Material box warehousing system

Abstract

The embodiment of the invention provides a workbin warehousing system. The workbin warehousing system comprises a workbin storage area provided with a rail, warehouse-in and warehouse-out conveying equipment and a carrying robot. Wherein the workbin storage area is used for storing a workbin, and specifically, the workbin is placed on one side of the track; the warehouse-in and warehouse-out conveying equipment is used for temporarily storing warehoused or warehouse-out workbins, and the carrying robot is used for transferring the workbins between the workbin storage area and the warehouse-in and warehouse-out conveying equipment; the carrying robot moves along the track in the material box storage area and freely moves outside the material box storage area. The carrying robot moves along the track in the workbin storage area, due to the constraint of the track, the moving line of the carrying robot is more accurate, moving is more stable, cargoes carried by the carrying robot can be prevented from colliding with workbins on the two sides of the carrying robot, then the workbins are prevented from falling off, and the safety and stability of workbin carrying are improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a material box storage system. Background Art

[0002] The bin storage system is a highly automated cargo storage and management system that uses logistics equipment such as shelves, stackers, and shuttles to achieve rapid access, storage, and management of cargo.

[0003] In the related art, the material box storage system includes material box storage shelves, material box conveyor lines, material box elevators and shuttles. When the material boxes are put into storage, the material boxes are transported to the material box elevators via the material box conveyor lines. The material box elevators lift the material boxes to the target cargo position height, and then the shuttles transport the material boxes to the designated cargo position.

[0004] However, current bin storage systems operate inefficiently and have poor stability. Summary of the invention

[0005] The embodiment of the present application provides a material box storage system to solve the problems of low operating efficiency and poor stability of the current material box storage system.

[0006] The present application embodiment provides a material box storage system, including:

[0007] A container storage area with a track, with containers placed on one side of the track;

[0008] In-and-out conveying equipment, used for conveying the material boxes into or out of the warehouse;

[0009] A handling robot, used for transferring the material box between the material box storage area and the in-and-out storage conveying equipment;

[0010] Wherein, the handling robot is configured to: move along the track within the material box storage area and move freely outside the material box storage area.

[0011] In a feasible implementation, the material box storage area is provided with a plurality of tracks, the plurality of tracks are arranged at intervals, and a plurality of the material boxes are stacked between adjacent tracks.

[0012] In a feasible implementation, the material box storage area is provided with a material box base, and the material box base is located on one side of the track, and the material box base has a plurality of cargo spaces, and the cargo spaces are used to place the material boxes.

[0013] In a feasible implementation, there are a plurality of the material box bases, the plurality of the material box bases are arranged at intervals, and the track is provided between two adjacent material box bases.

[0014] In a feasible implementation, the handling robot includes a mobile chassis, a support frame and a telescopic fork;

[0015] The support frame is arranged on the mobile chassis, the telescopic fork is connected to the support frame, and the telescopic fork is used to carry the material box;

[0016] The telescopic fork is selectively raised and lowered and / or rotated relative to the support frame.

[0017] In a feasible implementation, the mobile chassis includes a track travel assembly, a ground travel assembly and a jacking assembly;

[0018] The ground traveling assembly is connected to the lower end of the jacking assembly, and the track traveling assembly is connected to the upper end of the jacking assembly, and the jacking assembly is used to control the relative movement of the track traveling assembly and the ground traveling assembly in the vertical direction;

[0019] When the handling robot moves along the track in the material box storage area, the track walking component contacts the track, and the ground walking component separates from the ground;

[0020] When the transport robot moves outside the material box storage area, the ground walking component is in contact with the ground, and the track walking component is separated from the track.

[0021] In a feasible implementation, the track travel assembly includes a first mobile base, a first drive motor and a first drive wheel;

[0022] The first mobile base is fixedly connected to the upper end of the jacking assembly, the supporting frame is fixedly connected to the first mobile base, the first driving motor is fixedly connected to the first mobile base, the first driving wheel is connected to the first driving motor, the first driving wheel is arranged on both sides of the first mobile base along the walking direction, and the first driving motor drives the first driving wheel to move along the track.

[0023] In a feasible implementation, the jacking assembly is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism or a screw nut lift mechanism.

[0024] In a feasible implementation, the ground walking assembly includes a second mobile base, a second drive motor and a second drive wheel; the second mobile base is connected to the lower end of the jacking assembly, the second drive motor is fixedly connected to the second mobile base, the second drive wheel is connected to the second drive motor, the second drive wheel is arranged on both sides of the second mobile base along the walking direction, and the second drive motor drives the second drive wheel to move along the ground.

[0025] In a feasible implementation, a lifting assembly is provided on the support frame, the telescopic fork is connected to the lifting assembly, and the lifting assembly drives the telescopic fork to move in a vertical direction.

