A cargo picking and placing device for a high-level shelf and a high-level shelf

Abstract

The present application relates to the field of warehousing and logistics technology, and provides a cargo picking and placing device for a high-level shelf and a high-level shelf. The cargo picking and placing device includes a lifting component, a walking component and at least two floating components. The walking component is arranged on a walking track so as to be movable, and at least two floating components are arranged at intervals along the height direction of the lifting component; the floating component includes a rigid bracket and an elastic component. The lifting component is arranged on the rigid bracket, and the elastic component is arranged between the rigid bracket and the walking component. The technical solution of the present application, when multiple walking components at different heights are not in the same vertical line, the elastic component is used to realize the adaptive change of the distance between the rigid bracket and the walking component in the vertical direction, so as to avoid the tilt state of the lifting component as much as possible, and avoid the jamming phenomenon between the walking component and the walking track, thereby ensuring that the walking component runs smoothly on the walking track, and increasing the cargo carrying weight of the cargo picking and placing device.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a cargo picking and placing device for a high-level shelf and a high-level shelf. Background Art

[0002] In warehousing and logistics, shelves are important facilities for storing goods. They not only provide orderly storage space, but also help improve the warehouse's operating efficiency and space utilization. Existing shelves are generally set up as multi-layer structures, and a walking cargo picking and placing device is set up on the shelves. For example, a cargo picking and placing device that can move horizontally on the shelves is set up. The cargo picking and placing device includes a vertically set lifting track and a picking and placing trolley set on the lifting track. In this way, the picking and placing trolley can place the goods at a designated location or take out the goods from a designated location by moving horizontally and vertically.

[0003] The current shelves are relatively high, and correspondingly, the length of the lifting rails is relatively large, which requires that a plurality of transversely arranged walking rails be provided on the shelves. Thus, when the lifting rails are moving along the walking rails, there will be a plurality of walking components on the walking rails that are not in the same vertical line, causing the lifting rails to tilt, and further causing obstruction between the walking components and the walking rails, affecting the horizontal operation of the lifting rails. Summary of the invention

[0004] The embodiment of the present application provides a cargo picking and placing device for a high-level shelf and a high-level shelf, so as to avoid the problem of tilting of the lifting track of the cargo picking and placing device as much as possible, thereby causing a jamming problem between the walking component and the walking track.

[0005] A first aspect of an embodiment of the present application provides a cargo pick-up and placement device for a high-level shelf, the cargo pick-up and placement device is applied to the high-level shelf, the high-level shelf includes a plurality of stacked cargo storage areas, and the high-level shelf is provided with at least two horizontally arranged walking tracks, the cargo pick-up and placement device includes: a lifting component, a walking component and at least two floating components, the walking component is arranged on the walking track in a movable manner, the at least two floating components are arranged at intervals along the height direction of the lifting component, and each floating component is connected to at least one walking component;

[0006] The floating component includes a rigid support and an elastic component. The lifting component is arranged on the rigid support. The elastic component is arranged between the rigid support and the walking component. The elastic component is configured so that the distance between the rigid support and the walking component can be adaptively changed within a first threshold in the vertical direction.

[0007] In one implementation, the elastic component includes an elastic member and a suspension rod, one end of the suspension rod is rotatably fixed on the rigid bracket, and the other end is connected to the walking component, and the elastic member is arranged between the rigid bracket and the rod body of the suspension rod.

[0008] In one implementation, the elastic member and the walking assembly are located on the same side of the suspension rod in the vertical direction.

[0009] In one implementation, the elastic component further includes an adjustment block, which is disposed between the rigid support and the walking component, and is used to adjust the size of the first threshold.

[0010] In one implementation, a positioning sensor is provided on the rigid bracket, the detection end of the positioning sensor faces the walking track, and a positioning mark is provided on the side of the walking track facing the positioning sensor. The positioning sensor is used to detect the positioning mark to determine the position coordinates of the rigid bracket corresponding to the positioning sensor.

[0011] In one implementation, a limit assembly is provided on the rigid bracket; the limit assembly can slidably abut or clamp the travel track, and the limit assembly is used to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0012] In one implementation, the limiting assembly includes a first limiting body and a second limiting body;

[0013] The first limiting body and the second limiting body respectively abut against two opposite sides of the running track, and one of the two opposite sides is provided with a positioning mark.

[0014] In one implementation, the limiting assembly includes a third limiting body, and a groove for engaging the third limiting body is provided on the travel track, and the groove is used to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0015] In one implementation, the cargo picking and placing device further includes a first controller, the first controller being electrically connected to the positioning sensor and the travel assembly;

[0016] The first controller is configured as:

[0017] Get the time when all positioning sensors detect the positioning identifier;

[0018] According to the time when all positioning sensors detect the positioning mark, determine the time difference between the positioning sensors of any two floating components detecting the positioning mark, and the order of the time when all positioning sensors detect the positioning mark;

[0019] If any time difference exists that is greater than the second threshold, the walking component that needs to be adjusted and the corresponding walking speed adjustment amount are determined according to the sequence of the moments when all the positioning sensors detect the positioning identifications.

