Collaborative shelf robots and methods

Abstract

The application relates to a cooperative shelf robot and method, which comprises a first loading and unloading assembly and a second loading and unloading assembly used in cooperation, the first loading and unloading assembly and the second loading and unloading assembly each comprise a stand, a lifting mechanism and a loading and unloading mechanism, the stand is connected with the loading and unloading mechanism through the lifting mechanism; the stand is provided with a shelf walking mechanism, the shelf walking mechanism cooperates with guide rails fixed on a shelf to enable the first loading and unloading assembly and the second loading and unloading assembly to independently move along the guide rails; the loading and unloading mechanism comprises a cargo carrying part connected with the lifting mechanism, and the cargo carrying part is connected with a cargo fork through a telescopic mechanism, the shelf robot of the application meets the use requirements of various width cargo boxes and is more suitable.

Description

Technical Field

[0001] This invention relates to the field of warehousing equipment technology, and more specifically to a collaborative shelving robot and its method. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

[0003] Currently, loading and unloading equipment fixed to shelves has emerged, which has the advantages of small footprint, large load capacity, and fast loading and unloading speed. For example, patent CN113830485B discloses a loading and unloading equipment fixed to shelves, which includes two uprights with a loading and unloading device between them. The loading and unloading device is connected to a lifting mechanism installed on the uprights. The two uprights cooperate with horizontal guide rails fixed to the shelf to enable the loading and unloading device to move to the target storage location. The loading and unloading device is equipped with a gripping device for cooperating with the cargo box. The movement of the gripping device realizes the transfer of the cargo box. However, in the above patent, both uprights are connected to the same loading and unloading device, and the two uprights can only move synchronously. The transfer of the cargo box needs to pass through the space between the two uprights. Therefore, the size of the cargo box to be transferred is limited by the distance between the two uprights, resulting in poor applicability of the loading and unloading equipment. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a collaborative shelving robot and method. By setting up two independently moving uprights and installing a loading and unloading mechanism on the uprights, the robot enables the transfer of boxes of different widths. The width of the boxes to be transferred is not limited, and the entire device has strong applicability.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] In a first aspect, embodiments of the present invention provide a collaborative shelf robot, including a first loading and unloading component and a second loading and unloading component used in conjunction. Both the first loading and unloading component and the second loading and unloading component include a column, a lifting mechanism, and a loading and unloading mechanism. The column is connected to the loading and unloading mechanism through the lifting mechanism.

[0007] The upright is equipped with a shelf traveling mechanism, which cooperates with a horizontally fixed guide rail on the shelf so that the first loading and unloading component and the second loading and unloading component can move independently along the guide rail.

[0008] The loading and unloading mechanism includes a cargo-carrying component connected to the lifting mechanism. The cargo-carrying component is connected to forks for cooperating with the cargo box via a telescopic mechanism to drive the cargo box to move.

[0009] The first loading and unloading component and the second loading and unloading component are used to adjust their own positions according to the specifications and location of the cargo box to obtain the cargo box, and after obtaining the cargo box, they move synchronously to the target position to complete the entry and exit of the cargo box.

[0010] Optionally, the cargo-carrying component includes a cargo-carrying section and a fixing section. The cargo-carrying section is used to support the cargo box, and the fixing section is connected to the lifting mechanism. The cargo-carrying section is provided with a telescopic mechanism on its side to drive the forks to perform bidirectional telescopic movement.

[0011] Optionally, the upper surface of the cargo section is provided with a guide component to guide the movement of the cargo box.

[0012] Optionally, the guiding component includes a first guiding portion and a second guiding portion fixed at both ends of the first guiding portion, wherein the first guiding portion is arranged along the movement direction of the cargo box, and the second guiding portion is inclined outward.

[0013] Optionally, the telescopic mechanism includes a transmission mechanism fixed to the cargo-carrying component, wherein the transmission component of the transmission mechanism meshes with a rack fixed to the forks, and the forks are slidably connected to a linear guide rail fixed to the cargo-carrying component.

[0014] Optionally, the forks are provided with a cargo box movement drive mechanism, which includes swing drive components disposed at both ends of the forks. The swing drive components are connected to the shift fork to drive the shift fork to rotate in a plane perpendicular to the forks.

[0015] Optionally, the top surface of the forks serves as a support surface for the cargo box, and can cooperate with the edge protrusions of the cargo box to lift the cargo box, thereby enabling the transfer of the cargo box between the loading section and the rack.

[0016] Optionally, the top surface of the forks is provided with hooks, which are perpendicular to the loading section and are used to engage with grooves on both sides of the cargo box to hook the cargo box through the grooves.

[0017] Optionally, the forks are equipped with a cargo box movement drive mechanism, which uses suction cups fixed to the forks, and the suction cups are fixed to the opposing sides of the two forks.

[0018] Optionally, the inner side of the forks is provided with a flexible pad.

