A shelf wall-mounted high-speed storage robot

Abstract

The present invention relates to the field of logistics warehousing technology, and discloses a shelf wall-mounted high-speed warehousing robot, comprising a column, a loading platform, and a lifting device, wherein the loading platform is slidably installed on the column, two or more loading platforms are arranged along the vertical direction of the column, a lifting device for driving the loading platform to move vertically is fixedly installed at the bottom of the column, tracks are arranged at the top and bottom of the column, two or more driving wheel groups for driving the column to slide along the track are fixedly installed on the column, the driving wheel group is slidably connected to the track, the track is fixedly connected to the shelf, and the length of the track is longer than the length of the shelf; the swing amplitude of the column can be effectively controlled during its walking process, and the track design on the shelf effectively reduces the installation difficulty and installation cost, and at the same time can improve the installation accuracy, and in the process of picking up goods, a double-group loading platform design is adopted, which can independently move up and down and pick up goods, thereby greatly improving the picking up efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of logistics warehousing, and in particular to a shelf wall-mounted high-speed warehousing robot. Background Art

[0002] Stackers are an efficient and automated material handling equipment in the field of logistics and warehousing. It can shuttle back and forth between the lanes of the stereoscopic warehouse and use forks or telescopic mechanisms to store and retrieve goods on the shelves. Stackers are usually composed of walking mechanisms, lifting mechanisms, telescopic mechanisms for forks, electrical control systems, etc., and have the characteristics of easy operation, precise positioning, smooth operation, and high degree of automation. In modern logistics and warehousing, stackers are widely used in various types of high-bay warehouses, which can greatly improve the efficiency of warehousing operations and reduce labor costs. They are one of the important equipment for realizing warehousing automation and intelligence. Existing stackers are divided into heavy-duty stackers and light-duty stackers. Heavy-duty stackers and light-duty stackers are two important equipment in the field of logistics and warehousing. They have significant differences in structure, function and application scenarios. Heavy-duty stackers usually have complex manufacturing processes and high-strength structural designs, can withstand large loads, and are suitable for large logistics centers, factory warehouses and other places that need to handle heavy goods. When designing this type of stacker, the type of column will be selected according to the site environment and working conditions, such as a double-column structure to increase stability, to ensure safety and reliability when handling heavy objects. Heavy-duty stackers are usually equipped with advanced control systems to achieve precise positioning and operation, to meet scenarios with high requirements for cargo handling efficiency. In contrast, light stackers have a lighter structure and are suitable for high-speed turnover bin storage systems. It usually adopts a single-column or double-column structure, but the overall weight is lighter, the consumables are less, and the running speed is fast and efficient. Light stackers can meet high-frequency and high-efficiency picking needs, so they are more suitable for e-commerce warehouses, food warehouses, pharmaceutical warehouses and other places that need to handle a large number of small goods.

[0003] However, in some large warehouses, in order to maximize storage space, shelves are often designed to be very high. Due to its lightweight setting, light stackers are prone to shaking when moving to these higher positions at high speed due to the limitations of their own structure and the offset of the center of gravity. This shaking not only affects the stability and accuracy of the stacker, but may also cause errors in the process of retrieving and storing goods. In addition, shaking will increase the wear and tear and maintenance costs of the stacker and reduce its service life. At the same time, due to its high price, if each shelf is set up and used, it will greatly increase the storage cost. And in some small warehouses or old warehouses with limited space, the installation and use of traditional stackers are often restricted due to uneven ground or small space. Traditional stackers need to be installed at a position with high ground accuracy to ensure their stability and accuracy. However, in some warehouses with uneven ground or small space, this requirement is difficult to meet. In addition, traditional stackers also require additional ground space for installation and commissioning, which further increases the difficulty and cost of installation. Summary of the invention

[0004] (I) Technical problems to be solved: In view of the shortcomings of the prior art, the present invention provides a shelf wall-mounted high-speed warehouse robot, which has the advantages of being able to maintain its own stability during high-speed operation, having a large range for storing and retrieving goods, and not needing to be installed on the ground. It solves the problems of existing stackers that are prone to shaking during high-speed operation and need to be fixed on the ground and installed on each set of shelves.

[0005] (II) Technical solution: In order to achieve the above-mentioned purpose of being able to maintain its own stability during high-speed operation, having a large range of goods for storage and retrieval, and not needing to be installed on the ground, the present invention provides the following technical solution: A shelf wall-mounted high-speed storage robot, comprising a column, a loading platform, and a lifting device, the loading platform being slidably mounted on the column, the loading platform being arranged in two or more groups along the vertical direction of the column, the lifting device for driving the loading platform to move vertically being fixedly mounted at the bottom of the column, tracks being arranged at the top and bottom of the column, two or more driving wheel groups for driving the column to slide along the tracks being fixedly mounted on the column, the driving wheel groups being slidably connected to the tracks, the tracks being fixedly connected to the shelf, and the length of the track being longer than the length of the shelf.

