Locking mechanism, support assembly, transport robot, and warehousing system

Abstract

A locking mechanism, a support assembly, a transport robot, and a warehousing system. The locking mechanism comprises a locking main body (210) connected to an end effector, a friction member (220) sleeved outside a guide rod, a first elastic member (230), and an unlocking member (240). The friction member is connected to the locking main body and can move along the guide rod (100) in a first direction; the friction member can rotate between a stationary position and a movable position; when the friction member is located at the stationary position, the friction member is in limiting fit with the guide rod in a direction opposite to the first direction; when the friction member is located at the movable position, the friction member can move relative to the guide rod in the direction opposite to the first direction; both ends of the first elastic member are connected to the friction member and the locking main body respectively; the first elastic member is used for driving the friction member to rotate to the stationary position; the unlocking member (240) is movably provided on the locking main body; and the unlocking member is used for driving the friction member to rotate to the movable position. The device allows the end effector to be maintained in a stopped state and a power device to be protected.

Description

Locking mechanisms, support components, handling robots, and warehousing systems Technical Field

[0001] This application belongs to the field of warehousing technology, specifically relating to a locking mechanism, support components, handling robot, and warehousing system. Background Technology

[0002] In warehousing systems, material handling robots are the main equipment for automating material handling operations, reducing the burden of heavy manual labor on humans. A material handling robot includes a support assembly, which comprises a power unit and an end effector. The end effector acts as a support and abuts against two adjacent shelves to provide support to the support assembly. The power unit drives the end effector to extend or retract. Summary of the Invention

[0003] The purpose of this application is to provide a locking mechanism, support component, handling robot, and warehousing system that can solve the problems in related technologies where the power unit may not be able to keep the end effector in a stopped state and is susceptible to damage from stress.

[0004] In a first aspect, embodiments of this application provide a locking mechanism, comprising: a locking body for connection to an end effector of a support assembly; a friction member for being sleeved on the guide rod of the support assembly and movable along the guide rod in a first direction, the friction member being connected to the locking body, the friction member being rotatable between a stationary position and an active position, wherein when the friction member is in the stationary position, the friction member and the guide rod are in an upper limit engagement in the opposite direction of the first direction; and when the friction member is in the active position, the friction member is movable relative to the guide rod in the first direction or the opposite direction of the first direction; a first elastic member, the two ends of the first elastic member being respectively connected to the friction member and the locking body, the first elastic member being used to drive the friction member to rotate to the stationary position; and an unlocking member movably disposed on the locking body, the unlocking member being used to drive the friction member to rotate to the active position.

[0005] Secondly, embodiments of this application also provide a support assembly, including an end effector, a guide rod, and the aforementioned locking mechanism, wherein the friction element of the locking mechanism is sleeved outside the guide rod, and the end effector is connected to the locking body of the locking mechanism.

[0006] Thirdly, embodiments of this application also provide a handling robot, including a gantry, a handling device, and the aforementioned support assembly. The handling device is vertically mounted on the gantry, and the support assembly is mounted on the handling device. The support assembly includes at least two end effectors, each of which extends and retracts relative to the handling device. The at least two end effectors can extend and abut against two shelves located on opposite sides of the movement channel of the warehousing system. When the end effectors abut against the shelves, the friction element of the locking mechanism of the support assembly engages with the guide rod in the retraction direction of the end effectors.

[0007] Fourthly, embodiments of this application also provide a warehousing system, including at least two shelves and the aforementioned handling robot, wherein a moving channel is formed between two adjacent shelves for the handling robot to pass through.

[0008] In this embodiment, when the friction element is in a stationary position, it and the guide rod can be mutually restrained in the opposite direction of the first direction. That is, the friction element and the guide rod can be relatively fixed in the opposite direction of the first direction. Regardless of the magnitude of the force exerted on the friction element in the opposite direction of the first direction, the friction element and the guide rod remain stationary in that direction, ensuring that the end effector remains relatively stationary relative to the guide rod in the opposite direction of the first direction. Thus, when the end effector encounters an obstacle or resistance and stops while moving along the first direction, the friction element, due to its restrained engagement with the guide rod in the opposite direction of the first direction, acts as a lock, preventing the end effector from easily moving in the opposite direction of the first direction, thereby maintaining the end effector in a stopped state. Furthermore, the end effector can transmit the reaction force or resistance from the obstacle to the friction element, that is, the force in the opposite direction of the first direction is transmitted to the friction element, which then transmits the force to the guide rod, thereby isolating the force from being transmitted to the power unit, protecting the power unit, and thus ensuring the service life of the power unit. Attached Figure Description

[0009] Figure 1 is one of the front views of the locking mechanism disclosed in the embodiments of this application (the safety element, the driving element, and the second elastic element are hidden, and the friction element is in a stationary position);

[0010] Figure 2 is a perspective view of the locking mechanism disclosed in the embodiment of this application;

[0011] Figure 3 is a second front view of the locking mechanism disclosed in the embodiment of this application (the safety element, the driving element, and the second elastic element are hidden, and the protrusion of the cam of the unlocking element is in contact with the friction element).

[0012] Figure 4 is a third front view of the locking mechanism disclosed in the embodiments of this application (hiding the driving component and the second elastic component, and the unlocking component and the safety component are engaged).

[0013] Figure 5 is the fourth front view of the locking mechanism disclosed in the embodiment of this application (hiding the driving component and the second elastic component, and separating the unlocking component from the safety component);

[0014] Figure 6 is the fifth front view of the locking mechanism disclosed in the embodiment of this application (hiding the driving component, and the unlocking component and the safety component are engaged).