[0019] Optionally, the column is provided with a plurality of the shelf traveling mechanisms, wherein at least one of the shelf traveling mechanisms cooperates with the guide rail fixed on one side of the shelf of the loading and unloading mechanism, and at least one of the shelf traveling mechanisms cooperates with the guide rail fixed on the other side of the shelf of the loading and unloading mechanism.

[0020] Optionally, the top of the column is provided with a hanging rail traveling mechanism, which cooperates with the hanging rail, and the hanging rail is fixedly installed and parallel to the guide rail on the shelf.

[0021] Optionally, the bottom end of the column is provided with a lower auxiliary wheel, which is used to cooperate with the ground.

[0022] Secondly, embodiments of the present invention provide a method for operating the collaborative shelf robot described in the first aspect:

[0023] Obtain the cargo box information of the target cargo box; the target cargo box is a cargo box to be received or a cargo box to be shipped; the cargo box information includes at least the specification information, current location information and target location information of the target cargo box;

[0024] Based on the specifications and current location information, control the first and second loading / unloading components to move to the target cargo box;

[0025] Control the first and second loading / unloading components to work together to acquire the target cargo container;

[0026] The first and second loading / unloading components are controlled to place the target cargo box at the target location according to the target location information.

[0027] Optionally, the method for controlling the first loading / unloading component and the second loading / unloading component to move to the current position of the target cargo container based on the specification information of the target cargo container and the current position information is as follows:

[0028] Based on the specifications of the target cargo container and the current position information, the first loading and unloading component and the second loading and unloading component are controlled to move and the distance between them is adjusted to match the specifications of the target cargo container.

[0029] Optionally, the method for controlling the first loading / unloading assembly and the second loading / unloading assembly to move to the target cargo container based on the specification information of the target cargo container and the current location information is as follows:

[0030] Based on the specifications of the target cargo box and the current location information, the target moving positions of the first loading and unloading assembly and the second loading and unloading assembly are determined respectively.

[0031] Control the first loading and unloading component and the second loading and unloading component to move to their corresponding target moving positions so that the distance between them matches the specifications of the target cargo box.

[0032] The beneficial effects of this invention are as follows:

[0033] 1. The shelving robot of the present invention is provided with a first loading and unloading component and a second loading and unloading component. The first loading and unloading component and the second loading and unloading component can cooperate with the guide rail through the shelving walking mechanism to achieve independent movement along the guide rail. The loading component is connected to the forks through the telescopic mechanism. The forks are used to drive the movement of the cargo box. In use, the two loading components are adjusted to a distance matching the cargo box through relative movement to jointly support the cargo box. The forks of the two loading components work together to drive the movement of the cargo box. Since the distance between the two uprights can be adjusted according to the width of the cargo box, the width of the cargo box to be loaded and unloaded is not limited, and the applicability of the entire shelving robot is greatly improved.

[0034] 2. The shelf robot of the present invention drives the movement of the cargo box by means of the extension and retraction of the forks, in conjunction with the gripping mechanism such as the fork, suction cup or flexible pad. It has no requirements on the structure of the cargo box and can realize the loading and unloading of any cargo box. The shelf robot has strong applicability.

[0035] 3. In the shelf robot of the present invention, the uprights cooperate with the guide rails of the shelves on both sides of the shelf walking mechanism and the loading and unloading mechanism, so that the uprights achieve double-sided support, resulting in better stability and safety during operation. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the first loading and unloading component in Embodiment 1 of the present invention;

[0039] Figure 3 This is a schematic diagram of the loading and unloading mechanism structure of Embodiment 1 of the present invention. Figure 1 ;

[0040] Figure 4 This is a schematic diagram of the loading and unloading structure of Embodiment 1 of the present invention. Figure 2 ;

[0041] Figure 5 This is a schematic diagram of the first loading and unloading assembly structure when using double-sided guide rails in Embodiment 1 of the present invention;

[0042] Figure 6 This is a front view of the first loading and unloading assembly when using double-sided guide rails in Embodiment 1 of the present invention;

[0043] Figure 7 This is a schematic diagram of the guide rail arrangement when using double-sided guide rails in Embodiment 1 of the present invention;

[0044] Figure 8This is a schematic diagram of the arrangement of the guide rails and the hanging rails when using double-sided guide rails and hanging rails in Embodiment 1 of the present invention;

[0045] Figure 9 This is a schematic diagram of the arrangement of the guide rails and the lower auxiliary wheel when using double-sided guide rails and a lower auxiliary wheel in Embodiment 1 of the present invention;

[0046] Figure 10 This is a schematic diagram of the overall structure of Embodiment 3 of the present invention;

[0047] Figure 11 This is a schematic diagram of the loading and unloading mechanism structure in Embodiment 3 of the present invention;

[0048] Figure 12 This is a schematic diagram of the loading and unloading mechanism structure in Embodiment 4 of the present invention;

[0049] Figure 13 This is a front view of the loading and unloading mechanism of Embodiment 4 of the present invention;

[0050] Figure 14 This is a schematic diagram of the loading and unloading mechanism structure in Embodiment 5 of the present invention;

[0051] Figure 15 This is a front view of the loading and unloading mechanism in Embodiment 5 of the present invention;

