CN216996066U - Locking mechanism, transfer robot and warehousing system - Google Patents

Abstract

The utility model provides a locking mechanical system, transfer robot and warehouse system, relate to intelligent storage technical field, a technical problem for solving goods shelves or transfer robot and rocking, this locking mechanical system includes support piece and locking subassembly, the locking subassembly includes locating part and the locking piece that has spacing portion, the locking piece can remove for support piece, so that the both ends of locking piece move towards goods shelves respectively, and at the both ends of locking piece respectively with goods shelves butt, spacing portion and locating part relatively fixed. By the arrangement, the supporting force between the carrying robot and the goods shelf can be improved, so that the stability of the carrying robot in the goods taking and placing process is improved, the risk of shaking or overturning of the carrying robot is reduced, and the safety performance is improved; when the two ends of the locking piece are respectively abutted to the goods shelf, the limiting part and the limiting part are relatively fixed, so that the stability between the transfer robot and the goods shelf can be further improved.

Description

Locking mechanism, transfer robot and warehousing system

Technical Field

The utility model relates to an intelligence storage technology field especially relates to a locking mechanical system, transfer robot and warehouse system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of logistics is also continuously improved, and equipment such as a transfer robot is one of the equipment for realizing the intellectualization of logistics, so that heavy physical labor of human beings is reduced through the equipment such as the transfer robot and a discharging device.

In the related art, a transfer robot generally includes a robot body and forks mounted on the robot body, and the containers are transferred to the robot through the forks or the containers on the robot are transferred to other storage racks or equipment.

However, when the transfer robot takes in and out the bin located at a high position, the transfer robot is likely to shake, and the safety of the transfer robot is reduced.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, embodiments of the present disclosure provide a locking mechanism, a transfer robot, and a warehousing system, where the locking mechanism can be relatively fixed to a rack, so as to prevent the transfer robot from shaking and improve the safety of the transfer robot.

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

a first aspect of embodiments of the present disclosure provides a locking mechanism, comprising: the locking assembly is arranged on the support;

wherein the support is used for connecting with a transfer robot; the locking assembly comprises a limiting piece and a locking piece with a limiting part, the locking piece can move relative to the supporting piece, so that two ends of the locking piece move towards the goods shelf respectively, and when two ends of the locking piece are abutted to the goods shelf respectively, the limiting part and the limiting piece are fixed relatively.

In an alternative embodiment, the locking member comprises a driving member and two of the abutment members, and the output shaft of the driving member is connected to the two abutment members respectively and drives the two abutment members to move in opposite directions.

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

one end of the transmission piece is connected with one of the abutting pieces, and the other end of the transmission piece is connected with the other abutting piece.

In an alternative embodiment, the transmission comprises a linkage mechanism comprising a first link, a second link, and a third link;

the output shaft of the driving piece is connected with the center of the first connecting rod;

one end of the second connecting rod is hinged with one end of the first connecting rod, and the other end of the second connecting rod is hinged with one of the butting parts;

one end of the third connecting rod is hinged to the other end of the first connecting rod, the other end of the third connecting rod is hinged to the other abutting part, and the third connecting rod and the second connecting rod 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, the limiting portion includes at least one second limiting rack disposed on the transmission member, and the first limiting rack is engaged with the second limiting rack, so that the limiting portion and the limiting member are relatively fixed.

In an optional embodiment, the number of the first limiting racks is two, and the two first limiting racks are arranged on the supporting piece at intervals and positioned on two sides of the transmission piece;

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

In an alternative embodiment, the locking assembly further comprises a slider and a slider slidably disposed on the slider;

the support piece is provided with a connecting hole, and the sliding piece is arranged on the support piece and positioned on one side of the connecting hole;

the driving piece is positioned on one side of the supporting piece, which is far away from the sliding piece, and an output shaft of the driving piece is fixedly connected with the sliding block after passing through the connecting hole and can slide along with the sliding block.

