A gantry lifting assembly locking mechanism and a material box carrying robot

Abstract

This utility model embodiment provides a locking mechanism for a gantry lifting assembly and a hopper transport robot. The locking mechanism of the gantry lifting assembly is installed on the side of the fork plate facing the gantry guide rail. The fork plate is used to connect the hopper loading / unloading device and the power assembly, and can move up and down along the gantry guide rail under the drive of the power assembly. The operation input component of the locking mechanism passes through the fork plate and receives external positive or negative operating forces. The positive operating force is used to generate locking force, and the negative operating force is used to reduce or release locking force. The locking execution component is disposed on the inner side of the fork plate facing the gantry guide rail. The locking execution component is connected to the operation input component and moves to the locking position in response to the locking force, pressing against the gantry guide rail to generate friction and prevent the gantry lifting assembly from moving; or, in response to the reduction or release of the locking force, it moves to the non-locking position, disengaging or reducing the pressure on the gantry guide rail, allowing the gantry lifting assembly to move, which is easy to operate.

Description

Technical Field

[0001] This utility model relates to the field of industrial handling robot technology, and in particular to a gantry lifting assembly locking mechanism and a hopper handling robot. Background Technology

[0002] Currently, a typical bin handling robot includes: a gantry, a gantry lifting assembly, and a bin picking and placing device; the gantry lifting assembly includes: a fork plate and a power assembly; the power assembly includes: a drive motor, a motor reducer, a chain, and sprockets, etc. The gantry lifting assembly is mounted on the gantry, and the bin picking and placing device is connected to the power assembly through the fork plate, enabling it to move up and down under the drive of the power assembly to pick up and place bins on shelves of different heights.

[0003] The gantry is equipped with a gantry guide rail, and the fork plate is equipped with a pulley system. The material bin loading and unloading device and the fork plate are slidably connected to the gantry guide rail based on the pulley system. The drive motor and sprocket drive the fork plate to rise and fall along the gantry guide rail through the chain, thereby realizing the lifting and lowering of the material bin loading and unloading device along the gantry.

[0004] When performing maintenance or upkeep on the chassis or gantry of a bin handling robot, it is necessary to disconnect the power. With the power off, the drive motor no longer provides driving force. At this time, the bin handling device, due to its own weight, will cause the fork plate to slide down the gantry guide rail, and the chain fixed to the fork plate to rotate, causing the bin handling device to fall. Therefore, before disconnecting the power, it is necessary to secure the gantry's lifting assembly, thereby securing the bin handling device. This prevents a safety accident caused by the chain of the lifting assembly rotating and the fork plate and bin handling device falling during maintenance.

[0005] In existing technologies, the common method is to use slings to suspend the material box loading and unloading device from the crossbars of the gantry. This fixing method requires sling tools to be available in the maintenance area, is time-consuming and labor-intensive, and cannot be used to fix some special gantry, such as those without crossbars. Utility Model Content

[0006] The purpose of this utility model embodiment is to provide a locking mechanism for a gantry lifting assembly and a bin handling robot, so as to simplify the fixing of the gantry lifting assembly. The specific technical solution is as follows:

[0007] A locking mechanism for a gantry lifting assembly includes a fork plate and a power assembly; the locking mechanism is installed on the side of the fork plate facing the gantry guide rail; wherein the fork plate is used to connect the material box loading and unloading device and the power assembly, and can move up and down along the gantry guide rail under the drive of the power assembly;

[0008] The locking mechanism includes: an operation input component and a locking execution component;

[0009] The operation input component is disposed on the fork plate and is used to receive external positive or negative operating forces; wherein, the positive operating force is used to generate a locking force; and the negative operating force is used to reduce or release the locking force.

[0010] The locking actuator is disposed on the inner side of the fork plate facing the gantry guide rail;

[0011] The locking actuator, which is drive-connected to the operation input actuator, is configured as follows:

[0012] In response to a locking force transmitted based on a positive operating force from the operation input component, the assembly moves to a locked position, pressing against the gantry guide rail to generate friction and prevent the gantry lifting assembly from moving; or...

[0013] In response to a reduction or release of the locking force resulting from the reverse operating force of the operation input component, the gantry lifting assembly moves to an unlocked position, where it disengages from or reduces the pressure on the gantry guide rail, allowing the gantry lifting assembly to move.

[0014] In some embodiments, the locking mechanism further includes: a force conversion component and a reset component;

[0015] The force conversion component is disposed between the operation input component and the locking execution component, and is used to convert and amplify the external positive operation force into a locking force and transmit it to the locking execution component, and reduce or release the locking force based on the external reverse operation force;

[0016] The locking actuator is also connected to the reset actuator; the reset actuator is used to generate a reset force when the force conversion actuator reduces or releases the locking force based on an external reverse operating force.

[0017] The locking actuator, movably connected to the force conversion actuator, is configured as follows:

[0018] In response to the locking force converted and amplified by the force conversion component, the assembly moves to a locked position, pressing against the gantry guide rail to generate friction and prevent the gantry lifting assembly from moving; or, in response to a reduction or release of the locking force and the reset force, the assembly moves to a non-locked position, disengaging from or reducing the pressure on the gantry guide rail in the non-locked position, allowing the gantry lifting assembly to move.

[0019] In some embodiments, the locking execution component includes: a top block assembly;

[0020] The top block assembly is disposed on the inner side of the fork plate facing the gantry rail; it includes: at least one actuating top block;

[0021] The operation input component includes: an adjustment mechanism; the adjustment mechanism is disposed on the fork plate, and is drivenly connected to at least one actuating top block of the top block assembly based on the force conversion component, wherein the locking force converted and amplified by the force conversion component is transmitted to the at least one actuating top block;

[0022] At least one actuating block of the top block assembly can extend to a locked position under the action of the force conversion component to press against the gantry guide rail in the locked position to generate friction and prevent the gantry lifting assembly from moving; or, in response to a reduction or release of the locking force and the reset force, retract to an unlocked position to disengage from or reduce the pressure on the gantry guide rail in the unlocked position, allowing the gantry lifting assembly to move.

[0023] In some embodiments, the force conversion component includes: a force conversion top block that is throttle-connected to the adjustment mechanism;

[0024] The number of execution top blocks is two, and the force conversion top block is disposed between the two execution top blocks and is slidably connected to the two execution top blocks;

[0025] The force conversion top block is used to convert the positive operating force transmitted from the adjustment mechanism into a locking force when the positive operating force is received, so as to push the two actuating top blocks to extend toward the gantry guide rail respectively; so that after the two actuating top blocks are pushed to the locking position, they press against the gantry guide rail to generate friction and prevent the gantry lifting assembly from moving; or, when the reverse operating force is received from the adjustment mechanism, the locking force is reduced or released;

[0026] The reset component is elastically connected to the two actuator blocks. When the locking force is reduced or released, it generates a reset force to pull the two actuator blocks back, so that after the two actuator blocks are pulled to the non-locking position, they disengage or reduce the pressure on the gantry guide rail, allowing the gantry lifting assembly to move.