[0020] In one implementation, the same floating component includes two elastic components, and the same floating component is connected to two walking components, and the two walking components are respectively arranged at two ends of the rigid support.

[0021] In one implementation, a laser radar is provided on the lifting assembly, which is used to detect point cloud data of the walking track with the laser radar as a base point;

[0022] The cargo picking and placing device also includes a second controller, which is electrically connected to the laser radar and the walking assembly;

[0023] The second controller is configured as:

[0024] Obtain point cloud data of the walking track detected by the laser radar;

[0025] Generate the contour line of the walking track according to the point cloud data of the walking track;

[0026] Based on the horizontal plane where the laser radar is located, according to the contour line of the walking track, determine the inclination angle of the contour line of the walking track;

[0027] According to the inclination angle of the contour line of the walking track, the walking components that need to be adjusted and the corresponding walking speed adjustment amount are determined.

[0028] In one implementation, the travel assembly includes a travel wheel and a first driving mechanism, the travel wheel is disposed on a travel track and connected to an output shaft of the first driving mechanism, and the elastic assembly is connected to the first driving mechanism.

[0029] In one implementation, if the number of traveling assemblies connected to the same floating assembly is multiple, there is at least one traveling assembly that only includes traveling wheels, which are arranged on traveling tracks, and the rotating shaft of the traveling wheels is connected to the floating assembly.

[0030] In one implementation, if the number of floating components is greater than or equal to 3, the traveling component on at least one floating component only includes traveling wheels, the traveling wheels are arranged on traveling tracks, and the rotating shaft of the traveling wheels is connected to the floating component.

[0031] In one implementation, the lifting assembly includes a lifting track, a second drive mechanism, and a cargo pickup and placement platform;

[0032] The lifting track is connected to the rigid bracket, the cargo picking and placing platform is slidably arranged on the lifting track, and the second driving mechanism is connected to the cargo picking and placing platform, and the second driving mechanism is used to drive the cargo picking and placing platform to move along the lifting track.

[0033] A second aspect of an embodiment of the present application provides a high-level shelf, comprising a plurality of stacked cargo storage areas, and at least two horizontally arranged walking tracks are provided on the high-level shelf, and the walking tracks are provided with the cargo picking and placing device provided by the first aspect of the embodiment of the present application.

[0034] The embodiment of the present application provides a cargo pick-up and placement device for a high-level shelf and a high-level shelf, wherein the cargo pick-up and placement device comprises a lifting component, a walking component and at least two floating components, wherein the walking component is arranged on a walking track in a movable manner, and at least two floating components are arranged at intervals along the height direction of the lifting component, and each floating component is connected to at least one walking component; the floating component comprises a rigid bracket and an elastic component, wherein the lifting component is arranged on the rigid bracket, and the elastic component is arranged between the rigid bracket and the walking component. By applying the technical solution of the present application, a floating connection is formed between the rigid bracket and the walking component in the vertical direction through the elastic component, and when multiple walking components at different heights are not in the same vertical line, the elastic component is used to realize the adaptive change of the distance between the rigid bracket and the walking component in the vertical direction, thereby avoiding the tilt state of the lifting component as much as possible, avoiding the jamming phenomenon between the walking component and the walking track, and then ensuring that the walking component runs smoothly on the walking track, and increasing the cargo carrying weight of the cargo pick-up and placement device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic diagram of the structure of a high-level shelf provided with a cargo picking and placing device provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of another high-level shelf provided with a cargo picking and placing device provided in an embodiment of the present application;

[0038] Figure 3 for Figure 2 A structural schematic diagram of the high shelf from another perspective provided;

[0039] Figure 4 A schematic structural diagram of a walking assembly and a floating assembly provided in an embodiment of the present application from one perspective;

[0040] Figure 5 A schematic structural diagram of a walking assembly and a floating assembly from another perspective provided in an embodiment of the present application;

[0041] Figure 6 for Figure 3 Schematic diagram of the local structure;

[0042] Figure 7 A schematic diagram of the structure of a limit assembly provided in an embodiment of the present application;

[0043] Figure 8A schematic diagram of the structure of a walking track provided in an embodiment of the present application;

[0044] Fig. 9 Another structural schematic diagram of the walking track provided in the embodiment of the present application;

[0045] Fig.10 A schematic diagram of the structure of the walking track of the high-level shelf provided in the embodiment of the present application;

[0046] Fig.11 A schematic diagram of the structure of the cargo pick-up and delivery platform provided in an embodiment of the present application.