[0015] Figure 7 is a sixth front view of the locking mechanism disclosed in the embodiments of this application (with the driving component hidden and the unlocking component in the first position);

[0016] Figure 8 is the seventh front view of the locking mechanism disclosed in the embodiment of this application (the first mating surface of the safety component and the driving component are in contact);

[0017] Figure 9 is the eighth front view of the locking mechanism disclosed in the embodiment of this application (the second mating surface of the unlocking member and the driving member are in contact);

[0018] Figure 10 is the ninth front view of the locking mechanism disclosed in the embodiment of this application (the hook is in contact with the unlocking part);

[0019] Figure 11 is the tenth front view of the locking mechanism disclosed in the embodiment of this application (the driving member drives the locking body and the friction member to move);

[0020] Figure 12 is a schematic diagram of the structure of the driving component disclosed in an embodiment of this application;

[0021] Figure 13 is a schematic diagram of one of the support components disclosed in the embodiments of this application (including an end effector and a locking mechanism);

[0022] Figure 14 is a second structural schematic diagram of the support component disclosed in the embodiments of this application (including an end effector and a locking mechanism);

[0023] Figure 15 is a third structural schematic diagram of the support component disclosed in the embodiments of this application (including an end effector and a locking mechanism);

[0024] Figure 16 is a fourth structural schematic diagram of the support component disclosed in the embodiments of this application (including an end effector and a locking mechanism);

[0025] Figure 17 is a fifth structural schematic diagram of the support component disclosed in the embodiments of this application (including two end effectors and two locking mechanisms);

[0026] Figure 18 is a sixth structural schematic diagram of the support component disclosed in the embodiments of this application (including two end effectors and two locking mechanisms);

[0027] Figure 19 is a force analysis diagram of the friction element and guide rod in the embodiment of this application;

[0028] Figure 20 is a schematic diagram of the handling robot disclosed in this application positioned between two shelves. Reference numerals: 100-guide rod; 200-locking mechanism; 201-first locking mechanism; 202-second locking mechanism; 210-locking body; 211-carrier; 2111-locking plate; 2112-support part; 2113-limiting part; 212-force-bearing part; 2121-notch; 220-friction element; 221-first part; 222-second part; 230-first elastic element; 240-unlocking element; 241-cam; 2411-protrusion; 2412-slot; 242-protruding rod; 250-first rotating shaft; 260-safety element; 261-connecting part; 262-protrusion; 270-second rotating shaft; 280-second elastic element; 290-driving element; 291-first mating surface; 292-Second mating surface; 293-Hook; 294-Receiving groove; 300-End effector; 310-First end effector; 320-Second end effector; 400-Power unit; 410-Drive motor; 420-Driving wheel; 430-Driven wheel; 440-Transmission belt; 441-First transmission part; 442-Second transmission part; 500-Support base; 600-First plane; 700-Moving device; 800-Gantry; 900-Transporting device; 1000-Shelf; 1100-Moving aisle. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0030] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0031] In related technologies, the holding force or brake of the power unit is generally used to keep the end effector in a stopped state. However, due to the limited holding force or brake capacity of the power unit, when the external force on the end effector is large, the holding force or brake of the power unit may not be able to keep the end effector in a stopped state, and the power unit is easily damaged by the large reaction force of the end effector.

[0032] Therefore, the power unit of the support component has the drawbacks of potentially failing to keep the end effector in a stopped state and being susceptible to damage from stress.

[0033] The locking mechanism, support components, handling robot, and warehousing system provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0034] Referring to Figures 1-20, a locking mechanism 200 provided in this application embodiment may include a locking body 210, a friction member 220, a first elastic member 230, and an unlocking member 240.

[0035] The locking body 210 can be used to connect with the end effector 300 of the support assembly, and the friction member 220 can be sleeved on the guide rod 100 of the support assembly. The friction member 220 can be connected to the locking body 210, and the friction member 220 can move along the guide rod 100 in a first direction to allow the locking body 210 to drive the end effector 300 to move.

[0036] The friction member 220 can rotate between a stationary position and a movable position. When the friction member 220 is in the stationary position, it engages with the guide rod 100 in the opposite direction of the first direction. When the friction member 220 is in the movable position, it can move relative to the guide rod 100 in the opposite direction of the first direction. It should be noted that when the friction member 220 is in the movable position, it can also move relative to the guide rod 100 in the first direction.

[0037] The two ends of the first elastic member 230 can be connected to the friction member 220 and the locking body 210 respectively. The first elastic member 230 can be used to drive the friction member 220 to rotate to a stationary position so that the friction member 220 cannot move in the opposite direction of the first direction, thereby preventing the end effector 300 from moving in the opposite direction of the first direction.

[0038] The unlocking member 240 is movably disposed on the locking body 210. The unlocking member 240 can be used to drive the friction member 220 to rotate to the active position so that the friction member 220 can move in the opposite direction of the first direction, thereby enabling the end effector 300 to move in the opposite direction of the first direction.

[0039] In this embodiment, when the friction member 220 is in a stationary position, the friction member 220 and the guide rod 100 can be limited in the opposite direction of the first direction. That is, the friction member 220 and the guide rod 100 can be relatively fixed in the opposite direction of the first direction. No matter how much force is applied to the friction member 220 in the opposite direction of the first direction, the friction member 220 and the guide rod 100 can remain stationary in the opposite direction of the first direction, so that the end effector 300 remains relatively stationary with the guide rod 100 in the opposite direction of the first direction. In this way, when the end effector 300 encounters an obstacle or is stopped due to resistance while moving along the first direction, the friction member 220 can play a locking role because of the limited engagement between the friction member 220 and the guide rod 100 in the opposite direction of the first direction, making it difficult for the end effector 300 to move in the opposite direction of the first direction, thereby keeping the end effector 300 in a stopped state. Furthermore, the end effector 300 can transmit the reaction force or resistance of the obstacle to the friction element 220, that is, the force in the opposite direction of the first direction is transmitted to the friction element 220, and the friction element 220 transmits the force to the guide rod 100, thereby isolating the force from the power device 400, protecting the power device 400, and thus ensuring the service life of the power device 400.

[0040] In an optional embodiment of this application, the unlocking member 240 can be rotatably connected to the locking body 210 via the first pivot 250, and the unlocking member 240 can rotate between a first position and a second position. When the unlocking member 240 rotates to the first position, the unlocking member 240 pushes the friction member 220 to rotate to the active position, so that the friction member 220 can move in the opposite direction of the first direction. When the unlocking member 240 rotates to the second position, the first elastic member 230 drives the friction member 220 to rotate to the stationary position, so that the friction member 220 can no longer move in the opposite direction of the first direction, so that the end effector 300 is kept in the stop position.

[0041] Here, the unlocking component 240 is rotatably connected to the locking body 210 via the first pivot 250. On the one hand, the unlocking component 240 can achieve a large range of motion within a limited space. On the other hand, it is not necessary to open a sliding groove on the locking body 210, which helps to simplify the structure of the locking mechanism 200.

[0042] In other embodiments, the unlocking member 240 is movably disposed on the locking body 210. The unlocking member 240 can move between a first moving position and a second moving position. When the unlocking member 240 moves to the first moving position, it pushes the friction member 220 to rotate to the active position. When the unlocking member 240 moves to the second moving position, the first elastic member 230 drives the friction member 220 to rotate to the stationary position. In some embodiments, the first elastic member 230 can be a spring. In other embodiments, the first elastic member can be a block of elastic material, such as polyurethane.

