Carrying robot and warehousing system

Abstract

The utility model provides a carrying robot and a warehousing system. The carrying robot comprises a portal assembly, a goods taking and placing assembly, a lifting assembly and an anti-falling mechanism. The portal assembly is arranged on the movable base and comprises a first sliding groove extending in the height direction. The connecting mechanism is movably connected with the first sliding groove. The goods taking and placing assembly is fixed to the connecting mechanism. The lifting assembly is used for driving the connecting mechanism to ascend and descend along the door frame assembly so as to drive the goods taking and placing assembly to ascend and descend along the door frame assembly. The anti-falling mechanism is arranged on the connecting mechanism and located in the first sliding groove, and the anti-falling mechanism has a first state and a second state; in the first state, the anti-falling mechanism makes close contact with the inner side wall of the first sliding groove so as to stop the goods taking and placing assembly. And in the second state, the anti-falling mechanism is separated from the inner side wall of the first sliding groove so as to release the goods taking and placing assembly. The transfer robot comprises the anti-falling mechanism, and the problem that the goods taking and placing assembly falls accidentally can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of storage equipment, in particular to a handling robot and a storage system. Background Art

[0002] With the innovation of logistics technology, handling robots are widely used in various fields, especially in the field of warehousing. In the field of warehousing, handling robots can receive instructions to pick up and place goods at designated locations, thereby improving the efficiency of warehouse material handling. Handling robots generally include a pick-up and place component and a lifting mechanism. The lifting mechanism is used to drive the pick-up and place component to rise and fall, so that the goods at different heights can be picked up and placed. The lifting mechanism generally includes a traction member, such as a traction member or a chain structure. The retraction and extension of the traction member is achieved by retracting and extending the traction member. However, during repeated use, the traction member is inevitably prone to accidental breakage, causing the pick-up and place component to suddenly fall, resulting in unpredictable personal and property losses. Utility Model Content

[0003] The purpose of the present invention is to provide a handling robot and a storage system to solve the problem of accidental falling of the loading and unloading components. The specific technical solution is as follows:

[0004] The first aspect of the present application provides a handling robot, comprising: a gantry assembly, a cargo pick-up and placement assembly, a lifting assembly, and an anti-fall mechanism. The gantry assembly is arranged on the mobile base, and comprises a first slide extending in the height direction; a connecting mechanism is movably connected to the first slide; the cargo pick-up and placement assembly is fixed to the connecting mechanism; the lifting assembly is used to drive the connecting mechanism to perform lifting and lowering movements along the gantry assembly, thereby driving the cargo pick-up and placement assembly to perform lifting and lowering movements along the gantry assembly; the anti-fall mechanism is arranged on the connecting mechanism and located in the first slide, and the anti-fall mechanism has a first state and a second state; in the first state, the anti-fall mechanism is in close contact with the inner side wall of the first slide to stop the cargo pick-up and placement assembly; in the second state, the anti-fall mechanism is disengaged from the inner side wall of the first slide to release the cargo pick-up and placement assembly.

[0005] In some embodiments, the anti-fall mechanism includes: a pushing component, a first anti-fall slider and a second anti-fall slider, the first anti-fall slider and the second anti-fall slider are arranged on both sides of the pushing component along the width direction parallel to the first slide groove; the pushing component is used to drive the first anti-fall slider and the second anti-fall slider away from each other, and respectively make close contact with the inner side walls of the first slide groove, so that the anti-fall mechanism is in the first state; or, the pushing component is used to drive the first anti-fall slider and the second anti-fall slider close to each other, and respectively disengage from the inner side walls of the first slide groove, so that the anti-fall mechanism is in the second state.

[0006] In some embodiments, the pushing component is matched with the first anti-falling slider and the second anti-falling slider at an inclined surface and is slidably connected. When the pushing component moves along the height direction, the first anti-falling slider and the second anti-falling slider can be moved away from or closer to each other.

[0007] In some embodiments, the first anti-falling slider is provided with a first sliding groove extending along a first direction, and the second anti-falling slider is provided with a second sliding groove extending along the first direction, the first direction is perpendicular to the pushing direction and the height direction of the pushing component, and the anti-falling mechanism includes: a first limiting pin, one end of which is fixedly connected to the connecting mechanism, and the other end passes through the first sliding groove and extends out, and the first anti-falling slider moves relative to the first limiting pin in a direction away from or close to the pushing component with the help of the first sliding groove; a second limiting pin, one end of which is fixedly connected to the connecting mechanism, and the other end passes through the second sliding groove and extends out, and the second anti-falling slider moves relative to the second limiting pin in a direction away from or close to the pushing component with the help of the second sliding groove.

[0008] In some embodiments, the pushing assembly includes: a rotating assembly, one end of which is rotatably connected to the connecting mechanism and the other end of which is rollingly connected to the first slide groove; an eccentric piece, which is sleeved on the rotating assembly and rotates synchronously with the rotating assembly, and the eccentric piece is provided with at least one protrusion at one end along the long axis direction; a transmission mechanism, the first anti-falling slider and the second anti-falling slider are arranged on both sides of the transmission mechanism along the width direction parallel to the first slide groove; when the picking and placing assembly falls, the rotation speed of the rotating assembly increases, and the centrifugal force on the eccentric piece increases, so that the eccentric piece moves relative to the rotating shaft in the direction cooperating with the transmission mechanism, and the protrusion cooperates with the transmission mechanism to drive the transmission mechanism to move, so that the first anti-falling slider and the second anti-falling slider move away from each other and are in close contact with the inner side walls of the first slide groove respectively.

[0009] In some embodiments, the rotating assembly includes a rotating shaft and a first roller, one end of the rotating shaft is rotatably connected to the connecting mechanism, and the other end of the rotating shaft is fixedly connected to the first roller.

[0010] In some embodiments, the transmission mechanism includes: a gear rotatably connected to the rotating shaft and extending axially to the outer side of the eccentric member, the gear having internal teeth and external teeth; a follower, including a sliding fitting portion and a meshing portion arranged along the height direction, the first anti-falling slider and the second anti-falling slider being arranged on both sides of the sliding fitting portion parallel to the width direction of the first slide groove, and the meshing portion meshing with the external teeth; an elastic member, one end of which is fixed to the connecting mechanism, and the other end is connected to an end of the sliding fitting portion away from the meshing portion; when the picking and placing assembly falls, the rotation speed of the rotating shaft increases, and the centrifugal force applied to the eccentric member increases, causing the eccentric member to move relative to the rotating shaft, and the protrusion meshes with the internal teeth, thereby driving the gear to rotate, and the gear drives the follower to move up and down, so that the first anti-falling slider and the second anti-falling slider move away from each other and are in close contact with the inner side walls of the first slide groove respectively.

[0011] In some embodiments, the eccentric member includes an axial hole, the dimension of the axial hole along the long axis direction is larger than the diameter of the rotating shaft, the inner wall surface of the eccentric member along the long axis direction includes first flat surfaces arranged opposite to each other, and the first flat surface is located in the middle of the axial hole; the rotating shaft includes second flat surfaces arranged opposite to each other in the radial direction; in the first state, the first flat surface and the second flat surface move relative to each other so that the eccentric member engages with the gear; in the second state, the first flat surface and the second flat surface are fully matched so that the eccentric member is disengaged from the gear.

[0012] In some embodiments, the gear is axially divided into a first section and a second section; the first section is rotatably connected to the rotating shaft through a first bearing, and the outer side of the first section is provided with external teeth; the second section is located on the outer side of the eccentric member, the outer side of the second section is provided with external teeth, and the inner side of the second section is provided with internal teeth.

[0013] In some embodiments, the rotating shaft includes a first section, a second section, a third section and a fourth section with successively decreasing diameters, and a first shoulder, a second shoulder and a third shoulder are successively formed between adjacent sections; the first roller has no relative rotational connection with the first section; the first section is rotationally connected to the second section through the first bearing, the second section is located on the outside of the third section, and the second section is provided with a first limit member, and the first limit member and the first shoulder axially limit the first bearing; the eccentric piece has no relative rotational connection with the third section, and the third section is provided with a second limit member, and the second limit member and the second shoulder axially limit the eccentric piece; the second section is rotationally connected to the connecting mechanism through a second bearing, and a baffle is provided on the outside of the connecting mechanism, and the third shoulder and the baffle axially limit the second bearing.

