Conveying device, conveying robot, and warehouse storage system

Abstract

This application relates to a conveying device, a conveying robot, and a warehouse storage system. The conveying device includes a bottom plate (800), a mounting plate (100) provided on the bottom plate (800), a telescopic mechanism (200) provided on the mounting plate (100) so as to be telescopic in a first direction, a fixing plate (300) provided on a side of the telescopic mechanism (200) away from the mounting plate (100), a suction pad (310) provided on the fixing plate (300), a drive assembly (500) provided on the bottom plate (800) and connected to the telescopic mechanism (200), and a supporting assembly (900) provided on the bottom plate (800) so as to support the material box (810) adsorbed by the suction pad (310). In this way, due to the cooperation of the drive assembly (500), the telescopic mechanism (200), and the suction pad (310), the material box (810) can be conveyed only by adsorbing the side surface of the material box (810). Therefore, it is not necessary to secure a gap for clamping the material box (810) when arranging the material box (810), and it is only necessary to have a certain interval between adjacent material boxes (810). As a result, the storage density of the material boxes (810) in the warehouse is increased, the storage capacity per unit area is improved, and the utilization rate of the warehouse space is effectively improved.

Description

Technical Field

[0001] This application claims the priority of Chinese Patent Application No. 202210876803.8, filed with the China National Intellectual Property Administration on July 25, 2022, and the entire content of the above application is incorporated herein by reference.

[0002] This application claims the priority of Chinese Patent Application No. 202221923064.5, filed with the China National Intellectual Property Administration on July 25, 2022, and the entire content of the above application is incorporated herein by reference.

[0003] This application relates to the technical field of warehouse storage and transportation of material boxes, for example, to a transportation device, a transportation robot, and a warehouse storage system.

Background Art

[0004] Warehouse storage is an important part of factory operation, among which, the arrangement of goods, the utilization of space, the speed of shipment, and the accuracy of shipment are very important. In order to improve the quality of warehouse storage, transportation robots are gradually being used and popularized.

[0005] In related technologies, a transportation robot includes a moving mechanism provided to move the transportation robot, and usually adopts a structure such as clamping claws, and a clamping mechanism that clamps goods by sandwiching the goods from the outside of the goods.

[0006] When transporting box-shaped goods, when the goods are obtained by sandwiching the goods, it is necessary to ensure sufficient gaps around the goods. Therefore, the storage density of goods in the warehouse is reduced, the storage capacity per unit area is decreased, which is disadvantageous for improving the utilization rate of warehouse space.

Summary of the Invention

[0007] This application provides a conveying device, a conveying robot, and a warehouse storage system, and solves the problem in related technologies that since a large gap is ensured so that a material box is easily clamped during storage, the storage capacity per unit area in the warehouse decreases and the space utilization rate of the warehouse becomes low.

[0008] This application provides a conveying device including a bottom plate, a mounting plate provided on the bottom plate, a telescopic mechanism provided on the mounting plate so as to be telescopic in a first direction, a fixing plate provided on a side of the telescopic mechanism away from the mounting plate, a suction pad provided on the fixing plate for adsorbing a material box, a driving assembly provided on the bottom plate and connected to the telescopic mechanism for driving the telescopic mechanism to expand and contract, and a supporting assembly provided on the bottom plate for supporting the material box adsorbed by the suction pad.

[0009] This application further provides a conveying robot including a mounting frame and the conveying device according to any one of the above items provided on the mounting frame.

[0010] This application further provides a warehouse storage system including a warehouse and the conveying robot according to any one of the above items provided in the warehouse.

Brief Description of the Drawings

[0011]

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Description of Reference Numerals

[0012] 100: Mounting Plate 101: Slide Rail 102: Slider 200: Telescopic Mechanism 210: Slide Guide Rail 220: First Telescopic Unit 230: Second Telescopic Unit 231: Diagonal Tie Rod 232: Linear Strut 233: Rotating sleeve 240: Connecting rod 250: Telescopic rod 260: Strut rod 300: Fixed plate 310: Suction pad 400: Rack 410: Storage layer 420: Temporary storage layer 500: Drive assembly 510: Drive member 520: Drive chain 530: Connection block 540: Rotating wheel 600: Pressing assembly 610: Pressing plate 620: Pressing rod 630: Elastic member 640: Pressing part 641: Pressing block 642: Roller 650: U-shaped frame 660: Tension plate 700: Push rod 800: Bottom plate 810: Material box 820: Support bracket 900: Supporting assembly 910: Supporting frame 920: Supporting roller 930: Stopper 940: Position regulating plate 941: Contact block 950: Interference plate 960: Position regulating rod 970: Lever 971: Rolling wheel 980: Elastic position regulating member X: First direction 1001: Mounting frame 1002: Mobile trolley 1003: Fixed frame 1004: Storage plate 1005: Dust cover

Best Mode for Carrying Out the Invention

[0013] In the description of the present application, unless otherwise specified, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, they may be fixedly connected, removably connected, or integrally formed. They may be mechanically connected or electrically connected. They may be directly connected or indirectly connected through an intermediate medium, and may also be an internal communication between two elements or an interaction relationship between two elements. Those skilled in the art can understand the meaning of the above terms in the present application according to specific situations.

[0014] In the present application, unless otherwise specified, the fact that the first feature is "above" or "below" the second feature may include that the first feature is in direct contact with the second feature, or may include that the first feature and the second feature are not in direct contact but are in contact through another feature therebetween. Also, the fact that the first feature is "above", "above", and "upper side" of the second feature includes that the first feature is directly above and diagonally above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The fact that the first feature is "below", "below", and "lower side" of the second feature includes that the first feature is directly below and diagonally below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0015] In the description of this embodiment, the orientation or positional relationship of terms such as "above", "below", "right", etc. is based on the orientation or positional relationship shown in the drawings, and it does not indicate or imply that the mentioned device or element has a specific orientation and needs to be configured and operated in a specific orientation. It is only for facilitating the description and simplifying the operation, so it should not be understood as a limitation to the present application. Also, the terms "first" and "second" have no special meaning and are only for distinction during the description.

[0016] FIG. 1 is a schematic structural diagram of a conveying device in some embodiments of the present application. FIG. 2 is a schematic structural diagram of a structure for supporting a material box of the conveying device in some embodiments of the present application. As shown in FIGS. 1 and 2, this conveying device includes a bottom plate 800, a mounting plate 100 provided on the bottom plate 800, a telescopic mechanism 200 provided on the mounting plate 100 so as to be telescopic in the first direction X, a fixing plate 300 provided on the telescopic mechanism 200, a suction pad 310 provided on the fixing plate 300, a drive assembly 500 connected to the telescopic mechanism 200 to drive the telescopic mechanism 200 to expand and contract, and a support assembly 900 provided on the bottom plate 800 to support the material box 810 adsorbed by the suction pad 310.

[0017] Exemplarily, the bottom plate 800 may be provided on a certain moving mechanism so as to move the entire device. The bottom plate 800 is slidable in the vertical direction in the moving mechanism so as to correspond to the material boxes 810 at different positions. The material box 810 is a polygonal material having a certain dimension. The material box 810 may be a box body for storing materials, or may be a box-shaped material or the like.

