Workbin robot

Abstract

The utility model discloses a workbin robot, and relates to the technical field of warehouse logistics. The workbin robot comprises a bearing mechanism used for bearing a workbin; the lifting mechanism is connected to the bearing mechanism and used for driving the bearing mechanism to lift; the telescopic mechanism comprises a telescopic piece, a clamping piece and an elastic piece, the telescopic piece is arranged on the bearing mechanism and can telescopically move in the direction parallel to the bearing mechanism, the clamping piece is connected to the telescopic piece and can move relative to the telescopic piece in the direction perpendicular to the bearing face of the bearing mechanism, and the elastic piece is connected between the telescopic piece and the clamping piece; the elastic force of the elastic piece points to the telescopic piece; and the driving mechanism is connected to the bearing mechanism and is in driving connection with the telescopic piece, the driving mechanism is used for driving the telescopic piece to move telescopically, and the clamping piece is matched and clamped with a preset clamping groove of the material box so as to drive the material box to enter or break away from the bearing mechanism. The accuracy and the stability of taking and placing the material box are good, and the working efficiency is high.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a bin robot. Background Technology

[0002] With the rapid development of e-commerce and supply chain management, the demand for automation solutions in the warehousing and logistics industry is constantly increasing. Traditional manual operations are inefficient and prone to errors, while automated equipment such as bin robots can significantly improve work efficiency and accuracy.

[0003] In related technologies, bin robots include hook-claw bin robots, which are equipped with hook devices to grab, transport and place bins.

[0004] However, the gripper bin robot in the relevant technology has insufficient gripping accuracy and low gripping efficiency when grabbing bins. Utility Model Content

[0005] In view of the above problems, this application provides a bin robot with good accuracy and stability in picking up and placing bins, and high work efficiency.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] This application provides a bin robot, including:

[0008] The supporting mechanism is used to support the material box;

[0009] A lifting mechanism, connected to the supporting mechanism, is used to drive the supporting mechanism to move;

[0010] A telescopic mechanism includes a telescopic component, a snap-fit ​​component, and an elastic component. The telescopic component is disposed on the bearing mechanism and can telescopically move in a direction parallel to the bearing mechanism. The snap-fit ​​component is connected to the telescopic component and can move relative to the telescopic component in a direction perpendicular to the bearing surface of the bearing mechanism. The elastic component is connected between the telescopic component and the snap-fit ​​component.

[0011] A drive mechanism is connected to the support mechanism and driven to the telescopic member. The drive mechanism is used to drive the telescopic member to extend and retract. The telescopic member engages with a pre-set slot in the material box through the snap-fit ​​member, thereby driving the material box to enter or leave the support mechanism.

[0012] In one possible implementation, the bearing mechanism includes a bearing body and a chain drive assembly, the chain drive assembly being disposed on the bearing body and being drively connected to the drive mechanism;

[0013] The telescopic component includes a telescopic base, a transmission chain link, and a fixed track. The telescopic base is connected to the chain drive assembly via the transmission chain link, and the fixed track is erected on the telescopic base.

[0014] The telescopic mechanism also includes a slider, and the snap-fit ​​component is slidably connected to the fixed track via the slider.

[0015] In one possible implementation, the chain drive assembly includes a sprocket assembly and a chain. The sprocket assembly is rotatably connected to the side of the load-bearing body, and the chain is wound around the sprocket assembly and meshes with the sprockets of the sprocket assembly.

[0016] The supporting mechanism also includes a slide rail, which is disposed on the supporting body and parallel to the chain, and the telescopic base is slidably connected to the slide rail.

[0017] In one possible implementation, the telescopic base includes a base frame and a support column. The base frame is slidably connected to the slide rail, the support column is connected to the base frame, and the fixed rail is fixedly connected to the support column, such that both ends of the fixed rail extend in a direction perpendicular to the telescopic component.

[0018] As one possible implementation, the telescopic base also includes stiffening plates connected between the base frame and the supporting column.

[0019] As one possible implementation, a guide housing is also included, which is connected to the side of the support mechanism and is provided with a guide block;

[0020] The telescopic base also includes a guide plate, which is connected to the base frame and slidably connected to the guide block.