In an alternative embodiment, the abutment comprises a support bar and a roller connected to the support bar;

one end of the support rod, which is far away from the rolling piece, is hinged with the transmission piece.

In an alternative embodiment, the rolling element is connected to the support rod by a connecting element.

In an alternative embodiment, the connecting member 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 parts is two, the two rolling parts are arranged on the first connecting plate at intervals, and the supporting rod is connected with the second connecting plate.

In an alternative embodiment, a through hole is formed in the second connecting plate, and one end of the support rod, which is far away from the transmission member, is located in the through hole;

the bracing piece still includes first limiting plate and second limiting plate, first limiting plate sets up on the bracing piece, and be located the driving medium with between the connecting piece, the second limiting plate sets up the second connecting plate deviates from one side of bracing piece, it is right to be used for the bracing piece is spacing.

In an optional embodiment, an elastic member is disposed in the through hole, one end of the elastic member abuts against the first limiting plate, and the other end of the elastic member abuts against the second limiting plate.

In an alternative embodiment, the locking assembly further comprises at least two guide members disposed on the support member, the guide members being disposed in one-to-one correspondence with the support rods;

the guide piece is sleeved on the supporting rod.

Compared with the prior art, the locking mechanism provided by the embodiment of the disclosure has the following advantages:

the locking mechanical system that this disclosed embodiment provided, locking mechanical system include support piece and locking Assembly, when the workbin of needs to the eminence is taken and is accessed, when utilizing the both ends of the locking piece in the locking Assembly respectively with goods shelves butt, can improve the holding power between transfer robot and the goods shelves to improve the stationarity of transfer machine at the in-process of getting and putting goods, and then, reduced the risk that transfer robot takes place to rock or topple, improved the security performance.

In addition, when the both ends of locking piece respectively with the goods shelves butt, spacing portion and locating part relatively fixed can further improve the steadiness between transfer robot and the goods shelves.

A second aspect of the embodiments of the present disclosure provides a transfer robot including a frame, a fork, and the lock mechanism provided in the first aspect;

the fork is arranged on the frame in a sliding mode, and the locking mechanism is arranged on the frame or/and arranged on the fork.

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

and a channel for the carrying robot to walk is formed between the adjacent goods shelves, and the two ends of the locking assembly are respectively abutted against the goods shelves.

In addition to the technical problems, technical features constituting technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantages brought by the technical features that can be solved by the locking mechanism, the transfer robot, and the warehousing system provided by the embodiments of the present disclosure will be further described in detail in specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a first partial schematic structural diagram of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a schematic partial structural view of a transfer robot according to an embodiment of the present disclosure;

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

FIG. 4 is a first state diagram of a locking mechanism provided in accordance with an embodiment of the present disclosure;

FIG. 5 is a state diagram two of the locking mechanism provided by the disclosed embodiment;

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

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

fig. 8 is a right side view of a locking mechanism provided by an embodiment of the present disclosure.

Reference numerals:

100: a locking mechanism;

10: a support member; 11: connecting holes; 20: a limiting member; 30: a limiting part; 40: a locking member; 41: a drive member; 42: an abutting member; 421: a support bar; 422: a rolling member; 423: a connecting member; 4231: a first connecting plate; 4232: a second connecting plate; 424: a first limit plate; 425: a second limiting plate; 426: an elastic member; 50: a transmission member; 60: a slider; 70: a slider; 80: a guide member;

200: a frame;

300: and (7) a shelf.

Detailed Description

As described in the background art, when the transfer robot accesses a work bin located at a high position of a rack, the transfer robot may shake due to the relative force between the fork of the transfer robot and the work bin, which may cause the transfer robot to tilt or the work bin to fall off, thereby reducing safety.

