Goods box take-out mechanism, device, and method, and transport robot
The embodiments of this application provide a goods box take-out mechanism, device, and method, and a transport robot, belong to the field of transport robot technologies, and are intended to resolve the problem of wasting part of storage space of the warehouse when the current transport robots are used to carry goods boxes. The goods box take-out device includes a take-out assembly that is connected to a front surface of a to-be-transferred goods box and that can take out the goods box from a warehousing shelving unit. Since the take-out assembly is connected to the front surface of the to-be-transferred goods box, there is no need to reserve space below, above, or on left and right sides of the goods box for insertion and movement of the take-out assembly. Therefore, the storage space of the warehouse is fully utilized, and the storage density of the warehouse is improved.
1 . A goods box take-out device, comprising: a pedestal, a transmission mechanism, and a take-out assembly, wherein
the take-out assembly is configured to be connected to a front surface of a to-be-transferred goods box to transfer the goods box; the transmission mechanism comprises a fixed wheel assembly, a movable wheel assembly, and a transmission belt, and the fixed wheel assembly comprises at least two fixed wheels mounted apart on the pedestal; the movable wheel assembly comprises a sliding seat slidably mounted on the pedestal and at least two movable wheels mounted apart on the sliding seat; and along a moving direction of the sliding seat toward the goods box, the sliding seat is provided with a first limiting structure at a front end of the sliding seat, and a rear end of the sliding seat is connected to a reset mechanism; and
the take-out assembly is disposed on the transmission belt; the transmission belt is wound around each of the movable wheels and each of the fixed wheels; when the take-out assembly is driven by the transmission belt to move toward the goods box and move to the first limiting structure, the transmission belt drives the take-out assembly and the movable wheel assembly to move toward the goods box together; and when the transmission belt is driven in an opposite direction, the reset mechanism is configured to reset the movable wheel assembly, and after the movable wheel assembly is reset, the transmission belt drives the take-out assembly to reset.
2 . The goods box take-out device according to claim 1 , wherein the pedestal comprises two support plates disposed oppositely and a bottom connecting plate connecting the two support plates; and
each of the fixed wheels is mounted between the two support plates.
3 . The goods box take-out device according to claim 2 , wherein the fixed wheel assembly comprises a first fixed wheel and a second fixed wheel;
the first fixed wheel is mounted between the two support plates and located at front ends of the support plates, and the second fixed wheel is mounted between the two support plates and located at rear ends of the support plates; and
mounting space for the movable wheel assembly is formed between the first fixed wheel and the second fixed wheel.
4 . The goods box take-out device according to claim 2 , wherein the movable wheel assembly comprises a first movable wheel and a second movable wheel mounted on the sliding seat;
the sliding seat comprises two mounting plates disposed oppositely and a connecting plate disposed between the two mounting plates; and
the first movable wheel is mounted between the two mounting plates and located at front ends of the mounting plates, and the second movable wheel is mounted between the two mounting plates and located at rear ends of the mounting plates.
5 . The goods box take-out device according to claim 4 , wherein a first buffer is disposed at the rear end of each of the mounting plates, and a collision block directly opposite to the first buffer is disposed at rear end of each of the support plates.
6 . The goods box take-out device according to claim 4 , wherein the reset mechanism is an elastic element, one end of the elastic element is connected to the rear end of the sliding seat, and an other end of the elastic element is connected to a rear end of the pedestal.
7 . The goods box take-out device according to claim 4 , wherein the take-out assembly comprises a fixed bracket and a plurality of suction cups;
the plurality of suction cups are mounted on the fixed bracket, and suction surfaces of the suction cups are opposite to the front surface of the goods box; and
the fixed bracket is connected to the transmission belt and moves along with the transmission belt.
8 . The goods box take-out device according to claim 7 , wherein a tray is further provided on the pedestal, and the tray comprises a first supporting plate and a second supporting plate disposed oppositely;
the first supporting plate and the second supporting plate are respectively mounted on the two support plates, and a passage for movement of the fixed bracket is formed between the first supporting plate and the second supporting plate; and
an end of the fixed bracket away from the transmission belt is located above the tray.
9 . A transport robot, comprising a robot body and the goods box take-out device according to claim 1 , wherein
the goods box take-out device is mounted on the robot body.
10 . A goods box take-out method using the transport robot according to claim 9 , wherein the transport robot comprises a goods box take-out device; the goods box take-out device comprises a pedestal, a transmission mechanism, and a take-out assembly; the take-out assembly is configured to be connected to a front surface of a to-be-transferred goods box to transfer the goods box; the transmission mechanism comprises a fixed wheel assembly, a movable wheel assembly, and a transmission belt; the movable wheel assembly comprises a sliding seat slidably mounted on the pedestal; along a moving direction of the sliding seat toward the goods box, the sliding seat is provided with a first limiting structure at a front end of the sliding seat, and a rear end of the sliding seat is connected to a reset mechanism; and the method comprises the following steps:
the transport robot with the goods box take-out device moving to be in front of a warehousing shelving unit where the to-be-transferred goods box is located;
driving, by using the transmission mechanism, the take-out assembly to move toward the front surface of the goods box;
driving, by the transmission mechanism when the take-out assembly moves to the first limiting structure, the movable wheel assembly and the take-out assembly to move toward the front surface of the goods box together;
connecting, after the take-out assembly is in contact with the front surface of the goods box, the take-out assembly to the front surface of the to-be-transferred goods box to transfer the goods box;
driving, by the reset mechanism when the transmission mechanism drives the take-out assembly to move in an opposite direction, the movable wheel assembly to reset; and
continuously driving, by the transmission mechanism after the movable wheel assembly is reset, the take-out assembly to move in the opposite direction and reset.