[0026] In a feasible implementation, the telescopic fork includes clamping plates arranged in pairs, and the clamping plates are used to clamp the material box.

[0027] In a feasible implementation, a pusher claw is movably provided at the lower part of the clamping plate, and the pusher claw is used to extend to support the material box after the clamping plate clamps the material box.

[0028] In a feasible implementation, there are multiple telescopic forks, and the multiple telescopic forks are arranged in sequence along the vertical direction to cooperate with the telescopic forks for picking material boxes; the distance between the two clamping plates of the multiple telescopic forks decreases from bottom to top.

[0029] In a feasible implementation, the clamping plate of the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.

[0030] In a feasible implementation, a plurality of cache locations are provided on at least one side of the support frame, and the cache locations are used to temporarily store the material boxes.

[0031] The embodiment of the present application provides a material box storage system, including a material box storage area with a track, a storage-in and storage-out conveying device, and a handling robot. The material box storage area is used to store material boxes, specifically, material boxes are placed on one side of the track; the storage-in and storage-out conveying device is used to cache the material boxes entering or leaving the warehouse, and the handling robot is used to transfer the material boxes between the material box storage area and the storage-in and storage-out conveying device; the handling robot moves along the track in the material box storage area and moves freely outside the material box storage area.

[0032] It can be understood that the handling robot moves along the track in the material box storage area. Due to the constraints of the track, the movement route of the handling robot is more accurate and the movement is more stable, which can prevent the goods carried by the handling robot from colliding with the material boxes on both sides of it, thereby preventing the material boxes from falling, thereby improving the safety and stability of the material box handling. In addition, since the handling robot can move freely along the navigation outside the material box storage area, compared with the method of conveying material boxes by conveyor lines in the prior art, the movement route of the handling robot for conveying material boxes is more flexible and simple, the handling speed is faster, and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0034] In the attached picture:

[0035] Figure 1 is a first schematic diagram of a material box storage system provided by an embodiment of the present application;

[0036] Figure 2 is a second schematic diagram of a material box storage system provided by an embodiment of the present application;

[0037] Figure 3 is a third schematic diagram of a material box storage system provided by an embodiment of the present application;

[0038] Figure 4 yes Figure 1 A first schematic diagram of a handling robot in FIG.

[0039] Figure 5 yes Figure 1 A second schematic diagram of the handling robot in FIG.

[0040] Figure 6 is a first schematic diagram of a mobile chassis of a transport robot provided in an embodiment of the present application;

[0041] Figure 7 yes Figure 6 A second schematic diagram of a mobile chassis in FIG.

[0042] Figure 8 yes Figure 6 A third schematic diagram of a mobile chassis in FIG.

[0043] Fig. 9 yes Figure 1 A first schematic diagram of the transport robot when entering the orbit;

[0044] Fig.10 yes Fig. 9 Schematic diagram of the handling robot in FIG.

[0045] Fig.11 yes Figure 6 A first schematic diagram of the mobile chassis after removing the track travel assembly;

[0046] Fig.12 yes Figure 6 A second schematic diagram of the mobile chassis after removing the track travel assembly;

[0047] Fig.13 is a first schematic diagram of a jacking assembly provided in one embodiment of the present application;

[0048] Fig.14 yes Fig.13 A second schematic diagram of the jacking assembly in FIG.

[0049] Fig.15 yes Fig.13 A third schematic diagram of the jacking assembly in FIG.

[0050] Fig.16 is a schematic diagram of a transport robot provided in another embodiment of the present application;

[0051] Description of reference numerals:

[0052] 100-material box storage area; 200-handling robot; 300-track; 400-material box;

[0053] 210-mobile chassis; 220-support frame; 230-telescopic fork; 310-guide rail;

[0054] 211-track travel assembly; 212-ground travel assembly; 213-lifting assembly; 221-cache position; 222-lifting assembly; 231-grip plate; 232-push claw; 233-fork arm;

[0055] 2111-first mobile base; 2112-first drive motor; 2113-first drive wheel; 2121-second mobile base; 2122-second drive motor; 2123-second drive wheel; 2124-universal wheel; 2131-lifting motor; 2132-connecting rod assembly; 2133-scissor lift mechanism;

[0056] 2133a-first scissors member; 2133b-second scissors member; 2133c-connecting plate. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0058] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0059] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] The bin storage system is a highly automated cargo storage and management system that uses logistics equipment such as shelves, stackers, and shuttles to achieve rapid access, storage, and management of cargo.

[0062] In the related art, the material box storage system includes material box storage shelves, material box conveyor lines, material box elevators and shuttles. When the material boxes are put into storage, the material boxes are transported to the material box elevators via the material box conveyor lines. The material box elevators lift the material boxes to the target cargo position height, and then the shuttles transport the material boxes to the designated cargo position.