To above-mentioned technical problem, this disclosed embodiment provides a locking mechanical system, transfer robot and warehouse system, through be provided with locking mechanical system on transfer robot, when the workbin of needs to the eminence is taken and is accessed, utilize the both ends of locking piece respectively with the goods shelves butt, can support transfer robot through the goods shelves to improve transfer robot and at the stationarity of the in-process of getting put goods, and then, reduced transfer robot and take place the risk of rocking or toppling, improved the security performance.

In addition, when the both ends of locking piece respectively with the goods shelves butt, spacing portion and locating part relatively fixed can further improve the steadiness between transfer robot and the goods shelves.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

As shown in fig. 1 and 2, the warehousing system provided by the embodiment of the present disclosure includes at least two shelves 300 and a transfer robot, wherein a channel for the transfer robot to walk is formed between adjacent shelves 300; the transfer robot can walk in the passage to place the goods on the rack 300 or to stack the goods on the rack 300 to other positions.

Wherein, transfer robot is including removing base (not shown in the figure), frame 200, fork (not shown in the figure) and locking mechanical system 100, remove the base and can include the bottom plate and set up at the bottom plate towards the running gear (not shown in the figure) on ground one side, running gear can include a plurality of walking wheels and actuating mechanism, a plurality of walking wheels include the action wheel and follow the driving wheel, the action wheel is connected with actuating mechanism, can make under actuating mechanism's drive remove the base and remove or turn to make transfer robot remove to the operating position.

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

Fork slidable mounting is in the frame, for example, the fork can slidable mounting on the stand, and the fork can remove along the direction that the perpendicular to removed the base to the height on adjustment fork distance ground, and then make things convenient for the fork to get and put the goods that are located not co-altitude department.

Locking mechanical system 100 can set up in the frame/or the fork, when needs transfer robot gets when putting the goods, locking mechanical system 100's locking subassembly both ends move towards goods shelves 300, so that locking subassembly's both ends respectively with goods shelves 300 butt, realize the relatively fixed between transfer robot and the goods shelves 300, can improve the holding power between transfer robot and the goods shelves, thereby improved the stability of transfer machine at the in-process of getting and putting the goods, and then, reduce the risk that transfer robot takes place to rock or topple, the security performance has been improved.

After the load is transferred, the lock assembly of the lock mechanism 100 moves in a direction away from the rack 300, and the abutment between the transfer robot and the rack 300 can be released, so that the transfer robot can move to another position.

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

Wherein the supporting member 10 serves as a bearing body of the locking assembly for providing a mounting carrier for the locking assembly, and the supporting member 10 may be fixedly connected to a fork of the transfer robot or, alternatively, to a frame 200 of the transfer robot.

In this embodiment, the support member 10 may include a support plate, wherein the support plate may be rectangular, and thus the contact area between the support member 10 and the transfer robot may be increased, thereby improving the connection strength between the locking mechanism 100 and the transfer robot.

The locking assembly is disposed on the supporting member 10, wherein the locking assembly includes a limiting member 20 and a locking member 40 having a limiting portion 30, the locking member 40 is movable relative to the supporting member 10, so that two ends of the locking member 40 respectively move toward the shelf 300, and when two ends of the locking member 40 respectively abut against the shelf, the limiting portion 30 and the limiting member 20 are relatively fixed.

When the transfer robot is required to store and take goods, the locking member 40 moves toward the shelf 300 until both ends of the locking member 40 abut against the shelf 300, and the limiting part 30 and the limiting part 20 are fixed together to realize the positioning of the locking mechanism.

After the transfer robot completes the operation of storing and taking goods, the locking member 40 moves in the direction departing from the shelf 300, and at the same time, the limiting portion 30 and the limiting member 20 are released from relative fixation, so that the locking member 40 is separated from the shelf 300, and the transfer robot moves to other working positions.

In the present embodiment, the relative fixation means that when the locking member 40 abuts against the shelf 300, the limiting portion 30 is fixedly connected to the limiting member 20; when the locking member 40 is separated from the shelf 300, the locking member 40 is not coupled to the limiting member 20.