[0047] In the figure:

[0048] 1-lifting assembly, 11-lifting track, 12-second driving mechanism, 13-pick-up and release platform, 131-conveyor belt, 132-conveyor belt drive motor, 133-bidirectional hook claw, 134-hook fork lifting mechanism, 2-walking assembly, 21-walking wheel, 22-first driving mechanism, 3-floating assembly, 31-rigid bracket, 32-elastic assembly, 321-elastic part, 322-suspension rod, 3221-slide, 323-adjusting block, 33-positioning sensor, 34-limiting assembly, 341-first limiting body, 342-second limiting body, 343-third limiting body, 4-laser radar, 100-walking track, 200-positioning mark, 300-groove. DETAILED DESCRIPTION

[0049] In the case of a fixed floor area of ​​the shelf, in order to improve the storage capacity of the shelf, the height of the shelf can be increased. However, after increasing the height of the shelf, the length of the lifting track needs to be increased. Accordingly, the length of the lifting track is relatively large, which requires that multiple walking tracks be set on the shelf. In this way, when the lifting track moves along the walking track, there will be multiple walking components on the walking track that are not on the same vertical line, causing the lifting track to tilt. Moreover, since the connection between the walking component and the lifting track is a rigid connection, and the walking component occupies a certain length on the walking track, and multiple walking components are generally arranged on the same walking track, after the lifting track tilts, multiple walking components on the same walking track will be in a tilted state, so that there will be a jam between the walking component and the walking track, causing the walking component to be unable to run smoothly on the walking track. In addition, when the lifting track tilts, the heavier the weight of the goods carried on the lifting track, the easier it is to cause the walking component on the walking track to be jammed, thereby limiting the cargo carrying weight of the cargo pick-up and placement device.

[0050] In order to solve the above technical problems, the first aspect of the embodiment of the present application provides a cargo picking and placing device for a high-level shelf, such as Figure 1 , Figure 2 and Figure 3As shown, the cargo picking and placing device should be used on a high-level shelf, wherein the high-level shelf includes a plurality of stacked cargo storage areas, each layer of cargo storage area can be provided with a plurality of grids, and the cargo picking and placing device can put cargo into the grids, or take cargo out of the grids, and the high-level shelf is provided with at least two horizontally arranged walking tracks 100, for example, Figure 2 and Figure 3 As shown, two horizontally arranged walking tracks 100 are provided on the high-level shelf. Figure 1 As shown, three horizontally arranged walking tracks 100 are provided on the high-level shelf.

[0051] like Figure 1 and Figure 2 As shown, the cargo picking and placing device includes: a lifting component 1, a walking component 2 and at least two floating components 3, the walking component 2 is arranged to be movable on a walking track 100, at least two floating components 3 are arranged at intervals along the height direction of the lifting component 1, and each floating component 3 is connected to at least one walking component 2; wherein the number of floating components 3 is less than or equal to the number of walking tracks 100.

[0052] The floating component 3 includes a rigid support 31 and an elastic component 32. The lifting component 1 is arranged on the rigid support 31. For example, the lifting component 1 includes two column structures, and the two column structures are respectively arranged at both ends of the rigid support 31. The elastic component 32 is arranged between the rigid support 31 and the walking component 2, and the elastic component 32 is configured to: in the vertical direction, the distance between the rigid support 31 and the walking component 2 can be adaptively changed within a first threshold.

[0053] Specifically, a cavity structure is provided in the rigid bracket 31, and the elastic component 32 is arranged in the cavity. In order to realize that the distance between the rigid bracket 31 and the walking component 2 can be adaptively changed within the first threshold, in actual application, the elastic component 32 is set to: make the direction of the elastic force of the elastic component 32 in the vertical direction, or the elastic force has a component in the vertical direction, so that a floating connection is formed between the walking component 2 and the lifting component 1, that is, in the vertical direction, the walking component 2 abuts against the walking track 100, and when multiple walking components 2 at different heights are not in the same vertical line, the elastic component 32 is used to realize the adaptive change of the distance between the rigid bracket 31 and the walking component 2 in the vertical direction, so as to avoid the lifting component 1 from being tilted as much as possible, and further avoid the walking component 2 and the walking track 100 from being stuck. At the same time, while ensuring the smooth operation of the walking component 2 on the walking track 100, the cargo carrying weight of the cargo picking and placing device is increased.