[0018] One support bracket 820 may be fixed to the upper wall of the bottom plate 800 by welding, bolt connection, or the like. The support bracket 820 may include a support plate and a structure such as a plurality of triangular reinforcing ribs. The mounting plate 100 is fixed to this support bracket 820. Both the mounting plate 100 and the fixing plate 300 are in the shape of a rectangular thin plate and are provided opposite to each other. A telescopic mechanism 200 is provided between the mounting plate 100 and the fixing plate 300. The first direction X is the direction in which the fixing plate 300 approaches and separates from the mounting plate 100. The drive assembly 500 may be located below the telescopic mechanism 200. The drive assembly 500 is operable in the first direction X so as to expand and contract the telescopic mechanism 200 in the first direction X. The suction pad 310 is fixed to the side of the fixing plate 300 away from the mounting plate 100 and is arranged facing the material box 810. Two suction pads 310 may be provided, and the two suction pads 310 are arranged side by side on the fixing plate 300. Note that one or three or more suction pads 310 may be provided, and for example, it can be designed according to the dimensions of the fixing plate 300 and the material box 810. The two suction pads 310 may both be provided at the central portion of the fixing plate 300, or may be respectively provided on both sides of the fixing plate 300. For example, the position of the suction pad 310 can be designed according to the suction position to the material box 810, but in the present application, the number and position of the suction pads 310 are not limited.

[0019] The support assembly 900 is provided on the bottom plate 800 and is located below the telescopic mechanism 200. The support assembly 900 may have a symmetric structure. When the telescopic mechanism 200 contracts, the telescopic mechanism 200 pulls the material box 810 into the support assembly 900 so that the bottom wall of the material box 810 abuts against the top of the support assembly 900, and the material box 810 is conveyed above the bottom plate 800. The telescopic mechanism 200 is located at the center of the support assembly 900.

[0020] When transporting the material box 810 by this transport device, the moving device moves the bottom plate 800 to the position of the material box 810 to be transported so that the suction pad 310 corresponds to the material box 810. The drive assembly 500 extends the telescopic mechanism 200 in the first direction X so that the fixing plate 300 and the suction pad 310 approach the material box 810. When the suction pad 310 is in close contact with the material box 810, the side surface of the material box 810 is adsorbed by the suction pad 310, and further, the drive assembly 500 contracts and drives the telescopic mechanism 200 to pull out the material box 810 in the first direction X. When the material box 810 leaves the rack, it directly drops onto the support assembly 900 and can move along with the movement of the bottom plate 800. In this way, through the cooperation of the drive assembly 500, the telescopic mechanism 200, and the suction pad 310, the material box 810 can be transported only by adsorbing the side surface of the material box 810. Therefore, there is no need to ensure a gap for clamping the material box during the arrangement of the material box 810, and it is only necessary to have a certain interval between adjacent material boxes. As a result, the storage density of the material boxes 810 in the warehouse is increased, the storage capacity per unit area is improved, and the utilization rate of the warehouse space is effectively improved.

[0021] FIG. 3 is a structural schematic diagram of the telescopic mechanism of the transport device in some embodiments of the present application when extended. As shown in FIG. 3, in some embodiments of the present application, the telescopic mechanism 200 includes a slide guide rail 210 extending in the first direction and a plurality of telescopic units. All of the plurality of telescopic units are slidably connected to the slide guide rail 210, and two adjacent telescopic units are hinged to each other. The plurality of telescopic units are divided into a plurality of first telescopic units 220 and two second telescopic units 230. The plurality of first telescopic units 220 are located between the two second telescopic units 230. One second telescopic unit 230 is movably connected to the mounting plate 100, and the other second telescopic unit 230 is movably connected to the fixing plate 300.

[0022] Exemplarily, the slide guide rail 210 is located below the mounting plate 100 and the fixing plate 300, and the length of the slide guide rail 210 is adjusted according to the required moving distance of the fixing plate 300 in the first direction X. The plurality of telescopic units are distributed along the first direction X, and each telescopic unit is telescopic by a certain length in the first direction X. Their extended lengths may or may not be the same, and for example, they can be designed according to actual application requirements. The telescopic unit close to the mounting plate 100 or the fixing plate 300 therein is defined as the second telescopic unit 230, and the remaining telescopic units are defined as the first telescopic units 220. Exemplarily, three or more first telescopic units 220 may be provided, and the number of the first telescopic units 220 can be designed according to the required telescopic length of the entire telescopic mechanism 200, but in this application, it is not limited thereto. The second telescopic unit 230 may be slidably connected to the mounting plate 100 or the fixing plate 300 via a hinge slider so that the second telescopic unit 230 is movably connected to the mounting plate 100 or the fixing plate 300.

[0023] When it is necessary to expand and contract the telescopic mechanism 200, the plurality of telescopic units slide on the slide guide rail 210, and each telescopic unit extends or contracts in the first direction X. Thereby, the expansion or contraction of the entire telescopic mechanism 200 in the first direction X is realized.

[0024] FIG. 4 is an enlarged view of part A in the embodiment shown in FIG. 3. As shown in FIG. 3, in some embodiments of the present application, each telescopic unit is composed of two telescopic frames provided oppositely, and the two telescopic frames respectively have a first side portion 2201 and a second side portion 2202 arranged in a crossed manner, and a connecting rod 240 provided on the first side portion of the telescopic frame and hinge-connected to the second side portion of the adjacent telescopic frame. The first side portions of the plurality of telescopic units are distributed along the first direction X, and the second side portions of the plurality of telescopic units are distributed along the first direction X.

[0025] Exemplarily, the two telescopic frames of each telescopic unit are provided opposite to each other in the vertical direction, and both the first side portion 2201 and the second side portion 2202 of each telescopic frame have a first end portion 2203 and a second end portion 2204 respectively located on both sides of the slide guide rail 210. The first end portion 2203 and the second end portion 2204 are rotatable toward the side approaching or separating from the slide guide rail 210 such that the telescopic frame extends or contracts in the first direction X. The connecting rod 240 is provided along the vertical direction, and the tip end and the base end of the connecting rod 240 are respectively rotatably connected to the two telescopic frames. One connecting rod 240 is provided at each of both ends of the first side portion 2201. In this embodiment, two telescopic frames are provided in each telescopic unit, and the first side portions of the two telescopic frames of each telescopic unit are connected to each other via two connecting rods 240.

[0026] When the telescopic unit expands and contracts, the telescopic frame expands and contracts in the first direction X, and by sliding the connecting rod 240 in the direction of the slide guide rail 210 so that the telescopic unit expands and contracts smoothly, the first end portion 2203 and the second end portion 2204 of the first side portion 2201 rotate toward the side approaching or separating from the slide guide rail 210.

[0027] In some embodiments of the present application, the first side portion 2201 and the second side portion 2202 each have a telescopic rod 250. Each telescopic frame has two telescopic rods 250 that are arranged to intersect and are rotatably connected. One end of each telescopic rod 250 is provided with a connecting rod 240, and the other end is hingedly connected to the connecting rod 240 of an adjacent telescopic unit. The two connecting rods 240 at both ends of the telescopic rod 250 are respectively located on both sides of the slide guide rail 210.

[0028] Exemplarily, there is a certain angle that changes with the expansion and contraction of the expansion and contraction mechanism 200 between the extending direction of the expansion and contraction rod 250 and the first direction X, and the change range of this angle is usually 90° or less. By taking the side facing the fixing plate 300 of the two intersecting expansion and contraction rods 250 as the first side of the expansion and contraction unit to which the two intersecting expansion and contraction rods belong, and taking the side opposite to the fixing plate 300 of the two intersecting expansion and contraction rods 250 as the second side of the expansion and contraction unit, when the first end of one of the expansion and contraction rods 250 is located on the first side of the expansion and contraction unit, the second end of this expansion and contraction rod 250 is located on the second side of this expansion and contraction unit. The second end of the above-mentioned expansion and contraction rod 250 is rotatably connected to the corresponding connecting rod 240 on the first side of the adjacent expansion and contraction unit, so that a plurality of expansion and contraction units are intersectingly and serially connected.