In this embodiment, through being provided with locking mechanical system on transfer robot, when the workbin of eminence was accessed to needs, utilize the both ends of locking piece respectively with the goods shelves butt, can support transfer robot through the goods shelves to improved transfer robot and at the stationarity of getting the in-process of putting goods, and then, reduced transfer robot and take place the risk of rocking or toppling, improved the security performance.

In some embodiments, the locking member 40 comprises a driving member 41 and two abutment members 42, the output shaft of the driving member 41 being connected to the two abutment members 42, respectively, and driving the two abutment members 42 to move in opposite directions.

In this embodiment, the number of the driving members 41 may be one or two, and when the number of the driving members 41 is two, one of the driving members 41 is connected to one of the contact members 42, and the other driving member 41 is connected to the other contact member 42, in this case, the driving members 41 may be air cylinders.

When the driving element 41 is a single driving element, and is a motor, the driving element 41 and the two abutting elements 42 can be connected through a transmission element 43, and the transmission element 50 is connected to the output shaft of the driving element 41, for example, a driven gear can be disposed on the transmission element 50, and a driving gear is disposed on the output shaft of the driving element 41, and the driving connection between the driving element and the transmission element 50 is realized by utilizing the meshing transmission between the driving gear and the driven gear.

Furthermore, 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, so that the driving member 41 drives the two contact members 42 to move in opposite directions.

As an alternative embodiment of the transmission element 50, the transmission element 50 may comprise a transmission shaft having two threaded sections spaced apart in the axial direction of the transmission shaft, wherein the two threaded sections have opposite rotational directions.

One of the abutting members 42 is screwed on one of the threaded sections, and the other abutting member 42 is screwed on the other threaded section, for example, when the driving member 41 rotates forward, the two abutting members can be respectively driven to move in the direction towards the goods shelf 300 until the two abutting members 42 are respectively abutted against the goods shelf; for another example, when the driving element 41 rotates reversely, the two abutting elements 42 can be driven to move in a direction away from the shelf 300 respectively until the two abutting elements 42 are separated from the shelf 300.

As another alternative embodiment of the transmission member 50, as shown in fig. 4 and 5, the transmission member 50 includes a link mechanism including a first link 51, a second link 52, and a third link 53.

The first connecting rod 51 is connected with the output shaft of the driving part 41, and the output shaft of the driving part 41 is connected with the center of the first connecting rod 51, so that the connecting position of the output shaft of the driving part 41 and the first connecting rod 51 is coincided with the center of gravity of the first connecting rod 51, and the stability of the first connecting rod 51 in the rotating process is ensured.

One end of the second link 52 is hinged to one end of the first link 51, and the other end of the second link 52 is hinged to one of the abutments 42.

One end of the third link 53 is hinged with the other end of the first link 51, the other end of the third link 53 is hinged with the other abutting piece 42, and the third link 53 and the second link 52 are centrosymmetric relative to the first link 51.

Fig. 4 is a schematic diagram of an initial state of the locking mechanism, when the driving member 41 rotates, the first link 51 is driven to rotate clockwise or counterclockwise relative to its center, so as to drive the second link 52 and the third link 53 to rotate around the same direction, and further, the second link 52 and the third link 53 respectively drive the two abutting members 42 to move in opposite directions.

As shown in fig. 4 and 5, when the driving member 41 rotates reversely, so that the first link 51 rotates around its center along the counterclockwise direction L, the first link 51 drives the second link 52 to rotate along the counterclockwise direction L relative to the hinge point of the first link 51 and the second link 52, and further drives the abutting member 42 connected thereto to move along the first direction M through the second link 52; meanwhile, the first connecting rod 51 drives the third connecting rod 53 to rotate along the counterclockwise direction L relative to the hinge point of the first connecting rod 51 and the third connecting rod 53, and then the third connecting rod 53 drives the abutting pieces 42 connected with the third connecting rod to move along the second direction N, so that the two abutting pieces 42 are respectively abutted to the goods shelf 300, and the stability of the transfer robot and the goods shelf 300 is enhanced.