[0054] The embodiment of the present application provides a cargo picking and placing device for a high-level shelf, comprising a lifting component 1, a traveling component 2 and at least two floating components 3. The traveling component 2 is arranged on a traveling track 100 so as to be movable. At least two floating components 3 are arranged at intervals along the height direction of the lifting component 1, and each floating component 3 is connected to at least one traveling component 2. The floating component 3 comprises a rigid bracket 31 and an elastic component 32. The lifting component 1 is arranged on the rigid bracket 31, and the elastic component 32 is arranged between the rigid bracket 31 and the traveling component 2. The technical solution provided by the embodiment of the present application forms a floating connection between the rigid bracket 31 and the traveling component 2 in the vertical direction through the elastic component 32, thereby avoiding the phenomenon of jamming between the traveling component 2 and the traveling track 100 due to the tilt of the lifting component 1 when the traveling component 2 is rigidly connected to the lifting component 1.

[0055] In some embodiments of the present application, Figure 4 As shown, the elastic component 32 includes an elastic member 321 and a suspension rod 322. One end of the suspension rod 322 is rotatably fixed on the rigid bracket 31, and the other end is connected to the walking component 2. The elastic member 321 is arranged between the rigid bracket 31 and the rod body of the suspension rod 322. Specifically, as shown in FIG. Figure 4 As shown, a notch for engaging the elastic member 321 is provided on the suspension rod 322, and the elastic member 321 and the walking component 2 are on the same side in the vertical direction of the suspension rod 322, so that the elastic member 321 is in a normal pressure state. The elastic member 321 in the normal pressure state can effectively absorb the vibration and impact energy generated during the walking process of the walking component 2. Of course, in actual application, the elastic member 321 and the walking component 2 can also be set on different sides in the vertical direction of the suspension rod 322, so that the elastic member 321 is in a stretched state. In the embodiment of the present application, preferably, the elastic member 321 is set in a normal pressure state. Specifically, the elastic member 321 can be set as a spring.

[0056] In some embodiments of the present application, a suspension rod 322 and an elastic member 321 are used. By setting the elastic member 321 in the middle area of ​​the rod body of the suspension rod 322, the suspension rod 322 and the elastic member 321 can form a lever structure. In this way, the size of the first threshold value can be effectively increased. Of course, in actual application, the elastic component 32 can also only be provided with the elastic member 321, and the elastic member 321 can be directly set between the rigid bracket 31 and the walking component 2.

[0057] like Figure 4 As shown, a slide groove 3221 is also provided on the suspension rod 322, wherein a limit rod is fixedly provided on the rigid bracket 31, and the limit rod is in the slide groove 3221, so that when the suspension rod 322 moves in the vertical direction, the movement stability of the suspension rod 322 is ensured through the cooperation between the slide groove 3221 and the limit rod.

[0058] like Figure 4 As shown, the elastic component 32 also includes an adjustment block 323, and the adjustment block 323 is arranged between the rigid support 31 and the walking component 2. In this way, by installing the adjustment block 323 with different sizes in the vertical direction, the size of the first threshold can be adjusted. Of course, if necessary, the first threshold can also be adjusted to 0 by the adjustment block 323. In this way, the connection relationship between the rigid support 31 and the walking component 2 is converted between a rigid connection and a floating connection, thereby forming a compatible design. In actual application, the suspension rod 322 may not be provided, but the elastic member 321 may be directly provided between the rigid support 31 and the walking component 2.

[0059] like Figure 5 As shown, in some embodiments of the present application, a positioning sensor 33 is provided on the rigid bracket 31, and the detection end of the positioning sensor 33 faces the walking track 100, as shown in FIG. Figure 5 and Fig.10 As shown, a positioning mark 200 is provided on the side of the walking track 100 facing the positioning sensor 33, and the positioning sensor 33 is used to detect the positioning mark 200. In this way, when the walking component 2 moves along the walking track 100, the positioning mark 200 is detected by the positioning sensor 33, thereby determining the position coordinates of the positioning sensor 33, that is, determining the position coordinates of the rigid bracket 31 on which the positioning sensor 33 is provided.

[0060] On this basis, the cargo picking and placing device further includes a first controller, which is electrically connected to the positioning sensor 33 and the walking component 2, and is configured to execute steps S101 to S103.

[0061] Step S101 , obtaining the time when all positioning sensors 33 detect the positioning mark 200 .

[0062] In the embodiment of the present application, a positioning sensor 33 is provided on a rigid bracket 31, and a plurality of positioning marks 200 are provided on the walking track 100, and the plurality of positioning marks 200 are equidistantly arranged, for example, the distance between two adjacent positioning marks 200 is 500 mm, and the positioning marks 200 on the plurality of walking tracks 100 are coaxially arranged in the vertical direction, thereby ensuring that the positioning marks 200 detected by all positioning sensors 33 within a preset time are on the same vertical line, wherein the positioning mark 200 can be set to a hole-type structure, and correspondingly, the positioning sensor 33 is a photoelectric sensor, so that when the detection end of the positioning sensor 33 is aligned with the hole-type structure, the detection signal of the photoelectric sensor changes, thereby judging that the positioning sensor 33 is at the position of the positioning mark 200, it should be noted that the cross-sectional area of ​​the hole-type structure is larger than the detection area of ​​the positioning sensor 33 on the walking track 100, so that when the rigid bracket 31 is tilted, the hole-type structure is still within the detection range of the positioning sensor 33.

