Warehousing transfer robot and warehousing system

Abstract

The invention discloses a warehousing transfer robot and a warehousing system. The storage carrying robot comprises a movable base, a lifting support and a lifting mechanism used for driving the lifting support to ascend and descend are arranged on the movable base, a supporting plate is movably connected to the lifting support and can move up and down relative to the lifting support, and a carrying mechanism and a leveling mechanism are arranged on the supporting plate. The carrying mechanism is used for carrying goods, and the leveling mechanism is used for adjusting the supporting plate to be horizontal. When goods at the high position on the goods shelf are carried, the supporting plate is adjusted to be horizontal through the leveling mechanism, so that the carrying mechanism on the supporting plate is kept horizontal, and it is guaranteed that goods are carried smoothly.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a warehousing and handling robot and a warehousing system. Background Art

[0002] Smart warehousing is a part of the logistics process. The application of smart warehousing ensures the speed and accuracy of data input in each link of goods warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control the enterprise inventory. Through scientific coding, it is also convenient to manage the batches and shelf life of inventory goods.

[0003] At present, storage and handling robots are widely used in the field of storage and logistics for the transportation and handling of goods. The existing intelligent warehousing is to set up multiple shelves in the warehouse, and the goods are placed on the shelves through brackets. The storage and handling robot uses two forks to lift the brackets with goods, and the storage and handling robot drives the brackets to move to the destination. The lifting mechanism drives the forks to lift and place the brackets with goods at different heights on the shelves. However, the existing storage and handling robots have the following defects:

[0004] (1) When the warehouse handling robot lifts the goods to a higher position with the fork, the fork will be slightly skewed and unable to remain level, which affects the warehouse handling robot's ability to carry goods at higher positions on the shelves. At the same time, it also limits the height of the shelves and reduces the storage density.

[0005] (2) The storage and handling robot uses a fork to transport goods, and can only transport goods in one storage position at the same height on the shelf. That is, only one storage position can be set at the same height on the shelf, which reduces the storage density. Summary of the invention

[0006] In order to solve the above-mentioned technical problems, the present invention provides a warehouse handling robot and a warehouse system. When handling goods at a higher position on a shelf, the robot adjusts the pallet to a horizontal level through a leveling mechanism, so that the handling mechanism on the pallet remains horizontal, thereby ensuring smooth cargo handling. In addition, the robot can also handle goods at multiple vertical storage locations at the same height on the shelf, thereby improving the storage density of the warehouse.

[0007] In order to solve the above problems, the present invention adopts the following technical solutions:

[0008] A warehouse handling robot of the present invention comprises a mobile base, on which a lifting bracket and a lifting mechanism for driving the lifting bracket to lift are provided, the lifting bracket is movably connected with a pallet, the pallet can move up and down relative to the lifting bracket, a handling mechanism and a leveling mechanism are provided on the pallet, the handling mechanism is used to handle goods, and the leveling mechanism is used to adjust the pallet to a horizontal level.

[0009] In this solution, the storage and handling robot moves to the corresponding shelf through the mobile base, drives the pallet to rise and fall through the lifting mechanism, and the leveling mechanism is used to adjust the pallet to a horizontal level so that the handling mechanism on the pallet remains horizontal. The handling mechanism is used to carry goods from the shelf to the pallet, or to carry goods on the pallet to the shelf. This solution uses the leveling mechanism to ensure that when picking up and placing goods at a higher position on the shelf, the pallet remains horizontal, so that the handling mechanism can smoothly carry goods at a higher position, and at the same time, the height of the shelf can be made higher, increasing the storage capacity per unit area of ​​the shelf, thereby greatly improving the storage density.

[0010] Preferably, the transport mechanism may be a fork that can be extended forward and backward and lifted up and down, or an AGV transport forklift that can move on a pallet or a shelf.

[0011] Preferably, the leveling mechanism includes a leveling component arranged on the top surface of the pallet, the leveling component includes two leveling modules arranged symmetrically on the left and right, the leveling module includes a positioning rod and a driving mechanism for driving the positioning rod to extend / retract the pallet, and the positioning rod is arranged to run forward and backward.