[0043] In an optional embodiment, the locking mechanism 200 may further include a safety element 260, which may be movably connected to the locking body 210. When the unlocking member 240 is in the second position, the safety element 260 may engage with the unlocking member 240 to restrict rotation of the unlocking member 240. Thus, the safety element 260 can hold the unlocking member 240 in the second position to prevent the unlocking member 240 from rotating to the first position due to its own weight or other external forces when no movement in the opposite direction to the first direction is required, thereby pushing the friction member 220 to the active position.

[0044] Optionally, one of the unlocking component 240 and the safety component 260 may be provided with a slot 2412, and the other may be provided with a protrusion 262. When the unlocking component 240 is in the second position, the protrusion 262 can engage with the slot 2412 to achieve engagement between the safety component 260 and the unlocking component 240.

[0045] In other embodiments, the locking mechanism 200 may also exclude the safety element 260.

[0046] Furthermore, the locking mechanism 200 may also include a second elastic member 280, the two ends of which can be connected to the unlocking member 240 and the safety member 260 respectively. When the line connecting the two ends of the second elastic member 280 is located on the first side of the first plane 600, the second elastic member 280 can drive the unlocking member 240 to rotate towards the first position. When the unlocking member 240 and the safety member 260 are relatively far apart, causing the second elastic member 280 to move and the line connecting the two ends of the second elastic member 280 to be located on the first side of the first plane 600, the second elastic member 280 can apply a force towards the friction member 220 to the unlocking member 240, thereby allowing the unlocking member 240 to rotate towards the first position and remain in the first position. Thus, when the locking mechanism 200 moves in the opposite direction of the first direction, sudden locking is less likely to occur. When the line connecting the two ends of the second elastic member 280 is located on the second side of the first plane 600, the second elastic member 280 can rotate the unlocking member 240 to the second position. When the unlocking member 240 and the safety member 260 are relatively close and drive the second elastic member 280 to move, so that the line connecting the two ends of the second elastic member 280 is located on the second side of the first plane 600, the second elastic member 280 can apply a force toward the safety member 260 to the unlocking member 240, causing the unlocking member 240 to rotate to the second position, and the second elastic member 280 can also apply a force toward the safety member 260 to the unlocking member 240, thereby limiting the engagement between the unlocking member 240 and the safety member 260. In some embodiments, the second elastic member is a spring. In other embodiments, the second elastic member is a torsion spring. In other embodiments, the second elastic member is a rubber band.

[0047] It should be noted that the first plane 600 can be the plane where the line connecting the two ends of the second elastic member 280 intersects the axis of the first rotating shaft 250, and the first plane 600 includes the axis of the first rotating shaft 250. Here, the first side of the first plane 600 can be the side close to the notch 2121 described later, and the second side of the second plane can be the side away from the notch 2121 described later.

[0048] Optionally, the safety element 260 can be rotatably connected to the locking body 210 via the second pivot 270. In this way, on the one hand, the safety element 260 can achieve a large range of motion within a limited space, and on the other hand, it is not necessary to open a sliding groove on the locking body 210 for sliding connection with the safety element 260, which helps to simplify the structure of the locking mechanism 200.

[0049] In some embodiments, the safety element 260 may also be slidably disposed on the locking body 210.

[0050] Further optionally, the second rotating shaft 270 may be located on the side of the friction member 220 opposite to the first rotating shaft 250, and the unlocking member 240 may include a cam 241 connected to the first rotating shaft 250 and a protrusion 242 connected to the cam 241. The protrusion 2411 of the cam 241 may abut against the friction member 220 to push the friction member 220 to rotate to the active position. Here, the protrusion direction of the protrusion 242 may intersect with the protrusion direction of the protrusion 2411 of the cam 241. Furthermore, the safety element 260 may be provided with a connecting portion 261, which may be located on the side of the friction element 220 away from the first rotating shaft 250, and the connecting portion 261 may also be located on the side of the safety element 260 away from the first rotating shaft 250. One end of the second elastic element 280 may be connected to the end of the protrusion 242 away from the first rotating shaft 250, and the other end of the second elastic element 280 may be connected to the connecting portion 261. This arrangement ensures that when the unlocking element 240 is in the first position, the line connecting the two ends of the second elastic element 280 is located on the first side of the first plane 600, and when the unlocking element 240 is in the second position, the line connecting the two ends of the second elastic element 280 is located on the second side of the first plane 600, thereby ensuring that the second elastic element 280 can lock the unlocking element 240 in the first or second position. Furthermore, since the other end of the second elastic member 280 is connected to the connecting portion 261, the second elastic member 280 can apply a force toward the unlocking member 240 to the safety member 260, so that the safety member 260 can limit the unlocking member 240. Regardless of whether the unlocking member 240 and the safety member 260 are subjected to a force from the unlocking member 240 to the safety member 260 or from the safety member 260 to the unlocking member 240, the unlocking member 240 will not detach from the safety member 260 and rotate to the first position.

[0051] In other embodiments, the unlocking member 240 may only include the cam 241, and the connecting part 261 may not be provided on the safety member 260. One end of the second elastic member 280 may be connected to the protrusion 2411 of the cam 241, and the other end of the second elastic member 280 may be connected to the safety member 260 near the first rotating shaft 250.

[0052] In an optional embodiment of this application, the locking mechanism 200 may further include a driving member 290. The driving member 290 may be provided with a first mating surface 291. In the opposite direction of the first direction, the first mating surface 291 can drive the locking member 260 to move away from the unlocking member 240, so that the locking member 260 is separated from the unlocking member 240. The driving member 290 may also be provided with a second mating surface 292. In the opposite direction of the first direction, the second mating surface 292 can drive the unlocking member 240 to rotate to a first position. In this way, it is convenient to drive the unlocking member 240 to rotate to the first position, thereby facilitating unlocking. Furthermore, by connecting the driving member 290 to the power device 400, automatic unlocking can be achieved.

[0053] In other embodiments, the locking mechanism 200 may also exclude the drive member 290, and the user may manually rotate the unlocking member 240.