[0021] In one possible implementation, the snap-fit ​​component includes a connecting plate and a snap-fit ​​block. One side of the connecting plate is connected to the slider, and the other side is connected to the snap-fit ​​block. The elastic element is elastically connected between the connecting plate and the telescopic base.

[0022] In one possible implementation, the connecting plate includes a vertical plate and a horizontal plate. One side of the vertical plate is fixedly connected to the slider, and the other side is fixedly connected to the locking block. The horizontal plate is orthogonally connected to the end of the vertical plate away from the telescopic member and extends toward the side opposite to the locking block.

[0023] The elastic element is elastically connected between the horizontal plate and the telescopic base.

[0024] In one possible implementation, the locking block includes a connecting block and a hook. The connecting block is connected to the connecting plate, and the hook is fixed to the connecting block. The hook has a bent portion that bends toward the telescopic base.

[0025] As one possible implementation, two fixed tracks are erected at intervals on the telescopic base, and two hooks are disposed at intervals on the connecting block.

[0026] The bin robot provided in this application embodiment has at least the following beneficial effects:

[0027] The lifting mechanism drives the lifting and lowering of the carrying mechanism, which in turn drives the telescopic component connected to the carrying mechanism to extend and retract, causing the locking component to move. The locking component acts as a hook structure, locking the locking component with a pre-set slot in the material box. An elastic element connected between the telescopic component and the locking component strengthens the locking force between the locking component and the material box, and allows the locking component to move relative to the telescopic component. In this way, compared to directly hooking the material box with a hook structure, the hook and the material box are prone to disengagement due to the height difference between the picking and placing plane and the shelf plane during picking and placing. This application adds an elastic element to strengthen the locking force between the locking component and the material box, reducing the probability of the hook and the material box disengaging. In addition, compared to the solution of actively hooking robots that additionally drive a drive motor at the hook to actively adjust the height of the material box to be consistent with the picking plane during picking and placing, this application has a simpler structure and lower cost.

[0028] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that the warehousing system provided by the embodiments of this application can solve, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the bin robot provided in the embodiments of this application;

[0031] Figure 2 for Figure 1 Axial view of the telescopic mechanism of the medium-sized material box robot;

[0032] Figure 3 for Figure 1 A side view of the telescopic mechanism of the medium-sized material bin robot;

[0033] Figure 4 Figure 1 A schematic diagram of the load-bearing mechanism of the medium-sized material box robot;

[0034] Figure 5 To show Figure 4 A schematic diagram of the bottom structure of the load-bearing mechanism.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100 - Load-bearing mechanism;

[0037] 110 - Main load-bearing structure;

[0038] 120 - Chain drive assembly;

[0039] 121 - Sprocket assembly; 122 - Chain;

[0040] 130-Slide rail;

[0041] 200 - Telescopic mechanism;

[0042] 210 - Telescopic component;

[0043] 211-Telescopic base;

[0044] 2111-Base frame; 2112-Supporting column; 2113-Stiffening plate; 2114-Guide plate;

[0045] 212 - Transmission chain link;

[0046] 213-Fixed track;

[0047] 220-Card connector;

[0048] 221-Connecting plate;

[0049] 2211 - Vertical panel; 2212 - Horizontal panel;

[0050] 222-Card Block;

[0051] 2221-Connecting block; 2222-Hook;

[0052] 230 - Elastic component;

[0053] 240-slider;

[0054] 250 - Photodetector;

[0055] 300-Drive mechanism;

[0056] 400 - Guide housing;

[0057] 410 - Guide block;

[0058] 500 - Rotary mechanism. Detailed Implementation

[0059] As described in the background section, with the rapid development of e-commerce and supply chain management, the demand for automation solutions in the warehousing and logistics industry is constantly increasing. Traditional manual operations are not only inefficient but also prone to errors, while automated equipment such as bin robots can significantly improve work efficiency and accuracy.

[0060] In related technologies, bin robots include hook-grip bin robots, which are equipped with hook devices to grasp, transport, and place bins. However, the grasping accuracy and efficiency of hook-grip bin robots in related technologies are insufficient.