[0006] Preferably, transmission structures are provided at both ends of the loading platform, and a transmission chain is provided between the transmission structure and the lifting device, and the lifting devices at both ends of the column respectively drive the two groups of loading platforms to move up and down independently.

[0007] Preferably, goods are placed on the loading platform, and a clamping plate which can move along the horizontal direction of the loading platform to load and unload the goods is provided on the loading platform.

[0008] Preferably, two or more columns are provided, and a crossbeam is provided between the two or more columns.

[0009] Preferably, the shelf includes support columns, support beams and shelves, a plurality of support columns are vertically equidistantly arranged, two or more support beams are fixedly connected between the support columns, three or more groups of shelves for placing goods are also arranged between the support columns, the track is arranged on the support beam, and a telescopic mechanism for controlling the forward and backward telescopic movement of the track is also fixedly connected to the track, and the telescopic mechanism is fixedly connected to the support beam; when the telescopic mechanism is extended or retracted, it drives the track and the columns installed on the track to move together.

[0010] Preferably, four or more groups of the telescopic mechanism are provided, and an anti-sway push plate is provided between the top and bottom tracks to prevent the column from shaking during movement, the driving wheel group is provided between the anti-sway push plate and the column, the anti-sway push plate is slidably connected to the layer plate, and a pneumatic rod is provided between the layer plate and the anti-sway push plate; the anti-sway push plate presses the driving wheel group perpendicular to the sliding direction of the driving wheel group.

[0011] Preferably, a tightening pulley is provided between the anti-sway push plate and the tightening surface of the driving wheel group, and the tightening pulley is rotatably connected to the driving wheel group.

[0012] Preferably, the tracks on both sides of the shelf are provided with rotating slide rails, the rotating slide rails are rotatably connected to the support columns, the rotating slide rails are vertically aligned with the tracks, and a connecting plate is fixedly connected between the upper and lower rotating slide rails, and the rotating slide rails are provided with a rotating motor for driving the rotating slide rails to rotate; when the column moves along the track to the rotating slide rail, the rotating slide rail drives the column to rotate.

[0013] Preferably, a rotating shaft is fixedly connected to the rotating slide rail, the rotating shaft connects the upper and lower rotating slide rails, the rotating shaft is rotatably connected to the support column, and the rotating shaft is connected to the driving shaft of the rotating motor, and the rotating motor is fixedly installed on the support column of the shelf.

[0014] Preferably, an extended push plate is further provided between the upper and lower rotating slide rails, the extended push plate is fixedly mounted on the connecting plate, the extended push plate is aligned with the anti-sway push plate, and the extended push plate is rotatably connected to the support column.

[0015] Preferably, a slidable locking block is also provided inside the rotating slide rail, an elastic trigger structure is provided between the locking block and the rotating slide rail, and an adsorption block attracted to the locking block is provided in the track on the opposite side of the locking block, the adsorption block is fixedly installed in the track, and an unlocking block capable of adsorbing the locking block and sliding along the rotating slide rail is provided in the driving wheel group, the unlocking block and the locking block use magnets with opposite magnetic poles, and the adsorption block uses iron; the elastic trigger structure is connected to the rotating shaft, and when the elastic trigger structure is compressed, the rotating shaft is unlocked, and when the elastic trigger structure is not compressed, the rotating shaft is locked.

[0016] (III) Beneficial effects: Compared with the prior art, the present invention provides a shelf wall-mounted high-speed storage robot, which has the following beneficial effects: 1. The shelf wall-mounted high-speed storage robot can effectively control the swing amplitude of the column during walking through the coordinated use of the driving wheel structure, the track structure, and the loading platform structure, and the track design on the shelf effectively reduces the installation difficulty and installation cost, and can also improve the installation accuracy. In the process of picking up goods, a double-group loading platform design is adopted, which can independently move up and down and pick up goods, greatly improving the efficiency of picking up goods.

[0017] 2. This shelf wall-mounted high-speed storage robot, through the coordinated use of the track structure and the telescopic mechanism, only needs to install one group of storage robots between every two groups of shelves. This design can not only reduce the number of storage robots installed and reduce costs, but also effectively increase the available space between shelves, thereby increasing the operating space between shelves and shelves, allowing some transport vehicles to pass between shelves and shelves, and improving the overall operation efficiency of the warehouse.