[0027] In some embodiments, the side of the gantry rail facing the fork plate has a guide wheel receiving groove, and the locking mechanism can move up and down in the guide wheel receiving groove as the fork plate moves up and down.

[0028] The two actuators can extend towards the inner wall of the guide wheel receiving groove to the locked position under the locking force transmitted by the force conversion actuator, pressing against the inner wall of the guide wheel receiving groove to generate friction and prevent the gantry lifting assembly from moving; or, under the action of the force conversion actuator reducing or releasing the locking force and the reset force of the reset component, they can retract away from the inner wall of the guide wheel receiving groove to the unlocked position, disengaging or reducing the pressure on the inner wall of the guide wheel receiving groove, allowing the gantry lifting assembly to move.

[0029] In some embodiments, the force conversion top block is trapezoidal in shape, the length of the front end face of the force conversion top block is less than the length of the rear end face, and the two sides of the force conversion top block are first inclined surfaces that slope outward in the horizontal direction.

[0030] Each of the aforementioned execution top blocks has a top block groove formed on its inner side, the bottom of the top block groove being a second inclined surface, and the first inclined surface of the force conversion top block slidingly engaging with the second inclined surface of each of the aforementioned execution top blocks; the top surface and bottom surface of the top block groove are in contact with the top surface and bottom surface of the force conversion top block, respectively;

[0031] Under the positive operating force transmitted by the adjustment mechanism, the force conversion top block pushes the two execution top blocks toward the side wall of the guide wheel receiving groove respectively, based on the sliding cooperation between the first inclined surface and the second inclined surface, so as to push them to the locking position.

[0032] Under the reverse operating force transmitted by the adjustment mechanism, the force conversion top block, based on the sliding cooperation between the first inclined surface and the second inclined surface, pulls the two execution top blocks in the opposite direction through the reset force generated by the reset component, so that the two execution top blocks retract to the unlocked position.

[0033] In some embodiments, the locking mechanism further includes: a top block mounting rear housing and a top block mounting front housing;

[0034] The rear housing of the top block is fixedly connected to the front housing of the top block. The first side of the rear housing of the top block is provided with a first groove, and the second side is used to be fixedly connected to the fork plate. The side of the front housing of the top block near the rear housing of the top block is provided with a second groove. The second groove and the first groove form a receiving space to jointly accommodate the force conversion top block and the two execution top blocks.

[0035] The front end of the top block mounting shell is provided with a first opening for allowing the force conversion top block to extend out of the receiving space;

[0036] After the top block is installed with the rear shell and the front shell, a second opening is formed on both sides. The second opening communicates with the receiving space, so that the two execution top blocks can extend out of the receiving space and move to the locked position; or, the two execution top blocks can retract into the receiving space and move to the unlocked position.

[0037] In some embodiments, the reset component includes two reset springs;

[0038] The top and bottom of the two execution blocks are provided with spring mounting positions, wherein a reset spring is provided in the spring mounting position at the top of the two execution blocks, and the two ends of the reset spring in the length direction are fixedly connected to the two execution blocks;

[0039] Another reset spring is provided in the spring mounting position at the bottom of the two actuator top blocks, and the two ends of the reset spring in the length direction are fixedly connected to the two actuator top blocks;

[0040] When the force conversion top block retracts to the receiving space, the reset component causes the two execution top blocks to reset and retract to the receiving space.

[0041] In some embodiments, the adjusting mechanism is an adjusting screw;

[0042] The force conversion top block is provided with a threaded hole, which extends through the force conversion top block from front to back;

[0043] The first end of the adjusting screw is a threaded end, which passes through the fork plate and the top block mounting shell, and is threadedly connected to the force conversion top block through a threaded hole; the second end of the adjusting screw is exposed outside the fork plate as an adjusting end.

[0044] An adjustment groove is provided between the first end and the second end of the adjustment screw. The adjustment screw is rotatably connected to the fork plate through the adjustment groove. Rotating the second end of the adjustment screw causes the force conversion top block to extend or retract into the receiving space.

[0045] A bin handling robot includes: a gantry, a gantry lifting assembly, and a bin picking and placing device;

[0046] The gantry lifting assembly includes: a power unit and a fork plate;

[0047] The gantry is equipped with gantry rails;

[0048] The fork plate is used to connect the hopper loading and unloading device to the power assembly, and can move up and down along the gantry guide rail under the drive of the power assembly;

[0049] A locking mechanism is installed on the side of the fork plate facing the gantry guide rail.

[0050] This utility model provides a locking mechanism installed on the side of the fork plate facing the gantry guide rail. The fork plate connects the material box loading / unloading device and the power component, and can move up and down along the gantry guide rail under the drive of the power component. The locking mechanism includes an operation input component and a locking execution component. The operation input component passes through the fork plate and receives external positive or negative operating forces. The positive operating force generates a locking force, and the negative operating force reduces or releases the locking force. The locking execution component is located on the inner side of the fork plate facing the gantry guide rail. The locking execution component is connected to the operation input component. The locking execution component can move to a locked position in response to the locking force transmitted by the positive operating force of the operation input component, pressing against the gantry guide rail to generate friction and prevent the gantry lifting assembly from moving. Alternatively, the locking execution component can move to a non-locked position in response to the reduction or release of the locking force caused by the negative operating force of the operation input component, disengaging or reducing the pressure on the gantry guide rail in the non-locked position, allowing the gantry lifting assembly to move. Since the gantry lifting assembly is fixedly connected to the bin loading / unloading device, locking the gantry lifting assembly prevents the bin loading / unloading device from moving, effectively locking it. The locking mechanism provided in this embodiment is fixed to the fork plate of the gantry lifting assembly. Only a positive or negative operating force needs to be applied to the operating input component to position the locking actuator in the locked or unlocked position, pressing against the gantry guide rail to generate friction or disengage, thus reducing pressure on the gantry guide rail. Operation is simple, requiring no slings or lifting tools, and it occupies little space.

