A storage robot forklift based on a beam storage shelf

Abstract

The invention relates to a storage robot forklift based on a trabeated style storage shelf. The forklift comprises a car body chassis, a driving wheel and a follower wheel installed on the car body chassis, a car body stand column installed at the side end of the car body chassis and perpendicular to the car body chassis, a car body control box installed on the car body, a positioning control device, a platform lifting device and a transverse cargo storage and retrieval device. One end of the transverse cargo storage and retrieval device is embedded into a lifting sliding groove. The storage robot forklift is mainly and technically characterized in that the transverse cargo storage device is based on mixed positioning of two laser heads and a code reader. According to two distance difference values measured by the two laser heads, the tilt angle of the car body is worked out, then, the gesture of the car body is corrected, the robot forklift body can still keep the parallel distance relation between the car body and a goods shelf or tray all the time during cargo storage and retrieval, then, the robot forklift can accurately hook or store cargo, and the requirement for a transverse gap between high-density storage system cargos is met.

Description

Technical field [0001] The invention belongs to the technical field of robotic forklifts, and specifically relates to a storage robotic forklift based on a beam type storage shelf. Background technique [0002] The beam type rack uses the pallet as the storage unit, and is formed by the two ends of the column, cross brace, diagonal brace, and bolt connection. The requirements of the high-density storage system for the loading of the shelves are: the horizontal gap between the goods is not more than 2 cm, the longitudinal gap between the goods is not more than 3 cm, and the shelf height is at least 3 meters; the high-density storage system also has The width of the roadway puts forward a requirement: the width of the roadway should be slightly larger than the width of the robot forklift body, so as to minimize the auxiliary space of the roadway and increase the storage density. [0003] In order to meet the requirements of the above high-density storage system for the longitudinal ...

AI Technical Summary

Problems solved by technology

[0003] In order to meet the requirements of the above-mentioned high-density storage system for the longitudinal gap between the goods, it is not convenient to use the traditional fork-type extraction method when picking up the goods, because the fork device extending into the shelf must occupy the space in the shelf, thereby reducing the load. Storage density in the vertical or horizontal direction of the beam-type shelf; in order to meet the requirements of the above-mentioned high-density storage system for the horizontal gap between the goods, it is required that the goods cannot be tilted at an angle exceeding 2 cm in the horizontal plane when storing the goods. Once the tilt occurs, It will occupy the space next to it due to the inclination of the goods

In practice, the inclination of cargo storage is often due to the inclination of the car body itself. The reason for the inclination of the car body is that the shelves on both sides of the roadway are not parallel to the two-dimensional code navigation path on the roadway, or because the shelves are inclined, or because the two-dimensional The code is crooked, or the two-dimensional code navigation belt is crooked. The above reasons cause the body of the robot to be not parallel to the shelf during operation. Due to the inclination of the robot body itself, the robot forklift will store the goods on the shelf. The goods are often placed crookedly; in order to meet the above high-altitude operation requirements of the robot forklift in the high-density storage system, it is required to solve the lateral deviation correction of the vehicle body caused by the inability of the wheels to move laterally when the vehicle body tilts laterally due to mechanical errors during high-altitude operations. The problem of inefficiency

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