[0018] 3. A shelf wall-mounted high-speed storage robot, through the coordinated use of a rotating slide rail and a track structure, enables the storage robot to adjust the direction of the loading platform as needed, thereby moving the goods from the shelf to the conveyor belt in different directions, allowing the robot to adapt to different operating requirements and space layouts. The robot can complete the direction change without occupying additional space, thereby improving storage and operating efficiency. Moreover, when the storage robot is in a dormant state, the storage robot no longer occupies the straight space between the shelves, and the aisle space of the warehouse becomes more spacious. This not only facilitates other operations in the warehouse, such as transporting vehicles and personnel, but also makes the space in the warehouse more effectively utilized, thereby improving the overall operating efficiency of the warehouse; and the elastic trigger structure can effectively prevent the column from accidentally rotating when it does not move to the rotating slide rail, thereby improving the safety of the equipment.

[0019] 4. This shelf wall-mounted high-speed storage robot, through the use of anti-sway push plates and pneumatic rods, can provide buffering and damping effects when the column shakes, thereby absorbing and dispersing vibration energy, avoiding the shaking of the column while running along the track, improving the stability of the robot's operation, and ensuring that the loading platform can accurately reach the designated position for storing and retrieving goods. At the same time, it reduces the impact and wear on the shelves and the surrounding environment during operation, extends the service life of the equipment and shelves, and also reduces noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural front view of a shelf wall-mounted high-speed storage robot in the present invention.

[0021] Figure 2 It is a front view of the column structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0022] Figure 3 It is a three-dimensional schematic diagram of the loading platform structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0023] Figure 4 It is a three-dimensional schematic diagram of the column and track structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0024] Figure 5 The figure is a side sectional view of the column and track structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0025] Figure 6 The figure is a schematic diagram of the extension and retraction of the track structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0026] Figure 7 The figure is a schematic diagram of the rotation of the rotating slide rail structure of a shelf wall-mounted high-speed storage robot in the present invention.

[0027] Figure 8 for Figure 5 A is an enlarged view of the local detail.

[0028] Fig. 9 This is a schematic diagram of the elastic trigger structure of a shelf wall-mounted high-speed storage robot in the present invention when it is not compressed.

[0029] Fig.10 It is a schematic diagram of the elastic trigger structure of a shelf wall-mounted high-speed storage robot in the present invention when it is compressed.

[0030] In the figure: 1. column; 11. lifting device; 12. crossbeam; 13. driving wheel group; 14. tightening pulley; 15. unlocking block; 2. loading platform; 21. transmission structure; 22. clamping plate; 3. track; 31. telescopic mechanism; 32. adsorption block; 4. shelf; 41. support column; 42. support beam; 43. layer plate; 5. anti-sway push plate; 51. pneumatic rod; 6 rotating slide rail; 61. connecting plate; 62. rotating motor; 63. extension push plate; 64. locking block; 65. elastic trigger structure. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1: Please refer to Figure 1-Figure 3A shelf wall-mounted high-speed storage robot comprises a column 1, a loading platform 2, and a lifting device 11. The loading platform 2 is slidably mounted on the column 1. Two or more groups of loading platforms 2 are arranged along the vertical direction of the column 1. The design of arranging two or more groups of loading platforms 2 along the vertical direction of the column 1 is mainly to improve the working efficiency of the storage robot. Through the design of two or more groups of loading platforms 2, multiple loading platforms 2 can be simultaneously or independently stored and retrieved, thereby greatly improving the processing speed and efficiency of the goods. This design allows the robot to complete more tasks in one trip, reducing waiting time and empty driving distance. A lifting device 11 for driving the loading platform 2 to move vertically is fixedly installed at the bottom of the column 1. The lifting device 11 adopts a combination of a motor and a reducer. The lifting device 11 for driving the loading platform 2 to move vertically is fixedly installed at the bottom of the column 1 to realize the precise lifting and lowering movement of the loading platform 2 on the column 1. This design can ensure that the loading platform 2 can accurately reach any layer on the shelf 4 to perform the storage and retrieval operation of the goods. Tracks 3 are provided at the top and bottom of the column 1. Tracks 3 are provided at the top and bottom of the column 1 to achieve stable sliding and precise positioning of the column 1 on the shelf 4. The design of the tracks 3 at the top and bottom can ensure that the column 1 can move smoothly in the horizontal direction and can be accurately docked at any position. Two or more driving wheel groups 13 that drive the column 1 to slide along the track 3 are fixedly installed on the column 1. The driving wheel group 13 is slidably connected to the track 3. Two or more driving wheel groups 13 that drive the column 1 to slide along the track 3 are fixedly installed on the column 1 to improve the stability and carrying capacity of the column 1 on the track 3. Through the design of multiple sets of driving wheel groups 13, the weight and force of the column 1 during the movement can be dispersed, so that the column 1 can move more smoothly and can withstand a larger load. The track 3 is fixedly connected to the shelf 4, and the length of the track 3 is longer than the length of the shelf 4. The length of the track 3 is longer than the length of the shelf 4 to improve the working range and flexibility of the storage robot. By designing a longer track 3, the robot can move and wait in an area outside the shelf 4.