[0051] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0053] Figure 1a This is a schematic diagram of the overall structure of the bin handling robot provided in the embodiments of this application;

[0054] Figure 1b for Figure 1a Enlarged view of point A;

[0055] Figure 2a This is a schematic diagram of the gantry guide rail structure;

[0056] Figure 2b A schematic diagram of the structure of a gantry lifting assembly with a locking mechanism installed;

[0057] Figure 3a A schematic diagram of the overall structure of the locking mechanism of the gantry lifting assembly provided in the embodiments of this application;

[0058] Figure 3b for Figure 3a An exploded schematic diagram of the locking mechanism of the gantry lifting assembly shown in Figure 1;

[0059] Figure 3c for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 2;

[0060] Figure 3d for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 3;

[0061] Figure 3e for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 4;

[0062] Figure 4a A schematic diagram showing the connection between the fork plate and the locking mechanism of the gantry lifting assembly;

[0063] Figure 4b Schematic diagram 2 showing the connection relationship between the fork plate and the locking mechanism of the gantry lifting assembly;

[0064] Figure 5a A schematic diagram illustrating the working principle of the locking mechanism of the gantry lifting assembly provided in this application embodiment;

[0065] Figure 5b Schematic diagram 2 illustrating the working principle of the locking mechanism of the gantry lifting assembly provided in this application embodiment.

[0066] Explanation of reference numerals in the attached figures:

[0067] Locking mechanism 1; operation input component 11; locking execution component 12; force conversion component 13; force conversion top block 130; front end face 131; rear end face 132; first inclined surface 133; threaded hole 134; reset component 14; reset spring 140;

[0068] Top block mounting back cover 100; first side 110; first groove 112; second side 120; adjustment mounting hole 121; third groove 122;

[0069] Top block assembly 200; Actuating top block 210; Top block groove 211; Second inclined surface 212; Spring mounting position 240;

[0070] Adjustment mechanism 300; first end 310; second end 320; adjustment groove 330; adjustment screw 340;

[0071] Top block mounting front shell 400; second groove 410; first opening 420; second opening 430;

[0072] 2. Gantry; 3. Power unit; 4. Gantry guide rail; 41. Guide wheel receiving groove; 411. Bottom wall; 412. Side wall; 42. Guide wheel receiving groove opening; 43. Guide rail groove; 5. Fork plate; 51. Fork plate adjustment hole; 52. Guide wheel assembly; 521. Horizontal guide wheel; 522. Vertical guide wheel; 53. Lifting component connector; 54. Picking and placing device connecting plate; 6. Material box picking and placing device; 7. Buffer position. Detailed Implementation

[0073] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0074] To address the problem in related technologies where securing the gantry lifting assembly with slings is time-consuming and labor-intensive during maintenance or upkeep of the chassis or gantry of a bin-handling robot, this application provides a locking mechanism for the gantry lifting assembly and a bin-handling robot, which will be described in detail below:

[0075] See Figures 1a to 3b , Figure 1a This is a schematic diagram of the overall structure of the bin handling robot provided in the embodiments of this application; Figure 1b for Figure 1a Enlarged view of point A; Figure 2a This is a schematic diagram of the gantry guide rail structure; Figure 2b A schematic diagram of the structure of a gantry lifting assembly with a locking mechanism installed; Figure 3a A schematic diagram of the overall structure of the locking mechanism of the gantry lifting assembly provided in the embodiments of this application; Figure 3b for Figure 3a An exploded schematic diagram of the locking mechanism of the gantry lifting assembly shown in Figure 1;

[0076] like Figures 1a to 3b As shown in the embodiment of this application, the locking mechanism 1 of the gantry lifting assembly includes: a fork plate 5 and a power assembly 3; the locking mechanism 1 is installed on the side of the fork plate 5 facing the gantry guide rail 4; wherein, the fork plate 5 is used to connect the material box loading and unloading device 6 and the power assembly 3, and can move up and down along the gantry guide rail 4 under the drive of the power assembly 3.

[0077] The locking mechanism 1 includes an operation input component 11 and a locking actuation component 12. The operation input component 11 is disposed through the fork plate 5 and is used to receive external positive or negative operating forces. The positive operating force is used to generate a locking force, and the negative operating force is used to reduce or release the locking force. The locking actuation component 12 is disposed on the inner side of the fork plate 5 facing the gantry guide rail 4. The locking actuation component 12 is drive-connected to the operation input component 11 and is configured to: move to a locking position in response to the locking force transmitted by the positive operating force of the operation input component 11, and press against the gantry guide rail 4 in the locking position to generate friction and prevent the gantry lifting assembly from moving; or, move to a non-locking position in response to the reduction or release of the locking force caused by the negative operating force of the operation input component 11, and disengage or reduce the pressure on the gantry guide rail 4 in the non-locking position, allowing the gantry lifting assembly to move.

[0078] The locking mechanism 1 of the gantry lifting assembly provided in this embodiment of the application locks the gantry lifting assembly and the material box loading / unloading device. Since the gantry lifting assembly is fixedly connected to the material box loading / unloading device, locking the gantry lifting assembly prevents the material box loading / unloading device from moving; that is, the material box loading / unloading device is locked. The locking mechanism 1 provided in this embodiment of the utility model is fixed to the fork plate 5 of the gantry lifting assembly. Only a positive or negative operating force needs to be applied to the operation input component 11 to position the locking execution component 12 in the locked or unlocked position, pressing against the gantry guide rail 4 to generate friction or disengage, thus reducing the pressure on the gantry guide rail 4. The operation is simple, requires no slings for fixing, does not require sling tools, and occupies little space.

[0079] like Figure 3b As shown, the locking mechanism 1 further includes a force conversion component 13 and a reset component 14. The force conversion component 13 is disposed between the operation input component 11 and the locking execution component 12, and is used to convert and amplify the external positive operating force into a locking force and transmit it to the locking execution component 12, and reduce or release the locking force based on the external reverse operating force. The locking execution component 12 is also connected to the reset component 14. The reset component 14 is used to generate a reset force when the force conversion component 13 reduces or releases the locking force based on the external reverse operating force. The locking execution component 12 is movably connected to the force conversion component 13 and is configured to: move to a locked position in response to the locking force converted and amplified by the force conversion component 13, and press against the gantry guide rail 4 in the locked position to generate frictional force to prevent the gantry lifting assembly from moving; or, move to a non-locked position in response to the reduction or release of the locking force and the reset force, and disengage or reduce the pressure on the gantry guide rail 4 in the non-locked position to allow the gantry lifting assembly to move.

[0080] In this embodiment, the force conversion component 13 can convert and amplify the external positive operating force into a locking force and transmit it to the locking execution component 12. Therefore, a small positive operating force applied to the operation input component 11 can be converted into a large locking force, thereby causing the locking execution component 12 to press against the gantry guide rail 4 to generate a larger frictional force, making locking the gantry lifting assembly easier. When the locking execution component 12 responds to a reduction or release of the locking force, the reset component 14 can further pull the locking execution component 12 back to prevent the locking execution component 12 from contacting the gantry guide rail 4 during the movement of the gantry lifting assembly, which would cause wear and affect the movement of the gantry lifting assembly.

