Warehouse rack and rack transfer method based on bottom transfer robot drive

Abstract

The present invention discloses a storage shelf driven by a bottom transfer robot, comprising a shelf body, wherein a supporting plate is fixed below the bottom storage plate of the shelf body via a connecting column; a bottom frame is provided below the supporting plate, and downwardly extending ball-jointed struts are fixedly connected to the top corners of the lower side of the bottom frame; upwardly extending guide columns are fixed to the top corners of the upper side of the bottom frame, each guide column passes through a guide hole on the supporting plate, and each guide column is sleeved with an A spring, and each A spring forms an upward lifting force on the supporting plate; the stability during the transfer process can be effectively improved while reducing the load of the transfer robot.

Description

Technical Field

[0001] The invention belongs to the field of shelves. Background Art

[0002] Shelf robots have been widely used in intelligent warehousing. The principle is that a disc-shaped walking robot walks to the bottom of the shelf, and then the disc robot performs a lifting action to lift the shelf off the ground, and then follows the disc-shaped robot to walk. When this shelf transfer robot transfers the shelf, the load of the disc robot will always increase with the change of the total weight of the shelf. When the total mass of the transferred shelves is too large, the transfer robot may be damaged due to the excessive gravity load. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a storage shelf and shelf transfer method driven by a bottom transfer robot, which can effectively improve the stability during the transfer process while reducing the load of the transfer robot.

[0004] Technical solution: To achieve the above-mentioned purpose, the storage shelf driven by the bottom transfer robot of the present invention includes a shelf body, and a support plate is fixed under the bottom storage plate of the shelf body through a connecting column; a bottom frame is provided under the support plate, and downward-extending ball-hinged pillars are fixedly connected to the top corners of the lower side of the bottom frame; upward-extending guide columns are fixed at the top corners of the upper side of the bottom frame, and each guide column passes through a guide hole on the support plate, and each guide column is covered with an a spring, and each a spring forms an upward lifting force on the support plate.

[0005] Furthermore, a ball joint is provided at the lower end of each ball joint support.

[0006] Furthermore, among the four ball-joint pillars, the two ball-joint pillars at opposite positions are respectively provided with a first lifting sleeve and a second lifting sleeve coaxially movable outside; the lower sides of the first lifting sleeve and the second lifting sleeve are respectively fixed with a first friction ring disk and a second friction ring disk along the contour.

[0007] Furthermore, there is a center plate below the bottom frame, and a spring seat fixed to the bottom of the support plate above the center plate, and the spring seat and the center plate are connected by a b spring; the two sides of the center plate are symmetrically connected with a first cross arm and a second cross arm along the radial direction; the ends of the first cross arm and the second cross arm are fixedly connected to the first lifting sleeve and the second lifting sleeve respectively through a first oblique arm extending obliquely downward and a second oblique arm extending obliquely downward.

[0008] Furthermore, when no goods are placed on the shelf body, several a springs lift the supporting plate upward, forming a gap between the upper end of each guide column and the lower end surface of the bottom storage plate. The b springs exert an upward pulling force on the center disk, so that the first friction ring disk and the second friction ring disk are just lifted off the ground under the pull of the b springs; the four ball hinge pillars bear the entire gravity of the shelf body.

[0009] Furthermore, a critical cargo mass M is set;

[0010] When goods are placed on the shelf body and the total mass of the goods is less than M, the support plate moves downward relatively under the action of the weight of the goods, and each a spring is further compressed downward. The distance between the upper end of each guide column and the lower end surface of the bottom storage plate is reduced, but the spacing is still maintained. At the same time, the spring seat drops a certain distance, so that the originally stretched b spring is compressed downward for a certain distance, so that the first friction ring plate and the second friction ring plate contact the ground and form a certain pressure with the ground. In the range where the total mass of the goods on the shelf body exceeds zero but is less than M, the greater the total mass of the goods on the shelf body, the greater the pressure between the first friction ring plate and the second friction ring plate and the ground.

