CN113650998B

CN113650998B - Container taking-out device and method and transfer robot

Info

Publication number: CN113650998B
Application number: CN202010398662.4A
Authority: CN
Inventors: 詹庆鑫; 孔哲
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2023-07-04
Anticipated expiration: 2040-05-12
Also published as: CN116654501A; CN113650998A

Abstract

The invention provides a container taking-out device, a container taking-out method and a carrying robot, belongs to the technical field of carrying robots, and aims to solve the problem that when a container is carried by the existing carrying robot, the storage space of a part of warehouse is wasted; the container taking-out device comprises a taking-out assembly connected with the front surface of a container to be transferred, and can take out the container from a storage shelf; because the take-out assembly is connected with the front of the container, the space for inserting and moving the take-out assembly is not required to be reserved at the bottom, the upper part, the left side and the right side of the container, so that the storage space of the warehouse is fully utilized, and the storage density of the warehouse is improved.

Description

Container taking-out device and method and transfer robot

Technical Field

The invention relates to the technical field of transfer robots, in particular to a container taking-out device and method and a transfer robot.

Background

With the development of the logistics industry, the transfer robot is gradually applied to the work of transferring the container, so that the transfer efficiency of the container can be improved; therefore, the transfer robot has become a research hotspot in the logistics industry.

The carrying robot can be classified into a clamping carrying robot or a lifting carrying robot according to different ways of taking out the container by the clamping arm; two clamping arms of the clamping robot are clamped on two sides of a container, so that a space for inserting the clamping arms and a space for moving the two clamping arms in opposite directions are reserved between two adjacent containers, and the storage space in the horizontal direction of the warehouse is wasted. The fork of lifting type transfer robot inserts the bottom of packing box, need reserve out the space that supplies fork male between the bottom of packing box and goods shelves, still need reserve out the space that supplies the packing box activity in the upper portion of shifting the packing box in advance simultaneously, waste warehouse height direction's storage space.

That is, when the existing transfer robot is used for transferring containers, a large operation space needs to be reserved, so that the storage space of part of the warehouse is wasted, and the storage density of the warehouse is reduced.

Disclosure of Invention

The embodiment of the invention provides a container taking-out device, a container taking-out method and a carrying robot, which are used for reducing the operation space when the carrying robot carries a container, so that the storage space of a warehouse is fully utilized, and the storage density of the warehouse is improved.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a container removal device, comprising: the device comprises a base, a transmission mechanism and a taking-out assembly; the take-out assembly is used for being connected with the front surface of a container to be transferred so as to transfer the container; the transmission mechanism comprises a fixed wheel assembly, a driving wheel assembly and a transmission belt, wherein the fixed wheel assembly comprises at least two fixed wheels which are arranged on the base at intervals; the movable wheel assembly comprises a sliding seat and at least two movable wheels, the sliding seat is slidably arranged on the base, the at least two movable wheels are arranged on the sliding seat at intervals, a first limiting structure is arranged at the front end of the sliding seat along the moving direction of the sliding seat towards the container, and a reset mechanism is connected at the rear end of the sliding seat; the take-out assembly is arranged on the transmission belt, the transmission belt is wound on each driving wheel and each fixed wheel, and when the take-out assembly moves towards the container to the first limiting structure under the drive of the transmission belt, the transmission belt drives the take-out assembly and the driving wheel assembly to move towards the container together; when the driving belt drives in the opposite direction, the reset mechanism is used for resetting the driving wheel assembly, and after the driving wheel assembly is reset, the driving belt drives the taking-out assembly to reset.

In an alternative embodiment, the base comprises two support plates arranged opposite to each other and a bottom connecting plate connecting the two support plates; each fixed wheel is arranged between two supporting plates.

In an alternative embodiment, the stator assembly includes a first stator and a second stator; the first fixed wheel is arranged between the two supporting plates and positioned at the front ends of the supporting plates, and the second fixed wheel is arranged between the two supporting plates and positioned at the rear ends of the supporting plates; and an installation space of the driving wheel assembly is formed between the first fixed wheel and the second fixed wheel.

In an alternative embodiment, the rear end of the supporting plate is provided with bearing seats for mounting the second fixed wheels, and two ends of the wheel shafts of the second fixed wheels are respectively connected with bearings in the bearing seats; the front end of the supporting plate is provided with a mounting hole matched with the wheel shaft of the first fixed wheel.

In an alternative embodiment, the fixed wheel assembly includes a first fixed wheel, a third fixed wheel, and a fourth fixed wheel; the first fixed wheels are arranged at the front end of the supporting plate, and the third fixed wheels and the fourth fixed wheels are distributed at intervals on the rear end of the supporting plate along the sliding direction perpendicular to the sliding seat; and an installation space of the driving wheel assembly is formed among the third fixed wheel, the fourth fixed wheel and the first fixed wheel.

In an alternative embodiment, the wheel assembly includes a first wheel and a second wheel mounted on the carriage; the sliding seat comprises two mounting plates which are oppositely arranged, and a connecting plate which is arranged between the two mounting plates; the first driving wheel is arranged between the two mounting plates and positioned at the front ends of the mounting plates, and the second driving wheel is arranged between the two mounting plates and positioned at the rear ends of the mounting plates.

In an alternative embodiment, a first slide rail is arranged on the side of the mounting plate facing the support plate, and a first guide block matched with the first slide rail is arranged on the support plate.

In an alternative embodiment, the rear end of the mounting plate is provided with a first bumper, and the rear end of the support plate is provided with a bump block opposite to the first bumper.

In an alternative embodiment, the return mechanism is an elastic element, one end of the elastic element is connected to the rear end of the sliding seat, and the other end of the elastic element is connected to the rear end of the base.

In an alternative embodiment, the elastic element is a spring; one end of the spring is connected to the wheel shaft of the second driving wheel located at the rear end of the sliding seat, and the other end of the spring is connected to the wheel shaft of the fixed wheel located at the rear end of the base.

In an alternative embodiment, the reset mechanism comprises a diverting wheel, a counterweight and a rope; the turning wheel is positioned at the rear end of the base, and one end of the rope extends along the horizontal direction and is connected with the rear end of the sliding seat; the other end of the rope bypasses the turning wheel to extend along the vertical direction and is connected with the counterweight.

In an alternative embodiment, the extraction assembly includes a stationary support and a plurality of suction cups; the sucking discs are arranged on the fixed support, and the sucking surfaces of the sucking discs are opposite to the front surface of the container; the fixed support is connected with the driving belt and moves along with the driving belt.

In an alternative embodiment, the extraction assembly includes a fixed bracket and a magnet disposed at one end of the fixed bracket; one end of the fixing support, which is far away from the magnet, is fixed on the transmission belt, and the surface of the container, which faces the fixing support, is a magnetic adsorption surface.

In an alternative embodiment, the extraction assembly comprises a fixed bracket and a buckle arranged at one end of the fixed bracket; one end of the fixing support, which is far away from the buckle, is fixed on the transmission belt, and a clamping groove used for being matched with the buckle is formed in the surface, facing the fixing support, of the container.

In an alternative embodiment, the driving belt is a synchronous belt, and a clamp is arranged at one end of the fixed bracket, which faces the synchronous belt; the fixed support is fixed on the synchronous belt through the clamp holder.

In an alternative embodiment, the gripper comprises a first clamping assembly, wherein the first clamping assembly comprises a first pressing plate and a first toothed plate which are arranged at two sides of the synchronous belt; the first toothed plate is positioned on the toothed side of the synchronous belt and meshed with the transmission teeth of the synchronous belt, the first pressing plate is positioned on the toothless side of the synchronous belt, and the first pressing plate and the first toothed plate are connected together.