[0033] See also Figure 2 and Figure 3, transmission structures 21 are arranged at both ends of the loading platform 2. The transmission structure 21 adopts chain transmission. A transmission chain is arranged between the transmission structure 21 and the lifting device 11. The transmission structure 21 can ensure that the loading platform 2 can move smoothly and accurately along the vertical direction of the column 1. The transmission structure 21 can transmit the power from the lifting device 11, and the transmission chain can effectively reduce the friction and vibration during the movement, ensuring that the loading platform 2 can be stably raised and lowered and accurately reach the required height. The lifting devices 11 at both ends of the column 1 respectively drive the two groups of loading platforms 2 to move up and down independently. By independently driving the two groups of loading platforms 2, the storage and retrieval operations of the goods can be realized simultaneously or alternately, thereby greatly improving the working efficiency of the robot. In addition, the independent drive can also enable the robot to flexibly adjust the height of the loading platform 2 when facing goods of different heights to adapt to different storage and retrieval requirements. Goods are placed on the loading platform 2, and the loading platform 2 is provided with a clamping plate 22 that can move along the horizontal direction of the loading platform 2 to load and unload goods. The clamping plate 22 can accurately clamp and place the goods, and the clamping plate 22 can also be adjusted according to the shape and size of the goods to adapt to different types of goods. The clamping plate 22 moves horizontally along the loading platform 2, and the loading and unloading operations of the goods can be easily realized. Two or more columns 1 are provided, and a crossbeam 12 is provided between two or more columns 1. This can improve the stability and carrying capacity of the storage robot. By increasing the number of columns 1 and providing a crossbeam 12, a more stable structural frame can be formed, thereby effectively resisting various forces and vibrations generated by the robot during movement.

[0034] Example 2: Please refer to Figure 4-Figure 6The shelf 4 includes a support column 41, a support beam 42 and a layer 43. The support column 41 is vertically equidistantly arranged with a plurality of support columns. The design of the support column 41 is vertically equidistantly arranged with a plurality of support columns, mainly to ensure the stability and bearing capacity of the shelf 4. The support column 41 is the main load-bearing structure of the shelf 4, and its number and layout have a crucial impact on the overall performance of the shelf 4. The equidistantly arranged support columns 41 can evenly distribute the load of the shelf 4 to prevent the deformation of the shelf 4 caused by uneven load. Two or more support beams 42 are fixedly connected between the support columns 41. The design of the support column 41 is fixedly connected with two or more support beams 42, mainly to enhance the rigidity and stability of the shelf 4. The support beam 42, as a transverse member connecting the support columns 41, can effectively connect each support column 41 into a whole, thereby improving the overall bending resistance and torsion resistance of the shelf 4. In addition, two or more support beams 42 can also provide multiple locations for installing the track 3, so that the shelf 4 can flexibly configure different numbers and positions of the track 3 to meet different storage needs. Three or more layers 43 for placing goods are also arranged between the support columns 41. The track 3 is arranged on the support beam 42, and the track 3 is also fixedly connected with a telescopic mechanism 31 for controlling the forward and backward telescopic movement of the track 3. The telescopic mechanism 31 adopts a hydraulic cylinder or a linear module. The telescopic mechanism 31 is fixedly connected to the support beam 42. The track 3 is designed to be arranged on the support beam 42, mainly to support and fix the track 3 by utilizing the strength and stability of the support beam 42. As the main load-bearing component of the shelf 4, the support beam 42 has sufficient strength and rigidity to bear the weight of the track 3 and the column 1 as well as the dynamic load during the movement. At the same time, the track 3 is arranged on the support beam 42, which can also facilitate the installation and maintenance of the track 3. The telescopic mechanism 31 fixedly connected to the track 3 is to realize the flexible connection and cargo transmission between the shelves 4 and the shelves 4 or between the shelves 4 and the conveyor belt. By controlling the telescopic movement of the telescopic mechanism 31, the position and length of the track 3 can be adjusted, so that the column 1 and the loading platform 2 can accurately reach the designated access position. This design not only improves the automation level and operating efficiency of the storage robot, but also increases the flexibility and adaptability of the shelf 4, making more efficient use of the warehouse space.