[0081] like Figure 2b and Figure 3b As shown, the locking actuator 12 includes: a top block assembly 200; the top block assembly 200 is disposed on the inner side of the fork plate 5 facing the gantry guide rail 4; it includes: at least one actuator top block 210; the operation input component 11 includes: an adjustment mechanism 300; the adjustment mechanism 300 passes through the fork plate 5 and is drivenly connected to at least one actuator top block 210 of the top block assembly 200 based on the force conversion component 13, the locking force converted and amplified by the force conversion component 13 is transmitted to at least one actuator top block 210; at least one actuator top block 210 of the top block assembly 200 can extend to the locking position under the drive of the force conversion component 13, so as to press against the gantry guide rail 4 in the locking position to generate friction and prevent the gantry lifting assembly from moving; or, in response to the reduction or release of the locking force and the reset force, retract to the non-locking position, disengaging or reducing the pressure on the gantry guide rail 4 in the non-locking position, allowing the gantry lifting assembly to move.

[0082] In this embodiment, it is only necessary to apply a positive or negative operating force to the adjusting mechanism 300 to make at least one of the actuating top blocks 210 of the top block assembly 200 be in a locked or unlocked position, pressing against the gantry guide rail 4 to generate friction or disengage, thereby reducing the pressure on the gantry guide rail 4, which can prevent the gantry lifting assembly from moving or allow the gantry lifting assembly to move, making the operation simpler.

[0083] In some embodiments, the locking mechanism 1 may not include the force conversion mechanism 13, and the top block assembly 200 of the locking execution component 12 may only include one execution top block 210. In this case, the adjustment mechanism 300 is directly connected to the execution top block 210, and there is no need to set the reset component 14. The adjustment mechanism 300 can receive the positive operating force or the reverse operating force, convert it into a locking force, or disengage or reduce the pressure on the gantry guide rail 4, and directly transmit it to the execution top block 210 so that the execution top block 210 extends to the locking position or retracts to the non-locking position.

[0084] In some embodiments, the locking mechanism 1 includes a force conversion mechanism 13, and the top block assembly 200 of the locking execution component 12 may include multiple execution top blocks 210, such as two execution top blocks 210. The following is a detailed description of the top block assembly 200 including two execution top blocks 210:

[0085] like Figure 3b As shown, the force conversion component 13 includes: a force conversion top block 130 that is pulsatorically connected to the adjustment mechanism 300; two execution top blocks 210, with the force conversion top block 130 disposed between and slidably connected to the two execution top blocks 210; the force conversion top block 130 is used to convert the positive operating force transmitted from the adjustment mechanism 300 into a locking force to push the two execution top blocks 210 to extend toward the gantry guide rail 4 respectively; so that the two execution top blocks 210, when... After being pushed to the locked position, it presses against the gantry guide rail 4 to generate friction, preventing the gantry lifting assembly from moving; or, under the reverse operating force transmitted by the adjusting mechanism 300, it reduces or releases the locking force; the reset component 14, elastically connected to the two actuator top blocks 210, generates a reset force when the locking force is reduced or released, to pull the two actuator top blocks 210 back, so that after the two actuator top blocks 210 are pulled to the non-locked position, they disengage or reduce the pressure on the gantry guide rail 4, allowing the gantry lifting assembly to move.

[0086] In this embodiment, a positive operating force is applied to the adjusting mechanism 300. The force conversion top block 130 converts and amplifies the force into a locking force, which is transmitted to the two execution top blocks 210. In response to the locking force, the two execution top blocks 210 move to the locking position. Both execution top blocks 210 press against the gantry guide rail 4 and generate friction. That is, the positive operating force applied to the adjusting mechanism 300 is converted and amplified into double the friction force, preventing the gantry lifting assembly from moving, making it easier to lock the gantry lifting assembly.

[0087] like Figure 2a and Figure 2b As shown, the gantry guide rail 4 has a guide wheel receiving groove 41 on the side facing the fork plate 5. The locking mechanism 1 can move up and down in the guide wheel receiving groove 41 as the fork plate 5 moves up and down. The two actuator top blocks 210 can extend towards the inner wall of the guide wheel receiving groove 41 to the locked position under the action of the locking force transmitted by the force conversion top block 130, and press against the inner wall of the guide wheel receiving groove 41 to generate friction and prevent the gantry lifting assembly from moving. Alternatively, under the action of the force conversion top block 130 reducing or releasing the locking force and the reset force of the reset component 14, they can retract away from the inner wall of the guide wheel receiving groove 41 to the non-locked position, disengage or reduce the pressure on the inner wall of the guide wheel receiving groove 41, and allow the gantry lifting assembly to move.

[0088] In this embodiment, the locking mechanism 1 moves up and down within the guide wheel receiving groove 41 as the fork plate 5 moves up and down. Only a positive or negative operating force needs to be applied to the adjusting mechanism 300. The force conversion top block 130 causes the two execution top blocks 210 to press against the inner wall of the guide wheel receiving groove 41 in the locked position to generate friction and prevent the gantry lifting assembly from moving. Alternatively, the force conversion top block 130 and the reset component 14 can cause the two execution top blocks 210 to move away from the inner wall of the guide wheel receiving groove 41 in the non-locked position, thereby disengaging or reducing the pressure on the inner wall of the guide wheel receiving groove 41 and allowing the gantry lifting assembly to move. This achieves the purpose of preventing or allowing the gantry lifting assembly to move, making the operation simpler.

[0089] like Figure 2a As shown, the gantry rail 4 has a guide wheel receiving groove opening 42 on the side facing the fork plate 5. The guide wheel receiving groove opening 42 is connected to the guide wheel receiving groove 41, and the locking mechanism 1 is installed into the guide wheel receiving groove 41 through the guide wheel receiving groove opening 42. Figure 2b As shown, the fork plate 5 has two sets of guide wheel groups 52 on the side facing the gantry guide rail 4. Each set of guide wheel groups 52 includes: one horizontal guide wheel 521 and two vertical guide wheels 522. The locking mechanism 1 can be installed between the two sets of guide wheel groups 52. The two sets of guide wheel groups 52 can roll within the guide wheel receiving groove 41.

[0090] like Figure 2b As shown, the fork plate 5 is provided with a lifting component connector 53. When the power component 3 is a sprocket and chain lifting mechanism, the lifting component connector 53 is used to connect the fork plate 5 to the chain; when the power component 3 is a synchronous pulley and synchronous belt lifting mechanism, the lifting component connector 53 is used to connect the fork plate 5 to the synchronous belt, so that the power component 3 can drive the fork plate 5 to move up and down along the gantry guide rail 4.

