A warehouse freight robot and loading method thereof

Abstract

The present invention provides a warehouse freight robot and a loading method thereof, wherein the warehouse freight robot comprises: an automatic guided vehicle and a shelf climbing machine, the automatic guided vehicle is provided with a loading device, the automatic guided vehicle carries the shelf climbing machine via the loading device, wherein the loading device comprises: a bottom plate, a loading frame, a floating device, and a reset device, wherein the bottom plate is connected to the top of the automatic guided vehicle, the floating device is connected to the bottom plate, the loading frame is connected to the moving end of the floating device, the anchoring end of the reset device is respectively connected to the bottom plate and the loading frame to limit the reset position of the floating device, wherein the loading frame is provided with an extended track, and a positioning piece is provided on one side of the extended track. This improves the degree of freedom of capacity allocation.

Description

Technical Field

[0001] The present invention relates to warehousing technology, and in particular to a warehousing freight robot and a loading method thereof. Background Art

[0002] Automated Guided Vehicle, or AGV for short, is also commonly referred to as an AGV cart. It refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Its path and behavior can generally be controlled by a computer.

[0003] In the traditional construction scheme of the stereoscopic warehouse used with AGV, a material box robot scheme is mostly used for construction. For example, the prior art has proposed a material box handling AGV, a handling method and an automatic docking system for an SMT production line (patent publication number CN107813882A), which includes: a vehicle body, a material box loading and unloading device arranged on the vehicle body, and a control center. The control center is used to control the material box loading and unloading device to make corresponding actions. The material box loading and unloading device is arranged at the rear of the vehicle body. The material box loading and unloading device includes a material box conveying mechanism for receiving and conveying a material box. The direction of the material box conveying mechanism receiving and conveying the material box is parallel to the running direction of the vehicle body.

[0004] However, such box robots mainly pick up and place goods on the shelves by horizontal movement of the body and up and down movement of the forks. Therefore, their main feature is that the moving part of the body and the lifting part of such box robots are an integrated structure. Therefore, their disadvantage is that the height of the shelves they are adapted to is limited to the lifting range of the robot itself, which will limit the design height of the warehouse shelves. At the same time, even if the lifting range of such robots is deliberately increased, it is not economical, and the lifting mechanism that is too high will also bring more safety hazards during transportation.

[0005] On the other hand, there is another AGV in the art that has the function of climbing shelves, such as an automatic guided transport vehicle and storage system (patent publication number CN110035961A) proposed in the prior art, in which the automatic guided transport vehicle can climb along the shelf, the shelf includes a frame and a first engaging member, and a passage for the automatic guided transport vehicle to walk is provided between two adjacent shelves, and the first engaging member is located on the side of the frame close to the passage. The automatic guided transport vehicle includes a frame, a climbing device and a telescopic drive device. The climbing device includes a telescopic connecting member, a second engaging member and a climbing drive mechanism, and the second engaging member and the climbing drive mechanism are both connected to the telescopic connecting member. The telescopic connecting member can move a preset distance relative to the frame so that the second engaging member is engaged with the first engaging member, and the climbing drive mechanism can drive the second engaging member to rotate so that the automatic guided transport vehicle climbs along the first engaging member, and the automatic guided transport vehicle includes two climbing devices. The telescopic drive device can drive the telescopic connecting members of the two climbing devices to move preset distances in opposite directions respectively.

[0006] However, the main feature of such shelf climbing robots is that they have both the horizontal movement characteristics of AGV and the ability to climb shelves, and are designed with an integrated structure. Although this solves the problem of shelf height restrictions, the body weight after integrating the traditional AGV characteristics is relatively heavy. Therefore, the mechanism that provides horizontal movement capabilities when climbing with cargo becomes a burden and consumes part of the load-bearing capacity. Therefore, higher requirements are placed on its climbing force when loading cargo, which is obviously not economical.

[0007] In addition, the above-mentioned stereoscopic warehouses and their robot solutions in the prior art have a common disadvantage. After executing the freight order and receiving the goods, they cannot leave the task midway to support other parties' transportation capacity, so the transportation capacity allocation is not free enough. Summary of the invention

[0008] To this end, the main purpose of the present invention is to provide a warehouse freight robot and a loading method thereof, so as to at least partially solve the problems existing in the prior art.

[0009] In order to achieve the above-mentioned purpose, according to the first aspect of the present invention, there is provided a warehouse freight robot, which includes: an automatic guided vehicle and a shelf climber, the automatic guided vehicle is provided with a loading device, the automatic guided vehicle carries the shelf climber via the loading device, wherein the loading device includes: a loading frame, the loading frame is connected to the top of the automatic guided vehicle, the loading frame is also provided with an extended track, the shelf climber is matched with the extended track so as to be carried on the automatic guided vehicle.

[0010] In order to achieve the above-mentioned purpose, according to a second aspect of the present invention, there is provided a warehouse freight robot, which includes: an automatic guided vehicle and a shelf climber, the automatic guided vehicle is provided with a loading device, the automatic guided vehicle carries the shelf climber via the loading device, wherein the loading device includes: a base plate, a loading frame, a floating device, and a reset device, wherein the base plate is connected to the top of the automatic guided vehicle, the floating device is connected to the base plate, the loading frame is connected to the moving end of the floating device, the anchoring end of the reset device is respectively connected to the base plate and the loading frame to limit the reset position of the floating device, wherein the loading frame is provided with an extended track, a positioning piece is provided on one side of the extended track, and the shelf climber is matched with the extended track to be carried on the automatic guided vehicle.