[0012] When picking up goods, the warehouse handling robot moves to the corresponding shelf, and the lifting mechanism drives the pallet to rise to a position slightly higher than the storage position where the goods to be picked are located. The two positioning rods extend forward to the top of the shelf at the same height as the storage position on the shelf, and the lifting mechanism drives the pallet down until the two positioning rods are in contact with the top surface of the shelf. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to a horizontal level through the two positioning rods, and the handling mechanism moves the goods to be picked onto the pallet, and then the two positioning rods retract into the pallet.

[0013] When releasing goods, the storage handling robot moves to the corresponding shelf, and the lifting mechanism drives the pallet to rise to a position slightly higher than the storage position where the goods to be placed are to be placed. The two positioning rods extend forward to the top of the shelf at the same height as the storage position on the shelf, and the lifting mechanism drives the pallet down until the two positioning rods are in contact with the top surface of the shelf. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to a horizontal level through the two positioning rods, and the handling mechanism transports the goods to be placed to the corresponding storage position. After the handling mechanism has released the goods, it returns to the pallet, and the two positioning rods are retracted into the pallet.

[0014] Traditional storage and handling robots use forks to extend and retract to pick up and place goods from shelves. When the forks carrying heavier goods are extended forward, the center of gravity of the storage and handling robots will move forward. In order to ensure safety, the handling height of the storage and handling robots is limited, and the maximum handling height is generally only 6-8 meters. When the leveling mechanism of this solution is leveled, the positioning rod contacts the shelf, which not only ensures the level of the pallet but also plays a supporting role, so that when the forks are extended forward, the storage and handling robot will not fall over due to the forward shift of the center of gravity, thereby making it possible to make the handling height of the storage and handling robot higher and the height of the shelf higher, further increasing the storage capacity per unit area of ​​the shelf and further improving the storage density.

[0015] Preferably, there are two leveling assemblies, which are symmetrically arranged front to back, and the positioning rod of the front leveling assembly can extend forward / retract the pallet, and the positioning rod of the rear leveling assembly can extend backward / retract the pallet.

[0016] When picking up and placing goods, the storage and handling robot moves to the aisle where the target shelf is located, with the front of the storage and handling robot facing the target shelf and the rear of the storage and handling robot being the non-target shelf. The storage and handling robot drives the pallet to rise to a position slightly higher than the corresponding storage position through the lifting mechanism, and the two positioning rods of the front leveling assembly extend forward to above the shelf plate on the target shelf at the same height as the target storage position, and the two positioning rods of the rear leveling assembly extend backward to above the shelf plate corresponding to the non-target shelf, and the lifting mechanism drives the pallet to descend until the four positioning rods are in contact with the corresponding shelf plates. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to a horizontal position through the four positioning rods.

[0017] Preferably, a positioning block is provided at the bottom of the front end of the positioning rod, and the bottom surface of the positioning block and the top surface of the supporting plate are located in the same plane.

[0018] When the bottom surfaces of the positioning blocks at the bottom of the two positioning rods on the front side of the pallet contact the shelf board at the same height as the target storage location, the pallet and the target storage location are located at the same horizontal plane, so that the transport mechanism can smoothly transport the goods on the target storage location.

[0019] Preferably, the lifting bracket includes two L-shaped frames symmetrically arranged on the left and right, the L-shaped frame includes a horizontal plate and a vertical plate, a positioning pin is vertically provided on the top surface of the horizontal plate, a guide hole is provided on the support plate at a position corresponding to the positioning pin, the positioning pin passes through the corresponding guide hole, and a stop block is provided on the vertical plate, the stop block is located above the support plate, and the stop block is used to prevent the support plate from detaching from the positioning pin.

[0020] When the leveling mechanism adjusts the level of the pallet, the pallet can move up and down along the positioning pin, and the space between the stopper and the cross plate is the space for the pallet to move up and down.