After the transfer robot finishes the operation of picking and placing the goods, the driving member 41 can be controlled to rotate forward, so that when the first connecting rod 51 rotates around the center of the first connecting rod in the clockwise direction R, the second connecting rod 52 can drive the abutting member 42 connected with the first connecting rod to move in the second direction N, and meanwhile, the third connecting rod 53 can drive the abutting member 42 connected with the first connecting rod to move in the first direction M, so that the two abutting members 42 are separated from the shelf 300, and the transfer robot can perform other operations.

In some embodiments, as shown in fig. 3 to 5, the limiting member 20 includes at least one first limiting rack, and the limiting portion 30 includes at least one second limiting rack disposed on the transmission member 50, and the first limiting rack is engaged with the second limiting rack, so that the limiting portion 30 and the limiting member 20 are fixed relative to each other.

When the first connecting rod 51 drives the second connecting rod 52 and the third connecting rod 53 to rotate along the counterclockwise direction L, the second limiting rack located on the transmission member moves toward the first limiting rack until the first limiting rack is meshed with the second limiting rack, so as to fixedly connect the limiting part 30 and the limiting part 20, and further, the two abutting parts 42 stop moving.

If the two abutting pieces 42 abut against the shelf 300, the second link 52 and the third link 53 continue to move, so that the interaction force between the transfer robot and the shelf 300 is increased, and the transfer robot or the shelf 300 is inclined, therefore, in the present embodiment, the second link 52 and the third link 53 can be prevented from moving excessively by the arrangement of the limiting piece 20 and the limiting part 30, and the safety of the transfer robot and the shelf 300 is improved.

In some embodiments, there are two first limit racks, and two first limit racks are spaced apart from each other on the supporting member 10 and are located on both sides of the transmission member 50, and for example, in the orientation shown in fig. 4 and 5, one of the first limit racks is located above the transmission member 50, and the other one of the first limit racks is located below the transmission member 50.

Correspondingly, the number of the second limit racks is also two, in an example, the two second limit racks are both arranged on the first connecting rod 51, and the two second limit racks are symmetrical relative to the center of the first connecting rod; wherein, two spacing racks of second can set up simultaneously on the upper surface of first connecting rod 51, so, can prevent that spacing rack of second from interfering with support piece 10, improved locking mechanical system's life.

In another example, one of the second limit racks is disposed on the second link 52, the other second limit rack is disposed on the third link 53, and the two second limit racks are symmetrical with respect to the center of the first link.

It should be noted that the number of the second limit racks is not limited to the above manner, for example, the number of the second limit racks may be four, six, or more, and when the number of the second limit racks is four, two of the second limit racks may be disposed on the first link 51, and the two second limit racks are symmetrical with respect to the center of the first link 51; one of the other two second limit racks is arranged on the third connecting rod 53, the other one is arranged on the second connecting rod 52, and the two second limit racks can be respectively arranged on the lower surfaces of the second connecting rod 52 and the third connecting rod 53, so that collision with the second limit racks on the first connecting rod 51 can be prevented, and the safety is improved.

In some embodiments, the locking assembly further comprises a slider 60 and a slider 70 slidably disposed on the slider 60; the supporting member 10 is provided with a coupling hole 11, and the slider 60 is disposed on the supporting member 10 at one side of the coupling hole 11.

The sliding members 60 may include sliding rails, the number of the sliding members 60 may be two, and the two sliding members 60 may be respectively disposed on two sides of the connecting hole 11, for example, taking the orientation shown in fig. 4 as an example, one of the sliding members 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 sliding members 60, and thus the stability of the moving process of the slider 70 can be increased.

