted.

5. The robot actuator according to claim 4, characterized in that: The hook assembly (40) includes a second floating assembly (47), and the first floating assembly (45) is mounted on the fixed base (44) via the second floating assembly (47); The second floating assembly (47) comprises: a second floating support plate (471), the second floating support plate (471) being movably mounted on the fixed base (44) along a vertical direction; The first floating support plate (451) is movably mounted on the second floating support plate (471) along a vertical direction.

6. The robot actuator according to claim 5, characterized in that: The second floating assembly (47) comprises: A limit plate is mounted on the second floating support plate (471), and one end of the return spring (452) is limited to the limit plate.

7. The robot actuator according to claim 3, characterized in that: The hook assembly (40) includes: A rotary drive bearing (481), wherein the fixed base (44) is rotatably supported on the hook base (43) via the rotary drive bearing (481) so as to rotate around a vertical direction under the drive of a rotary drive motor (482).

8. The robot actuator according to any one of claims 2 to 7, characterized in that: The movable hook (42) is located below the fixed hook (41); The fixed hook (41) is formed into a flat plate shape that fits the top surface of the material box (1); The movable hook (42) has a hook portion (421) extending in a vertical direction.

9. The robot actuator according to claim 8, characterized in that: The hook assembly (40) includes: A positioning rod (422) extends in a vertical direction and is connected between the fixed hook (41) and the movable hook (42); the movable hook (42) moves along the positioning rod (422).

10. The robot actuator according to claim 1, characterized in that: The first telescopic assembly (31) comprises a first telescopic drive motor (311) and a first transmission chain (312) driven by the first telescopic drive motor (311), and the moving plate (20) is fixedly connected to the first transmission chain (312); and / or The second telescopic assembly (32) comprises a second telescopic drive motor (321) and a rack (322) mounted on the moving plate (20) along the length direction; the second telescopic drive motor (321) moves along the length direction relative to the rack (322); and the hook assembly (40) is fixedly connected to the second telescopic drive motor (321).

11. A robot, characterized in that: include: A mobile platform (2), wherein the mobile platform (2) has a degree of freedom to move in a horizontal direction; A lifting slide rail (3), the lifting slide rail (3) is fixedly supported on the mobile platform (2), and the lifting slide rail (3) extends in a vertical direction; According to the actuator (4) according to any one of claims 1 to 10, the support frame (10) is fixed to the lifting slide rail (3) so as to be movable up and down along the lifting slide rail.

12. The robot according to claim 11, characterized in that The mobile platform (2) is supported on a mobile track extending in a horizontal direction so as to move horizontally along the mobile track; or The movable platform (2) moves along the horizontal surface driven by the horizontal driving device.

13. A storage system, characterized in that: include: A shelf (100), the shelf (100) having a plurality of storage locations, wherein the material boxes (1) are stored in the storage locations; The robot according to claim 11 or 12, wherein the robot is used to transport the container (1); in, The shelf (100) is located on either side of the robot in the length direction of the support frame (10), and the extending direction of the moving plate (20) is the side of the actuator facing the target storage location.

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