[0021] Preferably, the top surface of the pallet is provided with two guide bars arranged along the front-to-back direction, the two guide bars are symmetrically arranged, and the pallet and the two guide bars form a first passage track for the transport mechanism to pass through.

[0022] Preferably, the transport mechanism comprises two chassis symmetrically arranged on the left and right, a moving module is provided at the bottom of the chassis, a fork plate and a lifter for driving the fork plate to rise and fall are provided at the top of the chassis, and the rear ends of the top surfaces of the two chassis are connected by a connecting block.

[0023] The lifter is a scissor lifter. When the fork plate rises to the highest position, the top surface of the connection block is higher than the top surface of the fork plate. When the pallet is adjusted by the leveling mechanism to be at the same level as the target storage location, the transport mechanism moves between the pallet and the target storage location through the moving module, and transports the goods through the fork plate.

[0024] Preferably, the outer side wall of the chassis is provided with a plurality of guide wheels.

[0025] Preferably, the mobile module includes a driving wheel, an auxiliary wheel and a driving motor for driving the driving wheel to rotate.

[0026] Preferably, a plurality of dividing strips are arranged side by side along the front-to-back direction in the middle of the top surface of the pallet, the dividing strips divide the first passage track into two passages for the chassis to pass through, and the top surface of the dividing strips is lower than the bottom surface of the connecting block.

[0027] Preferably, the lifting mechanism includes a first gantry, a second gantry, and a lifting cylinder. The first gantry includes columns symmetrically arranged on the top of the movable base, the columns are provided with a first guide rail arranged along the longitudinal direction, the first guide rail is provided with a slider that can slide along the first guide rail, the second gantry includes support columns symmetrically arranged on the left and right and a crossbeam connecting the two support columns, the support columns are respectively connected to the slider on the corresponding side, the support columns are provided with a second guide rail arranged along the longitudinal direction, the second guide rail is provided with a rolling wheel group that can roll along the second guide rail, the rolling wheel group is rotatably connected to the lifting bracket, the second gantry is provided with a lift for driving the lifting bracket to rise and fall along the second guide rail, and the lifting cylinder 25 is used to drive the second gantry 24 to rise and fall along the first guide rail 27.

[0028] The second gantry can be raised and lowered along the first gantry, thereby increasing the handling height of the storage and handling robot, so that the storage and handling robot can handle goods at higher positions.

[0029] A warehousing system of the present invention includes the above-mentioned warehousing and handling robot and a shelf located in a storage area, wherein the shelf includes a frame body, and a plurality of storage areas are arranged side by side from top to bottom on the frame body, and the storage areas include a plurality of cargo storage racks arranged side by side along a front-to-back direction, and the cargo storage rack includes a support plate symmetrically arranged front to back, and the support plate is arranged along a left-to-right direction, and a plurality of storage positions are arranged side by side along the left-to-right direction on the cargo storage rack, and a second passage track is provided on the storage position, and the second passage track is used for the passage of the handling mechanism, and the second passage track is arranged along the front-to-back direction.

[0030] In this solution, the transport mechanism can move on the pallet and the cargo storage rack. A single shelf is provided with multiple cargo storage racks arranged side by side along the front-to-back direction at the same height, that is, multiple closely spaced storage locations are provided along the front-to-back direction, thereby greatly improving the storage density.

[0031] The beneficial effects of the present invention are as follows: (1) The leveling mechanism ensures that the pallet remains horizontal when picking up and placing goods at a higher position on the shelf, so that the handling mechanism can smoothly carry the goods at a higher position, and at the same time, the height of the shelf can be made higher, increasing the storage capacity per unit area of ​​the shelf, thereby greatly improving the storage density. (2) When the leveling mechanism adjusts the level of the pallet, the positioning rod contacts the shelf, which not only ensures the level of the pallet but also plays a supporting role, so that when the handling mechanism picks up and places goods, the storage handling robot will not fall over due to the forward shift of the center of gravity, so that the handling height of the storage handling robot can be made higher, and the height of the shelf can be made higher, further increasing the storage capacity per unit area of ​​the shelf, and further improving the storage density. (3) A plurality of cargo storage racks arranged side by side along the front-to-back direction are arranged at the same height on a single shelf, that is, a plurality of closely spaced storage positions are arranged along the front-to-back direction, further improving the storage density. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of the storage and handling robot of Example 1;

