Three-dimensional storage robot transfer equipment and method

Abstract

The invention discloses three-dimensional storage robot transfer equipment and method, and relates to the technical field of logistics. The transfer equipment comprises a transportation device and a butt joint device. The transportation device is used for carrying the three-dimensional storage robot, a first rail part used for supporting the three-dimensional storage robot is arranged on the transportation device, and the transportation device can guide the movement of the three-dimensional storage robot; the butt joint device is used for being in butt joint with an in-out warehouse opening of a goods shelf, and a second rail piece capable of being in butt joint with the first rail piece is arranged on the butt joint device so as to guide the three-dimensional storage robot to enter the goods shelf from the conveying device. The technical problem that an existing transfer mode of the three-dimensional storage robot is tedious is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional warehouse robots, and in particular to a three-dimensional warehouse robot transfer device and method. Background Art

[0002] A three-dimensional storage robot is a robotic device used for handling in warehouses and workshops. The existing process for deploying three-dimensional storage robots at project sites is generally to place the three-dimensional storage robot on the carrier of the transfer pallet. When the three-dimensional storage robot is transported to the project site, it will be transferred from the carrier to the shelf track on the project site by hoisting to complete the deployment of the three-dimensional storage robot. The process is relatively cumbersome, labor-intensive, increased costs, and takes up delivery time. Summary of the invention

[0003] In view of this, the present invention provides a three-dimensional storage robot transfer device and method, which are used to solve the technical problem of the cumbersome transfer method of the existing three-dimensional storage robot.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution:

[0005] A three-dimensional warehouse robot transfer device, the transfer device comprising:

[0006] A transport device, used for carrying the three-dimensional storage robot, wherein the transport device is provided with a first track member for supporting the three-dimensional storage robot and capable of guiding the movement of the three-dimensional storage robot;

[0007] And a docking device for docking with the storage entrance and exit of the shelf, the docking device is provided with a second track member that can dock with the first track member to guide the three-dimensional storage robot from the transportation device into the shelf.

[0008] In some embodiments of the transfer equipment, the transport device is a multi-layer structure, and the first rail member is provided on each layer structure so as to be able to carry multiple of the three-dimensional storage robots; the second rail member can be raised and lowered so that the second rail member can be docked with the first rail member at each height.

[0009] In some embodiments of the transfer equipment, the docking device includes a docking frame and the second rail member, the second rail member includes a base frame and two rail elements installed on the base frame, the base frame can be raised and lowered on the docking frame in a vertical direction to drive the two rail elements to rise and fall, and the two rail elements are arranged in parallel.

[0010] In some embodiments of the transfer equipment, the rail element is provided with a guide wall and a side wall, the guide wall and the side wall are arranged at an angle to form an L-shaped opening, the L-shaped openings of the two rail elements are opposite, and the guide wall is used to abut the pulley of the three-dimensional storage robot.

[0011] In some embodiments of the transfer equipment, the docking device also includes a driving mechanism, which is installed on the docking frame, and an output end of the driving mechanism is connected to the second track member and is used to drive the second track member to rise and fall.

[0012] In some embodiments of the transfer equipment, the transport device includes a plurality of stacked and connected frames and first rail members installed on the frames, the number of the first rail members on one frame is two, the two first rail members are arranged in parallel and the spacing between them is the same as the spacing between the pulleys on both sides of the three-dimensional storage robot, so as to be able to abut against the pulleys on both sides.

[0013] In some embodiments of the transfer equipment, the transport device further comprises a plurality of columns, a plurality of legs and a plurality of fixing components, each of the columns is mounted on a side of the frame facing the first track member, and is divided into two groups and respectively located on opposite sides of a guide direction of the first track member, the spacing between the two groups of columns is greater than the spacing between the two first track members, each of the legs is mounted on a side of the frame facing away from the first track member, and corresponds one to one to the position of each of the columns;

[0014] The fixing assembly includes a sleeve and a fixing module. The sleeve is used to be sleeved on the legs on one of the two adjacent frames and the columns on the other frame. The fixing module is used to fix the sleeve to the legs and the columns.

[0015] In some embodiments of the transfer equipment, a first hole is formed on the leg and passes through the leg, a second hole is formed on the column and passes through the column, a plurality of third holes are formed on the sleeve, and the fixing module includes a plurality of fixing members, which are used to penetrate into the sleeve to fix two adjacent layers of the frame when the third hole is aligned with the first hole and when the third hole is aligned with the second hole.