[0029] The two expansion and contraction rods 250 of each expansion and contraction frame are arranged intersectingly, with one of the expansion and contraction rods 250 located above and the other located below. At the intersection position of the two expansion and contraction rods 250, a rotating rod is provided that rotatably connects the two expansion and contraction rods 250 and is located directly above the slide guide rail 210. The position of the rotating rod relative to the expansion and contraction rod 250 can be designed according to the actual expansion and contraction length to be satisfied. For example, in this embodiment, the rotating rod is located at the central part of the expansion and contraction rod 250 so that the expansion and contraction process of the entire expansion and contraction frame is relatively uniform and stable. Of course, the rotating rod may be arranged at other positions of the expansion and contraction rod 250, such as at the two-thirds position of the length of the expansion and contraction rod 250, but in this application, it is not limited thereto.

[0030] When the telescopic frame expands and contracts, one end of the telescopic rod 250 located on the first side of the current telescopic unit causes the telescopic rod 250 to rotate around the rotating rod, and both ends of one telescopic rod 250 rotate around the rotating rod while approaching the slide guide rail 210. The telescopic rod 250 of the subsequent telescopic unit is rotated by being pulled by the connecting rod 240 of the previous telescopic unit. When the telescopic rod 250 approaches the slide guide rail 210, the angle between the telescopic rod 250 and the slide guide rail 210 decreases, the length of the telescopic rod 250 in the first direction X increases, and the entire telescopic frame extends. Similarly, when the telescopic rod 250 moves away from the slide guide rail 210, the telescopic frame contracts.

[0031] As shown in FIG. 4, in some embodiments of the present application, slide rails 101 are provided on the opposing side surfaces of the mounting plate 100 and the fixing plate 300, respectively. Two slide rails 101 are provided on each of the mounting plate 100 and the fixing plate 300, and the two slide rails are arranged at intervals in the vertical direction. The two slide rails 101 correspond to the two telescopic frames of the second telescopic unit 230. Two sliders 102 provided with hinge seats are slidably connected to each slide rail 101. The two hinge seats are respectively connected to the two telescopic rods 250 distributed vertically. Exemplarily, connecting rods 240 may be provided on each of the first side and the second side of the second telescopic unit 230. A lug is provided as a hinge seat on the side surface of the slider 102. The upper and lower ends of the connecting rod 240 are respectively inserted into the lugs of the upper and lower two sliders 102. The connecting rod 240 is rotatably connected to the lug. When the second telescopic unit 230 expands and contracts, the slider 102 can be slid on the slide rail 101 by the connecting rod 240 so that the telescopic rod 250 of the second telescopic unit 230 can rotate smoothly. It should be noted that the hinge seat can also realize the connection between the slider 102 and the telescopic rod 250 by other structures, but in the present application, the specific structure of the hinge seat is not limited.

[0032] As shown in FIG. 4, in some embodiments of the present application, the second telescopic unit 230 further has a diagonal tie rod 231, one end of which is hinged to the fixed plate 300 or the mounting plate 100, and the other end of which is hinged to the telescopic rod 250. Exemplarily, one tie rod is hinged to the side surface of the mounting plate 100 facing the fixed plate 300, and one tie rod is also hinged to the side surface of the fixed plate 300 facing the mounting plate. The other end of the tie rod extends obliquely to form the diagonal tie rod 231. A rotating shaft along the vertical direction may be fixed to the side surface of the mounting plate 100. This rotating shaft may be located between the two slide rails 101. One end of the diagonal tie rod 231 may be externally fitted to the rotating shaft, and the other end may be hinged to a position one-fourth of the length of the telescopic rod 250 via a hinge. A plurality of diagonal tie rods 231 may be provided. Each telescopic rod 250 of the second telescopic unit 230 corresponds to one diagonal tie rod 231.

[0033] In this embodiment, since the central position of the telescopic rod 250 is above the slide guide rail 210, one-fourth of the length is exactly the central position of the telescopic rod 250 located on one side of the slide guide rail 210. When the requirement for the telescopic length changes such that the central position of the telescopic rod 250 is not above the slide guide rail 210, the connection position between the corresponding diagonal tie rod 231 and the telescopic rod 250 can be adjusted accordingly. The movement of the telescopic units on both sides of the slide guide rail 210 may be synchronized.

[0034] By providing the diagonal tie rod 231, when the second telescopic unit 230 expands and contracts, the diagonal tie rod 231 can tighten both sides of the telescopic rod 250 so that the telescopic rod 250 rotates evenly left and right and the entire telescopic mechanism 200 can expand evenly. Particularly, in the process of transporting the material box, when the fixed plate 300 receives a lateral force due to a collision or the like during the expansion and contraction of the second telescopic unit 230, the diagonal tie rod 231 can ensure that the second telescopic unit 230 expands and contracts in the first direction X without tilting. Therefore, the entire telescopic mechanism 200 does not tilt, and the stability of the telescopic mechanism 200 is effectively improved.

[0035] As shown in FIG. 4, in some embodiments of the present application, the second telescopic unit 230 further includes a linear strut 232 provided between two opposing telescopic frames, and a rotating sleeve 233 that is externally fitted to the linear strut 232 so as to be rotatably connected to the linear strut 232 and is fixedly connected to the end wall of the diagonal tie rod 231.

[0036] Exemplarily, the linear struts 232 are provided along the vertical direction and two are provided. The two linear struts 232 are respectively located on both sides of the slide guide rail 210, and the front end and the base end of the linear strut 232 are fixedly connected to the two telescopic rods 250 respectively. In this embodiment, the connection position between the linear strut 232 and the telescopic rod 250 is at one-fourth of the length of the telescopic rod 250. In other embodiments, the linear strut 232 may be arranged at other positions of the telescopic rod 250.

[0037] The rotating sleeve 233 extends in the vertical direction and is externally fitted to the linear strut 232. The rotating sleeve 233 and the linear strut 232 may be rotatably connected by a bearing or the like, or may be rotatably connected through a locking groove or the like, but the present application is not limited thereto. Two diagonal tie rods 231 may be provided on each rotating sleeve 233 and distributed at intervals in the vertical direction.

[0038] When the second telescopic unit 230 expands and contracts, the diagonal tie rod 231 can simultaneously move the rotating sleeve 233 on both the upper and lower sides. The rotating sleeve 233 moves the linear strut 232, and the linear strut 232 can simultaneously move the telescopic rods 250 of the two telescopic frames, so that the synchronous movement of the plurality of telescopic rods 250 is ensured, and the entire telescopic mechanism 200 can stably expand and contract.

[0039] As shown in FIG. 4, in some embodiments of the present application, the telescopic unit further includes a strut rod 260 provided between two telescopic frames of the telescopic unit. Exemplarily, the axis of the strut rod 260 is parallel to the axis of the connecting rod 240 and is disposed close to the connecting rod 240. One strut rod 260 is correspondingly provided for each connecting rod 240. The strut rod 260 is fixedly connected to the two telescopic rods 250. It should be noted that at least two strut rods 260 may be provided for each connecting rod 240. There may be a certain interval between the strut rod 260 and the connecting rod 240. For example, the number and position of the strut rods 260 can be designed according to the strength that the telescopic unit should satisfy, but the present application is not limited thereto. By providing the strut rod 260, the strength of each telescopic unit is effectively increased, and it becomes easier to pull a material box 810 having a certain weight.