[0052] Among them, 1. rack, 2. guide rail, 3. upright, 4. rack traveling mechanism, 5. lifting mechanism, 6. loading and unloading mechanism, 7. cargo box, 8. hanging rail, 9. lower auxiliary wheels;

[0053] 3-1. Vertical beam; 3-2. Horizontal beam;

[0054] 6-1. Loading platform, 6-2. Fixing plate, 6-3. Forks, 6-4. Connecting plate, 6-5. Tensioner, 6-6. Synchronous belt, 6-7. Drive motor, 6-8. Drive pulley, 6-9. Rack, 6-10. Linear guide, 6-11. Shift fork, 6-12. Connecting plate, 6-13. Guide component, 6-14. Rubber pad. Detailed Implementation

[0055] For ease of description, the words "upper" and "lower" appearing in this invention only indicate that they are consistent with the upper and lower directions of the accompanying drawings and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0056] Example 1

[0057] This embodiment provides a collaborative shelf robot, such as Figure 1As shown, it includes a first loading and unloading component and a second loading and unloading component. Both the first loading and unloading component and the second loading and unloading component cooperate with the guide rail 2 fixed on the shelf 1. The guide rail 2 is horizontally fixed on the shelf 1. The first loading and unloading component and the second loading and unloading component can move horizontally along the guide rail 2 independently. The first loading and unloading component and the second loading and unloading component cooperate to transfer the cargo box 7.

[0058] The first and second loading / unloading components have the same structure. Taking the first loading / unloading component as an example:

[0059] like Figure 2 As shown, the first loading and unloading assembly includes a column 3, which is vertically arranged. The column 3 is equipped with a shelf traveling mechanism 4, which cooperates with a guide rail 2 fixed on the shelf 1 and can travel along the guide rail 2. The guide rail 2 is horizontally arranged, thereby realizing the movement of the first loading and unloading assembly in the horizontal direction.

[0060] The column 3 is equipped with a lifting mechanism 5, which is connected to the loading and unloading mechanism 6 and can drive the loading and unloading mechanism 6 to move vertically.

[0061] The lifting mechanism 5 can be made using existing technology, such as a belt drive mechanism or a screw lifting mechanism. Those skilled in the art can set it according to actual needs.

[0062] like Figures 3-4 As shown, the loading and unloading mechanism 6 includes a cargo-carrying component, which is connected to the lifting mechanism and slidably connected to the column 3. It can move up and down under the action of the lifting mechanism 5. The cargo-carrying component is used to support the cargo box 7, thereby realizing the transfer of the cargo box.

[0063] In this embodiment, the cargo-carrying component includes a fixing part and a cargo-carrying part. The cargo-carrying part is arranged perpendicularly to the fixing part. The cargo-carrying part adopts a cargo platform 6-1 for supporting the cargo box 7. The fixing part adopts a fixing plate 6-2. The fixing plate 6-2 is connected to the lifting mechanism 5 and is slidably connected to the column 3 through a slide rail. The lifting mechanism 5 drives the lifting movement of the entire cargo-carrying component through the fixing plate 6-2.

[0064] In order to better facilitate the entry of the cargo box into the loading platform 6-1, both ends of the loading platform 6-1 have a downward sloping section that can guide the cargo box 7 into the loading platform 6-1.

[0065] The cargo-carrying section or the fixed section is connected to the forks 6-3 via a telescopic mechanism, which can drive the forks 6-3 to perform bidirectional telescopic movements. The direction of the telescopic movement of the forks 6-3 is set along the length of the cargo-carrying section.

[0066] In this embodiment, the fixing part is connected to the fork 6-3 through a telescopic mechanism. Specifically, the fixing plate 6-2 is connected to the fork 6-3 through a telescopic mechanism, and the fork 6-3 is slidably connected to the fixing plate 6-2 to guide the movement of the fork 6-3.

[0067] Specifically:

[0068] The telescopic mechanism includes a transmission mechanism fixed to the side plate of the fixed plate 6-2, and the transmission component of the transmission mechanism meshes with the rack fixed to the fork 6-3.

[0069] In one embodiment, the transmission mechanism adopts a synchronous belt transmission mechanism, with the synchronous belt of the synchronous belt transmission mechanism serving as the transmission component. The synchronous belt transmission mechanism is fixed on the inner side of the fixed plate 6-2 near the loading platform 6-1. Therefore, the synchronous belt transmission mechanism is positioned between the fixed plate 6-2 and the loading platform 6-1. To meet the installation requirements of the synchronous belt transmission mechanism, the bottom surface of the loading platform 6-1 near the fixed plate 6-2 is provided with two connecting plates 6-4 and 6-12 perpendicular to it. The connecting plates 6-4 and 6-12 are arranged parallel to the fixed plate 6-2.

[0070] The synchronous belt drive mechanism includes a driving pulley 6-8, a driven pulley, and a synchronous belt 6-6 wound between the driving pulley 6-8 and the driven pulley. The driving pulley is disposed between the connecting plate 6-12 and the fixed plate 6-2. The driving pulley is connected to a drive component fixed to the outer surface of the fixed plate 6-2. The drive component can drive the driving pulley to rotate.