[0011] Furthermore, a first rolling groove is provided on the lower side of the first oblique arm along the length direction, and a rolling inlet a is provided in the first rolling groove at the connection between the first oblique arm and the first transverse arm; a second rolling groove is provided on the lower side of the second oblique arm along the length direction, and a rolling inlet b is provided in the second rolling groove at the connection between the second oblique arm and the second transverse arm;

[0012] It also includes a disc-shaped walking robot, on the top of which a first horizontal telescoping device and a second horizontal telescoping device extending in a radial direction are fixedly installed, and the first horizontal telescoping device and the second horizontal telescoping device are centrally symmetrical with respect to the axis of the disc-shaped walking robot; the end of the a telescoping rod of the first horizontal telescoping device is installed with a roller a through a roller bracket a, and the end of the b telescoping rod of the second horizontal telescoping device is installed with a roller b through a roller bracket b; when the first horizontal telescoping device and the second horizontal telescoping device are respectively parallel to the first cross arm and the second cross arm, the roller a and the roller b correspond to the rolling entrance a and the rolling entrance b respectively.

[0013] Furthermore, when the total mass of the goods on the shelf body is equal to or exceeds M, the support plate moves further downward under the action of the weight of the goods, the a springs are further compressed, and the upper ends of the guide posts are in limited contact with the lower end surfaces of the bottom storage plates, so that the support plate and the bottom storage plates cannot be lowered further. At the same time, the b springs, which were originally in a stretched state when there was no goods, become compressed.

[0014] Furthermore, a shelf transfer method for storage shelves driven by a bottom transfer robot is provided: the disc-shaped walking robot first walks to the bottom of the center disk with the same axis, and then rotates on the spot to make the first horizontal telescopic device and the second horizontal telescopic device parallel to the bottom of the first cross arm and the second cross arm respectively, so that the a roller and the b roller correspond to the a rolling entrance and the b rolling entrance respectively; then the a telescopic rod and the b telescopic rod are synchronously extended outward, so that the a roller and the b roller are rolled into the a rolling entrance and the b rolling entrance respectively, as the a telescopic rod and the b telescopic rod continue to be synchronously extended, the a roller and the b roller roll into the first rolling groove and the second rolling groove respectively, and the disc-shaped walking robot is synchronized with the shelf body, and the disc-shaped walking robot carries the shelf body synchronously on the horizontal ground to move to the specified position, thereby realizing the transfer of the shelf.

[0015] Technical effect: When there is no goods on the shelf body of the present invention, the lower end is in pure rolling cooperation with the ground and can be easily pushed by people, thereby facilitating the arrangement and transfer of the shelves without goods by staff;

[0016] When the shelf body is loaded with goods, the maximum static friction force formed between the first and second friction ring discs and the ground will counteract the horizontal thrust exerted on the shelf body, thereby preventing the shelf body from being easily pushed, thus ensuring the stability of the shelf body with goods already placed;

[0017] When the goods on the shelf body are equal to or exceed M, the continued increase of goods on the shelf body will not increase the load of the disc-shaped walking robot, thereby ensuring that the shelf body will not be damaged by excessive load. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attachment Figure 1 It is a three-dimensional schematic diagram of the shelf body;

[0019] Attachment Figure 2 This is a side view of the rack body combined with the transfer robot;

[0020] Attachment Figure 3 For attachment Figure 2 Schematic diagram of the lower part of FIG;

[0021] Attachment Figure 4 This is a schematic diagram of the shelf body and the transfer robot being separated;

[0022] Attachment Figure 5 For attachment Figure 3 A three-dimensional cross-sectional view of

[0023] Attachment Figure 6 For attachment Figure 5 A partial cross-sectional view of

[0024] Attachment Figure 7 This is a schematic diagram of the shelf body when viewed from above;

