Three-dimensional warehousing robot with lifting assembly and warehousing system

Abstract

The invention provides a three-dimensional storage robot with a lifting assembly and a storage system. The three-dimensional storage robot with the lifting assembly comprises a rack, and a walking driving device, walking wheels, a communication and control module, a battery, the lifting assembly and a stretching assembly are arranged on the rack; the rack comprises two groups of side edges, namely front and rear side edges and left and right side edges; a lifting assembly is arranged on one group of side edges; the lifting assembly comprises a driving motor, a driving transmission mechanism, a lifting gear, a first rotating shaft, a left plate and a right plate; the lifting gear is arranged on the first rotating shaft; two ends of the first rotating shaft are respectively fixed on the left plate and the right plate; the stretching assembly comprises a stretching rack and a stretching gear, and the stretching rack and the stretching gear are correspondingly arranged; the stretching rack is arranged on the left plate or the right plate, and the stretching gear is arranged on the rack; or the stretching rack is arranged on the rack, and the stretching gear is arranged on the left plate or the right plate. The lifting assembly is directly arranged on the three-dimensional storage robot, a vertical carrying robot and a matched structure do not need to be additionally arranged, and therefore the three-dimensional storage robot has the advantages of being small in occupied space, high in efficiency and low in cost.

Description

Technical Field

[0001] The technical solution belongs to the field of warehousing and logistics, and specifically relates to a three-dimensional warehousing robot and a warehousing system with a lifting component. Background Art

[0002] In a stereoscopic warehouse, the transportation of goods stored on shelves requires the horizontal transportation of the shelf layer plane and the vertical transportation perpendicular to the shelf layer plane.

[0003] At present, in order to achieve the purpose of moving and transporting goods in three-dimensional space in a stereoscopic warehouse, a group of stereoscopic storage robots that can move on the shelf plane and a group of vertical transport robots that can carry the stereoscopic storage robots between the shelf planes are generally deployed.

[0004] However, vertical transport robots take up a large space. When transporting goods, they are generally transported together with the three-dimensional storage robots that carry the goods. Therefore, the spatial dimensions of their components are designed to be large, and the overall space occupies a large amount of space in the three-dimensional warehouse. At the same time, the vertical transport robot needs to be designed separately, which adds additional design, material, processing, installation and maintenance costs. Its structure is complex, and it is necessary to consider the docking with the three-dimensional storage robot and the coupling installation with the shelf at the same time, and the overall structure is numerous and complex. The stability is low, and it is necessary to set up an additional vertical transport robot control system and an overall scheduling system to control the docking of the three-dimensional storage robot and the vertical transport robot, which increases the parameters that need to be controlled and reduces the overall stability. Summary of the invention

[0005] The present invention provides a three-dimensional storage robot with a lifting assembly, which comprises a frame, on which a travel drive device, travel wheels, a communication and control module, a battery, a lifting assembly and a stretching assembly are arranged;

[0006] The frame includes two sets of sides, front and rear sides and left and right sides;

[0007] A lifting assembly is provided on one set of the sides;

[0008] The lifting assembly includes a driving motor, a driving transmission mechanism, a lifting gear, a first rotating shaft, and a left plate and a right plate;

[0009] The lifting gear is arranged on the first rotating shaft; the two ends of the first rotating shaft are respectively fixed on the left plate and the right plate;

[0010] The stretching assembly includes a stretching drive mechanism and a stretching transmission mechanism, and the stretching drive mechanism and the stretching transmission mechanism are arranged in correspondence, wherein one part is arranged on the frame, and the other part is arranged on the left plate or the right plate.

[0011] Preferably, the drive transmission mechanism includes a drive worm, a drive worm wheel, and a drive gear, the drive gear is connected to the lifting gear, and the drive motor drives the drive gear through the drive worm and the drive worm wheel, thereby driving the lifting gear.

[0012] Preferably, the lifting assembly further comprises a second rotating shaft, both ends of which are respectively fixed on the left plate and the right plate; and the driving gear and the driving worm gear of the driving transmission mechanism are arranged on the second rotating shaft.

[0013] Preferably, the stretching driving mechanism is a stretching gear, the stretching transmission mechanism is a stretching rack, and the stretching rack and the stretching gear are correspondingly arranged;

[0014] The stretching rack is arranged on the left plate or the right plate, and the stretching gear is arranged on the frame; or the stretching rack is arranged on the frame, and the stretching gear is arranged on the left plate or the right plate.

[0015] Preferably, two groups of four lifting assemblies are provided on the frame, and the four lifting assemblies are symmetrically arranged on the left and right sides, with two lifting assemblies being arranged on the left side and two lifting assemblies being symmetrically arranged on the right side.

[0016] The present invention also provides a storage system including the above-mentioned three-dimensional storage robot, which includes:

[0017] A three-dimensional shelf, comprising a plurality of stacked shelf layers, on which vertically intersecting tracks are arranged, wherein the tracks comprise two parallel guide rails;

[0018] A lifting rack is provided in the vertical direction of the shelf, and the lifting rack is provided correspondingly to the lifting gear of the lifting assembly, and the lifting gear moves up and down along the lifting rack.

[0019] Preferably, a curved portion is provided on the guide rail, and the lifting rack is arranged in the curved portion.