[0091] Correspondingly, such as Figure 2a As shown, the gantry guide rail 4 is provided with a guide rail groove 43, which is used to accommodate the lifting component connector 53 and the chain or the lifting component connector 53 and the timing belt. The lifting component connector 53 and the chain or the lifting component connector 53 and the timing belt move up and down in the guide rail groove 43 to drive the locking mechanism 1 on the fork plate 5 to move up and down in the guide wheel receiving groove 41.

[0092] like Figure 2b As shown, the fork plate 5 is also provided with a pick-up and place device connecting plate 54. The fork plate 5 is fixedly connected to the material box pick-up and place device 6 through the pick-up and place device connecting plate 54, so that when the power component 3 drives the fork plate 5 to move up and down along the mast, the material box pick-up and place device 6 can move up and down along the mast guide rail 4.

[0093] like Figure 2a and Figure 2bAs shown, the locking mechanism 1 of the gantry lifting assembly is small in size and is installed in the middle position between the two sets of guide wheel sets 52 of the fork plate 5, so that the locking mechanism 1 moves together with the power assembly 3. The trajectory of the locking mechanism 1 is in the guide wheel receiving groove 41, which does not occupy other space and is applicable to a wide range of scenarios.

[0094] See Figures 3b to 3e , Figure 3c for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 2; Figure 3d for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 3; Figure 3e for Figure 3a Exploded view of the locking mechanism of the gantry lifting assembly shown in Figure 4.

[0095] like Figures 3b to 3e As shown, the force conversion top block 130 is trapezoidal in shape. The length of the front end face 131 of the force conversion top block 130 is less than the length of the rear end face 132. The two sides of the force conversion top block 130 are first inclined surfaces 133 that slope outward in the horizontal direction. Each execution top block 210 has a top block groove 211 formed on its inner side. The bottom of the top block groove 211 is a second inclined surface 212. The first inclined surface 133 of the force conversion top block 130 slides in conjunction with the second inclined surface 212 of each execution top block 210. The top surface and bottom surface of the top block groove 211 contact the top surface and bottom surface of the force conversion top block 130, respectively. Under the positive operating force transmitted from the adjustment mechanism 300, the top block 130 pushes the two execution top blocks 210 toward the side wall 412 of the guide wheel receiving groove 41 to the locked position based on the sliding cooperation between the first inclined surface 133 and the second inclined surface 212. Under the reverse operating force transmitted from the adjustment mechanism 300, the force conversion top block 130 pulls the two execution top blocks 210 in the opposite direction through the reset force generated by the reset component 14 based on the sliding cooperation between the first inclined surface 133 and the second inclined surface 212, so that the two execution top blocks 210 retract to the unlocked position.

[0096] In this embodiment, the force conversion top block 130 and the execution top block 210 are connected by a first inclined surface 133 and a second inclined surface 212. Since the length of the front end face 131 of the force conversion top block 130 is less than the length of the rear end face 132, the distance between the two first inclined surfaces 133 on both sides of the force conversion top block 130 increases from front to back. Therefore, when the force conversion top block 130 moves forward, that is, moves toward the bottom wall 411 of the guide wheel receiving groove 41, the distance between the two execution top blocks 210 on both sides increases. The execution top block 210 moves toward the side wall 412 of the guide wheel receiving groove 41 until it moves to the locking position and presses against the side wall 412 to generate friction.

[0097] Conversely, under the reverse operating force transmitted by the adjustment mechanism 300, when the force conversion top block 130 retracts to the receiving space, the distance between the two first inclined surfaces 133 decreases, and combined with the reset force of the reset component 14, the distance between the two execution top blocks 210 also decreases. The execution top block 210 moves toward the side wall 412 away from the guide wheel receiving groove 41 to retract to the non-locked position.

[0098] In this embodiment, the force conversion top block 130 and the execution top block 210 are connected by transmission through the first inclined surface 133 and the second inclined surface 212. Only by adjusting the adjustment mechanism 300, the movement of the force conversion top block 130 can drive the movement of the two execution top blocks 210, making it more convenient to lock the gantry lifting assembly.

[0099] In this embodiment, the top and bottom surfaces of the top block groove 211 are in contact with the top and bottom surfaces of the force conversion top block 130, respectively, thereby limiting the force conversion top block 130 and the execution top block 210 and preventing the force conversion top block 130 and the execution top block 210 from moving relative to each other vertically.

[0100] Specifically, such as Figure 3e As shown, the top block groove 211 of the execution top block 210 penetrates the execution top block 210 in the thickness direction, and the second inclined surface 212 is connected to the front and rear of the execution top block 210 respectively.

[0101] like Figure 3a and Figure 3e As shown, the locking mechanism 1 further includes: a rear housing 100 for mounting the top block and a front housing 400 for mounting the top block; the rear housing 100 for mounting the top block and the front housing 400 for mounting the top block are fixedly connected, the first side 110 of the rear housing 100 for mounting the top block is provided with a first groove 112, and the second side 120 is used for fixed connection with the fork plate 5; the front housing 400 for mounting the top block is provided with a second groove 410 on the side near the rear housing 100 for mounting the top block, the second groove 410 and the first groove 112 form a receiving space to jointly accommodate the force conversion top. The unit consists of a block 130 and two actuator top blocks 210. The front end of the top block mounting front housing 400 is provided with a first opening 420 for extending the force conversion top block 130 out of the receiving space. After the top block mounting rear housing 100 is closed with the top block mounting front housing 400, a second opening 430 is formed on both sides. The second opening 430 communicates with the receiving space so that the two actuator top blocks 210 can extend out of the receiving space and move to the locked position; or, the two actuator top blocks 210 can retract into the receiving space and move to the unlocked position.

[0102] In this embodiment, the force conversion top block 130 and the execution top block 210 are installed in the first groove 112 of the top block mounting rear shell 100 and the second groove 410 of the top block mounting front shell 400, respectively, and are arranged at both ends of the top block mounting front shell 400 and the top block mounting rear shell 100. The front of the execution top block 210 contacts the bottom of the second groove 410, and the rear of the execution top block 210 contacts the bottom of the first groove 112. The first groove 112 and the second groove 410 limit the execution top block 210, so that the execution top block 210 can only move in the horizontal direction along the first groove 112 and the second groove 410.

[0103] Specifically, the top block mounting rear housing 100 and the top block mounting front housing 400 can be fixedly connected by screws. The second side 120 of the top block mounting rear housing 100 can be fixedly connected to the side of the fork plate 5 facing the gantry guide rail 4 by screws.