In an alternative embodiment, the gripper further comprises a second gripping assembly disposed opposite and spaced apart from the first gripping assembly; the second clamping assembly comprises a second pressing plate and a second toothed plate which are arranged on two sides of the synchronous belt; the second toothed plate is positioned on the toothed side of the synchronous belt and meshed with the transmission teeth of the synchronous belt, the second pressing plate is positioned on the non-toothed side of the synchronous belt, and the second pressing plate and the second toothed plate are connected together; the second pressing plate is connected with the first pressing plate through a connecting piece, and the fixing support is fixed on the first pressing plate and/or the second pressing plate.

In an alternative embodiment, a second guide block is arranged at one end of the second pressing plate facing the sliding seat; the mounting plate of slide includes vertical board and horizontal plate, vertical board with the horizontal plate is connected and is formed L type mounting panel, vertical board is used for the installation the wheel subassembly, the horizontal plate be provided with second guide block complex second guide rail.

In an alternative embodiment, a second buffer is arranged on the second pressing plate, and the second buffer is opposite to the first limiting structure.

In an alternative embodiment, the base is further provided with a tray, the tray comprising a first pallet and a second pallet arranged opposite to each other; the first supporting plate and the second supporting plate are respectively arranged on the supporting plates, and a channel for the fixed bracket to move is formed between the first supporting plate and the second supporting plate; one end of the fixed support, which is far away from the transmission belt, is positioned above the tray.

In an alternative embodiment, the front end of the first pallet is provided with a first cushion pad, and the first cushion pad is located on the end face of the first pallet facing the cargo box; the front end of the second supporting plate is provided with a second buffer cushion, and the second buffer cushion is positioned on the end face, facing the container, of the second supporting plate.

In an alternative embodiment, a surface at the front end of the first pallet facing away from the base is provided with a first guiding surface extending obliquely downwards towards the ground; a surface at the front end of the second pallet facing away from the base is provided with a second guiding surface extending obliquely downwards towards the ground.

In an alternative embodiment, the container removal device further comprises a motor and a decelerator, the motor being connected to the wheel axle of the stator at the rear end of the base through the decelerator.

In a second aspect, an embodiment of the present invention provides a handling robot, including a robot body and the container pickup device; the container taking-out device is mounted on the robot body.

In a third aspect, embodiments of the present invention provide a container removal method utilizing a transfer robot including a container removal device including a base, a transmission mechanism, and a removal assembly; the take-out assembly is used for being connected with the front surface of a container to be transferred so as to transfer the container; the transmission mechanism comprises a fixed wheel assembly, a movable wheel assembly and a transmission belt, the movable wheel assembly comprises a sliding seat which is slidably arranged on the base, a first limiting structure is arranged at the front end of the sliding seat along the moving direction of the sliding seat towards the container, and a reset mechanism is connected at the rear end of the sliding seat; the method comprises the following steps:

The transfer robot with the container taking-out device moves to the front of a storage shelf where the container to be transferred is located;

the transmission mechanism is utilized to drive the taking-out assembly to move towards the front surface of the container;

when the taking-out assembly moves to the first limiting structure, the transmission mechanism drives the driving wheel assembly and the taking-out assembly to move towards the front of the container together;

after the take-out assembly is contacted with the front surface of the container, the take-out assembly is connected with the front surface of the container to be transferred so as to transfer the container;

when the transmission mechanism drives the take-out assembly to move reversely, the reset mechanism drives the driving wheel assembly to reset;

after the movable wheel assembly is reset, the transmission mechanism continuously drives the taking-out assembly to reversely move and reset.

Compared with the related art, the container taking-out device and method and the transfer robot provided by the embodiment of the invention have the following advantages;

in the container taking-out device provided by the embodiment of the invention, the taking-out assembly is used for being connected with the front surface of the container to be transferred, so that the container can be taken out from the storage shelf and transferred to the robot shelf or other storage areas of the storage shelf; in the transferring process of the container, the taking-out assembly is connected with the front surface of the container, so that horizontal operation space is not required to be reserved at the left side and the right side of the container, meanwhile, the space for inserting a fork is not required to be reserved at the bottom of the container, and the lifting space of the container when the container is lifted, namely, when the container taking-out device provided by the embodiment of the invention is used for transferring the container, the operation space for taking out the assembly when a carrying robot carries the container can be obviously reduced, the storage space of storage can be fully utilized, and the storage density of the warehouse is improved.

In addition, in the container taking-out device provided by the embodiment of the invention, the driving wheel assembly in the transmission mechanism is arranged on the base through the sliding seat, the front end of the sliding seat is provided with the first limiting structure, when the taking-out assembly moves towards the container and is in butt joint with the first limiting structure, the taking-out assembly and the sliding seat can integrally move towards the front of the container, the stroke of the taking-out assembly is increased, so that the taking-out assembly easily stretches into the storage rack, the container positioned in the deep part of the storage rack is taken out conveniently, and the reliability of the carrying robot for carrying the container is improved.

In addition to the technical problems and features that constitute the technical solutions of the present invention and the beneficial effects caused by the technical features of the technical solutions described above, the container taking device and method provided by the embodiments of the present invention, other technical problems that can be solved by the transfer robot, other technical features included in the technical solutions, and beneficial effects caused by the technical features will be described in further detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the embodiments of the invention or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only a part of the embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a working state of a transfer robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a swing mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating the connection of a swing mechanism to a container removal apparatus according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a cargo box retrieving device according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a base according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a first installation of a stator assembly and a base according to an embodiment of the present invention;

FIG. 7 is a second schematic installation diagram of a stator assembly and a base according to an embodiment of the present invention;

fig. 8 is a schematic diagram of an arrangement of a first driving wheel, a second driving wheel, a first buffer, a first guide rail and a second guide rail on a sliding seat according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a sliding seat according to an embodiment of the present invention;

FIG. 10 is a schematic view illustrating a first bumper and bump block mounting according to an embodiment of the present invention;

FIG. 11 is a schematic diagram illustrating an installation of a reset mechanism according to an embodiment of the present invention;

FIG. 12 is a second schematic installation diagram of the reset mechanism according to the embodiment of the present invention;

fig. 13 is a third installation schematic diagram of the reset mechanism according to the embodiment of the present invention;

FIG. 14 is a schematic view of the connection of the take-out assembly to the tray according to an embodiment of the present invention;

FIG. 15 is a schematic view of a guiding surface at the front end of a pallet according to an embodiment of the present invention;

FIG. 16 is a schematic view of a take-out assembly according to an embodiment of the invention;

FIG. 17 is a schematic diagram showing a connection between a take-out assembly and a belt according to an embodiment of the present invention;

FIG. 18 is a second schematic diagram of a connection between a take-out assembly and a belt according to an embodiment of the present invention;

fig. 19 is a schematic flow chart of steps of a method for removing a cargo box according to an embodiment of the present invention.

Reference numerals illustrate:

10-a base; 11-a support plate;

12-a bottom connecting plate; 13-a first guide block;

14-a third guide rail; 15-bumping;

20-fixed wheel assembly; 21-a first fixed wheel;

22-a second fixed wheel; 23-a third fixed wheel;

24-fourth fixed wheel; 30-a wheel assembly;

31-a slide; 32-a first wheel;

33-a second wheel; 34-a first rail;

35-a second guide rail; 36-a first buffer;

37-a first limit structure; 40-driving belt;

50-trays; 51-a first pallet;

52-a second pallet; 53-a first cushion;

54-a second cushion; 55-a second limiting plate;

56-a third guide block; 57-guiding surfaces;

60-withdrawing the assembly; 61-fixing a bracket;

62-sucking disc; 63-a first clamping assembly;

64-a second clamping assembly; 65-a second buffer;

70-driving means; 81-a return spring;

82-a belt; 83-a counterweight;

84-rope; 85-turning wheels;

100-container removal device; 111-a first carrier plate;

112-a second carrier plate; 113-a first mounting hole;

114-a second mounting hole; 200-a slewing mechanism;

210-mounting rack; 220-a swivel assembly;

300-base; 311-mounting plates;

312-vertical plates; 313-horizontal plates;

314-connecting plates; 400-robot shelves;

500-storage shelves; 600-cargo box;

611-fixing a connecting plate; 612—a horizontal mounting portion;

613-a suction cup mounting plate; 631-a first platen;

632-first toothed plate; 641-a second platen;

642-a second toothed plate; 643-second guide block.