[0061] The inventors discovered that the related hook-and-grip bin robots include rigid hook-and-grip bin robots and active hook-and-grip bin robots. The rigid hook-and-grip bin robot has a rigid hook structure, achieving a simple bin-grabbing action through the cooperation of a lifting mechanism and hook extension. However, this structure only has a telescopic function; vertical movement is achieved through the lifting mechanism. When there is a height deviation, the accuracy and stability of the cooperation between the hook and the bin's hook slot are low. Specifically, the height deviation is the value where the robot's placement surface is higher than the shelf plane when placing the bin on the shelf; the low deviation is the value where the robot's retrieval surface is lower than the shelf plane when retrieving the bin from the shelf.

[0062] Active claw bin robots use a motor connected to the end of the claw for transmission. The motor drives the claw to move up and down, thus achieving the hooking action. However, the added claw motor has a complex structure, is cumbersome to control, and increases hardware and software costs.

[0063] To address the aforementioned technical problems, this application provides a bin robot. A lifting mechanism drives the lifting and lowering of a supporting mechanism, which in turn drives a telescopic component connected to the supporting mechanism to extend and retract, causing a locking component to move. The locking component acts as a hook structure, engaging with a bin that has a pre-set locking slot. An elastic element, elastically connected between the telescopic component and the locking component, strengthens the engagement force between the locking component and the bin. Furthermore, the locking component can move relative to the telescopic component. Compared to directly hooking the bin using a hook structure, where the height difference between the picking / pickup plane and the shelf plane makes the hook and bin prone to disengagement due to vertical forces, this application adds an elastic element to strengthen the engagement force, reducing the probability of the hook detaching from the bin. Additionally, compared to active hook robots that use an additional drive motor at the hook to actively adjust the bin height to align with the picking / pickup plane, this application has a simpler structure and lower cost.

[0064] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0065] refer to Figures 1 to 5 The bin robot provided in this application includes a carrying mechanism 100 for carrying bins; a lifting mechanism connected to the carrying mechanism 100 for driving the carrying mechanism 100 to lift; and a telescopic mechanism 200 including a telescopic member 210, a snap-fit ​​member 220, and an elastic member 230. The telescopic member 210 is disposed on the carrying mechanism 100 and can move telescopically in a direction parallel to the carrying mechanism 100. The snap-fit ​​member 220 is connected to the telescopic member 210 and can move relative to the telescopic member 210 in a direction perpendicular to the carrying surface of the carrying mechanism 100. The elastic member 230 is connected between the telescopic member 210 and the snap-fit ​​member 220, and the elastic force of the elastic member 230 points towards the telescopic member 210.

[0066] The drive mechanism 300 is connected to the bearing mechanism and is driven to the telescopic member 210. The drive mechanism 300 is used to drive the telescopic member 210 to move in and out. It engages with the pre-set slot of the material box through the snap-fit ​​member 220 to drive the material box into or out of the bearing mechanism 100. For example, the elastic member is a spring. Furthermore, a protective sleeve is provided on the outer periphery of the spring to play a structural protection role.

[0067] In this way, the lifting mechanism drives the lifting movement of the carrying mechanism 100, so that the drive mechanism 300 drives the telescopic member 210 connected to the carrying mechanism 100 to extend and retract, causing the locking member 220 to move, so that the locking member 220 locks into the material box with the pre-set locking slot. The elastic member 230 elastically connects the telescopic member 210 and the locking member 220 to strengthen the locking force between the locking member 220 and the material box, and the locking member 220 can move up and down relative to the telescopic member 210. In this way, the accuracy and stability of the material box robot of this application in picking up and placing the material box are high. It is not easy for the locking member 220 to detach from the material box locking slot when there is a height difference between the picking surface and the shelf plane where the material box is placed, which would affect the material box picking efficiency. Moreover, the structural design of the locking member 220 is simple, and there is no need to set up a separate drive device for its drive connection, which reduces costs.