[0063] However, the conveying equipment in the current bin storage system is fixed in position, which means that the transportation of the bins needs to go through a long transportation path, and it is impossible to directly reach the designated location via a point-to-point path, which is inefficient. In addition, there are many automated devices in the current bin storage system, which are prone to failures after long-term operation and have poor stability, which in turn causes the entire bin storage system to be unable to operate. In order to solve the above problems, an embodiment of the present application provides a bin storage system, and the solution of the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0064] Figure 1 is a first schematic diagram of a material box storage system provided by an embodiment of the present application; Figure 2 is a second schematic diagram of a material box storage system provided by an embodiment of the present application; Figure 3 This is a third schematic diagram of a material bin storage system provided in one embodiment of the present application.

[0065] Reference Figures 1 to 3As shown, the embodiment of the present application provides a material box storage system, including a material box storage area 100, an in-and-out warehouse conveying device and a handling robot 200. The material box storage area 100 is used to place and store material boxes 400.

[0066] In the related art, the material box storage area 100 is an area for storing material boxes 400, and the interior thereof may include a variety of cargo storage facilities, such as pallets, shelves, or material box bases. In addition, the material box 400 may be an empty material box 400, or a material box 400 containing goods. The material boxes 400 may be stacked and placed on a pallet, a material box base, or may be placed on the shelves of the material box storage area 100. For example, goods may be placed in the material box 400, and the material boxes 400 are stacked and stored in the material box storage area 100. When the specified goods are needed, the staff takes out the material box 400 containing the target goods from the material box 400 storage area.

[0067] The in-and-out conveying equipment is used to convey the incoming and outgoing material boxes 400, which can be logistics equipment such as material box conveying lines, deboxing machines, or material box 400 sorting devices. When the goods are in, the in-and-out conveying equipment conveys the material boxes 400 to the buffer area, and the handling robot 200 then transfers the material boxes 400 in the buffer area to the designated location of the material box storage area 100. Correspondingly, when the goods are out, the handling robot 200 transfers the goods in the material box storage area 100 to the in-and-out conveying equipment, and then the in-and-out conveying equipment transfers them to the designated location.

[0068] In the solution of the present application, a track 300 is provided in the container storage area 100, and a container 400 is placed on at least one side of the track 300. The handling robot 200 is placed on the ground outside the container storage area 100, and can move between the container storage area 100 and the in-and-out conveying equipment, thereby transferring the container 400 between the two.

[0069] like Figure 1 and Figure 2 As shown, the handling robot 200 moves along the track 300 in the material box storage area 100. At this time, the handling robot 200 is connected with the track 300, and the handling robot 200 moves along the extension direction of the track 300. Due to the constraint of the track 300, the movement route of the handling robot 200 is more accurate and the movement is more stable, which can prevent the goods handled by the handling robot 200 from colliding with the material boxes 400 on both sides, thereby preventing the material boxes 400 from falling, and improving the safety and stability of the handling of the material boxes 400.

[0070] like Figure 3As shown, the handling robot 200 can move freely outside the material box storage area 100. Since the handling robot 200 can move freely along the navigation-planned route outside the material box storage area 100, compared with the method of conveying the material box 400 by the conveyor line in the prior art, the moving route of the handling robot 200 to transport the material box 400 is more flexible and simple, and the handling speed is faster and the efficiency is higher.

[0071] In some examples, the container storage area 100 is provided with multiple sets of tracks 300, the multiple sets of tracks 300 are arranged at intervals, and multiple containers 400 are stacked between two adjacent sets of tracks 300. The transport robot 200 can reach the position where each container 400 is placed along the tracks 300. Figure 1 and Figure 2 As shown, in some examples, each set of tracks 300 includes two guide rails 310 spaced a certain distance apart and arranged in parallel. The handling robot 200 is connected with the track 300 and can move along the extension direction of the track 300. It should be noted that the distance between the two guide rails 310 can be determined according to the distance between two opposite driving wheels on the chassis of the handling robot 200, ensuring that each driving wheel can abut against the guide rail 310, thereby ensuring the smooth operation of the handling robot 200.

[0072] Exemplarily, the guide rail 310 may be an I-type guide rail 310. It is also understandable that the type of the guide rail 310 may be determined according to the type of the first driving wheel 2113 of the transfer robot 200.

[0073] In some other examples, the material box storage area 100 is provided with a material box base, and the material box bases are respectively located on the sides of the track 300, and multiple material boxes 400 are stacked on the material box base. In addition, according to the size of the material box storage area 100, multiple material box bases can be provided, and the multiple material box bases are arranged at intervals, and a track 300 is provided between two adjacent material box bases. The distance between two adjacent material box bases can be determined according to the width of each track 300, which is not limited here.