Detailed Description

When the clamping type carrying robot or the lifting type carrying robot is used for carrying the container, a large operation space is required to be reserved, so that the storage space of the warehouse is wasted, and the storage density of the warehouse is reduced. In order to solve the above problems, in the extraction device provided by the embodiment of the invention, the extraction assembly for transferring the container is connected with the front surface of the container, and the space for inserting and moving the extraction assembly is not required to be reserved at the bottom, the upper part and the left and right sides of the container, so that the storage space of the warehouse can be fully utilized, and the storage density of the warehouse is improved.

In order to make the above objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without inventive faculty, are intended to fall within the scope of the embodiments of the present invention.

Fig. 1 is a schematic diagram of a working state of a transfer robot according to an embodiment of the present invention. As shown in fig. 1, a transfer robot provided in an embodiment of the present invention includes: a robot body and a container pickup device 100 mounted on the robot body, the robot body including a swing mechanism 200, a base 300, and a robot shelf 400; wherein, the base 300 is used for supporting the parts or devices installed on the base 300, the base 300 is provided with a travelling mechanism for driving the base 300 to move on the ground of the storage area, the robot shelf 400 is fixedly installed on the base 300, and the robot shelf 400 comprises a plurality of container storage spaces for temporarily storing the transported containers 600.

Fig. 2 is a schematic structural diagram of a swing mechanism according to an embodiment of the present invention. As shown in fig. 2, the swing mechanism 200 is mounted on a beam of the robot shelf 400, and can be lifted and lowered along the robot shelf 400. The swing mechanism 200 comprises a mounting frame 210 and a swing assembly 220, wherein one end of the mounting frame 210 is fixedly connected to the cross beam through bolts and screws, and can move up and down along the robot shelf 400 along with the cross beam; the swivel assembly 220 is mounted on the mounting frame 210 and is rotatable relative to the mounting frame 210 about an axis of rotation of the swivel assembly 220. Illustratively, taking the placement orientation of the swing mechanism of FIG. 2 as an example, the mounting frame 210 is disposed generally parallel to the ground, i.e., the mounting frame 210 extends in a horizontal direction, the axis of rotation L of the swing assembly 220 ₁ Perpendicular to the ground, the swing assembly 220 rotates in a space substantially parallel to the ground as the swing assembly 220 rotates about its axis of rotation relative to the mount 210.

Fig. 3 is a schematic connection diagram of a swing mechanism and a container pickup device according to an embodiment of the present invention. As shown in fig. 3, the container pickup device 100 is mounted on the revolving assembly 220, when the revolving assembly 220 rotates around its rotation axis relative to the mounting frame 210, the container pickup device 100 can rotate around the rotation axis of the revolving assembly 220 relative to the mounting frame 210 under the driving of the revolving assembly 220, so that the container pickup device 100 can rotate a certain angle, for example, 90 ° after picking up the container 600; and places the cargo box 600 on the robotic pallet 400. When the swing mechanism 200 moves up and down along the robot shelf 400, the container pickup device 100 moves up and down along the robot shelf 400 along with the swing mechanism 200 to adjust the height of the container pickup device 100 from the ground so as to pick up or place containers 600 located at different heights of the storage shelf 500.

Fig. 4 is a schematic structural view of a cargo box taking-out device according to an embodiment of the present invention. As shown in fig. 4, the cargo box extracting apparatus 100 includes: the base 10, the transmission mechanism, the taking-out assembly 60 and the driving device 70, wherein the base 10 is installed on the revolving assembly 220 and can rotate along with the revolving assembly 220; the transmission mechanism and the driving device 70 are both installed on the base 10, and the driving device 70 is connected with the transmission mechanism for driving the transmission mechanism to perform power transmission. The transmission mechanism comprises a fixed wheel assembly 20, a movable wheel assembly 30 and a transmission belt 40 which is wound around the fixed wheel of the fixed wheel assembly 20 and the movable wheel of the movable wheel assembly 30; the take-out assembly 60 is fixed on the transmission belt 40, when the driving device 70 drives the transmission mechanism to carry out power transmission, the take-out assembly 60 moves towards the front surface of the container 600 under the driving of the transmission belt 40, and when the take-out assembly 60 moves to a set position, the take-out assembly 60 is connected with the front surface of the container 600, so that the container 600 is taken out from the storage shelf 500 and transferred to the robot shelf 400 or other storage shelves 500; likewise, the container removal device 100 may also be used to transfer containers 600 to be transferred, located in a transfer robot gate, to the storage racks 500.

When the container taking-out device provided by the embodiment of the invention is used for transferring a container, the taking-out assembly 60 is connected with the front surface of the container 600, and no operation space is reserved at the bottom, the upper side and the left and right sides of the container 600. Compared with the prior art, the clamping arms of the clamping type carrying robot are clamped on the left side and the right side of the container, the storage space of the warehouse in the horizontal direction is wasted, the fork of the lifting type carrying robot is inserted into the bottom of the container, and compared with the storage space of the warehouse in the height direction, the storage space of the warehouse is wasted, and the storage space of the warehouse can be fully utilized due to no need of reserving operation spaces at the bottom, the upper side, the left side and the right side of the container 600, so that the storage density of the warehouse is improved.

The container pickup device will be further described with reference to the accompanying drawings, wherein first, the first and second directions defined in this embodiment will be described: when the picking assembly 60 is used to pick up the container 600 located on the storage rack 500, the direction in which the picking assembly 60 moves toward the front of the container 600 is the first direction, and the moving direction of the picking assembly 60 as shown in fig. 1 and 4 is the first direction; the direction in which the take out assembly 60 moves away from the storage rack 500 is a second direction, i.e., the first direction is opposite the second direction. For the purposes of this embodiment, the front side of the container 600 is defined as the side of the container 600 that faces the outside of the storage rack 500, or is exposed to the outside of the storage rack 500, when the container 600 to be transferred is placed on the storage rack 500.

In addition, in the state of the cargo box withdrawing device 100 shown in fig. 1, for convenience of description of the motion state of the transmission mechanism and the withdrawing assembly 60, both ends of the base 10 are defined as the rear end of the base 10 and the front end of the base 10, respectively, along the first direction; when the container 600 located on the storage rack 500 is taken out by the taking-out assembly 60, the front end of the base 10 needs to be close to the storage rack 500, and the end opposite to the front end of the base 10 is the rear end of the base 10; in the condition of the container removal device 100 shown in fig. 4, the position of the removal assembly 60 at the rear end of the base 10 may be defined as the initial position of the removal assembly 60.

Fig. 5 is a schematic structural diagram of a base according to an embodiment of the present invention. As shown in fig. 5, the base 10 provided in this embodiment includes two support plates 11 and a bottom connecting plate 12 connecting the two support plates 11, the two support plates 11 are parallel and spaced apart along a first direction, and a mounting space for the fixed wheel assembly 20 and the moving wheel assembly 30 is formed between the two support plates 11, wherein the fixed wheel assembly is fixedly mounted between the two support plates 11, and the moving wheel assembly 30 is slidably mounted between the two support plates 11 by a slide 31 (see the slide shown in fig. 9). The bottom connecting plate 12 is provided at the bottom of the two support plates 12 and connects the two support plates 12 together; the bottom connecting plate 12 is connected to the swivel assembly 220 so that the base 10 can rotate with the swivel assembly 220.

For convenience of description, the two support plates 11 may be defined as a first support plate and a second support plate, respectively, wherein the first support plate and the second support plate each include a first support plate 111 and a second support plate 112, the first support plate 111 is disposed along a horizontal direction, the second support plate 112 is disposed along a vertical direction, and the first support plate 111 and the second support plate 112 are vertically connected together to form the L-shaped support plate 11, or each support plate 11 may be made of angle steel.