[0035] See also Figure 4 , Figure 5 , Figure 7 and Figure 8, shelves are also provided on the layer plate 43, and four or more telescopic mechanisms 31 are provided. The design of four or more telescopic mechanisms 31 is mainly to ensure that the connection between the shelves 4 and the shelves 4 or between the shelves 4 and the conveyor belt is more stable and reliable. Multiple sets of telescopic mechanisms 31 can disperse the load and reduce the force of a single telescopic mechanism 31, thereby extending its service life. An anti-sway push plate 5 is also provided between the top and bottom tracks 3 to prevent the column 1 from shaking during movement. An anti-sway push plate 5 is also provided between the top and bottom tracks 3 to prevent the column 1 from shaking during movement, mainly to enhance the stability and safety of the shelf 4. The column 1 may shake during high-speed movement, which will not only affect the operating accuracy of the storage robot, but also may cause impact and wear on the shelf 4 and the surrounding environment. The anti-sway push plate 5 can effectively absorb and disperse this shaking energy, thereby maintaining the stability of the column 1 and ensuring that the storage robot can accurately reach the designated position to store and retrieve goods. A driving wheel set 13 is arranged between the anti-sway push plate 5 and the column 1, and the anti-sway push plate 5 is slidably connected with the layer plate 43. The design of the driving wheel set 13 between the anti-sway push plate 5 and the column 1 is mainly to facilitate the column 1 to slide quickly on the anti-sway push plate 5. The driving wheel set 13 can provide sufficient driving force and flexibility. And a pneumatic rod 51 is arranged between the layer plate 43 and the anti-sway push plate 5, and the pneumatic rod 51 is mainly to provide additional support and buffering. The pneumatic rod 51 can be adjusted in real time according to the shaking degree of the column 1, providing sufficient support force for the anti-sway push plate 5, thereby reducing the shaking amplitude of the column 1. At the same time, the pneumatic rod 51 can also be used as a shock absorbing element to provide buffering and damping when the column 1 shakes; the anti-sway push plate 5 is perpendicular to the sliding direction of the driving wheel set 13, and a tightening pulley 14 is arranged between the anti-sway push plate 5 and the tightening surface of the driving wheel set 13, and the tightening pulley 14 is rotatably connected to the driving wheel set 13. The tension pulley 14 is provided between the anti-sway push plate 5 and the tension surface of the driving wheel set 13, mainly to reduce the friction and wear between the anti-sway push plate 5 and the driving wheel set 13. The tension pulley 14 can be rotatably connected to the driving wheel set 13, so that the anti-sway push plate 5 can slide more smoothly during the movement, reducing the direct contact and friction between the anti-sway push plate 5 and the driving wheel set 13.

