Material-box handling mechanism and material-box handling robot comprising same

Abstract

Disclosed in the present application are a material-box handling mechanism and a material-box handling robot comprising same. The material-box handling mechanism comprises a mechanism shell, a telescopic arm assembly and a docking storage position assembly, wherein an opening is provided in one end of the mechanism shell in a first direction; the telescopic arm assembly comprises telescopic arms and a first driving device for driving the telescopic arms to extend and retract through the opening relative to the mechanism shell; and the docking storage position assembly comprises a docking storage position and a second driving device for driving the docking storage position to extend and retract through the opening relative to the mechanism shell, the two driving devices being configured to electrically connect to a control unit of the material-box handling robot. That is, in the present embodiment, on the basis that material boxes are transferred by using the telescopic arms, the docking storage position is configured to be capable of extending and retracting relative to the mechanism shell, so that by means of adjusting the extension and retraction lengths of the docking storage position relative to the mechanism shell, on the one hand, the docking storage position can dock with docking mechanisms of different structures, and on the other hand, the docking storage position can also adapt to material boxes of different sizes, thereby reducing the risk of the material box being stuck in a gap between the docking storage position and the docking mechanism.

Description

Material box transport mechanism and material box transport robot having the same

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 1, 2023, with application number 202322944479.1 and invention name “Material box handling mechanism and material box handling robot having the same”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of logistics equipment, and in particular to a material box handling mechanism adaptable to various docking working conditions and a material box handling robot having the same. Background Art

[0003] In the field of logistics equipment, the application of box handling robots is becoming more and more extensive.

[0004] Specifically, a lifting gantry is usually provided on the walking chassis of the material box handling robot. A multi-layer robot storage position is provided on one side of the lifting gantry along the height direction, and a material box handling mechanism is provided on the other side of the lifting gantry. The material box handling mechanism can be raised and lowered along the lifting gantry. Therefore, the material box handling robot can complete the transfer of the material box by docking with equipment such as shelves or conveyor lines through the material box handling mechanism.

[0005] However, during the transfer process of the above-mentioned material boxes, along the docking direction between the material box handling mechanism and the shelves or conveyor lines and other equipment, considering that the lengths of the material boxes may be different, and the structures of different shelves, conveyor lines and other equipment are different, the material boxes often get stuck in the gap between the material box handling mechanism and the shelves or conveyor lines. Therefore, there is an urgent need for a material box handling mechanism that can adapt to various docking conditions.

[0006] Summary of the Invention

[0007] In response to at least one aspect of the above-mentioned technical problems, an embodiment of the present application provides a material box handling mechanism and a material box handling robot having the same. The material box handling mechanism is configured with a telescopic arm assembly and a docking storage assembly that are telescopically arranged relative to its mechanism housing, and the telescopic arm can transfer the material box between the docking storage position and the docking mechanism, so that the docking storage position can adapt to a variety of docking conditions, thereby solving the technical problem of material boxes getting stuck that often occurs when the existing material box handling mechanism transfers material boxes of different sizes or docks with different docking mechanisms.

[0008] In a first aspect, an embodiment of the present application provides a container transport mechanism, the container transport mechanism comprising a mechanism housing, and a telescopic arm assembly and a docking storage assembly respectively mounted on the mechanism housing;

[0009] The mechanism housing is used to be installed on the material box handling robot, and one end of the mechanism housing along the first horizontal direction is open;

[0010] The telescopic arm assembly includes a telescopic arm extending along the first direction and a first driving device in transmission connection with the telescopic arm, wherein the first driving device is used to drive the telescopic arm to telescope relative to the mechanism housing from the opening along the first direction;

[0011] The docking storage assembly includes a docking storage extending along the first direction and a second driving device transmission-connected to the docking storage, wherein the second driving device is used to drive the docking storage to telescopically move relative to the mechanism housing from the opening along the first direction;

[0012] The first driving device and the second driving device are respectively electrically connected to a control unit of the container handling robot, so that the telescopic movement of the telescopic arm and the docking storage position relative to the mechanism housing along the first direction is respectively controlled by the control unit;

[0013] Furthermore, when the telescopic arm and the docking storage position respectively telescope relative to the mechanism housing, the telescopic arm is configured to transfer the material box between the docking storage position and the docking mechanism docked with the docking storage position.

[0014] In one embodiment, preferably, the mechanism housing includes a housing bottom plate and housing side plates provided on both sides of the housing bottom plate relative to the first direction;

[0015] The telescopic arm is arranged parallel to the side plate of the housing, and the telescopic arm and the side plate of the housing are slidably connected via a first linear guide rail;

[0016] The docking storage position is arranged parallel to the shell bottom plate, and the docking storage position and the shell bottom plate are slidably connected via a second linear guide rail.

[0017] In one embodiment, preferably, the first driving device includes a first motor, and the first motor is connected to the telescopic arm via a first transmission assembly;

[0018] Wherein, the first transmission assembly includes a first transmission belt extending along the first direction, the first motor is in transmission connection with the first transmission belt, and the first motor is used to drive the first transmission belt to move along the first direction;

[0019] Furthermore, the telescopic arm is fixedly mounted on the first transmission belt via an adapter plate, so that the first motor drives the telescopic arm to telescopically move along the first direction via the first transmission belt.

[0020] In one embodiment, preferably, the first transmission belt is closed, and transmission wheels are respectively provided at both ends of the first transmission belt along the first direction, the axial direction of the transmission wheel is a horizontal direction perpendicular to the first direction, and the first motor is connected to any one of the transmission wheels so that the first motor drives the first transmission belt to move along the first direction through the transmission wheel.

[0021] In some embodiments of the present application, the container handling mechanism includes two sets of the telescopic arms and the first transmission assembly;

[0022] The two groups of the first transmission components are connected via a transmission shaft passing through the driven wheel.

[0023] In one embodiment, preferably, the telescopic arms are respectively provided on both sides of the mechanism housing relative to the first direction, so that a transfer channel for transferring the material box is formed between a pair of the telescopic arms;

[0024] Along the first direction, a fixed baffle is fixedly installed between the inner ends of the pair of telescopic arms relative to the mechanism housing;

[0025] The telescopic arm is provided with a movable baffle at the outer end thereof opposite to the mechanism housing, the movable baffle being transmission-connected to a third driving device, and the third driving device being electrically connected to the control unit;

[0026] In which, the third driving device is used to drive the movable baffle to move between a first position locking the rotating channel and a second position unlocking the transfer channel, so that when the telescopic arm moves telescopically relative to the mechanism housing, the material box is transferred between the docking storage position and the docking mechanism.

[0027] In one embodiment, preferably, the third driving device includes a third motor fixedly mounted on the telescopic arm, a third motor shaft of the third motor is arranged along the first direction, the movable baffle is fixedly mounted on the end of the third motor shaft, and the movable baffle is arranged perpendicular to the third motor shaft, so that the third motor shaft drives the movable baffle to rotate in a plane perpendicular to the first direction;

[0028] The first position includes a position where the movable baffle rotates to extend in a horizontal direction, and the second position includes a position where the movable baffle rotates to extend in a vertical direction.