[0014] In some embodiments, the anti-fall mechanism also includes a third limiter, which is connected to the connecting mechanism and is used to limit the upper limit of movement of the follower along the height direction, so that the side of the sliding fitting part away from the meshing part is consistent in height with the side of the first anti-fall slider and the second anti-fall slider away from the meshing part.

[0015] In some embodiments, the sliding fitting portion is provided with a protrusion on the two inclined surfaces that cooperate with the inclined surfaces of the first anti-fall slider and the second anti-fall slider, the first anti-fall slider and the second anti-fall slider are provided with a groove, and the protrusion is slidably connected to the groove; or, the sliding fitting portion is provided with a groove on the two inclined surfaces that cooperate with the inclined surfaces of the first anti-fall slider and the second anti-fall slider, the first anti-fall slider and the second anti-fall slider are provided with a protrusion, and the protrusion is slidably connected to the groove.

[0016] In some embodiments, one of the side of the engaging portion facing the connecting mechanism and the side of the connecting mechanism facing the follower is provided with a guide rail, and the other is provided with a slider, and the guide rail is slidably connected to the slider rail.

[0017] In some embodiments, one of the inner ring of the first bearing and the rotating shaft is provided with a first protrusion extending along the axial direction, and the other is provided with a first recess extending along the axial direction, and the first protrusion cooperates with the first recess to ensure that the inner ring of the first bearing is non-rotatably connected to the rotating shaft; one of the outer ring of the first bearing and the inner wall of the gear is provided with a second protrusion extending along the axial direction, and the other is provided with a second recess extending along the axial direction, and the second protrusion cooperates with the second recess to ensure that the outer ring of the first bearing is non-rotatably connected to the gear.

[0018] In some embodiments, a surface of the first anti-falling sliding block and the second anti-falling sliding block that contacts the inner side wall of the first sliding groove is provided with a protruding structure or coated with a sticky substance.

[0019] In some embodiments, the door frame assembly includes a first column and a second column spaced apart along a width direction and an extension direction perpendicular to the first slide groove, the first column and the second column include a first wall surface and a second wall surface arranged opposite to each other, and a third wall surface and a fourth wall surface adjacent to and arranged on the same side as the first wall surface and the second wall surface, respectively, the first wall surface and the second wall surface are respectively provided with the first slide groove; the connecting mechanism includes at least a first connecting plate, and the first connecting plate is movably connected to the first wall surface and the second wall surface.

[0020] In some embodiments, the connecting mechanism further includes a second connecting plate perpendicular to the first connecting plate, and the second connecting plate is movably connected to the third wall and the fourth wall.

[0021] In some embodiments, a traveling mechanism is provided on the door frame assembly, and the traveling mechanism is used to move along a track on the shelf.

[0022] In some embodiments, the transport robot includes a mobile base, and the gantry assembly is disposed on the mobile base.

[0023] A second aspect of the present application provides a warehousing system, which includes shelves and the above-mentioned transport robot, and the transport robot is used to pick up and place boxes on the shelves.

[0024] The handling robot and storage system provided by the embodiments of the present application are characterized in that the handling robot is provided with an anti-fall mechanism on the connecting mechanism, and the anti-fall mechanism can contact or disengage with the two inner side walls of the first chute. When the picking and placing assembly operates normally, that is, when the anti-fall mechanism is in the second state, the anti-fall mechanism disengages from the two inner side walls of the first chute, and does not affect the lifting and lowering movement of the picking and placing assembly. When the picking and placing assembly falls accidentally, that is, when the anti-fall mechanism is in the first state, the anti-fall mechanism contacts the two inner side walls of the first chute, thereby supporting the picking and placing assembly at a certain position of the first chute by increasing friction, preventing the picking and placing assembly from continuing to fall, thereby avoiding personal injury and property loss caused by the falling of the picking and placing assembly, and improving the safety of the handling robot.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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 also be obtained based on these drawings.

[0027] Figure 1 A schematic diagram of a portion of the structure of the transport robot provided in an embodiment of the present application;

[0028] Figure 2 for Figure 1 Schematic diagram of the partial structure of the handling robot without the pick-up and placement components;

[0029] Figure 3 for Figure 2 A magnified schematic diagram of part A;

[0030] Figure 4 for Figure 2 Schematic diagram of the structure of the middle handling robot without the connecting mechanism on one side;

[0031] Figure 5 A schematic diagram of the structure of the connection mechanism and the anti-fall mechanism provided in an embodiment of the present application;

[0032] Figure 6 for Figure 5 An enlarged schematic diagram of a part of the structure;

[0033] Figure 7 A schematic diagram of the structure of the anti-fall mechanism provided in an embodiment of the present application from one perspective;

[0034] Figure 8 A schematic structural diagram of the anti-fall mechanism provided in an embodiment of the present application from another perspective;

[0035] Figure 9 A schematic structural diagram of an eccentric member provided in an embodiment of the present application;

[0036] Figure 10 A schematic structural diagram of a rotating shaft provided in an embodiment of the present application at one viewing angle;

[0037] Figure 11 A schematic structural diagram of a rotating shaft provided in an embodiment of the present application from another perspective;

[0038] Figure 12 for Figure 5 A top view cut along the axis of the rotating shaft;

[0039] Figure 13 Schematic diagram of the matching structure between the gear, the first bearing and the rotating shaft;

[0040] Figure 14 for Figure 13 An enlarged schematic diagram of part B;

[0041] Figure 15 Schematic diagram of the structure of the gear and the first bearing;

[0042] Figure 16 is a structural schematic diagram of the first bearing;

[0043] Figure 17 A schematic diagram of the structure and application scenario of a transport robot provided in an embodiment of the present application;

[0044] Figure 18 A schematic structural diagram of another embodiment of the transport robot provided in an embodiment of the present application.

[0045] The reference numerals are as follows:

[0046] Door frame assembly 1; first column 11; first wall 111; third wall 112; top pulley 113; second column 12; second wall 121; fourth wall 122; first support beam 13; first chute 1a; inner wall 1a1; second chute 1b; cache position 14;

[0047] Connecting mechanism 2; first connecting plate 21; slider 211; second roller 212; second connecting plate 22; third roller 221;

[0048] Pick-up and delivery component 3;

[0049] Lifting assembly 4; driving member 41; transmission shaft 42; traction member 43;

[0050] Anti-fall mechanism 5; pushing assembly 50; first roller 51; rotating shaft 52; first section 521; second section 522; first limiting groove 5221; first limiting member 5222; first protrusion 5223; third section 523; second flat surface 5231; second limiting groove 5232; second limiting member 5233; fourth section 524; first shoulder 525; second shoulder 526; third shoulder 527; eccentric member 53; protrusion 531; shaft hole 532; first flat surface 533; transmission mechanism 54; gear 541; first section 5411; second protrusion 54111; third limiting groove 54112; second section 5412; inner gear 5 414; external teeth 5413; follower 542; sliding fitting portion 5421; protrusion 54211; meshing portion 5422; guide rail 54221; elastic member 543; first bearing 55; inner ring 551; first recess 5511; outer ring 552; second recess 5521; limiting boss 5522; second bearing 56; baffle 57; screw 571; third limiting member 58; first anti-falling slider 59a; first sliding groove 59a1; second anti-falling slider 59b; second sliding groove 59b1; groove 5901; first limiting pin 5902; second limiting pin 5903; shelf 6; track 61; movable base 7; height direction H. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0052] In order to solve the problem that the picking and placing component 3 is prone to accidental falling, the embodiment of the present application provides a transport robot, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, it includes: a mobile base 7, a gantry assembly 1, a connecting mechanism 2, a pick-up and release assembly 3, a lifting assembly 4 and an anti-fall mechanism 5. The gantry assembly 1 is arranged on the mobile base 7 and includes a first slide 1a extending along the height direction H. The connecting mechanism 2 is movably connected to the first slide 1a. The pick-up and release assembly 3 is fixed on the connecting mechanism 2, and the lifting assembly 4 is used to drive the connecting mechanism 2 to move up and down along the gantry assembly 1, thereby driving the pick-up and release assembly 3 to move up and down along the gantry assembly 1. Figure 4 、 Figure 5 and Figure 6 As shown, the anti-fall mechanism 5 is provided on the connecting mechanism 2 and located within the first chute 1a. The anti-fall mechanism 5 has a first state and a second state. In the first state, the anti-fall mechanism is in close contact with the inner sidewall 1a1 of the first chute 1a to stop the pickup and placement assembly 3. In the second state, the anti-fall mechanism is disengaged from the inner sidewall 1a1 of the first chute 1a to release the pickup and placement assembly 3.