[0063] Step S102 , according to the time when all the positioning sensors 33 detect the positioning mark 200 , determine the time difference between when the positioning sensors 33 of any two floating components 3 detect the positioning mark 200 , and the sequence of when all the positioning sensors 33 detect the positioning mark 200 .

[0064] When multiple walking components 2 at different heights are not in the same vertical line, since the lifting component 1 is a rigid structure, in actual application, it is also possible to determine only the time difference between the two positioning sensors 33 detecting the positioning mark 200. The two sensors 33 are respectively the two positioning sensors 33 at the highest and lowest heights in the vertical direction. Among them, taking the forward direction of the walking component 2 as the front, the positioning sensor 33 that first detects the positioning mark 200 is located further forward.

[0065] Step S103: If any time difference is greater than the second threshold, the walking component 2 that needs to be adjusted and the corresponding walking speed adjustment amount are determined according to the sequence of the moments when all the positioning sensors 33 detect the positioning mark 200.

[0066] Among them, when determining the walking component 2 that needs to be adjusted, the walking component 2 at the front position can be adjusted, for example, the walking speed of the walking component 2 at the front position is reduced, and it continues for a preset time. The walking component 2 at the back position can also be adjusted, for example, the walking speed of the walking component 2 at the back position is increased, and it continues for a preset time. In actual application, due to the constraints of the overall structure of the cargo picking and placing device, the positions of multiple walking components 2 in the horizontal direction will not differ greatly. Therefore, when adjusting the speed of the walking component 2, a slight adjustment is selected, and after the adjustment, the positioning sensor 33 is used again to detect the positioning mark 200, so that during the horizontal movement of the lifting component 1, the relative positions of the multiple walking components 2 are corrected multiple times, so as to avoid the lifting component 1 from being tilted as much as possible.

[0067] In order to control the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction to ensure the detection accuracy of the positioning sensor 33, in an embodiment of the present application, a limit assembly 34 is provided on the rigid bracket 31; the limit assembly 34 can slide to abut or clamp the walking track 100, so that when the limit assembly 34 moves with the rigid bracket 31, the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction is controlled by limiting the positioning sensor 33 from approaching or moving away from the walking track 100 in the horizontal direction.

[0068] For example, the limiting assembly 34 includes a first limiting body 341 and a second limiting body 342; Figure 5 As shown, the rigid support 31 is provided with a first stopper 341 abutting against the running track 100. Figure 6 As shown, the rigid bracket 31 is provided with a second limiting body 342 abutting against the traveling track 100, that is, the first limiting body 341 and the second limiting body 342 respectively abut against two opposite sides of the traveling track 100, and one of the two opposite sides is provided with a positioning mark 200, so that a limiting assembly 34 clamped on the traveling track 100 is formed by the first limiting body 341 and the second limiting body 342, thereby limiting the positioning sensor 33 from approaching or moving away from the traveling track in the horizontal direction, wherein the first limiting body 341 and the second limiting body 342 can be sliders or rollers.

[0069] For example, Figure 7 As shown, the limit assembly 34 includes a third limit body 343, and a groove 300 for engaging the third limit body 343 is provided on the walking track 100. The groove 300 is used to limit the horizontal distance between the positioning sensor 33 and the positioning mark 200. In this way, the limit assembly 34 is engaged in the groove 300, thereby limiting the positioning sensor 33 from approaching or moving away from the walking track 100 in the horizontal direction.

[0070] like Figure 4As shown, in some embodiments of the present application, the same floating component 3 includes two elastic components 32, and the same floating component 3 is connected to two walking components 2, and the two walking components 2 are respectively arranged at both ends of the rigid bracket 211. It should be noted that when multiple walking components 2 at different heights are not in the same vertical line, in the vertical direction, the distances between the same floating component 3 and the two walking components 2 are not equal, that is, through the action of the elastic component 32, the rolling cooperation between the two walking components 2 and the walking track 100 is effectively guaranteed. At this time, the rigid bracket 31 is in an inclined state, so as to avoid the lifting component 1 from tilting as much as possible.