[0040] FIG. 5 is a schematic structural diagram of a pressing assembly of a conveying device in some embodiments of the present application. As shown in FIG. 5, in some embodiments of the present application, the conveying device further includes a pressing assembly 600 that selectively abuts against a fixing plate 300 so as to restrict the telescopic movement of the telescopic mechanism 200 in the contracted state. Exemplarily, when the telescopic mechanism 200 is in the contracted state, the distance between the fixing plate 300 and the mounting plate 100 is the smallest. At this time, the pressing assembly 600 just abuts against the side of the fixing plate 300 away from the mounting plate 100.

[0041] Since the telescopic mechanism 200 is composed of a plurality of telescopic units, there may be a certain movable space even in the contracted state. As a result, the telescopic mechanism 200 sways in the first direction X, and the material box 810 fails to be conveyed to a predetermined position. By providing the pressing assembly 600, after the telescopic mechanism 200 contracts, the pressing assembly 600 abuts against the side surface of the mounting plate 100 of the fixed plate 300 away from it, so as to apply a biasing force along the first direction X towards the mounting plate 100 to the fixed plate 300, enabling the entire telescopic mechanism 200 to contract completely. In this way, the possibility of the telescopic assembly swaying is effectively reduced, and it is also ensured that the material box 810 is conveyed to a predetermined position.

[0042] As shown in FIG. 5, in some embodiments of the present application, the pressing assembly 600 includes a pressing plate 610, a pressing rod 620 rotatably connected to the pressing plate 610, an elastic member 630 provided on the pressing plate 610 and connected to the pressing rod 620 to restrict the rotation of the pressing rod 620, and a pressing portion 640 fixed to the fixed plate 300 and abutting against the end of the pressing rod 620 away from the elastic member 630 after the telescopic mechanism 200 contracts.

[0043] Exemplarily, the pressing plate 610 is provided in a long shape on the side of the bottom plate 800 close to the mounting plate 100. A plurality of support rods 611 may be provided at the bottom of the pressing plate 610 so as to be fixed to the bottom plate 800. On the top wall of the pressing plate 610, a U-shaped frame 650 with an opening facing the fixed plate 300 may be fixed via bolts. A partial structure of the pressing rod 620 protrudes outward and is inserted into the U-shaped frame 650. One fixing rod passing through the partial structure of the pressing rod 620 is drilled in the U-shaped frame 650. The pressing rod 620 is rotatably connected to the fixing rod. This realizes the rotatable connection between the pressing rod 620 and the pressing plate 610. It should be noted that the pressing rod 620 may also realize a rotatable connection by providing a structure such as a rotating rod on the pressing plate 610. For example, it can be designed according to the actual mounting space, but in the present application, it is not limited thereto.

[0044] As shown in FIG. 5, the end of the pressing rod 620 close to the fixing plate 300 protrudes from the pressing plate 610. On the protruding side of the pressing rod 620, a structure such as a sliding inclined surface may be further provided so as to better conform to the fixing plate 300. The pressing portion 640 is fixed to the side surface of the fixing plate 300 so as to engage with the side surface of the pressing rod 620. The pressing portion 640 may include a pressing block 641 and a roller 642 provided on the pressing block 641 and abutting against the side surface of the pressing rod 620. The shape of the pressing rod 620 can be designed according to the mounting space. For example, it may be in a long shape, or it may be a welded structure of a plurality of blocks with different shapes. However, in the present application, the shape of the pressing rod 620 is not limited.

[0045] As shown in FIG. 5, the elastic member 630 is provided on the pressing plate 610, and the U-shaped frame 650 is located between the elastic member 630 and the fixing plate 300. The elastic member 630 may be a tension spring provided in the first direction X, with the first end hooked to a tension plate 660 fixed to the bottom wall of the pressing plate 610 and the second end hooked to the end of the pressing rod 620 away from the fixing plate 300. Note that the elastic member 630 may be a structure having elasticity such as an elastic rod, but in the present application, it is not limited thereto.

[0046] When the drive assembly 500 drives the telescopic mechanism 200 to extend, the fixed plate 300 moves the pressing portion 640 in the first direction X, and the roller 642 of the pressing portion 640 presses one end of the pressing rod 620 so that the pressing rod 620 rotates. When the pressing rod 620 is displaced from the roller 642, the position regulation of the fixed plate 300 by the pressing rod 620 is released. When the telescopic mechanism 200 contracts, the fixed plate 300 returns the pressing block 641 to its original position, and the roller 642 presses the pressing rod 620 so that the pressing rod 620 rotates and returns to its original position. When the pressing rod 620 and the roller 642 reach the position of the dead center of equilibrium, the pressing rod 620 is configured such that one end of the pressing rod 620 presses the roller 642 by the elastic member 630, so that the fixed plate 300 continues to contract the telescopic mechanism 200, ensuring that the telescopic mechanism 200 is completely contracted and avoiding the entire telescopic structure from swinging.

[0047] FIG. 6 is a cross-sectional view of the conveying device in some embodiments of the present application. As shown in FIG. 6, in some embodiments of the present application, the conveying device further includes a push rod 700 provided on the fixed plate 300 and having a length equal to or less than the length of the suction pad 310. Exemplarily, the push rod 700 is fixed to the fixed plate 300 by welding, adhesion, engagement, or the like. The push rod 700 extends in the first direction X, and its end face may be slightly lower than that of the suction pad 310. A plurality of push rods 700 may be provided. The plurality of push rods 700 are distributed at intervals in the circumferential direction around the suction pad 310. A reinforcing structure such as a reinforcing plate may be welded or adhered between two adjacent push rods 700 so as to improve the strength between the adjacent push rods 700. In the embodiments of the present application, four push rods 700 are correspondingly provided for each suction pad 310. Two push rods 700 are provided above the suction pad 310, and two push rods 700 are provided below the suction pad 310. In other embodiments of the present application, six or more push rods 700 may be correspondingly provided for each suction pad 310. For example, it can be designed according to the weight of the material box 810 to be pushed, but the present application is not limited thereto.

[0048] FIG. 7 is a schematic structural diagram of a drive assembly of a conveying device in some embodiments of the present application. As shown in FIGS. 6 and 7, in some embodiments of the present application, the drive assembly 500 includes a plurality of rotating wheels 540, a drive member 510 connected to any one of the plurality of rotating wheels 540 to rotationally drive the rotating wheel 540, a drive chain 520 installed on the plurality of rotating wheels 540, and a connection block 530 provided on the drive chain 520 and connected to the telescopic mechanism 200 to telescopically extend and retract the telescopic mechanism 200 in the first direction.

[0049] Exemplarily, a dedicated mounting base provided with a rotating rod is provided on the bottom plate 800. The rotating wheel 540 is rotatably connected to the rotating rod and is located on the side surface of the slide guide rail 210. The plurality of rotating wheels 540 are distributed at intervals in the first direction X. In the embodiment of the present application, two rotating wheels 540 are provided, but in other embodiments, three or more rotating wheels 540 may be provided. For example, the number of rotating wheels 540 can be designed according to the required tension of the drive chain 520, but the present application is not limited thereto. The drive chain 520 is installed on the rotating wheel 540. It should be noted that the drive chain 520 is not limited to the drive chain 520 listed in the above example and may be replaced with other structures such as a rack and pinion or a threaded rod. For example, it can be considered and designed according to the operating stability and installation space, etc.