[0053] The transport robot is provided with an anti-fall mechanism 5 on the connecting mechanism 2, and the anti-fall mechanism 5 can contact or disengage with the two inner side walls 1a1 of the first chute 1a. When the pick-up and release assembly 3 is operating normally, that is, when the anti-fall mechanism 5 is in the second state, the anti-fall mechanism 5 disengages from the two inner side walls of the first chute 1a, and does not affect the lifting and lowering movement of the pick-up and release assembly 3. When the pick-up and release assembly 3 accidentally falls, that is, when the anti-fall mechanism 5 is in the first state, the anti-fall mechanism 5 contacts the two inner side walls 1a1 of the first chute 1a, thereby supporting the pick-up and release assembly 3 at a certain position in the first chute 1a by increasing friction, preventing the pick-up and release assembly 3 from continuing to fall, thereby avoiding personal injury and property damage caused by the falling of the pick-up and release assembly 3, and improving the safety of the transport robot.

[0054] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the anti-fall mechanism 5 includes a push assembly 50, a first anti-fall slider 59a, and a second anti-fall slider 59b. The first anti-fall slider 59a and the second anti-fall slider 59b are arranged on both sides of the push assembly 50 along a direction parallel to the width of the first chute 1a. The push assembly 50 is used to drive the first anti-fall slider 59a and the second anti-fall slider 59b away from each other, respectively making close contact with the inner sidewall 1a1 of the first chute 1a, so that the anti-fall mechanism 5 is in the first state; alternatively, the push assembly 50 is used to drive the first anti-fall slider 59a and the second anti-fall slider 59b towards each other, respectively disengaging from the inner sidewall 1a1 of the first chute 1a, so that the anti-fall mechanism 5 is in the second state.

[0055] In this embodiment, the pushing assembly 50 can be an electric mechanism or a mechanical mechanism, as long as it can place the anti-fall mechanism 5 in the second state when the picking and placing assembly 3 is operating normally, and place the anti-fall mechanism 5 in the first state when the picking and placing assembly 3 accidentally falls. For example, the electric mechanism can include a displacement sensor (not shown in the figure) and a controller (not shown in the figure). The displacement sensor automatically monitors the falling speed of the picking and placing assembly. When the speed exceeds a preset value, it feeds back to the controller. The controller controls the pushing assembly 50 to drive the first anti-fall slider 59a and the second anti-fall slider 59b away from each other, and respectively make close contact with the inner side wall 1a1 of the first chute 1a, so that the picking and placing assembly 3 is supported at a certain position of the first chute 1a to prevent the picking and placing assembly 3 from continuing to fall.

[0056] It should be noted that the anti-fall mechanism 5 may have an intermediate transition state between the first state and the second state.

[0057] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the pushing component 50 is matched with the first anti-falling slider 59a and the second anti-falling slider 59b on the inclined surface and is slidably connected. When the pushing component 50 moves along the height direction H, the first anti-falling slider 59a and the second anti-falling slider 59b can be moved away from or closer to each other.

[0058] In this embodiment, the push assembly 50 is configured such that the first and second anti-falling sliders 59a, 59b engage with each other at an inclined surface. When the push assembly 50 moves in the height direction H, for example, downward, the lateral force generated by the inclined surface causes the first and second anti-falling sliders 59a, 59b to move away from each other. Due to the sliding connection between the two, when the push assembly 50 moves upward, the first and second anti-falling sliders 59a, 59b can move closer to each other. Regardless of whether the push assembly 50 moves upward or downward, the first and second anti-falling sliders 59a, 59b maintain their inclined engagement with the push assembly 50 and do not separate.

[0059] In some embodiments of this application, reference Figure 6 、 Figure 7 、 Figure 8The first anti-falling slider 59a is provided with a first sliding groove 59a1 penetrating along the first direction, and the second anti-falling slider 59b is provided with a second sliding groove 59b1 penetrating along the first direction. The first direction is perpendicular to the pushing direction and height direction H of the pushing component 50. The anti-falling mechanism 5 includes: a first limiting pin 5902 and a second limiting pin 5903. One end of the first limiting pin 5902 is fixedly connected to the connecting mechanism 2, and the other end passes through the first sliding groove 59a1 and extends out. The first anti-falling slider 59a moves relative to the first limiting pin 5902 in a direction away from or close to the pushing component 50 with the help of the first sliding groove 59a1; one end of the second limiting pin 5903 is fixedly connected to the connecting mechanism 2, and the other end passes through the second sliding groove 59b1 and extends out. The second anti-falling slider 59b moves relative to the second limiting pin 5903 in a direction away from or close to the pushing component 50 with the help of the second sliding groove 59b1.

[0060] In this embodiment, the first limit pin 5902 and the second limit pin 5903, on the one hand, serve to fix the first anti-falling slider 59a and the second anti-falling slider 59b, and on the other hand, ensure that when the push component 50 moves downward, the first anti-falling slider 59a and the second anti-falling slider 59b can only move along the extension direction of their respective sliding grooves, that is, they can also serve as motion guides.

[0061] Optionally, two first limiting pins 5902 and two first sliding slots 59a1 are provided to ensure the smooth movement of the first anti-falling slider 59a. Two second limiting pins 5903 and two second sliding slots 59b1 are also provided to ensure the smooth movement of the second anti-falling slider 59b.

[0062] Of course, the sliding connection between the first and second anti-falling sliders 59a, 59b and the connecting mechanism 2 is not limited to a stop pin and a sliding groove. Any method is sufficient as long as the first and second anti-falling sliders 59a, 59b can be moved in a direction parallel to the width of the first chute 1a. For example, guide rails and sliding blocks parallel to the width of the first chute 1a can be provided on the surfaces of the anti-falling sliders opposing the connecting mechanism 2, respectively, to enable the first and second anti-falling sliders 59a, 59b to move along the guide rails.

[0063] In some embodiments of the present application, Figure 7 、 Figure 8As shown, the pushing assembly 50 includes a rotating assembly, an eccentric member 53 and a transmission mechanism 54. One end of the rotating assembly is rotationally connected to the connecting mechanism 2, and the other end is rollingly connected to the first chute 1a. The eccentric member 53 is sleeved on the rotating assembly and rotates synchronously with the rotating assembly. At least one protrusion 531 is provided at one end of the eccentric member 53 along the longitudinal direction. The first anti-falling slider 59a and the second anti-falling slider 59b are arranged on both sides of the transmission mechanism 54 along the width direction parallel to the first chute 1a. When the picking and placing assembly 3 falls, the rotation speed of the rotating assembly increases, and the centrifugal force on the eccentric member 53 increases, causing the eccentric member 53 to move relative to the rotating assembly in the direction of cooperating with the transmission mechanism 54. The protrusion 531 cooperates with the transmission mechanism 54 to drive the transmission mechanism 54 to move, thereby causing the first anti-falling slider 59a and the second anti-falling slider 59b to move away from each other and respectively make close contact with the inner side wall 1a1 of the first chute 1a.

[0064] In this embodiment, when the pick-up / placement assembly 3 is normally raised or lowered, the rotating assembly rotates at a constant speed. However, when the pick-up / placement assembly 3 falls, the rotational speed of the rotating assembly increases dramatically due to the rolling connection between one end of the rotating assembly and the first chute 1a. This increases the centrifugal force exerted on the eccentric member 53 mounted on the rotating assembly. Under the action of the centrifugal force, the eccentric member moves relative to the rotating assembly, causing the protrusion 531 to cooperate with the transmission mechanism 54. As the rotating assembly rotates, the eccentric member 53 drives the transmission mechanism 54 to move. As a result, the transmission mechanism 54 moves the first and second anti-falling sliders 59a and 59b away from each other, respectively contacting the inner sidewall 1a1 of the first chute 1a, thereby stopping the pick-up / placement assembly 3. The coordination between the eccentric member 53 and the transmission mechanism 54 does not require the application of additional force or the provision of an additional sensing device, but can be performed automatically, thus providing the advantages of reliable anti-falling effect and a simple structure.