[0025] Attachment Figure 8 For attachment Figure 7 A partial enlarged schematic diagram. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] As attached Figures 1 to 8 The storage shelf shown is driven by a bottom transfer robot and includes a shelf body 13. The bottom storage plate 14 of the shelf body 13 is fixedly connected to a support plate 16 in parallel through a connecting column 27; a bottom frame 25 is arranged parallel to the support plate 16, and the top corners of the lower side of the bottom frame 25 are fixedly connected to downward extending ball joint pillars 10; the top corners of the upper side of the bottom frame 25 are fixed with upward extending guide columns 12, each guide column 12 passes through a guide hole 11 on the support plate 16, and each guide column 12 is covered with an a spring 28, and each a spring 28 forms an upward lifting force on the support plate 16.

[0028] like Figure 4 and 5 ; Each ball joint support 10 is provided with a ball joint 20 at the lower end; among the four ball joint supports 10, the two ball joint supports 10 at opposite positions are respectively provided with a first lifting sleeve 1.1 and a second lifting sleeve 1.2 coaxially movable sleeves; the inner walls of the first lifting sleeve 1.1 and the second lifting sleeve 1.2 are both rolled with the outer walls of the ball joint support 10, such as Figure 6 , so that the first lifting sleeve 1.1 and the second lifting sleeve 1.2 can slide up and down smoothly outside the ball joint pillar 10; the first and second friction ring discs 2.1, 2.2 are fixed along the contours of the lower sides of the first and second lifting sleeves 1.1, 1.2 respectively. When the first and second friction ring discs 2.1, 2.2 are lowered to contact the ground, they form a top pressure.

[0029] A center disk 18 is provided below the central area of ​​the bottom frame 25, and a spring seat 15 fixed to the bottom of the support plate 16 is provided coaxially above the center disk 18. The spring seat 15 and the center disk 18 are connected by a b spring 17; a first cross arm 4.1 and a second cross arm 4.2 are symmetrically connected to the two sides of the center disk 18 in the radial direction; the ends of the first cross arm 4.1 and the second cross arm 4.2 are fixedly connected to the first lifting sleeve 1.1 and the second lifting sleeve 1.2 respectively via a first oblique arm 3.1 extending obliquely downward and a second oblique arm 3.2 extending obliquely downward.

[0030] When no goods are placed on the shelf body 13, several a springs 28 lift the supporting plate 16 upward, forming a gap between the upper end of each guide column 12 and the lower end surface of the bottom storage plate 14. The b spring 17 exerts an upward pulling force on the center plate 18, so that the first friction ring plate 2.1 and the second friction ring plate 2.2 are just lifted off the ground under the pull of the b spring 17; at this time, the four ball hinge pillars 10 bear the entire gravity of the shelf body 13; because the first friction ring plate 2.1 and the second friction ring plate 2.2 are just lifted off the ground, when the shelf body 13 without goods is pushed horizontally, the shelf body 13 without goods can be easily pushed by a person due to the rolling cooperation of the four ball hinges 20 and the ground.

[0031] Set a critical cargo mass M;

[0032] When goods are placed on the shelf body 13 and the total mass of the goods is less than M, the support plate 16 moves downward relative to the load under the action of the weight of the goods. The a-springs 28 are further compressed downward, and the distance between the upper end of each guide post 12 and the lower end surface of the bottom storage plate 14 is reduced, but the spacing is still maintained. At the same time, the spring seat 15 descends a certain distance, thereby compressing the b-spring 17 in the originally stretched state downward a certain distance, causing the first friction ring disc 2.1 and the second friction ring disc 2.2 to contact the ground and form a certain pressure with the ground. Within the range where the total mass of the goods on the shelf body 13 exceeds zero but is less than M, the greater the total mass of the goods on the shelf body 13, the greater the pressure between the first friction ring disc 2.1 and the second friction ring disc 2.2 and the ground.