[0068] In some embodiments, the support mechanism 100 includes a support body 110 and a chain drive assembly 120. The chain drive assembly 120 is disposed on the support body 110 and is driveably connected to the drive mechanism 300. The telescopic member 210 includes a telescopic base 211, a transmission chain link 212, and a fixed track 213. The telescopic base 211 is driveably connected to the chain drive assembly 120 through the transmission chain link 212, and the fixed track 213 is erected on the telescopic base 211. The telescopic mechanism 200 also includes a slider 240. The snap-fit ​​member 220 is slidably connected to the fixed track 213 through the slider 240. Exemplarily, the drive mechanism 300 includes a first drive motor, which is detachably mounted on the bottom of the support body 110. The chain drive assembly 120 includes a sprocket and a chain 122. The output shaft of the first drive motor drives and connects to the sprocket. The inner side of the chain 122 meshes with the sprocket, and the transmission chain link 212 meshes with the outer side of the chain 122 to achieve efficient transmission of the telescopic base 211.

[0069] Furthermore, the telescopic base 211 is provided with a fixed plate, and the fixed plate has grooves on both sides to form a fixed track 213. The slider 240 has an installation groove on the side facing the fixed track 213. The inner walls of the installation groove on both sides have protrusions. The slider 240 is slidably connected to the groove through the protrusions. Furthermore, there are two sliders 240, and the two sliders 240 are fixedly connected to the snap-fit ​​member 220 at intervals to further improve the sliding stability of the snap-fit ​​member 220 relative to the fixed track 213.

[0070] In more possible embodiments, the chain drive assembly 120 includes a sprocket set 121 and a chain 122. The sprocket set 121 is rotatably connected to the side of the support body 110. The chain 122 is wound around the sprocket set 121 and meshes with the sprockets of the sprocket set 121. Further, there are multiple sprocket sets 121 and multiple chains 122. Each sprocket set 121 includes a pair of sprockets. The two ends of each chain 122 are respectively wound around each sprocket of each sprocket set 121. Along the width direction of the support body 110, the two chains... The sprocket sets 121 are disposed on both sides of the bearing body 110, and the two sprocket sets 121 are driven and connected to each other by a drive motor. The multiple sprocket sets 121 are driven by a drive shaft. Furthermore, the two sprockets of each sprocket set 121 are spaced apart at both ends of the bearing body 110 along its length, so that the chain 122 wound around the sprockets extends along the length of the bearing body 110, providing a moving transmission belt for the telescopic mechanism 200 and ensuring the telescopic movement of the telescopic mechanism 200.

[0071] The supporting mechanism 100 also includes a slide rail 130, which is disposed on the supporting body 110 and parallel to the chain 122. The telescopic base 211 is slidably connected to the slide rail 130. For example, along the width direction of the supporting body 110, two slide rails 130 are spaced apart on the supporting body 110. The telescopic base 211 of the telescopic mechanism 200 is slidably connected to the supporting mechanism 100 through a moving block slidably connected to the slide rail 130. In this way, the sliding pair formed by the moving block and the slide rail 130 further improves the smoothness of the telescopic movement of the telescopic mechanism 200 relative to the supporting mechanism 100, and also plays a guiding role in the movement of the telescopic base 211 of the telescopic mechanism 200, preventing the transmission link 212 of the telescopic mechanism 200 from becoming unstable and failing when it cooperates with the chain drive assembly 120 of the supporting mechanism 100.

[0072] In more examples, the supporting body 110 includes a base plate and support plates 2211 fixedly connected to both sides of the base plate, as well as support rods. The side walls of the support plates 2211 are provided with openings, and multiple openings are spaced apart along the length of the support plates 2211. Along the length of the support plates 2211, multiple support rods are inserted into the openings of the support plates 2211 on both sides of the base plate to provide strong support in the width direction of the support plates 2211. With this configuration, the supporting body 110 has high structural strength and is relatively stable.

[0073] Furthermore, the carrying mechanism 100 also includes a loading platform for supporting the material box to enter the carrying mechanism 100. The loading platform is detachably installed on the support rod. Furthermore, the loading platform is fixed to the support rods one by one by multiple mounting brackets to improve the connection stability between the loading platform and the carrying body 110.