[0011] In a possible preferred embodiment, the floating device includes: a base, a floating plate, and a ball. Both ends of the floating plate are provided with sliding grooves for the ball to be embedded and slide. Both ends of the base are provided with sockets for the two ends of the floating plate to be inserted into. The ball supports the top and bottom surfaces of the sockets so that the floating plate can slide in the air within the range of the sockets.

[0012] In a possible preferred embodiment, the shelf climbing machine includes: a climbing unit, a cargo moving unit, the climbing unit carries the cargo moving unit, wherein the climbing unit driving end is provided with a climbing wheel, the climbing wheel is provided with a first engaging member, and the extension track is provided with a second engaging member adapted to the first engaging member, the shelf climbing machine is matched with the extension track via the climbing wheel so that it can be loaded on the loading device, and the cargo moving unit includes: a linear module, a fork, the moving end of the linear module is connected to the fork, wherein a loading area is provided on the top of the climbing unit, and the linear module is arranged at the loading area to drive the fork to store and retrieve cargo in and out of the loading area.

[0013] In a possible preferred embodiment, the automatic guided vehicle includes: a guiding mobile unit, a first lifting unit, and a first power supply unit, wherein the guiding mobile unit and the first lifting unit are respectively connected to the first power supply unit for power supply, the first lifting unit is fixed in the lifting slot of the guiding mobile unit, and the loading device is connected to the moving end of the first lifting unit; the shelf climbing machine includes: a climbing unit, a cargo transfer unit, a second power supply unit, and a controller, wherein the climbing unit, the cargo transfer unit, and the second power supply unit are respectively connected to the controller, the second power supply unit is respectively connected to the climbing unit and the cargo transfer unit, and the climbing unit carries the cargo transfer unit; wherein the shelf climbing machine is connected to the loading device via the climbing unit so that it can ride on top of the automatic guided vehicle.

[0014] In a possible preferred embodiment, the climbing unit includes: a frame, a driving machine, a first transmission mechanism, and a climbing wheel, wherein the driving machine and the first transmission mechanism are housed in the frame, the driving machine is connected to the transmission end of the first transmission mechanism, and the climbing wheel is connected to the driving end of the first transmission mechanism, wherein the first transmission mechanism includes: a first transmission shaft, a first pulley, a second transmission shaft, a second pulley, a driving wheel, and a driving belt, the first transmission shaft is sleeved with a first pulley, the second transmission shaft is sleeved with a second pulley, the driving end of the driving machine is connected to the driving wheel, the driving wheel is respectively connected to the first pulley and the second pulley through the driving belt, and the climbing wheel is connected to both ends of each transmission shaft.

[0015] In a possible preferred embodiment, the automatic guided vehicle also includes: a charging unit, which is connected to the first power supply unit for power supply, wherein the charging interface of the charging unit is arranged on the bottom plate, and the second power supply unit of the shelf climbing machine includes: a power storage device and a charging brush, wherein the power storage device is respectively connected to the climbing unit, the cargo moving unit and the controller for power supply, the charging brush is arranged at the bottom of the climbing unit, and the power storage device is arranged in the climbing unit and connected to the charging brush, wherein when the shelf climbing machine is loaded with the loading device, the charging brush is inserted into the charging interface.

[0016] In a possible preferred embodiment, the first lifting unit includes: a first lifter, a first folding bracket, wherein the top of the first folding bracket is fixed under the bottom plate, and the bottom is fixed in the lifting slot of the guiding moving unit, and the first lifter is fixed in the lifting slot of the guiding moving unit, and its moving end supports the lifting of the first folding bracket.

[0017] In order to achieve the above-mentioned purpose, according to the third aspect of the present invention, a warehouse freight robot is provided, which includes: an automatic guided vehicle and a shelf climbing machine, the automatic guided vehicle is provided with a loading device, the automatic guided vehicle carries the shelf climbing machine through the loading device, wherein the automatic guided vehicle includes: a guiding moving unit, a first lifting unit, and a first power supply unit, the guiding moving unit and the first lifting unit are respectively connected to the first power supply unit for power, the first lifting unit is fixed in the lifting slot of the guiding moving unit, the loading device includes: a bottom plate, a loading frame, a floating device, and a reset device, wherein the floating device includes: a base, a floating plate, and a ball, and the two ends of the floating plate are provided with sliding grooves for the balls to be embedded and slid, and the two ends of the base are provided with sleeve holes for the two ends of the floating plate to be inserted, and the balls support the top and bottom surfaces of the sleeve holes so that the floating plate can slide in the air within the range of the sleeve holes, the bottom plate is connected to the moving end of the first lifting unit, the floating device is connected to the bottom plate, and the loading frame is connected to the floating plate. The anchoring ends of the reset device are respectively connected to the bottom plate and the loading frame to limit the reset position of the floating device, wherein the loading frame is also provided with an extended track, wherein a positioning piece is provided on one side of the extended track; the shelf climbing machine comprises: a climbing unit, a cargo moving unit, a second power supply unit, and a controller, wherein the climbing unit, the cargo moving unit, and the second power supply unit are respectively connected to the controller, and the second power supply unit is respectively connected to the climbing unit and the cargo moving unit, and the climbing unit carries the cargo moving unit, wherein a climbing wheel is provided at a driving end of the climbing unit, a first engaging piece is arranged on the climbing wheel, and a second engaging piece adapted to the first engaging piece is provided on the extended track, and the shelf climbing machine is matched with the extended track via the climbing wheel so that it is loaded on the loading device, and the cargo moving unit comprises: a linear module and a fork, and a moving end of the linear module is connected to the fork, wherein a cargo loading area is provided on the top of the climbing unit, and the linear module is arranged at the cargo loading area to drive the fork to store and retrieve cargo in and out of the cargo loading area.

