Workbin robot and warehousing system

Abstract

The utility model discloses a workbin robot and a warehousing system, the workbin robot comprises a movable machine body, the machine body comprises a chassis and a lifting mechanism arranged on the loading side of the chassis, the workbin robot further comprises a damping storage device and a lifting mechanism, the damping storage device is arranged on the loading side of the chassis, and the lifting mechanism is arranged on the loading side of the chassis. The executing mechanism is used for being driven by the lifting mechanism to ascend and descend in the height direction of the machine body, the damping storage device is used for elastically bearing a material box, and the executing mechanism can store the material box on the damping storage device and take away the material box stored by the damping storage device. The material box can be supported more stably, the damping effect on the material box can be achieved, and the material box is protected against damage.

Description

Technical Field

[0001] This utility model relates to the field of warehousing technology, specifically to a bin robot and warehousing system. Background Technology

[0002] In industrial production, bin robots are frequently used to handle and transfer bins. In production operations, with the development of the industrial environment, there are higher requirements for bin robots in the handling process.

[0003] In existing technologies, bin robots are mostly used for handling bins. However, during the picking, loading, and transportation processes, the bins are prone to collisions due to the shaking of the robot, which can easily cause damage to the bins.

[0004] Therefore, it is essential to design a bin robot that can guarantee the quality of bin transportation (avoiding damage). Utility Model Content

[0005] This invention aims to address one of the technical problems in related technologies to a certain extent. To this end, this invention provides a bin robot and warehousing system that can flexibly support the bins, improving their stability during transportation.

[0006] To achieve the above objectives, the first aspect of this utility model discloses a bin robot, comprising a movable body, the body including a chassis and a lifting mechanism disposed on the loading side of the chassis, the bin robot further including a shock-absorbing storage device and an execution mechanism, the shock-absorbing storage device being disposed on the loading side of the chassis, the execution mechanism being used to move up and down along the height direction of the body under the drive of the lifting mechanism, the shock-absorbing storage device being used to elastically support bins, and the execution mechanism being able to store bins on the shock-absorbing storage device and remove bins stored in the shock-absorbing storage device.

[0007] In this technical solution, by setting up a shock-absorbing storage device, the material box can be elastically supported by the support surface of the elastic bearing part. During the material box robot's handling process, the elasticity can reduce the shock of the material box. By setting up a lifting mechanism and an execution mechanism, the material box robot can pick up and put down the material box at different heights, making the material box robot adaptable to more application scenarios.

[0008] Furthermore, the shock-absorbing storage device includes multiple support units. Each support unit includes a shock-absorbing support portion, an elastic bearing portion, and a guide limiting portion. The shock-absorbing support portion is connected to the body. The elastic bearing portion and the guide limiting portion are disposed on the corresponding shock-absorbing support portion. The multiple elastic bearing portions jointly elastically support the material box. The multiple support units are circumferentially spaced to form a bearing area. The guide limiting portion is disposed at the edge of the bearing area, and the multiple guide limiting portions are arranged around the bearing area so that the guide limiting portion can block and limit the material box on the shock-absorbing storage device from different directions. This achieves a multi-point support effect for the material box and improves the stability of the material box during transportation.

[0009] Furthermore, the guide limiting part includes two limiting members, one of which is disposed at the edge of the bearing area along a first direction, and the other of which is disposed at the edge of the bearing area along a second direction, wherein the first direction and the second direction are orthogonal.

[0010] Furthermore, the limiting member includes a limiting plate and a guide plate. The limiting plate is used to block and limit the material box in the bearing area, and the guide plate is used to guide the placement of the material box into the bearing area. The guide plate is disposed at the top of the limiting plate. The limiting plate has a limiting surface for blocking the side wall of the material box, and the guide plate has a guide slope. One end of the guide slope intersects with the limiting surface, and the other end of the guide slope extends outward from the bearing area.

[0011] Furthermore, multiple support units surround an installation space. The actuator includes an execution support, a telescopic drive unit, and a telescopic retrieval unit disposed on the execution support. The execution support is located within the installation space. The telescopic drive unit drives the telescopic retrieval unit to slide along the execution support. The telescopic retrieval unit can extend out of the installation space from the gaps between the support units. The actuator and shock-absorbing storage device are arranged in the height direction for easy operation and to reduce the robot's size.