[0054] In an optional embodiment, the driving member 290 may also be provided with a hook 293, which may be located on the side of the second mating surface 292 near the friction member 220. A receiving groove 294 may be formed between the first mating surface 291, the second mating surface 292, and the hook 293. When the driving member 290 moves in the opposite direction of the first direction, a portion of the unlocking member 240 may extend into the receiving groove 294, and when the unlocking member 240 is in the first position, the hook 293 may engage with the unlocking member 240. The protrusion 242 of the unlocking member 240 may extend into the receiving groove 294, and when the unlocking member 240 is in the first position, the hook 293 may engage with the protrusion 242. In this way, the driving member 290 can achieve both unlocking and driving functions, thus eliminating the need for additional driving components to drive the locking mechanism 200 to move in the first direction.

[0055] In other embodiments, the drive member 290 may not have the hook 293, and the locking body 210 and the friction member 220 as a whole may be driven by other drive structures to move along the first direction.

[0056] In this embodiment, as the driving member 290 slides along the guide rod 100 in the opposite direction to the first direction, as shown in FIG8, the first mating surface 291 of the driving member 290 can contact the safety member 260. As the driving member 290 continues to move in the opposite direction to the first direction, the driving member 290 can push the safety member 260 to rotate clockwise and separate from the unlocking member 240. Subsequently, as shown in FIG9, the second mating surface 292 of the driving member 290 can contact the unlocking member 240. When the driving member 290 continues to move in the opposite direction to the first direction, the second mating surface 292 pushes the unlocking member. When the unlocking member 240 rotates to the first position, and the line connecting the two ends of the second elastic member 280 is located on the first side of the first plane 600, the unlocking member 240 can disengage from the second mating surface 292 and rotate to the first position under the elastic force of the second elastic member 280. At this time, as shown in Figure 10, the unlocking member 240 contacts the hook 293 and forms a hook with the hook 293 in the opposite direction of the first direction. Furthermore, the unlocking member 240 pushes the friction member 220 to rotate to the active position, so that the entire locking mechanism 200 can move along the guide rod 100 in the first direction or in the opposite direction of the first direction.

[0057] Furthermore, since the hook 293 is engaged with the unlocking member 240, when the driving member 290 moves in the first direction, as shown in Figure 11, the hook 293 of the driving member 290 will carry the unlocking member 240 in the first direction, and thus carry the locking body 210 in the first direction, so that the end effector 300 moves in the first direction. It should be noted that since the unlocking member 240 can be held in the first position under the elastic force of the second elastic member 280, at this time, the unlocking member 240 is subjected to a component force toward the safety member 260 and a component force in the opposite direction of the first direction. As long as the force in the first direction applied by the hook 293 of the driving member 290 toward the unlocking member 240 is greater than the component force in the opposite direction of the first direction, the locking body 210 can be driven to move in the first direction.

[0058] When the locking body 210 stops moving due to an external force during its movement in the first direction, the driving member 290 can still apply a force in the first direction to the unlocking member 240, causing the unlocking member 240 to rotate to the second position and disengage from the receiving groove 294, thus separating the driving member 290 from the unlocking member 240 and disengaging the driving member 290 from the locking body 210. At this time, since the friction member 220 is in a stationary position, the locking body 210 can remain in a stopped state due to the external force and the friction between the friction member 220 and the guide rod 100.

[0059] In an optional embodiment of this application, the locking body 210 may include a carrier 211, the carrier 211 may include a locking plate 2111 and a support portion 2112, the support portion 2112 may be connected to the locking plate 2111, here, the unlocking member 240 is rotatably disposed on the locking plate 2111, the support portion 2112 may be used to sleeve on the guide rod 100, the friction member 220 may be located between the support portion 2112 and the unlocking member 240, and the two ends of the first elastic member 230 may be connected to the friction member 220 and the support portion 2112 respectively.

[0060] The locking body 210 may also include a force-receiving part 212, which can be connected to the end effector 300. The force-receiving part 212 can be connected to the locking plate 2111. The force-receiving part 212 and the first elastic member 230 can be located on both sides of the guide rod 100, and the edge of the friction member 220 away from the first elastic member 230 can be located between the support part 2112 and the force-receiving part 212. The edge of the friction member 220 away from the first elastic member 230 can abut against the support part 2112 and the force-receiving part 212 respectively. With this configuration, when the support portion 2112 is subjected to a force in the first direction, the force in the first direction can be transmitted to the friction member 220, causing the edge of the friction member 220 away from the first elastic member 230 to be subjected to a force in the first direction. This can cause the edge of the friction member 220 away from the first elastic member 230 to have a tendency to move in the first direction, and the edge of the friction member 220 close to the first elastic member 230 to have a tendency to move in the opposite direction of the first direction, so that the friction member 220 has a tendency to rotate toward the active position or rotate toward the active position, thereby allowing the friction member 220 to move toward the first direction, so that the locking body 210 can move toward the first direction.

[0061] In this embodiment, the friction element 220 can be inclinedly disposed on the guide rod 100. Under the action of the force-receiving part 212 and the first elastic element 230, the friction element 220 can form a certain angle with the guide rod 100 and maintain contact with the guide rod 100. Here, the spacing and size of each position of the friction element 220 relative to the guide rod 100 can be designed according to the friction coefficient between the friction element 220 and the guide rod 100. This allows the friction element to remain relatively stationary with the guide rod 100 in the opposite direction of the first direction. No matter how much force is applied to the friction element 220 in the opposite direction of the first direction by the force-receiving part 212, the friction element 220 can remain relatively stationary with the guide rod 100 in the opposite direction of the first direction. However, when the support part 2112 applies a force in the first direction to the friction element 220, the friction element 220 can move relative to the guide rod 100.

[0062] It should be noted that, as shown in Figure 19, the friction element 220 may include a first part 221 and a second part 222. The first part 221 and the second part 222 may be located on opposite sides of the guide rod 100. The first part 221 may abut against the force-receiving part 212, and the second part 222 may be connected to the first elastic element 230. The contact points between the first part 221 and the second part 222 and the guide rod 100 are O1 and O2, respectively. Without considering gravity, when the friction element 220 is subjected to a force in the opposite direction to the first direction... The guide rod 100 provides a supporting force N1 to the first part 221 and a supporting force N2 to the second part 222. The guide rod 100 also provides a frictional force f1 to the first part 221 and a frictional force f2 to the second part 222. Assuming the coefficient of friction between the guide rod 100 and the friction element 220 is μ, then f1 = μ × N1, f2 = μ × N2. Since the friction element 220 is stationary, we have: N1 = N2, F = f1 + f2. Taking a moment about point O1, we have: F × t + f2 × d = N2 × k. Here, d is the width of the guide rod 100, k is the distance between points O1 and O2 in the first direction, and t is the distance between F and point O1 in the direction perpendicular to the first direction, i.e., the distance between the edge of the friction element 220 away from the first elastic element 230 and the point where it abuts against the support part 2112 and the force-bearing part 212, respectively, and the guide rod 100.

