KR20230142191A - handling robot - Google Patents

Abstract

The present invention relates to a handling robot. The handling robot (100) related to a warehousing logistics field comprises: a mobile chassis (10); a storage shelf (20) which is mounted on the mobile chassis (10) and includes a plurality of layer plate assemblies (21) including layer plates (210) for arranging goods and distributed at different heights; a handling device (40) which includes a handling assembly (42) that carries goods to one layer plate (210) located at the same height as the handling assembly (42), or carries goods on one layer plate (210) located at the same height as the handling assembly (42); and a lifting assembly (30) which is driven to enable the handling device (40) to lift for the storage shelf (20) and enables the handling assembly (42) to be located at the same height as one layer plate (210). The handling robot (100) may load more goods by arranging the storage shelf (20).

Description

Handling robot{OMITTED}

This application relates to the field of intelligent warehouse storage, and in particular to handling robots.

Intelligent warehouse storage is part of the logistics process, and the application of intelligent storage warehouse ensures the speed and accuracy of data input in each procedure of cargo warehouse management, allowing enterprises to accurately capture the actual data of inventory in a timely manner and manage enterprise inventory. Ensure reasonable maintenance and control. Through scientific coding, you can conveniently manage the batch and expiration date of inventory cargo. Using the system's location management function, you can more immediately determine the current location of all inventory cargo, helping to improve the work efficiency of warehouse management.

Handling robots play an important role in intelligent warehouse storage, where handling robots replace artificial transport of cargo. However, the inventor discovered the following problems in the process of implementing this application. In other words, the quantity of cargo transported each time by a conventional handling robot is smaller.

The technical problem mainly solved by the embodiment of the present application is to provide a handling robot with a larger quantity of cargo that can be loaded.

In order to solve the above-mentioned technical problems, the embodiments of this application provide the following technical solutions.

A handling robot is provided, wherein the handling robot includes a mobile chassis, a storage shelf, a handling device, and a lifting assembly. The storage shelf is mounted on the mobile chassis, and the storage shelf includes a plurality of layer plates distributed at different heights, and each layer assembly includes a layer plate for placing cargo. The handling device includes a handling assembly. The handling assembly is for transporting cargo on a single layer located at the same height as the handling assembly, or for unloading cargo on a single layer located at the same height as the handling assembly. The lifting assembly drives the handling device to raise and lower relative to the storage shelf so that the handling assembly and one layer are at the same height.

More preferably, the mobile chassis includes a base and a drive wheel assembly. The drive wheel assembly includes a hinge bracket, a drive wheel, and a damper assembly. The hinge bracket is hinged to the base. The driving wheel may be mounted on the hinge bracket and rotate with respect to the hinge bracket to cause the mobile chassis to move. One end of the damper assembly is hinged to the hinge bracket, and the other end of the damper assembly is hinged to the base. The damper assembly includes a damper, and the damper is for reducing vibration transmitted to the base through the hinge bracket.

More preferably, the damper assembly further includes an adjustment arm. One end of the damper is hinged to the hinge bracket, the other end of the damper is hinged to the base, one end of the control arm is hinged to the other end of the damper, and the other end of the control arm is hinged to the base. connected, and the control arm and the base are in contact with each other to prevent the control arm from rotating in a first direction with respect to the base; The damper contacts the base with the control arm and provides elasticity to prevent the control arm from rotating with respect to the base in a second direction, and the second direction and the first direction are opposite to each other.

More preferably, a detent part is installed on the control arm, and the detent part is located on one side of the control arm facing in the first direction.

More preferably, the control arm and the damper are installed with a first narrow angle, and the opening direction of the first narrow angle is the same as the second direction; When assembling the damper, the damper and the control arm are installed as a second narrow angle, the opening direction of the second narrow angle is the same as the first direction, and the length of both ends of the damper is extendable so that it can be adjusted by the damper. Make the provided elasticity smaller.

More preferably, the handling device further includes a handling assembly pedestal, wherein the handling assembly is mounted on the handling assembly pedestal; The lifting assembly drives the handling assembly stand to be raised and lowered relative to the storage shelf, and the handling assembly can rotate about a vertical direction with respect to the handling assembly stand.

More preferably, the handling device further comprises a rotational drive device; The rotary drive device includes a rotary drive motor, a fixed pulley, a handling assembly synchronization belt pulley and a handling assembly synchronization belt; The fixing pulley is fixedly mounted on the handling assembly pedestal, the handling assembly synchronization belt pulley is rotatably mounted on the handling assembly, the handling assembly synchronization belt connects the handling assembly synchronization belt pulley and the fixing pulley, and the handling assembly synchronization belt pulley connects the handling assembly synchronization belt pulley and the fixing pulley, and the handling assembly synchronization belt pulley is rotatably mounted on the handling assembly. The drive motor drives the handling assembly synchronization belt pulley to rotate relative to the handling assembly, such that the handling assembly rotates about a vertical direction relative to the handling assembly stand.

More preferably, a synchronization belt pressing block is protrudingly installed on the outer ring surface of the fixed pulley, and the synchronization belt pressing block and the handling assembly synchronization belt contact each other to tension the handling assembly synchronization belt.

More preferably, a first lock hole is installed in the handling assembly, a second lock hole is installed in the handling assembly pedestal, and a lock pin is inserted into the first lock hole and the second lock hole at the same time, so that the handling assembly is vertically positioned. It is possible to prevent rotation of the handling assembly base based on its direction.

More preferably, the storage shelf includes a vertical beam supporting each lamellar assembly; The lamella includes both ends distributed horizontally, one end of the lamella is close to the vertical beam, and the other end of the lamella is separated from the vertical beam and floats in the air.

More preferably, each lamellar assembly further comprises a transverse beam connected to the vertical beam; Cargo is placed on one side of the layer plate facing away from the mobile chassis, the horizontal beam is located on one side of the layer plate facing the mobile chassis, and the horizontal beam is close to one end of the layer plate; The transverse beam and one side of the layer plate facing the mobile chassis are connected through a plate bracket.

More preferably, each lamellar assembly further comprises a limit structure; The limit structure is to block cargo located on the layer plate.

More preferably, the limit structure is a screen; The shielding plate extends at the edge of the layer plate in a direction away from the mobile chassis.

More preferably, the screen includes a screen body and a flange body; The flange body extends from an edge of the partition body that faces the layer plate, and the flange body is attached to the partition body, so that the connection portion of the flange body and the partition body is excessively formed in an arch shape.

More preferably, the flange body and the layer plate are located on the same side of the cover plate body.