[0033] The first oblique arm 3.1 and the second oblique arm 3.2 are mirror images of each other. A first rolling groove 31.1 is provided on the lower side of the first oblique arm 3.1 along its length. The first rolling groove 31.1 is provided with a rolling inlet 30.1 at the connection between the first oblique arm 3.1 and the first transverse arm 4.1. A second rolling groove 31.2 is provided on the lower side of the second oblique arm 3.2 along its length. The second rolling groove 31.2 is provided with a rolling inlet 30.2 at the connection between the second oblique arm 3.2 and the second transverse arm 4.2.

[0034] Also included is a disc-shaped walking robot 9 that can walk horizontally on the ground and can rotate in place, such as Figure 6 A first horizontal telescoping device 7.1 and a second horizontal telescoping device 7.2 extending in the radial direction are fixedly mounted on the top of the disc-shaped walking robot 9. The first horizontal telescoping device 7.1 and the second horizontal telescoping device 7.2 are centrally symmetrical with respect to the axis of the disc-shaped walking robot 9. The end of the telescoping rod a 6.1 of the first horizontal telescoping device 7.1 is mounted with roller a 5.1 via roller a bracket 8.1. The end of the telescoping rod b 6.2 of the second horizontal telescoping device 7.2 is mounted with roller b 5.2 via roller b bracket 8.2.

[0035] The disc-shaped walking robot 9 walks to the bottom of the central disk 18 with the coaxial center, and then rotates in place, so that the first horizontal telescopic device 7.1 and the second horizontal telescopic device 7.2 are respectively parallel to the bottom of the first cross arm 4.1 and the second cross arm 4.2, and the a roller 5.1 and the b roller 5.2 correspond to the a rolling entrance 30.1 and the b rolling entrance 30.2 respectively; then the a telescopic rod 6.1 and the b telescopic rod 6.2 are synchronously extended outward, so that the a roller 5.1 and the b roller 5.2 are rolled and stuck into the a rolling entrance 30.1 and the b rolling entrance 30.2 respectively. As the a telescopic rod 6.1 and the b telescopic rod 6.2 continue to be synchronously extended, the a roller 5.1 and the b roller 5.2 roll into the first rolling groove 31.1 and the second rolling groove 31.2 respectively. The a roller 5.1 and the b roller 5.2 are respectively aligned with the first rolling groove 31.1. .1 and the second rolling groove 31.2 cause the first rolling groove 31.1 and the second rolling groove 31.2 to rise, thereby separating the first friction ring disc 2.1 and the second friction ring disc 2.2 from the ground; the horizontal components of the forces applied by the first rolling groove 31.1 and the second rolling groove 31.2 to the roller a 5.1 and the roller b 5.2 respectively form a pair of balanced forces, thereby preventing the position of the disc-shaped walking robot 9 from changing when it is not running; at the same time, after the roller a 5.1 and the roller b 5.2 roll into the first rolling groove 31.1 and the second rolling groove 31.2 respectively, the disc-shaped walking robot 9 and the shelf body 13 are synchronized; the gravity of the shelf body 13 is jointly borne by the disc-shaped walking robot 9 and the ball-jointed support 10, and the disc-shaped walking robot 9 moves synchronously with the shelf body 13 on the horizontal ground.

[0036] When the total mass of the goods on the shelf body 13 is equal to or exceeds M, the support plate 16 moves further downward under the action of the weight of the goods, each a spring 28 is further compressed, and the upper end of each guide column 12 is in limited contact with the lower end surface of the bottom storage plate 14, so that the support plate 16 and the bottom storage plate 14 cannot be further lowered. At the same time, the b spring 17, which was originally in a stretched state when there was no goods, becomes compressed, so that the first friction ring disc 2.1 and the second friction ring disc 2.2 form a relatively greater pressure with the ground. Since the support plate 16 cannot be further lowered, as the amount of goods on the shelf body 13 continues to increase, the elastic force applied downward by the b spring 17 to the center disc 18 will not increase further.