[0033] Figure 2 is a schematic structural diagram of the upper transport mechanism of the storage and transport robot of Example 1 leaving;

[0034] Figure 3 is a schematic diagram of the lifting and lowering of the pallet of the storage and handling robot of Example 1;

[0035] Figure 4 is a schematic structural diagram of the transport mechanism of Example 1;

[0036] Figure 5 is a schematic diagram of the lifting and lowering of the fork plate of the transport mechanism of Example 1;

[0037] Figure 6 yes Figure 5Side view of

[0038] Figure 7 is a cross-sectional view of the position where the positioning pin and the guide hole of Example 1 cooperate;

[0039] Figure 8 is a schematic diagram of the working state of the storage and handling robot in Example 1 for handling goods;

[0040] Fig. 9 is a schematic diagram of the working state of the storage and handling robot in Example 1 for handling goods;

[0041] Fig.10 It is a structural schematic diagram of the leveling mechanism of the storage and handling robot in Example 2.

[0042] In the figure: 1. Mobile base, 2. Lifting bracket, 3. Lifting mechanism, 4. Support plate, 5. Transport mechanism, 6. Leveling mechanism, 7. Leveling module, 8. Positioning rod, 9. Driving mechanism, 10. Positioning block, 11. L-shaped frame, 12. Horizontal plate, 13. Vertical plate, 14. Positioning pin, 1 5. Guide hole, 16. Stop block, 17. Guide strip, 18. Chassis, 19. Fork plate, 20. Lifter, 21. Connecting block, 22. Guide wheel, 23. First door frame, 24. Second door frame, 25. Lifting cylinder, 26. Column, 27. First guide rail, 28. Support column, 29. Crossbeam, 30. Second guide rail, 31. Rolling wheel set, 32. Lifter, 33. Driving wheel, 34. Auxiliary wheel, 35. Dividing strip, 36. Shelf, 37. Support plate, 38. Pass groove, 39. Cargo, 40. Bracket, 41. Groove. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0044] Embodiment 1: A storage and handling robot of this embodiment, such as Figures 1 to 9 As shown, it includes a mobile base 1, on which is provided a lifting bracket 2 and a lifting mechanism 3 for driving the lifting bracket 2 to rise and fall, on which is movably connected a pallet 4, which can move up and down relative to the lifting bracket 3, and on which is provided a conveying mechanism 5 and a leveling mechanism 6, wherein the conveying mechanism 5 is used for conveying goods, and the leveling mechanism 6 is used for adjusting the pallet 4 to a horizontal position.

[0045] The leveling mechanism 6 includes a leveling component arranged on the top surface of the pallet 4, the leveling component includes two leveling modules 7 symmetrically arranged on the left and right, the leveling module 7 includes a positioning rod 8 and a driving mechanism 9 for driving the positioning rod 8 to extend / retract the pallet 4, the positioning rod 8 is arranged to extend forward and backward, and a positioning block 10 is provided at the bottom of the front end of the positioning rod 8, and the bottom surface of the positioning block 10 is located in the same plane as the top surface of the pallet 4.

[0046] The lifting bracket 2 includes two L-shaped frames 11 symmetrically arranged on the left and right, and the L-shaped frame 11 includes a horizontal plate 12 and a vertical plate 13. A plurality of positioning pins 14 are vertically arranged on the top surface of the horizontal plate 12. Guide holes 15 are arranged on the support plate 4 at positions corresponding to the positioning pins 14. The positioning pins 14 pass through the corresponding guide holes 15. Stop blocks 16 are symmetrically arranged at the front and rear ends of the inner side of the vertical plate 13. The stop blocks 16 are located above the support plate 4. The stop blocks 16 are used to prevent the support plate 4 from detaching from the positioning pins 14.