More preferably, each lamellar assembly includes a plurality of said shielding plates; The edge of the layer plate has a plurality of side sides, each blocking plate extends from one side of the layer plate, and a connecting structure is installed at each slit between two adjacent blocking plates; The connection structure is connected to two adjacent shielding plates, so that the corners of the two adjacent shielding plates are formed into an arc angle.

More preferably, the connecting structure has two slots; The sides of two adjacent shielding plates are each inserted into two slots.

More preferably, the layer plate and the connecting structure are fixedly connected through bolts.

More preferably, the storage shelf further includes a vertical beam, the vertical beam being removably connected to the mobile chassis; The lifting assembly includes a synchronizing belt pulley means and a lifting driving motor, wherein the lifting driving motor drives the handling device to lift and lower with respect to the storage shelf through the synchronizing belt pulley means; The synchronization belt pulley means is mounted on the vertical beam.

More preferably, the vertical beam is provided with a mounting groove, and the synchronization belt pulley means is mounted in the mounting groove.

More preferably, the vertical beam is provided with a vertical guide groove, the handling device is provided with a sliding member, and the sliding member is mounted on the vertical guide groove; The sliding member may move along the vertical guide groove to allow the handling device to move up and down with respect to the storage shelf.

More preferably, the vertical guide groove and the mounting groove communicate with each other to form a closed circuit; The synchronization belt of the synchronization belt pulley means is located in the closed circuit, and the synchronization belt of the synchronization belt pulley means and the sliding member are connected to each other.

More preferably, a cushion pad is installed at an end position of the vertical guide groove of the vertical beam.

More preferably, the cushion pad enters the vertical guide groove and comes into contact with the synchronization belt of the synchronization belt pulley means.

More preferably, the cushion pad is made of sponge or rubber material.

More preferably, the lifting assembly further comprises a braking device; The braking device includes a brake disc, a guide base, and a plug pin; The brake disc is fixed coaxially with the drive belt pulley of the synchronization belt pulley means, one or a plurality of pinholes are formed in the brake disc, the guide base is installed on the vertical beam, and the guide base has a slot. installed, and the plug pin is inserted into the slot; The plug pin may move along the slot so that one end of the plug pin is inserted into the pin hole, preventing both the brake disc and the drive belt pulley from rotating.

More preferably, the braking device further comprises a cam; The cam is located on one side of the guide base facing away from the brake disc, the other end of the plug pin and the cam are connected to rotate, and one side of the wheel surface of the guide base facing away from the brake disc and the cam is in contact with each other. , so that the plug pin moves along the slot when the cam rotates.

More preferably, the braking device further includes an elastic member; A first baffling is installed in the middle between both ends of the plug pin, a second baffling is protrudingly installed on the slot wall of the slot, and the elastic member is connected to the first baffling and the second baffling. The elastic member is in contact with the cam and the guide base, and provides compressive force to keep the plug pin in a stationary state.

More preferably, the elastic member is a compression spring; The compression spring is installed and fitted into the plug pin.

The advantageous effect of the embodiment of the present application is distinct from the case of the prior art, and can be implemented by arranging a storage shelf in the handling robot of the embodiment of the present application so that the quantity of cargo that can be loaded by the handling robot is increased.

One or more embodiments are illustratively described through the corresponding drawings in the accompanying drawings, but this illustrative description is not limited to the embodiments, and elements having the same reference numerals in the accompanying drawings indicate similar elements. , Unless specifically stated, the drawings in the attached drawings are not limited to proportion.
1 is a perspective view of a handling robot according to an embodiment of the present application.
FIG. 2 is a perspective view of the mobile chassis of the handling robot shown in FIG. 1.
Figure 3 is a bottom view of the mobile chassis shown in Figure 2.
FIG. 4 is a perspective view of the drive wheel assembly of the mobile chassis shown in FIG. 2.
Figure 5 is a perspective view of the lamellar assembly of the handling robot shown in Figure 1.
Figure 6 is a partial enlarged view of the Z region shown in Figure 5.
Figure 7 is a perspective view from another angle of the lamellar assembly shown in Figure 5;
FIG. 8 is a cross-sectional view of the lifting assembly and vertical beam of the handling robot shown in FIG. 1.
Figure 9 is a perspective view of the braking device of the handling robot according to Figure 1.
Figure 10 is a cross-sectional view of the braking device according to Figure 9;
FIG. 11 is a partial structural diagram of the handling device of the handling robot shown in FIG. 1, with the partial structure of the handling device omitted.
Figure 12 is an exploded view of the handling device shown in Figure 11.
Figure 13 is an exploded view of the handling assembly of the handling device shown in Figure 12, with partial structures of the handling assembly omitted.
FIG. 14 is a structural diagram of the telescopic arm of the handling assembly of the handling device shown in FIG. 12, with the partial structure of the telescopic arm omitted.

In order to easily understand the present application, the present application will be described in more detail by combining the accompanying drawings and specific embodiments below. It should be noted that when an element is said to be “fixed” to another element, it may be located directly on the other element, or there may be one or more elements in between. When one element is expressed as being “connected” to another element, it may be directly connected to the other element, or one or more elements may exist between them. As used herein, the terms “vertical,” “horizontal,” “left,” “right,” and similar expressions are for descriptive purposes only.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art to which this application belongs. In this specification, the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the present application. Among the terms used in this specification, “and/or” includes any or all combinations of one or more related listed items.

1 and 8, an embodiment of the present application provides a handling robot 100 that can be applied to an intelligent warehouse storage system, an intelligent logistics system, or an intelligent sorting system, and in the embodiment of the present application, the handling robot 100 is provided. The application of the robot 100 to an intelligent warehouse storage system will be described in detail as an example.

The handling robot 100 includes a mobile chassis 10, a storage shelf 20, a lifting assembly 30, and a handling device 40. Here, the mobile chassis 10 accommodates the storage shelf 20, the lifting assembly 30, and the handling device 40.

Referring to FIGS. 2 and 3 together, the mobile chassis 10 is applied to the handling robot 100, but is not limited thereto. For example, the mobile chassis 10 is applied to an unmanned vehicle, a cleaning robot, and a shuttle vehicle. It can be applied to etc.

The mobile chassis 10 is intended to enable the handling robot 100 to move on the ground, and the mobile chassis 10 includes a base plate 11, a driven wheel assembly 12, and a driving wheel assembly 13. , and a guide device 14. Here, the driven wheel assembly 12, the driving wheel assembly 13, and the guide device 14 are all mounted on the base.

The base is assembled by welding steel beams, steel plates, and skins. The base includes a base plate (11), the base plate (11) is a generally horizontal rectangular plate member, has a horizontal first axis of symmetry (S1), and the base plates (11) are opposite to each other. It includes a lower surface 1100 and a lower surface 1102, where the lower surface 1100 faces the ground.