The first carrying plate 111 is used for carrying components or devices arranged above the base 10, for example, a tray 50 is arranged above the base 10, and the tray 50 can be fixed on the first carrying plate 111 or slidingly arranged on the first carrying plate 111; if the tray 50 is slidably mounted on the base 10, a third guide rail 14 for sliding the tray 50 with respect to the base 10 is provided on each of the first bearing plates 111.

The second bearing plate 112 may be used for mounting the fixed wheel assembly 20, and along the first direction, the front end and the rear end of the second bearing plate 112 are further provided with mounting holes for mounting the fixed wheels in the fixed wheel assembly 20, respectively, and the rotation axis of each fixed wheel is perpendicular to the second bearing plate 112. It will be appreciated that since the number of stator wheels of the stator wheel assembly 20 between the two carrier plates 112 may be arranged according to actual needs, in some embodiments, the stator wheel assembly includes two stator wheels, and the installation of the stator wheel assembly and the base is schematically shown in fig. 6; in some embodiments, the stator assembly may also include three or more stator wheels; when the fixed wheel assembly comprises three fixed wheels, a schematic installation diagram of the fixed wheel assembly and the base is shown in fig. 7.

Fig. 6 is a schematic diagram illustrating installation of the stator assembly and the base according to an embodiment of the present invention. As shown in fig. 6, the stator assembly 20 includes two stator wheels, which are a first stator wheel 21 and a second stator wheel 22, respectively, the first stator wheel 21 and the second stator wheel 22 are mounted at the front end and the rear end of the base 10, respectively, and the driving belt 40 is wound around the first stator wheel 21 and the second stator wheel 22, respectively, and the space formed by the driving belt 40 and the first stator wheel 21 and the second stator wheel 22 is the wheel mounting space in the wheel assembly 30.

The first fixed wheels 21 are installed at the front ends of the second bearing plates 112 and located between the two second bearing plates 112, the first fixed wheels 21 are used for guiding the driving belt 40, the first fixed wheels 21 comprise wheel bodies and wheel shafts connected with the wheel bodies, and two ends of each wheel shaft can be installed on the second bearing plate 112 respectively; each of the second bearing plates 112 is provided with a first mounting hole 113 fitted with an axle of the first fixed wheel 21, the axle of the first fixed wheel 21 is mounted in the first mounting hole 113, and the first fixed wheel 21 is rotatable relative to the second bearing plate 112.

The second fixed wheels 22 are installed at the rear ends of the second bearing plates 112, the rear ends of the second bearing plates 112 are respectively provided with second mounting holes 114, and bearing seats are arranged in the second mounting holes 114; the axle of the second fixed wheel 22 is mounted in a bearing in the bearing housing, and the second fixed wheel is rotatable relative to the base 10 under the influence of an external force. The second fixed wheel can be used as a driving wheel and drives the first fixed wheel to rotate through the driving belt 40.

Further, as shown in fig. 6, the second fixed wheel 22 is mounted at the rear end of the base 10, and the second fixed wheel can be connected with the driving device 70 through its axle, and the second fixed wheel 22 can rotate relative to the base 10 under the driving of the driving device 70, so as to drive the driving belt 40 to move relative to the base 10. In addition, the driving device 70 includes a motor and a decelerator connected to the motor, the motor is connected to the axle of the second fixed wheel 22 through the decelerator, the driving belt 40 can be moved in the first direction or the second direction by controlling the forward and reverse rotation of the motor, and the moving direction of the driving belt 40 can be consistent with the moving direction of the withdrawing assembly 60, referring to the first direction and the second direction shown in fig. 4.

Fig. 7 is a second schematic installation diagram of the fixed wheel assembly and the base according to the embodiment of the present invention. As shown in fig. 7, the stator assembly 20 includes three stator wheels including a first stator wheel 21, a third stator wheel 23 and a fourth stator wheel 24, the first stator wheel 21 is mounted at the front end of the base 10, the third stator wheel 23 and the fourth stator wheel 24 are mounted at the rear end of the base 10, the third stator wheel 23 and the fourth stator wheel 24 are distributed at intervals at the rear end of the base 10 along a direction perpendicular to the first direction, and the driving belt 40 is wound on the first stator wheel 21, the third stator wheel 23 and the fourth stator wheel 24 to form a wheel mounting space of the wheel assembly 30.

The manner in which the first fixed wheel 21 is mounted at the front end of the base 10 is unchanged, and will not be described in detail here; the embodiment shown in fig. 7 differs from the embodiment of fig. 6 in that: the rear end of the base 10 is provided with a third mounting hole and a fourth mounting hole, respectively, and the third mounting hole and the fourth mounting hole are disposed at the rear end of the base 10 at intervals in the vertical direction. The wheel axle of the third fixed wheel 23 is installed in the third installation hole of the base 10, and the third fixed wheel 23 can rotate relative to the base 10; the axles of the fourth fixed wheels 24 are respectively arranged in the fourth mounting holes of the base 10, and the fourth fixed wheels 24 can rotate relative to the base 10; the driving device 70 is selectively connected with one of the third fixed wheel 23 and the fourth fixed wheel 24, so as to drive the driving belt 40 to move relative to the base 10.

The second bearing plate 112 not only can be used for installing the fixed wheel assembly 20, but also can be used for installing the movable wheel assembly 112, the second bearing plate 112 is provided with a first guide block 13 for installing the movable wheel assembly 30, and the first guide block 13 is arranged on the second bearing plate 112 in a strip shape along a first direction so that the movable wheel assembly 30 can slide along the first direction relative to the base 10.

Fig. 8 is a schematic diagram of an arrangement of a first driving wheel, a second driving wheel, a first buffer, a first guide rail and a second guide rail on a sliding seat according to an embodiment of the present invention; fig. 9 is a schematic structural diagram of a sliding seat according to an embodiment of the invention.

As shown in fig. 8, the wheel assembly 30 includes a first wheel 32, a second wheel 33, and a carriage 31; in a first direction (a first direction is a direction as shown in fig. 8), both ends of the carriage 30 may be defined as a front end and a rear end, the first driving wheel 32 is mounted at the front end of the carriage 31, and the second driving wheel 33 is mounted at the rear end of the carriage 31; the slide 31 is slidably mounted on the base 10, the slide 31 is provided with a first guide rail 34 slidably connected to the base 10, and the first guide rail 34 cooperates with a first guide block 13 provided on the second carrying plate 112 so that the slide 31 can move along the base 10 in the first direction or the second direction.

As shown in fig. 9, the sliding seat 31 includes two mounting plates 311 and a connecting plate 314 between the two mounting plates 311, and one connecting plate 314 may be disposed at the front end and the rear end of the two mounting plates 311, respectively, to enhance the structural strength of the sliding seat 31. For convenience of description, the two mounting plates 311 may be a first mounting plate and a second mounting plate, respectively, each including a vertical plate 312 and a horizontal plate 313, and the vertical plate 312 and the horizontal plate 313 are vertically connected together and form an L-shaped mounting plate 311. The first mounting plate and the second mounting plate are arranged in parallel with each other with a distance therebetween (in the first direction shown in fig. 9) in a longitudinal direction parallel to the first direction, and form mounting spaces for the first driving wheel 32 and the second driving wheel 33.

Both ends of the wheel shaft of the first driving wheel 32 are respectively connected with the front ends of the vertical plates 312, and the first driving wheel 32 mounted to the slide 31 can rotate relative to the slide 31; both ends of the wheel shaft of the second driving wheel 33 are respectively connected to the rear ends of the vertical plates 312, and the second driving wheel 33 mounted to the slider 31 is rotatable with respect to the slider 31.

The first guide rail 34 is located on the vertical plate 312, the length direction of the first guide rail 34 is parallel to the first direction, and the first guide rail 34 is matched with the first guide block 13 on the base 10. The horizontal plate 313 is mounted with a second guide rail 35, and the second guide rail 35 is engaged with a second guide block provided at the take-out assembly 60 such that the take-out assembly 60 can slide in a first direction or a second direction along the second guide rail 35 with respect to the slider 31.