[0065] The rotating assembly can be a structure with a disc at one end of a shaft-like member. The disc can be in rolling connection with the first chute 1a, and the end without the disc can be in rotational connection with the connecting mechanism 2. The disc and the shaft-like member can be an integrally formed structure or a separate structure, as long as there is no relative rotation between the disc and the shaft-like member. In other words, the specific structure of the rotating assembly can be achieved as long as one end is connected to the connecting mechanism 2 and the other end is in rolling connection with the first chute 1a. In this way, when the picking and placing assembly 3 is operating normally, the rotating assembly has a certain rotation speed, such as uniform rise and fall, or non-uniform speed but within a certain range. When the picking and placing assembly 3 falls, the rotation speed of the rotating assembly will increase sharply as the connecting mechanism 2 falls rapidly, thereby increasing the centrifugal force on the eccentric 53 and achieving cooperation with the transmission mechanism 54 under the action of the centrifugal force.

[0066] In some embodiments of the present application, Figure 7 、 Figure 8 As shown, the rotating assembly includes a first roller 51 and a rotating shaft 52 , one end of the rotating shaft 52 is rotatably connected to the connecting mechanism 2 , and the other end of the rotating shaft 52 is fixedly connected to the first roller 51 .

[0067] There is no rotational connection between the first roller 51 and the rotating shaft 52, allowing them to rotate synchronously. When the loading and unloading assembly 3 descends, the first roller 51 rapidly rolls downward along the first chute 1a, causing the rotational speed of the rotating shaft 52 to rapidly increase. This in turn subjects the eccentric member 53 mounted on the rotating shaft 52 to a significant centrifugal force. Furthermore, the at least one protrusion 531 located at one end of the eccentric member 53 along its longitudinal axis is subjected to an even greater centrifugal force, causing the protrusion 531 to move away from the rotating shaft 52. This ultimately causes the protrusion 531 to engage with the transmission mechanism 54, such as by meshing or snapping. Once engaged, the eccentric member 53 drives the transmission mechanism 54. The transmission mechanism 54 can convert the rotation of the eccentric member 53 into a translational motion along the width direction of the first slide groove 1a, so that the first anti-falling slider 59a and the second anti-falling slider 59b move away from each other and are in close contact with the inner side wall 1a1 of the first slide groove 1a, respectively, to prevent the connecting mechanism 2 from continuing to fall, thereby stopping the picking and releasing component 3.

[0068] The eccentric member 53 may be an elliptical eccentric member 53 or an eccentric member 53 similar to an elliptical eccentric member 53, such as Figure 9 As shown, the present application does not impose any restrictions on this, as long as it is an eccentric structure, a protrusion 531 is set at one end in the long axis direction, and the protrusion 531 can be provided with one or multiple protrusions 531 are set at intervals. When multiple protrusions are set at intervals, when they engage with the transmission mechanism 54, they can increase the engagement area and improve the engagement stability.

[0069] In some embodiments of the present application, Figure 6 、 Figure 7 and Figure 8As shown, the transmission mechanism 54 includes a gear 541, a follower 542, and an elastic member 543. The gear 541 is rotatably connected to the rotating shaft 52 and extends axially to the outside of the eccentric member 53. The gear 541 has internal teeth 5414 and external teeth 5413. The follower 542 includes a sliding fit portion 5421 and an engaging portion 5422 arranged along the height direction H. The first and second anti-falling sliders 59a, 59b are arranged on either side of the sliding fit portion 5421 parallel to the width of the first chute 1a. The engaging portion 5422 engages with the external teeth 5413. One end of the elastic member 543 is fixed to the connecting mechanism 2, and the other end is connected to the end of the sliding fit portion 5421 away from the engaging portion 5422. When the cargo picking and placing assembly 3 falls, the rotation speed of the rotating shaft 52 increases, and the centrifugal force on the eccentric member 53 increases, causing the eccentric member 53 to move relative to the rotating shaft 52. The protrusion 531 engages with the internal teeth 5414, thereby driving the gear 541 to rotate, and the gear 541 drives the driven member 542 to move up and down, causing the first anti-falling slider 59a and the second anti-falling slider 59b to move away from each other and closely contact the inner side wall 1a1 of the first slide groove 1a respectively.

[0070] In this embodiment, under the action of centrifugal force, the protrusion 531 of the eccentric member 53 engages with the inner teeth 5414 of the gear 541, thereby driving the gear 541 to rotate. Since the outer teeth 5413 of the gear 541 engage with the meshing portion 5422 of the follower 542, the rotation of the gear 541 can be converted into the up and down movement of the follower 542. The sliding fitting portion 5421 of the follower 542 slides with the first anti-falling slider 59a and the second anti-falling slider 59b on an inclined surface. When the follower 542 moves, the first anti-falling slider 59a and the second anti-falling slider 59b can move backwards. The first anti-falling slider 59a and the second anti-falling slider 59b move backwards and are in close contact with the inner side wall 1a1 of the first slide groove 1a, thereby preventing the picking and placing assembly 3 from falling.

[0071] The follower 542 can move upward or downward. The specific direction of movement depends on the specific structure of the follower 542. For example, if the follower 542 is a left-handed tooth or a right-handed tooth, the direction of movement of the follower 542 is exactly the opposite. This application only uses the downward movement of the follower 542 as an example for illustration.

[0072] The meshing portion 5422 can be a rack, a traction member 43, or a chain, as long as it can mesh with the outer teeth 5413 of the gear 541. The sliding fitting portion 5421 is located above the meshing portion 5422. The cross-section of the sliding fitting portion 5421 along the height direction H can be a trapezoid, preferably an isosceles trapezoid. The first anti-falling slider 59a and the second anti-falling slider 59b are arranged on both sides of the waist of the isosceles trapezoid. The sliding fitting portion 5421 is connected to the connecting mechanism 2 through the elastic member 543. In this way, the deformation of the elastic member 543 allows the follower 542 to move downward a certain distance. When the anti-falling state is released by external force after the anti-falling state is completed, the elastic member 543 can drive the follower 542 to automatically reset.

[0073] Optionally, the elastic member 543 may be a spring, and the size of the spring elastic coefficient may be selected according to actual needs.

[0074] It is understandable that the transmission mechanism 54 is not limited to the form proposed in this application. Other mechanisms such as connecting rod mechanisms can be used as long as they can convert the rotation of the eccentric member 53 into the translational motion of the first anti-falling slider 59a and the second anti-falling slider 59b.

[0075] In some embodiments of the present application, Figure 9 As shown, the eccentric member 53 includes an axial hole 532. The size of the axial hole 532 along the longitudinal direction is larger than the diameter of the rotating shaft 52. The inner wall surface of the eccentric member 53 along the longitudinal direction includes a first flat surface 533 arranged opposite to each other. The first flat surface 533 is located in the middle of the axial hole 532. Figure 10 、 Figure 11 As shown, the rotating shaft 52 includes a second flat surface 5231 disposed radially opposite to each other. In the second state, i.e., the normal operation state of the pick-up / placement assembly 3, the first flat surface 533 and the second flat surface 5231 fully engage, disengaging the eccentric member 53 from the gear 541. In the first state, i.e., the fallen state of the pick-up / placement assembly 3, the first flat surface 533 and the second flat surface 5231 move relative to each other, causing the eccentric member 53 to mesh with the gear 541.

[0076] In this embodiment, the dimension of the shaft hole 532 along the long axis direction is larger than the diameter of the rotating shaft 52, so that the eccentric piece 53 can move relative to the rotating shaft 52 under the action of centrifugal force, so that the protrusion 531 can be disengaged from the internal teeth 5414 of the gear 541 and can be engaged with the gear 541 of the gear 541. The eccentric member 53 is provided with a first flat surface 533 on the inner wall surface along the long axis direction, and the first flat surface 533 is located in the middle of the shaft hole 532. In this way, when the first flat surface 533 and the second flat surface 5231 are fully matched, the middle part of the eccentric member 53 is sleeved on the rotating shaft 52, and one end of the eccentric member 53 provided with the protrusion 531 is at a certain distance from the inner teeth 5414 of the gear 541, maintaining a separated state. When the eccentric member 53 is subjected to centrifugal force, under the action of centrifugal force, the matching position of the eccentric member 53 and the rotating shaft 52 is changed from the middle of the shaft hole 532 to one end of the shaft hole 532. Since the end provided with the protrusion 531 is subjected to a greater centrifugal force, it will move in the direction away from the rotating shaft 52, so that the protrusion 531 and the inner teeth 5414 of the gear 541 are close to each other and finally meshed together.