[0037] Working principle:

[0038] The first situation: when the shelf body 13 does not have any goods placed on it, the shelf is generally in the arrangement stage and needs to be easily pushed. In this solution, when the shelf body 13 does not have any goods placed on it, the plurality of a springs 28 lift the support plate 16 upward, forming a gap between the upper end of each guide column 12 and the lower end surface of the bottom storage plate 14. The b spring 17 exerts an upward pulling force on the center plate 18, so that the first friction ring plate 2.1 and the second friction ring plate 2.2 are just lifted off the ground under the pull of the b spring 17, or are just in contact with the ground but without relative pressure. At this time, the four ball hinge pillars 10 bear the entire weight of the shelf body 13. Since the first friction ring plate 2.1 and the second friction ring plate 2.2 are just lifted off or in contact with the ground without pressure, when the shelf body 13 without goods is pushed horizontally, the shelf body 13 without goods can be easily pushed by the four ball hinges 20 under the rolling cooperation with the ground, thereby facilitating the staff to arrange and move the empty shelf.

[0039] In the second case, when goods are placed on the shelf body 13 and the total mass of the goods is less than M, the support plate 16 moves downward relative to the load under the action of the weight of the goods. The a springs 28 are further compressed downward, and the distance between the upper end of each guide post 12 and the lower end surface of the bottom storage plate 14 is reduced, but the spacing is still maintained. At the same time, the spring seat 15 descends a certain distance, thereby compressing the b spring 17, which was originally in a stretched state, downward a certain distance. In this way, the first friction ring disc 2.1 and the second friction ring disc 2.2 contact the ground and form a certain pressure with the ground. Within the range where the total mass of the goods on the shelf body 13 is greater than zero but less than M, the greater the total mass of the goods on the shelf body 13, the greater the pressure between the first friction ring disc 2.1 and the second friction ring disc 2.2 and the ground. The maximum static friction force formed between the first friction ring disc 2.1 and the second friction ring disc 2.2 and the ground counteracts the horizontal thrust exerted on the shelf body 13, preventing the shelf body 13 from being easily moved, thereby ensuring the stability of the shelf body 13 with goods already placed.

[0040] In the third case, when the total mass of the goods on the shelf body 13 is equal to or greater than M, the support plate 16 moves further downward under the action of the weight of the goods, and the a-springs 28 are further compressed. The upper ends of the guide posts 12 come into contact with the lower end surfaces of the bottom storage plate 14, preventing the support plate 16 and the bottom storage plate 14 from descending further. At the same time, the b-springs 17, which were originally in a stretched state when there was no goods, become compressed, causing the first friction ring disc 2.1 and the second friction ring disc 2.2 to exert a relatively greater pressure on the ground. Since the support plate 16 cannot descend further, as the amount of goods on the shelf body 13 further increases, the downward elastic force applied by the b-springs 17 to the center disc 18 will not increase further. The main function of this is that when the amount of goods on the shelf body 13 is equal to or greater than M, the continued increase of goods on the shelf body 13 will not increase the load on the disc-shaped walking robot 9, thereby ensuring that the shelf body 13 will not be damaged by excessive load.

[0041] Regardless of the "first case", "second case" or "third case", the disc-shaped walking robot 9 can transfer the shelf body 13. The specific transfer process is as follows:

[0042] The disc-shaped walking robot 9 first walks to the bottom of the central disk 18 with the same axis, and then rotates in place, so that the first horizontal telescopic device 7.1 and the second horizontal telescopic device 7.2 are respectively parallel to the bottom of the first cross arm 4.1 and the second cross arm 4.2, so that the a roller 5.1 and the b roller 5.2 correspond to the a rolling entrance 30.1 and the b rolling entrance 30.2 respectively; then the a telescopic rod 6.1 and the b telescopic rod 6.2 are synchronously extended outward, so that the a roller 5.1 and the b roller 5.2 are rolled and stuck into the a rolling entrance 30.1 and the b rolling entrance 30.2 respectively. As the a telescopic rod 6.1 and the b telescopic rod 6.2 continue to be synchronously extended, the a roller 5.1 and the b roller 5.2 roll into the first rolling groove 31.1 and the second rolling groove 31.2 respectively. The upward components of the first rolling groove 31.1 and the second rolling groove 31.2 exerted by the a roller 5.1 and the b roller 5.2 respectively make the first roller The groove 31.1 and the second rolling groove 31.2 rise, thereby separating the first and second friction ring discs 2.1 and 2.2 from the ground. The horizontal components of the force applied by the first and second rolling grooves 31.1 and 31.2 to rollers a 5.1 and b 5.2, respectively, form a pair of balancing forces, thereby preventing the position of the disc-shaped walking robot 9 from changing when not in operation. At the same time, after rollers a 5.1 and b 5.2 roll into the first and second rolling grooves 31.1 and 31.2, respectively, the disc-shaped walking robot 9 and the shelf body 13 are synchronized. The gravity of the shelf body 13 is shared by the disc-shaped walking robot 9 and the ball-jointed support 10, thereby improving stability while reducing the load of the disc-shaped walking robot 9. The disc-shaped walking robot 9 and the shelf body 13 move synchronously on the horizontal ground to the designated position, thereby realizing the transportation of the shelf.

[0043] In the "third case", when the goods on the shelf body 13 are equal to or exceed M, the support plate 16 and the bottom storage plate 14 will no longer change, and the continued increase of goods on the shelf body 13 will not increase the load of the disc-shaped walking robot 9, that is, the upward component of the force of the roller a 5.1 and the roller b 5.2 on the first rolling groove 31.1 and the second rolling groove 31.2 respectively will not increase further, thereby ensuring that the disc-shaped walking robot 9 will not be damaged by excessive load when transferring the shelf body 13 with heavier goods.