[0029] In one embodiment, preferably, the telescopic arm includes a primary telescopic arm and a secondary telescopic arm respectively extending along the first direction, and the primary telescopic arm and the secondary telescopic arm are slidably installed along the first direction;

[0030] Wherein, the first telescopic arm is in transmission connection with the first driving device, and the second telescopic arm is located on the inner side of the first telescopic arm;

[0031] Wherein, pulleys are respectively provided at both ends of the first telescopic arm along the first direction, the rotating shafts of the pulleys are arranged along the vertical direction, and a pair of the pulleys are connected by a multi-speed belt transmission arranged in an annular closed manner, and the multi-speed belt includes an inner ring portion and an outer ring portion of the belt respectively located on the inner and outer sides of the first telescopic arm, the inner ring portion of the belt is fixedly connected to the secondary telescopic arm through a first fixed position on the side facing the secondary telescopic arm, and the outer ring portion of the belt is fixedly connected to the mechanism housing through a second fixed position on the side facing the mechanism housing;

[0032] Furthermore, when the telescopic arm retracts relative to the mechanism housing, the first fixed position is located at the end of the inner ring of the belt away from the opening, and the second fixed position is located at the end of the outer ring of the belt close to the opening, so that the first driving device simultaneously drives the first-level telescopic arm to telescopically move relative to the mechanism housing, and drives the second-level telescopic arm to telescopically move relative to the first-level telescopic arm.

[0033] In one embodiment, preferably, the primary telescopic arm and the secondary telescopic arm are slidably connected via a third linear guide rail.

[0034] In one embodiment, preferably, the second driving device includes a second motor, and the second motor is connected to the docking storage position via a second transmission assembly;

[0035] Among them, the second transmission assembly includes a transmission rack extending along the first direction, the transmission rack is fixedly installed on the docking storage position, and the second motor shaft of the second motor is engaged with the transmission rack through a transmission gear, so that the second motor drives the docking storage position to telescopically move along the first direction.

[0036] In one embodiment, preferably, the second motor is fixedly mounted on the mechanism housing via a motor mounting base;

[0037] Among them, the second motor shaft is arranged in the vertical direction, the transmission gear is fixedly installed on the end of the second motor shaft, the horizontal side of the transmission rack is provided with a rack structure meshing with the transmission gear, and the other horizontal side of the transmission rack is a plane structure; and the motor mounting seat is installed with a rack guide wheel, the rotating shaft of the rack guide wheel is arranged in the vertical direction, and the circumferential surface of the rack guide wheel abuts against the plane structure.

[0038] In one embodiment, preferably, the docking storage location includes a storage location bottom plate and a storage location conveying device provided on the surface of the storage location bottom plate;

[0039] The storage conveying device includes a plurality of rollers arranged in parallel, wherein the roller axes of the rollers extend along a second direction, and the second direction is a horizontal direction perpendicular to the first direction;

[0040] Among them, the adjacent rollers are connected by a second transmission belt, at least one of the rollers is a power roller, and the power roller is electrically connected to the control unit so that the rotation of the rollers relative to the mechanism housing is controlled by the control unit, and the rollers are used to adjust the position of the material box relative to the storage bottom plate.

[0041] In one embodiment, preferably, a transition roller is provided at the outer end portion of the storage bottom plate along the first direction, and the roller shaft of the transition roller is arranged along the second direction;

[0042] A material box baffle is provided at the inner end portion of the storage bottom plate along the first direction. The material box baffle extends along the vertical direction. A first buffer is provided on a side of the material box baffle facing the opening.

[0043] In one embodiment, preferably, the mechanism housing includes a housing bottom plate, the lower end surface of the housing bottom plate is rotatably mounted to a first mounting member via a swivel assembly, the first mounting member is used to be fixedly mounted to a second mounting member of the container handling robot, and the second mounting member is vertically movably mounted to a lifting mast of the container handling robot;

[0044] The rotary assembly is electrically connected to the control unit, and is used to drive the shell bottom plate to rotate circumferentially relative to the first mounting member with the vertical direction as the rotation axis.

[0045] In a second aspect, an embodiment of the present application provides a container handling robot, the container handling robot comprising:

[0046] A chassis unit, wherein the chassis unit is provided with running wheels and driven wheels, and the running wheels and the driven wheels are used for the chassis unit to travel;

[0047] a control unit, mounted on the chassis unit;

[0048] A lifting gantry is fixedly mounted on the chassis unit, with multiple layers of robot storage positions provided on one side of the lifting gantry along the height direction, and a material box handling mechanism that can be raised and lowered is provided on the other side of the lifting gantry;

[0049] The material box handling mechanism includes a mechanism housing and a telescopic arm assembly and a docking storage assembly respectively mounted on the mechanism housing;

[0050] The mechanism housing is escalably mounted on the lifting mast, and one end of the mechanism housing along a first horizontal direction is open;

[0051] The telescopic arm assembly includes a telescopic arm extending along the first direction and a first driving device in transmission connection with the telescopic arm, wherein the first driving device is used to drive the telescopic arm to telescope relative to the mechanism housing from the opening along the first direction;

[0052] The docking storage assembly includes a docking storage extending along the first direction and a second driving device transmission-connected to the docking storage, wherein the second driving device is used to drive the docking storage to telescopically move relative to the mechanism housing from the opening along the first direction;

[0053] Wherein, the first driving device and the second driving device are respectively electrically connected to the control unit, so that the telescopic movement of the telescopic arm and the docking storage position relative to the mechanism housing along the first direction is respectively controlled by the control unit;

[0054] Furthermore, when the telescopic arm and the docking storage position respectively telescope relative to the mechanism housing, the telescopic arm is configured to transfer the material box between the docking storage position and the docking mechanism docked with the docking storage position.

[0055] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0056] An embodiment of the present application provides a material box handling mechanism and a material box handling robot, the material box handling mechanism includes a mechanism housing and a telescopic arm assembly and a docking storage assembly respectively installed on the mechanism housing; wherein, the mechanism housing is open at one end along the first direction, the telescopic arm assembly includes a telescopic arm and a first driving device that drives the telescopic arm to extend and retract from the opening relative to the mechanism housing, and the docking storage assembly includes a docking storage and a second driving device that drives the docking storage to extend and retract from the opening relative to the mechanism housing; and the two driving devices are used to be electrically connected to the control unit of the material box handling robot respectively, so that the extension and retraction of the telescopic arm and the docking storage relative to the mechanism housing can be respectively controlled by the control unit of the material box handling robot; and, when the telescopic arm and the docking storage are respectively extended and retracted relative to the mechanism housing, the telescopic arm can also transfer the material box between the docking storage and the docking mechanism (such as a shelf, a flow rack, a conveyor belt, etc.) docked with the docking storage.

[0057] It can be understood that this embodiment, based on the use of telescopic arms to realize the transfer of material boxes, further sets the docking storage position relative to the mechanism shell to be telescopic. In this way, by adjusting the telescopic length of the docking storage position relative to the mechanism shell, it can, on the one hand, complete docking with docking mechanisms of different structures (such as shelves, flow racks and conveyor belts, etc.), and on the other hand, it can also adapt to material boxes of different sizes, reducing the risk of the material box being stuck in the gap between the docking storage position and the docking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0059] FIG1 is a schematic structural diagram of the material box handling mechanism installed on a material box handling robot in an embodiment of the present application.

[0060] FIG2 is a schematic structural diagram of the material box transport mechanism described in an embodiment of the present application.

[0061] FIG3 is a schematic structural diagram of the material box transport mechanism and the docking mechanism before docking in the embodiment of the present application.

[0062] FIG4 is a schematic structural diagram of the material box transport mechanism and the docking mechanism when docking in the embodiment of the present application.

[0063] FIG5 is a schematic structural diagram of the material box transport mechanism and the docking mechanism after docking in the embodiment of the present application.

[0064] FIG6 is a schematic structural diagram of the telescopic arm in an embodiment of the present application.

[0065] FIG7 is a schematic structural diagram of the docking storage position described in an embodiment of the present application.

[0066] FIG. 8 is an exploded view of the docking station in FIG. 7 .