[0047] The transport mechanism 5 includes two chassis 18 arranged symmetrically on the left and right, a moving module is provided at the bottom of the chassis 18, a fork plate 19 and a lifter 20 for driving the fork plate 19 to rise and fall are provided at the top of the chassis 18, the rear ends of the top surfaces of the two chassis 18 are connected by a connecting block 21, a plurality of guide wheels 22 are provided on the outer side wall of the chassis 18, and the moving module includes a driving wheel 33, an auxiliary wheel 34 and a driving motor for driving the driving wheel 33 to rotate. The lifter 20 is a scissor lifter. When the fork plate 19 rises to the highest position, the top surface of the connecting block 21 is higher than the top surface of the fork plate 19.

[0048] The top surface of the pallet 4 is provided with two guide bars 17 arranged along the front-to-back direction, and the two guide bars 17 are symmetrically arranged on the left and right. The pallet 4 and the two guide bars 17 form a first passage track for the transport mechanism 5 to pass through. A plurality of dividing bars 35 are arranged side by side along the front-to-back direction in the middle part of the top surface of the pallet 4. The dividing bars 25 divide the first passage track into two channels for the chassis 18 to pass through, and the top surface of the dividing bar 35 is lower than the bottom surface of the connecting block 21.

[0049] In this scheme, if Fig. 9 As shown, when placing goods, the storage and handling robot moves to the corresponding shelf through the mobile base, and the lifting mechanism drives the pallet to rise to a position slightly higher than the storage position where the goods to be placed need to be placed. The two positioning rods extend forward to the top of the shelf board at the same height as the storage position on the shelf, and the lifting mechanism drives the pallet to descend until the positioning blocks at the bottom of the two positioning rods are in contact with the top surface of the shelf board. Since the pallet can move up and down along the positioning pins, the pallet is adjusted to a horizontal position through the two positioning rods, as shown in FIG. Figure 8 As shown, the transport mechanism transports the goods to be placed to the corresponding storage position. After the transport mechanism completes placing the goods, it returns to the pallet, and the two positioning rods are retracted into the pallet.

[0050] When picking up goods, the warehouse handling robot moves to the corresponding shelf through the mobile base, and the lifting mechanism drives the pallet to rise to a position slightly higher than the storage position where the goods to be picked are located. The two positioning rods extend forward to the top of the shelf at the same height as the storage position on the shelf, and the lifting mechanism drives the pallet down until the positioning blocks at the bottom of the two positioning rods are in contact with the top surface of the shelf. Since the pallet can move up and down along the positioning pins, the pallet is adjusted to a horizontal level through the two positioning rods, and the handling mechanism moves the goods to be picked onto the pallet, and then the two positioning rods retract into the pallet.

[0051] When the bottom surfaces of the positioning blocks at the bottom of the two positioning rods on the front side of the pallet contact the shelf board at the same height as the target storage location, the pallet and the target storage location are located at the same horizontal plane, so that the transport mechanism can smoothly transport the goods on the target storage location. The transport mechanism moves between the pallet and the target storage location through the moving module and transports the goods through the fork plate. When the leveling mechanism adjusts the level of the pallet, the pallet can move up and down along the positioning pins, and the space between the block and the cross plate is the space where the pallet can move up and down.

[0052] This solution uses a leveling mechanism to ensure that the pallet remains horizontal when picking up and placing goods at higher positions on the shelf, so that the handling mechanism can smoothly carry the goods at higher positions. At the same time, the height of the shelf can be made higher, increasing the storage capacity per unit area of ​​the shelf, thereby greatly improving the storage density.

[0053] Traditional storage and handling robots use forks to extend and retract to pick up and place goods from shelves. When the forks carrying heavier goods are extended forward, the center of gravity of the storage and handling robots will move forward. In order to ensure safety, the handling height of the storage and handling robots is limited, and the maximum handling height is generally only 6-8 meters. When the leveling mechanism of this solution is leveled, the positioning rod contacts the shelf, which not only ensures the level of the pallet but also plays a supporting role, so that when the forks are extended forward, the storage and handling robot will not fall over due to the forward shift of the center of gravity, thereby making it possible to make the handling height of the storage and handling robot higher and the height of the shelf higher, further increasing the storage capacity per unit area of ​​the shelf and further improving the storage density.