The base plate 11 is provided with a depression 1104, a first mounting hole 1106, and a second mounting hole 1108. The depression 1104 is located on the lower surface 1100, and the depression 1104 is for mounting the driven wheel assembly 12. The first mounting hole 1106 penetrates the lower surface 1100 and the upper surface 1102, and the first mounting hole 1106 penetrates the driving wheel assembly 13. The second mounting hole 1108 penetrates the lower surface 1100 and the upper surface 1102, and the second mounting hole 1108 is intended to expose the guide device 14.

The driven wheel assembly 12 is a universal wheel, the four driven wheel assemblies 12 are distributed in a rectangle, and the four driven wheel assemblies 12 together support the base plate 11. It can be understood that, depending on the actual situation, in one aspect the driven wheel assembly 12 is not limited to a universal wheel, for example, the driven wheel assembly 12 may be a wheel set with a steering bracket (of a vehicle). (refer to rare wheel set), as long as the driven wheel assembly 12 has a steering function. In another aspect, the quantity of the driven wheel assemblies 12 is not limited to 4. For example, the quantity of the driven wheel assemblies 12 may be 3, 5, 6, etc., and the driven wheel assemblies 12 may be numbered 3, 5, 6, etc. This is possible if the number of assemblies 12 is 3 or more.

The two driving wheel assemblies 13 are distributed symmetrically with respect to the symmetry axis S1, and the handling robot 100 moves the two driving wheel assemblies 13 through a difference in rotational speed between the two driving wheel assemblies 13. Steering of the handling robot 100 is implemented by deflecting toward one side of the drive wheel assembly 13 with a smaller speed.

The driven wheel assembly 12 and the driving wheel assembly 13 together support the base plate 11.

Referring together to Figure 4, each of the drive wheel assemblies 13 includes a drive wheel 130, a hinge bracket 131, and a damper assembly. Here, the driving wheel 130 is mounted on the hinge bracket 131, and the damper assembly is mounted on the hinge bracket 131.

The driving wheel 130 has a horizontal rotation axis (O), the driving wheel 130 is mounted on the hinge bracket 131, and the driving wheel 130 is centered around the rotation axis (O). It can rotate with respect to the hinge bracket 131, the rotation axis O is perpendicular to the first symmetry axis S1, and a portion of the drive wheel 130 is connected to the first mounting hole 1106. ) and protrudes onto the lower surface 1100 of the base plate 11.

What should be explained is that a depression 1104 for mounting the driven wheel assembly 12 is installed, the drive wheel assembly 13 is installed on one side in the direction of the main surface 1102, and the first By allowing the mounting hole 1106 to protrude from the lower surface 1100, both the distance between the mobile chassis 10 and the ground and the center of gravity can be lowered, thereby improving the grip of the mobile chassis 10. and improves the movement stability of the mobile chassis 10.

The drive wheel 130 is driven by a drive wheel motor. Specifically, the drive wheel motor may be a servo motor, and the drive wheel motor is centered on the rotation axis O. It rotates with respect to the hinge bracket 131. A reducer may be further installed between the drive wheel motor and the drive wheel 130, and is connected to the stator of the drive wheel motor and one end of the flange of the reducer housing, and the rotor of the drive wheel motor is the input shaft of the reducer. Torque is transmitted through a flat key, the other end of the housing of the reducer is connected to the flange of the hinge bracket 131, and the output shaft of the reducer is installed through the hinge bracket 131 to connect to the drive wheel 130 and Torque is transmitted through the flat key.

The hinge bracket 131 is a generally vertical plate member, and the hinge bracket 131 may be integral or may be an assembly of several members, but is not limited in the embodiment of the present application.

The hinge bracket 131 is hingedly connected to the base plate 11 through a bearing seat, and the hinge bracket 131 can rotate with respect to the base plate 11 about the first axis L1. there is. What can be understood is that, depending on the actual situation, the bearing seat may be omitted, the hinge bracket 131 is directly hinged with the base plate 11, and the hinge bracket 131 and the base plate 11 ) The hinge connection portion is located on one side in the direction of the trademark surface 1102.

In this embodiment, the first axis (L1) and the rotation axis (O) are parallel to each other, and the first axis (L1) and the rotation axis (O) do not overlap each other, from which the hinge bracket ( 131) is rotated about the base plate 11 about the first axis L1, the gap between the two drive wheels 130 of the drive wheel assemblies 13 is maintained unchanged, and the The movement of the mobile chassis 10 is made more stable.

In some other embodiments, the first axis L1 and the rotation axis O are perpendicular to each other.

One end of the damper assembly is hinged to the hinge bracket 131, and the other end of the damper 132 is hinged to the top surface 1102 of the base plate.

The damper assembly includes a damper 132 and an adjustment arm 133 hinged to the damper 132.

The damper 132 is intended to reduce vibration transmitted to the base plate 11 through the hinge bracket 131. The damper 132 compresses the length of both ends to reduce vibration at both ends, one end of the damper 132 is hinged to the hinge bracket 131, and the damper 132 is positioned along the second axis ( It can rotate about the hinge bracket 131 around L2, the second axis L2 is parallel to the first axis L1, and the first axis L1 is parallel to the second axis (L1). It does not overlap with L2). The other end of the damper 132 is hingedly connected to the control arm 133, and the damper 132 can rotate with respect to the control arm 133 about a third axis L3. The axis L3 and the first axis L1 are parallel.

One end of the control arm 133 is hinged to the other end of the damper 132, a vertical fixing rod 1110 is installed on the top surface 1102 of the base plate 11, and the control arm ( The other end of 133 is hingedly connected to the fixed rod 1110, and the control arm 133 can rotate about the base plate 11 about the fourth axis L4, and the fourth axis ( L4) is parallel to the first axis L1, and the control arm 133 and the fixed rod 1110 are in contact with each other, so that the control arm 133 is centered on the fourth axis L4 and the base plate. It is not possible to rotate in the first direction (F1) with respect to (11), and the first direction (F1) and the direction of the top surface (1102) are the same.

The damper 132 has elasticity that prevents the control arm 133 from contacting the fixed rod 1110 and rotating the control arm 133 in the second direction (F2) with respect to the base plate 11. Provided, the second direction F2 and the first direction F1 are opposite to each other, and the second direction F2 and the direction of the lower surface 1100 are the same.