[0050] As the drive member 510, a reduction motor can be used. The motor shaft is coaxially and fixedly connected to any one of the rotating wheels 540 through a coupling. In the embodiment of the present application, the drive member 510 is provided close to the mounting plate 100 and is connected to the rotating wheel 540 at the edge portion. The connection block 530 is located below the plurality of telescopic units and is slidably connected above the slide guide rail 210. A link connected to the telescopic unit is provided on the connection block 530.

[0051] When it is necessary to drive the telescopic mechanism 200 to move, the drive member 510 is activated to rotate one rotating wheel 540. The rotating wheel 540 rotates the drive chain 520. Along with the rotation of the drive chain 520, the connection block 530 slides along the slide guide rail 210 to sequentially expand and contract a plurality of telescopic units, thereby realizing the expansion and contraction of the telescopic mechanism 200.

[0052] FIG. 8 is a schematic structural diagram of a support assembly of a conveying device in some embodiments of the present application. As shown in FIG. 8, in some embodiments of the present application, the support assembly 900 includes a support frame 910 provided on the bottom plate 800, and a plurality of support rollers 920 that are rotatably connected to the support frame 910 and are distributed at intervals in the first direction, and the top walls of which are provided to support the bottom wall of the material box 810.

[0053] Exemplarily, the supporting frame 910 may be in the shape of a rectangular parallelepiped, with its top wall open, its interior being hollow, and extending in the first direction. The supporting frame 910 may be composed of channel steel or may be formed by sequentially joining a plurality of steel plates, but in the present application, it is not limited thereto. In order to easily adjust the position of the supporting frame 910 on the bottom plate 800 to fit different material boxes 810, the supporting frame 910 and the bottom plate 800 can be connected by bolts. Inside the supporting frame 910, a plurality of mounting rods extending in the width direction of the supporting frame 910 may be provided. The plurality of mounting rods are distributed at intervals in the first direction. The plurality of mounting rods may have uniform intervals or non-uniform intervals. Each of the supporting rollers 920 is externally fitted onto the mounting rod and is rotatably connected to the mounting rod. And the top of the supporting roller 920 protrudes from the supporting frame 910 so as to easily support the material box 810. In the embodiment of the present application, four supporting rollers 920 are provided, and the four supporting rollers 920 are distributed at uniform intervals. Also, two supporting frames 910 may be provided so as to be respectively located on both sides of the slide guide rail 210. The distance between the two supporting frames 910 is equal to the width of the material box 810 or slightly larger than the width of the material box 810.

[0054] By providing the supporting roller 920 and the supporting frame 910, when the material box 810 is pulled out, it falls onto the supporting roller 920. As the material box 810 is gradually drawn into the depth of the bottom plate 800, the material box 810 rotates the supporting roller 920. Thereby, the frictional force of the material box 810 in the pulling process is reduced, and the burden during the telescoping of the telescoping mechanism 200 is alleviated.

[0055] As shown in FIG. 8, in some embodiments of the present application, the support assembly 900 is provided on the side surface of the support frame 910 and further has a stopper 930 extending in the first direction. Exemplarily, the stopper 930 is fixed to the outer wall of the support frame 910 via a bolt, and its top wall may be higher than the top of the support roller 920. The stopper 930 is in the shape of a rectangular thin plate, and the manufacturing material thereof may be plastic or metal, etc. In order to regulate the position of the material box 810 while reducing the friction between the stopper 930 and the material box 810, structures such as a rotating wheel, a protection pad, or a lubricating film may be provided on the side surface of the stopper 930. The height of the stopper 930 can be designed according to the dimensions of the material box 810, but in the present application, it is not limited thereto.

[0056] FIG. 9 is a schematic cross-sectional structure diagram of the support assembly of the conveying device in some embodiments of the present application. As shown in FIGS. 8 and 9, in some embodiments of the present application, the support assembly 900 is slidably connected to the bottom plate 800, and has a position regulating plate 940 whose top wall is lower than the top of the support roller 920, a jam plate 950 fixed to the position regulating plate 940 and whose top partially overlaps the lower side of the fixing plate 300, a position regulating rod 960 rotatably connected to the bottom plate 800 and located on the side away from the jam plate 950 of the position regulating plate 940, and a lever 970 fixed to the position regulating plate 940 and selectively abutting against the position regulating rod 960 such that a portion of the position regulating rod 960 protrudes from the position regulating plate 940 and the portion of the position regulating rod 960 protruding from the position regulating plate 940 faces the jam plate 950.

[0057] Exemplarily, a chute is fixedly provided on the bottom plate 800, which is located between the slide guide rail 210 and the support frame 910 and extends in the first direction. The position regulating plate 940 is slidably connected to the chute by providing a slider on the bottom plate 800. The position regulating plate 940 is generally elongated, and the blocking plate 950 is provided on the side closer to the mounting plate 100 of the position regulating plate 940, and the two may be integrally formed or fixed by welding, adhesion, or the like. The blocking plate 950 extends upward along the vertical direction, and its top partially overlaps the lower side of the fixed plate 300. A contact block 941 is fixedly connected to the side of the position regulating plate 940 away from the blocking plate 950. The side surface of the contact block 941 is provided to contact the rack for accommodating the material box 810. The lever 970 is fixed to the side surface of the position regulating plate 940 and provided in parallel with the contact block 941. The lever 970 extends downward along the vertical direction and enters the position regulating rod 960. The position regulating plates 940 are respectively located on both sides of the slide guide rail 210 and two are provided so as to be located between the two support frames 910.

[0058] The position regulating rod 960 may be L-shaped, in which the connection portion between the horizontal arm and the vertical arm is rotatably connected to the bottom plate 800 via a hinge. And the position regulating rod 960 is hinge-connected to the side away from the mounting plate 100 of the bottom plate 800. The position regulating rod 960 has a vertical state and a horizontal state. The vertical state is L-shaped, and at this time, the upper part of the vertical arm is higher than the top wall of the position regulating plate 940 and corresponds to the blocking plate 950. The horizontal state is

Number

[0059] When the fixing plate 300 protrudes in the first direction, the fixing plate 300 moves the blocking plate 950, and the blocking plate 950 moves the position regulating plate 940 so that the contact block 941 contacts the material box 810. At the same time, the lever 970 presses the position regulating rod 960 so that the position regulating rod 960 changes from the vertical state to the horizontal state. When the material box 810 gradually enters above the position regulating plate 940, since the height of the position regulating plate 940 is lower than that of the supporting roller 920, the position regulating plate 940 does not directly contact the material box 810. When the material box 810 contacts the blocking plate 950, the blocking plate 950 is pushed to return the position regulating plate 940 to its original position. Then, the position regulating plate 940 returns the lever 970 to its original position. The lever 970 rotates the position regulating rod 960, so that the position regulating rod 960 changes from the horizontal state to the vertical state, the material box 810 is locked above the position regulating plate 940, and the stability of the material box 810 on the supporting roller 920 is improved.