[0012] Furthermore, a set distance is formed between the support surface of the elastic support box of the shock-absorbing storage device and the top surface of the chassis. The telescopic loading part includes a loading surface for supporting the box. The loading surface and the support surface face the same direction. The minimum distance between the loading surface and the top surface of the chassis is less than the set distance, so that the actuator can place the box on the shock-absorbing storage device along the height direction of the machine body in a lifting manner, and remove the box placed on the shock-absorbing storage device.

[0013] Furthermore, the machine body also includes a gantry disposed on the cargo-carrying side of the chassis. The gantry is arranged along the height direction of the machine body, and the gantry and the chassis together define a storage space. The shock-absorbing storage device, the actuator, and the lifting mechanism are disposed within the storage space. A material box opening is formed on one side of the gantry, and the telescopic picking part of the actuator is opposite to the material box opening, allowing the telescopic picking part of the actuator to extend through the material box opening into the storage space. The various components of the material box robot are disposed within the storage space, improving the overall appearance of the robot. In addition, by concealing the material box during transportation, transportation safety can be improved.

[0014] Furthermore, the gantry includes a top plate and multiple side plates. The top plate is opposite to the top surface of the body, and the multiple side plates are disposed on the body and connected to the top plate. The body, the top plate, and the multiple side plates together define the storage space.

[0015] Furthermore, the elastic bearing portion of the shock-absorbing storage device includes at least one of the following: a spring, a polyurethane pad, a foam pad, and a shock-absorbing oil pad.

[0016] Furthermore, the telescopic picking unit of the actuator includes at least one of the following: a lifting telescopic fork mechanism, a clamping mechanism, a hooking mechanism, a suction cup mechanism, and a gripper mechanism.

[0017] The second aspect of this utility model discloses a warehousing system, including multiple loading platforms and a transport robot. The transport robot adopts the bin robot of the first aspect, which is capable of transporting materials on a loading platform at a first height to a loading platform at a second height.

[0018] The warehousing system disclosed in this utility model can ensure the safety of the material boxes during the transfer process.

[0019] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is an overall structural diagram (with an actuator) of one embodiment of the present utility model;

[0022] Figure 2This is a structural diagram of a shock-absorbing storage device according to one embodiment of the present invention;

[0023] Figure 3 This is an overall structural diagram of one embodiment of the present utility model (without actuators);

[0024] Figure 4 This is a front view (carrying bin) of one embodiment of the present invention;

[0025] Figure 5 This is a structural diagram of the bin robot carrying a bin according to one embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram showing the distribution of the shock-absorbing storage components according to one embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the material handling process of a bin robot in one embodiment of this utility model.

[0028] in,

[0029] 10. Machine body; 11. Chassis; 12. Mast; 121. Side plate; 122. Top plate; 123. Material box opening;

[0030] 20. Shock-absorbing storage device; 21. Elastic bearing part; 211. Support surface; 22. First limiting member; 221. First limiting plate; 2211. First limiting surface; 222. First guide plate; 2221. First guide slope; 23. Second limiting member; 231. Second limiting plate; 2311. Second limiting surface; 232. Second guide plate; 2321. Second guide slope; 24. Shock-absorbing support part;

[0031] 30. Actuating mechanism; 31. Execution support unit; 32. Telescopic picking unit;

[0032] 40. Lifting mechanism; 41. Lifting guide rail; 42. Lifting bracket;

[0033] 60. Material bin. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0035] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this utility model. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0036] The first aspect of this utility model discloses a bin robot, see attached document. Figure 1 , 2 3. The bin robot includes a movable body 10, the body 10 including a chassis 11 and a lifting mechanism 40 disposed on the loading side of the chassis 11. The bin robot also includes a shock-absorbing storage device 20 and an execution mechanism 30. The shock-absorbing storage device 20 is disposed on the loading side of the chassis 11. The execution mechanism 30 is used to lift and lower along the height direction of the body 10 under the drive of the lifting mechanism 40. The shock-absorbing storage device 20 is used to elastically support the bin 60. The execution mechanism 30 is capable of storing the bin 60 on the shock-absorbing storage device 20 and removing the bin 60 stored in the shock-absorbing storage device 20.