[0077] By providing the first flat surface 533 and the second flat surface 5231, a non-rotational connection is achieved between the eccentric member 53 and the rotating shaft 52 at low rotational speeds, and the position of the eccentric member 53 is kept relatively stable, preventing contact with the internal teeth 5414. When the rotational speed of the rotating shaft 52 increases rapidly, the centrifugal force of the eccentric member 53 overcomes the mating force between the first flat surface 533 and the second flat surface 5231, causing the first flat surface 533 and the second flat surface 5231 to partially or completely disengage relative to the rotating shaft 52, resulting in the protrusion 531 being located at the end away from the rotating shaft 52 and meshing with the internal teeth 5414 of the gear 541. The arrangement of the first flat surface 533 of the eccentric member 53 and the second flat surface 5231 of the rotating shaft 52 is simple in structure and easy to implement.

[0078] It should be noted that the orthographic projections of the first flat surfaces 533 and the second flat surfaces 5231 that are arranged opposite to each other in the height direction H overlap, and the orthographic projections of the first flat surfaces and the second flat surfaces that are arranged opposite to each other in the height direction H overlap.

[0079] In some embodiments of the present application, Figure 12 、 Figure 13 and Figure 14 As shown, gear 541 is axially divided into a first section 5411 and a second section 5412. First section 5411 is rotatably connected to shaft 52 via a first bearing 55, and has external teeth 5413 disposed on its exterior. Second section 5412 is located outside eccentric member 53, and has external teeth 5413 disposed on its exterior and internal teeth 5414 disposed on its interior.

[0080] In this embodiment, the first section 5411 is used to be rotatably connected to the rotating shaft 52, and the second section 5412 is located on the outside of the eccentric member 53. When the picking and placing assembly 3 operates normally, the second section 5412 and the eccentric member 53 remain separated. When the picking and placing assembly 3 accidentally falls, the eccentric member 53 is subjected to the action of centrifugal force, and the end with the protrusion 531 will move away from the rotating shaft 52 and engage with the second section 5412. Since the outer teeth 5413 of the gear 541 and the follower 542 are always in a meshing state, when the eccentric member 53 drives the gear 541 to rotate, the gear 541 can drive the follower 542 to move. Since the gear 541 is fixed to the rotating shaft 52, the rotation of the gear 541 can be converted into the downward movement of the follower 542. When the follower 542 moves downward, the sliding fitting portion 5421 can push the first anti-falling slider 59a and the second anti-falling slider 59b away from each other, and respectively make close contact with the inner side walls 1a1 of the first slide groove 1a, thereby supporting the connecting mechanism 2 at a certain position of the first slide groove 1a to prevent the picking and placing assembly 3 from continuing to fall.

[0081] By providing the inner teeth 5414 and the outer teeth 5413 on the gear 541 , the gear 541 alone can simultaneously cooperate with both the eccentric member 53 and the driven member 542 , resulting in a simpler structure.

[0082] In some embodiments of this application, reference Figure 10 、 Figure 11 、 Figure 12 The rotating shaft 52 includes a first section 521 , a second section 522 , a third section 523 and a fourth section 524 , the diameters of which decrease in sequence. A first shoulder 525 , a second shoulder 526 and a third shoulder 527 are formed in sequence between two adjacent sections. The first roller 51 has no relative rotational connection with the first section 521; the first section 5411 is rotationally connected to the second section 522 through the first bearing 55, the second section 5412 is located on the outside of the third section 523, the second section 522 is provided with a first limit member 5222, the first limit member 5222 and the first shoulder 525 axially limit the first bearing 55; the eccentric member 53 has no relative rotational connection with the third section 523, the third section 523 is provided with a second limit member 5233, the second limit member 5233 and the second shoulder 526 axially limit the eccentric member 53; the second section 5412 is rotationally connected to the connecting mechanism 2 through the second bearing 56, the outside of the connecting mechanism 2 is provided with a baffle 57, the third shoulder 527 and the baffle 57 axially limit the second bearing 56.

[0083] In this embodiment, the rotating shaft 52 is divided into a first section 521, a second section 522, a third section 523, and a fourth section 524, each of decreasing diameters, such that a first shoulder 525, a second shoulder 526, and a third shoulder 527 are sequentially formed between adjacent sections. This allows only a first stopper 5222 to be provided on the other side of the first bearing 55. The first shoulder 525 and the first stopper 5222 can axially limit the first bearing 55, eliminating the need for one stopper and further simplifying the structure. Since only the first section 5411 of the gear 541 is rotatably connected to the second section 522 of the rotating shaft 52, the first stopper 5222 can be provided on the second section 522, outside the first section 5411. The "outside" here refers to the end of the first section 5411, on the side opposite the first shoulder 525.

[0084] Specifically, refer to Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 As shown, the first section 5411 of the gear 541 is rotatably connected to the second section 522 via a first bearing 55. The first bearing 55 includes an inner ring 551 and an outer ring 552. There is no rotational connection between the inner ring 551 and the rotating shaft 52, and there is no rotational connection between the outer ring 552 and the first section 5411. A first stopper 5222 for axially limiting the first bearing 55 can be provided in the second section 522 and located outside the first bearing 55. The outside here refers to one end of the first bearing 55, opposite the first shoulder 525. A first stopper groove 5221 extending circumferentially can be provided in the second section 522. The first stopper 5222 is located within the first stopper groove 5221 and partially protrudes from the surface of the second section 522 to axially limit the first bearing 55. The first stopper groove 5221 can be provided continuously in a circle or in sections, one, two, or even multiple sections. It is understandable that in order to prevent the gear 541 from axially displacing relative to the rotating shaft 52, not only the first bearing 55 but also the gear 541 must be axially limited. Figure 15 As shown, a limiting boss 5522 is provided at one end of the outer ring 552 of the first bearing 55, and a third limiting groove 54112 is provided on the inner wall of the first section 5411 of the gear 541 at the end opposite to the limiting boss 5522. A third limiting member (not shown in the figure) is provided in the third limiting groove 54112. The third limiting member can be an elastic retaining ring, such as a silicone ring, a rubber ring, etc. The limiting boss 5522 and the third limiting member limit the gear 541 axially.

[0085] Similarly, reference Figure 8 and Figure 10, the eccentric member 53 only needs to be provided with a second limiting member 5233 on the other side of the eccentric member 53. The second shaft shoulder 526 and the second limiting member 5233 can axially limit the eccentric member 53, thereby eliminating the need for one limiting member and further simplifying the structure. It should be noted that the first limiting groove 5221 can be located at the intersection of the second section 522 and the third section 523. In this way, the first limiting member 5222 contacts the second shaft shoulder 526, and the first limiting member 5222 and the second limiting member 5233 limit the eccentric member.

[0086] Specifically, refer to Figure 10 The third section 523 includes a second limiting groove 5232 extending circumferentially. The second limiting groove 5232 is located outside the eccentric member 53. The second limiting member 5233 is located within the third limiting groove and partially protrudes from the surface of the third section 523 to axially limit the eccentric member 53. The second limiting groove 5232 can be provided continuously in a circle or in sections, one, two, or even multiple sections.

[0087] refer to Figure 11 and Figure 12 The fourth section 524 of the rotating shaft 52 is rotatably connected to the connecting mechanism 2 via a second bearing 56. One end of the second bearing 56 abuts against a third shoulder 527, and the other end is limited by a baffle 57. Therefore, the third shoulder 527 and the baffle 57 can limit the second bearing 56, thereby preventing the rotating shaft 52 from axial movement. The baffle 57 can be fixed to the connecting mechanism 2 by a fastening screw 571.

[0088] The first limiting member 5222 and the second limiting member 5233 can be silicone structural members, such as silicone rings or silicone strips.

[0089] In addition, the diameter of the rotating shaft 52 decreases successively, the gear 541 is arranged in the second section 522, and the eccentric member 53 is arranged in the third section 523. Due to the difference in diameter, the space for arranging the eccentric member 53 inside the gear 541 can also be increased, which facilitates the design of the eccentric member 53.

[0090] In some embodiments of this application, reference Figure 6 、 Figure 7 、 Figure 8 The anti-fall mechanism 5 also includes a third limiter 58, which is connected to the connecting mechanism 2 and is used to limit the upper limit of the movement of the follower 542 along the height direction H, so that the side of the sliding fitting part 5421 away from the meshing part 5422 is consistent in height with the side of the first anti-fall slider 59a and the second anti-fall slider 59b away from the meshing part 5422.