The front end of the sliding seat 31 is further provided with a first limiting structure 37 propped against the taking-out assembly 60, the first limiting structure 37 can be a first limiting plate, two ends of the first limiting plate are respectively fixed on each horizontal plate 313, namely, the first limiting plate is bridged between the two mounting plates 311, so that the first limiting plate can be propped against the taking-out assembly 60. When the to-be-taken-out assembly 60 moves towards the front of the container 600, the first limiting plate can be abutted with the take-out assembly 60, and as the transmission belt 40 continues to drive towards the direction of the container 600, the take-out assembly 60 drives the first limiting plate and the sliding seat 31 to move towards the front of the container 600, so that the take-out assembly 60 moves towards the storage rack 500 and is connected with the to-be-transferred container 600, the moving stroke of the take-out assembly 60 is enlarged, the container 600 deeper in the storage rack 500 can be taken out, and the working reliability of the take-out assembly 60 is improved.

After the to-be-removed assembly 60 is connected to the to-be-transferred container 600, the to-be-removed assembly 60 needs to be moved in a second direction to remove the to-be-transferred container from the storage rack 500, and at this time, the to-be-removed assembly 60 and the slide 31 need to be quickly moved toward and away from the storage rack 500. In some embodiments, when the sliding base 31 moves towards the second direction and retreats to the initial position, the sliding base 31 is prevented from sliding out of the base and reaching the preset initial position, and a limiting device matched with the sliding base 31 is generally arranged on the base 10, as shown in fig. 10.

Fig. 10 is a schematic view illustrating installation of a first bumper and a bump block according to an embodiment of the present invention. As shown in fig. 10, when the slide 31 moves toward the rear end of the base 10 rapidly, the slide 31 is limited; two collision blocks 15 are arranged at the rear end of the base 10, and each collision block 15 is a rectangular block and is opposite to the vertical plate 312 of the sliding seat 31; two bumps 15 are respectively fixed at the rear ends of the first support plate and the second support plate of the base 10, and the bumps 15 can be positioned on the second bearing plate 112 of the support plate 11.

In order to reduce the impact force when the slide 31 contacts the base 10, two first buffers 36 are disposed at the rear end of the slide 31, the two first buffers 36 are respectively disposed at the rear ends of the first and second mounting plates of the slide 31, the first buffers 36 may be disposed on the vertical plates 312 of the mounting plates 311, and the first buffers 36 are disposed opposite to the bump 15. When the slide 31 moves to the rear end of the base 10 along the second direction, the first buffer 36 abuts against the bump 15, and the first buffer 36 reduces the impact force between the slide 31 and the base 10, thereby reducing the vibration of the cargo taking-out device, and enabling the cargo box 600 to be stably fixed on the taking-out assembly 60 during the process of transferring the cargo box 600.

In another embodiment, to enable the slide 31 to be quickly retracted to the initial position, the rear end of the slide 31 is provided with a reset mechanism. When the take-out assembly 60 moves toward the front of the cargo box 600 and abuts against the first limiting structure 37, the slide 31 needs to overcome the restoring force of the restoring mechanism and move to the front end of the base 10; that is, when the take-out assembly 60 abuts against the first limiting structure 37 at the front end of the slide 31, the driving belt 40 continues to drive in the first direction, and the slide 31 and the take-out assembly 60 move integrally relative to the base 10 toward the front of the cargo box 600 and move to the cargo box 600.

After the take-out assembly 60 contacts the front surface of the container 600 and fixes the container 600, when the take-out assembly 60 starts to return and the container 600 is ready to be transferred to the tray 50, the reset mechanism starts to work, so that the slide seat 31 moves along the second direction under the action of the restoring force of the reset mechanism, the slide seat 31 can be quickly restored to the initial position, and the efficiency of the transfer robot for transferring the container is improved.

Further, the restoring mechanism provided in the present embodiment may be an elastic element or a counterweight disposed at the rear end of the sliding seat 31, and of course, the restoring mechanism may also be other elements or components capable of providing a restoring force, as long as the restoring force can be provided when the sliding seat 31 moves toward the second direction; the present embodiment may exemplarily include, but is not limited to, the following embodiments, as shown in fig. 11 to 13, depending on the structural form of the reset mechanism.

Fig. 11 is a schematic diagram illustrating installation of a reset mechanism according to an embodiment of the present invention. Illustratively, the return mechanism may be a return spring 81, one end of the return spring 81 being connected to the rear end of the carriage 31, the other end of the return spring 81 being connected to the rear end of the base 10, the return spring 81 being stretched continuously during the advancement of the carriage 31 as the retrieval assembly 60 moves with the carriage 31 to the cargo box 600; when the take-out assembly 60 is returned, the return spring 81 provides a restoring force to the slider 31 to quickly return to the initial position.

Fig. 12 is a second schematic installation diagram of the reset mechanism according to the embodiment of the present invention. As shown in fig. 12, the reset mechanism may be a belt 82, one end of the belt 82 is sleeved on the axle of the second driving wheel 33 at the rear end of the sliding seat 31, the other end of the belt 82 is sleeved on the axle of the second fixed wheel 22, or the other end of the belt 82 is sleeved on the axle of one fixed wheel of the third fixed wheel 23 and the fourth fixed wheel 24. As the take out assembly 60 moves with the slide 31 to the cargo box 600, the belt 82 is continually stretched during the advancement of the slide 31; when the take-out assembly 60 is returned, the belt 82 provides a restoring force to the slide 31 to quickly retract it to the original position.

Fig. 13 is a third schematic installation diagram of the reset mechanism according to the embodiment of the present invention. As shown in fig. 13, the return mechanism includes a weight 83, a rope 84, and a diverting wheel 85, which changes the direction of action of force via the diverting wheel 85 by the gravity generated by the weight 83 to provide the slider 31 with a pulling force when it moves in the second direction. Illustratively, the direction-changing wheel 85 is mounted at the rear end of the base 10, one direction-changing wheel 85 may be mounted on each of the two support plates 11 of the base 10, and the two direction-changing wheels 85 may be disposed opposite to each other and on the second bearing plate 112, with the rotation axis of the direction-changing wheel 85 being perpendicular to the second bearing plate 112.

One end of the rope 84 is wound around the steering wheel 85 and horizontally connected to the rear end of the slider 31, and can be connected to the horizontal plate of each mounting plate 311 of the slider 31; the other end of the rope 84 passes through the direction-changing wheel 85, extends in a direction perpendicular to the ground, and is connected with the counterweight 83; the weight force generated by the weight 83 is then transferred to the slide 31 along the rope 84 to provide a pulling force in the second direction to the slide 31, so that the slide 31 can be restored to the initial position.

Fig. 14 is a schematic diagram showing connection between the take-out assembly and the tray according to the embodiment of the invention. As shown in fig. 14 in combination with fig. 1, a tray 50 for carrying a cargo box 600 is further provided above the base 10, and a middle portion of the tray 50 forms a passage along which the component 60 to be taken out slides. After the take-out assembly 60 is fixedly connected with the container 600 to be transferred, the take-out assembly 60 is moved in the second direction and moved to the initial position, and the container 600 to be transferred is completely separated from the storage rack 500 and placed on the tray 50.

Illustratively, the tray 50 includes first and second opposed, spaced apart

trays

51, 52 and defines a channel for receiving movement of the take-out assembly 60, as well as the first limit structure 37 and the drive mechanism. One end of the take-out assembly 60 is fixedly connected with the belt 40 positioned in the passage, and one end of the take-out assembly 60 remote from the belt 40 protrudes from the tray 50 to facilitate placement of the taken-out cargo box 600 on the tray 50.