[0067] FIG9 is a schematic structural diagram of the docking storage position in FIG7 when it is extended.

[0068] FIG10 is a schematic structural diagram of the docking storage position in FIG7 installed on the bottom plate of the shell.

[0069] FIG11 is a schematic structural diagram of FIG10 from another angle, that is, FIG11 shows a possible structure of the transmission connection between the docking storage position and the second motor.

[0070] FIG12 is a partial enlarged view of the second driving device in the embodiment of the present application.

[0071] FIG13 is a structural diagram of the material box transporting mechanism from another perspective in an embodiment of the present application.

[0072] FIG14 is a bottom view of the material box transporting mechanism described in the embodiment of the present application.

[0073] FIG15 is a schematic diagram of the transmission structure of the double-speed belt described in an embodiment of the present application.

[0074] FIG16 is a schematic structural diagram of the rotary assembly in an embodiment of the present application.

[0075] FIG17 is an exploded view of the rotary assembly and the housing bottom plate in FIG16 .

[0076] Wherein, the reference numerals:

[0077] 100-chassis unit, 200-lifting gantry, 300-robot storage, 400-box handling mechanism, 101-travel wheel, 102-rotation assembly, 201-second mounting part,

[0078] 10-mechanism housing, 11-housing bottom plate, 12-housing side plate, 13-motor mounting seat, 14-rack guide wheel, 15-rotating motor, 16-first mounting part, 161-first connecting part, 17-camera assembly, 18-docking storage baffle, 19-drag chain structure, 20-telescopic arm, 21-first telescopic arm, 22-second telescopic arm, 23-fixed baffle, 24-movable baffle, 25-pulley, 26-speed belt, 27-transfer channel,

[0079] 261-belt inner ring part, 262-belt outer ring part, 263-first fixed position, 264-second fixed position,

[0080] 30- docking storage, 31- storage bottom plate, 32- roller, 33- second transmission belt, 34- transition roller, 35 material box baffle, 36- first buffer, 37- second buffer,

[0081] 41-first motor, 42-first transmission belt, 43-adapter plate, 44-transmission wheel, 45-transmission shaft, 46-fixed shaft,

[0082] 51-second motor, 52-transmission rack, 53-transmission gear,

[0083] 61- third motor,

[0084] 71-first linear guide rail, 72-second linear guide rail, 73-third linear guide rail,

[0085] X-first direction, Y-second direction. DETAILED DESCRIPTION

[0086] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0087] Figure 1 is a structural schematic diagram of the material box handling mechanism described in an embodiment of the present application installed on a material box handling robot, and Figure 2 is a structural schematic diagram of the material box handling mechanism described in an embodiment of the present application. Please combine Figure 1 and Figure 2, a material box handling mechanism 400, the material box handling mechanism 400 includes a mechanism housing 10 and a telescopic arm assembly and a docking storage assembly respectively installed on the mechanism housing 10; the mechanism housing 10 is used to be installed on the material box handling robot, and the mechanism housing 10 is open at one end along the horizontal first direction X; the telescopic arm assembly includes a telescopic arm 20 extending along the first direction X and a first driving device transmission-connected to the telescopic arm 20, along the first direction X, the first driving device is used to drive the telescopic arm 20 to telescope from the opening relative to the mechanism housing 10; the docking storage assembly includes a docking storage 30 extending along the first direction X and a second driving device transmission-connected to the docking storage 30, along the first direction X, the second driving device is used to drive the docking storage 30 to telescope from the opening relative to the mechanism housing 10.

[0088] Among them, the first drive device and the second drive device are used to be electrically connected to the control unit of the material box handling robot respectively, so that the telescopic movement of the telescopic arm 20 and the docking storage position 30 relative to the mechanism housing 10 along the first direction X is respectively controlled by the control unit; and when the telescopic arm 20 and the docking storage position 30 respectively telescopically move relative to the mechanism housing 10, the telescopic arm 20 is configured to transfer the material box between the docking storage position 30 and the docking mechanism docked with the docking storage position 30.

[0089] In general, the material box handling mechanism 400 of this embodiment is used to be installed on a material box handling robot. The structure of the material box handling robot can be seen in Figure 1. The material box handling robot includes a chassis unit 100. The chassis unit 100 is provided with walking wheels 101 and driven wheels. The walking wheels 101 and the driven wheels are used for the chassis unit 100 to move. A control unit (not shown in Figure 1) is provided inside the chassis unit 100. A lifting gantry 200 extending in the height direction is fixedly installed on the surface of the chassis unit 100. A multi-layer robot storage position 300 is provided on one side of the lifting gantry 200 in the height direction. A material box handling mechanism 400 is provided on the other side of the lifting gantry 200 in a liftable manner.

[0090] When the material box handling robot walks to the docking mechanism (the docking mechanism can be, for example, a shelf, a flow rack, a conveyor line, etc.), the material box handling robot docks with the docking mechanism through the material box handling mechanism 400, that is, specifically, it docks with the docking mechanism through the docking storage position 30 of the material box handling mechanism 400, so that the telescopic arm 20 then transfers the material box between the docking storage position 30 and the docking mechanism.

[0091] Specifically, the material box transport mechanism 400 of this embodiment includes a mechanism housing 10 and a telescopic arm assembly and a docking storage assembly respectively installed on the mechanism housing 10.

[0092] Specifically, the container handling mechanism 400 can be mounted on a container handling robot via the mechanism housing 10. For example, as shown in FIG1 , the mechanism housing 10 can be escalably mounted on the lift gantry 200 of the container handling robot. The mechanism housing 10 is provided with an opening at one end along a first horizontal direction X. It will be appreciated that, when the container handling mechanism 400 is docked with the docking mechanism or the robot storage location 300, the opening can be used to transfer the container.

[0093] As shown in Figures 3 to 5, Figure 3 is a structural schematic diagram of the material box handling mechanism and the docking mechanism described in the embodiment of the present application before docking, Figure 4 is a structural schematic diagram of the material box handling mechanism and the docking mechanism described in the embodiment of the present application when docking, and Figure 5 is a structural schematic diagram of the material box handling mechanism and the docking mechanism described in the embodiment of the present application after docking.

[0094] Among them, the telescopic arm assembly includes a telescopic arm 20 and a first driving device, the telescopic arm 20 extends along the first direction X, and the first driving device is used to drive the telescopic arm 20 to telescope from the opening relative to the mechanism housing 10; similarly, the docking storage position assembly includes a docking storage position 30 and a second driving device, the docking storage position 30 extends along the first direction X, and the second driving device is used to drive the docking storage position 30 to telescope from the opening relative to the mechanism housing 10.

[0095] It can be seen that in this embodiment, the telescopic movement of the telescopic arm 20 and the docking storage position 30 relative to the mechanism housing 10 is performed separately by different driving devices, or in other words, the telescopic movement is performed independently.

[0096] Thus, it can be understood that, on the one hand, when the material box transporting mechanism 400 needs to dock with a docking mechanism of a different structure, the extension amount of the docking storage position 30 can be adjusted according to actual conditions to minimize the gap between the docking storage position 30 and the docking mechanism, thereby preventing the material box from getting stuck; on the other hand, when the material box transporting mechanism 400 is docking with the docking mechanism, it can adjust the extension amount of the docking storage position 30 according to the size of the material box, thereby minimizing the gap between the docking storage position 30 and the docking mechanism, thereby eliminating the risk of smaller-sized material boxes getting stuck in the gap.