[0074] In other possible implementations, the telescopic base 211 includes a base frame 2111 and a support column 2112. The base frame 2111 is slidably connected to the slide rail 130, the support column 2112 is connected to the base frame 2111, and the fixed track 213 is fixedly connected to the support column 2112, such that both ends of the fixed track 213 extend in a direction perpendicular to the telescopic member 210. For example, the support column 2112 is provided with a plurality of mounting holes spaced apart along the height direction, and the fixed track 213 is provided with a plurality of threaded holes along its own track extension direction. The fixed track 213 is fixedly connected to the support column 2112 by threaded connectors that pass through the threaded holes and mounting holes in sequence. In this way, the connection strength between the fixed track 213 and the support column 2112 is high, and the sliding stability of the slider 240 on the fixed track 213 is higher.

[0075] As an example, the telescopic base 211 also includes a stiffening plate 2113, which is connected between the base frame 2111 and the support column 2112. Furthermore, the stiffening plate 2113 is a right-angled trapezoidal plate, with its long base fixedly connected to the base frame 2111 and its right-angled waist fixedly connected to the support column 2112. The stiffening plate 2113 is located on the side opposite to the snap-fit ​​member 220, thereby providing better structural support for the support column 2112.

[0076] In another example, the bin robot also includes a guide housing 400, which is connected to the side of the support mechanism 100 and has a guide block 410. The telescopic base 211 also includes a guide plate 2114, which is connected to the base frame 2111 and slidably connected to the guide block 410. Furthermore, there are two guide housings 400 and two guide plates 2114, which are respectively connected to the side of the base frame 2111. The two guide housings 400 are respectively covered on both sides of the support mechanism 100 along the width direction, so that the guide plate 2114 is sleeved on the guide block 410, which further plays a role in guiding the movement when the telescopic mechanism 200 moves, thereby improving the movement stability and accuracy of the telescopic mechanism 200.

[0077] Based on the above embodiments, the snap-fit ​​component 220 can be improved by including a connecting plate 221 and a snap-fit ​​block 222. One side of the connecting plate 221 is connected to the slider 240, and the other side is connected to the snap-fit ​​block 222. The elastic element 230 is elastically connected between the connecting plate 221 and the telescopic base 211. In this way, by setting the connecting plate 221 between the slider 240 and the snap-fit ​​block 222, the transmission between the snap-fit ​​block 222 and the slider 240 can be better realized, and a force application position is provided for the elastic element 230.

[0078] In some other examples, the connecting plate 221 includes a vertical plate 2211 and a horizontal plate 2212. The opposite side of the vertical plate 2211 is fixedly connected to the slider 240, and the other side is fixedly connected to the locking block 222. The horizontal plate 2212 is orthogonally connected to the end of the vertical plate 2211 away from the telescopic member 210 and extends toward the side away from the locking block 222. The elastic member 230 is elastically connected between the horizontal plate 2212 and the telescopic base 211. Furthermore, the fixed track 213 abuts against the horizontal plate 2212 at one end, which can limit the movement of the locking block 222 toward the telescopic base 211.

[0079] In more examples, the locking block 222 includes a connecting block 2221 and a hook 2222. The connecting block 2221 is connected to the connecting plate 221, and the hook 2222 is fixed to the connecting block 2221. The hook 2222 has a bent portion that bends toward the telescopic base 211. For example, the connecting block 2221 is a square tube with multiple fixing holes spaced along its length on its inner wall. The connecting plate 221 has screw holes corresponding to the fixing holes. The connecting block 2221 is fixedly connected to the connecting plate 221 by screws passing through the fixing holes and screw holes. The hook 2222 includes a first locking plate and a second locking plate. The second locking plate is bent and connected to the first locking plate to form a bent portion. The first locking plate is welded to the connecting block 2221, resulting in a high connection strength.

[0080] In other possible embodiments, two fixed rails 213 are spaced apart and erected on the telescopic base 211, and two hooks 2222 are spaced apart and arranged on the connecting block 2221. For example, the telescopic base 211 includes two base frames 2111 symmetrically arranged along its own width direction and a support column 2112 connected to the base frame 2111. The two fixed rails 213 are respectively bolted to the support column 2112 to improve the guiding effect of the block 222 when it slides relative to the fixed rails 213 through the slider 240, and to improve the moving efficiency of the block 222.