Wherein the first and

second pallets

51 and 52 are strip-shaped plates, and the first pallet 51 is mounted on a first support plate of the base 10 and the second pallet 52 is mounted on a second support plate of the base 10; the first and

second pallets

51 and 52 are each located on the first carrier plate 111 of each support plate 11. It will be appreciated that the tray 50 is slidably mounted on the base 10, and that the side of each pallet of the tray 50 facing each support plate 11 of the base 10 is provided with a third guide block 56, the third guide block 56 cooperating with the third guide rail 14 on the support plate 11 to allow the tray 50 to be slidably mounted on the base 10.

Further, the rear ends of the first supporting plate 51 and the second supporting plate 52 are provided with a second limiting plate 55, the second limiting plate 55 connects the first supporting plate 51 and the second supporting plate 52 together, and the second limiting plate 55 can limit the taking-out assembly 60.

The front end of the first supporting plate 51, the front end of the second supporting plate 52, the side of the first supporting plate 51 away from the second supporting plate 52 and the side of the second supporting plate 52 away from the first supporting plate 51 are provided with flanges, and the flanges are arranged on the first supporting plate 51 and the second supporting plate 52, so that a protective space can be formed below the tray 50, and a protective device is conveniently arranged at the edge position of each supporting plate; for example, a flange facing outward is provided with an anti-collision rubber pad or the like for providing effective protection when a pedestrian or other object is bumped in the process of carrying the container by the carrying robot.

For example, the first pallet 51 is provided with a first cushion pad 53, and the first cushion pad 53 is located on the front end of the first pallet 51 and on the end surface facing the cargo box 600, and the first cushion pad 53 may cover the entire front end surface of the first pallet 51, and is used to cushion impact force generated when the tray 50 moves to the storage rack 500 and contacts the storage rack 500, so as to avoid the risk of toppling the storage rack 500 due to the impact force. The first cushion pad 53 may be made of a rubber pad having elasticity, and the first cushion pad 53 has a certain thickness. Similarly, the front end of the second supporting plate 52 is provided with a second cushion pad 54, and the second cushion pad 54 is located on the end surface of the second supporting plate 52 facing the cargo box 600, and the arrangement manner can refer to the connection manner of the first cushion pad 53 and the first supporting plate 51, which is not described herein.

Fig. 15 is a schematic structural view of a guide surface located at a front end of a tray according to an embodiment of the present invention. As shown in fig. 15, the pallet 50 is used for carrying the container 600, and in order to facilitate the transfer of the container 600 onto the pallet 50, the front end of each pallet is provided with a guide surface 57; for example, the front end of the first pallet 51 is provided with a first guide surface to reduce friction when the tray 50 moves along the first pallet 51; the first guide surface is located on a surface of the first pallet 51 facing away from the base 10, and is formed by a front end portion bearing surface of the first pallet 51 extending obliquely downward toward the bottom surface and extending to the front end of the first pallet 51. Similarly, a second guiding surface is disposed on the front end of the second supporting plate 52 and away from the base 10, and the second guiding surface extends obliquely downward toward the ground, and the manner of disposition is the same as that of the first guiding surface, which is not described herein. It will be appreciated that in other embodiments, as shown in fig. 14 for the construction of the tray 50, the bearing surface at the front end portion of the first pallet 51 may be a plane extending to and perpendicular to the end surface thereof; the bearing surface at the front end of the second pallet 52 may have the same structure as the first pallet, and will not be described here.

The extraction assembly 60 provided in this embodiment moves between the first pallet 51 and the second pallet 52, and the extraction assembly 60 can contact the front surface of the cargo box 600 and fix the cargo box 600; this embodiment may specifically include, but is not limited to, the following embodiments, depending on the manner in which the access module 60 is attached to the front side of the cargo box 600.

Fig. 16 is a schematic view of a take-out assembly according to an embodiment of the invention. As shown in fig. 16, the extraction assembly 60 includes a fixing bracket 61 and a plurality of suction cups 62, wherein each suction cup 62 can be connected with a negative pressure generating device, when the suction cup 62 contacts the front surface of the container 600, the negative pressure generating device sucks air in the suction cup 62, so that the pressure in the suction cup 62 is less than the atmospheric pressure, and under the action of the atmospheric pressure, the suction cup 62 can be firmly adsorbed on the front surface of the container 600, thereby realizing the fixation of the container 600.

Each suction cup 62 is located at one end of the fixing bracket 61 far away from the driving belt 40, the fixing bracket 61 comprises a fixing connection plate 611 extending along the vertical direction and a suction cup mounting plate 613, the fixing connection plate 611 can be an L-shaped plate or a T-shaped plate, one end with a horizontal mounting part 612 is fixed on the driving belt 40, the other end is fixedly connected with the suction cup mounting plate 613, and the suction cup mounting plate 613 is opposite to the front surface of the container 600 and can be a rectangular plate; the plurality of suction cups 62 may be uniformly arranged on the suction cup mounting plate 613, and the suction surface of each suction cup 62 faces the front surface of the cargo box 600.

In another embodiment, the extraction assembly 60 includes a stationary bracket 61 and a magnet; the fixing bracket 61 may be the same as the fixing bracket 61 for mounting the suction cup 62, and will not be described here again; the difference is that: the plurality of suction cups 62 on the suction cup mounting plate 613 may be replaced with a plurality of or one magnet, and the magnets may be used to attach the front surface of the cargo box 600. It will be appreciated that the cargo box 600 is at least secured to its front surface as a magnetically attractive surface, and that the cargo box 600 may be an iron box for facilitating the securement of the cargo box 600 by means of magnets. The magnets can be electromagnets, and magnetism can be absorbed by the container 600 when the power is on, and the magnetism disappears when the power is off, so that the container 600 needs to be separated from the fixing support 61 conveniently.

In another embodiment, the extraction assembly 60 includes a fixing bracket 61 and a buckle disposed on the fixing bracket 61, wherein the fixing bracket 61 may be the same as the fixing bracket 61 for mounting the suction cup 62, and will not be described herein; the difference is that: the plurality of suckers 62 on the sucker mounting plate 613 can be replaced by buckles, and the front surface of the container 600 is provided with a clamping groove matched with the buckles; when the securing bracket 61 is moved to the cargo box 600 and contacts the cargo box 600, the clasp may snap into the clasp to secure the cargo box 600 to the retrieval assembly. It will be appreciated that the suction cup 62 on the suction cup mounting plate 613 may be replaced with a hook, and the front of the cargo box 600 is provided with a hook hole for mating with the hook.

On the basis of the above-described embodiment, in order to facilitate fixing of the fixing bracket 61 to the belt 40 toward one end of the belt 40, a holder is provided below the fixing connection plate 611 of the fixing bracket 61, and the horizontal mounting portion 612 of the fixing connection plate 611 may be fixed to the surface of the holder; the belt 40 may be a synchronous belt with a gear on one side, and the gripper is provided with a toothed plate engaged with the gear on the side facing the gear, and fixes the belt 40 in the gripper, preventing sliding between the belt 40 and the gripper, and enhancing the fixing effect of the gripper and the belt 40, so that the belt 40 moves synchronously with the take-out assembly 60.

Fig. 17 is a schematic diagram illustrating connection between a take-out assembly and a belt according to an embodiment of the present invention. As shown in fig. 17, the present embodiment provides a gripper comprising at least one set of gripping assemblies, the gripper illustratively comprising a first gripping assembly 63, the first gripping assembly 63 comprising a first platen 631 and a first toothed plate 632 disposed opposite each other; the first pressing plate 631 is located on and attached to the non-toothed side of the synchronous belt, the first toothed plate 632 is located on the toothed side of the synchronous belt, the first toothed plate 632 is meshed with the driving teeth of the synchronous belt, and the first toothed plate 632 and the first pressing plate 631 are fixed together through a connecting piece, so that the driving belt 40 is fixed between the first pressing plate 631 and the first toothed plate 632, and synchronous movement of the fixing support 61 and the driving belt 40 is achieved.