[0097] Furthermore, during installation, the first and second drive devices can be electrically connected to the control unit of the container handling robot, for example, via a wired connection via a cable or via a wireless communication module provided within each. Thus, the telescopic movement of the telescopic arm 20 and the docking station 30 relative to the mechanism housing 10 in the first direction can be controlled by the control unit. Furthermore, it will be understood that when the telescopic arm 20 and the docking station 30 are extended or retracted relative to the mechanism housing 10, the telescopic arm 20 transfers the container between the docking station 30 and the docking mechanism docked with the docking station 30.

[0098] An embodiment of the present application provides a material box handling mechanism 400 and a material box handling robot, the material box handling mechanism 400 includes a mechanism housing 10 and a telescopic arm assembly and a docking storage assembly respectively installed on the mechanism housing 10; wherein, the mechanism housing 10 is open at one end along the first direction X, the telescopic arm assembly includes a telescopic arm 20 and a first driving device that drives the telescopic arm 20 to extend and retract from the opening relative to the mechanism housing 10, and the docking storage assembly includes a docking storage 30 and a second driving device that drives the docking storage 30 to extend and retract from the opening relative to the mechanism housing 10; and the two driving devices are used to be electrically connected to the control unit of the material box handling robot respectively, so that the extension and retraction of the telescopic arm 20 and the docking storage 30 relative to the mechanism housing 10 can be respectively controlled by the control unit of the material box handling robot; and when the telescopic arm 20 and the docking storage 30 are respectively extended and retracted relative to the mechanism housing 10, the telescopic arm 20 can also transfer the material box between the docking storage 30 and the docking mechanism (such as a shelf, a flow rack, a conveyor belt, etc.) docked with the docking storage 30.

[0099] It can be understood that this embodiment, based on the use of the telescopic arm 20 to realize the transfer of the material box, further sets the docking storage position 30 to be telescopic relative to the mechanism shell 10. In this way, by adjusting the telescopic length of the docking storage position 30 relative to the mechanism shell 10, it can, on the one hand, complete docking with docking mechanisms of different structures (such as shelves, flow racks and conveyor belts, etc.), and on the other hand, it can also adapt to material boxes of different sizes, reducing the risk of the material box being stuck in the gap between the docking storage position 30 and the docking mechanism.

[0100] In one possible embodiment, the mechanism housing 10 includes a housing bottom plate 11 and housing side plates 12 arranged on both sides of the housing bottom plate 11 relative to the first direction X; wherein, the telescopic arm 20 is arranged parallel to the housing side plate 12, and the telescopic arm 20 and the housing side plate 12 are slidingly connected via a first linear guide rail 71; the docking storage position 30 is arranged parallel to the housing bottom plate 11, and the docking storage position 30 and the housing bottom plate 11 are slidingly connected via a second linear guide rail 72.

[0101] That is, in conjunction with Figures 6 to 9, Figure 6 is a schematic structural diagram of the telescopic arm described in the embodiment of the present application, Figure 7 is a schematic structural diagram of the docking storage position described in the embodiment of the present application, Figure 8 is an exploded view of the docking storage position in Figure 7, and Figure 9 is a schematic structural diagram of the docking storage position in Figure 7 when extended. The mechanism housing 10 may specifically include a housing bottom plate 11 and a housing side plate 12, wherein the housing side plate 12, for example, surrounds the housing bottom plate 11 on three sides, and the remaining side forms an opening; then, the telescopic arm 20 may be specifically slidably mounted on the housing side plate 12 via a first linear guide rail 71, and the docking storage position 30 may be specifically slidably mounted on the housing bottom plate 11 via a second linear guide rail 72. The two linear guide rails may guide and support the telescopic movement of the telescopic arm 20 and the docking storage position 30, respectively.

[0102] Regarding the first driving device, in one possible embodiment, the first driving device includes a first motor 41, and the first motor 41 is connected to the telescopic arm 20 through a first transmission assembly; wherein the first transmission assembly includes a first transmission belt 42 extending along the first direction X, and the first motor 41 is connected to the first transmission belt 42, and the first motor 41 is used to drive the first transmission belt 42 to move along the first direction X; and the telescopic arm 20 is fixedly mounted on the first transmission belt 42 through an adapter plate 43, so that the first motor 41 drives the telescopic arm 20 to telescopically move along the first direction X through the first transmission belt 42.

[0103] That is, in conjunction with Figure 6, the telescopic arm 20 can be driven by a motor, for example, and the first driving device includes a first motor 41, wherein the first motor 41 is connected to the first transmission belt 42 for transmission, and the first transmission belt 42 is arranged along the first direction X, and the first motor 41 can drive the first transmission belt 42 to move along the first direction X, and the telescopic arm 20 is then fixedly mounted on the first transmission belt 42 through the adapter plate 43. In this way, the first motor 41 can realize the telescopic movement of the telescopic arm 20 by driving the first transmission belt 42 to move along the first direction X.

[0104] In one specific embodiment, the first transmission belt 42 is closed, and transmission wheels 44 are respectively provided at both ends of the first transmission belt 42 along the first direction X. The axial direction of the transmission wheel 44 is a horizontal direction perpendicular to the first direction X. The first motor 41 is connected to any transmission wheel 44 for transmission, so that the first motor 41 drives the first transmission belt 42 to move along the first direction X through the transmission wheel 44.

[0105] 6 , the first transmission belt 42 is arranged in a ring-shaped closed shape, and the first transmission belt 42 is respectively connected to the transmission wheels 44 at both ends along the first direction X. Then, the first motor 41 is, for example, arranged next to the first transmission belt 42, and the first motor shaft of the first motor 41 is arranged along the first direction X. The first motor 41 has an angle reducer (not shown in the figure) that causes the transmission direction of the first motor shaft to be reversed, so that the first motor 41 is connected to any one of the two transmission wheels 44. Therefore, the first motor 41 drives the first transmission belt 42 through the transmission wheel 44 to drive the telescopic arm 20 to telescopic movement.

[0106] Of course, when the shell side panels 12 on both sides are provided with telescopic arms 20, the transmission wheels 44 on both sides can be connected through the transmission shaft 45, so that the telescopic arms 20 on both sides can be driven to telescope simultaneously by providing a first motor 41.

[0107] As shown in Figure 6, when telescopic arms 20 are provided on both housing side panels 12, two transmission wheels 44 are provided on each side for driving a first transmission belt 42. A first motor 41 is fixedly mounted to the housing side panel 12, thereby securing the transmission wheel 44 in transmission connection with the first motor 41 relative to the housing side panel 12. The other three transmission wheels 44, excluding the transmission wheel 44 in transmission connection with the first motor 41, are rotatably mounted to the housing side panel 12 via fixed shafts 46.

[0108] 6 , the adapter plate 43 can be fixed to the upper half of the first transmission belt 42 , and then the top of the adapter plate 43 is fixedly connected to the telescopic arm 20 , so that the first transmission belt 42 can drive the telescopic arm 20 to telescopically move when rotating in the forward and reverse directions.

[0109] Regarding the transfer of the material box between the docking storage 30 and the docking mechanism by the telescopic arms 20, as shown in FIG6 , in one possible embodiment, a telescopic arm 20 is provided on either side of the mechanism housing 10 relative to a first direction X, so that a transfer passage 27 for transferring the material box is formed between the pair of telescopic arms 20. Along the first direction X, a fixed baffle 23 is fixedly mounted between the inner ends of the pair of telescopic arms 20 relative to the mechanism housing 10. A movable baffle 24 is provided at the outer ends of the telescopic arms 20 relative to the mechanism housing 10. The movable baffle 24 is transmission-connected to a third drive device, which is electrically connected to a control unit. The third drive device is configured to drive the movable baffle 24 to move between a first position locking the rotation passage and a second position unlocking the transfer passage 27, so that when the telescopic arms 20 are telescopically moved relative to the mechanism housing 10, the material box is transferred between the docking storage 30 and the docking mechanism. The first position includes the movable baffle 24 rotating to a position extending horizontally, and the second position includes the movable baffle 24 rotating to a position extending vertically.