[0104] like Figure 3e As shown, the first opening 420 of the top block mounting front shell 400 penetrates the top block mounting front shell 400 in the thickness direction and communicates with the second groove 410; the size of the first opening 420 is at least larger than the size of the rear end 132 surface of the force conversion top block 130 so that the force conversion top block 130 can pass through the first opening 420.

[0105] like Figure 3a and Figure 3e As shown, the first groove 112 of the top block mounting rear shell 100 horizontally penetrates the top block mounting rear shell 100, and the second groove 410 of the top block mounting front shell 400 horizontally penetrates the top block mounting front shell 400, thereby forming a second opening 430 on both sides after the top block mounting rear shell 100 and the top block mounting front shell 400 are closed. The size of the second opening 430 is at least larger than the size of the side of the executing top block 210, so that the executing top block 210 can be pressed and abutted against the side wall 412 of the guide wheel receiving groove 41 through the second opening 430.

[0106] like Figure 3e As shown, the bottom of the first groove 112 is recessed away from the front shell 400 of the top block mounting to form a third groove 122. The adjustment mounting hole 121 is located at the bottom of the third groove 122 and connects to the second side 120 of the rear shell 100 of the top block mounting. The size of the third groove 122 is at least larger than the size of the rear end face 132 of the force conversion top block 130 so that the force conversion top block 130 can be accommodated when it does not protrude from the front shell 400 of the top block mounting.

[0107] like Figure 3b and Figure 3dAs shown, the reset component 14 includes: two reset springs 140; spring mounting positions 240 are provided at the top and bottom of the two actuator blocks 210, wherein one reset spring 140 is disposed in the spring mounting position 240 at the top of the two actuator blocks 210, and the two ends of the reset spring 140 in the length direction are fixedly connected to the two actuator blocks 210; the other reset spring 140 is disposed in the spring mounting position 240 at the bottom of the two actuator blocks 210, and the two ends of the reset spring 140 in the length direction are fixedly connected to the two actuator blocks 210; when the force conversion block 130 retracts to the receiving space, the reset component 14 causes the two actuator blocks 210 to reset and retract to the receiving space.

[0108] In this embodiment, the top and bottom of the two execution top blocks 210 are connected by a reset spring 140. In addition to resetting the two execution top blocks 210, the superposition of the elastic force of the two reset springs 140 can also increase the reset capability of the two execution top blocks 210, preventing the possibility that the two execution top blocks 210 cannot be reset due to insufficient reset capability.

[0109] The reset springs 140 are distributed at the top and bottom of the two actuator blocks 210, which can restrict the reset direction of the two actuator blocks 210, so that the two actuator blocks 210 can only reset along the length direction of the reset springs 140.

[0110] Specifically, the two ends of the return spring 140 along its length are fixedly connected to the two actuating top blocks 210 by screws. The spring mounting position 240 can be a spring mounting slot.

[0111] See Figures 3e to 4b , Figure 4a A schematic diagram showing the connection between the fork plate and the locking mechanism of the gantry lifting assembly; Figure 4b Schematic diagram 2 showing the connection relationship between the fork plate and the locking mechanism of the gantry lifting assembly;

[0112] like Figures 3e to 4b As shown, the adjustment mechanism 300 is an adjustment screw 340; the force conversion top block 130 is provided with a threaded hole 134, which passes through the force conversion top block 130 from front to back; the first end 310 of the adjustment screw 340 is a threaded end, which passes through the fork plate 5 and the top block mounting back cover 100, and is threadedly connected to the force conversion top block 130 through the threaded hole 134; the second end 320 of the adjustment screw 340 is exposed outside the fork plate 5 as an adjustment end; an adjustment groove 330 is provided between the first end 310 and the second end 320 of the adjustment screw 340, and the adjustment screw 340 is rotatably connected to the fork plate 5 through the adjustment groove 330. Rotating the second end 320 of the adjustment screw 340 causes the force conversion top block 130 to extend or retract into the receiving space.

[0113] In this way, by applying a small tightening force to the second end 320 of the adjusting screw 340, a large pressure can be generated between the actuator block 210 and the gantry guide rail 4, that is, a large static friction force can be generated, thereby locking the lifting assembly of the gantry.

[0114] Specifically, such as Figure 4a and Figure 4b As shown, the top block mounting housing 100 is provided with an adjustment mounting hole 121. The adjustment mechanism 300 is connected to the force conversion top block 130 through the adjustment mounting hole 121. The first end 310 of the adjustment screw 340 passes through the adjustment mounting hole 121 of the fork plate 5 and the top block mounting housing 100, and is threadedly connected to the force conversion top block 130 through the threaded hole 134. The first end 310 of the adjustment screw 340 can rotate relative to the adjustment mounting hole 121.

[0115] like Figure 4a and Figure 4b As shown, the fork plate 5 is provided with an adjustment hole 51 at the position corresponding to the adjustment groove 330, and the adjustment screw 340 is rotatably connected to the fork plate 5 through the adjustment groove 330 and the adjustment hole 51.

[0116] The working principle of the locking mechanism of the gantry lifting assembly will be explained in detail below.

[0117] See Figure 5a and Figure 5b , Figure 5a A schematic diagram illustrating the working principle of the locking mechanism of the gantry lifting assembly provided in this application embodiment; Figure 5b Schematic diagram 2 illustrating the working principle of the locking mechanism of the gantry lifting assembly provided in this application embodiment.

[0118] Driven by a chain or timing belt, the fork plate 5 can move up and down along the gantry guide rail 4 of the gantry 2, so that the locking mechanism 1 on the fork plate 5 can move up and down in the guide wheel receiving groove 41.

[0119] In the initial state, that is, the unlocked state when the material bin loading and unloading device 6 does not need to be locked, such as... Figure 5a As shown, the force conversion top block 130 is located near the third groove 122 of the top block mounting housing 100. The execution top blocks 210 on both sides do not extend out of the receiving space. The execution top blocks 210 are maintained in the initial position under the action of the upper and lower reset springs.

[0120] In the working state, that is, when the material bin loading and unloading device 6 is locked by the fork plate 5, such as... Figure 5bAs shown, the adjusting screw 340 and the force conversion top block 130 are connected by a thread. When the adjusting screw 340 is rotated counterclockwise, the force conversion top block 130 moves forward under the action of the adjusting screw 340, and at the same time pushes the execution top blocks 210 on both sides to move to both sides. The execution top blocks 210 extend out of the receiving space until they reach the locking position and press against the side wall 412 of the guide wheel receiving groove 41 of the gantry guide rail 4. When the pressure reaches a certain value, sufficient friction can be generated to lock the lifting component of the gantry and prevent the fork plate 5 and the material box loading and unloading device 6 from falling.