[0016] In order to solve the above technical problems, the second technical solution adopted by the present invention is:

[0017] A three-dimensional storage robot transfer method, the transfer method also includes the following steps:

[0018] Placing the three-dimensional storage robot on a transport rack capable of guiding its movement;

[0019] A docking rack capable of docking with the transport rack is provided at the entrance and exit of the shelf;

[0020] Transport the frame carrying the three-dimensional storage robot to the shelf and dock it with the docking frame;

[0021] Start the three-dimensional storage robot to automatically move to the corresponding position in the shelf.

[0022] In some embodiments of the transfer method, the step of placing the three-dimensional storage robot on a transport rack capable of guiding its movement further comprises the following steps: placing a three-dimensional storage robot on each layer of the multi-layer transport rack;

[0023] The step of transporting the transport rack carrying the three-dimensional storage robot to the shelf and docking it with the docking rack also includes the following steps: adjusting the height of the docking portion of the docking rack used to dock with the transport rack, and returning to the original position after receiving the three-dimensional storage robot.

[0024] Implementing the embodiments of the present invention will have at least the following beneficial effects:

[0025] The above-mentioned three-dimensional warehouse robot transfer equipment and method have the technical effect of facilitating the deployment of three-dimensional warehouse robots. Specifically, the three-dimensional warehouse robot transfer equipment of the present invention is provided with a transportation device and a docking device. The transportation device can carry the three-dimensional warehouse robot and enable the three-dimensional warehouse robot to move under its guidance. The docking device can dock with the entrance and exit of the shelf on the one hand, and can also dock with the transportation device on the other hand. After the docking is completed, the three-dimensional warehouse robot can directly enter the shelf through the guidance of the first rail member and the second rail member, thereby achieving the effect of the three-dimensional warehouse robot entering the shelf track. No lifting is required, the method is simple, no labor is required, costs are reduced, and delivery time is shortened, thereby solving the technical problem of the cumbersome transportation method of the existing three-dimensional warehouse robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a docking method between a shelf and a docking device in an embodiment;

[0028] Figure 2 A schematic diagram of a docking method between a transport device and a docking device in an embodiment;

[0029] Figure 3 A schematic diagram of the structure of a transport device and a three-dimensional storage robot in one embodiment;

[0030] Figure 4 for Figure 3 A front view of the structure shown;

[0031] Figure 5 for Figure 3 The structural diagram of the transport device;

[0032] Figure 6 A schematic diagram of the structure of a transport device and a three-dimensional storage robot in one embodiment;

[0033] Figure 7 for Figure 6 The structural diagram of the transport device;

[0034] Figure 8 FIG. 1 is a flow chart of a transport method in one embodiment.

[0035] in:

[0036] 1. Frame; 2. First track member; 3. Crossbeam; 4. Column; 41. Second hole; 5. Leg; 51. First hole; 6. Casing; 61. Third hole;

[0037] 20. docking device; 21. docking frame; 22. second track member; 221. bottom frame; 222. track element; 2221. guide wall; 2222. side wall;

[0038] 100. Three-dimensional storage robot; 101. Pulley; 200. Shelf. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0042] like Figure 1-7 As shown, in an embodiment of a transfer device for a three-dimensional storage robot 100, the transfer device includes a transport device and a docking device 20. The transport device is used to carry the three-dimensional storage robot 100, and the transport device is provided with a first track member 2 for supporting the three-dimensional storage robot 100, and can guide the movement of the three-dimensional storage robot 100. The docking device 20 is used to dock with the inlet and outlet of the shelf 200, and the docking device 20 is provided with a second track member 22 that can dock with the first track member 2 to guide the three-dimensional storage robot 100 from the transport device to enter the shelf 200.

[0043] In the present embodiment, the three-dimensional warehouse robot 100 transfer equipment of the present embodiment is provided with a transport device and a docking device 20. The transport device can carry the three-dimensional warehouse robot 100 and enable the three-dimensional warehouse robot 100 to move under its guidance. The docking device 20 can dock with the entrance and exit of the shelf 200 on the one hand, and can also dock with the transport device on the other hand. After the docking is completed, the three-dimensional warehouse robot 100 can directly enter the shelf 200 through the guidance of the first rail member 2 and the second rail member 22, thereby achieving the effect of the three-dimensional warehouse robot 100 entering the shelf 200 track. There is no need for lifting, the method is simple, no labor is required, costs are reduced, and delivery time is shortened, thereby solving the technical problem of the cumbersome transfer method of the existing three-dimensional warehouse robot 100.