[0054] The lifting mechanism 3 includes a first door frame 23, a second door frame 24, and a lifting cylinder 25. The first door frame 23 includes a column 26 symmetrically arranged on the top of the mobile base 1. The inner side of the column 26 is provided with a first guide rail 27 arranged along the longitudinal direction. The first guide rail 27 is provided with a slider that can slide along the first guide rail 27. The second door frame 24 is located between the two columns 26. The second door frame 24 includes a support column 28 symmetrically arranged on the left and right and a crossbeam 29 connecting the two support columns 28. The support columns 28 are respectively connected to the corresponding side. The slider is connected, and a second guide rail 30 arranged longitudinally is provided on the inner side of the support column 28. A rolling wheel group 31 that can roll along the second guide rail 30 is provided in the second guide rail 30. The lifting bracket 2 is located between the two support columns 28, and the rolling wheel group 31 is rotatably connected to the L-shaped frame 11 on the corresponding side. The second door frame 24 is provided with a lift 32 for driving the lifting bracket 2 to rise and fall along the second guide rail 30. The lift 32 is a chain lift, and the lifting cylinder 25 is used to drive the second door frame 24 to rise and fall along the first guide rail 27.

[0055] The second gantry can be raised and lowered along the first gantry, thereby increasing the handling height of the storage and handling robot, so that the storage and handling robot can handle goods at higher positions.

[0056] A storage system of this embodiment, such as Figure 8 , Fig. 9 As shown, the storage and handling robot mentioned above and the shelf 36 located in the storage area are included. The shelf 36 includes a frame body, and a plurality of storage areas are arranged side by side from top to bottom on the frame body. The storage area includes a plurality of cargo storage racks arranged side by side along the front-to-back direction. The cargo storage rack includes a support plate 37 symmetrically arranged front and back, and the support plate 37 is arranged along the left-right direction. A plurality of storage positions are arranged side by side along the left-to-right direction on the cargo storage rack. A second passage track is provided on the storage position. The second passage track is used for the passage of the handling mechanism. The second passage track is arranged along the front-to-back direction. The second passage track includes two passage grooves 38 arranged side by side. The passage groove 38 is arranged along the front-to-back direction. The passage groove 38 is used for the passage of the chassis of the handling mechanism. When the chassis passes through the passage groove 38, the connecting block is located above the passage groove 38 and does not contact the passage groove 38. The second passage tracks of the storage positions adjacent to each other in the storage area are aligned to facilitate the movement of the handling mechanism.

[0057] In this solution, the cargo 39 is placed at the storage position on the shelf 36 via a bracket 40. The bracket is supported by support plates symmetrically arranged front and back, and the second passage track is used for the transportation mechanism to pass. A groove 41 that penetrates the bracket is symmetrically arranged at the bottom of the bracket. When the fork plate is lowered to the lowest position, the distance between the upper surface of the fork plate and the ground is less than the height of the groove. When the cargo is placed at the storage position on the shelf via a bracket, the two passage grooves of the second passage track on the storage position are respectively located on the inner sides of the two grooves of the bracket, and the grooves do not contact the passage grooves on the inner sides thereof. The transportation mechanism can move on the pallet and the cargo storage rack. A plurality of cargo storage racks arranged side by side along the front-to-back direction are arranged at the same height on a single shelf, that is, a plurality of closely spaced storage positions are arranged along the front-to-back direction, thereby greatly improving the storage density.