[0037] In this embodiment, the bin robot is equipped with a shock-absorbing storage device 20. When transporting the bin 60, the support surface 211 of the shock-absorbing storage device 20 can elastically support the bin 60. During the transport process of the bin robot, the elastic force can reduce the shock of the bin and avoid collision damage between the bin and the robot body caused by vibration during the robot's movement.

[0038] By incorporating a lifting mechanism, the actuator 30 can rise and fall together with the lifting mechanism 40 during use, thereby enabling the actuator 30 to retrieve material boxes at different heights, thus allowing the material box robot to adapt to more working environments.

[0039] In practical use, the specific working principle of this utility model is as follows:

[0040] In the initial state of the bin robot of this invention, the actuator 30 is in the zero position (at this time, the telescopic picking unit 32 is in the retracted state). The system platform assigns the bin robot the task of moving the bin 60 from the first height platform to the second height platform.

[0041] After receiving the task instruction, the bin robot moves to the first height platform where the bin 60 is placed via the body 10. The lifting mechanism 40 drives the execution mechanism 30 to rise to the first height. The telescopic picking part 32 extends below the bin 60. The lifting mechanism 40 rises and lifts the bin 60 via the telescopic picking part 32. The telescopic picking part 32 then retracts the bin 60 back into the bin robot. The lifting mechanism 40 lowers the execution mechanism 30 and the bin 60 until the bin 60 is placed on the shock-absorbing storage device 20. At this point, the execution mechanism 30 separates from the bin 60. That is, the above process transfers the bin 60 from the first height platform to the shock-absorbing storage device 20 via the execution mechanism 30.

[0042] The bin robot moves the bin 60 on the shock-absorbing storage device 20 by moving the body 10. During this movement, the shock-absorbing storage device 20 can provide shock absorption for the bin 60 during transport. When the bin robot moves to the second height platform where the bin 60 is placed, the lifting mechanism 40 drives the execution mechanism 30 to rise, transferring the bin 60 from the shock-absorbing storage device 20 to the telescopic picking part 32. Then, the lifting mechanism 40 continues to rise to the second height platform, and the telescopic picking part 32 extends above the second height platform. The lifting mechanism 40 then lowers to place the bin 60 on the second height platform. At this time, the execution mechanism 30 separates from the bin 60, and the telescopic picking part 32 retracts back into the single-bin bin robot. The lifting mechanism 40, along with the execution mechanism 30, descends to the zero position. In other words, the above process uses the execution mechanism 30 to transfer the bin 60 from the shock-absorbing storage device 20 to the second height platform.

[0043] See appendix Figure 7 The diagram illustrates the process of a bin robot picking up a bin 60 from a first height and placing it on an elastic support. The following explanation uses the telescopic picking unit as an example to illustrate the picking and placing process of the bin robot. As shown in the diagram, point A represents the bin 60 to be picked up at the first height H1. The actuator 30 rises to the first height along with the lifting mechanism 40. At this point, the execution support of the actuator 30 stops at the position corresponding to point B. The telescopic picking unit 32 extends relative to the execution support to the bottom of the bin 60 at point A, lifting and picking up the material. Then, the telescopic picking unit 32 retracts, bringing the material from point A to point B. The actuator 30 then descends with the lifting mechanism 40 to point C, placing the bin 60 on the elastic support. The conveying path of the bin 60 during this process is ABC. When placing the bin 60 to the second height, the rising process is reversed, and will not be described further here.

[0044] As can be seen, in this embodiment, by setting up the lifting mechanism 40, the lifting mechanism 40 can drive the execution mechanism 30 to move in the vertical direction, which can expand the working height range of the execution mechanism 30, so that the bin robot can handle and pick up goods of different heights.

[0045] See appendix Figure 2 , 3 6. As one embodiment of this utility model, the shock-absorbing storage device 20 includes multiple support units. Each support unit includes a shock-absorbing support part 24, an elastic bearing part 21, and a guide limiting part. The shock-absorbing support part 24 is connected to the body 10. The elastic bearing part 21 and the guide limiting part are disposed on the corresponding shock-absorbing support part 24. Multiple elastic bearing parts 21 jointly elastically support the material box 60. Multiple support units are circumferentially spaced and form a bearing area. The guide limiting part is disposed at the edge of the bearing area, and multiple guide limiting parts are disposed around the bearing area so that the guide limiting parts can block and limit the material box 60 on the shock-absorbing storage device 20 from different directions.