[0044] In an embodiment of a three-dimensional storage robot 100 transfer device, the transport device is a multi-layer structure, and each layer is provided with a first track member 2 to carry multiple three-dimensional storage robots 100. The second track member 22 can be raised and lowered to enable the second track member 22 to dock with the first track members 2 at each height.

[0045] In this embodiment, by setting up a multi-layer transportation device, multiple three-dimensional storage robots 100 can be transported simultaneously on one transportation device, occupying vertical space and avoiding occupying horizontal space. At the same time, the second rail member 22 can be raised and lowered to facilitate docking with the three-dimensional storage robots 100 at different heights in the transportation device, and then the three-dimensional storage robots 100 at different heights can be guided into the shelf 200.

[0046] It is understandable that the shelf 200 also has a multi-layer structure with positions at different heights for deploying the three-dimensional storage robot 100. At this time, the lifting of the second rail member 22 is to connect the different heights of the shelf 200 with the first rail members 2 at different heights. The shelf 200 can also have only one layer. At this time, the second rail member 22 needs to be reset after being lifted and received by the three-dimensional storage robot 100.

[0047] Specifically, in an embodiment of a three-dimensional warehouse robot 100 transfer equipment, the docking device 20 includes a docking frame 21 and a second rail member 22, the second rail member 22 includes a base frame 221 and two rail elements 222 installed on the base frame 221, the base frame 221 can be raised and lowered on the docking frame 21 in a vertical direction to drive the two rail elements 222 to rise and fall, and the two rail elements 222 are arranged in parallel.

[0048] In this embodiment, the second rail member 22 is composed of a base frame 221 and two rail elements 222 on the base frame 221. The base frame 221 is used to drive the two rail elements 222 to rise and fall as a whole. The two rail elements 222 are separate rather than a whole, and can be used to match different three-dimensional storage robots 100. On the existing three-dimensional storage robots 100, generally, their pulleys 101 are higher than the chassis, so that they can walk better on the track. Correspondingly, the two rail elements 222 are arranged in this embodiment, which can not only facilitate matching with different three-dimensional storage robots 100, but also reduce the overall weight.

[0049] In an embodiment of a three-dimensional storage robot 100 transfer device, a guide wall 2221 and a side wall 2222 are provided on the track element 222. The guide wall 2221 and the side wall 2222 are arranged at an angle to form an L-shaped opening. The L-shaped openings of the two track elements 222 are opposite to each other, and the guide wall 2221 is used to abut the pulley 101 of the three-dimensional storage robot 100.

[0050] In this embodiment, specifically, the guide wall 2221 and the side wall 2222 can be formed by placing the two plate sides at an angle. The side wall 2222 can play a limiting role, further preventing the three-dimensional storage robot 100 from tilting and sliding out from the side.

[0051] Preferably, the guide wall 2221 is perpendicular to the side wall 2222 .

[0052] In an embodiment of a three-dimensional storage robot 100 transfer device, the docking device 20 also includes a driving mechanism, which is installed on the docking frame 21, and the output end of the driving mechanism is connected to the second rail member 22 and is used to drive the second rail member 22 to rise and fall.

[0053] In this embodiment, by setting up a driving mechanism, the lifting and lowering of the second rail member 22 can be conveniently controlled. Specifically, combined with the previous embodiment, the output end of the driving mechanism is connected to the base frame 221, and the driving mechanism can be a linear driving module such as a cylinder, an oil cylinder or a linear motor.

[0054] In an embodiment of a transfer device of a three-dimensional storage robot 100, the transportation device includes a plurality of stacked and connected frames 1 and a first rail member 2 installed on the frames 1. The number of the first rail members 2 on one frame 1 is two. The two first rail members 2 are arranged in parallel and the spacing between them is the same as the spacing between the pulleys 101 on both sides of the three-dimensional storage robot 100 so as to be able to abut against the pulleys 101 on both sides.

[0055] Similar to the previous embodiment, by providing two opposite first rail members 2 , the weight of the transport device can be reduced while the three-dimensional storage robot 100 can be better adapted.