What can be understood is that, depending on the actual situation, the fixing rod 1110 may be omitted, that is, the other end of the control arm 133 is directly hinged to the base plate 11, and the control arm 133 ) and the hinge connection portion of the base plate 11 is located on one side in the direction of the top surface 1102, the control arm 133 and the base plate 11 are in contact, and the control arm 133 and the base The contact portion of the plate 11 is located on one side in the direction of the label surface 1102.

A detent part 1330 is installed on the control arm 133, and the detent part 1330 is located on one side of the control arm 133 facing the first direction F1.

The control arm 133 and the damper 132 are installed at a first narrow angle, and the opening direction of the first narrow angle is the same as the second direction F2.

It should be noted that, on one side, the operating environment of the handling robot 100 is generally a warehouse, so the ground is flatter. In another aspect, the drive wheel assembly 13 loads only the weight within the limit of the handling robot 100. In other words, in the process of gradually increasing the weight of the handling robot 100, the drive wheel 130 It moves to one side in the direction of the top surface of the base plate 11 until the lowest point of the drive wheel 130 coincides with the lowest point of the driven wheel assembly 12, and at this time, the handling robot 100 The weight exceeding the limit is loaded by the driven wheel assembly (12). Accordingly, the rotation width of the hinge bracket 131 is limited, and thus the rotation width of the damper 132 is also limited, so the first included angle basically does not change.

When assembling the damper 132, the damper 132 and the control arm 133 are installed at a second narrow angle, the opening direction of the second narrow angle and the first direction (F1) are the same, and the damper The length of both ends of 132 can be extended, so that the elasticity provided by the damper 132 can be reduced and the damper 132 can be mounted more conveniently. First, ensure that the detent portion 1330 of the control arm 133 does not contact the fixed rod 1110, and attach both ends of the damper 132 to the control arm 133 and the hinge bracket 131, respectively. When mounted, the damper 132 may be in a natural state or a slightly compressed state. In other words, the connection line at both ends of the damper 132 and the connection line at both ends of the control arm 133 are installed at a second narrow angle, The opening direction of the second narrow angle is the same as the first direction (F1). Next, the damper 132 and the control arm 133 are pulled in the first direction (F1), so that the damper 132 is first compressed and then slightly extended, so that the detent of the control arm 133 The part 1330 and the fixed rod 1110 are brought into contact with each other. By installing the control arm 133, the damper 132 can be mounted without compressing the damper 132, and the damper 132 can be conveniently mounted.

In addition, after installing the control arm 133 and completing the installation of the damper 132, the elasticity of the spring of the damper 132 is easily adjusted to match the operating environment of the mobile chassis, and the specific As a result, the damper 132 and the control arm 133 are installed at a second narrow angle, so that both ends of the damper 132 are basically not under pressure, and the elasticity of the spring of the damper 132 is easy. It is adjusted accordingly.

When the operation of the drive wheel motor is stopped, the drive wheel 130 cannot rotate, and therefore, when the damper 132 and the control arm 133 form a first included angle, the drive wheel 130 ) supports the chassis, and therefore, when the handling robot 100 is moved to the maintenance area through the driven wheel assembly 12, the drive wheel 130 generates friction with the ground, causing the handling robot 100 ) will hinder the movement of. After the damper 132 and the control arm 133 are installed at the second narrow angle, both ends of the damper 132 are basically not under pressure, so the drive wheel 130 is basically not in contact with the ground, in other words. The driving wheel 130 does not support the base, and the handling robot 100 can be moved to a repair area more lightly for repair.

What can be understood is that, depending on the actual situation, the control arm 133 may be omitted, that is, one end of the damper 132 is hinged to the hinge bracket 131, and the other end of the damper 132 is connected to the base 11 by a hinge, and the driving wheel 130, the hinge bracket 131, the damper 132, and the base plate 11 are sequentially connected, and both ends of the damper 132 This is possible if it can be expanded.

Compared with the prior art, in the handling robot 100 and its mobile chassis 10 of the embodiment of the present application, a damper assembly is installed on the mobile chassis 10 so that the movement of the mobile chassis 10 is more stable. do.

The guide device 14 is mounted on the top surface 1102 of the base plate 11. In this embodiment, the guide device 14 is a camera, and the lens of the camera is the second mounting hole 1108. ), and the guide device 14 recognizes the QR code attached to the ground and causes the handling robot 100 to travel on a preset route.

It can be understood that, according to the actual situation, the guide device 14 is not limited to a camera, for example, the guide device 14 may be a laser guide that causes the handling robot 100 to travel according to the laser beam. It may also be a device, for example, the guide device 14 is a shortwave receiver, and implements a guide function by receiving a preset shortwave signal.

Referring again to FIG. 1, the storage shelf 20 is mounted on the top surface 1102 of the base plate 11.

The storage shelf 20 includes a plurality of lamellar assemblies 21 distributed at different heights, and a vertical beam 22 supporting each lamellar assembly.

Each lamellar assembly 21 includes a lamellar 210 , a limit structure, and a transverse beam 214 .

The layer plate 210 is for placing cargo, the layer plate 210 has both ends distributed horizontally, one end of the layer plate 210 is close to the vertical beam 22, and the layer plate 210 )'s other end is separated from the vertical beam 22 and is floating in the air.

The limit structure is to prevent cargo on the layer plate.

In this embodiment, the limit structure is a blocking plate 212, and the blocking plate 212 extends to the edge of the layer plate 21 in a direction away from the mobile chassis 10, and the blocking plate ( 212) is for preventing the cargo placed on the layer plate 210, thereby preventing the cargo placed on the layer plate 210 from slipping off the layer plate 210.

Understandably, the limit structure is not limited to the shielding plate 212, and depending on the actual situation, the limit structure may be a column-shaped structure installed close to the edge of the layer plate.

Referring to Figures 5 and 6 together, each lamellar assembly 21 includes a plurality of the shielding plates 212, the edge of the lamella 210 has a plurality of sides, and each shielding plate ( 212) extends on one side of the layer plate 210, and a connection structure 216 is installed at each slit between two adjacent shielding plates 212. The connection structure 216 connects the two adjacent shielding plates 212 to each other, so that the corners of the two adjacent shielding plates 212 are formed into an arc angle.

The connection structure 216 has two slots 2160, and the side sides of the two adjacent shielding plates 212 are respectively inserted into the two slots 2160. The connection structure 216 is fixed to the layer plate 210 through bolts.

Each screen 212 includes a screen body 2120 and a flange body 2122, and the flange body 2122 extends from an edge of the screen body 2120 with its back to the layer plate 210. The flange body 2122 is joined to the shielding plate 2120, so that the connection portion of the flange body 2122 and the shielding plate body 2120 is excessively formed into an arch shape.

The flange body 2122 and the layer plate 210 are located on the same side of the shield body 2120.