[0121] During reset, rotating the adjusting screw 340 clockwise causes the force conversion top block 130 to move backward under the action of the adjusting screw 340, while the execution top blocks 210 on both sides retract into the receiving space under the action of the reset spring, restoring the initial state.

[0122] The locking mechanism 1 of the gantry lifting assembly utilizes the characteristics of threads and inclined surfaces to generate a large pressure between the top block and the gantry guide rail with a small tightening force, which in turn generates a large static friction force, thereby achieving the locking of the gantry lifting assembly.

[0123] Of course, in another embodiment, the force conversion top block 130 can be moved forward under the action of the adjusting screw 340 when the adjusting screw 340 is turned clockwise; when the adjusting screw 340 is turned counterclockwise, the force conversion top block 130 can be moved backward under the action of the adjusting screw 340, and the two side execution top blocks 210 can be retracted into the receiving space under the action of the return spring 140, restoring the initial state. There is no limitation here.

[0124] In some embodiments, during operation, rotating the adjusting screw 340 causes the force conversion top block 130 to move forward under the action of the adjusting screw 340 until it reaches the locking position, pressing against the bottom wall 411 of the guide wheel receiving groove 41 of the gantry guide rail 4. At the same time, it pushes the two execution top blocks 210 on both sides to move to both sides. The two execution top blocks 210 extend out of the receiving space and also reach the locking position, pressing against the side wall 412 of the guide wheel receiving groove 41 of the gantry guide rail 4. When the pressure reaches a certain value, sufficient friction can be generated between the force conversion top block 130 and the two execution top blocks 210 and the guide wheel receiving groove 41, thereby locking the lifting assembly of the gantry and preventing the fork plate 5 and the material box loading and unloading device 6 from falling. In other words, the force conversion top block 130 and the execution top blocks 210 can simultaneously press against the inner wall of the guide wheel receiving groove 41 of the gantry guide rail 4.

[0125] like Figure 1a and Figure 1bAs shown, this application embodiment also provides a bin handling robot, including: a gantry 2, a gantry lifting assembly, and a bin picking and placing device 6; the gantry lifting assembly includes: a power assembly and a fork plate; a gantry guide rail 4 is provided on the gantry; the fork plate 5 is used to connect the bin picking and placing device 6 to the power assembly 3, and can move up and down along the gantry guide rail 4 under the drive of the power assembly 3; a locking mechanism 1 of the gantry lifting assembly in any of the above embodiments is installed on the side of the fork plate 5 facing the gantry guide rail 4.

[0126] like Figure 5a As shown, the gantry guide rail 4 has a guide wheel receiving groove 41 on the side facing the fork plate 5. The locking mechanism 1 can move up and down in the guide wheel receiving groove 41 as the fork plate 5 moves up and down. The two actuator top blocks 210 can extend towards the inner wall of the guide wheel receiving groove 41 to the locked position under the locking force transmitted by the force conversion top block 130, and press against the inner wall of the guide wheel receiving groove 41 to generate friction and prevent the gantry lifting assembly from moving. Alternatively, under the action of the force conversion top block 130 reducing or releasing the locking force and the reset force of the reset component 14, they retract away from the inner wall of the guide wheel receiving groove 41 to the non-locked position, disengaging or reducing the pressure on the inner wall of the guide wheel receiving groove 41, allowing the gantry lifting assembly to move.

[0127] like Figure 1a As shown, the bin handling robot is also equipped with multiple buffer positions 7. The multiple buffer positions 7 are fixed on the mast 2 along the height direction of the mast 2. The bin picking and placing device 6 is connected to the power component 3 through the fork plate 5 and can move up and down along the mast guide rail 4 under the drive of the power component 3. The bin picking and placing device 6 can buffer the bins on the buffer positions 7 or remove the bins stored on the buffer positions 7 and place them on the shelf.

[0128] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A locking mechanism for a gantry lifting assembly, characterized in that, The gantry lifting assembly includes: a fork plate (5) and a power assembly (3); the locking mechanism (1) is installed on the side of the fork plate (5) facing the gantry guide rail (4); wherein, the fork plate (5) is used to connect the material box loading and unloading device (6) and the power assembly (3), and can move up and down along the gantry guide rail (4) under the drive of the power assembly (3); The locking mechanism (1) includes: an operation input component (11) and a locking execution component (12). The operation input component (11) is disposed on the fork plate (5) and is used to receive external positive or negative operating forces; wherein, the positive operating force is used to generate a locking force; and the negative operating force is used to reduce or release the locking force. The locking actuator (12) is disposed on the inner side of the fork plate (5) facing the gantry rail (4); The locking actuator (12), which is connected to the operation input component (11), is configured as follows: In response to the locking force transmitted from the positive operating force of the operation input component (11), the assembly moves to the locking position and presses against the gantry guide rail (4) to generate friction, thereby preventing the gantry lifting assembly from moving; or, In response to the reduction or release of the locking force caused by the reverse operating force based on the operation input component (11), the gantry lifting assembly moves to the unlocked position, disengages or reduces the pressure on the gantry guide rail (4) in the unlocked position, and allows the gantry lifting assembly to move.

2. The locking mechanism according to claim 1, characterized in that, The locking mechanism (1) further includes: a force conversion component (13) and a reset component (14). The force conversion component (13) is disposed between the operation input component (11) and the locking execution component (12) for converting and amplifying the external positive operation force into a locking force and transmitting it to the locking execution component (12), and reducing or releasing the locking force based on the external reverse operation force; The locking actuator (12) is also connected to the reset actuator (14); the reset actuator (14) is used to generate a reset force when the force conversion actuator (13) reduces or releases the locking force based on an external reverse operating force; The locking actuator (12), movably connected to the force conversion actuator (13), is configured as follows: In response to the locking force converted and amplified by the force conversion component (13), the assembly moves to the locking position, pressing against the gantry guide rail (4) to generate friction and prevent the gantry lifting assembly from moving; or, in response to the reduction or release of the locking force and the reset force, the assembly moves to the non-locking position, disengaging or reducing the pressure on the gantry guide rail (4) in the non-locking position, allowing the gantry lifting assembly to move.

3. The locking mechanism according to claim 2, characterized in that, The locking actuator includes: a top block assembly (200); The top block assembly (200) is disposed on the inner side of the fork plate (5) facing the gantry rail (4); it includes at least one actuating top block (210). The operation input component (11) includes: an adjustment mechanism (300); the adjustment mechanism (300) is disposed on the fork plate (5) and is connected to at least one actuating top block (210) of the top block assembly (200) based on the force conversion component (13), wherein the locking force converted and amplified by the force conversion component (13) is transmitted to the at least one actuating top block (210). At least one actuating block (210) of the top block assembly (200) can extend to the locking position under the action of the force conversion member (13) to press against the gantry guide rail (4) in the locking position to generate friction and prevent the gantry lifting assembly from moving; or, in response to the reduction or release of the locking force and the reset force, retract to the non-locking position to disengage from or reduce the pressure on the gantry guide rail (4) in the non-locking position, allowing the gantry lifting assembly to move.