[0063] Solving the above equation yields μ = k / (2t+d) for maintaining the friction element 220 in a stationary state. If the maximum static friction coefficient μmax between the guide rod 100 and the friction element 220 is greater than this value, then the maximum static friction force that can be generated is greater than F. That is, regardless of the value of F, the friction element 220 can remain stationary. Conversely, given the maximum static friction coefficient μmax of the guide rod 100 and the friction element 220, as long as the distance k / (2t+d) between O1 and O2 in the first direction is ensured to be less than μmax during the design, then regardless of the value of the applied force F in the opposite direction of the first direction, the friction element 220 can remain stationary while ensuring that it is in a stationary position.

[0064] In this embodiment, the edge of the friction member 220 away from the first elastic member 230 is located between the support portion 2112 and the force-receiving portion 212. The edge of the friction member 220 away from the first elastic member 230 abuts against the support portion 2112 and the force-receiving portion 212 respectively. On the one hand, it is convenient to disassemble and assemble the friction member 220. On the other hand, the support portion 2112 and the force-receiving portion 212 can leave space for the edge of the friction member 220 away from the first elastic member 230 to rotate, so as to facilitate the rotation of the friction member 220 and thus help to avoid deformation and damage of the friction member 220.

[0065] In other embodiments, the locking body 210 may only include the carrier 211 and exclude the force-bearing part 212. The first elastic member 230 is located on one side of the guide rod 100, and the two ends of the first elastic member 230 are respectively connected to the support part 2112 of the carrier 211 and the friction member 220. The edge of the friction member 220 away from the first elastic member 230 can be fixedly connected to the support part 2112.

[0066] Optionally, a notch 2121 may be provided at one end of the force-bearing part 212 near the support part 2112, and the edge of the friction member 220 away from the first elastic member 230 may be located in the notch 2121 and abut against the inner wall of the notch 2121 and the support part 2112 respectively, so as to facilitate the disassembly and assembly of the friction member 220.

[0067] In some embodiments, the force-receiving part 212 can be detachably connected to the carrier 211, thus facilitating the assembly and disassembly of the friction element 220. In some embodiments, the force-receiving part 212 and the carrier 211 can also be an integral structure. Optionally, to improve the stability of the connection between the force-receiving part 212 and the carrier 211, the carrier 211 may further include a limiting part 2113, which is connected to the locking plate 2111. The force-receiving part 212 can be located between the supporting part 2112 and the limiting part 2113, and the supporting part 2112 and the limiting part 2113 can clamp the force-receiving part 212.

[0068] Based on the locking mechanism 200 provided in the embodiments of this application, the embodiments of this application also provide a support component. The support component may include an end effector 300, a guide rod 100 and the locking mechanism 200 described in any of the above embodiments. The friction element 220 of the locking mechanism 200 may be sleeved on the guide rod 100, and the end effector 300 may be connected to the locking body 210 of the locking mechanism 200.

[0069] The beneficial effects achieved by the support component provided in this application embodiment are consistent with the beneficial effects achieved by the locking mechanism 200 provided in this application embodiment, so they will not be repeated here.

[0070] Optionally, the end effector 300 can be a support member that can abut against two adjacent shelves 1000 to provide support for the support assembly. The support member can be moved by the movement of the locking mechanism 200 to achieve the extension and retraction of the support member.

[0071] In an optional embodiment, the support assembly may further include a power unit 400, and the locking mechanism 200 may include a drive member 290. The drive member 290 may be connected to the unlocking member 240 of the locking mechanism 200 to unlock the unlocking member 240 and to drive the locking body 210 and friction member 220 of the locking mechanism 200 to move, thereby realizing the movement of the end effector 300. Furthermore, the power unit 400 may be connected to the drive member 290 and used to drive the drive member 290 to move along the length of the guide rod 100. In this way, the power unit 400 can serve both as the power for unlocking the unlocking member 240 and as the power for driving the locking mechanism 200 to move, which helps to simplify the structure of the support assembly and reduce its cost.

[0072] In other embodiments, the power unit 400 may also move the locking body 210 and friction member 220 without the drive member 290. The power unit 400 may be directly connected to the locking body 210, the drive member 290 may be used only to push the unlocking member 240 to unlock, and the support assembly may also include a power component that provides power to the drive member 290.

[0073] Optionally, the support assembly may include at least two end effectors 300, including a first end effector 310 and a second end effector 320. The support assembly may also include at least two locking mechanisms 200, including a first locking mechanism 201 and a second locking mechanism 202.

[0074] The first end effector 310 can be connected to the locking body 210 of the first locking mechanism 201, the second end effector 320 can be connected to the locking body 210 of the second locking mechanism 202, and the driving member 290 of the first locking mechanism 201 and the driving member 290 of the second locking mechanism 202 can both be connected to the power unit 400.

[0075] In this design, the driving members 290 of the first locking mechanism 201 and 290 of the second locking mechanism 202 move in opposite directions. The power unit 400 can drive the driving members 290 of the first locking mechanism 201 and 290 of the second locking mechanism 202 to move in opposite directions, thereby causing the first locking mechanism 201 and the second locking mechanism 202 as a whole to move in opposite directions, thus causing the first end effector 310 and the second end effector 320 to move in opposite directions. This allows the first end effector 310 and the second end effector 320 to extend in opposite directions, facilitating their contact with two adjacent shelves 1000, enabling the support components to provide support. Furthermore, since a single power unit 400 can simultaneously move both the first end effector 310 and the second end effector 320, the number of power units 400 can be reduced, thereby lowering the driving cost.

[0076] In this embodiment, the support assembly may further include at least two guide rods 100, which may include a first guide rod and a second guide rod. The friction element 220 of the first locking mechanism 201 may be sleeved on the outside of the first guide rod, and the friction element 220 of the second locking mechanism 202 may be sleeved on the outside of the second guide rod.

[0077] Optionally, the support assembly may include two end effectors 300, two guide rods 100 and two locking mechanisms. The two end effectors 300 may abut against two adjacent shelves 1000 respectively, so that the support assembly is fixed between the two adjacent shelves 1000.

[0078] The support assembly may also include only one end effector 300, one guide rod 100, and one locking mechanism 200. Alternatively, the support assembly may include at least two end effectors 300, at least two guide rods 100, and at least two locking mechanisms 200, but the drive members 290 of the first locking mechanism 201 and the drive members 290 of the second locking mechanism 202 move in the same direction.