[0018] In order to achieve the above-mentioned purpose, according to the fourth aspect of the present invention, a warehouse freight robot loading method is also provided, the steps of which include: an automatic guided vehicle receives a loading instruction and goes to a designated shelf dock; a shelf climber receives a loading instruction and descends from the shelf; the automatic guided vehicle orders a first lifting unit to lift a loading device to guide the extended track to connect with the shelf's track unit; the shelf climber loads the loading device along the shelf's track unit; the automatic guided vehicle orders the first lifting unit to descend to separate the extended track from the shelf's track unit, and then carries the shelf climber to withdraw from the shelf dock.

[0019] Through the warehouse freight robot and the loading method thereof provided by the present invention, the freight robot is redefined in the form of a mother-child machine. Through the loading structure of the automatic guided vehicle and the shelf climber, when delivering / picking up goods, the shelf climber can be temporarily separated from the automatic guided vehicle in a dispatched form and act autonomously, thus breaking through the limitation of the traditional integrated structure of the material box robot on the design height of the shelf. At the same time, compared with the traditional AGV with shelf climbing function, it also reduces its own weight when climbing the shelf, thereby effectively improving its own cargo carrying capacity.

[0020] In addition, through the loading structure design of the automatic guided vehicle and the shelf climber, the present invention enables the automatic guided vehicle to use this time to detach from the current task and support other parties' transportation capacity during the process of storing / retrieving goods. This greatly expands the freedom of transportation capacity allocation and further improves the utilization efficiency of the freight robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 This is a schematic diagram of the structure of the storage and freight robot and the three-dimensional shelf of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the storage and freight robot of the present invention in a loaded state;

[0024] Figure 3 It is a schematic diagram of the structure of the automatic guided vehicle and the loading device of the present invention;

[0025] Figure 4 It is a partial perspective structural schematic diagram of the carrying device of the present invention;

[0026] Figure 5 It is a perspective structural schematic diagram of the floating device of the present invention;

[0027] Figure 6 It is a perspective structural schematic diagram of the floating device of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the shelf climbing machine of the present invention;

[0029] Figure 8 It is a perspective structural schematic diagram of the shelf climbing machine of the present invention;

[0030] Fig. 9 It is a schematic diagram of the internal structure of the shelf climbing machine of the present invention;

[0031] Fig.10This is a schematic diagram of the structure of the storage and freight robot connecting the tracks of the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the warehouse freight robot of the present invention in a lifted state;

[0033] Fig.12 It is a schematic diagram of the structure of the automatic guided vehicle and the loading device of the present invention when they are in a lifted state;

[0034] Fig.13 It is a schematic diagram of the structure of the automatic guided vehicle of the present invention;

[0035] Fig.14 It is a schematic structural diagram of the first lifting unit of the present invention;

[0036] Fig.15 This is a schematic diagram of the structure of a charging brush arranged at the bottom of the shelf climbing machine of the present invention;

[0037] Fig.16 It is a schematic diagram of the matching structure of the charging brush of the shelf climbing machine and the charging interface of the automatic guided vehicle of the present invention;

[0038] Fig.17 It is a schematic diagram of the freight robot of the present invention driving into the docking station of the three-dimensional shelf and waiting for the extended track to be connected with the track unit;

[0039] Fig.18 It is a schematic diagram of the freight robot of the present invention lifting the loading device so that the positioning piece is matched with the positioning cone column, and the extended track is adjusted to connect with the track unit.

[0040] Description of Reference Numerals

[0041] Warehousing and freight robot 1, three-dimensional shelf 2, automatic guided vehicle 10, shelf climbing machine 11, loading device 12, charging brush 17, charging interface 18, shelf unit 21, track unit 22, docking station 23, storage area 24, positioning cone column 25, first support frame 211, loading shelf 212, climbing track 221, second support frame 222, loading frame 121, extension track 122, floating device 123, reset device 124, bottom plate 125, positioning member 126, base 1231, floating plate member 1232, ball 1233, sleeve hole 1234, anchor seat 1241, spring 1242, climbing unit 111, cargo moving unit 112, controller 113, second power supply unit 114, frame 1111, driving machine 1112, first transmission mechanism 1113, climbing wheel 1114, first transmission shaft 191, first pulley 192, second transmission shaft 193, second pulley 194, driving wheel 195, driving belt 196, linear module 1121, fork 1122, cargo area 1123, guide moving unit 101, first lifting unit 102, first lifter 1021, first folding bracket 1022. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0046] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly stipulated and limited, the terms "set", "layout", "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances and in combination with the prior art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other unless there is a conflict. And one or more of the components in the diagram may be necessary or non-essential, and the relative position relationship between the components in the above diagram can be adjusted according to actual needs. (one)

[0049] See also Figures 1 to 18 As shown, the warehouse freight robot provided by the present invention adopts a parent-child machine form to construct a freight structure that can dispatch a child machine to escape, so that the child / parent machine of the warehouse freight robot 1 of the present invention can operate independently to perform their respective tasks, and can also collaborate to complete tasks that cannot be completed by individuals, thereby expanding the freedom of capacity allocation.