[0081] Based on the above embodiments, the telescopic mechanism 200 may be further improved by including a photoelectric detector 250, which is mounted on the connecting block 2221. For example, the side wall of the connecting block 2221 is fixedly connected to a mounting plate, and the photoelectric detector 250 is disposed on the mounting plate. Furthermore, the photoelectric detector 250 is disposed between two hooks 2222, and the light outlet of the photoelectric detector 250 faces the extension direction of the hooks 2222, so as to detect whether the material box is in place after the hooks 2222 engage the material box.

[0082] In more possible implementations, the bin robot also includes a rotating mechanism 500, which is connected between the lifting mechanism and the carrying mechanism 100. The rotating mechanism 500 includes a drive motor, a base frame, and a first turntable mounted on the base frame. The output shaft of the drive motor drives and connects to a second turntable, which is connected to the first turntable via a transmission belt. The rotating mechanism 500 also includes a mounting bracket, which is detachably connected to the carrying mechanism 100. The rotating mechanism 500 is also detachably connected to the lifting mechanism via the base frame. In this way, by setting the rotating mechanism 500 between the carrying mechanism 100 and the lifting mechanism, the carrying mechanism 100 can be rotated, thereby enabling the picking and placing of bins on shelves in different orientations.

[0083] Furthermore, the working principle of the bin robot provided in the embodiments of this application will be explained:

[0084] When the latching member 220 of the telescopic mechanism 200 of the bin robot is in an idle state, the elastic member 230 is in a stretched state and has a certain tensile force. At this time, the slider 240 is in the lowest limit position. Correspondingly, the latching block 222 connected to the slider 240 is in the lowest position, that is, located at one end of the base frame 2111 near the telescopic base 211.

[0085] When the bin robot performs a picking task, the lifting mechanism raises the carrying mechanism 100 and the telescopic mechanism 200 to a certain height so that they can engage with the bin slot via the latching member 220. Subsequently, the lifting mechanism lowers the carrying mechanism 100 to a certain height, making the picking surface slightly lower than the shelf plane. At this point, the difference between the picking surface and the shelf plane is the low-position deviation. This low-position deviation ensures that the bin is smoothly brought into the carrying mechanism 100 by the latching member 220. As the lifting mechanism lowers the carrying mechanism 100 and the telescopic mechanism 200, the latching member 220 contacts the edge of the bin's slot. At this time, the latching member 220 is subjected to… A force is applied to the side of the material box away from the supporting mechanism 100. Under the action of this force, the locking member 220 can move relative to the telescopic member 210 away from the supporting mechanism 100, and the elastic member 230 is further stretched, and the elastic force pointing towards the telescopic member 210 is further increased. When the material box is pulled into the supporting mechanism 100, due to the low position deviation, the height of the material box at the robot picking surface will be reduced, while the locking member 220, under its own weight and the elastic force of the elastic member 230, slides down synchronously with the material box and approaches the supporting mechanism 100. During this process, the locking member 220 always maintains a tight locking fit with the material box slot, completing the material box extraction process.

[0086] When the bin robot performs the loading task: the lifting mechanism raises the carrying mechanism 100 to the high deviation position, the drive mechanism 300 drives the telescopic component 210 to drive the locking component 220 to push out the bin. When the bin is pushed to the shelf plane, the bin will drop a certain height. At this time, the locking component 220 will separate from the bin slot and be pulled back to the lowest limit position under the action of the elastic component 230. Finally, the lifting mechanism drives the carrying mechanism 100 to lift up until the hook of the locking component 220 completely disengages from the bin slot. The drive mechanism 300 drives the telescopic component 210 to drive the locking component 220 back to the left side of the carrying mechanism 100, completing the bin placement process.

[0087] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0088] It should be noted that the embodiments referred to in the specification, such as "one embodiment," "embodiment," "exemplary embodiment," and "some embodiments," may include specific features, structures, or characteristics, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0089] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "one" or "" can also be understood to convey either singular or plural usage.