[0079] Optionally, the power unit 400 may include a drive motor 410 and a transmission assembly. The drive motor 410 can be connected to the drive member 290 of each locking mechanism 200 via the transmission assembly. The drive motor 410 can simultaneously drive each drive member 290 to move, thereby simultaneously driving each locking mechanism 200 to move. This helps reduce the number of drive motors, thereby simplifying the structure of the power unit and reducing drive costs. The power unit 400 may also include at least two drive motors 410 and at least two transmission assemblies, with each drive motor 410 connected to the drive member 290 of each locking mechanism 200 via a respective transmission assembly.

[0080] Furthermore, the drive motor 410 can drive the drive member 290 of the first locking mechanism 201 and the drive member 290 of the second locking mechanism 202 to move in opposite directions via the transmission assembly, thereby driving the first end effector 310 and the second end effector 320 to move in opposite directions.

[0081] In this embodiment, the transmission assembly may include a drive wheel 420, a driven wheel 430, and a transmission belt 440. The transmission belt 440 can drive the drive wheel 420 and the driven wheel 430. The drive motor 410 can be connected to the drive wheel 420 and drive the drive wheel 420 to rotate. Each drive member 290 can be connected to the transmission belt 440. The transmission belt 440 may include a first transmission part 441 and a second transmission part 442 connected to the first transmission part 441. The first transmission part 441 and the second transmission part 442 run in opposite directions. Here, the drive member 290 of the first locking mechanism 201 can be connected to the first transmission part 441, and the drive member 290 of the second locking mechanism 202 can be connected to the second transmission part 442. In this way, the drive motor 410 can drive the drive members 290 of the first locking mechanism 201 and the second locking mechanism 202 to move in opposite directions, thereby causing the first end effector 310 and the second end effector 320 to move in opposite directions.

[0082] When the drive motor 410 rotates forward, the first locking mechanism 201 can drive the first end effector 310 to extend in the first direction, and the second locking mechanism 202 can drive the second end effector 320 to extend in the opposite direction of the first direction; when the drive motor 410 rotates in reverse, the first locking mechanism 201 can drive the first end effector 310 to move in the opposite direction of the first direction, and the second locking mechanism 202 can drive the second end effector 320 to move in the first direction, so that the first end effector 310 and the second end effector 320 return to their initial positions.

[0083] It should be noted that since the drive unit 290 can disengage from the locking body 210, it can stop automatically when at least one of the first end effector 310 and the second end effector 320 encounters an obstacle, and the first end effector 310 and the second end effector 320 do not interfere with each other, that is, when one of them stops, it will not affect the movement of the other.

[0084] Optionally, the support assembly may further include a support base 500, to which each guide rod 100 can be connected, and a power unit 400 may be mounted on the support base 500. A drive motor 410 may be mounted on the support base 500, and a drive wheel 420 and a driven wheel 430 may be rotatably mounted on the support base 500.

[0085] Based on the support components provided in the embodiments of this application, this application also provides a handling robot, as shown in FIG20. The handling robot may include a gantry 800, a handling device 900, and the support components described in any of the above embodiments. The handling device 900 is vertically mounted on the gantry 800 and is used to pick up and place goods. The handling device 900 may include a base and a telescopic component. The base can be slidably connected to the gantry 800, and the telescopic component is telescopically mounted on the base. Here, the telescopic component can extend horizontally relative to the base. For example, the telescopic component can extend to the shelf 1000 to grab goods on the shelf 1000. The telescopic component can retract to its original position so that the handling device 900 can move the goods up and down along the gantry 800 to realize the handling of goods. The support components may be mounted on the handling device 900. The support base 500 of the support assembly can be connected to the base of the handling device 900. The support assembly can include at least two end effectors 300. Each end effector 300 can extend and retract relative to the handling device 900, and at least two end effectors 300 can extend and abut against two shelves 1000 located on opposite sides of the movement channel 1100 of the storage system, that is, at least two end effectors 300 can abut against two opposite shelves 1000 respectively, so that the support assembly is supported between the two opposite shelves 1000, thereby supporting the handling device 900 and preventing the handling device 900 from being subjected to excessive force during the handling of goods, which would cause the mast 800 to shake. This helps to improve the stability of the handling robot during operation and enhance the safety of handling.

[0086] When the end effector 300 abuts against the shelf 1000, the friction element 220 of the locking mechanism 200 of the support assembly and the guide rod 100 can be engaged in a limit engagement in the retraction direction of the end effector 300. In this way, the friction element 220 can lock the locking body 210 against the guide rod 100, thereby preventing the end effector 300 from retracting, thus making the end effector 300 abut against the shelf 1000.

[0087] It should be noted that the support components can be raised and lowered along with the handling device 900 to move to the corresponding position on the shelf 1000 in order to provide support for the handling device 900.

[0088] When a portion of the at least two end effectors 300 first comes into contact with one of the two shelves 1000 mentioned above, another portion of the at least two end effectors 300 can continue to extend until it comes into contact with the other of the two shelves 1000 mentioned above. That is, after a portion of the end effector 300 comes into contact with one shelf 1000, the other portion of the end effector 300 can continue to extend until it comes into contact with the other shelf 1000. In this way, the two portions of the end effectors 300 can stop at different distances, and the self-locking force of each end effector 300 is maintained by the limiting cooperation between the friction element 220 of each locking mechanism 200 and the guide rod 100, so that the end effectors 300 can achieve self-locking at different distances.

[0089] When the first end effector 310 is close to its adjacent shelf 1000, and the second end effector 320 is far from its adjacent shelf 1000, the first end effector 310 first abuts against one shelf 1000 and achieves self-locking through the limiting cooperation between the friction element 220 of the first locking mechanism 201 and the guide rod 100. At this time, the second end effector 320 continues to extend until it abuts against its adjacent shelf 1000, and achieves self-locking through the limiting cooperation between the friction element 220 of the second locking mechanism 202 and the guide rod 100. In this way, self-locking can be achieved at different distances between the first end effector 310 and the second end effector 320.

[0090] Optionally, the handling robot may also include a mobile device 700, and a gantry 800 may be mounted on the mobile device 700. Here, the mobile device 700 may be an intelligent mobile vehicle to facilitate the movement of the handling robot.

[0091] The beneficial effects achieved by the handling robot provided in this application embodiment are consistent with the beneficial effects achieved by the support component provided in this application embodiment, so they will not be repeated here.