[0074] Figure 4 yes Figure 1 A first schematic diagram of a handling robot in FIG. Figure 5 yes Figure 1 The second schematic diagram of the handling robot in FIG. Figure 4 and Figure 5As shown, the handling robot 200 includes a mobile chassis 210, a support frame 220 and a telescopic fork 230. The support frame 220 is arranged on the mobile chassis 210, and the telescopic fork 230 is connected to the support frame 220. The mobile chassis 210 is used to support the support frame 220 and the telescopic fork 230, and move the two to a specified position, the support frame 220 is used to support the telescopic fork 230, and the telescopic fork 230 is used to carry the material box 400. The telescopic fork 230 can selectively rise and fall and / or rotate relative to the support frame 220 to carry the material box 400.

[0075] Figure 6 is a first schematic diagram of a mobile chassis of a transport robot provided in an embodiment of the present application; Figure 7 yes Figure 6 A second schematic diagram of a mobile chassis in FIG. Figure 8 yes Figure 6 A third schematic diagram of the mobile chassis in FIG.

[0076] Reference Figures 6 to 8 As shown, the mobile chassis 210 includes a track running assembly 211, a ground running assembly 212 and a lifting assembly 213. The ground running assembly 212 is connected to the lower end of the lifting assembly 213, and the track running assembly 211 is connected to the upper end of the lifting assembly 213. The lifting assembly 213 is used to control the relative movement of the track running assembly 211 and the ground running assembly 212 in the vertical direction, thereby controlling the ground running assembly 212 to contact and separate from the ground.

[0077] like Figure 1 and Figure 2 As shown, when the handling robot 200 moves along the track 300 in the container storage area 100, the track travel component 211 contacts the track 300, and the ground travel component 212 separates from the ground. At this time, the track travel component 211 acts as a driving component to drive the support frame 220 and the telescopic fork 230 to move along the track 300 and reach the placement position of the target container to pick up or place the container 400.

[0078] like Figure 3 As shown, when the handling robot 200 moves outside the material box storage area 100, the ground walking assembly 212 contacts the ground, and the track walking assembly 211 separates from the track 300. At this time, the ground walking assembly 212 acts as a driving assembly to drive the support frame 220 and the telescopic fork 230 to move between the entrance of the track 300 and the storage and retrieval conveying equipment.

[0079] Reference Figure 4 and Figure 5As shown, when the transport robot 200 walks on the ground, the lifting assembly 213 contracts and its upper and lower ends maintain a minimum distance, so that the distance between the track walking assembly 211 and the ground walking assembly 212 is minimized, thereby reducing the height of the support frame 220 and preventing the support frame 220 from shaking during movement, ensuring that the transport robot 200 moves more stably during the process of transporting cargo boxes.

[0080] Fig. 9 yes Figure 1 A first schematic diagram of the transport robot 200 when entering the track 300; Fig.10 yes Fig. 9 A first schematic diagram of the transport robot 200 in FIG.

[0081] Reference Fig. 9 and Fig.10 As shown, when the handling robot 200 is preparing to enter the track 300 from the ground and changes from the ground walking mode to the track 300 walking mode, the lifting assembly 213 is retracted, the track walking assembly 211 is raised in height, and the distance between it and the ground walking assembly 212 is increased. At this time, the ground walking assembly 212 moves into the track 300. When the ground walking assembly 212 moves into the track 300, the lifting assembly 213 shrinks, and the height of the track walking assembly 211 decreases. After the track walking assembly 211 contacts the track 300, the height of the track walking assembly 211 remains unchanged. As the lifting assembly 213 continues to shrink, the position of the ground walking assembly 212 begins to rise at this time and gradually leaves the ground. When the ground walking assembly 212 leaves the ground, the lifting assembly 213 stops shrinking, and the track walking assembly 211 begins to act as a driving assembly, driving the support frame 220 and the telescopic fork 230 to move along the track 300.

[0082] It is understandable that when the handling robot 200 enters the ground from the track 300 and changes from the track walking mode to the ground walking mode, the lifting assembly 213 expands, the ground walking assembly 212 moves downward, and the distance between the ground walking assembly 212 and the track walking assembly 211 gradually increases. After the ground walking assembly 212 contacts the ground, the track walking assembly 211 begins to move upward due to the continuous expansion of the lifting assembly 213, and gradually leaves the track 300. When the track walking assembly 211 completely leaves the track 300, the ground walking assembly 212 moves out of the track 300, and the lifting assembly 213 begins to shrink until it shrinks to the lowest position, so that the track walking assembly 211 and the ground walking assembly 212 maintain a minimum interval, ensuring that the handling robot 200 moves more stably during the process of handling the material box.