Referring to FIG. 7 together, one side of the layer plate 210 facing away from the mobile chassis 10 is for placing cargo, and the horizontal beam 214 faces the mobile chassis 10. ) is located on one side, and the horizontal beam 214 is close to one end of the layer plate 210. The horizontal beam 214 and one side of the layer plate 210 facing the mobile chassis 10 are connected through a plate bracket 218.

The two vertical beams 22 are distributed symmetrically about the symmetry axis S1.

Referring to FIG. 8, the vertical beam 22 is detachably connected to the top surface 1102 of the base plate 11, and is specifically connected to each other through bolts.

The vertical beam 22 is provided with a mounting groove 220 and a vertical guide groove 222.

The mounting groove 220 is for mounting the lifting assembly 30, and the mounting groove 220 is located within the vertical beam 22.

The vertical guide groove 222 is for mounting the handling device 40, and the vertical guide groove 222 is installed on the surface of the vertical beam 22. The vertical guide groove 222 and the mounting groove 220 communicate with each other, and the vertical guide groove 222 and the mounting groove 220 form a closed circuit.

A cushion pad 224 is installed at the end position of the vertical guide groove 222 of the vertical beam 22. The cushion pad 224 may be made of a material such as sponge or rubber, and the cushion pad ( 224) can prevent the handling device 40 from directly colliding with the vertical beam 22 when it rises to its highest point or descends to its lowest point.

The cushion pad 224 is pushed into the vertical guide groove 222 and comes into contact with the lifting assembly 30.

The lifting assembly 30 is for driving the handling device 40 to move up and down with respect to the storage shelf 20 .

The lifting assembly 30 includes a synchronizing belt pulley means 31 and a lifting driving motor, and the lifting driving motor allows the handling device 40 to move the storage shelf 20 through the synchronizing belt pulley means 31. This is to drive it to go up and down.

The synchronization belt pulley means is mounted in the mounting groove 220, the synchronization belt 310 of the synchronization belt pulley means 31 is located in the closed circuit, and the synchronization belt 310 of the synchronization belt pulley means 31 is located in the closed circuit. and the handling device 40 are connected to each other.

The lifting drive motor sequentially rotates the drive belt pulley 311 of the synchronization belt pulley means 31 through the lifting driving reducer, the gear set, and the power transmission shaft, and according to the actual situation, the lifting driving reducer and the gear set. And one or more of the power transmission shafts may be omitted.

The synchronization belt 310 of the synchronization belt pulley means 31 is in contact with the cushion pad 224, thereby preventing dust from easily entering the mounting groove 220 from the vertical guide groove 222, This prevents dust from accumulating on the synchronization belt pulley means 31 and reducing power.

Referring to FIGS. 9 and 10 together, the lifting assembly 30 further includes a braking device 32, and the braking device 32 stops the operation of the synchronization belt pulley means 31.

*The braking device 32 includes a brake disc 320, a guide base 322, a plug pin 324, an elastic member 326, and a cam 328. The brake disc 320 is fixed coaxially with the drive belt pulley of the synchronization belt pulley means 31, and when the synchronization belt pulley means 31 operates, the brake disc 320 is connected to the synchronization belt pulley means ( 31) rotates synchronously with the drive belt pulley 311, and one or a plurality of pinholes 3200 are installed in the brake disc 320, and when the brake disc 320 rotates, the pinholes 3200 rotates synchronously along the brake disc 320.

The guide base 322 is mounted on the vertical beam 22, and a slot 3220 is installed in the guide base 322.

The plug pin 324 is inserted into the slot 3220, and when the brake disc 320 is rotated, one end of the plug pin 324 is aligned and inserted into the pin hole 3200, so that the brake disc 320 ) and the synchronization belt pulley means 31 installed coaxially with the brake disc 320 can stop the operation.

The cam 328 is located on one side of the guide base 322 that faces the brake disc 320, and the other end of the cam 328 and the plug pin 324 are connected while rotating, and the cam 328 ) can rotate about the plug pin 324 around the wheel center, and the wheel surface of the cam 328 and one surface of the guide base 322 facing away from the brake disc 320 are in contact, The plug pin 324 moves relative to the guide base 322 along the slot 3220.

The elastic member 326 brings the cam 328 and the guide base 322 into contact with each other and provides a compressive force to keep the plug pin 324 stationary. Specifically, the elastic member 326 is It is a pressure spring, and a first baffling 3240 is protrudingly installed in the middle portion between both ends of the plug pin 324, and a second baffling 3222 is protruding from the slot wall of the slot 3220. is installed, the second baffling 3222 is located between the first baffling 3240 and the cam 328, and the elastic member 326 is installed to fit into the plug pin 324. The elastic member 324 is in contact between the first baffling 3240 and the second baffling 3222.

A lever 329 is installed on the cam 328, and the operator pulls the lever 329 to rotate the cam 328, thereby stopping the synchronization belt pulley means 31 from operating. Understandably, depending on the actual situation, a cam drive motor may be installed to drive the cam 328 to rotate, thereby implementing braking on the synchronization belt pulley means 31.

Referring to FIG. 11, the handling device 40 includes a handling assembly stand 41, a handling assembly 42, and a rotation drive device 43. Here, the handling assembly 42 is mounted on the handling assembly stand 41, and the rotation drive device 43 is mounted between the handling assembly 42 and the handling assembly stand 41.

The handling assembly stand 41 is assembled by welding a steel beam and a steel plate. A sliding member 410 is installed on the handling assembly stand 41, and the two sliding members 410 are connected to the first It is distributed symmetrically about the symmetry axis S1, and the two sliding members 410 are each mounted on one corresponding vertical guide groove 322, and the sliding members 410 are positioned in the vertical guide groove 322. By moving along, the handling device 40 can be raised and lowered with respect to the storage shelf 20.

The handling assembly stand 41 and the handling assembly 42 are connected to each other through a cross roller bearing or a cross ball bearing, so that the handling assembly 42 rotates with respect to the handling assembly stand 41 about the vertical direction. Let's do it. Depending on the actual situation, the handling assembly pedestal 41 and the handling assembly 42 are not limited to being connected to each other through a cross roller bearing, for example, the handling assembly pedestal 41 and the handling assembly 42 ) may be connected to each other through a rotating support.