[0091] In this embodiment, by sliding the fitting portion 5421 away from the meshing portion 5422, as shown in FIG. Figure 6As shown, a third limiting member 58 is provided above the sliding fitting portion 5421. The third limiting member 58 can limit the sliding fitting portion 5421 to prevent the follower 542 from rebounding too high under the rebound force of the elastic member 543, thereby causing the meshing portion 5422 to lose engagement with the gear 541. The third limiting member 58 can be a limiting block or a limiting plate.

[0092] In some embodiments of this application, reference Figure 6 、 Figure 7 、 Figure 8 The sliding fitting part 5421 is provided with a protrusion 5421 on the two inclined surfaces that cooperate with the first anti-falling slider 59a and the second anti-falling slider 59b, and the first anti-falling slider 59a and the second anti-falling slider 59b are provided with a groove 5901, and the protrusion 54211 is slidably connected to the groove 5901; or, the sliding fitting part 5421 is provided with a groove 5901 on the two inclined surfaces that cooperate with the first anti-falling slider 59a and the second anti-falling slider 59b, and the first anti-falling slider 59a and the second anti-falling slider 59b are provided with a protrusion 54211, and the protrusion 54211 is slidably connected to the groove 5901.

[0093] In this embodiment, the groove 5901 on the first anti-fall slider 59a and the second anti-fall slider 59b cooperates with the protrusion 54211 on the sliding fitting portion 5421, or the protrusion 54211 on the first anti-fall slider 59a and the second anti-fall slider 59b cooperates with the groove 5901 on the sliding fitting portion 5421, which can limit the risk of rotation of the first anti-fall slider 59a and the second anti-fall slider 59b during movement.

[0094] Alternatively, the groove 5901 may be a dovetail groove, and the protrusion 54211 may match the dovetail groove, thereby achieving a sliding connection between the protrusion 54211 and the groove 5901 and preventing the first and second anti-falling sliders 59a, 59b from separating from the sliding fitting portion 5421 when the slider is not falling. Of course, the first and second anti-falling sliders 59a, 59b, and the sliding fitting portion 5421 may also be tightly fitted using a spring-like structure, thereby ensuring a sliding connection between the protrusion 54211 and the groove 5901 and preventing the first and second anti-falling sliders 59a, 59b from separating from the sliding fitting portion 5421 when the slider is not falling.

[0095] In some embodiments of this application, reference Figure 6 、 Figure 7 、 Figure 8 The meshing portion 5422 faces the side of the connecting mechanism 2 and the side of the connecting mechanism 2 faces the follower 542 , one of which is provided with a guide rail 54221 , and the other is provided with a slider 211 , and the guide rail 54221 is slidably connected to the slider 211 .

[0096] The slider 211 can be provided on one of the engaging portion 5422 or the connecting mechanism 2, and the other can be provided with a guide rail 54221, which is not limited in this application. Figure 6 As shown, in this embodiment, the engaging portion 5422 is provided with a guide rail 54221, and the connecting mechanism 2 is provided with a slider 211. The two are slidably matched to guide the movement of the follower 542 and prevent the follower 542 from swinging.

[0097] In some embodiments of this application, reference Figure 13 、 Figure 14 、 Figure 15 and Figure 16 One of the inner ring 551 of the first bearing 55 and the rotating shaft 52 is provided with an axially extending first protrusion 5223, and the other is provided with an axially extending first recess 5511. The first protrusion 5223 cooperates with the first recess 5511 to ensure a non-rotatable connection between the inner ring 551 of the first bearing 55 and the rotating shaft 52. One of the outer ring 552 of the first bearing 55 and the inner wall of the gear 541 is provided with an axially extending second protrusion 54111, and the other is provided with an axially extending second recess 5521. The second protrusion 54111 cooperates with the second recess 5521 to ensure a non-rotatable connection between the outer ring 552 of the first bearing 55 and the gear 541.

[0098] The first protrusion 5223 can be provided on one of the inner ring 551 or the rotating shaft 52, and the first recess 5511 can be provided on the other. Figure 14 As shown, the first protrusion 5223 is provided on the rotating shaft 52, specifically on the second section 522 of the rotating shaft 52, and the first recess 5511 is provided on the inner ring 551 of the first bearing 55. The cooperation between the first protrusion 5223 and the first recess 5511 can limit the relative rotation between the inner ring 551 of the first bearing 55 and the rotating shaft 52, thereby preventing the two from being connected in a rotational manner, thereby having the advantage of a simple structure.

[0099] Similarly, the second convex portion 54111 can be provided on one of the outer ring 552 or the inner wall of the gear 541, and the second concave portion 5521 can be provided on the other. Figure 14 、 Figure 15 and Figure 16 As shown, the second recess 5521 is provided on the outer ring 552 of the first bearing 55, and the second protrusion 54111 is provided on the inner wall of the gear 541. The cooperation between the second protrusion 54111 and the second recess 5521 can limit the relative rotation between the outer ring 552 of the first bearing 55 and the gear 541, so that the two are non-rotatably connected, which has the advantage of a simple structure.

[0100] refer to Figure 7In some embodiments of the present application, the first anti-falling slider 59a and the second anti-falling slider 59b have a protruding structure or are coated with a sticky substance on the surface in contact with the inner side wall 1a1 of the first chute 1a.

[0101] By providing a raised structure or coating a sticky substance on the side where the first anti-fall slider 59a and the second anti-fall slider 59b contact the inner side wall 1a1 of the first slide groove 1a, the friction between the first anti-fall slider 59a, the second anti-fall slider 59b and the inner side wall 1a1 of the first slide groove 1a is increased, thereby improving the emergency braking effect of the first anti-fall slider 59a and the second anti-fall slider 59b. It is understandable that other schemes that can increase the friction between the anti-fall slider and the inner side wall 1a1 of the first slide groove 1a are also within the protection scope of this application.

[0102] refer to Figure 1 、 Figure 2 In some embodiments of the present application, the door frame assembly 1 includes a first column 11 and a second column 12 arranged at intervals along the width direction and extension direction perpendicular to the first slide groove 1a, the first column 11 and the second column 12 include a first wall 111 and a second wall 121 arranged opposite to each other, and a third wall 112 and a fourth wall 122 adjacent to and on the same side of the first wall 111 and the second wall 121, respectively, the first wall 111 and the second wall 121 are respectively provided with a first slide groove 1a; the connecting mechanism 2 includes at least a first connecting plate 21, and the first connecting plate 21 is movably connected to the first wall 111 and the second wall 121.

[0103] In this embodiment, the first slide 1a is arranged on the first wall 111 and the second wall 121 opposite to the first column 11 and the second column 12, and the first connecting plate 21 of the connecting mechanism 2 is arranged opposite to the first wall 111 and the second wall 121, that is, the anti-falling mechanism 5 is arranged on the inner side of the first connecting plate 21, and the inner side refers to the side facing the first slide 1a, so that the anti-falling mechanism 5 is just located on both sides of the width direction of the picking and placing component 3. The anti-falling mechanism 5 stops the picking and placing component 3 from both sides in the width direction, which is more conducive to the force balance of the picking and placing component 3, because this is the main load-bearing position of the picking and placing component 3.

[0104] Furthermore, the connecting mechanism 2 also includes a second connecting plate 22 that is perpendicular to the first connecting plate 21. The second connecting plate 22 is movably connected to the third wall 112 and the fourth wall 122. The connecting mechanism 2 includes the first connecting plate 21 and the second connecting plate 22. The first connecting plate 21 and the second connecting plate 22 are movably connected to the portal assembly 1, thereby increasing the stability of the connection between the connecting mechanism 2 and the portal assembly 1 and ensuring smooth operation of the loading and unloading assembly 3.

[0105] It is understandable that the mast assembly 1 can be a single mast structure, including a first column 11 and a second column 12 arranged opposite to each other. It can also be an external double mast structure, that is, including an external mast (not shown in the figure) and an internal mast (not shown in the figure), the external mast including a first external column and a second external column arranged opposite to each other, the first external column and the second external column being connected by a first supporting beam 13. The internal mast includes a first internal column and a second internal column, the first internal column and the second internal column being connected by a second supporting beam.

[0106] Optionally, refer to Figure 5 A second roller 212 is provided on the first connecting plate 21 , and the second roller 212 is arranged in the first sliding groove 1 a.

[0107] The lifting and lowering movement of the picking and placing assembly 3 is guided by the rolling cooperation between the second roller 212 and the first slide groove 1a, while reducing friction and improving stability.