[0046] This embodiment does not specifically limit the specific arrangement or quantity of the elastic bearing portion. The elastic bearing portion can be directly set on the machine body 10, or it can be set on the machine body 10 through an intermediate component (such as the gantry 12), as long as it can provide elastic support for the material box 60. In addition, this embodiment does not specifically limit the specific quantity or direction of the limiting components. The limiting components can limit in one direction or limit the material box 60 in multiple directions at the same time. This embodiment does not specifically limit how the elastic bearing portion supports the material box 60. The elastic bearing portion can form a support between the bracket and the bottom surface of the material box 60, or it can support the material box 60 through an intermediate shock-absorbing support portion (such as a support plate).

[0047] In addition, by setting a guide limit device, the material box stored on the support surface 211 can be limited, making the storage of the material box 60 on the support surface 211 more stable, avoiding the phenomenon of the material box tipping over and falling due to shaking during travel, and making the storage of the material box more stable.

[0048] As can be seen, the bin robot of this embodiment is suitable for handling valuable and fragile bins 60, and can improve the safety of bins 60.

[0049] Some existing bin-carrying robots with shock absorption functions have elastic shock-absorbing mechanisms installed on the robot's moving wheels. Other bin-carrying robots have a support plate to support the bin 60, with elastic shock-absorbing components located at the bottom of the support plate. This elasticity of the support plate absorbs vibrations from the bin 60. However, in these structures, the direct contact between the bin 60 and the robot remains rigid. The portion of the elastic shock-absorbing force transmitted to the bin 60 is relatively small, resulting in poor shock absorption for the bin 60 carried by the robot.

[0050] In this embodiment, the top surface of the elastic bearing part 21 directly contacts the material box. Compared with the shock absorption structure of the material box robot in the prior art, the elasticity of the elastic bearing part can be directly applied to the material box. Compared with the above-mentioned structure that indirectly transmits elastic force, it can improve the shock absorption effect on the material box and better protect the material box 60.

[0051] In addition, combined with the appendix Figure 1 , 6 As shown in the figure, the side of the support surface in this invention has a guide limiting part. Compared with the structure of the support plate in the prior art, where the entire surface can be used to support the material box, the support surface in this invention is relatively small. As can be seen from the figure, the support surface of this invention is located at the four corners of the bearing area. This can avoid the problem of large-area instability caused by the unevenness of the material box surface. In actual use, this invention only needs to ensure that the size of the bearing area and the size of the material box to be transported match each other to make the material box stably supported on the support surface.

[0052] In one embodiment of this utility model, the guide limiting part includes two limiting members. The limiting members are disposed at the edge of the bearing area along a first direction, and the limiting members are disposed at the edge of the bearing area along a second direction, wherein the first direction and the second direction are orthogonal.

[0053] As attached Figure 2 As shown in the figure, the first direction is set as the X direction and the second direction is set as the Y direction. It can be seen that the limiting members in this embodiment are set separately in different directions. In actual use, the first limiting member 22 and the second limiting member 23 can limit the material box 60 from the first direction and the second direction respectively. The first direction can correspond to the length direction of the material box 60 and the second direction can correspond to the width direction of the material box 60. In this way, the length and width directions of the material box 60 can be limited respectively, making the storage of the material box 60 on the support surface 211 more stable.

[0054] In one embodiment of this utility model, the limiting member includes a limiting plate and a guide plate. The limiting plate is used to block and limit the material box in the bearing area. The guide plate is disposed at the top of the limiting plate. A limiting surface for blocking the side wall of the material box is formed on the limiting plate. A guide slope is formed on the guide plate. One end of the guide slope intersects with the limiting surface, and the other end of the guide slope extends outward from the bearing area.