The rotation drive device 43 includes a rotation drive motor, a fixed pulley 430, a handling assembly synchronization belt pulley 432, and a handling assembly synchronization belt 434. The fixed pulley 430 is fixedly mounted on one surface of the handling assembly stand 41 facing the handling assembly 42, the fixed pulley 430 and the cross roller bearing are installed coaxially, and the handling assembly is synchronized. The belt pulley 432 is mounted on the handling assembly 42 to rotate about the vertical direction, and the handling assembly synchronization belt 434 connects the handling assembly synchronization belt pulley 432 and the fixed pulley 430. And, the rotation drive motor drives the handling assembly synchronization belt pulley 432 to rotate with respect to the handling assembly 42, so that the handling assembly 42 is attached to the handling assembly stand 41 about the vertical direction. This is to have a meeting about it.

A synchronization belt pressing block 4300 is protrudingly installed on the outer ring surface of the fixing pulley 430, and the synchronization belt pressing block 4300 and the handling assembly synchronization belt 434 are in contact with each other, and the handling assembly synchronization belt ( 434) to make it taut.

A first pinhole 4200 is installed in the handling assembly 42, and a second pinhole 4100 is installed in the handling assembly stand 41, and the lock pin 44 is simultaneously connected to the first pinhole 4200. and inserted into the second pinhole 4100 to prevent the handling assembly 42 from rotating relative to the handling assembly stand 41 about the vertical direction.

A first limit block 450 is installed on one side of the handling assembly pedestal 41 facing the handling assembly 42, and a second limit block 450 is installed on one side of the handling assembly 42 facing the handling assembly pedestal 41. A limit block 452 is installed, and the first limit block 450 and the second limit block 452 are in contact with each other, allowing the handling assembly 42 to rotate within a preset angle range.

The handling device 40 further includes a first angle sensor 460, a second angle sensor 461, and a controller. Both the first angle sensor 460 and the second angle sensor 461 are connected to the controller.

The first angle sensor 460 is for detecting whether the handling assembly 42 has rotated within the first preset angle range with respect to the handling assembly pedestal 41, and the second angle sensor 461 is for detecting whether the handling assembly 42 has rotated within the second preset angle range with respect to the handling assembly pedestal 41. It should be explained that both the first preset angle range and the second preset angle range are within the preset angle range, and there is an intersection between the first preset angle range and the second preset angle range. And, the intersection of the first preset angle range and the second preset angle range is a reference angle, and the reference angle may be a specific value or a range of continuous values.

The first angle sensor 460 and the second angle sensor 461 are both approach switches, and the handling device 40 further includes a detection plate 462, and the first angle sensor 461 and the The second angle sensors 462 are all mounted on one side of the handling assembly pedestal 41 facing the handling assembly 42, and the detection plate 462 is mounted on the handling assembly pedestal 41 facing the handling assembly pedestal 41. 42) is mounted on one side. When the first angle sensor rotates together with the handling assembly 42 to directly face the detection plate 462, the first angle sensor 460 detects the handling assembly 42 at the first preset angle. Detect what has turned within the range; When the first angle sensor 460 rotates together with the handling assembly 42 so as not to face the detection plate 462, the first angle sensor 460 detects that the handling assembly 42 is connected to the first angle sensor 460. It detects that the rotation is not within the preset angle range. Similarly, when the second angle sensor 461 rotates together with the handling assembly 42 to directly face the detection plate 462, the second angle sensor 461 detects that the handling assembly 42 detecting rotation within the second preset angle range; When the second angle sensor 461 rotates together with the handling assembly 42 so as not to face the detection plate 462, the second angle sensor 461 detects the handling assembly at the second preset angle. Detects things that have not rotated within the range. When both the first angle sensor 460 and the second angle sensor 461 directly face the detection plate 462, the handling assembly 42 is configured to set the first angle range and the second angle range. It is within the intersection of the set angle ranges, that is, the handling assembly 42 rotates to the reference angle.

The controller is connected to the rotation drive motor. The first angle sensor 460 detects that the handling assembly 42 has rotated within the first preset angle range, and the second angle sensor 461 detects that the handling assembly 42 is rotated within the first preset angle range. When detecting that the rotation is not within the set angle range, the controller controls the operation of the rotation drive motor to cause the handling assembly 42 to rotate within the second preset angle range. The first angle sensor 460 detects that the handling assembly 42 has not rotated within the first preset angle range, and the second angle sensor 461 detects that the handling assembly 42 has not rotated within the second preset angle range. When detecting rotation within the preset angle range, the controller controls the operation of the rotation drive motor to cause the handling assembly 42 to rotate within the first preset angle range. The first angle sensor 460 detects that the handling assembly 42 has rotated within the first preset angle range, and the second angle sensor 461 detects that the handling assembly 42 has rotated within the second preset angle range. When detecting rotation within the angle range, the controller controls the operation of the rotation drive motor to stop, and at this time, the handling assembly 42 is positioned at the reference angle.

The handling assembly 42 transports cargo on at least one layer plate 210 located at the same height as the handling assembly 42, or transports the cargo on one layer plate 210 located at the same height as the handling assembly 42. ), and when the handling device 40 is raised and lowered relative to the storage shelf, the handling assembly 42 is located at the same height as one layer plate 210.

The handling assembly 42 has a horizontal second axis of symmetry (S2), and the handling assembly 42 includes a temporary storage pallet 420, an elastic arm 421, a fixed push rod 422, and a movable push rod. Includes load 423. Here, one end of the telescopic arm 421 is mounted on the temporary storage pallet 420, and both the fixed push rod 422 and the movable push rod 423 are mounted on the other end of the telescopic arm 421. , Here, the fixed push rod 422 is mounted on one end of the temporary storage pallet 420 closer to the expandable arm 421 than the movable push rod 423. The other end of the elastic arm 421 extends or contracts with respect to the temporary storage pallet 420 along the second symmetry axis S2, so that the fixed push rod 422 and the movable push rod 423 extend. Alternatively, it can be made to shrink. The movable push rod 423 can be deployed or folded with respect to the telescopic arm 421.

The two telescopic arms 421 are symmetrically installed on two opposing sides of the second symmetry axis S2, and one movable push rod 423 is mounted on each of the two telescopic arms 421, The fixed push rod 422 is connected between the two telescopic arms 421. Depending on the actual situation, the number of expandable arms 421 is not limited to two, and the number of expandable arms 421 may be one.

Referring to Figure 12 together, each of the elastic arms 421 includes an outer arm 424, a middle arm 425 mounted on the outer arm 424, and an inner arm mounted on the middle arm 425 ( 426). The outer arm 424, the middle arm 425, and the inner arm 426 are sequentially installed close to the second axis of symmetry (S2), and the outer arm 424 is connected to the temporary storage pallet 420. It is fixedly mounted on, and both the fixed push rod 422 and the movable push rod 423 are mounted on the inner arm 426.