[0060] FIG. 10 is a structural schematic diagram of a position regulating plate and a bottom plate of a conveying device in some embodiments of the present application. As shown in FIG. 10, in some embodiments of the present application, the supporting assembly 900 further has a rolling wheel 971 that is rotatably connected to the lever 970 and selectively contacts the position regulating rod 960. Exemplarily, the rolling wheel 971 is rotatably connected to an end of the lever 970 away from the position regulating plate 940 via a rotating rod, and its diameter is larger than the width of the lever 970. When the position regulating plate 940 moves, the rolling wheel 971 is driven to press one side of the position regulating rod 960 by the linkage of the lever 970. Along with the movement of the position regulating rod 960, the rolling wheel 971 rotates with respect to the position regulating rod 960 and presses and rotates the position regulating rod 960, so that the position regulating rod 960 is switched between the vertical state and the horizontal state, and it is also avoided that the lever 970 and the position regulating rod 960 cannot move due to the close contact of the surfaces.

[0061] As shown in FIG. 10, in some embodiments of the present application, the receiving assembly 900 is provided on the bottom plate 800 and connected to the position regulating plate 940, and further has an elastic position regulating member 980 for regulating the movement of the position regulating plate 940. Exemplarily, a tension spring can be used as the elastic position regulating member 980. A fixing base may be fixed to the bottom plate 800 with bolts. The fixing base and the slider on the bottom wall of the position regulating plate 940 are distributed along the first direction. The tension spring has its first end hooked to the fixing base and its second end hooked to the slider 102 on the bottom wall of the position regulating plate 940. Note that, as the elastic position regulating member 980, a structure having elasticity such as an elastic rod may be used, as long as the sliding of the position regulating plate 940 in the first direction can be regulated, but the present application is not limited thereto.

[0062] When the position regulating plate 940 moves in the first direction X, the tension spring is elastically deformed. When the fixing plate 300 separates from the blocking plate 950, the tension spring can return the position regulating plate 940 to its original position. When the material box 810 is placed on the receiving roller 920, the tension spring can regulate the movement of the position regulating plate 940 and the rotation of the position regulating rod 960, ensuring that the position regulating rod 960 engages with the rear part of the material box 810.

[0063] The present application further provides a transfer robot.

[0064] FIG. 11 is a schematic structural diagram of a transport robot in some embodiments of the present application. As shown in FIG. 11, this transport robot includes a mounting frame 1001 and the transport device described in any one of the above embodiments provided on the mounting frame 1001. Exemplarily, the mounting frame 1001 is driven by a dedicated drive mechanism to move the transport device, so as to correspond the transport device to a material box 810 at an arbitrary position by moving the transport device to transport the material box 810. When using this transport robot to transport the material box 810, since the material box 810 can be taken out of the rack by adsorbing the side surface of the material box 810, it is not necessary to ensure a large interval during the storage of the material box 810, the space in the warehouse is effectively saved, the space utilization rate in the warehouse is greatly improved, and the storage capacity per unit area in the warehouse is effectively improved.

[0065] Since the above transport robot includes the above transport device, the transport robot has all the technical effects of the transport device, the details of which are omitted here.

[0066] In some embodiments of the present application, the transport robot further includes a moving mechanism provided with the mounting frame 1001 and configured to move the mounting frame 1001 to drive the transport device to move to a predetermined position, and a control module communicatively connected to the moving mechanism and the transport device to control the operations of the moving mechanism and the transport device.

[0067] Exemplarily, the moving mechanism can include vertical movement and horizontal movement. The horizontal movement can be divided into forward movement, backward movement, left turn, right turn, etc. so as to rotate and move 360 degrees on a horizontal plane. The vertical movement can be realized by the cooperation of a structure such as a screw rod or a sprocket chain and a driving part. It should be noted that the configuration of the moving mechanism can be designed by comprehensively considering the actual manufacturing cost, the operating location, the loading capacity, etc., as long as the above operations can be realized.

[0068] The control module may include a controller and a plurality of sensors for detecting the position of the moving mechanism, the height of the mounting frame 1001, the extended length of the telescopic mechanism 200, its own weight, etc., respectively. When a sensor detects a corresponding signal, it transmits the signal to the controller, and the controller can determine the state of the transport robot according to the signal. The control module may further include a camera. The camera captures an image and transmits it to the controller. The controller analyzes and processes the image, obtains corresponding information, and generates a corresponding control signal.

[0069] For example, when obtaining the position signal of the moving mechanism, the internal program can calculate the distance from the material box 810 to be transported, and control the moving mechanism to move a certain distance in a predetermined direction. When moving to a predetermined position, the height information of the mounting frame 1001 can be obtained. Thereby, the step difference between the material box 810 and the suction pad 310 is determined, and the moving mechanism is controlled to move the telescopic mechanism 200 up and down in the vertical direction so that the suction pad 310 corresponds to the material box 810. By detecting the length of the telescopic mechanism 200, it can be determined whether the material box 810 has been pulled out from the rack 400. By detecting its own gravity, it can be determined whether the material box 810 is stably arranged on the support assembly 900, etc. Exemplarily, the control command of the control module can be designed according to the actual application location of the transport robot, but in this application, the control logic is not limited.

[0070] As shown in FIG. 11, in some embodiments of the present application, the moving mechanism is a moving carriage 1002, which includes a moving carriage 1002 having a translation mechanism provided therein for driving the moving carriage 1002 to move in a plane, a fixed frame 1003 fixed to the moving carriage 1002 and slidably connected to the mounting frame 1001, and a lifting mechanism provided on the fixed frame 1003 and connected to the mounting frame 1001 for driving the mounting frame 1001 to slide.

[0071] Exemplarily, the mobile cart 1002 is cube-shaped, and the whole of it may be a hexahedron such as a rectangular parallelepiped. Inside the mobile cart 1002, a corresponding translation mechanism is provided. The translation mechanism may include a servo motor, a power source, a speed reducer, a universal wheel, a transmission assembly, and the like. The translation mechanism may move the mobile cart 1002 back and forth on the ground and rotate it in place. The rotation direction may be 360°. Note that the mobile cart 1002 may be cylindrical or other polygonal, and for example, it can be designed according to the actual application scenario.

[0072] The fixed frame 1003 is in a "

Number

[0073] When this transport robot operates, the mobile cart 1002 moves the fixed frame 1003 and the transport device to a position close to the material box 810 by the translation mechanism moving on the plane. The lifting mechanism can lift the mounting frame 1001 relative to the fixed frame 1003 so that the transport device can face the material box 810 and easily fix the material box 810.

[0074] In some embodiments of the present application, the transport robot further includes a plurality of storage plates 1004 provided on the moving mechanism, and a rotation mechanism provided on the mounting frame 1001 for rotationally driving the transport device so as to store the material box 810 on the storage plate 1004.

[0075] Exemplarily, the storage plate 1004 is fixed to the fixed frame 1003. The plurality of storage plates 1004 are distributed at intervals in the vertical direction, and their dimensions can be designed according to the dimensions of the material box 810. For example, the number of storage plates 1004 can be adjusted according to the actual application, but in the present application, it is not limited thereto. In addition, in order to adapt to material boxes 810 of different dimensions, the storage plate 1004 is removably connected to the fixed frame 1003 so as to easily replace storage plates 1004 of different dimensions. The cross section of the storage plate 1004 may be a rectangular plate-like structure, and a protective film such as a lubricating film may be provided on its top wall so as to reduce the friction between the material box 810 and the storage plate 1004. A "U"-shaped position restricting sleeve may be further provided on the top wall of the storage plate 1004 so as to restrict the movement of the material box 810.

[0076] The rotation mechanism can use a motor as a power output structure, and further cooperate with a transmission structure such as a gear to realize the rotation of the transport device, but in the present application, the configuration of the rotation mechanism is not limited.