[0071] Preferably, the driving component is a drive motor 6-7 fixed to the outer side of the fixed plate. The housing of the drive motor 6-7 is fixed to the fixed plate 6-2, and its output shaft is connected to the drive pulley 6-8.

[0072] It is understood that the drive component may also be a device capable of outputting rotational motion, such as a hydraulic motor.

[0073] The driven pulley is disposed between the connecting plate 6-4 and the fixed plate 6-2. The driven pulley is rotatably connected to the axle, which is fixed between the connecting plate 6-4 and the fixed plate 6-2. The axle connects the connecting plate 6-4, the connecting plate 6-12, and the fixed plate 6-2.

[0074] The telescopic mechanism also includes a rack 6-9 fixed to the bottom surface of the fork 6-3. In order to reduce manufacturing costs, two racks 6-9 are provided on the bottom surface of the fork 6-3 instead of the rack 6-9 being provided along the entire length of the bottom surface of the fork 6-3. The two racks 6-9 are respectively provided near the two ends of the bottom surface of the fork 6-3. The racks 6-9 mesh with the serrated structure on the upper surface of the timing belt 6-6.

[0075] The fork 6-3 is also provided with a slider, which is slidably connected to a linear guide rail 6-10 fixed on the fixed plate 6-2. The linear guide rail 6-10 is used to guide the extension and retraction movement of the fork 6-3.

[0076] Preferably, the linear guide 6-10 is located on the upper part of the inner side panel of the fixing plate 6-2.

[0077] The drive motor 6-7 drives the drive pulley 6-8 to rotate. The drive pulley 6-8 can drive the synchronous belt 6-6 to move. Under the meshing action of the synchronous belt 6-6 and the rack 6-9, the fork 6-3 can move along the linear guide rail 6-10, thereby realizing the bidirectional extension and retraction movement of the fork 6-3.

[0078] The outer side of the fixed plate 6-2 is also provided with a tensioning wheel 6-5. The tensioning wheel 6-5 is a pulley. The tensioning wheel 6-5 contacts the synchronous belt 6-6 to tension the synchronous belt 6-6.

[0079] In another embodiment, the transmission mechanism is a chain drive mechanism, and the setting position and method of the chain drive mechanism are the same as those of the synchronous belt drive mechanism. The chain of the chain drive mechanism serves as a transmission component, and the chain is provided with a rack. The rack of the chain meshes with the rack provided on the bottom surface of the fork 6-3. In this embodiment, the tension wheel 6-5 is a sprocket, and the tension wheel 6-5 contacts the chain to tension the chain.

[0080] It should be noted that the transmission mechanism includes, but is not limited to, the aforementioned synchronous belt transmission mechanism or chain transmission mechanism, and may also be a gear and rack transmission mechanism or other forms of transmission mechanism. This application does not impose any restrictions on this.

[0081] The fork 6-3 is equipped with a cargo box movement drive mechanism, and the extension and retraction movement of the fork 6-3 can be converted into the movement of the cargo box 7 through the fork movement drive mechanism.

[0082] In this embodiment, the cargo box motion drive mechanism includes a swing drive component fixed to both ends of the fork. The swing drive component is connected to the shift fork 6-11 to drive the shift fork 6-11 to rotate in a plane perpendicular to the fork 6-3.

[0083] Furthermore, the swing drive component adopts a swing drive motor fixed to the end of the fork 6-3. The axis of the swing drive motor is set along the length direction of the fork 6-3. The housing of the swing drive motor is fixed to the fork 6-3, and its output shaft is fixed to one end of the shift fork 6-11, which can drive the shift fork 6-11 to rotate.

[0084] In another embodiment, the swing drive component is a swing drive servo motor, which is fixed to the end of the fork 6-3, and its output shaft is fixed to one end of the shift fork 6-11.

[0085] After the shift fork 6-11 rotates to a horizontal position toward the loading platform 6-1, the shift fork 6-11 can contact the cargo box 7, and then drive the movement of the cargo box 7 through the retraction or extension of the fork 6-3.

[0086] The movement of the cargo box is driven by the extension and retraction of the forks in conjunction with the shift forks 6-11. There are no requirements for the structure of the cargo box 7, and it can realize the loading and unloading of any cargo box. The rack robot has strong applicability.

[0087] To guide the movement of the cargo box 7 on the loading platform 6-1, a guide component 6-13 is provided on the upper surface of the loading platform 6-1. The guide component 6-13 includes a first guide portion and a second guide portion fixed at both ends of the first guide portion. The first guide portion is arranged parallel to the movement direction of the cargo box 7. One end of the second guide portion is connected to the first guide portion. The second guide portion is inclined outward, that is, inclined towards the direction of the fixed plate 6-2, so that the guide component 6-13 forms a structure with flared ends, which facilitates the cargo box 7 to enter the space between the guide component 6-13 of the first loading and unloading assembly and the second loading and unloading assembly.