Referring to FIG. 13 together, a sprocket means 427 is installed between the middle arm 425 and the outer arm 424, and the middle arm 425 is connected to the second axis of symmetry through the sprocket means 427. It can be driven to extend or contract the outer arm 424 along the line S2.

Referring to FIG. 14 together, a movable pulley means is installed between the outer arm 424, the middle arm 425, and the inner arm 426, and the movable pulley means includes a pulley 428 and It includes a noose 429, and the pulley 428 is mounted on the middle arm 425, and the middle portion between both ends of the noose 429 is bent and inserted into the pulley 428, so that the noose ( Both ends of the noose 429 face each other, one end of the noose 429 is fixedly connected to the outer arm 424, and the other end of the noose 429 is fixedly connected to the inner arm 426. When the middle arm 425 extends or retracts at a first speed with respect to the outer arm 424, the inner arm 426 extends or retracts at a second speed with respect to the outer arm 424. The second speed is twice the first speed, and by installing a movable pulley means, the extension or retraction speed of the inner arm 426 can be faster, thereby improving the cargo fetch and place efficiency of the handling assembly 100. You can.

When the movable push rod 423 is deployed relative to the telescopic arm 421, the movable push rod 423 protrudes from the telescopic arm 421 in a direction approaching the second symmetry axis S2, When the movable push rod 423 is folded with respect to the telescopic arm 421, the movable push rod 423 basically overlaps with the telescopic arm 421. The movable push rod 423 is directly driven by a push rod motor, and the push rod motor drives the movable push rod 423 to rotate with respect to the telescopic arm 421, so that the movable push rod 423 is unfolded or folded with respect to the telescopic arm 421. What can be understood is that, depending on the actual situation, the movement method of the movable push rod 423 is not limited to rotation, but for example, the movable push rod 423 extends from the telescopic arm 421 or extends from the telescopic arm 421. Exercise by contracting (421).

When the handling robot 100 performs a cargo loading task, the operation process is specifically as follows.

The handling robot 100 moves near the fixed shelf on which the cargo to be loaded is placed, the handling robot 100 moves parallel to the cargo to be loaded, and the cargo to be loaded is located on one layer plate 210, The lifting assembly 30 drives the handling device 40 to lift and lower to the same height as the layer plate 210 on which the cargo to be loaded is placed, and at the same time, the handling assembly 42 rotates about the vertical direction. , the layer plate 210 on which the cargo to be loaded is positioned on the second symmetry axis (S2), the movable push rod 423 is folded, and the telescopic arm 421 is extended, so that the movable push rod The movable push rod 423 is deployed beyond the cargo to be loaded, and the telescopic arm 421 is contracted, so that the movable push rod 423 moves the cargo to be loaded onto the temporary storage pallet 420. Pull it out and store it temporarily. The handling assembly 42 rotates about the vertical direction so that the storage shelf 20 is positioned on the second axis of symmetry S2, where the handling assembly 42 is positioned at a reference angle.

At this time, if the temporary storage pallet 420 is not at the same height as any one empty layer plate 210, the handling device 40 is driven to lift and lower through the lifting assembly 30, Ensure that the storage pallet 420 and one empty layer 210 are at the same height.

After the temporary storage pallet 420 and the empty one layer plate 210 are located at the same height, the telescopic arm 421 is extended and placed on the temporary storage pallet 420 through the fixed push rod 422. After pushing the placed cargo onto one layer plate 210 at the same height as the handling device 40, the movable push rod 423 is folded and the elastic arm 421 is contracted. At this time, the cargo loading operation of the handling robot 100 is completed.

The process of unloading cargo by the handling robot 100 is similar to the process of loading cargo, and when the handling robot 100 performs the task of unloading cargo, the operation process is specifically as follows.

The handling robot 100 is moved near the fixed shelf where the cargo to be unloaded is placed, the handling robot 100 is moved to be parallel to the vacant space stored on the fixed shelf, and the lifting assembly 30 is connected to the handling device. (40) is driven to be lifted to the same height as the cargo to be unloaded, the handling assembly (42) is located at a reference angle, and the storage shelf (20) is located on the second symmetry axis (S2), The movable push rod 423 is folded, the telescopic arm 421 extends, the movable push rod 423 extends beyond the cargo to be unloaded, and the telescopic arm 421 extends. contracts, so that the moving push rod 423 pulls the cargo to be unloaded onto the temporary storage pallet 420 for temporary storage.

If the handling device 40 and the designated empty space are not at the same height, the lifting assembly 30 drives the handling device 40 to raise and lower so that the temporary storage pallet 420 and the designated empty space are at the same height. It must be in.

After being positioned at the same height as the temporary storage pallet 420 and the empty single layer plate 210, the expandable arm 421 is extended and placed on the temporary storage pallet 420 through the fixed push rod 422. The cargo to be unloaded is pushed to the empty space on the fixed shelf, and then the movable push rod 423 is folded and the telescopic arm 421 is contracted.

The handling assembly rotates about the vertical direction so that the storage shelf 20 is located on the second symmetry axis S2, and at this time, the handling assembly 42 is located at the reference angle. At this time, the handling robot 100 completes the cargo unloading task.

Compared to the prior art, the handling robot 100 according to the embodiment of the present application can be implemented by arranging the storage shelf 20 so that the handling robot 100 can load more cargo.

What has been described above is only an embodiment of the present application and does not limit the scope of the present application, and does not apply to conversion into an equivalent structure or equivalent process implemented with the contents of the specification and accompanying drawings of the present application, or to other related technical fields directly or indirectly. Anything that is applied is likewise included within the scope of protection of this application.

Claims (15)

mobile chassis;
a storage shelf mounted on the mobile chassis and including a plurality of layer plate assemblies distributed at different heights and including layer plates for placing cargo;
A handling device including a handling assembly, wherein the handling assembly transports cargo on a single layer plate located at the same height as the handling assembly, or transports the cargo on a single layer plate located at the same height as the handling assembly; and
A handling robot comprising a lifting assembly that drives the handling device to lift and lower relative to the storage shelf so that the handling assembly is positioned at the same height as one layer. According to paragraph 1,
The mobile chassis includes a base and a drive wheel assembly, the drive wheel assembly includes a hinge bracket, a drive wheel, and a damper assembly,
the hinge bracket is hinged to the base;
the driving wheel is mounted on the hinge bracket, and the driving wheel is rotatable with respect to the hinge bracket, allowing the mobile chassis to move;
One end of the damper assembly is hingedly connected to the hinge bracket, and the other end of the damper assembly is hinged to the base, the damper assembly includes a damper, and the damper transmits vibration to the base through the hinge bracket. A handling robot characterized by reducing. According to paragraph 2,
The damper assembly further includes an adjustment arm;
One end of the damper is hinged to the hinge bracket, the other end of the damper is hinged to the base, one end of the control arm is hinged to the other end of the damper, and the other end of the control arm is hinged to the base. connected, the control arm is in contact with the base to prevent the control arm from rotating in a first direction with respect to the base;
The damper is characterized in that the control arm contacts the base and provides elasticity to prevent the control arm from rotating in a second direction with respect to the base, and the second direction and the first direction are opposite to each other. A handling robot that does. According to paragraph 3,
A detent part is installed on the control arm, and the detent part is located on one side of the control arm facing the first direction;
The control arm and the damper are installed with a first narrow angle, and the opening direction of the first narrow angle is the same as the second direction;
When assembling the damper, the damper and the control arm are installed as a second narrow angle, the opening direction of the second narrow angle is the same as the first direction, and the length of both ends of the damper is extendable, so that the damper A handling robot characterized in that the elasticity provided by it is reduced. According to any one of claims 1 to 4,
The handling device further includes a handling assembly pedestal, the handling assembly being mounted on the handling assembly pedestal;
The lifting assembly drives the handling assembly pedestal to ascend and descend with respect to the storage shelf, and the handling assembly is rotatable with respect to the handling assembly pedestal about a vertical direction. According to clause 5,
The handling device further includes a rotation drive device;
The rotary drive device includes a rotary drive motor, a fixed pulley, a handling assembly synchronization belt pulley and a handling assembly synchronization belt;
The fixed pulley is fixedly mounted on the handling assembly pedestal, the handling assembly synchronization belt pulley is rotatably mounted on the handling assembly, the handling assembly synchronization belt connects the handling assembly synchronization belt pulley and the fixed pulley, and the rotating The driving motor drives the handling assembly synchronization belt pulley to rotate with respect to the handling assembly, so that the handling assembly rotates with respect to the handling assembly pedestal about a vertical direction. According to clause 6,
A synchronization belt pressing block is protrudingly installed on the outer ring surface of the fixed pulley, and the synchronization belt pressing block contacts the handling assembly synchronization belt to tension the handling assembly synchronization belt;
A first lock hole is installed in the handling assembly, a second lock hole is installed in the handling assembly pedestal, and a lock pin is inserted into the first lock hole and the second lock hole at the same time, so that the handling assembly is centered in the vertical direction. A handling robot, characterized in that it is prevented from rotating about the handling assembly pedestal. According to any one of claims 1 to 4,
The storage shelf includes a vertical beam supporting each lamellar assembly;
The lamellae include horizontally distributed ends, one end of the lamellae is close to the vertical beam, and the other end of the lamellae is separated from the vertical beam and floats in the air;
Each lamellar assembly further includes a transverse beam connected to the vertical beam;
Cargo is placed on one side of the layer plate facing away from the mobile chassis, the horizontal beam is located on one side of the layer plate facing the mobile chassis, and the horizontal beam is close to one end of the layer plate;
A handling robot, characterized in that the horizontal beam and one side of the layer plate facing the moving chassis are connected through a plate bracket. According to any one of claims 1 to 4,
Each lamellar assembly further includes a limit structure;
The limit structure blocks cargo located on the lamellae;
The limit structure is a screen;
The shield plate extends at an edge of the layer plate in a direction away from the mobile chassis;
The screen includes a screen body and a flange body;
The flange body extends from an edge of the partition body facing away from the layer plate, and the flange body is attached to the partition body, so that the connection portion of the flange body and the partition body is excessively formed in an arch shape;
A handling robot, characterized in that the flange body and the layer plate are located on the same side of the cover plate body. According to clause 9,
Each lamellar assembly includes a plurality of said shielding plates;
The edge of the layer plate has a plurality of side sides, each blocking plate extends from one side of the layer plate, and a connecting structure is installed at each slit between two adjacent blocking plates;
The connection structure is connected to two adjacent shielding plates, so that the corners of the two adjacent shielding plates are formed into an arc angle;
The connection structure has two slots;
The sides of the two adjacent screen plates are each inserted into two slots;
A handling robot, characterized in that the layer plate and the connection structure are fixedly connected through bolts. According to any one of claims 1 to 4,
the storage shelf further includes a vertical beam, the vertical beam being detachably connected to the mobile chassis;
The lifting assembly includes a synchronizing belt pulley means and a lifting driving motor, wherein the lifting driving motor drives the handling device to lift and lower with respect to the storage shelf through the synchronizing belt pulley means;
A handling robot, characterized in that the synchronization belt pulley means is mounted on the vertical beam. According to clause 11,
The vertical beam is provided with a mounting groove, and the synchronization belt pulley means is mounted in the mounting groove;
A vertical guide groove is installed on the vertical beam, a sliding member is installed on the handling device, and the sliding member is mounted on the vertical guide groove;
The sliding member is movable along the vertical guide groove, allowing the handling device to be raised and lowered relative to the storage shelf. According to clause 12,
The vertical guide groove and the mounting groove communicate with each other to form a closed circuit;
The synchronization belt of the synchronization belt pulley means is located in the closed circuit, and the synchronization belt of the synchronization belt pulley means and the sliding member are connected to each other;
A cushion pad is installed at an end position of the vertical guide groove of the vertical beam;
The cushion pad enters the vertical guide groove and comes into contact with the synchronization belt of the synchronization belt pulley means;
A handling robot, wherein the cushion pad is made of a sponge material or a rubber material. According to clause 11,
The lifting assembly further includes a braking device;
The braking device includes a brake disc, a guide base, and a plug pin;
The brake disc is fixed coaxially with the drive belt pulley of the synchronization belt pulley means, one or a plurality of pinholes are formed in the brake disc, the guide base is installed on the vertical beam, and the guide base has a slot. installed, and the plug pin is inserted into the slot;
The plug pin is movable along the slot, and one end of the plug pin is inserted into one pin hole, preventing both the brake disc and the drive belt pulley from rotating. According to clause 14,
The braking device further includes a cam;
The cam is located on one side of the guide base facing away from the brake disc, the other end of the plug pin and the cam are connected to rotate, and one side of the wheel surface of the guide base facing away from the brake disc and the cam is in contact with each other. , causing the plug pin to move along the slot when the cam rotates;
The braking device further includes an elastic member;
A first baffling is installed in the middle between both ends of the plug pin, a second baffling is protrudingly installed on the slot wall of the slot, and the elastic member is connected to the first baffling and the second baffling. and the elastic member contacts the cam and the guide base to maintain the plug pin in a stationary state;
The elastic member is a compression spring;
A handling robot, characterized in that the compression spring is installed by fitting into the plug pin.