[0036] See also Figure 4 and Figure 7The tracks 3 on both sides of the shelf 4 are provided with rotating slide rails 6, which are rotatably connected to the support column 41. The tracks 3 on both sides of the shelf 4 are designed to be provided with rotating slide rails 6, which are rotatably connected to the support column 41, mainly to provide the function of flexible rotation of the column 1 and the loading platform 2 between the shelves 4 or between the shelf 4 and the conveyor belt. This design enables the storage robot to easily change the direction of travel or turn to other shelves 4 after completing the storage and retrieval of goods, thereby improving the flexibility and operating efficiency of the robot. The rotating slide rail 6 is vertically aligned with the track 3. The rotating slide rail 6 is designed to be vertically aligned with the track 3, mainly to ensure that the column 1 can smoothly transition to the rotating slide rail 6 when running along the track 3, avoiding the impact and instability caused by the height difference. This alignment design enables the column 1 to maintain a horizontal state during the rotation process, reduces shaking and friction, and improves the stability of the rotation. A connecting plate 61 is fixedly connected between the upper and lower rotating slide rails 6, and the connecting plate 61 is to enhance the overall stability and strength of the rotating slide rail 6. The connecting plate 61 firmly connects the upper and lower rotating slide rails 6 together to form a stable structure that can withstand the weight of the column 1 and the loading platform 2 and the force generated during rotation. At the same time, the connecting plate 61 also plays a guiding and supporting role to ensure that the column 1 can maintain the correct position and direction during the rotation process. A rotating motor 62 is provided on the rotating slide rail 6 to drive it to rotate. The rotating motor 62 is connected to the rotating shaft of the rotating slide rail 6 through a driving shaft, and can drive the rotating slide rail 6 and the column 1 to rotate together. This design enables the storage robot to flexibly change the direction of travel or turn to other shelves 4 as needed, thereby improving the automation and operating efficiency of the robot; when the column 1 moves along the track 3 to the rotating slide rail 6, the rotating slide rail 6 drives the column 1 to rotate. A rotating shaft is also fixedly connected to the rotating slide rail 6, the rotating shaft connects the upper and lower rotating slide rails 6, the rotating shaft is rotatably connected to the support column 41, and the rotating shaft is connected to the driving shaft of the rotating motor 62. The rotating shaft, as the central axis of rotation, can withstand the force generated during rotation and maintain the stability of rotation. At the same time, the rotating shaft is connected to the driving shaft of the rotating motor 62, so that the rotating motor 62 can accurately control the rotating speed and angle of the rotating slide rail 6, thereby improving the operating accuracy and reliability of the robot. The rotating motor 62 is fixedly mounted on the support column 41 of the shelf 4. By installing the rotating motor 62 on the support column 41, the structure and space of the shelf 4 can be fully utilized, and additional brackets or fixtures can be avoided. At the same time, the support column 41, as the main load-bearing structure of the shelf 4, has high stability and strength, and can support the weight of the rotating motor 62 and the force generated during rotation. An extended push plate 63 is also provided between the upper and lower rotating slide rails 6, and the extended push plate 63 is fixedly mounted on the connecting plate 61, and the extended push plate 63 is aligned with the anti-sway push plate 5, and the extended push plate 63 is rotationally connected to the support column 41.The extended push plate 63 is designed to be aligned with the anti-sway push plate 5 mainly to ensure that the column 1 can smoothly transition to the extended push plate 63 when running along the anti-sway push plate 5 to avoid impact and instability caused by height difference.

[0037] See also Fig. 9 and Fig.10 , a slidable locking block 64 is also provided inside the rotating slide rail 6. The slidable locking block 64 inside the rotating slide rail 6 is designed mainly to increase the safety and stability of the equipment. During the operation of the storage robot, if the column 1 rotates unexpectedly before reaching the predetermined position, it may cause damage to the goods, equipment failure and even casualties. The design of the locking block 64 can ensure that when the column 1 is not correctly positioned on the rotating slide rail 6, the rotating slide rail 6 will not rotate accidentally, thereby avoiding the above risks. An elastic trigger structure 65 is provided between the locking block 64 and the rotating slide rail 6. When the elastic trigger structure 65 is compressed, the rotating shaft is unlocked. When the elastic trigger structure 65 is not compressed, the rotating shaft is locked. The elastic trigger structure 65 can provide a reset force for unlocking and locking the rotating shaft and for the locking block 64. The elastic trigger structure 65 adopts elastic elements such as springs and elastic sheets and is connected to a trigger member connected to the rotating shaft. An adsorption block 32 that is attracted to the locking block 64 is provided in the track 3 on the opposite side of the locking block 64. The adsorption block 32 is fixedly installed in the track 3. The adsorption block 32 is designed to keep the locking block 64 in place when the locking block 64 is not unlocked through the magnetic force generated between the adsorption block 32 and the locking block 64 to prevent it from accidentally sliding due to vibration or external force. At the same time, the adsorption block 32 can also serve as a reset aid after the locking block 64 is unlocked, helping the locking block 64 to quickly return to its original position after unlocking. An unlocking block 15 that can adsorb the locking block 64 and slide along the rotating slide rail 6 is provided in the driving wheel assembly 13. The unlocking block 15 and the locking block 64 use magnets with opposite magnetic poles, and the adsorption block 32 uses iron. At the same time, the attraction generated between the unlocking block 15 and the locking block 64 is greater than the combined force of the attraction of the adsorption block 32 to the locking block 64 and the elastic force of the elastic trigger structure 65; the elastic trigger structure 65 is connected to the rotating shaft, please refer to Fig.10 When the elastic trigger structure 65 is compressed, the rotating shaft is unlocked. Fig. 9 When the elastic trigger structure 65 is not compressed, the rotating shaft is locked. The structure can effectively prevent the column 1 from accidentally rotating when it does not move onto the rotating slide rail 6 through the elastic trigger structure 65, thereby improving the safety of the equipment, and the locking of the rotating shaft can prevent the robot from suddenly rotating due to misoperation or system failure, thereby avoiding damage to personnel or goods.