[0056] In an embodiment of the transfer equipment, the transport device further includes a cross beam 3 , two ends of which are respectively connected to two opposite sides of the frame 1 and are capable of abutting against each first track member 2 .

[0057] In this embodiment, by providing the cross beam 3, it can play a role in reinforcing the overall frame 1, and can also further play a role in supporting the first rail member 2, thereby further improving the overall structural stability of the transportation device.

[0058] In an embodiment of a transfer device of a three-dimensional storage robot 100, the transport device further includes a plurality of columns 4, a plurality of legs 5 and a plurality of fixing components, each column 4 is mounted on the side of the frame 1 facing the first rail member 2, and is divided into two groups and respectively located on opposite sides of the guide direction of the first rail member 2, the spacing between the two groups of columns 4 is greater than the spacing between the two first rail members 2, each leg 5 is mounted on the side of the frame 1 away from the first rail member 2, and corresponds to the position of each column 4 one by one. The fixing component includes a sleeve 6 and a fixing module, the sleeve 6 is used to be sleeved on the legs 5 on one of the two adjacent frames 1 and the columns 4 on the other frame 1, and the fixing module is used to fix the sleeve 6 to the legs 5 and the columns 4.

[0059] In this embodiment, the legs 5 can support the frame 1, so that the staff or other handling devices can directly reach under the frame 1 to lift the entire transport device. The columns 4 can further prevent the three-dimensional storage robot 100 from escaping from the side. In the connection of the multi-layer structure of the transport device, this embodiment adopts the method of sleeves 6. A sleeve 6 can cover the corresponding legs 5 and columns 4. The connection method is simple and convenient for installation.

[0060] In an embodiment of a three-dimensional storage robot 100 transfer device, a first hole 51 is formed on the leg 5 and passes through the leg 5, a second hole 41 is formed on the column 4 and passes through the column 4, a plurality of third holes 61 are formed on the sleeve 6, and the fixing module includes a plurality of fixing members, which are used to penetrate when the third hole 61 is aligned with the first hole 51 and when the third hole 61 is aligned with the second hole 41 to fix two adjacent layers of the frame 1.

[0061] In this embodiment, by providing the first hole 51, the second hole 41 and the third hole 61, after alignment, they can be stabilized by inserting a fixing piece, thereby further improving the stability of the connection and avoiding separation.

[0062] Specifically, the fixing member may be a pin, or a combination of a bolt and a nut.

[0063] In combination with the previous embodiment, the frame 1 can be formed by surrounding a plurality of square tube structural members, and the first track member 2 can be a square tube structural member, which can further reduce the weight while ensuring the overall structural strength.

[0064] Combination Figure 1-8 As shown, the present invention also relates to a transport method of a three-dimensional storage robot 100, and the transport method further includes the following steps:

[0065] S1. Place the three-dimensional storage robot 100 on a transport rack that can guide its movement.

[0066] S2. A docking rack 21 capable of docking with a transport rack is provided at the entrance and exit of the shelf 200.

[0067] S3, transporting the frame carrying the three-dimensional storage robot 100 to the shelf 200 and docking it with the docking frame 21.

[0068] S4, start the three-dimensional storage robot 100 to automatically move to the corresponding position in the shelf 200.

[0069] The transfer method of this embodiment can conveniently introduce the three-dimensional storage robot 100 into the shelf 200 without using lifting. The transfer method of this embodiment can not only carry and transport the three-dimensional storage robot 100, but also automatically enter the corresponding shelf 200 by relying on its own power after docking, thereby improving the level of automation, reducing lifting steps and manual participation, and solving the technical problems of the cumbersome deployment of the existing three-dimensional storage robot 100.

[0070] In combination with the previous embodiment, the transport rack may be the transport device in the previous embodiment, and the docking rack 21 may be the docking device 20 or the docking rack 21 in the previous embodiment.

[0071] In an embodiment of the transfer method, the step of placing the three-dimensional storage robot 100 on a transport rack capable of guiding its movement further includes the following steps: placing the three-dimensional storage robot 100 on each layer of the multi-layered transport rack. The step of transporting the transport rack carrying the three-dimensional storage robot 100 to the shelf 200 and docking it with the docking rack 21 further includes the following steps: adjusting the height of the docking portion of the docking rack 21 for docking with the transport rack, and returning to the original position after receiving the three-dimensional storage robot 100.