[0090] In addition, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," "above," etc., may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatial relative terms are intended to include different orientations of the device in use or operation other than those shown in the figures.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A bin robot, characterized in that, include: A support mechanism (100) is used to support the material box; A lifting mechanism is connected to the supporting mechanism (100) and is used to drive the supporting mechanism (100) to move; The telescopic mechanism (200) includes a telescopic member (210), a snap-fit ​​member (220), and an elastic member (230). The telescopic member (210) is disposed on the bearing mechanism (100) and can telescopically move in a direction parallel to the bearing mechanism (100). The snap-fit ​​member (220) is connected to the telescopic member (210) and can move relative to the telescopic member (210) in a direction perpendicular to the bearing surface of the bearing mechanism. The elastic member (230) is connected between the telescopic member (210) and the snap-fit ​​member (220). A drive mechanism (300) is connected to the bearing mechanism and driven to the telescopic member (210). The drive mechanism (300) is used to drive the telescopic member (210) to move telescopically. The member (220) engages with the preset slot of the material box to drive the material box into or out of the bearing mechanism (100).

2. The bin robot according to claim 1, characterized in that, The bearing mechanism (100) includes a bearing body (110) and a chain drive assembly (120). The chain drive assembly (120) is disposed on the bearing body (110) and is drively connected to the drive mechanism (300). The telescopic component (210) includes a telescopic base (211), a transmission chain link (212), and a fixed track (213). The telescopic base (211) is connected to the chain drive assembly (120) via the transmission chain link (212), and the fixed track (213) is erected on the telescopic base (211). The telescopic mechanism (200) further includes a slider (240), and the snap-fit ​​member (220) is slidably connected to the fixed track (213) via the slider (240).

3. The bin robot according to claim 2, characterized in that, The chain drive assembly (120) includes a sprocket assembly (121) and a chain (122). The sprocket assembly (121) is rotatably connected to the side of the bearing body (110). The chain (122) is wound around the sprocket assembly (121) and meshes with the sprocket of the sprocket assembly (121). The bearing mechanism (100) further includes a slide rail (130), which is disposed on the bearing body (110) and parallel to the chain (122), and the telescopic base (211) is slidably connected to the slide rail (130).

4. The bin robot according to claim 3, characterized in that, The telescopic base (211) includes a base frame (2111) and a support column (2112). The base frame (2111) is slidably connected to the slide rail (130), the support column (2112) is connected to the base frame (2111), and the fixed track (213) is fixedly connected to the support column (2112) so that both ends of the fixed track (213) extend in the telescopic direction perpendicular to the telescopic member (210).

5. The bin robot according to claim 4, characterized in that, The telescopic base (211) also includes a stiffening plate (2113), which is connected between the base frame (2111) and the support column (2112).

6. The bin robot according to claim 4, characterized in that, It also includes a guide housing (400), which is connected to the side of the bearing mechanism (100), and the guide housing (400) is provided with a guide block (410); The telescopic base (211) also includes a guide plate (2114), which is connected to the base frame (2111) and is slidably connected to the guide block (410).

7. The bin robot according to any one of claims 2-6, characterized in that, The snap-fit ​​component (220) includes a connecting plate (221) and a snap-fit ​​block. One side of the connecting plate (221) is connected to the slider (240), and the other side is connected to the snap-fit ​​block. The elastic element (230) is elastically connected between the connecting plate (221) and the telescopic base (211).

8. The bin robot according to claim 7, characterized in that, The connecting plate (221) includes a vertical plate (2211) and a horizontal plate (2212). One side of the vertical plate (2211) is fixedly connected to the slider (240), and the other side is fixedly connected to the locking block. The horizontal plate (2212) is orthogonally connected to the end of the vertical plate (2211) away from the telescopic member (210) and extends toward the side away from the locking block. The elastic element (230) is elastically connected between the horizontal plate (2212) and the telescopic base (211).

9. The bin robot according to claim 7, characterized in that, The locking block includes a connecting block (2221) and a hook (2222). The connecting block (2221) is connected to the connecting plate (221), and the hook (2222) is fixed to the connecting block (2221). The hook (2222) has a bent portion that bends toward the telescopic base (211).

10. The bin robot according to claim 9, characterized in that, Two fixed rails (213) are spaced apart and erected on the telescopic base (211), and two hooks (2222) are spaced apart and disposed on the connecting block (2221).

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