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

In practical applications, since the transfer robot is not necessarily able to move along the center line of the channel formed by the adjacent shelves 300, and may be shifted relative to the center line of the channel, such that one of the abutment members first touches one of the shelves 300, if the position of the driving member 41 is fixed, when the driving member 41 continues to operate, the force preferentially touching the abutment member of one of the shelves 300 is too large, and the other abutment member does not touch the shelf, thereby causing the transfer robot to tilt.

Therefore, in this embodiment, the driving element 41 can move along with the slider 70, when one of the abutting elements 42 first touches one of the shelves 300, the driving element 41 will move toward the other shelf 300 under the action of the relative force between the driving element 41 and the slider 70, so that the other abutting element 42 can quickly abut against the corresponding shelf 300, thereby preventing the shelf 300 from tilting and improving the safety.

In some embodiments, with continued reference to fig. 7, the abutment 42 comprises a support bar 421 and a roller 422 connected to the support bar 421; the end of the support bar 421 facing away from the rolling member 422 is hinged to the transmission member 50.

The setting of rolling member 422 is passed through to this embodiment, can be so that for roll connection between butt 42 and the goods shelves 300, so, can reduce the frictional force of butt 42 and goods shelves 300, keeping the state of transfer robot and goods shelves butt, transfer robot also can move, gets in the different positions of passageway and puts the goods, has improved transfer robot's degree of freedom of motion.

To further reduce wear of the abutment member 42 and the shelf 300, the rolling member 422 may be made of rubber.

In some embodiments, as shown in fig. 7 and 8, the rolling member 422 is coupled to the support bar 421 by a coupling member 423. Wherein the link 423 includes a first link plate 4231 and a second link plate 4232 connected with the first link plate 4231, and the first link plate 4231 and the second link plate 4232 are perpendicular to each other such that the link 423 forms an L-shaped structure.

The number of the rolling members 422 is two, the two rolling members 422 are arranged on the first link plate 4231 at intervals, the support rod 421 is connected with the second link plate 4232, and part of the support rod 421 is located in an area surrounded by the first link plate 4231 and the second link plate 4232.

Be provided with the through-hole on the second connecting plate 4232, the one end that the bracing piece 421 deviates from driving medium 50 is located the through-hole, and is provided with the bearing between the inner wall of through-hole and the bracing piece 421, so, can reduce the wearing and tearing of bracing piece 421, improve the life of bracing piece 421.

In some embodiments, the supporting rod 421 further includes a first limiting plate 424 and a second limiting plate 425, the first limiting plate 424 is disposed on the supporting rod 421 and is located between the driving member 50 and the connected member 423, the second limiting plate 425 is disposed on one side of the second connecting plate 4232 departing from the supporting rod 421, the supporting rod 421 can be limited by the arrangement of the first limiting plate 424 and the second limiting plate 425, and then the moving path of the abutting member 42 is limited, so that the safety of the locking mechanism is improved.

In some embodiments, an elastic member 426 is disposed in the through hole, one end of the elastic member 426 abuts against the first limiting plate 424, and the other end of the elastic member 426 abuts against the second limiting plate 425, wherein the elastic member 426 may be a spring, so that the elastic force of the elastic member 426 may be utilized to buffer the abutting member 42, reduce the impact force between the locking mechanism and the shelf 300, and improve the safety performance.

In some embodiments, the locking assembly further includes at least two guiding elements 80 disposed on the supporting member 10, the guiding elements 80 are disposed in one-to-one correspondence with the supporting rod 421, and the guiding elements 80 are sleeved on the supporting rod 421, wherein the guiding elements may be guiding sleeves or linear bearings.

In this embodiment, the support rod 421 is matched with the guide member 80, so that the support rod 421 can perform a stable linear motion, and the operation stability of the locking mechanism is improved.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is 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 particular 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 for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims (15)

1. A locking mechanism, comprising:

a support for connection with a transfer robot;

the locking assembly is arranged on the supporting piece and comprises a limiting piece and a locking piece with a limiting portion, the locking piece can move relative to the supporting piece, so that two ends of the locking piece move towards the goods shelf respectively, and when two ends of the locking piece are abutted to the goods shelf respectively, the limiting portion and the limiting piece are fixed relatively.