[0058] Embodiment 2: This embodiment is a storage and handling robot. The structure of this embodiment is different from that of Embodiment 1 only in the leveling mechanism, and the rest of the structure is the same. Fig.10 As shown, the leveling mechanism 6 includes two leveling components arranged on the top surface of the pallet 4, the two leveling components are symmetrically arranged front to back, the leveling components include two leveling modules 7 symmetrically arranged left to right, the leveling module 7 includes a positioning rod 8 and a driving mechanism 9 for driving the positioning rod 8 to extend / retract the pallet, the positioning rod 8 is arranged in a front-to-back direction, a positioning block 10 is provided at the bottom of the front end of the positioning rod 8, the bottom surface of the positioning block 10 and the top surface of the pallet 4 are located in the same plane, the positioning rod 8 of the front leveling component can extend / retract the pallet 4 forward, and the positioning rod 8 of the rear leveling component can extend / retract the pallet 4 backward.

[0059] In this solution, when picking up and placing goods, the storage and handling robot moves to the aisle where the target shelf is located, with the front of the storage and handling robot facing the target shelf and the rear of the storage and handling robot being the non-target shelf. The storage and handling robot drives the pallet to rise to a position slightly higher than the corresponding storage position through the lifting mechanism, and the two positioning rods of the front leveling assembly extend forward to above the shelf plate on the target shelf at the same height as the target storage position, and the two positioning rods of the rear leveling assembly extend backward to above the shelf plate corresponding to the non-target shelf, and the lifting mechanism drives the pallet to descend until the four positioning rods are in contact with the corresponding shelf plates. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to a horizontal position through the four positioning rods, which further improves the leveling effect.

[0060] When the leveling mechanism adjusts the level of the pallet, the four positioning rods are in contact with the shelf, which further enhances the supporting effect while ensuring the level of the pallet, so that when the handling mechanism picks up and puts goods, the storage handling robot will not tip over due to the forward shift of the center of gravity, thereby making it possible to make the handling height of the storage handling robot higher and the height of the shelf higher, further increasing the storage capacity per unit area of ​​the shelf and further improving the storage density.

[0061] A storage system of this embodiment, such as Fig. 9 As shown, the storage and handling robot described above and the shelf 36 located in the storage area are included. The shelf 36 includes a frame body, and a plurality of storage areas are arranged side by side from top to bottom on the frame body. The storage area includes a plurality of cargo storage racks arranged side by side along the front-to-back direction. The cargo storage rack includes a support plate 37 symmetrically arranged front and back, and the support plate 37 is arranged along the left-right direction. A plurality of second passage rails are arranged side by side on the cargo storage rack. The second passage rails are used for the passage of the handling mechanism, and the second passage rails are arranged along the front-to-back direction. The second passage rails include two passage grooves 38 arranged side by side, and the passage grooves 38 are arranged along the front-to-back direction. The passage grooves 38 are used for the passage of the chassis of the handling mechanism. When the chassis passes through the passage grooves 38, the connecting block is located above the passage grooves 38 and does not contact the passage grooves 38. The second passage rails of the storage positions adjacent to each other in the storage area are aligned to facilitate the movement of the handling mechanism. The structure of the storage system of this embodiment is different from that of the storage system of Example 1 only in the leveling mechanism, and the rest of the structures are the same.

Claims

1. A storage and handling robot, characterized in that: The invention comprises a mobile base (1), wherein the mobile base (1) is provided with a lifting bracket (2) and a lifting mechanism (3) for driving the lifting bracket (2) to move up and down, wherein the lifting bracket (2) is movably connected with a support plate (4), wherein the support plate (4) can move up and down relative to the lifting bracket (2), and wherein a conveying mechanism (5) and a leveling mechanism (6) are provided on the support plate (4), wherein the conveying mechanism (5) is used for conveying goods, and the leveling mechanism (6) is used for adjusting the support plate (4) to a horizontal position.

2. A storage and handling robot according to claim 1, characterized in that: The leveling mechanism (6) comprises a leveling component arranged on the top surface of the support plate (4), the leveling component comprises two leveling modules (7) arranged symmetrically on the left and right, the leveling module (7) comprises a positioning rod (8) and a driving mechanism (9) for driving the positioning rod (8) to extend / retract the support plate (4), and the positioning rod (8) is arranged to run forward and backward.