[0088] Furthermore, the guide component 6-13 adopts a guide plate, which is fixed vertically to the loading platform 6-1. The two ends of the guide plate are inclined outward to form a second guide portion, and the guide plate portion between the two second guide portions serves as a first guide portion.

[0089] In this embodiment, the column 3 is provided with a plurality of shelf traveling mechanisms 4. The shelf traveling mechanism 4 includes a shelf traveling mechanism wheel frame, on which at least two shelf traveling wheels are provided distributed along the traveling direction. The shelf traveling wheels cooperate with the guide rail 2 fixed to the shelf.

[0090] At least one of the shelving traveling mechanisms 4 is connected to a power unit, which is a traveling drive motor. The traveling drive motor is fixed on the wheel frame of the shelving traveling mechanism, and the output shaft of the traveling drive motor is connected to one of the shelving traveling wheels to drive the rotation of the shelving traveling wheel.

[0091] Furthermore, in order to ensure the synchronization of the movement of multiple rack traveling mechanisms and to prevent the uprights 3 from becoming tilted and causing movement jamming, all rack traveling mechanisms 4 are connected to power components.

[0092] In one embodiment, the loading and unloading mechanism 6 is provided with a guide rail 2 on one side, that is, a guide rail 2 is provided on the shelf on one side of the loading and unloading mechanism 6, and the upright 3 cooperates with the guide rail through the shelf traveling mechanism 4. Two guide rails 2 are provided and are fixed to the upper and lower parts of the shelf respectively.

[0093] It is understood that the guide rail 2 can also be provided with three or more rails. When this arrangement is adopted, the shelf walking mechanism 4 that cooperates with the upper and lower guide rails 2 of the shelf 1 is connected to the power unit, and the remaining guide rails 2 cooperate with the auxiliary walking wheels. The auxiliary walking wheels are rotatably connected to the auxiliary walking wheel frame provided on the column 3. The auxiliary walking wheels are used to improve the stability of the column 3 moving along the guide rail 2.

[0094] In this implementation method, the column 3 is supported by a single-sided guide rail 2, resulting in poor stability and safety during operation. Therefore, in another implementation method, such as... Figures 5-7 As shown, a double-sided guide rail is adopted. Among the multiple shelf traveling mechanisms 4 on the column 3, at least one shelf traveling mechanism 4 cooperates with the guide rail 2 of the shelf 1 on one side of the loading and unloading mechanism 6, and at least one shelf traveling mechanism 4 cooperates with the guide rail 2 on the shelf 1 on the other side of the loading and unloading mechanism.

[0095] In one embodiment, the column 3 includes a vertical beam 3-1 and a horizontal beam 3-2. The upper and lower parts of the vertical beam 3-1 are provided with a shelf traveling mechanism 4. The two shelf traveling mechanisms 4 respectively cooperate with the upper guide rail 2 and the lower guide rail 2 of the shelf 1 on one side of the loading and unloading mechanism 6. The top and bottom of the vertical beam 3-1 are provided with a horizontal beam 3-2. One end of the horizontal beam 3-2 is connected to the vertical beam 3-1, and the other end is provided with a shelf traveling mechanism 4. The shelf traveling mechanisms 4 of the two horizontal beams 3-2 respectively cooperate with the upper guide rail 2 and the lower guide rail 2 of the shelf 1 on the other side of the loading and unloading mechanism 6.

[0096] It is understandable that one side of the shelf 1 can be equipped with upper and lower guide rails 2, while the other side of the shelf can be equipped with only upper or lower guide rails 2, and the shelf traveling mechanism 4 can be installed on the uprights 3 accordingly.

[0097] In another implementation, such as Figure 8 As shown, the structure adopts a double-sided guide rail 2 plus a hanging rail 8. The column 3 includes a vertical beam 3-1 and a horizontal beam 3-2. The bottom end of the vertical beam 3-1 is vertically fixed to the middle of the horizontal beam 3-2. Both ends of the horizontal beam 3-2 are provided with a shelf traveling mechanism 4. The shelf traveling mechanism 4 at both ends of the horizontal beam 3-2 respectively cooperates with the guide rail 2 at the bottom of the shelf 1 on both sides of the loading and unloading mechanism 6. The top of the vertical beam 3-1 is provided with a hanging rail traveling mechanism, which cooperates with the fixed hanging rail 8. In this embodiment, the hanging rail 8 is fixedly set directly above the middle position of the area between the shelf 1 on both sides of the loading and unloading mechanism 5. The hanging rail 8 can be fixed between the tops of the shelf 1 on both sides by a connecting beam, or the hanging rail 8 can be fixed on the external frame or directly fixed to the ceiling.