2. The locking mechanism of claim 1, wherein the locking member comprises a driving member and two abutment members, the output shaft of the driving member being connected to the two abutment members respectively and driving the two abutment members to move in opposite directions.

3. The locking mechanism of claim 2, wherein the locking assembly further comprises a transmission member coupled to the output shaft of the driving member;

one end of the transmission piece is connected with one of the abutting pieces, and the other end of the transmission piece is connected with the other abutting piece.

4. The locking mechanism of claim 3, wherein the transmission comprises a linkage mechanism including a first link, a second link, and a third link;

the output shaft of the driving piece is connected with the center of the first connecting rod;

one end of the second connecting rod is hinged with one end of the first connecting rod, and the other end of the second connecting rod is hinged with one of the abutting parts;

one end of the third connecting rod is hinged to the other end of the first connecting rod, the other end of the third connecting rod is hinged to the other abutting part, and the third connecting rod and the second connecting rod are symmetrical relative to the center of the first connecting rod.

5. The locking mechanism of claim 4, wherein the retaining member includes at least one first retaining rack, and the retaining portion includes at least one second retaining rack disposed on the transmission member, the first retaining rack engaging the second retaining rack to secure the retaining portion relative to the retaining member.

6. The locking mechanism according to claim 5, wherein there are two of said first limit racks, and two of said first limit racks are spaced apart on said support member and located on opposite sides of said transmission member;

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

7. The locking mechanism of any one of claims 2-6, wherein the locking assembly further comprises a slider and a slider slidably disposed on the slider;

the support piece is provided with a connecting hole, and the sliding piece is arranged on the support piece and positioned on one side of the connecting hole;

the driving piece is positioned on one side of the supporting piece, which is far away from the sliding piece, and an output shaft of the driving piece is fixedly connected with the sliding block after passing through the connecting hole and can slide along with the sliding block.

8. The locking mechanism of any one of claims 3-6, wherein the abutment member comprises a support bar and a rolling member connected to the support bar;

one end of the support rod, which is far away from the rolling piece, is hinged with the transmission piece.

9. The locking mechanism of claim 8, wherein the rolling member is connected to the support bar by a connecting member.

10. The locking mechanism of claim 9, wherein the connector comprises a first connector plate and a second connector plate connected to the first connector plate, and the first connector plate and the second connector plate are perpendicular to each other;

the number of the rolling parts is two, the two rolling parts are arranged on the first connecting plate at intervals, and the supporting rod is connected with the second connecting plate.

11. The locking mechanism of claim 10, wherein the second connecting plate is provided with a through hole, and one end of the support rod, which is far away from the transmission member, is positioned in the through hole;

the supporting rod further comprises a first limiting plate and a second limiting plate, the first limiting plate is arranged on the supporting rod and located between the transmission piece and the connecting piece, and the second limiting plate is arranged on one side, deviating from the supporting rod, of the second connecting plate and used for limiting the supporting rod.

12. The lock mechanism according to claim 11, wherein an elastic member is provided in the through hole, one end of the elastic member abuts against the first stopper plate, and the other end of the elastic member abuts against the second stopper plate.

13. The locking mechanism of any one of claims 9-11, wherein the locking assembly further comprises at least two guides disposed on the support member, the guides being disposed in one-to-one correspondence with the support rods;

the guide piece is sleeved on the supporting rod.

14. A transfer robot comprising a frame, a fork, and the locking mechanism of any one of claims 1-13;

the fork is arranged on the frame in a sliding mode, and the locking mechanism is arranged on the frame or/and arranged on the fork.

15. A warehousing system characterized by comprising at least two of said racks and the transfer robot of claim 14;

and a channel for the carrying robot to walk is formed between the adjacent goods shelves, and the two ends of the locking assembly are respectively abutted against the goods shelves.

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