[0077] When the transport robot transports the material box 810, after the transport device takes out the material box 810 from the rack 400, the rotation mechanism rotationally drives the transport device, so that the transport device faces the storage plate 1004 and pushes the material box 810 into the storage plate 1004 to temporarily store the material box 810 on the storage plate 1004. Thereby, a plurality of material boxes 810 can be simultaneously stored on different storage plates 1004, and the material boxes 810 move along with the movement of the transport robot, and the material boxes 810 can be quickly transferred.

[0078] FIG. 12 is a schematic structural diagram of a transport robot equipped with a dust cover in some embodiments of the present application. As shown in FIG. 12, in some embodiments of the present application, the transport robot further includes a dust cover 1005 externally fitted to the telescopic mechanism 200 of the transport device. Exemplarily, the dust cover 1005 is made of a flexible material such as cloth, is supported by the telescopic mechanism 200 and externally fitted thereto, and is connected to the telescopic rod 250. By providing the dust cover 1005, the gap of the telescopic mechanism 200 can be covered to prevent foreign matters such as dust in the air from accumulating in the telescopic mechanism 200.

[0079] The present application further provides a warehouse storage system.

[0080] FIG. 13 is a schematic structural diagram of a warehouse storage system in some embodiments of the present application. FIG. 14 is an enlarged schematic structural diagram of a partial structure of the warehouse storage system in some embodiments of the present application. As shown in FIGS. 13 and 14, this warehouse storage system includes a warehouse and the transport robot described in any one of the above embodiments provided in the warehouse.

[0081] Exemplarily, a passage area and a storage area may be provided in the warehouse. A plurality of storage areas may be provided, and a plurality of racks 400 may be provided in the storage areas. A plurality of material boxes 810 may be densely arranged in the racks 400. The passage area penetrates through a plurality of storage areas. The transport robot moves in the passage area.

[0082] With this warehouse storage system, the material boxes 810 may be densely arranged in the warehouse during storage. This transport robot can move in the passage area and transport the designated material box 810 by adsorbing the side surface of the material box 810. Thereby, when storing the material boxes 810 in the warehouse, it is not necessary to secure a large space, the area in the warehouse is effectively saved, and the storage capacity per unit area in the warehouse is effectively improved.

[0083] Since the above-described warehouse storage system includes the above-described transfer robot, the warehouse storage system has all the technical effects of the transfer robot, but the details are omitted here.

[0084] FIG. 15 is a schematic structural diagram of a rack of a warehouse storage system according to some embodiments of the present application. As shown in FIGS. 14 and 15, in some embodiments of the present application, this warehouse storage system further includes a rack 400 having a temporary storage layer 420 and a plurality of storage layers 410 in which a plurality of material boxes 810 are densely arranged. The transfer robot is provided to transfer the material boxes 810 on the storage layer 410 into the temporary storage layer 420.

[0085] Exemplarily, the rack 400 may have a frame structure formed by a plurality of vertical bars and a plurality of horizontal bars intersecting vertically and horizontally, and can be divided into a plurality of layers in the vertical direction. Each layer is divided into a plurality of spaces for storing the material boxes 810. The bottom wall of each storage layer 410 of each layer is plate-shaped. The bottom wall of the storage layer 410 may be directly embedded in the horizontal and vertical bars of the rack 400 so as to support the material box 810. In order to partition two material boxes 810 and avoid friction between the material boxes 810, a belt-shaped partition sheet may be provided on the storage layer 410. The size of the space can be designed according to the dimensions of the material box 810. For example, the number and dimensions of the rack 400 can be designed according to the size of the warehouse, but the present application is not limited thereto. The temporary storage layer 420 may be arranged at the lowermost layer of the rack 400 so as to be located below the storage layer 410. A belt conveyor mechanism, a movable transfer mechanism, etc. may be provided inside it. When the transfer device arranges the material box 810 in the temporary storage layer 420, this material box 810 can be automatically transferred to a predetermined position. In addition, the temporary storage layer 420 may be used alone as a reserve layer without providing a transfer device so as to arrange the material box 810 to be used in the layer, but the present application is not limited to the function of the temporary storage layer 420.

[0086] FIG. 16 is a structural schematic diagram of a telescopic mechanism of a warehouse storage system in some embodiments of the present application with a long telescopic length. FIG. 17 is a structural schematic diagram of a telescopic mechanism of a warehouse storage system in some embodiments of the present application with a short telescopic length. As shown in FIGS. 16 and 17, in some embodiments of the present application, the transport robot in the warehouse storage system can be divided into multiple types according to the maximum length that the telescopic mechanism 200 can extend so as to transport the material boxes 810 at different depths in the rack 400. For example, the transport robot can be divided into two types: one type is provided to transport and push the material box 810 at the back of the rack 400 with a long extension length of the telescopic mechanism 200, and the other type is provided to transport and push the material box 810 in front of the rack 400 with a short extension length. In order to meet various requirements of users and greatly improve the transport speed of the material boxes 810 in the warehouse storage system, these two types of transport robots may operate simultaneously.

[0087] In some embodiments of the present application, the warehouse storage system further includes a backend system communicatively connected to the rack 400 and the transport robot so as to generate corresponding control commands according to the positions of the material boxes 810 in the rack 400 and the position of the transport robot. Exemplarily, the backend system has a central control module and a plurality of monitoring units arranged in the warehouse. The monitoring units may be cameras and sensors. The camera is provided to monitor the position of the transport robot in the warehouse and the transport status of the material box 810. The sensor may be provided to identify the position of the rack 400, and together with the transport robot, the relative distance between the transport robot and the rack 400 can be obtained. Each material box 810 may be further provided with a Radio Frequency Identification (RFID) tag, and the central control module can remotely monitor the position of the material box 810 in the warehouse. The central control module may be further provided with a corresponding operation module. The operator can input various commands through the operation module and control the operation of the transport robot so as to accurately transport the specified material box 810. In addition, in order to adapt to different types of warehouses, the backend system may be further provided with other modules such as a temperature detection and adjustment module and an air quality adjustment module. However, in the present application, the functions of the backend system are not limited.

[0088] When the conveying device of the present application conveys the material box, by moving the bottom plate, the mounting plate is arranged at a position close to the material box. The telescopic mechanism is driven to extend by the driving assembly so that the suction pad approaches the material box. When the suction pad is in close contact with the material box, the side surface of the material box is adsorbed by the suction pad, and further, the telescopic mechanism is driven to contract by the driving assembly, so as to pull out the material box and place the material box on the supporting assembly. In addition, the material box is moved by the movement of the bottom plate to convey the material box to a predetermined position. In this way, through the cooperation of the driving assembly, the telescopic mechanism and the suction pad, the side surface of the material box can be adsorbed, so that the material box can be conveyed. Therefore, it is not necessary to secure a gap for clamping the material box when arranging the material box, and it is only necessary that there is a certain interval between adjacent material boxes. As a result, the storage density of the material boxes in the warehouse is increased, the storage capacity per unit area is improved, and the utilization rate of the warehouse space is effectively improved.

[0089] In the present application, when using this conveying robot to convey the material box, since the material box can be conveyed by adsorbing the side surface of the material box, it is not necessary to secure a large interval when storing the material box, the space in the warehouse is effectively saved, the space utilization rate in the warehouse is greatly improved, and the storage capacity per unit area in the warehouse is effectively improved.