[0098] In another implementation, such as Figure 9As shown, the column 3 includes a vertical beam 3-1 and a horizontal beam 3-2. The top of the vertical beam 3-1 is vertically fixed to the middle of the horizontal beam 3-2. Both ends of the horizontal beam 3-2 are provided with a shelf traveling mechanism 4. The shelf traveling mechanism 4 at both ends of the horizontal beam 3-2 cooperates with the upper guide rail 2 of the shelf 1 on both sides of the loading and unloading mechanism 6. The bottom end of the vertical beam 3-1 is connected to two sets of lower auxiliary wheels 9 distributed along the traveling direction through the lower auxiliary wheel frame. The lower auxiliary wheels 9 are used to cooperate with the ground.

[0099] The stability and safety of the column 3's movement are further improved by setting up the hanging rail 8 or the lower auxiliary wheel 9.

[0100] The structure of the second loading and unloading assembly is exactly the same as that of the first loading and unloading assembly, and will not be described again here. The loading platform 6-1 of the first and second loading and unloading assemblies jointly contacts the bottom surface of the cargo box 7 to support the cargo box 7. The forks 6-3 and shift forks 6-11 of the first and second loading and unloading assemblies jointly drive the movement of the cargo box 7.

[0101] The working method of using the shelf robot in this embodiment to deliver the cargo box 7 on shelf 1 to the loading platform 6-1 is as follows:

[0102] The uprights 3 of the first and second loading and unloading components move to the corresponding position of the target goods under the drive of the rack traveling mechanism 4, and the uprights 3 of the first and second loading and unloading components move independently, so that the distance between the two uprights 3 matches the width of the cargo box 7 to meet the needs of loading and unloading the cargo box 7.

[0103] The lifting mechanism 5 of the first and second loading / unloading components moves, driving the loading / unloading mechanism 6 to move to the height position of the target cargo.

[0104] The drive motor 6-7 of the telescopic mechanism operates, and drives the forks 6-3 to extend through the synchronous belt transmission mechanism and rack 6-9. The forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly extend to both sides of the cargo box 7, respectively.

[0105] After the forks 6-3 extend to their positions, the swing drive component located at the rear of the cargo box 7 operates, causing the shift fork 6-11 to rotate to a horizontal position. At this time, the shift fork 6-11 corresponds to the rear surface of the cargo box 7.

[0106] The telescopic mechanism of the first and second loading and unloading components drives the forks 6-3 to retract, and pushes the cargo box 7 to the loading platform 6-1 of the first and second loading and unloading components through the push of the shift fork 6-11.

[0107] The method for delivering the cargo box 7 on the loading platform 6-1 of the first and second loading and unloading components of the shelf robot in this embodiment into the shelf 1 is as follows:

[0108] The first and second loading and unloading components move synchronously, causing the cargo box 7 on the loading platform 6-1 to move to the target location on the shelf 1. The fork 6-11 of the forks 6-3 of the first and second loading and unloading components, which is away from the target location, rotates to a horizontal position. The two forks 6-11 extend synchronously under the drive of the telescopic mechanism, and push the cargo box 7 to the target location through the fork 6-11.

[0109] The first and second loading and unloading components of the shelf robot in this embodiment can move independently along the guide rail 2, thereby realizing the distance adjustment between the two uprights 3 and the two loading and unloading mechanisms 6, and thus realizing the transfer needs of cargo boxes 7 of different widths. Cargo boxes 7 of all widths can be transferred by the shelf robot of this embodiment, and the shelf robot has strong applicability.

[0110] Example 2

[0111] This embodiment provides a collaborative shelving robot. Compared with Embodiment 1, the only difference lies in the cargo box movement drive mechanism. In this embodiment, the cargo box movement drive mechanism uses suction cups fixed to the inner side of the forks 6-3, i.e., the facing sides of the two forks 6-3. The suction cups are vacuum suction cups, which can adhere and fix to the side of the cargo box 7, thereby realizing the movement of the cargo box 7 through the extension and retraction of the forks 6-3. The installation position of the suction cups on the inner side of the forks 6-3 is not limited. Those skilled in the art can set the installation position of the suction cups on the forks 6-3 according to actual needs. The rest of the structure of this embodiment is the same as that of Embodiment 1, and will not be described again here.

[0112] Example 3

[0113] This embodiment provides a collaborative shelf robot, such as Figures 10-11 As shown, compared with Embodiment 1 and Embodiment 2, the only difference is that the inner side of the fork 6-3 is provided with a flexible pad, that is, the sides of the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly facing each other are provided with flexible pads. Preferably, the flexible pad is a rubber pad 6-14. The rubber pads 6-14 of the first loading and unloading assembly and the second loading and unloading assembly can clamp the cargo box 7, and the cargo box 7 is transferred by the extension and retraction movement of the fork 6-3.

[0114] When the shelf robot of this embodiment is used, the first loading and unloading component and the second loading and unloading component move towards each other, and the two forks 6-3 move towards each other, thereby clamping the cargo box 7 through the two rubber pads 6-14. The extension and retraction movement of the forks 6-3 drives the transfer of the cargo box 7, the first loading and unloading component and the second loading and unloading component move away from each other, and the two rubber pads 6-14 separate the cargo box 7.