[0044] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Storage shelves driven by bottom transfer robots, characterized by: The invention comprises a shelf body (13), wherein a supporting plate (16) is fixed below a bottom storage plate (14) of the shelf body (13) via a connecting column (27); a bottom frame (25) is provided below the supporting plate (16), and downwardly extending ball hinge pillars (10) are connected to the top corners of the lower side of the bottom frame (25); upwardly extending guide pillars (12) are provided at the top corners of the upper side of the bottom frame (25), each guide pillar (12) passes through a guide hole (11) on the supporting plate (16), and each guide pillar (12) is sleeved with a spring (28), and each spring (28) forms an upward lifting force on the supporting plate (16); A spherical joint (20) is provided at the lower end of each spherical joint support (10); Among the four spherical hinge pillars (10), two spherical hinge pillars (10) at opposite positions are respectively provided with a first lifting sleeve (1.1) and a second lifting sleeve (1.2) coaxially movable on the outside; a first friction ring disc (2.1) and a second friction ring disc (2.2) are respectively fixed along the contours on the lower sides of the first lifting sleeve (1.1) and the second lifting sleeve (1.2); A center disk (18) is provided below the bottom frame (25); a spring seat (15) is provided above the center disk (18) and is fixed to the bottom of the supporting plate (16); the spring seat (15) and the center disk (18) are connected via a b spring (17); a first transverse arm (4.1) and a second transverse arm (4.2) are symmetrically connected to each other along a radial direction on both sides of the center disk (18); the ends of the first transverse arm (4.1) and the second transverse arm (4.2) are fixedly connected to the first lifting sleeve (1.1) and the second lifting sleeve (1.2) via a first oblique arm (3.1) and a second oblique arm (3.2) extending obliquely downward, respectively; When no goods are placed on the shelf body (13), a plurality of a springs (28) lift the supporting plate (16) upward, forming a gap between the upper end of each guide column (12) and the lower end surface of the bottom storage plate (14), and the b spring (17) exerts an upward pulling force on the center plate (18), so that the first friction ring plate (2.1) and the second friction ring plate (2.2) are just lifted off the ground by the upward pull of the b spring (17); the four ball hinge pillars (10) bear the entire weight of the shelf body (13); Set a critical cargo mass M; When goods are placed on the shelf body (13), and the total mass of the goods is less than M, the support plate (16) moves downward relatively under the action of the weight of the goods, and each a spring (28) is further compressed downward, and the distance between the upper end of each guide column (12) and the lower end surface of the bottom storage plate (14) is reduced, but the spacing is still maintained. At the same time, the spring seat (15) is lowered for a distance, so that the b spring (17) in the original stretched state is compressed downward for a distance, so that the first friction ring disc (2.1) and the second friction ring disc (2.2) contact the ground and form a certain pressure with the ground. In the range where the total mass of the goods on the shelf body (13) exceeds zero but is less than M, the greater the total mass of the goods on the shelf body (13), the greater the pressure between the first friction ring disc (2.1) and the second friction ring disc (2.2) and the ground; A first rolling groove (31.1) is provided on the lower side of the first oblique arm (3.1) along the length direction, and a rolling inlet (30.1) is provided on the first rolling groove (31.1) at the connection between the first oblique arm (3.1) and the first transverse arm (4.1); a second rolling groove (31.2) is provided on the lower side of the second oblique arm (3.2) along the length direction, and a rolling inlet (30.2) is provided on the second rolling groove (31.2) at the connection between the second oblique arm (3.2) and the second transverse arm (4.2); The invention also comprises a disc-shaped walking robot (9), wherein a first horizontal telescoping device (7.1) and a second horizontal telescoping device (7.2) extending in a radial direction are fixedly mounted on the top of the disc-shaped walking robot (9), wherein the first horizontal telescoping device (7.1) and the second horizontal telescoping device (7.2) are centrally symmetrical with respect to the axis of the disc-shaped walking robot (9); an a roller (5.1) is mounted on the end of the a telescoping rod (6.1) of the first horizontal telescoping device (7.1) via an a roller bracket (8.1), and a b roller (5.2) is mounted on the end of the b telescoping rod (6.2) of the second horizontal telescoping device (7.2) via a b roller bracket (8.2); and when the first horizontal telescoping device (7.1) and the second horizontal telescoping device (7.2) are respectively parallel to the bottom of the first cross arm (4.1) and the second cross arm (4.2), the a roller (5.1) and the b roller (5.2) correspond to the a rolling inlet (30.1) and the b rolling inlet (30.2), respectively.

2. The storage rack driven by the bottom transfer robot according to claim 1, characterized in that: When the total mass of the goods on the shelf body (13) is equal to or exceeds M, the supporting plate (16) moves further downward under the weight of the goods, each a spring (28) is further compressed, and the upper end of each guide column (12) contacts the lower end surface of the bottom storage plate (14), so that the supporting plate (16) and the bottom storage plate (14) cannot be further lowered. At the same time, the b spring (17), which was originally in a stretched state when there was no goods, becomes compressed.

3. The shelf transfer method based on the bottom transfer robot driven storage shelf according to claim 2, characterized in that: The disc-shaped walking robot (9) first walks to the bottom of the central disk (18) with the same axis, and then rotates in place to make the first horizontal telescopic device (7.1) and the second horizontal telescopic device (7.2) parallel to the bottom of the first cross arm (4.1) and the second cross arm (4.2), respectively, so that the a roller (5.1) and the b roller (5.2) correspond to the a rolling entrance (30.1) and the b rolling entrance (30.2), respectively; then the a telescopic rod (6.1) and the b telescopic rod (6.2) are synchronously extended outward, so that the a roller (5.1) and the b roller The disc-shaped walking robot (9) and the shelf body (13) are synchronized and move synchronously on the horizontal ground to a designated position with the shelf body (13).

Images