[0110] That is, in this embodiment, a fixed baffle 23 and a movable baffle 24 can be respectively provided at both ends of the telescopic arm 20 along the first direction, and the transfer of the material box can be achieved through the cooperation of the two baffles.

[0111] Specifically, telescopic arms 20 are provided on both sides of the mechanism housing 10 , and the telescopic arms 20 on both sides are respectively provided on the housing side panels 12 on both sides. In this way, a transfer channel 27 for material box transfer can be formed between a pair of telescopic arms 20 .

[0112] Among them, the inner ends of a pair of telescopic arms 20 are fixedly connected by a fixed baffle 23, and then a movable baffle 24 can be set at the outer end of the telescopic arm 20. The movable baffle 24 is driven by a third drive device and moves between the first position and the second position. It can be understood that the transfer of the material box can be realized in this way.

[0113] For example, when a material box needs to be transferred from the docking mechanism to the docking storage position 30, the movable baffle 24 is first in the second position to unlock the transfer passage 27. Then, the telescopic arm 20 is extended and its end exceeds the material box. The third driving device then drives the movable baffle 24 to move to the first position to lock the transfer passage 27. Then, the telescopic arm 20 is retracted. During the retraction process, the movable baffle 24 at the outer end of the telescopic arm pushes the material box from the docking mechanism to the docking storage position 30, completing the transfer.

[0114] When the material box needs to be transferred from the docking storage position 30 to the docking mechanism, the movable baffle 24 is first in the second position of unlocking the transfer channel 27, and then the telescopic arm 20 is extended. During the extension process, the fixed baffle 23 at the inner end of the telescopic arm 20 will push the material box from the docking storage position 30 to the docking mechanism to complete the transfer.

[0115] It can be seen that along the first direction X, the fixed baffles 23 and the movable baffles 24 at both ends of the telescopic arm of this embodiment can push the material box in opposite directions when the telescopic arm is extended and retracted, thereby completing the transfer of the material box.

[0116] As for the third driving device driving the movable baffle 24 to move between the first position and the second position, in a specific embodiment, the third driving device includes a third motor 61 fixedly mounted on the telescopic arm 20, and the third motor shaft of the third motor 61 is arranged along the first direction X, and the end of the third motor shaft is fixedly mounted with the movable baffle 24, and the movable baffle 24 is arranged perpendicular to the third motor shaft so that the third motor shaft drives the movable baffle 24 to rotate in a plane perpendicular to the first direction X; wherein, the first position includes the movable baffle 24 rotating to a position extending in the horizontal direction, and the second position includes the movable baffle 24 rotating to a position extending in the vertical direction.

[0117] In this embodiment, referring to Figure 6, the third driving device is, for example, a third motor 61, which can be fixedly mounted on the telescopic arm 20, and a third motor shaft of the third motor 61 extends along the first direction, and a movable baffle 24 is vertically mounted on the end of the third motor shaft; it can be understood that the third motor shaft can drive the movable baffle 24 to rotate in a plane perpendicular to the first direction X by rotating, thereby locking the transfer channel 27 and unlocking the transfer channel 27 respectively.

[0118] For example, the first position of locking the rotating channel is that the movable baffle 24 is set in the horizontal direction, and the second position of unlocking the transfer channel 27 is that the movable baffle 24 is set in the vertical direction. In this way, the third motor 61 can lock the transfer channel 27 and unlock the transfer channel 27 respectively by driving the movable baffle 24 to rotate between the two positions.

[0119] Regarding the telescopic arm 20, one possible embodiment is shown in conjunction with Figures 6 and 15, which is a schematic diagram of the transmission structure of the double-speed belt described in the embodiment of the present application. Figure 15 shows the connection relationship between the double-speed belt 26 when the first telescopic arm 21 and the second telescopic arm 22 are in a retracted state relative to the housing side wall 12. The telescopic arm 20 includes a primary telescopic arm 21 and a secondary telescopic arm 22 extending respectively along the first direction X, and the primary telescopic arm 21 and the secondary telescopic arm 22 are slidably installed along the first direction X; wherein, the primary telescopic arm 21 is transmission-connected to the first driving device, and the secondary telescopic arm 22 is located on the relatively inner side of the primary telescopic arm 21; wherein, the primary telescopic arm 21 is provided with pulleys 25 at both ends along the first direction X, and the rotating shaft of the pulley 25 is arranged along the vertical direction, and a pair of pulleys 25 are transmission-connected by a ring-shaped closed speed belt 26, and the speed belt 26 includes a belt inner ring portion 261 and a belt outer ring portion 262 respectively located on the inner and outer sides of the primary telescopic arm 21, the belt inner ring portion 261 is fixedly connected to the secondary telescopic arm 22 through a first fixed position 263 on the side facing the secondary telescopic arm 22, and the belt outer ring portion 262 is fixedly connected to the mechanism housing 10 through a second fixed position 264 on the side facing the mechanism housing 10.

[0120] Moreover, when the telescopic arm 20 retracts relative to the mechanism housing 10, the first fixed position 263 is located at the end of the inner ring portion 261 of the belt away from the opening, and the second fixed position 264 is located at the end of the outer ring portion 262 of the belt close to the opening, so that the first driving device simultaneously drives the first-level telescopic arm 21 to telescopically move relative to the mechanism housing 10, and drives the second-level telescopic arm 22 to telescopically move relative to the first-level telescopic arm 21.

[0121] Considering that the extension length of the telescopic arm 20 is usually longer than that of the docking storage position 30, the telescopic arm is configured as a two-stage structure in this embodiment, namely a primary telescopic arm 21 and a secondary telescopic arm 22 slidably installed along the first direction X.

[0122] Among them, the first-level telescopic arm 21 can be specifically connected to the first driving device in a transmission manner. Combined with the above description, the first-level telescopic arm 21 is specifically fixedly installed with the adapter plate 43; then, the second-level telescopic arm 22 can be located on the inner side of the first-level telescopic arm 21, so that the above-mentioned fixed baffle 23 and movable baffle 24 can be specifically installed at both ends of the second-level telescopic arm 22 along the first direction X.

[0123] Furthermore, in order to enable the first drive device to simultaneously drive the first telescopic arm 21 and the second telescopic arm 22 (that is, the first telescopic arm 21 telescopically moves relative to the mechanism housing while the second telescopic arm 22 also telescopically moves relative to the first telescopic arm 21), a double-speed belt 26 can be set between the two telescopic arms.

[0124] Specifically, refer to Figure 15. The dotted box in Figure 15 represents the speed belt 26. The arrow on the dotted box represents the rotation direction of the speed belt 26 when the first drive device drives the first-level telescopic arm 21. The dotted arrow represents the extension direction of the first-level telescopic arm 21 and the second-level telescopic arm 22. The solid arrow represents the force applied by the first drive device to the first-level telescopic arm 21.