4. The locking mechanism according to claim 3, characterized in that, The force conversion component (13) includes: a force conversion top block (130) that is pulsatorically connected to the adjustment mechanism (300); The number of execution top blocks (210) is two, and the force conversion top block (130) is disposed between the two execution top blocks (210) and slidably connected to the two execution top blocks (210); The force conversion top block (130) is used to convert the positive operating force transmitted from the adjustment mechanism (300) into a locking force to push the two execution top blocks (210) to extend toward the gantry guide rail (4) respectively; so that after the two execution top blocks (210) are pushed to the locking position, they press against the gantry guide rail (4) to generate friction and prevent the gantry lifting assembly from moving; or, in the case of the reverse operating force transmitted from the adjustment mechanism (300), to reduce or release the locking force; The reset component (14) is elastically connected to the two actuators (210). When the locking force is reduced or released, it generates a reset force to pull the two actuators (210) back, so that after the two actuators (210) are pulled to the non-locking position, they disengage or reduce the pressure on the gantry guide rail (4), allowing the gantry lifting assembly to move.

5. The locking mechanism according to claim 4, characterized in that, The gantry rail (4) facing the fork plate (5) has a guide wheel receiving groove (41), and the locking mechanism (1) can move up and down in the guide wheel receiving groove (41) as the fork plate (5) moves up and down. The two actuator top blocks (210) can extend toward the inner wall of the guide wheel receiving groove (41) to the locked position under the locking force transmitted by the force conversion top block (130), press against the inner wall of the guide wheel receiving groove (41) to generate friction, and prevent the gantry lifting assembly from moving; or, under the action of the force conversion top block (130) reducing or releasing the locking force and the reset force of the reset component (14), they can retract away from the inner wall of the guide wheel receiving groove (41) to the non-locked position, disengage or reduce the pressure on the inner wall of the guide wheel receiving groove (41), and allow the gantry lifting assembly to move.

6. The locking mechanism according to claim 5, characterized in that, The force conversion top block (130) is trapezoidal in shape. The length of the front end face (131) of the force conversion top block (130) is less than the length of the rear end face (132). The two sides of the force conversion top block (130) are first inclined surfaces (133) that slope outward in the horizontal direction. Each of the execution top blocks (210) has a top block groove (211) formed on its inner side. The bottom of the top block groove (211) is a second inclined surface (212). The first inclined surface (133) of the force conversion top block (130) is slidably engaged with the second inclined surface (212) of each of the execution top blocks (210). The top surface and bottom surface of the top block groove (211) are in contact with the top surface and bottom surface of the force conversion top block (130), respectively. Under the positive operating force transmitted from the adjustment mechanism (300), the force conversion top block (130) pushes the two execution top blocks (210) toward the side wall (412) of the guide wheel receiving groove (41) respectively, based on the sliding cooperation between the first inclined surface (133) and the second inclined surface (212), so as to push them to the locking position; Under the reverse operating force transmitted from the adjustment mechanism (300), the force conversion top block (130) pulls the two execution top blocks (210) in the opposite direction by the reset force generated by the reset component (14) based on the sliding cooperation between the first inclined surface (133) and the second inclined surface (212), so that the two execution top blocks (210) retract to the non-locked position.

7. The locking mechanism according to claim 5, characterized in that, The locking mechanism (1) further includes: a top block mounting rear shell (100) and a top block mounting front shell (400). The top block mounting rear shell (100) is fixedly connected to the top block mounting front shell (400). The first side (110) of the top block mounting rear shell (100) is provided with a first groove (112), and the second side (120) is used to be fixedly connected to the fork plate (5). The top block mounting front shell (400) is provided with a second groove (410) on the side close to the top block mounting rear shell (100). The second groove (410) and the first groove (112) form a receiving space to jointly accommodate the force conversion top block (130) and the two execution top blocks (210). The front end of the top block mounting front shell (400) is provided with a first opening (420) for allowing the force conversion top block (130) to extend out of the receiving space; After the top block mounting rear shell (100) is closed with the top block mounting front shell (400), a second opening (430) is formed on both sides. The second opening (430) communicates with the receiving space so that the two execution top blocks (210) can extend out of the receiving space and move to the locked position; or, so that the two execution top blocks (210) can retract into the receiving space and move to the unlocked position.

8. The locking mechanism according to claim 7, characterized in that, The reset component (14) includes: two reset springs (140); The top and bottom of the two execution top blocks (210) are provided with spring mounting positions (240), wherein a reset spring (140) is provided in the spring mounting position (240) at the top of the two execution top blocks (210), and the two ends of the reset spring (140) in the length direction are fixedly connected to the two execution top blocks (210); Another return spring (140) is provided in the spring mounting position (240) at the bottom of the two execution top blocks (210), and the two ends of the return spring (140) in the length direction are fixedly connected to the two execution top blocks (210); When the force conversion top block (130) retracts into the receiving space, the reset component (14) causes the two execution top blocks (210) to reset and retract into the receiving space.

9. The locking mechanism according to claim 7, characterized in that, The adjustment mechanism (300) is an adjustment screw (340); The force conversion top block (130) is provided with a threaded hole (134), which passes through the force conversion top block (130) from front to back. The first end (310) of the adjusting screw (340) is a threaded end, which passes through the fork plate (5) and the top block mounting shell (100) and is threadedly connected to the force conversion top block (130) through a threaded hole (134); the second end (320) of the adjusting screw (340) is exposed outside the fork plate (5) as an adjusting end; An adjustment groove (330) is provided between the first end (310) and the second end (320) of the adjustment screw (340). The adjustment screw (340) is rotatably connected to the fork plate (5) through the adjustment groove (330). Rotating the second end (320) of the adjustment screw (340) causes the force conversion top block (130) to extend or retract into the receiving space.

10. A bin-handling robot, characterized in that, include: Gantry (2), gantry lifting assembly and material box loading and unloading device (6); The gantry lifting assembly includes: a power assembly (3) and a fork plate (5); The gantry (2) is provided with a gantry rail (4); The fork plate (5) is used to connect the material box loading and unloading device (6) to the power assembly (3), and can move up and down along the gantry guide rail (4) under the drive of the power assembly (3); The fork plate (5) is equipped with a locking mechanism (1) as described in any one of claims 1 to 9 on the side facing the gantry rail (4).

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