[0055] In this invention, the material box 60 is placed on the elastic support portion from above the shock-absorbing storage device 20. To accommodate the dimensional errors of the material box 60 and the operational errors of the actuator 30, and to allow the material box 60 to be placed on the elastic support portion in a better posture, the limiting components in this embodiment are a limiting plate and a guide plate. See attached drawing. Figure 6 The limiting plate is a vertical plate perpendicular to the support surface 211, and a limiting surface is formed on the limiting plate. The limiting surface can abut against the side of the material box 60 on the support surface 211, thereby better limiting the material box 60. The guide plate is set on the top of the limiting plate and is set as an inclined plate. It includes a guide inclined surface. The top of the guide inclined surface extends outward from the support surface 211. In this way, the guide inclined surfaces of multiple limiting components together form an opening profile that is larger than the bearing range of the elastic bearing part. When the material box 60 descends from above the elastic bearing part, the guide inclined surface of the guide plate can guide the material box 60 during the descent. During the descent, the material box 60 will slide along the guide inclined surface under its own weight, thereby allowing the material box 60 to be better placed on the elastic bearing part. In addition, the limiting plate can constrain the material box 60 in the front-back and left-right directions. When the material box robot moves and passes through uneven road conditions such as ditches and bumps, the robot will shake and sway. However, the shock-absorbing storage device inside the material box 60 can effectively reduce the overall vibration, so as to ensure that the vibration of the material box 60 is very small and the material box 60 is transported safely and smoothly.

[0056] For ease of description, the limiting members 22 and 23 are divided into a first limiting member 22 and a second limiting member 23. The first limiting member 22 includes a first limiting plate 221 and a first guide plate 222. The first limiting plate 221 includes a first limiting surface 2211, and the first guide plate 222 includes a first guide slope 2221. The second limiting member 23 includes a second limiting plate 231 and a second guide plate 232. The second limiting plate 231 includes a second limiting surface 2311, and the second guide plate 232 includes a second guide slope 2321.

[0057] As one embodiment of this utility model, see the appendix. Figure 1 , 45. A plurality of the support units surround an installation space. The actuator 30 includes an execution support 31, a telescopic drive unit and a telescopic picking unit 32 disposed on the execution support 31. The execution support 31 is located within the installation space. The telescopic drive unit is used to drive the telescopic picking unit 32 to slide along the execution support 31. The telescopic picking unit 32 can extend out of the installation space from the intervals of the support units.

[0058] As can be seen, this embodiment achieves a vertical structural layout of the actuator 30 and the shock-absorbing storage device 20 by setting the execution structure within the intervals of multiple shock-absorbing support parts 24, so that each component is centrally located and does not occupy horizontal space, thus reducing the size of the bin robot.

[0059] In one embodiment of this utility model, the support surface 211 of the elastic support box 60 of the shock-absorbing storage device 20 forms a set distance with the top surface of the chassis 11. The telescopic loading part 32 includes a loading surface for supporting the box 60. The loading surface and the support surface 211 are aligned in the same direction. The minimum distance between the loading surface and the top surface of the chassis 11 is less than the set distance. This allows the actuator 30 to place the box 60 on the shock-absorbing storage device 20 along the height direction of the machine body 10 in a lifting manner, and to remove the box 60 stored on the shock-absorbing storage device 20.

[0060] As can be seen from the working principle described above, when the material box is placed on the shock-absorbing storage device 20, it is lifted by the actuator and lowered along the height direction. When it reaches the shock-absorbing storage device 20, the telescopic picking part 32 can move to the bottom of the support surface of the shock-absorbing storage device 20. At this time, the material box will automatically fall onto the shock-absorbing storage device 20 for storage under its own gravity. By setting the distance between the shock-absorbing storage device 20 and the loading surface of the telescopic picking part and the chassis, it is convenient to retrieve the material box on the shock-absorbing storage device 20. When it is necessary to transfer the material box on the shock-absorbing storage device 20, the telescopic picking part 32 of this invention lifts the material box from the bottom, improving the stability of the material box transfer.

[0061] As one embodiment of this utility model, see the appendix. Figure 1 , 5The machine body 10 also includes a gantry 12, which is arranged along the height direction of the machine body 10. The gantry 12 and the chassis 11 together define a storage space. The shock-absorbing storage device 20, the actuator 30 and the lifting mechanism 40 are arranged in the storage space. A material box opening 123 is formed on one side of the gantry 12. The telescopic picking part 32 of the actuator 30 is opposite to the material box opening 123. The telescopic picking part 32 of the actuator 30 can extend out of the storage space through the material box opening 123.