[0050] To this end, in this embodiment, the warehouse freight robot 1 preferably includes: an automatic guided vehicle 10 and a shelf climber 11, wherein in this embodiment, the automatic guided vehicle 10 can be an AGV of the prior art, and the automatic guided vehicle 10 is also provided with a loading device 12, and the automatic guided vehicle 10 carries the shelf climber 11 via the loading device 12 to form a combined form of a mother-and-child machine.

[0051] In order to better illustrate how the warehouse freight robot 1 establishes a warehouse transportation relationship with the shelf, an example form of a three-dimensional shelf 2 is provided in this embodiment, wherein the three-dimensional shelf 2 includes: a shelf unit 21, a track unit 22, and a docking dock 23, wherein the track unit 22 is arranged on one side of the shelf unit 21, and the docking dock 23 is arranged below the track unit 22, so that after the automatic guided vehicle 10 carries the shelf climber 11 into the docking dock 23, the shelf climber 11 detaches from the loading device 12, enters the dispatch form, and is completely separated from the automatic guided vehicle 10, and moves to the storage area 24 of the shelf unit 21 through the track unit 22 to store / retrieve goods, and then returns to the loading device 12, so as to take the automatic guided vehicle 10 to withdraw from the docking dock 23 and go to other locations of the freight task, thereby completing a series of transportation and moving tasks.

[0052] Specifically, if Figure 1 As shown, in order to support the freight mode of the storage freight robot 1 in the form of a mother-child machine, so that the automatic guided vehicle 10 can enter and dock, and the shelf climbing machine 11 can deliver / pick up goods, the shelf unit 21 illustrated in this embodiment preferably includes: a first support frame 211, a loading shelf 212, and the track unit 22 includes: a climbing track 221, a second support frame 222, wherein the second support frames 222 are arranged in a rectangular array, and the climbing track 221 is connected to each second support frame 2 The first position of 22 forms a climbing lane, and the climbing track 221 and the second support frame 222 are offset, thereby defining a docking dock 23 through the height difference between the ground and the climbing track 221, and the rectangular array area where the second support frame 222 is arranged, wherein the first support frame 211 and the climbing track 221 are arranged in pairs, and the cargo shelves 212 are respectively connected to the first support frame 211 and the climbing track 221, and the cargo shelves 212 are arranged at intervals up and down to define a storage area 24 in layers.

[0053] Those skilled in the art should understand that the above-mentioned three-dimensional shelf 2 is only an example shelf to show a possible freight mode of the storage freight robot 1 under this embodiment. Therefore, the present invention does not limit the specific form of the three-dimensional shelf 2. It can be seen that any shelf in the prior art that can be adapted to the shelf climbing robot of this case can be adapted to the storage freight robot 1 under this embodiment through simple improvements without departing from the inventive concept of this case. Therefore, such simple improved shelf solutions of the prior art all fall within the scope of disclosure of this embodiment.

[0054] Further, such as Figure 1 As shown, in a preferred embodiment of the present invention, the loading device 12 includes: a loading frame 121, wherein the loading frame 121 is connected to the top of the automatic guided vehicle 10, and an extended track 122 is also provided on the loading frame 121, and the extended track 122 is an extended section similar in shape to the climbing track 221, and the shelf climbing machine 11 is matched with the extended track 122 to be mounted on the automatic guided vehicle 10 to form a combined form, wherein when the automatic guided vehicle 10 enters the docking dock 23 and adjusts the parking position until the extended track 122 is connected with the track unit 22, the shelf climbing machine 11 can be separated from the loading device 12 and enter the dispatch form, and is completely separated from the automatic guided vehicle 10, so as to move to the storage area 24 of the shelf unit 21 through the track unit 22 to store / retrieve goods.

[0055] On the other hand, considering the limited setting accuracy of the warehouse floor height and the track unit 22 of the three-dimensional shelf, sometimes when the freight robot 1 enters the docking dock, there is bound to be a drop between the extended track 122 and the climbing track 221, thereby affecting the connection between the extended track 122 of the carrier 12 and the track unit 22.

[0056] Therefore, in order to improve the reliability of the connection between the extended track 122 and the track unit 22 and avoid a large gap or drop in the connection between the extended track 122 and the track unit 22, which may cause the shelf climbing machine 11 to fall.

[0057] For this reason, Figure 10-Figure 14As shown, in this embodiment, the automatic guided vehicle 10 includes: a guide mobile unit 101, a first lifting unit 102, and a first power supply unit, wherein the guide mobile unit 101 and the first lifting unit 102 are respectively connected to the first power supply unit for power supply, wherein in this example, the guide mobile unit 101 is preferably an existing AGV solution, and a lifting slot is provided in the guide mobile unit 101, and the first lifting unit 102 is fixed in the lifting slot of the guide mobile unit 101, and the carrying device 12 is connected to the mobile end of the first lifting unit 102. ; The shelf climbing machine 11 includes: a climbing unit 111, a cargo moving unit 112, a second power supply unit 114, and a controller 113, wherein the climbing unit 111, the cargo moving unit 112, and the second power supply unit 114 are respectively connected to the controller 113, and the second power supply unit 114 is respectively connected to the climbing unit 111 and the cargo moving unit 112, and the climbing unit 111 carries the cargo moving unit 112; wherein the shelf climbing machine 11 is connected to the loading device 12 via the climbing unit 111 so that it can ride on top of the automatic guided vehicle 10.