[0090] In the present application, according to this warehouse storage system, the material boxes can be densely arranged in the warehouse during storage, and the conveying robot can convey the material boxes through the side surfaces of the material boxes. Therefore, it is not necessary to secure a large space when storing the material boxes in the warehouse, the area in the warehouse is effectively saved, and the storage capacity per unit area in the warehouse is effectively improved.

Claims

1. A bottom plate (800), a mounting plate (100) provided on the bottom plate (800), a telescopic mechanism (200) provided on the mounting plate (100) so as to be telescopic in a first direction (X), a fixing plate (300) provided on a side of the telescopic mechanism (200) away from the mounting plate (100), a suction pad (310) provided on the fixing plate (300) for sucking a material box (810), a drive assembly (500) provided on the bottom plate (800) and connected to the telescopic mechanism (200) for driving the telescopic mechanism (200) to expand and contract, a supporting assembly (900) provided on the bottom plate (800) for supporting the material box (810) sucked by the suction pad (310), A conveying device.

2. The telescopic mechanism (200) includes a slide guide rail (210) extending in the first direction (X), and a plurality of telescopic units. All of the plurality of telescopic units are slidably connected to the slide guide rail (210), and two adjacent telescopic units are hinged to each other. The plurality of telescopic units are divided into a plurality of first telescopic units (220) and two second telescopic units (230). The plurality of first telescopic units (220) are located between the two second telescopic units (230). One of the second telescopic units (230) is movably connected to the mounting plate (100), and the other second telescopic unit (230) is movably connected to the fixing plate (300). The conveying device according to Claim 1.

3. Each telescopic unit includes two telescopic frames provided opposite to each other, the two telescopic frames each having a first side portion (2201) and a second side portion (2202) arranged in a crossed manner, and a connecting rod (240) provided on the first side portion (2201) of the telescopic frame and hinged to the second side portion (2202) of the adjacent telescopic frame. It has. The conveying device according to Claim 2.

4. The first side portion (2201) and the second side portion (2203) each have a telescopic rod (250), and the telescopic frame has two telescopic rods (250) arranged in a crossed manner and rotatably connected. Each of the telescopic rods (250) is provided with the connecting rod (240) at one end, and the other end is hinged to the connecting rod (240) of the adjacent telescopic unit. Moreover, the two connecting rods (240) at both ends of the telescopic rod (250) are respectively located on both sides of the slide guide rail (210). The conveying device according to claim 3.

5. The second telescopic unit (230) further includes a diagonal tie rod (231) having one end hinged to the fixing plate (300) or the mounting plate (100) and the other end hinged to the telescopic frame. The conveying device according to claim 3.

6. The second telescopic unit (230) further includes a linear strut (232) provided between the two opposing telescopic frames, and a rotating sleeve (233) externally fitted to the linear strut (232) so as to be rotatably connected to the linear strut (232) and fixedly connected to the end wall of the diagonal tie rod (231). It has The conveying device according to claim 5.

7. The telescopic unit further includes a strut rod (260) provided between the two telescopic frames. The conveying device according to claim 5 or 6.

8. A pressing assembly (600) that selectively abuts against the fixing plate (300) to restrict the expansion and contraction of the expansion and contraction mechanism (200) in the contracted state, and a push rod (700) provided on the fixing plate (300) and having a length less than or equal to the length of the suction pad (310). It further includes at least one of them. The conveying device according to any one of claims 1 to 7.

9. The pressing assembly (600) includes a pressing plate (610), a pressing rod (620) rotatably connected to the pressing plate (610), an elastic member (630) provided on the pressing plate (610) and connected to the pressing rod (620) to restrict the rotation of the pressing rod (620), and a pressing portion (640) fixed to the fixing plate (300) and abutting against the end of the pressing rod (620) away from the elastic member (630) after the contraction of the expansion and contraction mechanism (200). It has The conveying device according to claim 8.

10. The drive assembly (500) includes a plurality of rotating wheels (540). A drive member (510) connected to any one of the plurality of rotating wheels (540) and configured to rotationally drive the rotating wheel (540); A drive chain (520) installed on the plurality of rotating wheels (540); A connection block (530) provided on the drive chain (520) and connected to the telescopic mechanism (200) for telescoping the telescopic mechanism (200) in the first direction; having The conveying device according to claim 1.

11. The receiving assembly (900) includes A receiving frame (910) provided on the bottom plate (800); A plurality of receiving rollers (920) rotatably connected to the receiving frame (910), distributed at intervals in the first direction, and having a top wall configured to support the bottom wall of the material box (810); having The conveying device according to any one of claims 1 to 6.

12. The receiving assembly (900) further includes A position regulating plate (940) slidably connected to the bottom plate (800) and having a top wall lower than the top of the receiving roller (920); An interfering plate (950) fixed to the position regulating plate (940) and partially overlapping the fixing plate (300); A position regulating rod (960) rotatably connected to the bottom plate (800) and located on a side away from the interfering plate (950) of the position regulating plate (940); A lever (970) fixed to the position regulating plate (940) and selectively contacting the position regulating rod (960) such that a portion of the position regulating rod (960) protrudes from the position regulating plate (940) and the protruding portion of the position regulating rod (960) from the position regulating plate (940) faces the interfering plate (950); having The conveying device according to claim 11.

13. The receiving assembly (900) further includes An elastic position regulating member (980) provided on the bottom plate (800) and connected to the position regulating plate (940) for regulating the movement of the position regulating plate (940); A rolling wheel (971) rotatably connected to the lever (970) and selectively contacting the position regulating rod (960); A stopper (930) provided on a side surface of the receiving frame (910) and extending in the first direction; having at least one of The conveying device according to claim 12.

14. A mounting frame (1001); The conveying device according to any one of claims 1 to 13 provided on the mounting frame (1001), and, A conveying robot.

15. A moving mechanism in which the mounting frame (1001) is arranged and which is provided to drive the mounting frame (1001) to move the conveying device to a predetermined position, A control module that is communicatively connected to the moving mechanism and the conveying device and controls the operations of the moving mechanism and the conveying device, Further comprising, The conveying robot according to claim 14.

16. The moving mechanism further includes, A moving carriage (1002) having a translation mechanism provided to drive the moving carriage (1002) to move in a plane, A fixed frame (1003) fixed to the moving carriage (1002) to which the mounting frame (1001) is slidably connected, A lifting mechanism provided on the fixed frame (1003) and connected to the mounting frame (1001) to slide-drive the mounting frame (1001), Having, The conveying robot according to claim 15.

17. A plurality of storage plates (1004) provided on the moving mechanism, A rotation mechanism provided on the mounting frame (1001) to rotationally drive the conveying device so as to store the material box (810) in the storage plate (1004), A dust cover (1005) externally fitted to the telescopic mechanism (200) of the conveying device, Further comprising at least one of, The conveying robot according to claim 14.

18. A warehouse, The conveying robot according to any one of claims 14 to 17 provided in the warehouse, and, Comprising, A warehouse storage system.

19. Further comprising a rack (400) having a temporary storage layer (420) and a plurality of storage layers (410) in which a plurality of material boxes (810) are densely arranged, The conveying robot is provided to convey the material box (810) in the storage layer (410) into the temporary storage layer (420), The warehouse storage system according to claim 18.

20. Further comprising a backend system communicatively connected to the rack (400) and the conveying robot so as to generate corresponding control commands according to the positions of the material boxes (810) in the rack (400) and the position of the conveying robot, The warehouse storage system according to claim 19.

Images