[0062] In this embodiment, the storage space is a closed space with an opening only at the material box opening 123. The other parts are closed structures. The shock-absorbing storage device 20, the execution mechanism 30, and the lifting mechanism 40 of the material box robot are all located inside the storage space. The internal structure of the storage space is not easily visible from the outside of the robot, thus improving the overall appearance of the material box robot.

[0063] Furthermore, when handling material boxes, since these boxes are items with a certain height, if they are directly exposed to the outside, they are prone to tipping over or falling during transportation due to sliding. This utility model avoids the risk of material boxes falling off the material box robot due to accidental situations during transportation by placing the material boxes in a storage space, thus improving the safety and stability of transportation.

[0064] In one embodiment of the present invention, the gantry 12 includes a top plate 122 and a plurality of side plates 121. The top plate 122 is opposite to the top surface of the body 10. The plurality of side plates 121 are disposed on the body 10 and connected to the top plate 122. The body 10, the top plate 122 and the plurality of side plates 121 together define the storage space.

[0065] In this embodiment, the gantry 12 can define a storage space for storing the bin 60. During the handling of the bin 60, by confining the bin 60 within the storage space, it can provide auxiliary support. In the event of an accident and the bin 60 tipping over, it can be kept within the storage space of the bin robot, preventing the bin 60 from falling directly to the ground and causing significant damage.

[0066] The lifting mechanism 40 may include lifting guide rails 41 disposed on two opposite side plates 121 of the gantry 12. The two ends of the lifting bracket 42 are slidably connected to the two opposite lifting guide rails 41 respectively. The lifting drive mechanism may be disposed on the gantry 12 or on the chassis 11. The execution mechanism 30 is disposed on the lifting bracket 42 through the execution support. In actual installation, the distribution direction of the two lifting guide rails 41 and the extension direction of the telescopic picking part 32 of the execution mechanism 30 may be orthogonal.

[0067] As one embodiment of this utility model, the elastic bearing part 21 of this utility model includes at least one of the following: a spring, a polyurethane pad, a foam pad, and a shock-absorbing oil pad. In actual use, when there are multiple elastic bearing parts 21, the multiple elastic bearing parts 21 can be individually designed as one of the above-mentioned various styles, or they can be set as multiple structures that cooperate with each other.

[0068] As one embodiment of this utility model, the picking method on the telescopic picking part 32 of the actuator 30 can be configured as: a lifting telescopic fork mechanism, a clamping mechanism, a hooking mechanism, a suction cup mechanism, and a gripper mechanism. This utility model can adapt to a variety of different picking methods, including lifting, clamping, hooking, suction cup mechanism, and gripper mechanism. In the specific design process, it can be designed specifically according to different types of material boxes 60 and specific usage locations. This embodiment does not make specific limitations in this regard, as long as the telescopic picking device can conveniently pick up and put down the material box 60.

[0069] The second aspect of this utility model also discloses a warehousing system, which includes multiple loading platforms and a transport robot. The transport robot is a bin robot disclosed in the first aspect, which is capable of transporting materials from a loading platform at a first height to a loading platform at a second height.

[0070] In practical use, the first height and the second height can be different, allowing the bin robot of this invention to transfer bins between different heights, thus improving the turnover efficiency of the warehousing system. Of course, the first height and the second height can also be the same. Furthermore, the shock-absorbing storage device 20 on the bin robot can improve the safety during bin transfer.

[0071] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A bin robot, comprising a movable body (10), said body (10) including a chassis (11) and a lifting mechanism (40) disposed on the loading side of the chassis, characterized in that, The bin robot also includes a shock-absorbing storage device (20) and an actuator (30). The shock-absorbing storage device is mounted on the loading side of the chassis (11). The actuator (30) is used to lift and lower along the height direction of the body (10) under the drive of the lifting mechanism (40). The shock-absorbing storage device (20) is used to elastically support the bin. The actuator (30) can store the bin on the shock-absorbing storage device (20) and remove the bin stored on the shock-absorbing storage device (20).