[0058] Among them, Figure 13-14 An example structure of a first lifting unit 102 is provided, which includes: a first lifter 1021 and a first folding bracket 1022, wherein the top of the first folding bracket 1022 is fixed below the bottom plate 125, and the bottom is fixed in the lifting slot of the guiding moving unit 101, and the first lifter 1021 preferably adopts a driving motor and a transmission device to drive a lead screw mechanism to form a lifting mechanism, wherein the first lifter 1021 is fixed in the lifting slot of the guiding moving unit 101, and its moving end supports the lifting of the first folding bracket 1022, thereby enabling the first lifting unit 102 to be hidden in the lifting slot of the guiding moving unit 101 when it descends to the limit position, so as to be easily stored.

[0059] Further, in order to achieve the deviation correction effect when the track is connected, please refer to Figures 4 to 6 ,and Fig.12As shown, the loading device 12 in this embodiment includes: a bottom plate 125, a loading frame 121, a floating device 123, and a reset device 124, wherein the floating device 123 includes: a base 1231, a floating plate 1232, and a ball 1233. Both ends of the floating plate 1232 are provided with sliding grooves for the ball 1233 to be embedded and slid. Both ends of the base 1231 are provided with sleeve holes 1234 for the two ends of the floating plate 1232 to be inserted. The ball 1233 presses against the top and bottom surfaces of the sleeve holes 1234 so that the floating plate 1232 can slide in the air within the range of the sleeve holes 1234. The bottom plate 125 is connected to the first folding bracket 1022, the floating device 123 is connected to the bottom plate 125, the loading frame 121 is connected to the floating plate 1232, and the anchoring ends of the reset device 124 are respectively connected to the bottom plate 125 and the loading frame 121 to limit the reset position of the floating device 123.

[0060] Among them, Figure 3-Figure 4 ,and Fig.12 As shown, in this embodiment, the reset device 124 includes: an anchor seat 1241, a spring 1242, wherein the anchor seats 1241 are arranged in pairs on the corresponding sides of the base plate 125 and the carrier 121, and the spring 1242 is connected between a pair of anchor seats 1241, wherein each pair of anchor seats 1241 is arranged diagonally, as shown in FIG. Figure 4 As shown, four pairs are preferably provided, so that the movement limit range of the floating device 123 and the reset position of the floating device 123 are limited by the reset device 124, thereby providing support for the reset of the extended track 122 after being connected to the track unit 22.

[0061] The carrier 121 is also provided with an extended track 122, which is an extended section similar in shape to the climbing track 221, and the shelf climbing machine 11 is matched with the extended track 122 to be mounted on the automatic guided vehicle 10 to form a combined form. A positioning member 126 is provided on one side of the extended track 122, and a positioning hole is provided on the positioning member 126, wherein the three-dimensional shelf 2 further includes: a positioning cone column 25, which is arranged near the track unit 22.

[0062] Among them Figure 17-Figure 18As shown, when the automatic guided vehicle 10 enters the docking station 23, the first lifting unit 102 lifts the loading device 12, so that the positioning cone column 25 is inserted into the positioning hole of the positioning member 126, thereby guiding the positioning member 126 to pull the loading rack 121 through the floating device 123 to adjust the position of the loading rack 121, until the extended track 122 is connected with the track unit 22, the shelf climbing machine 11 can be separated from the loading device 12, enter the dispatching mode, and completely separate from the automatic guided vehicle 10, so as to move to the storage area 24 of the shelf unit 21 through the climbing lane to store / receive goods. Afterwards, when the shelf climbing machine 11 returns to the loading device 12, the first lifting unit 102 can be lowered, so that the positioning member 126 is separated from the positioning cone column 25, and then the loading rack 121 can be reset under the drive of the reset device 124, and then the shelf climbing machine 11 can take the automatic guided vehicle 10 to withdraw from the docking station 23 and go to other locations of the freight task.

[0063] Among them Figures 7 to 9 As shown, the climbing unit 111 includes: a frame 1111, a driving machine 1112, a first transmission mechanism 1113, and a climbing wheel 1114, wherein the driving machine 1112, the controller 113 and the first transmission mechanism 1113 are stored in the frame 1111, the controller 113 is controlled and connected with the driving machine 1112, the driving machine 1112 is connected with the transmission end of the first transmission mechanism 1113, and the climbing wheel 1114 is connected with the driving end of the first transmission mechanism 1113.

[0064] Specifically, as an example, Fig. 9 As shown, a structural scheme of a first transmission mechanism 1113 is shown, which includes: a first transmission shaft 191, a first pulley 192, a second transmission shaft 193, a second pulley 194, a driving wheel 195, and a driving belt 196. The first transmission shaft 191 is sleeved with the first pulley 192, and the second transmission shaft 193 is sleeved with the second pulley 194. The driving end of the driving machine 1112 is connected to the driving wheel 195, and the driving wheel 195 is respectively connected to the first pulley 192 and the second pulley 194 through the driving belt 196, and the climbing wheel 1114 is connected to both ends of each transmission shaft.

[0065] Furthermore, a first meshing member is arranged on the climbing wheel 1114, and a second meshing member matched with the first meshing member is arranged on the climbing track 221 and the extended track 122, wherein in this embodiment, the first meshing member is in the form of a gear, and the second meshing member is in the form of a rack, so that the climbing effect can be achieved through the meshing of the two. In addition, it is worth mentioning that since the tooth shape can be used to calculate the pitch, the number of rotations of the climbing wheel 1114 can be controlled by the controller 113 to convert the number of tooth meshing times, so that the position of the shelf climbing machine 11 on the climbing track 221 can be calculated by the existing technology, and it will not be repeated here.