[0125] 6 , pulleys 25 are respectively provided at both ends of the first telescopic arm 21 along the first direction, the rotating shaft of the pulley 25 is provided in the vertical direction, and the pair of pulleys 25 at both ends are connected by a double-speed belt 26; wherein, referring to FIG15 , the double-speed belt 26 includes an inner ring portion 261 of the belt located inside the first telescopic arm 21 and an outer ring portion 262 of the belt located outside the first telescopic arm 21, the inner ring portion 261 of the belt is fixedly connected to the second telescopic arm 22 inside the first telescopic arm 21, and the outer ring portion 262 of the belt is fixedly connected to the shell side plate 12 outside the first telescopic arm 21; and, when the telescopic arm 2 15 , the end of the inner ring portion 261 of the belt away from the opening of the mechanism housing 10 is fixedly connected to the secondary telescopic arm 22 via the first fixed position 263, and the end of the outer ring portion 262 of the belt close to the opening of the mechanism housing 10 is fixedly connected to the housing side plate 12 via the second fixed position 264. It can be understood that in this way, when the first driving device drives the primary telescopic arm 21 to extend, the secondary telescopic arm 22 will simultaneously extend relative to the primary telescopic arm 21. Then, when the first driving device drives the primary telescopic arm 21 to retract from the extended state, the secondary telescopic arm 22 will simultaneously retract relative to the primary telescopic arm 21.

[0126] It can be seen that this embodiment utilizes a double-speed belt 26 that is rotatable relative to the first-stage telescopic arm 21. By fixing the inner and outer sides of the double-speed belt 26 to the second-stage telescopic arm 22 and the mechanism shell 10 (specifically the shell side plate 12), the simultaneous extension and retraction of the two-stage telescopic arms can be achieved. Moreover, relative to the telescopic stroke of the first-stage telescopic arm 21, the second-stage telescopic arm 22 is specifically a double-stroke telescopic movement.

[0127] As shown in FIG6 , the first telescopic arm 21 and the second telescopic arm 22 can be slidably connected via a third linear guide rail 73 , and the third linear guide rail 73 can provide guidance and support for the relative sliding of the two telescopic arms.

[0128] Regarding the second drive device, as shown in Figures 11 to 13, Figure 11 is a structural schematic diagram of Figure 10 from another angle, Figure 12 is a partially enlarged view of the second drive device in the embodiment of the present application, and Figure 13 is a structural schematic diagram of the material box handling mechanism from another angle in the embodiment of the present application. In one possible embodiment, similar to the first drive device, the second drive device includes a second motor 51, and the second motor 51 is connected to the docking storage position 30 through a second transmission assembly; wherein the second transmission assembly includes a transmission rack 52 extending along the first direction X, the transmission rack 52 is fixedly installed on the docking storage position 30, and the second motor shaft of the second motor 51 is meshed with the transmission rack 52 through a transmission gear 53, so that the second motor 51 drives the docking storage position 30 to telescopically move along the first direction X.

[0129] That is, referring to Figure 11, a transmission rack 52 extending along the first direction can be installed on the docking storage position 30, and then the second motor shaft of the second motor 51 is engaged with the transmission rack 52 through the transmission gear 53, so that the second motor 51 can drive the docking storage position 30 to telescopically move along the first direction X.

[0130] Among them, the docking storage position 30, for example, includes a storage position bottom plate 31, which is arranged parallel to the shell bottom plate 11, and the transmission rack 52 can be specifically installed on the lower surface of the storage position bottom plate 31; in addition, the above-mentioned second linear guide rail 72 can also be arranged between the storage position bottom plate 31 and the shell bottom plate 11.

[0131] In a specific embodiment, the second motor 51 is fixedly mounted on the mechanism housing 10 through the motor mounting base 13; wherein, the shaft of the second motor 51 is arranged in the vertical direction, and a transmission gear 53 is fixedly mounted on the end of the second motor shaft, and a horizontal side of the transmission rack 52 is provided with a rack structure meshing with the transmission gear 53, and the other horizontal side of the transmission rack 52 is a planar structure; and, the motor mounting base 13 is installed with a rack guide wheel 14, the rotating shaft of the rack guide wheel 14 is arranged in the vertical direction, and the circumferential surface of the rack guide wheel 14 abuts against the planar structure of the transmission rack 52.

[0132] That is, in order to ensure the stability of power transmission between the transmission rack 52 and the transmission gear 53, this embodiment is further provided with a rack guide wheel 14.

[0133] First, please refer to Figure 11. A motor mounting base 13 can be set on the shell bottom plate 11 of the mechanism shell 10, and the second motor 51 is specifically fixed to the motor mounting base 13; wherein, the second motor shaft of the second motor 51 can be set in the vertical direction, for example, and then, the bottom end of the second motor shaft is fixedly mounted with a transmission gear 53; a rack structure is provided on the horizontal side of the transmission rack 52, and the rack structure is meshed with the transmission gear 53. In this way, the second motor 51 can drive the transmission rack 52 to telescopically move along the first direction X through the rotation of the second motor shaft, that is, drive the docking storage position 30 to telescopically move along the first direction X.

[0134] In addition, the other horizontal side of the transmission rack 52 is a planar structure. At the same time, a rack guide wheel 14 is also installed on the motor mounting seat 13. The rotating axis of the rack guide wheel 14 is arranged in the vertical direction, and the circumferential surface of the rack guide wheel 14 abuts against the planar structure of the transmission rack 52. In this way, the stability of power transmission can be guaranteed through the guidance and support of the rack guide wheel 14.

[0135] Furthermore, a docking storage baffle 18 can be fixedly installed at the end of the shell bottom plate 11 away from the opening, and the docking storage baffle 18 extends in the vertical direction, for example, so that the docking storage baffle 18 can limit the telescopic movement of the storage bottom plate 31 (or the docking storage position 30); a drag chain structure 19 can be set between the shell bottom plate 11 and the storage position bottom plate 31, and the drag chain structure 19 can be used for the wiring harness between the mechanism shell 10 and the docking storage position 30 to pass through.

[0136] Regarding the docking storage 30, as shown in Figures 7 and 10, Figure 10 is a schematic diagram of the structure of the docking storage in Figure 7 installed on the bottom plate of the shell. In one possible embodiment, the docking storage 30 includes a storage bottom plate 31 and a storage conveying device provided on the surface of the storage bottom plate 31; the storage conveying device includes a plurality of rollers 32 arranged in parallel, the roller axes of the rollers 32 extending along the second direction Y, and the second direction Y is a horizontal direction perpendicular to the first direction X; wherein, adjacent rollers 32 are connected by a second transmission belt 33, at least one of the plurality of rollers 32 is a powered roller, and the powered roller is electrically connected to the control unit so that the rotation of the plurality of rollers 32 relative to the mechanism shell 10 is controlled by the control unit, and the plurality of rollers 32 are used to adjust the position of the material box relative to the storage bottom plate 31.

[0137] In this embodiment, the docking storage 30 may specifically include a storage bottom plate 31 and a storage conveying device. It can be understood that the storage conveying device is used to adjust the position of the material box relative to the storage bottom plate 31, or the storage conveying device can facilitate the transportation of the material box.

[0138] Specifically, the storage conveying device of this embodiment can be implemented, for example, by a plurality of rollers 32 arranged in parallel along a first direction X, wherein the roller axes of the rollers 32 are arranged along a second direction Y perpendicular to the first direction X. Adjacent rollers 32 are then connected by a second transmission belt 33, which can be, for example, specifically provided at the ends of the rollers 32. At least one of the plurality of roller axes should be a powered roller, electrically connected to the control unit of the bin handling robot. This powered roller can simultaneously drive the remaining rollers 32 to rotate in the same direction, facilitating the transfer of bins or adjusting the front-to-back position of a bin on the storage floor 31. For example, the powered rollers can be provided with roller drive motors. When the powered rollers need to be driven, the control unit sends a command to the roller drive motors, which, upon receiving the command, drive the powered rollers to rotate, causing the powered rollers to drive the remaining rollers 32 to adjust the bin position.