2. The bin robot as described in claim 1, characterized in that, The shock-absorbing storage device (20) includes multiple support units. Each support unit includes a shock-absorbing support part (24), an elastic bearing part (21), and a guide limiting part. The shock-absorbing support part (24) is connected to the body (10). The elastic bearing part (21) and the guide limiting part are disposed on the corresponding shock-absorbing support part (24). Multiple elastic bearing parts (21) jointly elastically support the material box (60). Multiple support units are circumferentially spaced and form a bearing area. The guide limiting part is disposed at the edge of the bearing area, and multiple guide limiting parts are disposed around the bearing area so that the guide limiting part can block and limit the material box (60) on the shock-absorbing storage device (20) from different directions.

3. The bin robot as described in claim 2, characterized in that, The guide limiting part includes two limiting members (22, 23). The limiting member (22) is disposed at the edge of the bearing area along a first direction, and the limiting member (23) is disposed at the edge of the bearing area along a second direction. The first direction and the second direction are orthogonal.

4. The bin robot as described in claim 3, characterized in that, The limiting components (22, 23) include limiting plates (221, 231) and guide plates (222, 232). The limiting plates (221, 231) are used to block and limit the material box (60) within the bearing area. The guide plates (222, 232) are used to guide the placement of the material box into the bearing area. The guide plates (222, 232) are disposed at the top of the limiting plates (221, 231). The guide plate (222, 232) has a limiting surface (2211, 2311) for blocking the side wall of the material box (60), and a guide slope (2221, 2321) is formed on the guide plate (222, 232). One end of the guide slope (2221, 2321) intersects with the limiting surface (2211, 2311), and the other end of the guide slope (2221, 2321) extends outward from the bearing area.

5. The bin robot as described in claim 2, characterized in that, The plurality of support units surround an installation space. The actuator (30) includes an execution support (31), a telescopic drive unit and a telescopic picking unit (32) disposed on the execution support (31). The execution support (31) is located within the installation space. The telescopic drive unit is used to drive the telescopic picking unit (32) to slide along the execution support (31). The telescopic picking unit (32) can extend out of the installation space from the interval between the support units.

6. The bin robot as described in claim 5, characterized in that, The support surface (211) of the elastic support box (60) of the shock-absorbing storage device (20) forms a set distance with the top surface of the chassis (11). The telescopic loading part (32) includes a loading surface for supporting the box (60). The loading surface and the support surface (211) are aligned. The minimum distance between the loading surface and the top surface of the chassis (11) is less than the set distance, so that the actuator (30) can place the box (60) on the shock-absorbing storage device (20) along the height direction of the body (10) in a lifting manner, and remove the box (60) stored on the shock-absorbing storage device (20).

7. The bin robot as described in any one of claims 1 to 6, characterized in that, The body (10) also includes a gantry (12) disposed on the loading side of the chassis (11). The gantry (12) is disposed along the height direction of the body (10). The gantry (12) and the chassis (11) together define a storage space. The shock-absorbing storage device (20), the actuator (30), and the lifting mechanism (40) are disposed in the storage space. A material box opening (123) is formed on one side of the gantry (12). The telescopic loading part (32) of the actuator (30) is opposite to the material box opening (123). The telescopic loading part (32) of the actuator (30) can extend out of the storage space through the material box opening (123). The gantry (12) includes a top plate (122) and a plurality of side plates (121). The top plate (122) is opposite to the top surface of the body (10). The plurality of side plates (121) are disposed on the body (10) and connected to the top plate (122). The body (10), the top plate (122) and the plurality of side plates (121) together define the storage space.

8. The bin robot as described in any one of claims 1 to 6, characterized in that, The elastic bearing portion of the shock-absorbing storage device (20) includes at least one of the following: a spring, a polyurethane pad, a foam pad, and a shock-absorbing oil pad.

9. The bin robot as described in any one of claims 1 to 5, characterized in that, The telescopic picking-up section (32) of the actuator (30) includes at least one of the following: a lifting telescopic fork mechanism, a clamping mechanism, a hooking mechanism, a suction cup mechanism, and a gripper mechanism.

10. A warehousing system comprising multiple platforms and a handling robot, characterized in that, The transport robot is a bin robot as described in any one of claims 1 to 9, which is capable of transporting materials from a platform at a first height to a platform at a second height.

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