[0108] Optionally, refer to Figure 5 A third roller 221 is provided on the second connecting plate 22 , a second sliding groove 1 b extending along the height direction H is provided on the second wall surface 121 , and the second roller 212 is provided in the second sliding groove 1 b .

[0109] On the one hand, the rolling cooperation between the third roller 221 and the second slide groove 1b can guide the lifting and lowering movement of the picking and placing assembly 3, while reducing friction and improving stability; on the other hand, the second roller 212 and the third roller 221 are respectively arranged on different walls of the inner door frame, which can also limit the picking and placing assembly 3 to prevent shaking during the lifting process.

[0110] The second chute 1b can be an L-shaped chute, such as Figure 1 、 Figure 2 shown.

[0111] It is understandable that the connecting mechanism 2 and the door frame assembly 1 can also be connected in a sliding manner. In this case, there is no need to set the second roller 212 and the third roller 221, and only a sliding block that cooperates with the first slide groove 1a and the second slide groove 1b can be set.

[0112] In some embodiments of the present application, Figure 1 、 Figure 2 As shown, the lifting assembly 4 includes two, each of which is arranged on one of the columns of the door frame assembly 1; the lifting assembly 4 includes a driving member 41, a transmission shaft 42 and a traction member 43. The driving end of the driving member 41 is connected to one end of the traction member 43 through the transmission shaft 42, and the other end of the traction member 43 passes around the top of one of the columns and is fixedly connected to the connecting mechanism 2. Taking the first column 11 as an example, the top of the first column 11 is provided with a top pulley 113, and the other end of the traction member 43 passes around the top pulley 113 at the top of the first column 11 and is fixedly connected to the connecting mechanism 2.

[0113] The driving member 41 drives the transmission shaft 42 to rotate, and when the transmission shaft 42 rotates, the traction member 43 is tightened or released, so that the connecting mechanism 2 rises or falls. Since the picking and placing assembly 3 is fixedly connected to the connecting mechanism 2, the picking and placing assembly 3 rises and falls synchronously.

[0114] When the gantry assembly 1 is a double gantry structure, top pulleys can be respectively provided at the tops of the first inner column and the second inner column, bottom pulleys can be respectively provided at the bottoms of the first inner column and the second inner column, and main pulleys can be respectively provided at the tops of the first outer column and the second outer column. The driving end of the driving member 41 is connected to one end of the traction member 43 through the transmission shaft 42, and the other end of the traction member 43 is fixedly connected to the connecting mechanism 2 by passing through the main pulley, the bottom pulley and the top pulley. In this way, the driving member 41 drives the transmission shaft 42 to rotate, and when the transmission shaft 42 rotates, the traction member 43 is tightened or released, and finally the picking and placing assembly 3 is controlled to rise or fall relative to the inner gantry, and the inner gantry is controlled to rise or fall relative to the outer gantry. Of course, the winding method of the traction member 43 is not limited to this. It can also be set in two sections, one of which is used to control the movement of the inner gantry relative to the outer gantry, and the other section is used to control the movement of the picking and placing assembly 3 relative to the inner gantry.

[0115] The traction member 43 may be a structure such as a synchronous belt, a chain or a traction rope.

[0116] In some embodiments of the present application, Figure 17 As shown, the door frame assembly 1 is provided with a walking mechanism (not shown in the figure), which is used to move along the track 61 on the shelf 6.

[0117] In this embodiment, the transport robot is a hanging-arm rack robot that can move along a track 61 provided on the rack 6 and retrieve and place bins on the rack 6. This can further reduce the distance between adjacent racks 6 and improve the storage density of the warehouse system. The track 61 is fixed to the rack 6, and the transport robot's running mechanism is movably connected to the track 61, such as by a rolling connection. The running mechanism includes a crossbeam and running wheels provided on the crossbeam. The crossbeam is connected to the gantry assembly 1.

[0118] In some embodiments of the present application, Figure 18 As shown, the transport robot includes a mobile base 7 , and the gantry assembly 1 is arranged on the mobile base 7 .

[0119] In this embodiment, the mobile base 7 drives the transport robot to walk on the ground and pick up and place the boxes on the shelf 6. The mobile base 7 may include a chassis, running wheels connected to the chassis, and a drive motor, and the drive motor is used to drive the running wheels to rotate, thereby driving the chassis to move. The transport robot includes a plurality of cache positions 14 for temporarily storing boxes taken from the shelf 6 or to be placed on the shelf 6. A second aspect of the present application provides a warehousing system, which includes the shelf 6 and the transport robot described above, and the transport robot is used to pick up and place the boxes on the shelf 6.

[0120] The warehousing system in this embodiment includes a handling robot with an anti-fall mechanism 5, which can urgently stop the picking and placing component 3 when the lifting component 4 breaks accidentally, avoiding personal injury and property loss caused by the falling of the picking and placing component 3, thereby improving the safety of the handling robot.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A transport robot, characterized in that: include: A door frame assembly (1) is arranged on a movable base (7) and comprises a first slide groove (1a) extending in a height direction; A connecting mechanism (2) movably connected to the first sliding groove (1a); A cargo pick-up and delivery assembly (3) is fixed on the connecting mechanism (2); A lifting assembly (4) is used to drive the connecting mechanism (2) to move up and down along the door frame assembly (1), thereby driving the cargo picking and placing assembly (3) to move up and down along the door frame assembly (1); An anti-fall mechanism (5) is provided on the connecting mechanism (2) and is located in the first sliding groove (1a), and the anti-fall mechanism (5) has a first state and a second state; In the first state, the anti-falling mechanism is in close contact with the inner side wall (1a1) of the first chute (1a) to stop the cargo picking and placing assembly (3); In the second state, the anti-falling mechanism is disengaged from the inner side wall (1a1) of the first chute (1a) to release the cargo picking and placing assembly (3).

2. The transport robot according to claim 1, characterized in that: The anti-falling mechanism (5) comprises: a pushing assembly (50), a first anti-falling slider (59a) and a second anti-falling slider (59b), wherein the first anti-falling slider (59a) and the second anti-falling slider (59b) are arranged on both sides of the pushing assembly (50) along a width direction parallel to the first sliding groove (1a); The pushing assembly (50) is used to drive the first anti-falling slider (59a) and the second anti-falling slider (59b) to move away from each other and to closely contact the inner side wall (1a1) of the first sliding groove (1a), so that the anti-falling mechanism (5) is in the first state; Alternatively, the pushing assembly (50) is used to drive the first anti-falling slider (59a) and the second anti-falling slider (59b) to move closer to each other and to separate from the inner side wall (1a1) of the first sliding groove (1a), respectively, so that the anti-falling mechanism (5) is in the second state.

3. The transport robot according to claim 2, characterized in that: The pushing component (50) is matched with the first anti-falling slider (59a) and the second anti-falling slider (59b) in an inclined surface and is slidably connected. When the pushing component (50) moves in the height direction, the first anti-falling slider (59a) and the second anti-falling slider (59b) can move away from or approach each other.

4. The transport robot according to claim 3, characterized in that: The first anti-falling slider (59a) is provided with a first sliding groove (59a1) penetrating along a first direction, and the second anti-falling slider (59b) is provided with a second sliding groove (59b1) penetrating along the first direction, wherein the first direction is perpendicular to the pushing direction of the pushing component (50) and the height direction, and the anti-falling mechanism (5) comprises: A first limiting pin (5902), one end of which is fixedly connected to the connecting mechanism (2), and the other end of which passes through the first sliding groove (59a1) and extends out, so that the first anti-falling sliding block (59a) moves relative to the first limiting pin (5902) in a direction away from or toward the pushing assembly (50) by means of the first sliding groove (59a1); The second limiting pin (5903) has one end fixedly connected to the connecting mechanism (2) and the other end passing through the second sliding groove (59b1) and extending out. The second anti-falling slider (59b) moves in a direction away from or close to the pushing component (50) relative to the second limiting pin (5903) with the help of the second sliding groove (59b1).

5. The transport robot according to claim 3, characterized in that: The pushing assembly (50) comprises: A rotating assembly, one end of which is rotationally connected to the connecting mechanism (2) and the other end of which is rollingly connected to the first sliding groove (1a); An eccentric member (53) is sleeved on the rotating assembly and rotates synchronously with the rotating assembly. One end of the eccentric member (53) along the longitudinal direction is provided with at least one protrusion (531); A transmission mechanism (54), wherein the first anti-falling slider (59a) and the second anti-falling slider (59b) are arranged on both sides of the transmission mechanism (54) along a width direction parallel to the first sliding groove (1a); When the cargo picking and placing assembly (3) falls, the rotation speed of the rotating assembly increases, and the centrifugal force on the eccentric member (53) increases, causing the eccentric member (53) to move relative to the rotating assembly in a direction to cooperate with the transmission mechanism (54). The protrusion (531) cooperates with the transmission mechanism (54) to drive the transmission mechanism (54) to move, thereby causing the first anti-falling slider (59a) and the second anti-falling slider (59b) to move away from each other and to be in close contact with the inner side wall (1a1) of the first chute (1a).