[0066] Thus, the shelf climbing machine 11 is matched with the extended track 122 through the climbing wheel 1114, so that it can be stably loaded on the loading device 12 through gear meshing, wherein the cargo moving unit 112 includes: a linear module 1121, a fork 1122, the controller 113 is control-connected to the linear module 1121, and the moving end of the linear module 1121 is connected to the fork 1122, wherein a loading area 1123 is provided on the top of the frame 1111 to carry and transport goods, and the linear module 1121 is arranged in the loading area 1123 to drive the fork 1122 to enter and exit the loading area 1123 according to the instructions of the controller 113, so that the linear module 1121 drives the fork 1122 to extend horizontally into the storage area 24 of the three-dimensional shelf 2 to put in the goods, or take out the goods and place them in the loading area 1123 on the top of the frame 1111, thereby completing the process of storing / retrieving goods.

[0067] Furthermore, in order to improve the endurance of the shelf climbing machine 11 and make full use of the idle time of the shelf climbing machine 11 to replenish energy, in this embodiment, the automatic guided vehicle 10 also includes: a charging unit, which is connected to the first power supply unit to obtain electricity, wherein the charging interface 18 of the charging unit is arranged on the bottom plate 125, and the second power supply unit 114 of the shelf climbing machine 11 includes: a power storage device and a charging brush 17, wherein the power storage device is respectively connected to the climbing unit 111, the cargo moving unit 112 and the controller 113 for energy supply, and the power storage device can be a battery or a supercapacitor, and the charging brush 17 is arranged at the bottom of the climbing unit 111 of the shelf climbing machine 11, and the power storage device is arranged in the climbing unit 111 and is connected to the charging brush 17, wherein when the shelf climbing machine 11 and the automatic guided vehicle 10 are in a combined form, the charging brush 17 can be inserted into the charging interface 18 to charge the power storage device through the charging unit.

[0068] Thereby, the automatic guided vehicle 10 can provide a charging effect for the loaded shelf climbing machine 11, so as to use the time when the two are in a combined form to replenish energy, thereby improving the endurance of the shelf climbing machine 11.

[0069] Although the above embodiments illustrate one or more exemplary structures of automatic guided vehicles and shelf climbers, the inventors have not completely restricted the specific structures of the automatic guided vehicles and shelf climbers. The above examples can be understood as showing the possibility of using several automatic guided vehicles and various types of shelf climbers. Those skilled in the art should understand that any scheme that can be adapted to the loading device 12 of the present invention to carry equipment with the ability to climb shelves and store and retrieve goods, and can be adapted to the three-dimensional shelf 2 for the purpose of climbing shelves and storing / retrieving goods, and the automatic guided vehicle and shelf climber are used to form a mother-and-child machine to implement the cargo storage and retrieval concept of this case, all fall within the scope of the invention concept and the disclosure of interchangeable implementations of this case. (two)

[0071] Corresponding to the first embodiment, the implementation steps of the freight warehousing of the warehousing freight robot include:

[0072] S1 The automatic guided vehicle 10 is loaded with the shelf climbing machine 11 via the loading device 12 and enters the docking station 23 of the three-dimensional shelf 2 for parking;

[0073] S2 The shelf climbing machine 11 is separated from the loading device 12, moves along the track unit 22 of the three-dimensional shelf 2 to the storage area 24 of the shelf unit 21 to store / receive goods, and then returns to the loading device 12;

[0074] S3 The automatic guided vehicle 10 carrying the shelf climbing machine 11 withdraws from the docking station 23.

[0075] On the other hand, corresponding to the first embodiment, the implementation steps of the freight warehousing of the warehousing freight robot include:

[0076] S1 The automatic guided vehicle 10 is loaded with the shelf climbing machine 11 via the loading device 12 and enters the docking station 23 of the three-dimensional shelf 2 for parking;

[0077] S2 The shelf climbing machine 11 is separated from the loading device 12 and moves along the track unit 22 of the three-dimensional shelf 2 to the storage area 24 of the shelf unit 21 to store / receive goods;

[0078] S3 When the automatic guided vehicle 10 obtains a new loading instruction, it leaves the current docking station 23, goes to the docking station 23 of the designated three-dimensional shelf 2, and withdraws from the docking station 23 after the loading device 12 loads the shelf climbing machine 11 corresponding to the loading instruction;

[0079] S4: When the automatic guided vehicle 10 does not obtain a new loading instruction, it stays at the current docking station 23, waits for the shelf climbing machine 11 to return to the loading device 12, and then withdraws from the docking station 23.

[0080] On the other hand, corresponding to the first embodiment, the implementation steps of the freight warehousing of the warehousing freight robot include:

[0081] S1 The automatic guided vehicle 10 is loaded with the shelf climbing machine 11 via the loading device 12 and enters the docking station 23 of the three-dimensional shelf 2 for parking;

[0082] S2 The automatic guided vehicle 10 lifts the carrier 12 via the first lifting unit 102, so that the positioning member 126 of the carrier 12 is matched with the positioning unit of the three-dimensional shelf 2, so as to guide the extended track 122 of the carrier 12 to connect with the track unit 22 of the three-dimensional shelf 2;

[0083] S3 The shelf climbing machine 11 engages with the extension track 122 and the track unit 22 through the climbing unit 111 to disengage from the carrier 12, and moves along the track unit 22 to the storage area 24 of the shelf unit 21 to store / receive goods, and then returns to the carrier 12;

[0084] S4 The automatic guided vehicle 10 lowers the first lifting unit 102 to cause the positioning member 126 to separate from the positioning unit, and then carries the shelf climbing machine 11 to withdraw from the docking station 23.