[0115] The flexible pad is used so that the two forks can make flexible contact with the cargo box 7 when clamping it, avoiding rigid collision damage to the cargo box 7. In this implementation method, the position of the guide component 13 is matched with the position of the rubber pad 14 so that the guide component 13 will not affect the movement of the cargo box 7.

[0116] It is understandable that the inner side of the fork 6-3 may not have a flexible pad or may use a rigid pad, and the fork 6-3 may be used to clamp the cargo box 7 to drive the cargo box to move.

[0117] The other structures in this embodiment are the same as those in Embodiments 1 and 2, and will not be described again here.

[0118] Example 4:

[0119] This embodiment provides a collaborative shelf robot, such as Figures 12-13 As shown, compared with Embodiments 1, 2 and 3, the difference is that the top surface of the fork 6-3 serves as a support surface and is provided with a lifting plate 6-15. The lifting plate 6-15 is used to contact the boss provided on the top edge of the cargo box 7. When it is necessary to pick up goods, the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly extend to the top of the target cargo position on the shelf. The lifting mechanism 5 drives the forks 6-3 to rise. The lifting plate 6-15 of the fork 6-3 can lift the target cargo box through the boss, so that the target cargo box leaves the cargo box placement surface of the target cargo position. The forks 6-3 retract, which can transfer the target cargo box to the top of the loading platform 6-1.

[0120] When it is necessary to unload goods, the forks of the first and second loading and unloading components lift the cargo box, causing the cargo box to detach from the loading platform 6-1. Then, the forks 6-3 extend to transfer the cargo box 7 above the target location. The lifting mechanism 5 drives the forks 6-3 to fall, causing the cargo box 7 to land on the shelf.

[0121] The other structures in this embodiment are the same as those in Embodiments 1, 2 and 3, and will not be described again here.

[0122] Example 5

[0123] This embodiment provides a collaborative shelf robot, such as Figures 14-15As shown, compared to embodiment 4, the upper surface of the lifting plate 6-15 of the fork 6-3 is provided with multiple hooks 6-16. The hooks 6-16 are perpendicular to the loading platform 6-1, and the hooks 6-16 engage with the grooves on the side of the cargo box 7. When it is necessary to pick up goods, the fork 6-3 extends, so that the hooks 6-16 correspond to the grooves on the side of the cargo box 7. The lifting mechanism 5 drives the fork 6-3 to rise, so that the hooks 6-16 hook the grooves, and the fork 6-3 retracts. Through the engagement of the hooks 6-16 and the grooves, the cargo box 7 is hooked onto the loading platform 6-1. When it is necessary to unload goods, the fork 6-3 extends towards the target location. Through the engagement of the hooks 6-16 and the grooves, the cargo box 7 is moved to the target location. Then, the lifting mechanism 5 drives the fork 6-3 to descend, and the cargo box 7 falls onto the target location on the shelf. At the same time, the hooks 6-16 disengage from the grooves, and the fork 6-3 retracts.

[0124] The other structures in this embodiment are the same as in embodiment 4, and will not be described again here.

[0125] Example 6

[0126] This embodiment provides a working method for a collaborative shelf robot as described in Embodiment 1, 2, 3, 4, or 5, applied to a host computer or other control equipment, including the following steps:

[0127] Obtain the cargo box information of the target cargo box, which is a cargo box to be put into storage or a cargo box to be put out of storage; the cargo box information includes at least the specification information, current location information and target location information of the target cargo box;

[0128] The target cargo box information is pre-stored in the control system of the entire collaborative shelf robot. When the staff inputs the target cargo box to be acquired, the control system can automatically extract the corresponding cargo box information.

[0129] Retrieving the target cargo box: Based on the specifications of the target cargo box and the current location information, the control system controls the rack walking mechanism 4 and lifting mechanism 5 of the first and second loading and unloading components to work together, and the first and second loading and unloading components move to the target cargo box; the control system controls the telescopic mechanism of the first and second loading and unloading components to drive the forks 6-3 to move, and work together to retrieve the target cargo box, and the movement of the forks 6-3 transfers the target cargo box to the loading platform 6-1.

[0130] To place the target cargo box: Based on the target location information, the control system controls the rack traveling mechanism 4 and lifting mechanism 5 of the first loading and unloading component and the second loading and unloading component to work together. The first loading and unloading component and the second loading and unloading component move to the target position, and the telescopic mechanism drives the forks 6-3 to move, placing the target cargo box at the target position.

[0131] When retrieving the target cargo box, the control system controls the first loading and unloading components and the second loading and unloading components to move and adjust the distance between them to match the specifications of the target cargo box, based on the specifications of the target cargo box and the current position information.

[0132] or,

[0133] The control system determines the target movement positions of the first loading and unloading assembly and the second loading and unloading assembly based on the specification information of the target cargo box and the current position information, respectively.

[0134] Based on the target movement position information, the control system controls the first loading and unloading component and the second loading and unloading component to move to their corresponding target movement positions so that the distance between them matches the specifications of the target hopper.