The gripper also includes a second gripper assembly 64, the second gripper assembly 64 being disposed opposite and spaced apart from the first gripper assembly 63 in the first direction, the second gripper assembly 64 being closer to the cargo box 600; the second clamping assembly 64 includes a second pressing plate 641 and a second toothed plate 642 disposed opposite to each other, wherein the second pressing plate 641 is disposed on and attached to a non-toothed side of the synchronous belt, the second toothed plate 642 is disposed on a toothed side of the synchronous belt, and the second toothed plate 642 is engaged with driving teeth of the synchronous belt, and the second toothed plate 642 and the second pressing plate 641 are fixed together by a connecting member to fix the synchronous belt in the second clamping assembly 65; the first clamping assembly 63 and the second clamping assembly 64 are connected together through a connecting piece so as to enhance the fixing effect of the fixing bracket 61 and the driving belt 40; the first pressure plate 631 of the first clamping assembly 63 and the second pressure plate 641 of the second clamping assembly 64 are connected together by a connector. The fixing connection plate 611 of the fixing bracket 61 may be selectively fixed to the first pressing plate 631, or may be selectively fixed to the second pressing plate 641, or the bottom of the fixing connection plate 611 may be fixed to both the first pressing plate 631 and the second pressing plate 641.

Further, to improve the stability of the removal assembly 60 moving along the first direction, second guide blocks 643 are respectively disposed at two ends of the second pressing plate 641 in the second clamping assembly 64, two ends of the second pressing plate 641 extend towards the sliding seat 31 to form an extension portion, and the second guide blocks 643 are located on the extension portion and are opposite to the sliding seat 31. The slide 31 is provided with the second guide rail 35 with the cooperation of second guide block 643, and the second guide rail 35 sets up on the horizontal plate 313 of slide 31, and the second guide rail 35 is located the edge that the horizontal plate 313 is close to fixed bolster 61, and the length direction of second guide rail 35 is parallel with first direction, and then fixed bolster 61 removes along the second guide rail 35 of slide 31 under the drive of drive belt 40, can promote the gliding stability of fixed bolster 61, reduces the vibration of fixed bolster 61 in the removal in-process, can effectively prevent that packing box 600 from taking out from 60 drops.

When the take-out assembly 60 moves towards the container 600 under the driving of the driving belt 40, the take-out assembly 60 can drive the slide seat 31 to move towards the container 600 as a whole when the take-out assembly 60 moves to the first limiting structure 37, in order to reduce the impact force when the take-out assembly 60 is abutted to the first limiting structure 37, a second buffer 65 can be arranged at the bottom of the fixing support 61, the second buffer 65 is arranged on the second pressing plate 641 of the second clamping assembly 64, the second clamping assembly 64 is closer to the first limiting structure 37 than the first clamping assembly 63, and the second buffer 65 and the first limiting structure 37 are opposite to each other, namely, the first limiting structure 37 and the second buffer 65 are provided with opposite parts at the same height. When the take-out assembly 60 moves to the first limiting structure 37, the second buffer 65 may abut against the first limiting structure 37, so as to reduce the impact force between the take-out assembly 60 and the slide 31.

As can be seen from the above embodiments, one belt 40 is provided in the channel formed by the first and second pallets, and the belt 40 may be centrally arranged between the first and

second pallets

51, 52; in another embodiment, two driving belts 40 are provided in a passage formed between the first and second supporting

plates

51 and 52, and the two driving belts 40 are disposed in parallel, and an arrangement space accommodating each electric component is formed between the two driving belts 40.

Fig. 18 is a second schematic diagram of connection between the take-out assembly and the belt according to an embodiment of the present invention. As shown in fig. 18, two synchronously driven belts 40 are provided between the first and

second pallets

51 and 52, one belt 40 being provided adjacent to the first pallet 51 and the other belt 40 being provided adjacent to the second pallet 52, and the take-out assembly 60 is connected to the two belts 40 by the above-mentioned grippers, respectively, and is movable together with the belts 40. An installation space between the two parallel and oppositely arranged driving belts is formed, for example, the camera equipment can be arranged between the two driving belts 40 and is arranged at the front end of the base 10 through the fixing frame.

Furthermore, in order to further optimize the structure of the transfer robot, on the basis of the above embodiment, the slide seat 31, the first supporting plate 51 and the second supporting plate 52 may be integrally manufactured, and the first supporting plate 51 and the second supporting plate 52 are slidably mounted on the base 10 through the slide seat 31, so that the third guide rail 14 slidably mounted with the tray 50 is not required to be disposed on the base 10, thereby simplifying the structure of the transfer robot and saving manufacturing cost.

Fig. 19 is a schematic flow chart of steps of a method for removing a cargo box according to an embodiment of the present invention. As shown in fig. 19, the cargo box taking-out method according to the embodiment of the invention includes the following steps:

step S100: the transfer robot with the container removal device 100 moves to the front of the storage shelf where the container to be transferred is located; illustratively, upon receiving a command to transfer a certain container 600, the transfer robot moves to the storage rack 500 where the container 600 is located by the traveling mechanism of the base 300, and adjusts the height of the container pickup device 100 so that the pickup unit 60 of the container pickup device 100 faces the front surface of the container 600.

Step S200: the drive mechanism is used to drive the take-out assembly 60 to move towards the front of the cargo box 600; illustratively, after the retrieval assembly 60 is opposed to the front of the cargo box 600, the drive device 70 drives the drive mechanism and drives the drive belt 40 in the drive mechanism in a first direction to move the retrieval assembly 60 toward the front of the cargo box 600.

Step S300: after the take-out assembly 60 moves to the first limiting structure 37, the transmission mechanism drives the driving wheel assembly 30 and the take-out assembly 60 to move together towards the front of the container 600; illustratively, the take-out assembly 60 is moved toward the front of the cargo box 600 by the belt 40, the take-out assembly 60 moves to and abuts the first limit structure 37 at the front end of the carriage 31, the belt 40 continues to drive toward the first direction and overcomes the restoring force of the restoring mechanism, and the take-out assembly 60 moves toward the front of the cargo box 600 together with the wheel assembly 30 and moves to the cargo box 600.

Step S400: after the take-out assembly 60 is in contact with the front face of the contact container 600, the take-out assembly is connected to the front face of the container 600 to be transferred to transfer the container 600; illustratively, after the retrieval assembly 60 is moved to the front of the cargo box 600, the retrieval assembly 60 is utilized to contact the front of the cargo box 600 and attach the cargo box 600. For example, after the take-out assembly 60 is moved to the cargo box 600, the suction cups 62 in the take-out assembly 60 contact the front surface of the cargo box 600 and the suction cups 62 are sucked against the front surface of the cargo box 600, thereby securing the cargo box 600 to the take-out assembly.

Step S500: when the transmission mechanism drives the taking-out assembly 60 to move reversely, the reset mechanism drives the driving wheel assembly 30 to reset; illustratively, after the take-out assembly 60 secures the cargo box 600, the drive device 70 drives the drive mechanism and moves the drive belt 40 in the second direction, at which time the wheel assembly is retracted to the initial position by the restoring force of the restoring mechanism. Namely: the motor reverses and drives the driving belt 40 to drive away from the direction of the storage shelf 500, at this time, the first driving wheel 32 and the second driving wheel 33 arranged on the sliding seat 31 retract to the initial positions under the restoring force of the restoring mechanism.