[0038] Working principle: During use, the present invention drives the upper and lower driving wheel groups 13 installed on the column 1 to move at high speed along the track 3 to the designated position of the shelf 4 at the same time, and then controls the loading platform 2 to move to the cargo position through the lifting device 11, and uses the clamping plate 22 to pick up the cargo, and then repeats the above process to place the cargo on the conveyor belts on both sides of the shelf 4. The inventory process is the opposite of the picking process. During the movement, the driving wheel groups 13 set on the upper and lower tracks 3 can effectively control the swing amplitude of the column 1 during the walking process due to the use of synchronous servo drive, and the design of the track 3 on the shelf 4 effectively reduces the installation difficulty and installation cost, and can also improve the installation accuracy. In the process of picking up cargo, the present invention adopts a double-group loading platform 2 design, and the double-group loading platform 2 can move up and down independently and pick up cargo, which greatly improves the efficiency of picking up cargo.

[0039] When the present invention is installed, one group is installed between every two groups of shelves 4. When there is a need to pick up or store goods on the shelf 4 on the opposite side of the installation equipment, the telescopic mechanism 31 is used to push the track 3 to move, so that the column 1 approaches the shelf 4 on the opposite side until the loading platform 2 reaches the distance that the clamping plate 22 can store and retrieve goods, and then the goods are taken and stored on the shelf 4 on the opposite side. After the goods are taken and stored, the telescopic mechanism 31 is retracted to drive the column 1 back to the initial position. This design can not only reduce the number of warehouse robots installed and reduce costs, but also effectively increase the available space between shelves 4 and shelves 4, thereby increasing the operating space between shelves 4 and shelves 4, allowing some transport vehicles to pass between shelves 4 and shelves 4, and improving the overall operation efficiency of the warehouse.

[0040] In the process of placing and removing goods on the conveyor belt of the present invention, the placing and removing direction of the loading platform 2 can be changed by rotating the slide rail 6. After the column 1 structure moves to the rotating slide rail 6 along the track 3 through the driving wheel group 13, the rotating motor 62 drives the rotating slide rail 6 to drive the column 1 to rotate to the conveyor belt position, and then controls the loading platform 2 to move to the height of the conveyor belt and uses the clamping plate 22 to place and remove goods. Moreover, when the storage robot is in a dormant state, the column 1 is moved to the rotating slide rail 6 by the driving wheel group 13, and then the rotating slide rail 6 is rotated to the side of the shelf 4 perpendicular to the direction of the track 3. In this state, the storage robot and its column 1 structure no longer occupy the linear space between the shelves 4 and the shelves 4, and the passage space of the warehouse becomes more spacious. In this way, it is not only convenient for other operations in the warehouse, such as transporting vehicles and personnel passage, but also makes the space in the warehouse more effectively utilized, improving the overall operation efficiency of the warehouse. And when the storage robot and its column 1 structure are rotated to the side of the shelf 4 perpendicular to the direction of the track 3 by rotating the slide rail 6, the center of gravity of the entire structure including the column 1, the loading platform 2, etc. relative to the shelf 4 changes, but this change is relatively small. The shelf 4 is easier to maintain stability during transportation or movement, and is not prone to accidents such as tipping over, which greatly reduces the difficulty and risk of transportation.