[0071] Since the positioning marks 200 are arranged at intervals, there is a certain time interval when the positions of the multiple walking components 2 at different heights are detected. In addition, when the multiple walking components 2 are not in the same vertical line and the position difference in the horizontal direction is small, the lifting component 1 can still be in a vertical state due to the effect of the floating component 3. On this basis, in order to realize the real-time detection of the tilt state of the lifting component 1, especially when the walking track 100 is a straight track, the real-time detection of the tilt state of the lifting component 1, such as Figure 3 As shown, a laser radar 4 is provided on the lifting assembly 1, and the laser radar 4 is used to detect the point cloud data of the walking track 100 with the laser radar 4 as the base point. Among them, the laser radar 4 is set on the column of the lifting assembly 1, preferably in the middle area of ​​the column, that is, when the lifting assembly 1 is in a vertical state, the laser radar 4 is at an equal distance from the walking tracks 100 on the upper and lower sides. The number of laser radars 4 installed is related to the number of walking tracks 100, and it is necessary to ensure that a laser radar 4 is provided between any two walking tracks 100.

[0072] The cargo picking and placing device further includes a second controller, which is electrically connected to the laser radar 4 and the walking assembly 2. In actual application, the first controller and the second controller can be different units of the same device or different devices. The second controller is configured to execute steps S201 to S204.

[0073] Step S201, obtaining point cloud data of the walking track 100 detected by the laser radar 4.

[0074] Among them, after collecting the point cloud data of the walking track 100, necessary point cloud data processing is also included, for example, point cloud data preprocessing: the original lidar point cloud data is denoised and filtered to improve data quality; for example, point cloud data downsampling: in order to reduce the amount of calculation, the point cloud data is downsampled, key points are retained or voxel processing is performed.

[0075] Step S202 , generating a contour line of the walking track 100 according to the point cloud data of the walking track 100 .

[0076] Among them, generating the contour line of the walking track 100 also includes necessary generation means, for example, contour extraction: through a clustering algorithm, potential contour lines are extracted according to the density, curvature or other geometric features of the point cloud data; for example, contour fitting: the extracted contour point cloud data can be fitted through a mathematical model to form a smooth contour line; for example, contour optimization: re-fitting the extracted contour line by resampling, smoothing or using a more complex mathematical model to eliminate noise or inappropriate curvature.

[0077] Step S203 , based on the horizontal plane where the laser radar 4 is located and according to the contour line of the walking track 100 , determine the inclination angle of the contour line of the walking track 100 .

[0078] It should be noted that since the lifting track 11 is the track of the high-level shelf, the height of the lifting track 11 is relatively high. For example, the height of the lifting track 11 is usually greater than 10m, and the loaded cargo pick-up and placement platform 13 will rise and fall on the lifting track 11, causing the lifting track 11 to deform to a certain extent, resulting in the contour lines of the two walking tracks detected by the laser radar 4 to be non-parallel. In actual application, it is only necessary to fit the inclination direction of the walking track 100 and the inclination angle of a preset accuracy according to the contour lines of the two walking tracks 100.

[0079] Step S204 , determining the travel component 2 that needs to be adjusted and the corresponding travel speed adjustment amount according to the inclination angle of the contour line of the travel track 100 .

[0080] The technical solution provided in the embodiment of the present application detects the inclination angle of the walking track 100 relative to the horizontal plane in real time by setting the laser radar 4 and the second controller, thereby correcting the posture of the lifting assembly 1 in real time by controlling the walking speed of the multiple walking assemblies 2. Figure 4 and Figure 5 As shown, in some embodiments of the present application, the walking component 2 includes a walking wheel 21 and a first driving mechanism 22 , the walking wheel 21 is arranged on the walking track 100 and connected to the output shaft of the first driving mechanism 22 , and the elastic component 32 is connected to the first driving mechanism 22 .

[0081] The first driving mechanism 22 includes a motor and a reducer. In actual application, when multiple walking components 2 are arranged on the same rigid bracket 31, the multiple walking components 2 can be driven by a single motor, that is, multiple walking components 2 are driven by one motor, or they can be driven by multiple motors, that is, each walking component 2 is provided with an independent motor for driving.

[0082] In some embodiments of the present application, if the number of walking components 2 connected to the same floating component 3 is multiple, some of the walking components 2 can be set to a non-powered structure, wherein the non-powered structure means that the walking component 2 itself does not provide walking power, that is, Figure 8 As shown, there is at least one walking component 2 that only includes a walking wheel 21, and the walking wheel 21 is set on the walking track 100, and the rotating shaft of the walking wheel 21 is connected to the floating component 3, that is, the walking component 2 is a driven structure, and during the horizontal walking of the cargo picking and placing device, it adopts a rolling manner along the walking track 100 to follow the floating component 3.