[0072] In this embodiment, by adjusting the height of the docking portion of the docking frame 21 used for docking with the transport rack, it is possible to facilitate docking with the three-dimensional storage robots 100 at different heights in the transport rack, thereby receiving the three-dimensional storage robot 100. After receiving, the three-dimensional storage robot 100 can be returned to its original position and further docked with the shelf 200, so that the three-dimensional storage robot 100 can automatically move toward the shelf 200 after starting.

[0073] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A three-dimensional warehouse robot transfer equipment, characterized in that: The transfer equipment comprises: A transport device, used for carrying the three-dimensional storage robot, wherein the transport device is provided with a first track member for supporting the three-dimensional storage robot and capable of guiding the movement of the three-dimensional storage robot; And a docking device for docking with the storage entrance and exit of the shelf, the docking device is provided with a second track member that can dock with the first track member to guide the three-dimensional storage robot from the transportation device into the shelf.

2. The transfer device according to claim 1, characterized in that: The transport device is a multi-layer structure, and each layer is provided with the first rail member to carry a plurality of the three-dimensional storage robots; the second rail member can be raised and lowered to enable the second rail member to dock with the first rail member at each height.

3. The transfer device according to claim 2, characterized in that: The docking device includes a docking frame and the second track component, the second track component includes a base frame and two track elements installed on the base frame, the base frame can be lifted and lowered on the docking frame in a vertical direction to drive the two track elements to lift and lower, and the two track elements are arranged in parallel.

4. The transfer device according to claim 3, characterized in that: The track element is provided with a guide wall and a side wall, the guide wall and the side wall are arranged at an angle to form an L-shaped opening, the L-shaped openings of the two track elements are opposite, and the guide wall is used to abut the pulley of the three-dimensional storage robot.

5. The transfer device according to claim 2, characterized in that: The docking device further comprises a driving mechanism, which is mounted on the docking frame. An output end of the driving mechanism is connected to the second track member and is used to drive the second track member to rise and fall.

6. The transfer device according to claim 2, characterized in that: The transport device includes a plurality of stacked and connected frames and first rail members installed on the frames. The number of the first rail members on one frame is two. The two first rail members are arranged in parallel and the spacing between them is the same as the spacing between the pulleys on both sides of the three-dimensional storage robot so as to be able to abut against the pulleys on both sides.

7. The transfer device according to claim 6, characterized in that: The transport device further comprises a plurality of columns, a plurality of legs and a plurality of fixing components, each of the columns is mounted on a side of the frame facing the first track member, and is divided into two groups and respectively located on opposite sides of a guide direction of the first track member, the spacing between the two groups of columns is greater than the spacing between the two first track members, each of the legs is mounted on a side of the frame facing away from the first track member, and corresponds to the position of each of the columns one by one; The fixing assembly includes a sleeve and a fixing module. The sleeve is used to be sleeved on the legs on one of the two adjacent frames and the columns on the other frame. The fixing module is used to fix the sleeve to the legs and the columns.

8. The transfer device according to claim 7, characterized in that: The leg is provided with a first hole penetrating the leg, the column is provided with a second hole penetrating the column, the sleeve is provided with a plurality of third holes, and the fixing module includes a plurality of fixing members, which are used to penetrate into the frame to fix two adjacent layers when the third hole is aligned with the first hole and when the third hole is aligned with the second hole.

9. A three-dimensional warehouse robot transfer method, characterized in that: The transport method further comprises the following steps: Placing the three-dimensional storage robot on a transport rack capable of guiding its movement; A docking rack capable of docking with the transport rack is provided at the entrance and exit of the shelf; Transport the frame carrying the three-dimensional storage robot to the shelf and dock it with the docking frame; Start the three-dimensional storage robot to automatically move to the corresponding position in the shelf.

10. The method for transporting as claimed in claim 9, characterized in that: The step of placing the three-dimensional storage robot on a transport rack capable of guiding its movement also includes the following steps: placing the three-dimensional storage robot on each layer of the multi-layer transport rack; The step of transporting the transport rack carrying the three-dimensional storage robot to the shelf and docking it with the docking rack also includes the following steps: adjusting the height of the docking portion of the docking rack used to dock with the transport rack, and returning to the original position after receiving the three-dimensional storage robot.

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