[0085] On the other hand, corresponding to the first embodiment, the implementation steps of the freight warehousing of the warehousing freight robot include:

[0086] S1 The automatic guided vehicle 10 is loaded with the shelf climbing machine 11 via the loading device 12 and enters the docking station 23 of the three-dimensional shelf 2 for parking;

[0087] S2 The automatic guided vehicle 10 lifts the carrier 12 via the first lifting unit 102, so that the positioning member 126 of the carrier 12 is matched with the positioning unit of the three-dimensional shelf 2, so as to guide the extended track 122 of the carrier 12 to connect with the track unit 22 of the three-dimensional shelf 2;

[0088] S3 The shelf climbing machine 11 engages with the extension track 122 and the track unit 22 via the climbing unit 111 to disengage from the loading device 12 and moves along the track unit 22 to the storage area 24 of the shelf unit 21 to store / retrieve goods;

[0089] S4 When the automatic guided vehicle 10 obtains a new loading instruction, the automatic guided vehicle 10 makes the first lifting unit 102 descend, causing the positioning member 126 to disengage from the positioning unit, and then the automatic guided vehicle 10 withdraws from the docking station 23 and goes to the docking station 23 of the designated three-dimensional shelf 2 to load the shelf climbing machine 11 corresponding to the loading instruction via the loading device 12;

[0090] S5 When the automatic guided vehicle 10 does not obtain a new loading instruction, it stays at the current docking station 23 and waits for the shelf climber 11 to return to the loading device 12. The automatic guided vehicle 10 then makes the first lifting unit 102 descend, causing the positioning member 126 to disengage from the positioning unit. Then, the automatic guided vehicle 10 carries the shelf climber 11 and withdraws from the docking station 23.

[0091] On the other hand, corresponding to the first embodiment, the present invention further provides a storage freight robot loading method, the steps of which include:

[0092] The S1 automated guided vehicle receives the loading instruction and goes to the designated shelf dock;

[0093] The S2 rack climber receives the loading command and descends from the rack;

[0094] The S3 automated guided vehicle instructs the first lifting unit to lift the loading device to guide the extended track to connect with the track unit of the shelf;

[0095] The S4 rack climbing machine loads the loading device along the rail unit of the rack;

[0096] The S5 automated guided vehicle lowers the first lifting unit, separates the extended track from the shelf's track unit, and then carries the shelf climber to withdraw from the shelf dock.

[0097] Accordingly, in the above-mentioned embodiments, the automatic guided vehicle 10 or the shelf climbing machine 11 can receive and execute relevant freight instructions according to the freight dispatching system of the prior art, and those skilled in the art can implement the scheme according to the prior art, so it is not repeated in this embodiment. However, it is worth mentioning that the above-mentioned embodiments can enable an automatic guided vehicle 10 to theoretically adapt to all the shelf climbing machines 11 in the warehouse according to the task instructions, thereby generating more interactivity.

[0098] In summary, through the warehouse freight robot and the loading method thereof provided by the present invention, the warehouse freight robot 1 is redefined in the form of a mother-child machine. Through the loading structure of the automatic guided vehicle 10 and the shelf climber 11, when delivering / picking up goods, the shelf climber 11 can be temporarily separated from the automatic guided vehicle 10 in a dispatched form and act autonomously, thereby breaking through the limitation of the traditional integrated structure of the material box robot on the design height of the shelf. At the same time, compared with the traditional AGV with shelf climbing function, it also reduces its own weight when climbing the shelf, thereby effectively improving its own cargo carrying capacity.

[0099] In addition, the present invention adopts the loading structure design of the automatic guided vehicle 10 and the shelf climber 11, and cooperates with the three-dimensional shelf 2, so that when the shelf climber 11 is storing / retrieving goods, the automatic guided vehicle 10 can use this time to detach from the current task and support other parties' transportation capacity, thereby greatly expanding the freedom of transportation capacity allocation and further improving the utilization efficiency of the warehouse freight robot 1.

[0100] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0101] Those skilled in the art can understand that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers 113 and embedded microcontrollers 113 by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0102] In addition, all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0103] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A warehouse freight robot, characterized in that include: An automatic guided vehicle and a shelf climbing machine, wherein the automatic guided vehicle is provided with a loading device, and the automatic guided vehicle carries the shelf climbing machine via the loading device, wherein the loading device comprises: a base plate, a loading frame, a floating device, and a resetting device, wherein the base plate is connected to the top of the automatic guided vehicle, the floating device is connected to the base plate, the loading frame is connected to the moving end of the floating device, and the anchoring end of the resetting device is respectively connected to the base plate and the loading frame to limit the resetting position of the floating device, wherein the loading frame is provided with an extended track, and a positioning piece is provided on one side of the extended track, and the shelf climbing machine is matched with the extended track to be carried on the automatic guided vehicle.