6. The transport robot according to claim 5, characterized in that: The rotating assembly comprises a rotating shaft (52) and a first roller (51), one end of the rotating shaft (52) is rotatably connected to the connecting mechanism (2), and the other end of the rotating shaft (52) is fixedly connected to the first roller (51).

7. The transport robot according to claim 6, characterized in that: The transmission mechanism (54) comprises: a gear (541) rotatably connected to the rotating shaft (52) and extending axially to the outside of the eccentric member (53); the gear (541) having internal teeth (5414) and external teeth (5413); The driven member (542) includes a sliding fitting portion (5421) and an engaging portion (5422) arranged along the height direction, the first anti-falling slider (59a) and the second anti-falling slider (59b) are arranged on both sides of the sliding fitting portion (5421) along a width direction parallel to the first sliding groove (1a), and the engaging portion (5422) is engaged with the external teeth (5413); an elastic member (543), one end of which is fixed to the connecting mechanism (2) and the other end of which is connected to the end of the sliding fitting portion (5421) away from the meshing portion (5422); When the cargo picking and placing assembly (3) falls, the rotation speed of the rotating shaft (52) increases, the centrifugal force on the eccentric member (53) increases, and the eccentric member (53) moves relative to the rotating shaft (52). The protrusion (531) engages with the inner teeth (5414), thereby driving the gear (541) to rotate. The gear (541) drives the driven member (542) to move up and down, so that the first anti-falling slider (59a) and the second anti-falling slider (59b) move away from each other and are in close contact with the inner side wall (1a1) of the first sliding groove (1a).

8. The transport robot according to claim 7, characterized in that: The eccentric member (53) includes an axial hole (532), the dimension of the axial hole (532) along the longitudinal direction is larger than the diameter of the rotating shaft (52), and the inner wall surface of the eccentric member (53) along the longitudinal direction includes first flat surfaces (533) arranged opposite to each other, and the first flat surfaces (533) are located in the middle of the axial hole (532); The rotating shaft (52) includes second flat surfaces (5231) arranged opposite to each other in the radial direction; In the first state, the first flat surface (533) and the second flat surface (5231) move relative to each other, so that the eccentric member (53) meshes with the gear (541); In the second state, the first flat surface (533) and the second flat surface (5231) are fully matched to disengage the eccentric member (53) from the gear (541).

9. The transport robot according to claim 7, characterized in that: The gear (541) is divided into a first section (5411) and a second section (5412) along the axial direction; The first section (5411) is rotatably connected to the rotating shaft (52) via a first bearing (55), and an outer side of the first section (5411) is provided with external teeth (5413); The second section (5412) is located on the outside of the eccentric member (53), the outside of the second section (5412) is provided with external teeth (5413), and the inside of the second section (5412) is provided with internal teeth (5414).

10. The transport robot according to claim 9, characterized in that: The rotating shaft (52) comprises a first section (521), a second section (522), a third section (523) and a fourth section (524) whose diameters decrease in sequence, and a first shaft shoulder (525), a second shaft shoulder (526) and a third shaft shoulder (527) are formed in sequence between two adjacent sections; The first roller (51) is non-rotatably connected to the first section (521); The first section (5411) is rotatably connected to the second section (522) via the first bearing (55); the second section (5412) is located outside the third section (523); the second section (522) is provided with a first limiting member (5222); the first limiting member (5222) and the first shaft shoulder (525) axially limit the first bearing (55); The eccentric member (53) and the third section (523) are not connected in a relatively rotational manner. The third section (523) is provided with a second limiting member (5233). The second limiting member (5233) and the second shaft shoulder (526) axially limit the eccentric member (53). The second section (5412) is rotatably connected to the connecting mechanism (2) via a second bearing (56); a baffle (57) is provided on the outer side of the connecting mechanism (2); and the third shaft shoulder (527) and the baffle (57) axially limit the second bearing (56).

11. The handling robot according to any one of claims 7 to 10, characterized in that: The anti-fall mechanism (5) further comprises a third limiting member (58), which is connected to the connecting mechanism (2) and is used to limit the upper limit of movement of the follower (542) along the height direction, so that the side of the sliding fitting portion (5421) away from the meshing portion (5422) is at the same height as the side of the first anti-fall slider (59a) and the second anti-fall slider (59b) away from the meshing portion (5422).

12. The handling robot according to any one of claims 7 to 10, characterized in that: The two inclined surfaces of the sliding fitting portion (5421) and the first anti-falling slider (59a) and the second anti-falling slider (59b) are fitted with a protrusion (54211), the first anti-falling slider (59a) and the second anti-falling slider (59b) are provided with a groove (5901), and the protrusion (54211) is in sliding connection with the groove (5901); or, Grooves (5901) are provided on the two inclined surfaces of the sliding fitting portion (5421) that fit with the inclined surfaces of the first anti-falling slider (59a) and the second anti-falling slider (59b), and the first anti-falling slider (59a) and the second anti-falling slider (59b) are provided with protrusions (54211), and the protrusions (54211) are slidably connected to the grooves (5901).

13. The handling robot according to any one of claims 7 to 10, characterized in that: The engaging portion (5422) faces the side of the connecting mechanism (2), and the connecting mechanism (2) faces the side of the follower (542), one of which is provided with a guide rail (54221), and the other is provided with a slider (211), and the guide rail (54221) and the slider (211) are slidably connected.

14. The transport robot according to claim 9 or 10, characterized in that: One of the inner ring (551) of the first bearing (55) and the rotating shaft (52) is provided with a first convex portion (5223) extending along the axial direction, and the other is provided with a first concave portion (5511) extending along the axial direction, and the first convex portion (5223) cooperates with the first concave portion (5511) to ensure that the inner ring (551) of the first bearing (55) is non-rotatably connected to the rotating shaft (52); One of the outer ring (552) of the first bearing (55) and the inner wall of the gear (541) is provided with a second convex portion (54111) extending along the axial direction, and the other is provided with a second concave portion (5521) extending along the axial direction. The second convex portion (54111) cooperates with the second concave portion (5521) to ensure that the outer ring (552) of the first bearing (55) is non-rotatably connected to the gear (541).

15. The handling robot according to any one of claims 2 to 10, characterized in that: The surfaces of the first anti-falling sliding block (59a) and the second anti-falling sliding block (59b) that are in contact with the inner side wall (1a1) of the first sliding groove (1a) are provided with a protruding structure or coated with a sticky substance.

16. The handling robot according to any one of claims 1 to 10, characterized in that: The door frame assembly (1) comprises a first column (11) and a second column (12) spaced apart along a width direction and an extension direction perpendicular to the first slide groove (1a); the first column (11) and the second column (12) comprise a first wall surface (111) and a second wall surface (121) arranged opposite to each other, and a third wall surface (112) and a fourth wall surface (122) respectively adjacent to and arranged on the same side as the first wall surface (111) and the second wall surface (121); the first wall surface (111) and the second wall surface (121) are respectively provided with the first slide groove (1a); The connecting mechanism (2) comprises at least a first connecting plate (21), and the first connecting plate (21) is movably connected to the first wall surface (111) and the second wall surface (121).

17. The transport robot according to claim 16, characterized in that: The connecting mechanism (2) further comprises a second connecting plate (22) perpendicular to the first connecting plate (21), and the second connecting plate (22) is movably connected to the third wall surface (112) and the fourth wall surface (122).

18. The handling robot according to any one of claims 1 to 10, characterized in that: The door frame assembly (1) is provided with a walking mechanism, and the walking mechanism is used to move along the track (61) on the shelf (6).

19. The handling robot according to any one of claims 1 to 10, characterized in that: The transport robot comprises a mobile base (7), and the portal assembly (1) is arranged on the mobile base (7).

20. A storage system, characterized in that: The storage system comprises a shelf (6) and a handling robot according to any one of claims 1 to 19, wherein the handling robot is used to pick up and place boxes on the shelf (6).

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