[0083] Reference Figures 6 to 8As shown, in some examples, the track travel assembly 211 includes a first mobile base 2111, a first drive motor 2112 and a first drive wheel 2113. The first mobile base 2111 is fixedly connected to the upper end of the jacking assembly 213, the support frame 220 is fixedly connected to the first mobile base 2111, the first drive motor 2112 is fixedly connected to the first mobile base 2111, the first drive wheel 2113 is connected to the first drive motor 2112, the first drive wheel 2113 is arranged on both sides of the first mobile base 2111 along the travel direction, and the first drive motor 2112 drives the first drive wheel 2113 to move along the track 300. Specifically, the track travel assembly 211 includes a plurality of first drive motors 2112 and a plurality of first drive wheels 2113, the first drive motors 2112 correspond to the first drive wheels 2113 one by one, and each first drive wheel 2113 is fixedly connected to the output shaft of the first drive motor 2112. All first drive motors 2112 are respectively fixedly mounted on the first mobile base 2111, and all first drive wheels 2113 are respectively located on both sides of the first mobile base 2111. The first mobile base 2111 is fixedly mounted on the upper end of the jacking assembly 213, and the jacking assembly 213 controls the lifting and lowering of the first mobile base 2111. It can be understood that in these examples, each first drive wheel 2113 is individually controlled by each first drive motor 2112. In order to ensure that the mobile chassis 210 can move stably along the track 300, it is necessary to ensure that all first drive motors 2112 run synchronously.

[0084] In some other examples, the track travel assembly 211 includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first drive motor 2112 is fixedly disposed on the first mobile base 2111, and the plurality of first drive wheels 2113 are respectively located on both sides of the first mobile base 2111, and all the first drive wheels 2113 are connected to the first drive motor 2112 through a transmission assembly. In other words, the first drive motor 2112 drives all the first drive wheels 2113 to move synchronously through the transmission assembly. Exemplarily, the first drive motor 2112 can be a servo motor or a DC motor with a reducer.

[0085] The lifting assembly 213 is fixedly mounted on the ground walking assembly 212. In some examples, the ground walking assembly 212 is configured as an AGV base with an autonomous navigation function. The ground walking assembly 212 includes a second mobile base 2121, a second drive motor 2122, a second drive wheel 2123 and a universal wheel 2124. The second mobile base 2121 is connected to the lower end of the lifting assembly 213, the second drive motor 2122 is fixedly connected to the second mobile base 2121, the second drive wheel 2123 is connected to the second drive motor 2122, the second drive wheel 2123 is arranged on both sides of the second mobile base 2121 along the walking direction, and the second drive motor 2122 drives the second drive wheel 2123 to move along the ground.

[0086] Among them, each of the second drive motor 2122 and the second drive wheel 2123 includes at least two, and the second drive wheel 2123 is arranged in a one-to-one correspondence with the second drive motor 2122. All the second drive motors 2122 are fixedly mounted on the second mobile base 2121, and the second drive wheels 2123 are respectively fixedly connected to the output ends of the second drive motors 2122, and all the second drive wheels 2123 are arranged on both sides of the second mobile base 2121 and are opposite to each other. With the direction perpendicular to the connecting line of the second drive wheels 2123 as the front-to-back direction, universal wheels 2124 are respectively arranged in the front-to-back directions of the two second drive wheels 2123 arranged opposite to each other, and the universal wheels 2124 are connected to the second mobile base 2121.

[0087] Fig.11 yes Figure 6 A first schematic diagram of the mobile chassis 210 after removing the track travel component 211; Fig.12 yes Figure 6 A second schematic diagram of the mobile chassis 210 after removing the track travel component 211.

[0088] Reference Fig.11 and Fig.12 As shown, in the embodiment of the present application, the AGV base includes a second mobile base 2121, two second drive motors 2122, two second drive wheels 2123 and four universal wheels 2124. Among them, the two second drive wheels 2123 are arranged on the second mobile base 2121 in opposite directions and are located on the center line of the second mobile base 2121. The two second drive motors 2122 are fixed on the second mobile base 2121, and the two second drive motors 2122 are respectively connected to the two second drive wheels 2123. The two second drive motors 2122 are used to drive the second mobile base 2121 to move. It can be understood that by changing the rotation speed of the two second drive motors 2122, the moving direction of the second mobile base 2121 can be controlled. This is a prior art and will not be repeated here.

[0089] With the direction perpendicular to the line connecting the two second driving wheels 2123 as the front-to-back direction, two universal wheels 2124 are provided in the front-to-back directions of the two second driving wheels 2123 to support the second movable base 2121 and adjust the moving direction of the second movable base 2121 .