Step S600: after the movable wheel assembly 30 is reset, the transmission mechanism continuously drives the taking-out assembly 60 to reversely move and reset; illustratively, after the wheel assembly 30 is retracted to the initial position, the belt 40 continues to drive in the second direction, thereby driving the take-out assembly 60 to continue to move toward a direction away from the warehouse rack 500 and to the initial position.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A container removal device, comprising: the device comprises a base, a transmission mechanism and a taking-out assembly;

the take-out assembly is used for being connected with the front surface of a container to be transferred so as to transfer the container; the transmission mechanism comprises a fixed wheel assembly, a driving wheel assembly and a transmission belt, wherein the fixed wheel assembly comprises at least two fixed wheels which are arranged on the base at intervals; the movable wheel assembly comprises a sliding seat and at least two movable wheels, the sliding seat is slidably arranged on the base, the at least two movable wheels are arranged on the sliding seat at intervals, a first limiting structure is arranged at the front end of the sliding seat along the moving direction of the sliding seat towards the container, and a reset mechanism is connected at the rear end of the sliding seat;

The take-out assembly is arranged on the transmission belt, the transmission belt is wound on each driving wheel and each fixed wheel, and when the take-out assembly moves towards the container under the drive of the transmission belt and moves to the first limiting structure, the transmission belt drives the take-out assembly and the driving wheel assembly to move towards the container together; when the transmission belt drives in the opposite direction, the reset mechanism is used for resetting the moving wheel assembly, and after the moving wheel assembly is reset, the transmission belt drives the taking-out assembly to reset;

the extraction assembly comprises a fixed bracket; the transmission belt is a synchronous belt, and a clamp holder is arranged at one end of the fixed support, which faces the synchronous belt; the fixed bracket is fixed on the synchronous belt through the clamp holder;

the clamp comprises a first clamping assembly, wherein the first clamping assembly comprises a first pressing plate and a first toothed plate which are arranged on two sides of the synchronous belt; the first toothed plate is positioned on the toothed side of the synchronous belt and meshed with the transmission teeth of the synchronous belt, the first pressing plate is positioned on the toothless side of the synchronous belt, and the first pressing plate and the first toothed plate are connected together.

2. The cargo box retrieval device according to claim 1, wherein the base includes two support plates disposed opposite each other and a bottom web connecting the two support plates;

each fixed wheel is arranged between two supporting plates.

3. The container removal device of claim 2, wherein the stator assembly includes a first stator and a second stator;

the first fixed wheel is arranged between the two supporting plates and positioned at the front ends of the supporting plates, and the second fixed wheel is arranged between the two supporting plates and positioned at the rear ends of the supporting plates;

and an installation space of the driving wheel assembly is formed between the first fixed wheel and the second fixed wheel.

4. A container removal apparatus as claimed in claim 3, wherein the rear end of the support plate is provided with bearing blocks for mounting the second fixed wheels, the two ends of the axle of the second fixed wheels being respectively connected with bearings in the bearing blocks;

the front end of the supporting plate is provided with a mounting hole matched with the wheel shaft of the first fixed wheel.

5. The container removal device of claim 2, wherein the stator assembly includes a first stator, a third stator, and a fourth stator;

The first fixed wheels are arranged at the front end of the supporting plate, and the third fixed wheels and the fourth fixed wheels are distributed at intervals on the rear end of the supporting plate along the sliding direction perpendicular to the sliding seat;

and an installation space of the driving wheel assembly is formed among the third fixed wheel, the fourth fixed wheel and the first fixed wheel.

6. The container removal device of claim 2, wherein the wheel assembly includes a first wheel and a second wheel mounted on the slide;

the sliding seat comprises two mounting plates which are oppositely arranged, and a connecting plate which is arranged between the two mounting plates;

the first driving wheel is arranged between the two mounting plates and positioned at the front ends of the mounting plates, and the second driving wheel is arranged between the two mounting plates and positioned at the rear ends of the mounting plates.

7. The cargo box removal device of claim 6 wherein a side of the mounting plate facing the support plate is provided with a first slide rail and the support plate is provided with a first guide block that mates with the first slide rail.

8. The cargo box removal device of claim 6 wherein a first bumper is provided at a rear end of the mounting plate and a bump is provided at a rear end of the support plate opposite the first bumper.

9. The cargo box removal device of claim 6 wherein the return mechanism is an elastic member having one end connected to the rear end of the carriage and the other end connected to the rear end of the base.

10. The cargo box retrieval device according to claim 9, wherein the resilient member is a spring;

one end of the spring is connected to the wheel shaft of the driving wheel at the rear end of the sliding seat, and the other end of the spring is connected to the wheel shaft of the fixed wheel at the rear end of the base.

11. The cargo box retrieval device of claim 6, wherein the return mechanism includes a diverting wheel, a counterweight, and a rope;

the turning wheel is positioned at the rear end of the base, and one end of the rope extends along the horizontal direction and is connected with the rear end of the sliding seat;

the other end of the rope bypasses the turning wheel to extend along the vertical direction and is connected with the counterweight.

12. The cargo box retrieval device of claim 6, wherein the retrieval assembly comprises a plurality of suction cups;

the sucking discs are arranged on the fixed support, and the sucking surfaces of the sucking discs are opposite to the front surface of the container;

The fixed support is connected with the driving belt and moves along with the driving belt.

13. The cargo box removal device of claim 6 wherein the removal assembly comprises a magnet disposed at one end of the stationary bracket;

one end of the fixing support, which is far away from the magnet, is fixed on the transmission belt, and the surface of the container, which faces the fixing support, is a magnetic adsorption surface.

14. The cargo box removal device of claim 6 wherein the removal assembly comprises a clasp disposed at one end of the securing bracket;

one end of the fixing support, which is far away from the buckle, is fixed on the transmission belt, and a clamping groove used for being matched with the buckle is formed in the surface, facing the fixing support, of the container.

15. The cargo box retrieval device according to any one of claims 12-14, wherein the clamp further includes a second clamp assembly disposed opposite and spaced from the first clamp assembly;

the second clamping assembly comprises a second pressing plate and a second toothed plate which are arranged on two sides of the synchronous belt;

the second toothed plate is positioned on the toothed side of the synchronous belt and meshed with the transmission teeth of the synchronous belt, the second pressing plate is positioned on the non-toothed side of the synchronous belt, and the second pressing plate and the second toothed plate are connected together;

The second pressing plate is connected with the first pressing plate through a connecting piece, and the fixing support is fixed on the first pressing plate and/or the second pressing plate.

16. The cargo box removal device of claim 15 wherein an end of the second platen facing the slide is provided with a second guide block;

the mounting plate of slide includes vertical board and horizontal plate, vertical board with the horizontal plate is connected and is formed L type mounting panel, vertical board is used for the installation the wheel subassembly, the horizontal plate be provided with second guide block complex second guide rail.

17. The cargo box removal device of claim 15 wherein a second buffer is provided on the second platen, the second buffer being disposed directly opposite the first limit structure.

18. The cargo box retrieval device according to claim 17, wherein the base is further provided with a tray including oppositely disposed first and second trays;

the first supporting plate and the second supporting plate are respectively arranged on the supporting plates, and a channel for the fixed bracket to move is formed between the first supporting plate and the second supporting plate;

One end of the fixed support, which is far away from the transmission belt, is positioned above the tray.

19. The container removal device of claim 18, wherein the front end of the first pallet is provided with a first cushion pad and the first cushion pad is located on an end face of the first pallet that faces the container;

the front end of the second supporting plate is provided with a second buffer cushion, and the second buffer cushion is positioned on the end face, facing the container, of the second supporting plate.

20. The cargo box removal device according to claim 19 wherein a surface at the front end of the first pallet facing away from the base is provided with a first guide surface extending obliquely downwardly toward the ground;

a surface at the front end of the second pallet facing away from the base is provided with a second guiding surface extending obliquely downwards towards the ground.

21. The container removal device of claim 1, further comprising a motor and a decelerator, wherein the motor is coupled to an axle of the stator at a rear end of the base through the decelerator.

22. A transfer robot comprising a robot body and the container pickup device according to any one of claims 1 to 21;

The container taking-out device is mounted on the robot body.

23. A container removal method utilizing the transfer robot of claim 22, the transfer robot comprising a container removal device comprising a base, a transmission, and a removal assembly; the take-out assembly is used for being connected with the front surface of a container to be transferred so as to transfer the container; the transmission mechanism comprises a fixed wheel assembly, a movable wheel assembly and a transmission belt, the movable wheel assembly comprises a sliding seat which is slidably arranged on the base, a first limiting structure is arranged at the front end of the sliding seat along the moving direction of the sliding seat towards the container, and a reset mechanism is connected at the rear end of the sliding seat; the method is characterized by comprising the following steps of: