WO2023178692A1

WO2023178692A1 - Locking mechanism, transfer robot and warehousing system

Info

Publication number: WO2023178692A1
Application number: PCT/CN2022/083175
Authority: WO
Inventors: 高明; 李亚明; 罗宇力
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2023-09-28

Abstract

A locking mechanism (100), a transfer robot and a warehousing system, relating to the technical field of intelligent warehousing, for use in solving the technical problem of shaking of a shelf or transfer robot. The locking mechanism (100) comprises a supporting member (10) and a locking assembly. The locking assembly comprises limiting members (20) and a locking member (40) having limiting portions (30). The locking member (40) can move relative to the supporting member (10), such that both ends of the locking member (40) respectively move towards goods shelves (300), the both ends of the locking member (40) respectively abut against the goods shelves (300), and the limiting portions (30) is relatively fixed to the limiting members (20); such configurations can improve a supporting force between the transfer robot and the goods shelves (300), so that the stability of the transfer robot during goods taking and placement is improved, thereby reducing the risk of shaking or overturning of the transfer robot, and improving the safety performance. When the both ends of the locking member (40) abut against the goods shelves (300), the limiting portions (30) is relatively fixed to the limiting members (20), such that the stability between the transfer robot and the goods shelves (300) can be better improved.

Description

Locking mechanism, handling robot and storage system

Technical field

The present disclosure relates to the field of intelligent warehousing technology, and in particular to a locking mechanism, a handling robot and a warehousing system.

Background technique

With the rapid development of artificial intelligence technology, automation technology, and information technology, the degree of intelligence in logistics has also continued to increase. Equipment such as handling robots is one of the equipment that realizes intelligence in logistics. Through handling robots and unloading devices, etc. Equipment relieves humans from heavy manual labor.

In related technologies, a handling robot usually includes a robot body and a cargo fork installed on the robot body. The cargo fork is used to transport cargo boxes to the robot or transport the cargo boxes on the robot to other storage shelves or equipment.

However, when the transport robot picks up and places a high-altitude material box, it is easy to cause the transport robot to shake, which reduces the safety of the transport robot.

Contents of the invention

In view of the above problems, embodiments of the present disclosure provide a locking mechanism, a handling robot and a storage system. The locking mechanism can be relatively fixed to the shelf to prevent the handling robot from shaking and improve the safety of the handling robot.

In order to achieve the above objectives, embodiments of the present disclosure provide the following technical solutions:

A first aspect of an embodiment of the present disclosure provides a locking mechanism, which includes: a support member and a locking component disposed on the support member;

Wherein, the support member is used to connect with the handling robot; the locking component includes a limiting member and a locking member with a limiting part, and the locking member can move relative to the supporting member so that the locking member The two ends move toward the shelf respectively, and when the two ends of the locking member are respectively in contact with the shelf, the limiting part and the limiting member are relatively fixed.

In an optional embodiment, the locking member includes a driving member and two abutting members. The output shaft of the driving member is respectively connected to the two abutting members and drives the two abutting members. The abutment moves in the opposite direction.

In an optional embodiment, the locking assembly further includes a transmission member connected to the output shaft of the driving member;

One end of the transmission member is connected to one of the abutment members, and the other end of the transmission member is connected to the other of the abutment members.

In an optional embodiment, the transmission member includes a linkage mechanism, and the linkage mechanism includes a first link, a second link and a third link;

The output shaft of the driving member is connected to the center of the first connecting rod;

One end of the second connecting rod is hinged to one end of the first connecting rod, and the other end of the second connecting rod is hinged to one of the abutting pieces;

One end of the third connecting rod is hingedly connected to the other end of the first connecting rod, and the other end of the third connecting rod is hingedly connected to the other contact piece, and the third connecting rod and the third connecting rod are hingedly connected. The two connecting rods are symmetrical relative to the center of the first connecting rod.

In an optional embodiment, the limiting member includes at least one first limiting rack, and the limiting part includes at least one second limiting rack provided on the transmission member, The first limiting gear rack meshes with the second limiting gear rack, so that the limiting portion and the limiting member are relatively fixed.

In an optional embodiment, there are two first limiting racks, and the two first limiting racks are spaced apart from each other on the support member and located on both sides of the transmission member. side;

Both second limiting racks are provided on the first connecting rod; or, one of the second limiting racks is provided on the second connecting rod, and the other second limiting rack is provided on the second connecting rod. The gear rack is arranged on the third connecting rod.

In an optional embodiment, the locking assembly further includes a sliding member and a sliding block slidably disposed on the sliding member;

The support member is provided with a connection hole, and the sliding member is provided on the support member and located on one side of the connection hole;

The driving member is located on a side of the supporting member away from the sliding member, and the output shaft of the driving member is fixedly connected to the sliding block after passing through the connecting hole, and can slide with the sliding block.

In an optional embodiment, the abutment includes a support rod and a rolling element connected to the support rod;

One end of the support rod facing away from the rolling element is hingedly connected to the transmission element.

In an optional embodiment, the rolling element is connected to the support rod through a connecting piece.

In an optional embodiment, the connecting piece includes a first connecting plate and a second connecting plate connected to the first connecting plate, and the first connecting plate and the second connecting plate are perpendicular to each other. ;

The number of the rolling elements is two, and the two rolling elements are spaced apart on the first connecting plate, and the support rod is connected to the second connecting plate.

In an optional embodiment, the second connecting plate is provided with a through hole, and one end of the support rod facing away from the transmission member is located in the through hole;

The support rod also includes a first limiting plate and a second limiting plate. The first limiting plate is provided on the support rod and is located between the transmission member and the connecting member. Two limiting plates are provided on the side of the second connecting plate facing away from the support rod, for limiting the position of the support rod.

In an optional embodiment, an elastic member is provided in the through hole, one end of the elastic member is in contact with the first limiting plate, and the other end of the elastic member is in contact with the second limiting plate. The bit plates are in contact.

In an optional embodiment, the locking assembly further includes at least two guide members provided on the support member, and the guide members are provided in one-to-one correspondence with the support rod;

The guide member is sleeved on the support rod.

Compared with the existing technology, the locking mechanism provided by the embodiment of the present disclosure has the following advantages:

The locking mechanism provided by the embodiment of the present disclosure includes a support member and a locking assembly. When it is necessary to access a high-level material box, the locking member in the locking assembly is used to contact the shelf at both ends. The support force between the handling robot and the shelf improves the stability of the handling machine when picking up and placing goods, thereby reducing the risk of the handling robot shaking or overturning and improving safety performance.

In addition, when the two ends of the locking piece are in contact with the shelf respectively, the limiting part and the limiting piece are relatively fixed, which can better improve the stability between the handling robot and the shelf.

A second aspect of the embodiment of the present disclosure provides a handling robot, including a frame, a fork, and a locking mechanism provided in the first aspect;

The cargo fork is slidably mounted on the frame, and the locking mechanism is mounted on the frame/or on the cargo fork.

A third aspect of the embodiments of the present disclosure provides a storage system, including at least two of the shelves and the handling robot provided in the second aspect;

A channel for the transport robot to walk is formed between adjacent shelves, and both ends of the locking assembly are respectively in contact with the shelves.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions and the beneficial effects brought by the technical features of these technical solutions described above, the locking mechanism, the transport robot and the storage system provided by the embodiments of the present disclosure Other technical problems that can be solved, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation modes.

Description of the drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a partial structural schematic diagram of a handling robot provided by an embodiment of the present disclosure;

Figure 2 is a partial structural schematic diagram 2 of a handling robot provided by an embodiment of the present disclosure;

Figure 3 is a perspective view of a locking mechanism provided by an embodiment of the present disclosure;

Figure 4 is a state diagram of the locking mechanism provided by the embodiment of the present disclosure;

Figure 5 is a second state diagram of the locking mechanism provided by the embodiment of the present disclosure;

Figure 6 is a bottom view of the locking mechanism provided by an embodiment of the present disclosure;

Figure 7 is a front view of the locking mechanism provided by an embodiment of the present disclosure;

Figure 8 is a right view of the locking mechanism provided by the embodiment of the present disclosure.

Reference signs:

100: Locking mechanism;

10: Support piece; 11: Connection hole; 20: Limiting piece; 30: Limiting part; 40: Locking piece; 41: Driving piece; 42: Contact piece; 421: Support rod; 422: Rolling piece; 423: Connector; 4231: first connecting plate; 4232: second connecting plate; 424: first limiting plate; 425: second limiting plate; 426: elastic member; 50: transmission member; 60: sliding member; 70: Slider; 80: guide;

200: rack;

300: Shelves.

Detailed ways

As described in the background art, when a handling robot accesses a material box located high on a shelf, affected by the relative force between the handling robot's fork and the material box, the handling robot will shake, causing the handling robot to tilt or The material box falls off, reducing safety.

In view of the above technical problems, embodiments of the present disclosure provide a locking mechanism, a transportation robot and a storage system. By providing a locking mechanism on the transportation robot, when it is necessary to access high-altitude bins, the two sides of the locking member are used. The ends are respectively in contact with the shelves, and the handling robot can be supported by the shelves, thereby improving the stability of the handling machine during the process of picking up and placing goods, thereby reducing the risk of the handling robot shaking or overturning, and improving safety performance.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

As shown in Figures 1 and 2, the warehousing system provided by the embodiment of the present disclosure includes at least two shelves 300 and a handling robot. A channel is formed between adjacent shelves 300 for the handling robot to walk; the handling robot can walk in the channel. , to place the goods on the shelf 300, or to stack the goods on the shelf 300 to other locations.

The handling robot includes a mobile base (not shown in the figure), a frame 200, a fork (not shown in the figure) and a locking mechanism 100. The mobile base may include a base plate and a walking mechanism provided on the side of the base plate facing the ground. (not shown in the figure), the traveling mechanism may include a plurality of traveling wheels and a driving mechanism. The plurality of traveling wheels include a driving wheel and a driven wheel. The driving wheel is connected to the driving mechanism, and the mobile base can be moved under the driving of the driving mechanism. Steering to move the handling robot to the working position.

The bottom end of the frame 200 is installed on the mobile base. For example, the bottom end of the frame 200 is welded on the upper surface of the mobile base. The frame 200 may include two spaced apart columns, and the bottom ends of the columns are fixed on the mobile base. on the base.

The fork is slidably mounted on the frame. For example, the fork can be slidably mounted on the column, and the fork can move in a direction perpendicular to the movable base to adjust the height of the fork from the ground, thereby making it easier to pick and place the fork at different locations. cargo at height.

The locking mechanism 100 can be disposed on the frame/or the fork. When the transport robot needs to pick up and place goods, both ends of the locking component of the locking mechanism 100 move toward the shelf 300 so that the two ends of the locking component contact the shelf 300 respectively. , achieving relative fixation between the handling robot and the shelf 300 can improve the support force between the handling robot and the shelf, thereby improving the stability of the handling machine in the process of picking up and placing goods, thereby reducing the shaking or overturning of the handling robot. risks and improve safety performance.

After the goods are transported, the locking component of the locking mechanism 100 moves in a direction away from the shelf 300, and the contact between the transport robot and the shelf 300 can be released, so that the transport robot can move to other positions.

As shown in FIGS. 2 and 8 , a locking mechanism 100 provided by an embodiment of the present disclosure includes a support 10 and a locking assembly.

Among them, the support member 10 serves as the carrying body of the locking assembly and is used to provide an installation carrier for the locking assembly. The support member 10 can be fixedly connected to the fork of the handling robot, or fixedly connected to the frame 200 of the handling robot.

In this embodiment, the support member 10 may include a support plate, wherein the shape of the support plate may be rectangular. Such arrangement can increase the contact area between the support member 10 and the handling robot, thereby improving the locking mechanism 100 and the handling robot. Connection strength.

The locking assembly is disposed on the support 10 , wherein the locking assembly includes a limiting piece 20 and a locking piece 40 having a limiting portion 30 . The locking piece 40 can move relative to the supporting piece 10 so that both ends of the locking piece 40 face respectively The shelf 300 moves, and when the two ends of the locking part 40 respectively contact the shelf, the limiting part 30 and the limiting part 20 are relatively fixed.

When the transport robot needs to access the goods, the locking member 40 moves toward the shelf 300 until both ends of the locking member 40 are in contact with the shelf 300 , and the limiting part 30 and the limiting member 20 are fixed together to realize the positioning of the locking mechanism. .

After the handling robot completes the operation of accessing the goods, the locking part 40 moves in a direction away from the shelf 300. At the same time, the limiting part 30 and the limiting part 20 are released from relative fixation, so that the locking part 40 is separated from the shelf 300, so as to facilitate The transport robot moves to another working position.

It should be noted that in this embodiment, relative fixation can be understood as: when the locking part 40 is in contact with the shelf 300, the limiting part 30 is fixedly connected to the limiting part 20; when the locking part 40 is separated from the shelf 300, the locking part 30 is fixed to the shelf 300. The member 40 is not connected to the limiting member 20.

In this embodiment, a locking mechanism is provided on the transporting robot. When it is necessary to access the high-level material boxes, the two ends of the locking member are used to contact the shelves respectively, and the transporting robot can be supported by the shelves, thereby improving the efficiency of the transporting robot. This ensures the stability of the handling machine during the process of picking up and placing goods, thereby reducing the risk of the handling robot shaking or overturning and improving safety performance.

In some embodiments, the locking member 40 includes a driving member 41 and two abutting members 42. The output shaft of the driving member 41 is connected to the two abutting members 42 respectively, and drives the two abutting members 42 to move in opposite directions. .

In this embodiment, the number of driving parts 41 may be one or two. When the number of driving parts 41 is two, one of the driving parts 41 is connected to one of the abutting parts 42, and the other one is connected to one of the abutting parts 42. The driving member 41 is connected to another contact member 42. At this time, the driving member 41 may be a cylinder.

When there is one driving member 41 and it is a motor, the driving member 41 and the two abutting members 42 can be connected through a transmission member 43, and the transmission member 50 is connected to the output shaft of the driving member 41. For example, the transmission member 50 can A driven gear is provided, and a driving gear is provided on the output shaft of the driving member 41. The meshing transmission between the driving gear and the driven gear is used to realize the transmission connection between the driving member and the transmission member 50.

In addition, one end of the transmission member 50 is connected to one of the contact members 42 , and the other end of the transmission member 50 is connected to the other contact member 42 . In this way, the driving member 41 drives the two contact members 42 to move in opposite directions.

As an optional implementation of the transmission member 50 , the transmission member 50 may include a transmission shaft having two threaded sections spaced apart along the axial direction of the transmission shaft, wherein the two threaded sections have opposite directions of rotation.

One of the abutting parts 42 is threadedly connected to one of the threaded sections, and the other abutting part 42 is threadedly connected to the other threaded section. For example, when the driving part 41 rotates forward, the two abutting parts can be driven in the direction of The shelf 300 moves in the direction until the two contact parts 42 are in contact with the shelf respectively; for another example, when the driving part 41 is reversed, the two contact parts 42 can be respectively driven to move in the direction away from the shelf 300 until the two contact parts 42 are respectively in contact with the shelf. The abutting parts 42 are all separated from the shelf 300 .

As another optional implementation of the transmission member 50, as shown in Figures 4 and 5, the transmission member 50 includes a linkage mechanism, and the linkage mechanism includes a first link 51, a second link 52, and a third link. Rod 53.

The first connecting rod 51 is connected to the output shaft of the driving member 41 , and the output shaft of the driving member 41 is connected to the center of the first connecting rod 51 . Such an arrangement can ensure the connection between the output shaft of the driving member 41 and the first connecting rod 51 The position coincides with the center of gravity of the first connecting rod 51, ensuring the stability of the first connecting rod 51 during rotation.

One end of the second connecting rod 52 is hinged to one end of the first connecting rod 51 , and the other end of the second connecting rod 52 is hinged to one of the abutting members 42 .

One end of the third link 53 is hinged to the other end of the first link 51 , and the other end of the third link 53 is hinged to another abutment 42 . The third link 53 and the second link 52 are relative to the first link 53 . The center of connecting rod 51 is symmetrical.

Figure 4 is a schematic diagram of the initial state of the locking mechanism. When the driving member 41 rotates, it will drive the first link 51 to rotate clockwise or counterclockwise relative to its center, thereby driving the second link 52 and the third link 53 rotates in the same direction, and further, the second connecting rod 52 and the third connecting rod 53 respectively drive the two contacting members 42 to move in opposite directions.

As shown in FIGS. 4 and 5 , when the driving member 41 reverses, so that the first link 51 rotates counterclockwise L around its own center, the first link 51 will drive the second link 52 relative to the second link 52 . The hinge point of the first link 51 and the second link 52 rotates counterclockwise L, and then the second link 52 drives the abutment 42 connected thereto to move in the first direction M; at the same time, the first link 51 The third link 53 will be driven to rotate counterclockwise L relative to the hinge point of the first link 51 and the third link 53, and then the third link 53 will drive the abutment 42 connected thereto to move in the second direction N. , so that the two contact pieces 42 are respectively in contact with the shelf 300 to enhance the stability of the handling robot and the shelf 300 .

After the handling robot completes the operation of picking up and placing goods, the driving member 41 can be controlled to rotate forward, so that when the first link 51 rotates clockwise R around its own center, the second link 52 can drive the resistor connected to it through the second link 52. The connecting piece 42 moves along the second direction N. At the same time, the third connecting rod 53 can drive the abutting piece 42 connected with it to move along the first direction M, thereby realizing the separation of the two abutting pieces 42 from the shelf 300, so that Perform other operations on the handling robot.

In some embodiments, continuing to refer to FIGS. 3 to 5 , the limiting member 20 includes at least a first limiting rack, and the limiting portion 30 includes at least a second limiting rack provided on the transmission member 50 , the first limiting gear rack meshes with the second limiting gear rack, so that the limiting portion 30 and the limiting member 20 are relatively fixed.

When the first link 51 drives the second link 52 and the third link 53 to rotate counterclockwise L, the second limit rack located on the transmission member will move toward the first limit rack until the first limit rack The position rack meshes with the second limiting rack to achieve a fixed connection between the limiting portion 30 and the limiting member 20 , thereby causing the two abutting members 42 to stop moving.

If so, after the two abutting parts 42 have contacted the shelf 300, the second link 52 and the third link 53 continue to move, which will increase the interaction force between the handling robot and the shelf 300, causing the handling robot or the shelf 300 to Inclination occurs, therefore, this embodiment can prevent the second link 52 and the third link 53 from moving excessively through the arrangement of the limiter 20 and the limiter 30 , thus improving the safety of the transport robot and the shelf 300 .

In some embodiments, there are two first limiting racks, and the two first limiting racks are spaced apart on the support member 10 and located on both sides of the transmission member 50, as shown in Figures 4 and 5 Taking the orientation as an example, one first limiting rack is disposed above the transmission member 50 , and the other first limiting rack is disposed below the transmission member 50 .

Correspondingly, the number of second limiting racks is also two. In one example, the two second limiting racks are both disposed on the first connecting rod 51 , and the two second limiting racks Symmetrical with respect to the center of the first link; wherein, two second limiting racks can be disposed on the upper surface of the first link 51 at the same time, thus preventing the second limiting racks from interfering with the support 10 , improves the service life of the locking mechanism.

In another example, one of the second limiting racks is provided on the second link 52 , the other second limiting rack is provided on the third link 53 , and the two second limiting racks are opposite to each other. Symmetrical to the center of the first connecting rod.

It should be noted that the number of the second limiting racks is not limited to the above method. For example, the number of the second limiting racks can be four, six or more. When the second limiting racks When the number is four, two of the second limiting racks can be provided on the first connecting rod 51, and the two second limiting racks are symmetrical with respect to the center of the first connecting rod 51; the other two One of the second limiting racks is provided on the third link 53 and the other is provided on the second link 52, and the two second limiting racks can be provided on the second link 52 and the third link respectively. The lower surface of the three-link 53 can prevent collision with the second limiting rack located on the first link 51, thereby improving safety.

In some embodiments, the locking assembly further includes a sliding member 60 and a sliding block 70 slidably disposed on the sliding member 60; the supporting member 10 is provided with a connecting hole 11, and the sliding member 60 is disposed on the supporting member 10 and located at the connecting hole 11. side of hole 11.

The sliding member 60 may include a slide rail, and the number of the sliding member 60 may be two. The two sliding members 60 may be disposed on both sides of the connecting hole 11 respectively. For example, taking the orientation shown in FIG. 4 as an example, where One sliding member 60 is disposed above the connecting hole 11 , and the other sliding member 60 is disposed below the connecting hole 11 .

The slider 70 can be slidably connected to the two sliders 60 . This arrangement can increase the stability of the movement of the slider 70 .

As shown in FIGS. 6 and 7 , the driving member 41 is located on the side of the supporting member 10 away from the sliding member 60 , and the output shaft of the driving member 41 is fixedly connected to the sliding block 70 after passing through the connecting hole 11 , and can follow the sliding block 70 slide.

In actual application, since the handling robot may not necessarily be able to move on the center line of the channel formed by adjacent shelves 300, it may be offset relative to the center line of the channel, which will cause one of the contact parts to touch first. For one of the shelves 300, if the position of the driving member 41 is fixed, when the driving member 41 continues to work, the force of the contact member that preferentially touches one of the shelves 300 will be too large, and the other contact member will It is not in contact with the shelf, causing the handling robot to tilt.

Therefore, in this embodiment, the driving member 41 can move with the slider 70 . When one of the contact members 42 first touches one of the shelves 300 , under the action of the relative force between the driving member 41 and the slider 70 , the driving member 41 can move with the slider 70 . The member 41 will move toward another shelf 300 so that the other contact member 42 can quickly contact its corresponding shelf 300 to prevent the shelf 300 from tilting and improve safety.

In some embodiments, continuing to refer to FIG. 7 , the abutment member 42 includes a support rod 421 and a rolling member 422 connected to the support rod 421 ; one end of the support rod 421 away from the rolling member 422 is hingedly connected to the transmission member 50 .

In this embodiment, through the arrangement of the rolling element 422, a rolling connection can be made between the abutting element 42 and the shelf 300. In this way, the friction between the abutting element 42 and the shelf 300 can be reduced, and the transport robot can be kept in contact with the shelf. , the handling robot can also move to pick up and place goods at different locations in the channel, which improves the freedom of movement of the handling robot.

In order to better reduce the wear of the contact member 42 and the shelf 300, the rolling member 422 may be made of rubber material.

In some embodiments, as shown in FIGS. 7 and 8 , the rolling member 422 is connected to the support rod 421 through a connecting member 423 . The connecting piece 423 includes a first connecting plate 4231 and a second connecting plate 4232 connected to the first connecting plate 4231, and the first connecting plate 4231 and the second connecting plate 4232 are perpendicular to each other, so that the connecting piece 423 forms an L-shaped structure. .

The number of rolling elements 422 is two. The two rolling elements 422 are spaced apart on the first connecting plate 4231. The supporting rod 421 is connected to the second connecting plate 4232, and the part of the supporting rod 421 is located between the first connecting plate 4231 and the second connecting plate 4231. within the area surrounded by the second connecting plate 4232.

The second connecting plate 4232 is provided with a through hole. One end of the support rod 421 facing away from the transmission member 50 is located in the through hole, and a bearing is provided between the inner wall of the through hole and the support rod 421. In this way, the wear of the support rod 421 can be reduced. Improve the service life of the support rod 421.

In some embodiments, the support rod 421 also includes a first limiting plate 424 and a second limiting plate 425. The first limiting plate 424 is provided on the support rod 421 and is located between the transmission member 50 and the connected member 423 , the second limiting plate 425 is provided on the side of the second connecting plate 4232 away from the support rod 421. In this embodiment, through the arrangement of the first limiting plate 424 and the second limiting plate 425, the supporting rod 421 can be limited. Furthermore, the movement path of the contact piece 42 is limited, thereby improving the safety of the locking mechanism.

In some embodiments, an elastic member 426 is provided in the through hole. One end of the elastic member 426 is in contact with the first limiting plate 424, and the other end of the elastic member 426 is in contact with the second limiting plate 425. The elastic member 426 is in contact with the second limiting plate 425. 426 can be a spring. In this way, the elastic force of the elastic member 426 can be used to buffer the contact member 42, thereby reducing the impact force between the locking mechanism and the shelf 300, thereby improving safety performance.

In some embodiments, the locking assembly further includes at least two guide members 80 provided on the support member 10. The guide members 80 are provided in one-to-one correspondence with the support rod 421. The guide members 80 are sleeved on the support rod 421, wherein the guide members 80 are arranged in a one-to-one correspondence with the support rod 421. The parts can be guide sleeves or linear bearings.

In this embodiment, through the cooperative use of the support rod 421 and the guide member 80, it is ensured that the support rod 421 can move smoothly in a straight line, thereby improving the smooth operation of the locking mechanism.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be in conjunction with the description of the embodiments. or examples describe specific features, structures, materials, or characteristics that are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A locking mechanism, characterized by including:

Support member, the support member is used to connect with the handling robot;

A locking component provided on the support member, the locking component includes a limiting member and a locking member with a limiting part, the locking member is movable relative to the support member, so that both ends of the locking member When the two ends of the locking member respectively move toward the shelf and abut against the shelf, the limiting part and the limiting member are relatively fixed.
The locking mechanism according to claim 1, wherein the locking member includes a driving member and two abutting members, the output shaft of the driving member is respectively connected to the two abutting members, and drives the two abutting members. The abutments move in opposite directions.
The locking mechanism according to claim 2, wherein the locking assembly further includes a transmission member, and the transmission member is connected to the output shaft of the driving member;

One end of the transmission member is connected to one of the abutment members, and the other end of the transmission member is connected to the other of the abutment members.
The locking mechanism according to claim 3, wherein the transmission member includes a linkage mechanism, and the linkage mechanism includes a first linkage, a second linkage and a third linkage;

The output shaft of the driving member is connected to the center of the first connecting rod;

One end of the second connecting rod is hinged to one end of the first connecting rod, and the other end of the second connecting rod is hinged to one of the abutting pieces;

One end of the third connecting rod is hingedly connected to the other end of the first connecting rod, and the other end of the third connecting rod is hingedly connected to the other contact piece, and the third connecting rod and the third connecting rod are hingedly connected. The two connecting rods are symmetrical relative to the center of the first connecting rod.
The locking mechanism according to claim 4, wherein the limiting member includes at least one first limiting gear rack, and the limiting part includes at least one second limiting gear provided on the transmission member. The first limiting gear rack meshes with the second limiting gear rack so that the limiting portion and the limiting member are relatively fixed.
The locking mechanism according to claim 5, characterized in that there are two first limiting racks, and the two first limiting racks are spaced apart from each other on the support member and located on the Both sides of the transmission part;

Both second limiting racks are provided on the first connecting rod; or, one of the second limiting racks is provided on the second connecting rod, and the other second limiting rack is provided on the second connecting rod. The gear rack is arranged on the third connecting rod.
The locking mechanism according to any one of claims 2 to 6, wherein the locking assembly further includes a sliding piece and a sliding block slidably disposed on the sliding piece;

The support member is provided with a connection hole, and the sliding member is provided on the support member and located on one side of the connection hole;

The driving member is located on a side of the supporting member away from the sliding member, and the output shaft of the driving member is fixedly connected to the sliding block after passing through the connecting hole, and can slide with the sliding block.
The locking mechanism according to any one of claims 3-6, wherein the abutment member includes a support rod and a rolling member connected to the support rod;

One end of the support rod facing away from the rolling element is hingedly connected to the transmission element.
The locking mechanism according to claim 8, wherein the rolling element is connected to the support rod through a connecting piece.
The locking mechanism according to claim 9, wherein the connecting piece includes a first connecting plate and a second connecting plate connected to the first connecting plate, and the first connecting plate and the second connecting plate The connecting plates are perpendicular to each other;

The number of the rolling elements is two, and the two rolling elements are spaced apart on the first connecting plate, and the support rod is connected to the second connecting plate.
The locking mechanism according to claim 10, wherein the second connecting plate is provided with a through hole, and one end of the support rod facing away from the transmission member is located in the through hole;

The support rod also includes a first limiting plate and a second limiting plate. The first limiting plate is provided on the support rod and is located between the transmission member and the connecting member. Two limiting plates are provided on the side of the second connecting plate facing away from the support rod, for limiting the position of the support rod.
The locking mechanism according to claim 11, wherein an elastic member is provided in the through hole, one end of the elastic member is in contact with the first limiting plate, and the other end of the elastic member is in contact with the first limiting plate. The second limiting plate is in contact.
The locking mechanism according to any one of claims 9-11, characterized in that the locking assembly further includes at least two guide members provided on the support member, the guide members and the support rod are one by one. Corresponding settings;

The guide member is sleeved on the support rod.
A handling robot, characterized by comprising a frame, a fork and a locking mechanism according to any one of claims 1-13;

The cargo fork is slidably mounted on the frame, and the locking mechanism is mounted on the frame/or on the cargo fork.
A storage system, characterized by including at least two of the shelves and the handling robot as claimed in claim 14;

A channel for the transport robot to walk is formed between adjacent shelves, and both ends of the locking assembly are respectively in contact with the shelves.