[0090] Continue to refer to Fig.11 and Fig.12 As shown, in some examples, the lifting assembly 213 is configured as a multi-link lifting mechanism, specifically including a lifting motor 2131 and a connecting rod assembly 2132. The lifting motor 2131 is fixedly arranged on the second movable base 2121, and the output end of the lifting motor 2131 is connected to the connecting rod assembly 2132. When the output end of the lifting motor 2131 rotates, it can control the movement of the upper end of the connecting rod assembly 2132, that is, the distance between the upper end and the lower end changes, thereby changing the distance between the first movable base 2111 connected to the upper end and the second movable base 2121 connected to the lower end.

[0091] Fig.13 is a first schematic diagram of a jacking assembly provided in one embodiment of the present application; Fig.14 yes Fig.13 A second schematic diagram of the jacking assembly in FIG. Fig.15 yes Fig.13 A third schematic diagram of the jacking assembly in FIG.

[0092] Reference Figures 13 to 15 As shown, in some other examples, the jacking assembly 213 is configured as a scissor lift mechanism 2133. The scissor lift mechanism 2133 includes a first scissor member 2133a, a second scissor member 2133b and a connecting plate 2133c which are cross-connected. The lower end of the first scissor member 2133a and the lower end of the second scissor member 2133b are both connected to the first movable base 2111, and the upper end of the first scissor member 2133a and the upper end of the second scissor member 2133b are both connected to the connecting plate 2133c, and the connecting plate 2133c is used to connect to the first movable base 2111. When the driving member drives the first scissor member 2133a or the second scissor member 2133b to move, the two move synchronously, so that the connecting plate 2133c moves up and down, thereby changing the distance between the first movable base 2111 and the second movable base 2121. Exemplarily, the driving member can be a driving motor.

[0093] In addition, the lifting assembly 213 can also be configured as a hydraulic lifting mechanism or a screw nut lifting mechanism, as long as it can enable the first movable base 2111 and the second movable base 2121 to move relative to each other, and the details will not be described in detail.

[0094] like Figure 4 and Figure 5As shown, in some examples, there are multiple telescopic forks 230, and the multiple telescopic forks 230 are arranged in sequence along the vertical direction, and each telescopic fork 230 is connected to the support frame 220. When carrying a target material box, when the target material box is located at the bottom, the telescopic fork 230 located at the top can clamp the material box 400 above the target material box to separate it from the target material box, and the telescopic fork 230 located at the bottom will then move the target material box away, and finally, the telescopic fork 230 located at the top will place the non-target material box at the original target material box position. It can be understood that when placing the material box 400 at the target position, the operation process is opposite to the above-mentioned process of carrying the target material box, which will not be repeated here.

[0095] It is understandable that by providing a plurality of telescopic forks 230 in the support frame 220, it is possible to facilitate the handling of target boxes located below the stack of boxes, and the handling efficiency is high. Take the handling robot having two telescopic forks 230 as an example. When handling a target box located at the lower layer of the stack of boxes, the telescopic fork 230 located at the upper side can first raise the position of the box 400 located above the target box, and the telescopic fork 230 located at the lower side can then carry the target box, and finally, the telescopic fork 230 located at the upper side can place the non-target box to the original target box position.

[0096] Reference Figure 4 and Figure 5 As shown, the telescopic fork 230 includes fork arms 233 arranged in pairs, and the fork arms 233 are used to clamp the material box 400. In addition, the telescopic fork 230 can be configured as a bidirectional telescopic fork 230, so as to facilitate the picking and placing of the material boxes 400 on both sides of the track 300.

[0097] Exemplarily, the fork arm 233 includes a multi-stage fork arm and a telescopic drive assembly, the multi-stage fork arm is connected in sequence, the telescopic drive assembly is connected to the multi-stage fork arm, and the telescopic drive assembly is used to drive the multi-stage fork arm to extend or retract to take and place the material box 400.

[0098] Exemplarily, the fork arm 233 includes two-stage fork arms, the fork arm 233 includes a primary fork arm and a secondary fork arm, the primary fork arm is connected with the support frame 220, the secondary fork arm is slidably connected to the primary fork arm, the telescopic drive assembly is fixedly arranged on the primary fork arm, the telescopic drive assembly drives the secondary fork arm to move along the primary fork arm, thereby completing the forking of the material box 400 and the retraction after forking.

[0099] In addition, illustratively, the telescopic driving member may be a combination structure of a motor and a synchronous belt transmission assembly, or a combination structure of a motor and a gear rack.

[0100] Continue to refer to Figure 4 and Figure 5As shown, the telescopic fork 230 also includes a clamping plate 231, and each fork arm 233 is provided with a clamping plate 231 for clamping the material box 400. Since the clamping plate 231 has a large surface area, it can ensure a large clamping area with the side of the material box 400, increase the clamping force, and prevent the material box 400 from slipping during the clamping movement.