[0083] In addition, if the number of floating components 3 is greater than or equal to 3, the walking component 2 in the middle of the vertical height can be set as a non-powered structure. Fig. 9 As shown, there is at least one traveling assembly 2 on the floating assembly 3 which only includes a traveling wheel 21 . The traveling wheel 21 is arranged on the traveling track 100 , and the rotating shaft of the traveling wheel 21 is connected to the floating assembly 3 .

[0084] It should be noted that the above-mentioned walking component 2 only includes the walking wheel 21, which means that the walking component 2 does not include a driving motor, thereby forming a walking component without a power mechanism. In this way, the resistance of the horizontal walking of the cargo picking and placing device can be reduced on the basis of improving the power utilization rate of the cargo picking and placing device.

[0085] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments of the present application, the lifting assembly 1 includes a lifting track 11, a second driving mechanism 12 and a cargo pick-up and placement platform 13; the lifting track 11 is connected to the rigid bracket 31, the cargo pick-up and placement platform 13 is slidably arranged on the lifting track 11, the second driving mechanism 12 is connected to the cargo pick-up and placement platform 13, and the second driving mechanism 12 is used to drive the cargo pick-up and placement platform 13 to move along the lifting track 11.

[0086] The second driving mechanism 12 includes a power device and a transmission device. For example, the power device is a motor and a reducer that cooperate with each other, and the transmission device is a synchronous belt and a pulley that cooperate with each other, or the transmission device is a transmission chain and a sprocket.

[0087] Among them, Fig.11As shown, the cargo pick-up and placement platform 13 includes a conveyor belt 131, a conveyor belt drive motor 132, a bidirectional hook 133, a hook fork lifting mechanism 134, and a hook claw walking mechanism. The conveyor belt 131 is arranged on a transmission wheel connected by the conveyor belt drive motor 132. The conveyor belt 131 is used to transport cargo to the cargo pick-up and placement platform 13, or to unload cargo from the cargo pick-up and placement platform 13. The bidirectional hook 133 is connected to the hook fork lifting mechanism 134 and the hook claw walking mechanism, so that the bidirectional hook 133 is controlled to rise and fall through the hook fork lifting mechanism 134, and the bidirectional hook 133 is controlled to move in translation through the hook claw walking mechanism. The bidirectional hook 133 is used to pick up and / or fix cargo.

[0088] A second aspect of the present application provides a high-level shelf, such as Figure 1 and Figure 2 As shown, the high-level shelf includes a plurality of stacked cargo storage areas, and at least two horizontally arranged walking tracks 100 are provided on the high-level shelf, and the walking tracks 100 are provided with the cargo picking and placing device provided in the second aspect of the embodiment of the present application.

[0089] The embodiment of the present application provides a high-level shelf cargo pick-up and placement device, comprising: a lifting component 1, a walking component 2 and at least two floating components 3, the walking component 2 is arranged on a walking track 100, at least two floating components 3 are arranged at intervals along the height direction of the lifting component 1, and each floating component 3 is connected to at least one walking component 2; the floating component 3 comprises a rigid bracket 31 and an elastic component 32, the lifting component 1 is arranged on the rigid bracket 31, and the elastic component 32 is arranged between the rigid bracket 31 and the walking component 2. Applying the technical solution of the present application, the elastic component 32 is arranged to form a floating connection between the rigid bracket 31 and the walking component 2 in the vertical direction, and when multiple walking components 2 at different heights are not in the same vertical line, the elastic component 32 is used to realize the adaptive change of the distance between the rigid bracket 31 and the walking component 2 in the vertical direction, so as to avoid the lifting component 1 from being tilted as much as possible, and avoid the walking component 2 from being stuck with the walking track 100, thereby ensuring that the walking component 2 runs smoothly on the walking track 100, and increasing the cargo carrying weight of the cargo pick-up and placement device.