[0092] In some embodiments, the gantry 800 can be a single-stage gantry, a two-stage gantry, or a multi-stage gantry. A single-stage gantry may consist of only one frame, with the transport device 900 slidably connected to the frame. A two-stage gantry may include two frames, a first frame and a second frame, respectively. The second frame is vertically and vertically mounted on the first frame, or foldable. When higher goods need to be transported, the second frame can be raised above or extended above the first frame to increase the height of the gantry 800. Here, the transport device 900 can be slidably connected to both the first and second frames. The transport device 900 slides from the first frame onto the second frame to move to a higher position. A multi-stage gantry may include at least three frames, each vertically and vertically connected or foldable, and each frame can be sequentially raised, lowered, or extended along the height direction to increase the height of the gantry 800. Here, the transport device 900 can be slidably connected to each frame, and the transport device 900 can move sequentially onto each frame. In terms of functionality and application scenarios, two-stage or multi-stage masts offer greater lifting height and better stability, making them suitable for applications requiring higher lifting height and stronger load-bearing capacity, such as warehouses and logistics centers. Single-stage masts, on the other hand, are suitable for applications with lower lifting height requirements, such as small warehouses and shops.

[0093] Based on the handling robot provided in this application embodiment, this application embodiment also provides a warehousing system. The warehousing system may include at least two shelves 1000 and a handling robot. A moving aisle 1100 may be formed between two adjacent shelves 1000 for the handling robot to pass through. This facilitates the handling robot in moving goods on each shelf 1000. Here, the shelf 1000 may be a container transferring unit (CTU), a type of automated storage and retrieval system (AS / RS) primarily used for automated storage and retrieval of goods. Container transferring units are particularly suitable for warehouses with low ceilings and light goods, significantly reducing labor costs and improving storage efficiency.

[0094] The beneficial effects achieved by the warehousing system provided in this application embodiment are consistent with the beneficial effects achieved by the handling robot provided in this application embodiment, so they will not be repeated here.

[0095] The process of a handling robot moving goods is as follows:

[0096] Once the handling robot moves to the target position within the movement channel 1100, its handling device 900 can rise to the same height as the goods to be handled. Then, the power unit 400 of the support assembly drives the first end effector 310 and the second end effector 320 to extend respectively until they abut against two shelves 1000 located on opposite sides of the movement channel 1100. At this time, the first end effector 310 and the second end effector 320 are respectively subjected to two... The resistance of the shelf 1000 stops extending, and the locking body 210 of the first locking mechanism 201 of the support assembly stops moving. The locking body 210 of the second locking mechanism 202 of the support assembly also stops moving. As the power unit 400 continues to operate, the unlocking member 240 of the first locking mechanism 201 can return to the second position. The power unit 400 drives the driving member 290 of the first locking mechanism 201 to separate from the unlocking member 240. Moreover, since the friction member 220 of the first locking mechanism 201 is in a stationary position at this time, the first locking mechanism... The friction element 220 of the first locking mechanism 201 engages with the first guide rod in the retraction direction of the first end effector 310, preventing the locking body 210 and the friction element 220 of the first locking mechanism 201 from moving in the retraction direction of the first end effector 310. This prevents the first end effector 310 from retracting, thus keeping it in contact with the shelf 1000. Similarly, the unlocking element 240 of the second locking mechanism 202 returns to the second position, and the power unit 400 drives the drive mechanism 202. When component 290 separates from component 240, and since the friction component 220 of the second locking mechanism 202 is in a stationary position, the friction component 220 of the second locking mechanism 202 and the second guide rod engage at the upper limit of the retraction direction of the second end effector 320. This prevents the locking body 210 and the friction component 220 of the second locking mechanism 202 from moving in the retraction direction of the second end effector 320, thus preventing the second end effector 320 from retracting and keeping it in contact with the shelf 1000. In this way, the support assembly provides support for the conveying device 900.

[0097] Then, the telescopic component of the handling device 900 can extend until it contacts and grabs the goods. Then the telescopic component retracts, moving the goods to the seat of the handling device 900, thus completing the grabbing of the goods.

[0098] Then, the power unit 400 of the support assembly drives the drive member 290 of the first locking mechanism 201 to move in the retraction direction of the first end effector 310, and drives the drive member 290 of the second locking mechanism 202 to move in the retraction direction of the second end effector 320. This causes the drive member 290 of the first locking mechanism 201 to push the unlocking member 240 to rotate to the first position, so that the unlocking member 240 of the first locking mechanism 201 pushes the friction member 220 of the first locking mechanism 201 to rotate to the active position. At this time, the friction member 220 of the first locking mechanism 201 is no longer limited by the first guide rod, so that the locking body 210 and the friction member 220 of the first locking mechanism 201 move in the retraction direction of the first end effector 310, thereby bringing... The first end effector 310 moves in its retraction direction to separate the first end effector 310 from the shelf 1000. Similarly, the drive member 290 of the second locking mechanism 202 pushes the unlocking member 240 to rotate to the first position, so that the unlocking member 240 of the second locking mechanism 202 pushes the friction member 220 of the second locking mechanism 202 to rotate to the active position. At this time, the friction member 220 of the second locking mechanism 202 is no longer limited to the second guide rod, so that the locking body 210 and the friction member 220 of the second locking mechanism 202 move in the retraction direction of the second end effector 320, thereby driving the second end effector 320 to move in its retraction direction to separate the second end effector 320 from the shelf 1000.

[0099] Finally, the handling device 900 of the handling robot lowers the goods and support components to reduce the height of the goods, and then the moving device 700 of the handling robot moves the handling robot out of the moving channel 1100 and to the location where the goods need to be placed.

[0100] It should be noted that the handling robot disclosed in this application embodiment can also be used to handle goods to the shelf 1000. The handling process is similar to the above process and will not be described again here.

[0101] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A locking mechanism, comprising: Locking body (210) for connection to end effector (300) of support assembly; A friction element (220) is sleeved on the guide rod (100) of the support assembly and movable along the guide rod (100) in a first direction. The friction element (220) is connected to the locking body (210). The friction element (220) is rotatable between a stationary position and a movable position. When the friction element (220) is in the stationary position, the friction element (220) and the guide rod (100) are in an upper limit engagement in the opposite direction of the first direction. When the friction element (220) is in the movable position, the friction element (220) is movable along the guide rod (100) in the first direction or the opposite direction of the first direction. The first elastic element (230) has two ends connected to the friction element (220) and the locking body (210) respectively. The first elastic element (230) is used to drive the friction element (220) to rotate to the stationary position. An unlocking element (240) is movably disposed on the locking body (210), and the unlocking element (240) is used to drive the friction element (220) to rotate to the active position.