[0101] When the support frame 220 is provided with a plurality of telescopic forks 230 in the vertical direction, the distance between the two clamping plates of the plurality of telescopic forks 230 decreases from bottom to top. Specifically, in order to conveniently place the non-target material box 400 that has been clamped and lifted at the original target material box 400 placement position, the distance between the two clamping plates 231 on the upper telescopic fork 230 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, ensuring that the clamping plates 231 on the upper telescopic fork 230 will not interfere with the clamping plates 231 on the lower telescopic fork 230, and the two clamping plates 231 on the upper telescopic fork 230 are larger in size, and can be extended between the two clamping plates 231 on the lower telescopic fork 230 to place the material box 400.

[0102] Specifically, when the target material box is located at the bottom layer of the material box stack, the lower part of the clamping plate 231 of the telescopic fork 230 located above clamps and lifts the material box on the layer above the target material box, and the telescopic fork 230 located below clamps the target material box and retracts. At this time, the telescopic fork 230 located above moves down and places the non-target material box at the position of the original target material box. Since the two clamping plates 231 on the telescopic fork 230 located above are larger, and the distance between the two clamping plates 231 is smaller than the distance between the two clamping plates 231 on the telescopic fork 230 located below, when it places the non-target material box at the original target material box placement position, it will not interfere with the telescopic fork 230 and clamping plate 231 below.

[0103] In order to ensure that the material box 400 is stable and does not slide off the telescopic fork 230 due to excessive weight, in some examples, a plurality of pushers 232 are rotatably provided at the lower part of the clamping plate 231, and the pushers 232 are used to extend to support the material box after the clamping plate 231 clamps the material box 400. Specifically, the pushers 232 can switch and rotate in a direction parallel to and perpendicular to the clamping plate 231, so as to support the material box 400 and prevent it from falling.

[0104] In addition, in some examples, two groups of pusher claws 232 are arranged at intervals along the vertical direction on the two clamping plates 231 on the upper telescopic fork 230 to ensure that they can clamp non-target material boxes 400 located at a higher position. Exemplarily, the pusher claw 232 includes a lever and a lever motor, the lever motor is fixedly installed on the clamping plate 231, and the end of the pusher claw 232 is connected to the output end of the lever motor, and the output end of the lever motor rotates to drive the pusher claw 232 to rotate.

[0105] In some embodiments, a cache position 221 is provided at the bottom of the support frame 220. When the transport robot 200 needs to transport multiple boxes 400, the telescopic fork 230 can temporarily store the boxes 400 in the cache position 221, and after all target boxes are transported, all boxes 400 are moved together to the in-and-out conveying equipment to improve the efficiency of single transfer.

[0106] Fig.16 It is a schematic diagram of a transport robot 200 provided in another embodiment of the present application.

[0107] Reference Fig.16 As shown, in some examples, at least one side of the support frame 220 is provided with a plurality of cache positions 221, in which the handling robot 200 further includes a rotating assembly, the rotating assembly is connected to the support frame 220, and the telescopic fork 230 is arranged on the rotating assembly. The rotating assembly is used to rotate the telescopic fork 230 by 90° and temporarily store the target material box or the non-target material box in the cache position 221. It can be understood that by providing the cache position 221 on the support frame 220, the single handling capacity of the handling robot 200 can be greatly improved, and the handling efficiency can be improved. Exemplarily, cache racks are provided on both sides of the support frame 220, and the cache racks have a plurality of cache cargo positions, and the cache cargo positions are configured as cache positions 221. In addition, the number and space size of the cache cargo positions in the cache racks on both sides of the support frame 220 can be set according to actual needs, and are not limited here.

[0108] Exemplarily, the rotating assembly includes a rotating bracket, a rotating pallet and a rotating drive motor. Among them, the rotating bracket is arranged on the inner side of the support frame 220, its shape is adapted to the support frame 220 and the rotating bracket can move in the vertical direction along the support frame 220. The rotating pallet is rotatably arranged on the rotating bracket, the rotating drive motor is fixedly arranged on the rotating bracket, and the output end of the rotating drive motor is connected to the rotating pallet, and the rotating drive motor drives the rotating pallet to rotate. The telescopic fork 230 is arranged on the rotating pallet, that is, the rotating drive motor drives the telescopic fork 230 to rotate through the rotating pallet. The rotating drive motor can realize forward and reverse rotation, thereby realizing the bidirectional rotation of the rotating pallet, so as to correspond to the pick-up and release ports on both sides of the support frame 220, so that the telescopic fork 230 can pick up and release the material box 400 to the cache position 221 on both sides of the support frame 220.

[0109] In addition, refer to Figure 4 and 5 As shown, the support frame 220 in the present application is a rectangular parallelepiped frame structure formed by connecting a plurality of cross beams and longitudinal beams in sequence. Linear guide rails 310 are arranged on both sides of the support frame 220 in the vertical direction, and sliders are arranged on the linear guide rails 310. The telescopic fork 230 is fixedly connected to the slider.