[0041] During the operation of the column 1 along the track 3, the anti-sway push plate 5 is always pressed against the driving wheel set 13. When the column 1 shakes during high-speed operation, the anti-sway push plate 5 and the pneumatic rod 51 can effectively absorb the vibration. The anti-sway push plate 5 is tightly attached to the driving wheel set 13 through the tightening pulley 14, and the pneumatic rod 51 acts as a shock-absorbing element, which can provide buffering and damping when the column 1 shakes, thereby absorbing and dispersing the vibration energy. This prevents the column 1 from shaking during operation along the track 3, improves the stability of the robot operation, ensures that the loading platform 2 can accurately reach the designated position for storing and retrieving goods, and reduces the impact and wear on the shelf 4 and the surrounding environment during operation, prolongs the service life of the equipment and the shelf 4, and also reduces noise.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shelf wall-mounted high-speed storage robot, comprising a column (1), a loading platform (2), and a lifting device (11), wherein the loading platform (2) is slidably mounted on the column (1), the loading platform (2) is arranged along the vertical direction of the column (1), and the lifting device (11) for driving the loading platform (2) to move vertically is fixedly mounted at the bottom of the column (1), characterized in that: Two or more groups of the loading platform (2) are provided, the top and bottom of the column (1) are provided with tracks (3), two or more groups of driving wheel groups (13) are fixedly installed on the column (1) to drive the column (1) to slide along the tracks (3), the driving wheel groups (13) are slidably connected to the tracks (3), the tracks (3) are fixedly connected to the shelves (4), and the length of the tracks (3) is longer than the length of the shelves (4); The shelf (4) comprises a supporting column (41), a supporting beam (42) and a layer board (43); a plurality of supporting columns (41) are arranged vertically and equidistantly; two or more supporting beams (42) are fixedly connected between the supporting columns (41); three or more layers (43) for placing goods are also arranged between the supporting columns (41); the track (3) is arranged on the supporting beam (42); a telescopic mechanism (31) for controlling the forward and backward telescopic movement of the track (3) is also fixedly connected to the track (3); the telescopic mechanism (31) is fixedly connected to the supporting beam (42); when the telescopic mechanism (31) is extended or retracted, it drives the track (3) and the column (1) installed on the track (3) to move together; The rails (3) on both sides of the shelf (4) are provided with rotating rails (6), the rotating rails (6) are rotatably connected to the support columns (41), the rotating rails (6) are vertically aligned with the rails (3), and a connecting plate (61) is fixedly connected between the upper and lower rotating rails (6), and the rotating rails (6) are provided with a rotating motor (62) for driving the rotating rails to rotate; when the column (1) moves along the rail (3) onto the rotating rails (6) through the driving wheel group (13), the rotating rails (6) drive the column (1) to rotate; The rotating slide rail (6) is also fixedly connected to a rotating shaft, the rotating shaft connects the upper and lower rotating slide rails (6), the rotating shaft is rotatably connected to the support column (41), and the rotating shaft is connected to the driving shaft of the rotating motor (62), and the rotating motor (62) is fixedly mounted on the support column (41) of the shelf (4); an extended push plate (63) is also provided between the upper and lower rotating slide rails (6), the extended push plate (63) is fixedly mounted on the connecting plate (61), and the extended push plate (63) is aligned with the anti-sway push plate (5), and the extended push plate (63) is rotatably connected to the support column (41); a slidable locking block (64) is also provided inside the rotating slide rail (6), and the locking block (64) An elastic trigger structure (65) is arranged between the rotating slide rail (6), and an adsorption block (32) that is attracted to the locking block (64) is arranged in the track (3) on the opposite side of the locking block (64), and the adsorption block (32) is fixedly installed in the track (3). An unlocking block (15) that can adsorb the locking block (64) and slide along the rotating slide rail (6) is arranged in the driving wheel group (13), and the unlocking block (15) and the locking block (64) are magnets with opposite magnetic poles, and the adsorption block (32) is iron; the elastic trigger structure (65) is connected to the rotating shaft, and when the elastic trigger structure (65) is compressed, the rotating shaft is unlocked, and when the elastic trigger structure (65) is not compressed, the rotating shaft is locked.

2. A shelf wall-mounted high-speed storage robot according to claim 1, characterized in that: Transmission structures (21) are provided at both ends of the loading platform (2), and a transmission chain is provided between the transmission structure (21) and the lifting device (11), and the lifting devices (11) at both ends of the column (1) respectively drive the two groups of loading platforms (2) to move up and down independently.

3. The shelf wall-mounted high-speed storage robot according to claim 1, characterized in that: Goods are placed on the loading platform (2), and a clamping plate (22) is provided on the loading platform (2) and can move along the horizontal direction of the loading platform (2) to load and unload the goods.

4. The shelf wall-mounted high-speed storage robot according to claim 1, characterized in that: Two or more upright posts (1) are provided, and a crossbeam (12) is provided between the two or more upright posts (1).

5. The shelf wall-mounted high-speed storage robot according to claim 1, characterized in that: Four or more groups of the telescopic mechanisms (31) are provided, and an anti-sway push plate (5) is provided between the top and bottom tracks (3) to prevent the column (1) from shaking during movement; a driving wheel group (13) is provided between the anti-sway push plate (5) and the column (1); the anti-sway push plate (5) is slidably connected to the layer plate (43), and a pneumatic rod (51) is provided between the layer plate (43) and the anti-sway push plate (5); the anti-sway push plate (5) is pressed against the driving wheel group (13) perpendicular to the sliding direction of the driving wheel group (13).

6. The shelf wall-mounted high-speed storage robot according to claim 5, characterized in that: A tightening pulley (14) is provided between the anti-sway push plate (5) and the tightening surface of the driving wheel group (13), and the tightening pulley (14) is rotatably connected to the driving wheel group (13).

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