2. The storage and freight robot according to claim 1, characterized in that: The floating device includes: a base, a floating plate, and a ball. Slide grooves are provided at both ends of the floating plate for the ball to be embedded and slide. Holes are provided at both ends of the base for the two ends of the floating plate to be inserted. The ball supports the top and bottom surfaces of the hole so that the floating plate can slide in the air within the hole.

3. The storage and freight robot according to claim 1, characterized in that: The shelf climbing machine includes: a climbing unit and a cargo moving unit, the climbing unit carries the cargo moving unit, wherein the climbing unit driving end is provided with a climbing wheel, the climbing wheel is provided with a first engaging member, the extension track is provided with a second engaging member adapted to the first engaging member, the shelf climbing machine is matched with the extension track via the climbing wheel so that it can be loaded on the loading device, and the cargo moving unit includes: a linear module and a fork, the moving end of the linear module is connected to the fork, wherein a cargo loading area is provided on the top of the climbing unit, and the linear module is arranged at the cargo loading area to drive the fork to store and retrieve cargo in and out of the cargo loading area.

4. The storage and freight robot according to claim 1, characterized in that: The automatic guided vehicle includes: a guiding mobile unit, a first lifting unit, and a first power supply unit, wherein the guiding mobile unit and the first lifting unit are respectively connected to the first power supply unit for power supply, the first lifting unit is fixed in the lifting slot of the guiding mobile unit, and the loading device is connected to the moving end of the first lifting unit; the shelf climbing machine includes: a climbing unit, a cargo transfer unit, a second power supply unit, and a controller, wherein the climbing unit, the cargo transfer unit, and the second power supply unit are respectively connected to the controller, the second power supply unit is respectively connected to the climbing unit and the cargo transfer unit, and the climbing unit carries the cargo transfer unit; wherein the shelf climbing machine is matched with the loading device via the climbing unit so that it can ride on top of the automatic guided vehicle.

5. The storage and freight robot according to claim 4, characterized in that: The climbing unit comprises: a frame, a driving machine, a first transmission mechanism, and a climbing wheel, wherein the driving machine and the first transmission mechanism are accommodated in the frame, the driving machine is connected to the transmission end of the first transmission mechanism, and the climbing wheel is connected to the driving end of the first transmission mechanism, wherein the first transmission mechanism comprises: a first transmission shaft, a first pulley, a second transmission shaft, a second pulley, a driving wheel, and a driving belt, the first transmission shaft is sleeved with a first pulley, the second transmission shaft is sleeved with a second pulley, the driving end of the driving machine is connected to the driving wheel, the driving wheel is respectively connected to the first pulley and the second pulley through the driving belt, and the climbing wheel is connected to both ends of each transmission shaft.

6. The storage and freight robot according to claim 4, characterized in that: The automatic guided vehicle also includes: a charging unit, which is connected to the first power supply unit for power supply, wherein the charging interface of the charging unit is arranged on the bottom plate, and the second power supply unit of the shelf climbing machine includes: a power storage device and a charging brush, wherein the power storage device is respectively connected to the climbing unit, the cargo moving unit and the controller for power supply, and the charging brush is arranged at the bottom of the climbing unit, and the power storage device is arranged in the climbing unit and connected to the charging brush, wherein when the shelf climbing machine is loaded with the loading device, the charging brush is inserted into the charging interface.

7. The storage and freight robot according to claim 4, characterized in that: The first lifting unit includes: a first lifter and a first folding bracket, wherein the top of the first folding bracket is fixed under the bottom plate, and the bottom is fixed in the lifting slot of the guiding moving unit, and the first lifter is fixed in the lifting slot of the guiding moving unit, and its moving end supports the lifting of the first folding bracket.

8. A warehouse freight robot, characterized in that include:

14. The automatic guided vehicle as claimed in claim 13, wherein the lifting of the lifting device is, at the bottom of the lifting gear and the lifting gear is connected to the bottom of the lifting gear, and the lifting gear is connected to the bottom of the lifting gear by the lifting gear. The rack is connected to the loading frame to limit the reset position of the floating device, wherein the loading frame is also provided with an extended track, wherein a positioning piece is provided on one side of the extended track; the shelf climbing machine comprises: a climbing unit, a cargo moving unit, a second power supply unit, and a controller, wherein the climbing unit, the cargo moving unit, and the second power supply unit are respectively connected to the controller, and the second power supply unit is respectively connected to the climbing unit and the cargo moving unit, and the climbing unit carries the cargo moving unit, wherein the driving end of the climbing unit is provided with a climbing wheel, and the climbing wheel is provided with a first engaging piece, and the extended track is provided with a second engaging piece adapted to the first engaging piece, and the shelf climbing machine is matched with the extended track via the climbing wheel so that it can be loaded on the loading device, and the cargo moving unit comprises: a linear module and a fork, and the moving end of the linear module is connected to the fork, wherein a loading area is provided on the top of the climbing unit, and the linear module is arranged at the loading area to drive the fork to store and retrieve cargo in and out of the loading area.

9. A method for loading a storage and freight robot according to any one of claims 1 to 8, characterized in that the steps include: The automated guided vehicle receives the loading instruction and goes to the designated shelf dock; The shelf climber receives the loading instruction and descends from the shelf; The automatic guided vehicle instructs the first lifting unit to lift the loading device to guide the extended track to connect with the track unit of the shelf; The rack climbing machine is loaded into the loading device along the rail unit of the rack; The automatic guided vehicle lowers the first lifting unit to separate the extended track from the track unit of the shelf, and then carries the shelf climbing machine to withdraw from the shelf docking dock.

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