2. The locking mechanism according to claim 1, wherein, The unlocking component (240) is rotatably connected to the locking body (210) via a first pivot (250), and the unlocking component (240) is rotatable between a first position and a second position. When the unlocking member (240) is rotated to the first position, the unlocking member (240) pushes the friction member (220) to rotate to the active position; When the unlocking member (240) is rotated to the second position, the first elastic member (230) drives the friction member (220) to rotate to the stationary position.

3. The locking mechanism according to claim 2 further includes: A safety element (260) is movably connected to the locking body (210), and when the unlocking element (240) is in the second position, the safety element (260) engages with the unlocking element (240) to restrict the rotation of the unlocking element (240).

4. The locking mechanism according to claim 3 further includes: The second elastic element (280) has two ends connected to the unlocking element (240) and the safety element (260), respectively. When the line connecting the two ends of the second elastic member (280) is located on the first side of the first plane (600), the second elastic member (280) drives the unlocking member (240) to rotate toward the first position; When the line connecting the two ends of the second elastic member (280) is located on the second side of the first plane (600), the second elastic member (280) drives the unlocking member (240) to lock and rotate to the second position. The first plane (600) is the plane where the line connecting the two ends of the second elastic member (280) intersects the axis of the first rotating shaft (250), and the first plane (600) includes the axis of the first rotating shaft (250).

5. The locking mechanism according to claim 4, wherein, The safety element (260) is rotatably connected to the locking body (210) via a second pivot (270), the second pivot (270) being located on the side of the friction element (220) opposite to the first pivot (250); The unlocking member (240) includes a cam (241) connected to the first rotating shaft (250) and a protrusion (242) connected to the cam (241). The protrusion direction of the protrusion (242) intersects with the protrusion direction of the protrusion (2411) of the cam (241), and the protrusion (2411) of the cam (241) can abut against the friction member (220). The safety component (260) is provided with a connecting part (261), which is located on the side of the friction component (220) away from the first rotating shaft (250) and on the side of the safety component (260) away from the first rotating shaft (250). One end of the second elastic member (280) is connected to the end of the protruding rod (242) away from the first rotating shaft (250), and the other end of the second elastic member (280) is connected to the connecting part (261).

6. The locking mechanism according to any one of claims 3 to 5, further comprising: A driving member (290) is provided with a first mating surface (291). In the opposite direction of the first direction, the first mating surface (291) drives the safety member (260) to move away from the unlocking member (240) so that the safety member (260) is separated from the unlocking member (240). The driving member (290) is also provided with a second mating surface (292), which drives the unlocking member (240) to rotate toward the first position in the opposite direction of the first direction.

7. The locking mechanism according to claim 6, wherein, The driving member (290) is also provided with a hook (293), which is located on the side of the second mating surface (292) near the friction member (220). A receiving groove (294) is formed between the first mating surface (291), the second mating surface (292) and the hook (293). When the driving member (290) moves in the opposite direction of the first direction, a portion of the unlocking member (240) extends into the receiving groove (294), and when the unlocking member (240) is in the first position, the hook (293) engages with the unlocking member (240).

8. The locking mechanism according to any one of claims 1 to 7, wherein, The locking body (210) includes: The carrier (211) includes a locking plate (2111) and a support part (2112) connected to the locking plate (2111). The unlocking member (240) is rotatably disposed on the locking plate (2111). The support part (2112) is used to be sleeved on the guide rod (100). The friction member (220) is located between the support part (2112) and the unlocking member (240). The two ends of the first elastic member (230) are respectively connected to the friction member (220) and the support part (2112). The force-receiving part (212) is used to connect with the end effector (300). The force-receiving part (212) is connected with the locking plate (2111). The force-receiving part (212) and the first elastic member (230) are located on both sides of the guide rod (100). The edge of the friction member (220) away from the first elastic member (230) is located between the support part (2112) and the force-receiving part (212) and abuts against the support part (2112) and the force-receiving part (212) respectively.

9. A support assembly comprising an end effector (300), a guide rod (100), and a locking mechanism (200) according to any one of claims 1 to 8, wherein a friction element (220) of the locking mechanism (200) is sleeved on the guide rod (100), and the end effector (300) is connected to a locking body (210) of the locking mechanism (200).

10. The support assembly according to claim 9 further includes a power device (400), the locking mechanism (200) includes a drive member (290), the drive member (290) is connected to an unlocking member (240) of the locking mechanism (200) so that the unlocking member (240) can drive the friction member (220) and the locking body (210) to move, the power device (400) is connected to the drive member (290) and is used to drive the drive member (290) to move along the length direction of the guide rod (100).

11. The support component according to claim 10, wherein, The support assembly includes at least two of the end effectors (300), including a first end effector (310) and a second end effector (320); The support assembly also includes at least two of the locking mechanisms (200), including a first locking mechanism (201) and a second locking mechanism (202); The first end effector (310) is connected to the locking body (210) of the first locking mechanism (201), and the second end effector (320) is connected to the locking body (210) of the second locking mechanism (202). The drive members (290) of the first locking mechanism (201) and the drive members (290) of the second locking mechanism (202) are both connected to the power device (400), and the drive members (290) of the first locking mechanism (201) and the drive members (290) of the second locking mechanism (202) move in opposite directions, so that the first end effector (310) and the second end effector (320) move in opposite directions.

12. A handling robot, comprising a gantry (800), a handling device (900), and a support assembly as described in any one of claims 9 to 11, wherein the handling device (900) is vertically and vertically mounted on the gantry (800), the support assembly is mounted on the handling device (900), and the support assembly comprises at least two end effectors (300), each of the end effectors (300) being retractable relative to the handling device (900), the at least two end effectors (300) extending out and abutting against two shelves (1000) located on opposite sides of a movement channel (1100) of a warehousing system; When the end effector (300) abuts against the shelf (1000), the friction element (220) of the locking mechanism (200) of the support assembly engages with the guide rod (100) in the retraction direction of the end effector (300).

13. The handling robot according to claim 12, wherein, If one of the at least two end effectors (300) first comes into contact with one of the two shelves (1000), another portion of the at least two end effectors (300) continues to extend until it comes into contact with the other of the two shelves (1000).

14. A storage system comprising at least two shelves (1000) and a handling robot as claimed in claim 12 or 13, wherein a movement channel (1100) is formed between adjacent shelves (1000) for the handling robot to pass through.

Images