[0139] In a specific embodiment, as shown in Figures 7 and 10, a transition roller 34 is provided at the outer end of the storage bottom plate 31 along the first direction X, and the roller axis of the transition roller 34 is arranged along the second direction Y; a material box baffle 35 is provided at the inner end of the storage bottom plate 31 along the first direction X, and the material box baffle 35 extends in the vertical direction, and a first buffer 36 is provided on the side of the material box baffle 35 facing the opening; of course, in this embodiment, a second buffer 37 can also be provided at the outer end of the storage bottom plate 31, and the two buffers can respectively realize buffering of the material box transfer process and the docking process.

[0140] When the material box starts to move, there is a gap between the docking mechanism and the docking storage position 30. When the material box passes through the gap, the gap may cause the material box to get stuck.

[0141] In this embodiment, transition rollers 34 are positioned in front of rollers 32 and are not connected to them. When the container begins to move, transition rollers 34 are positioned in the gap between the docking mechanism and the docking reservoir 30. This allows the container to transition through the gap, preventing it from getting stuck. Transition rollers 34 provide a transitional mechanism during container transfer, preventing the container from getting stuck due to the gap between the docking mechanism and the docking reservoir 30. The position of transition rollers 34 can be adjusted as needed.

[0142] In addition, as shown in Figures 14, 16 and 17, Figure 14 is a bottom view of the material box handling mechanism described in the embodiment of the present application, Figure 16 is a structural schematic diagram of the rotary assembly described in the embodiment of the present application, and Figure 17 is an exploded view of the rotary assembly and the shell bottom plate in Figure 16. Figure 14 is a bottom view of the material box handling mechanism, wherein a camera assembly 17 can also be installed in the middle position of the outer end of the shell bottom plate 11. The camera assembly 17 can recognize the three-dimensional relative position of the material box handling mechanism 400 when docking with a machine, shelf, flow rack and conveyor line in various working conditions, and provide displacement deviation and angle deviation to the control unit of the material box handling robot. At the same time, the camera assembly 17 can read the information code on the material box to be operated to complete the information recognition work.

[0143] In one possible embodiment, as shown in Figures 1, 2 and 14, the mechanism housing 10 includes a housing base plate 11, and the lower end surface of the housing base plate 11 is rotatably mounted with the first mounting member 16 through a rotating assembly 102. The first mounting member 16 is used to be fixedly mounted with the second mounting member 201 of the material box handling robot, and the second mounting member 201 is vertically liftable and installed on the lifting gantry 200 of the material box handling robot; wherein the rotating assembly 102 is electrically connected to the control unit, and the rotating assembly 102 is used to drive the housing base plate 11 to rotate circumferentially relative to the first mounting member 16 with the vertical direction as the axis of rotation.

[0144] That is, the shell bottom plate 11 can be rotatably installed with the first mounting member 16 through the rotating assembly 102, and then the first mounting member 16 is fixedly installed with the second mounting member 201 that is lifted and lowered on the lifting gantry 200 through the first connecting member 161. Of course, the first mounting member 16 can also be directly installed on the lifting gantry 200 in a liftable manner. Thus, while being liftable, the material box handling mechanism 400 can also rotate 360° in the horizontal plane, which is convenient for multi-angle docking; wherein the rotating assembly 102 mentioned above may, for example, include a rotating motor 15 and a worm gear connected to the rotating motor 15, and the rotating motor is electrically connected to the control unit of the material box handling robot.

[0145] It can be seen that the first direction X and the second direction Y mentioned above are the coordinate systems of the container transport mechanism 400 itself, and the container transport mechanism 400 can achieve 360° rotation relative to the vehicle coordinate system of the container transport robot.

[0146] Based on the above-mentioned material box handling mechanism 400, as shown in Figure 1, the present application also discloses a material box handling robot, which includes a chassis unit 100, a control unit, a lifting gantry 200 and a material box handling mechanism 400, wherein the material box handling mechanism 400 is the above-mentioned material box handling mechanism 400.

[0147] That is, the material box handling mechanism 400 includes a mechanism housing 10 and a telescopic arm assembly and a docking storage assembly respectively installed on the mechanism housing; the mechanism housing 10 is installed on the lifting door frame 200 in a liftable manner, and the mechanism housing 10 is opened at one end along the horizontal first direction; the telescopic arm assembly includes a telescopic arm 20 extending along the first direction X and a first driving device connected to the telescopic arm 20 in a transmission manner, and along the first direction X, the first driving device is used to drive the telescopic arm 20 to telescope from the opening relative to the mechanism housing 10; the docking storage assembly includes a docking storage 30 extending along the first direction and a second driving device connected to the docking storage 30 in a transmission manner, and along the first direction X, the second driving device is used to drive the docking storage 30 to telescope from the opening relative to the mechanism housing 10.

[0148] Among them, the first drive device and the second drive device are respectively electrically connected to the control unit, so that the telescopic movement of the telescopic arm 20 and the docking storage position 30 relative to the mechanism housing 10 along the first direction is respectively controlled by the control unit; and when the telescopic arm 20 and the docking storage position 30 respectively telescopically move relative to the mechanism housing 10, the telescopic arm 20 is configured to transfer the material box between the docking storage position 30 and the docking mechanism docked with the docking storage position 30.

[0149] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0150] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0151] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0152] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0153] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be within the scope of protection of the present invention.

[0154] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A material box handling mechanism, characterized in that: The material box handling mechanism comprises a mechanism housing and a telescopic arm assembly and a docking storage assembly respectively mounted on the mechanism housing; The mechanism housing is used to be installed on the material box handling robot, and one end of the mechanism housing along a first horizontal direction is open; The telescopic arm assembly comprises a telescopic arm extending along the first direction and a first driving device transmission-connected to the telescopic arm, wherein the first driving device is used to drive the telescopic arm to telescope relative to the mechanism housing from the opening along the first direction; The docking storage assembly comprises a docking storage extending along the first direction and a second driving device connected to the docking storage in a transmission manner, wherein the second driving device is used to drive the docking storage to move telescopically from the opening relative to the mechanism housing along the first direction; The first driving device and the second driving device are respectively electrically connected to the control unit of the material box handling robot, so that the telescopic movement of the telescopic arm and the docking storage position relative to the mechanism housing along the first direction is respectively controlled by the control unit; Furthermore, when the telescopic arm and the docking storage position respectively telescope relative to the mechanism housing, the telescopic arm is configured to transfer the material box between the docking storage position and the docking mechanism docked with the docking storage position.

2. The material box transport mechanism according to claim 1, characterized in that: The mechanism housing comprises a housing bottom plate and housing side plates arranged on both sides of the housing bottom plate relative to the first direction; Wherein, the telescopic arm is arranged in parallel with the side plate of the shell, and the telescopic arm and the side plate of the shell are slidably connected via a first linear guide rail; The docking storage position is arranged in parallel with the shell bottom plate, and the docking storage position and the shell bottom plate are slidably connected via a second linear guide rail.

3. The material box transport mechanism according to claim 1, characterized in that: The first driving device comprises a first motor, and the first motor is transmission-connected to the telescopic arm via a first transmission assembly; Wherein, the first transmission assembly includes a first transmission belt extending along the first direction, the first motor is drivingly connected to the first transmission belt, and the first motor is used to drive the first transmission belt to move along the first direction; Furthermore, the telescopic arm is fixedly mounted on the first transmission belt via an adapter plate, so that the first motor drives the telescopic arm to telescopically move along the first direction via the first transmission belt.