[0110] In addition, the handling robot further includes a lifting assembly 222. Exemplarily, the lifting assembly 222 includes a lifting motor and a transmission assembly, the lifting motor is fixed on the support frame 220, and the transmission assembly is arranged on the support frame 220, the lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork 230, and the lifting motor drives the telescopic fork 230 to move in the vertical direction through the transmission assembly, so that the telescopic fork 230 can reach the specified position of the target material box.

[0111] Exemplarily, the transmission assembly may be a belt transmission assembly or a screw slider transmission assembly, without further limitation.

[0112] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0113] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A material box storage system, characterized in that: include: A container storage area with a track, with containers placed on one side of the track; In-and-out conveying equipment, used for conveying the material boxes into or out of the warehouse; A handling robot, used for transferring the material box between the material box storage area and the in-and-out storage conveying equipment; Wherein, the handling robot is configured to: move along the track within the material box storage area and move freely outside the material box storage area.

2. The material box storage system according to claim 1, characterized in that: The material box storage area is provided with a plurality of groups of tracks, the plurality of groups of tracks are arranged at intervals, and a plurality of the material boxes are stacked between adjacent tracks.

3. The material box storage system according to claim 1, characterized in that: The material box storage area is provided with a material box base, and the material box base is located on one side of the track. The material box base has a plurality of cargo spaces, and the cargo spaces are used to place the material boxes.

4. The material box storage system according to claim 3, characterized in that: There are a plurality of material box bases, the plurality of material box bases are arranged at intervals, and the track is arranged between two adjacent material box bases.

5. The material box storage system according to claim 1, characterized in that: The handling robot comprises a mobile chassis, a support frame and a telescopic fork; The support frame is arranged on the mobile chassis, the telescopic fork is connected to the support frame, and the telescopic fork is used to carry the material box; The telescopic fork is selectively raised and lowered and / or rotated relative to the support frame.

6. The material box storage system according to claim 5, characterized in that: The mobile chassis includes a track travel assembly, a ground travel assembly and a jacking assembly; The ground traveling assembly is connected to the lower end of the jacking assembly, and the track traveling assembly is connected to the upper end of the jacking assembly, and the jacking assembly is used to control the relative movement of the track traveling assembly and the ground traveling assembly in the vertical direction; When the handling robot moves along the track in the material box storage area, the track walking component contacts the track, and the ground walking component separates from the ground; When the transport robot moves outside the material box storage area, the ground walking assembly contacts the ground, and the track walking assembly is separated from the track.

7. The material box storage system according to claim 6, characterized in that: The track travel assembly includes a first mobile base, a first drive motor and a first drive wheel; The first mobile base is fixedly connected to the upper end of the jacking assembly, the supporting frame is fixedly connected to the first mobile base, the first driving motor is fixedly connected to the first mobile base, the first driving wheel is connected to the first driving motor, the first driving wheel is arranged on both sides of the first mobile base along the walking direction, and the first driving motor drives the first driving wheel to move along the track.

8. The material box storage system according to claim 6, characterized in that: The jacking assembly is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a screw nut lift mechanism.

9. The material box storage system according to claim 6, characterized in that: The ground walking assembly includes a second mobile base, a second drive motor and a second drive wheel; the second mobile base is connected to the lower end of the jacking assembly, the second drive motor is fixedly connected to the second mobile base, the second drive wheel is connected to the second drive motor, the second drive wheel is arranged on both sides of the second mobile base along the walking direction, and the second drive motor drives the second drive wheel to move along the ground.

10. The material box storage system according to claim 5, characterized in that: The support frame is provided with a lifting assembly, the telescopic fork is connected to the lifting assembly, and the lifting assembly drives the telescopic fork to move in a vertical direction.

11. The material box storage system according to claim 10, characterized in that: The telescopic fork comprises clamping plates arranged in pairs, and the clamping plates are used for clamping the material box.

12. The container storage system according to claim 11, characterized in that: A pusher claw is movably provided at the lower part of the clamping plate, and the pusher claw is used to extend to support the material box after the clamping plate clamps the material box.

13. The material box storage system according to claim 11, characterized in that: There are multiple telescopic forks, which are arranged in sequence along the vertical direction to cooperate with the telescopic forks for picking material boxes; the distance between the two clamping plates of the multiple telescopic forks decreases from bottom to top.

14. The material box storage system according to claim 12, characterized in that: The clamping plate of the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.

15. The material box storage system according to claim 5, characterized in that: At least one side of the support frame is provided with a plurality of cache locations, and the cache locations are used to temporarily store the material boxes.

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