[0135] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A collaborative shelving robot, characterized in that, It includes a first loading and unloading assembly and a second loading and unloading assembly used together. Both the first loading and unloading assembly and the second loading and unloading assembly include a column, a lifting mechanism and a loading and unloading mechanism. The column is connected to the loading and unloading mechanism through the lifting mechanism. The upright is equipped with a shelf traveling mechanism, which cooperates with a horizontally fixed guide rail on the shelf so that the first loading and unloading component and the second loading and unloading component can move independently along the guide rail. The loading and unloading mechanism includes a cargo-carrying component connected to the lifting mechanism. The cargo-carrying component is connected to forks for cooperating with the cargo box via a telescopic mechanism to drive the cargo box to move. The first loading and unloading component and the second loading and unloading component are used to adjust their own positions according to the specifications and location of the cargo box to obtain the cargo box, and move synchronously to the target position after obtaining the cargo box to complete the entry and exit of the cargo box; The cargo-carrying component includes a cargo-carrying section and a fixing section. The cargo-carrying section is used to support the cargo box, and the fixing section is connected to the lifting mechanism. The cargo-carrying section is provided with a telescopic mechanism on its side to drive the forks to perform bidirectional telescopic movement.

2. The collaborative shelf robot as described in claim 1, characterized in that, The upper surface of the cargo compartment is provided with a guide component to guide the movement of the cargo box.

3. The collaborative shelf robot as described in claim 2, characterized in that, The guiding component includes a first guiding portion and a second guiding portion fixed at both ends of the first guiding portion. The first guiding portion is arranged along the movement direction of the cargo box, and the second guiding portion is inclined outward.

4. The collaborative shelf robot as described in claim 1, characterized in that, The telescopic mechanism includes a transmission mechanism fixed to the cargo-carrying component. The transmission component of the transmission mechanism meshes with a rack fixed to the forks. The forks are slidably connected to a linear guide rail fixed to the cargo-carrying component.

5. A collaborative shelving robot as described in claim 1, characterized in that, The fork is equipped with a cargo box movement drive mechanism, which includes swing drive components disposed at both ends of the fork. The swing drive components are connected to the shift fork to drive the shift fork to rotate in a plane perpendicular to the fork.

6. A collaborative shelving robot as described in claim 1, characterized in that, The top surface of the forks serves as the support surface for the cargo box, and can cooperate with the edge protrusions of the cargo box to lift the cargo box, thereby enabling the transfer of the cargo box between the loading section and the rack.

7. A collaborative shelving robot as described in claim 1, characterized in that, The top surface of the forks is provided with hooks, which are perpendicular to the loading section. The hooks are used to engage with the grooves on both sides of the cargo box to hook the cargo box through the grooves.

8. A collaborative shelving robot as described in claim 1, characterized in that, The forks are equipped with a cargo box movement drive mechanism, which uses suction cups fixed to the forks. The suction cups are fixed to the opposing sides of the two forks.

9. A collaborative shelving robot as described in claim 1, characterized in that, The inner side of the forks is provided with a flexible pad.

10. A collaborative shelving robot as described in claim 1, characterized in that, The column is equipped with multiple rack traveling mechanisms, wherein at least one rack traveling mechanism cooperates with the guide rail fixed on one side of the rack of the loading and unloading mechanism, and at least one rack traveling mechanism cooperates with the guide rail fixed on the other side of the rack of the loading and unloading mechanism.

11. A collaborative shelf robot as described in claim 1, characterized in that, The top of the column is equipped with a hanging rail traveling mechanism, which cooperates with the hanging rail. The hanging rail is fixedly installed and parallel to the guide rail on the shelf.

12. A collaborative shelving robot as described in claim 1, characterized in that, The bottom of the column is equipped with a lower auxiliary wheel, which is used to cooperate with the ground.

13. A method for operating a collaborative shelving robot as described in any one of claims 1-12, characterized in that, Obtain the cargo box information of the target cargo box; the target cargo box is a cargo box to be received or a cargo box to be shipped; the cargo box information includes at least the specification information, current location information and target location information of the target cargo box; Based on the specifications and current location information, control the first and second loading / unloading components to move to the target cargo box; Control the first and second loading / unloading components to work together to acquire the target cargo container; The first and second loading / unloading components are controlled to place the target cargo box at the target location according to the target location information.

14. The working method of a collaborative shelving robot as described in claim 13, characterized in that, The method for controlling the first and second loading / unloading components to move to the current position of the target cargo container based on the specification information of the target cargo container and the current position information is as follows: Based on the specifications of the target cargo container and the current position information, the first loading and unloading component and the second loading and unloading component are controlled to move and the distance between them is adjusted to match the specifications of the target cargo container.

15. A collaborative work method according to claim 13, characterized in that, The method for controlling the first loading and unloading components and the second loading and unloading components to move to the target cargo container based on the specification information of the target cargo container and the current location information is as follows: Based on the specifications of the target cargo box and the current location information, the target moving positions of the first loading and unloading assembly and the second loading and unloading assembly are determined respectively. Control the first loading and unloading component and the second loading and unloading component to move to their corresponding target moving positions so that the distance between them matches the specifications of the target cargo box.

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