4. The material box transport mechanism according to claim 3, characterized in that: The first transmission belt is arranged in a closed manner, and transmission wheels are respectively provided at both ends of the first transmission belt along the first direction. The axial direction of the transmission wheel is a horizontal direction perpendicular to the first direction, and the first motor is connected to any of the transmission wheels so that the first motor drives the first transmission belt to move along the first direction through the transmission wheel.

5. The material box transport mechanism according to claim 4, characterized in that: The material box handling mechanism includes two sets of telescopic arms and the first transmission assembly; The two groups of the first transmission components are connected via a transmission shaft passing through the driven wheel.

6. The material box transport mechanism according to claim 1, characterized in that: The telescopic arms are respectively provided on both sides of the mechanism housing relative to the first direction, so that a transfer channel for transferring the material box is formed between a pair of the telescopic arms; Along the first direction, a fixed baffle is fixedly installed between the inner ends of a pair of telescopic arms relative to the mechanism housing; The telescopic arm is provided with a movable baffle at the outer end portion relative to the mechanism housing, the movable baffle is transmission-connected to a third driving device, and the third driving device is used to be electrically connected to the control unit; The third driving device is used to drive the movable baffle to move between a first position for locking the rotating channel and a second position for unlocking the transfer channel, so that when the telescopic arm moves relative to the mechanism housing, the material box is moved between the docking storage position and the docking storage position. Transfer between institutions.

7. The material box transport mechanism according to claim 6, characterized in that: The third driving device comprises a third motor fixedly mounted on the telescopic arm, a third motor shaft of the third motor is arranged along the first direction, the movable baffle is fixedly mounted on the end of the third motor shaft, and the movable baffle is arranged perpendicularly to the third motor shaft, so that the third motor shaft drives the movable baffle to rotate in a plane perpendicular to the first direction; The first position includes a position where the movable baffle rotates to extend in a horizontal direction, and the second position includes a position where the movable baffle rotates to extend in a vertical direction.

8. The material box handling mechanism according to any one of claims 1 to 7, characterized in that: The telescopic arm comprises a primary telescopic arm and a secondary telescopic arm respectively extending along the first direction, and the primary telescopic arm and the secondary telescopic arm are slidably installed along the first direction; Wherein, the first telescopic arm is transmission-connected to the first driving device, and the second telescopic arm is located on the relatively inner side of the first telescopic arm; Wherein, pulleys are respectively provided at both ends of the first telescopic arm along the first direction, the rotating shafts of the pulleys are arranged along the vertical direction, a pair of the pulleys are connected by a multiple-speed belt transmission arranged in an annular closed manner, the multiple-speed belt comprises an inner ring portion and an outer ring portion of the belt respectively located at the inner and outer sides of the first telescopic arm, the inner ring portion of the belt is fixedly connected to the secondary telescopic arm through a first fixed position on the side facing the secondary telescopic arm, and the outer ring portion of the belt is fixedly connected to the mechanism housing through a second fixed position on the side facing the mechanism housing; Furthermore, when the telescopic arm retracts relative to the mechanism housing, the first fixed position is located at an end of the inner ring portion of the belt away from the opening, and the second fixed position is located at an end of the outer ring portion of the belt close to the opening, so that the first driving device simultaneously drives the first-level telescopic arm to telescopically move relative to the mechanism housing, and drives the second-level telescopic arm to telescopically move relative to the first-level telescopic arm.

9. The material box transport mechanism according to claim 8, characterized in that: The primary telescopic arm and the secondary telescopic arm are slidably connected via a third linear guide rail.

10. The material box transport mechanism according to claim 1, characterized in that: The second driving device includes a second motor, and the second motor is connected to the docking storage position through a second transmission assembly; Among them, the second transmission assembly includes a transmission rack extending along the first direction, the transmission rack is fixedly installed on the docking storage position, and the second motor shaft of the second motor is meshed and connected with the transmission rack through a transmission gear, so that the second motor drives the docking storage position to telescopically move along the first direction.

11. The material box transport mechanism according to claim 10, characterized in that: The second motor is fixedly mounted on the mechanism housing via a motor mounting seat; Among them, the second motor shaft is arranged in the vertical direction, the transmission gear is fixedly installed on the end of the second motor shaft, the horizontal side of the transmission rack is provided with a rack structure meshing with the transmission gear, and the other horizontal side of the transmission rack is a plane structure; and, the motor mounting seat is installed with a rack guide wheel, the rotating shaft of the rack guide wheel is arranged in the vertical direction, and the circumferential surface of the rack guide wheel abuts against the plane structure.

12. The material box transport mechanism according to claim 1, characterized in that: The docking storage position includes a storage position bottom plate and a storage position conveying device arranged on the surface of the storage position bottom plate; The storage conveying device comprises a plurality of rollers arranged in parallel, wherein the roller axes of the rollers extend along a second direction, and the second direction is a horizontal direction perpendicular to the first direction; Wherein, the adjacent rollers are connected by a second transmission belt, and at least one of the plurality of rollers is a power roller. The drum is electrically connected to the control unit so that the rotation of the plurality of rollers relative to the mechanism housing is controlled by the control unit, and the plurality of rollers are used to adjust the position of the material box relative to the storage bottom plate.

13. The material box transport mechanism according to claim 12, characterized in that: The outer end of the storage bottom plate along the first direction is provided with a transition roller, and the roller shaft of the transition roller is arranged along the second direction; A material box baffle is provided at the inner end of the storage bottom plate along the first direction. The material box baffle extends along the vertical direction. A first buffer is provided on a side of the material box baffle facing the opening.

14. The material box transport mechanism according to claim 1, characterized in that: The mechanism housing comprises a housing bottom plate, the lower end surface of which is rotatably mounted with a first mounting member via a swivel assembly, the first mounting member being used for fixed mounting with a second mounting member of the material box handling robot, and the second mounting member being escalably mounted on a lifting gantry of the material box handling robot in a vertical direction; The rotating assembly is electrically connected to the control unit, and is used to drive the shell bottom plate to rotate circumferentially relative to the first mounting member with the vertical direction as the rotation axis.

15. A material box handling robot, characterized in that: The material box handling robot comprises: A chassis unit, wherein the chassis unit is provided with running wheels and driven wheels, and the running wheels and the driven wheels are used for the chassis unit to travel; a control unit, mounted on the chassis unit; A lifting gantry is fixedly mounted on the chassis unit, one side of the lifting gantry is provided with multiple layers of robot storage positions in the height direction, and the other side of the lifting gantry is provided with a material box handling mechanism that can be raised and lowered; Wherein, the material box handling mechanism comprises a mechanism housing and a telescopic arm assembly and a docking storage assembly respectively mounted on the mechanism housing; The mechanism housing is escalably mounted on the lifting mast, and one end of the mechanism housing along a first horizontal direction is open; The telescopic arm assembly comprises a telescopic arm extending along the first direction and a first driving device transmission-connected to the telescopic arm, wherein the first driving device is used to drive the telescopic arm to telescope relative to the mechanism housing from the opening along the first direction; The docking storage assembly comprises a docking storage extending along the first direction and a second driving device connected to the docking storage in a transmission manner, wherein the second driving device is used to drive the docking storage to move telescopically from the opening relative to the mechanism housing along the first direction; Wherein, the first driving device and the second driving device are respectively electrically connected to the control unit, so that the telescopic movement of the telescopic arm and the docking storage position relative to the mechanism housing along the first direction is respectively controlled by the control unit; Furthermore, when the telescopic arm and the docking storage position respectively telescope relative to the mechanism housing, the telescopic arm is configured to transfer the material box between the docking storage position and the docking mechanism docked with the docking storage position.

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