3. A storage and handling robot according to claim 2, characterized in that: There are two leveling assemblies, which are symmetrically arranged front and back. The positioning rod (8) of the front leveling assembly can extend forward / retract the support plate (4), and the positioning rod (8) of the rear leveling assembly can extend backward / retract the support plate (4).

4. A storage and handling robot according to claim 2 or 3, characterized in that: A positioning block (10) is provided at the bottom of the front end of the positioning rod (8), and the bottom surface of the positioning block (10) and the top surface of the support plate (4) are located in the same plane.

5. The storage and handling robot according to claim 1, characterized in that: The lifting bracket (2) comprises two L-shaped frames (11) symmetrically arranged on the left and right, the L-shaped frames (11) comprising a horizontal plate (12) and a vertical plate (13), a positioning pin (14) is vertically arranged on the top surface of the horizontal plate (12), a guide hole (15) is arranged on the support plate (4) at a position corresponding to the positioning pin (14), the positioning pin (14) passes through the corresponding guide hole (15), and a stopper (16) is arranged on the vertical plate (13), the stopper (16) is located above the support plate (4), and the stopper (16) is used to prevent the support plate (4) from being separated from the positioning pin (14).

6. The storage and handling robot according to claim 1, characterized in that: The top surface of the support plate (4) is provided with two guide bars (17) arranged along the front-rear direction, the two guide bars (17) are arranged symmetrically on the left and right, and the support plate (4) and the two guide bars (17) form a first passage track for the transport mechanism (5) to pass.

7. The storage and handling robot according to claim 1, characterized in that: The transport mechanism (5) comprises two chassis (18) arranged symmetrically on the left and right, a moving module is provided at the bottom of the chassis (18), a fork plate (19) and a lifter (20) for driving the fork plate (19) to rise and fall are provided at the top of the chassis (18), and the rear ends of the top surfaces of the two chassis (18) are connected by a connecting block (21).

8. The storage and handling robot according to claim 7, characterized in that: The outer side wall of the chassis (18) is provided with a plurality of guide wheels (22).

9. The storage and handling robot according to claim 1, characterized in that: The lifting mechanism (3) comprises a first door frame (23), a second door frame (24), and a lifting cylinder (25); the first door frame (23) comprises a column (26) symmetrically arranged on the top of the movable base (1); the column (26) is provided with a first guide rail (27) arranged in the longitudinal direction; the first guide rail (27) is provided with a slider that can slide along the first guide rail (27); the second door frame (24) comprises a support column (28) symmetrically arranged on the left and right and a crossbeam (29) connecting the two support columns (28); the support column (28) is provided with ... first guide rail (27) arranged in the longitudinal direction; the first guide rail (27) is provided with a slide block that can slide along the first guide rail (27); the second door frame (24) comprises a support column (28) symmetrically arranged on the left and right and a crossbeam (29) connecting the two support columns ( The support column (28) is respectively connected to a slider on a corresponding side, the support column (28) is provided with a second guide rail (30) arranged in the longitudinal direction, the second guide rail (30) is provided with a rolling wheel group (31) that can roll along the second guide rail (30), the rolling wheel group (31) is rotatably connected to the lifting bracket (2), the second door frame (24) is provided with a lift (32) for driving the lifting bracket (2) to move up and down along the second guide rail (30), and the lifting cylinder (25) is used to drive the second door frame (24) to move up and down along the first guide rail (27).

10. A storage system, characterized in that: It includes the storage and handling robot described in any one of claims 1 to 9 and a shelf (36) located in a storage area, the shelf (36) includes a frame body, a plurality of storage areas are arranged side by side from top to bottom on the frame body, the storage area includes a plurality of cargo storage racks arranged side by side along a front-to-back direction, the cargo storage rack includes a support plate (37) symmetrically arranged front to back, the support plate (37) is arranged along a left-to-right direction, a plurality of storage positions are arranged side by side along the left-to-right direction on the cargo storage rack, a second passage track is provided on the storage position, the second passage track is used for the passage of a handling mechanism (5), and the second passage track is arranged along the front-to-back direction.

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