[0090] The above specific implementation methods further illustrate the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above are only specific implementation methods of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A cargo picking and placing device for a high-level shelf, applied to the high-level shelf, the high-level shelf comprising a plurality of stacked cargo storage areas, and the high-level shelf being provided with at least two horizontally arranged walking tracks (100), characterized in that: The cargo picking and placing device comprises: a lifting component (1), a walking component (2) and at least two floating components (3), wherein the walking component (2) is arranged on the walking track (100) in a movable manner, and the at least two floating components (3) are arranged at intervals along the height direction of the lifting component (1), and each of the floating components (3) is connected to at least one of the walking components (2); The floating component (3) comprises a rigid support (31) and an elastic component (32), the lifting component (1) is arranged on the rigid support (31), the elastic component (32) is arranged between the rigid support (31) and the walking component (2), and the elastic component (32) is configured to: in the vertical direction, enable the distance between the rigid support (31) and the walking component (2) to be adaptively changed within a first threshold; A positioning sensor (33) is provided on the rigid support (31), a detection end of the positioning sensor (33) faces the travel track (100), and a positioning mark (200) is provided on a side of the travel track (100) facing the positioning sensor (33), and the positioning sensor (33) is used to detect the positioning mark (200) to determine the position coordinates of the rigid support (31) corresponding to the positioning sensor (33); The cargo picking and placing device further comprises a first controller, wherein the first controller is electrically connected to the positioning sensor (33) and the walking assembly (2); The first controller is configured to: Acquiring the time at which all the positioning sensors (33) detect the positioning mark (200); According to the time when all the positioning sensors (33) detect the positioning mark (200), determine the time difference between when the positioning sensors (33) of any two of the floating components (3) detect the positioning mark (200), and the order of when all the positioning sensors (33) detect the positioning mark (200); If any of the time differences is greater than a second threshold, the walking component (2) that needs to be adjusted and the corresponding walking speed adjustment amount are determined based on the sequence of the moments when all the positioning sensors (33) detect the positioning identifier (200).

2. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: The elastic component (32) comprises an elastic member (321) and a suspension rod (322); one end of the suspension rod (322) is rotatably fixed on the rigid support (31), and the other end is connected to the walking component (2); the elastic member (321) is arranged between the rigid support (31) and the rod body of the suspension rod (322).

3. The cargo picking and placing device for a high-level shelf according to claim 2, characterized in that: The elastic component (32) further comprises an adjustment block (323), wherein the adjustment block (323) is arranged between the rigid support (31) and the walking component (2), and the adjustment block (323) is used to adjust the size of the first threshold value.

4. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: A limit assembly (34) is provided on the rigid support (31); the limit assembly (34) can be slidably abutted against or clamped on the walking track (100), and the limit assembly (34) is used to limit the distance between the positioning sensor (33) and the positioning mark (200) in the horizontal direction; The limiting assembly (34) comprises a first limiting body (341) and a second limiting body (342); the first limiting body (341) and the second limiting body (342) respectively abut against two opposite sides of the walking track (100), and one of the two opposite sides is provided with the positioning mark (200); or, The limiting assembly (34) comprises a third limiting body (343), and the walking track (100) is provided with a groove (300) for engaging the third limiting body (343), and the groove (300) is used to limit the distance between the positioning sensor (33) and the positioning mark (200) in the horizontal direction.

5. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: The lifting assembly (1) is provided with a laser radar (4) for detecting point cloud data of the walking track (100) with the laser radar (4) as a base point; The cargo picking and placing device further comprises a second controller, wherein the second controller is electrically connected to the laser radar (4) and the walking assembly (2); The second controller is configured to: Acquiring point cloud data of the walking track (100) detected by the laser radar (4); Generating a contour line of the walking track (100) according to the point cloud data of the walking track (100); Based on the horizontal plane where the laser radar (4) is located, and according to the contour line of the walking track (100), determining the inclination angle of the contour line of the walking track (100); According to the inclination angle of the contour line of the walking track (100), the walking component (2) that needs to be adjusted and the corresponding walking speed adjustment amount are determined.

6. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: The walking assembly (2) comprises a walking wheel (21) and a first driving mechanism (22); the walking wheel (21) is arranged on the walking track (100) and connected to an output shaft of the first driving mechanism (22); and the elastic assembly (32) is connected to the first driving mechanism (22).

7. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: If the number of the traveling assemblies (2) connected to the same floating assembly (3) is plural, there is at least one traveling assembly (2) that only includes a traveling wheel (21), wherein the traveling wheel (21) is arranged on the traveling track (100), and the rotating shaft of the traveling wheel (21) is connected to the floating assembly (3).

8. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: If the number of the floating components (3) is greater than or equal to 3, the walking component (2) on at least one floating component (3) only includes a walking wheel (21), the walking wheel (21) is arranged on the walking track (100), and the rotating shaft of the walking wheel (21) is connected to the floating component (3).

9. The cargo picking and placing device for a high-level shelf according to claim 1, characterized in that: The lifting assembly (1) comprises a lifting track (11), a second driving mechanism (12) and a cargo picking and placing platform (13); The lifting track (11) is connected to the rigid bracket (31), the cargo pick-up and placement platform (13) is slidably arranged on the lifting track (11), and the second driving mechanism (12) is connected to the cargo pick-up and placement platform (13), and the second driving mechanism (12) is used to drive the cargo pick-up and placement platform (13) to move along the lifting track (11).

10. A high shelf, characterized in that: It comprises a plurality of stacked cargo storage areas, and the high-level shelf is provided with at least two horizontally arranged walking tracks (100), and the walking tracks (100) are provided with a cargo picking and placing device for the high-level shelf as described in any one of claims 1 to 9.

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