[0020] Preferably, the track is an openable and closable track, and the distance between two guide rails of the track is variable.

[0021] Preferably, the track is a lifting area track.

[0022] Preferably, the storage system comprises an opening and closing device, and the opening and closing device is used to control the opening and closing of the track.

[0023] The lifting component is directly set on the three-dimensional storage robot, and there is no need to additionally set up a vertical handling robot and supporting structures. Therefore, it has the advantages of small space occupation, high efficiency and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the three-dimensional storage robot of the present invention;

[0025] Figure 2 It is a schematic diagram of the left structure of the lifting component;

[0026] Figure 3 It is a schematic diagram of the right structure of the lifting component;

[0027] Figure 4 This is a schematic diagram of the structure of a three-dimensional storage robot shelf;

[0028] Figure 5 This is a schematic diagram of the three-dimensional storage robot in the state of lifting the shelf;

[0029] Figure 6 This is a schematic diagram of the structure of the shelf lifting rail in the "closed" state;

[0030] Figure 7 This is a schematic diagram of the structure of the shelf lifting track in the "open" state;

[0031] Figure 8 This is a schematic diagram of the structure of the three-dimensional storage robot and the shelf lifting station. Specific implementation plan

[0032] Implementation Method 1

[0033] like Figure 1-3 As shown, the present invention provides a three-dimensional storage robot with a lifting component, which includes a frame 11, on which are provided a travel drive device, a travel wheel 14, a communication and control module 12, a battery 13, a lifting component 15 and an extension component. The travel drive device drives the travel wheel 14 to move; the communication and control module 12 communicates and controls the movement of the three-dimensional storage robot; and the battery 13 provides power support.

[0034] The frame includes two groups of sides, front and rear sides and left and right sides. A lifting assembly 15 is provided on one of the groups of sides. In this embodiment, the front is taken as the moving direction of the robot, and the front, rear, left and right are defined in sequence.

[0035] In this embodiment, the number and position of the lifting components are set according to demand, such as a group of two lifting components can be set, set on the left and right sides; or two groups of four lifting components can be set, respectively set on the front, back, left and right sides.

[0036] Preferably, in this embodiment, two groups of four lifting assemblies are arranged on the frame, symmetrically arranged on the left and right sides, that is, two lifting assemblies are arranged on the left side and two lifting assemblies are arranged symmetrically on the right side. Four lifting assemblies can ensure stability during the rise, and at the same time, the force is more uniform; the four lifting assemblies are arranged on the left and right sides, and the corresponding track setting is more convenient and simple, and only the shape of the track in one direction needs to be adjusted accordingly.

[0037] The lifting assembly 15 includes a driving motor 155 , a driving transmission mechanism, a lifting gear 151 , a first rotating shaft 156 , and a left plate 158 and a right plate 159 .

[0038] The lifting gear 151 is disposed on the first rotating shaft 156 ; both ends of the first rotating shaft 156 are respectively fixed on the left plate 158 and the right plate 159 , and the lifting gear 151 can rotate around the first rotating shaft 156 .

[0039] The extension assembly includes an extension drive mechanism and an extension transmission mechanism, and the extension drive mechanism and the extension transmission mechanism are arranged in correspondence, wherein one part is arranged on the frame, and the other part is arranged on the left plate or the right plate.

[0040] In this embodiment, the extension drive mechanism is the extension gear 162, and the extension transmission mechanism is the extension rack 161. The extension rack 161 and the extension gear 162 are correspondingly arranged. When the extension gear 162 rotates, it can drive the extension rack 161 to extend forward or backward.

[0041] The stretching rack 161 is arranged on the left plate 158 or the right plate 159, and the stretching gear 162 is arranged on the frame; in other embodiments of the present invention, the stretching rack 161 can also be arranged on the frame, and the corresponding stretching gear 162 is arranged on the left plate or the right plate.

[0042] Those skilled in the art should understand that the matching arrangement of the extension rack 161 and the extension gear 162 is only an implementation method of the extension assembly provided by the present invention. According to the function and principle, the extension assembly is not limited to this implementation method. For example, in addition to the rack transmission method of this implementation method, a chain and a gear can also be used for transmission, or a gear set can be used for transmission, and the functions of the present invention can be achieved.

[0043] The driving transmission mechanism includes a driving worm 154, a driving worm wheel 153, and a driving gear 152. The driving gear 152 is connected to the lifting gear 151. The driving motor 155 drives the driving gear 152 through the driving worm 154 and the driving worm wheel 153, thereby driving the lifting gear 151 to move upward or downward in the vertical direction.

[0044] The lifting assembly also includes a second rotating shaft 157, the two ends of which are respectively fixed on the left plate 158 and the right plate 159; the driving gear 152 and the driving worm gear 153 of the driving transmission mechanism are arranged on the second rotating shaft 157, and the driving gear 152 and the driving worm gear 153 can rotate around the second rotating shaft 157.

[0045] In this embodiment, a worm gear transmission is used, which has high precision and high reliability. However, those skilled in the art should understand that in the mechanical field, there are many transmission methods, such as belt transmission, gear transmission, chain transmission, etc., all of which can achieve the purpose of the present invention. Only the best embodiment is selected here, and other methods are not described in detail.

[0046] At the same time, the driving motor 155 is also fixed on the left plate or the right plate, so that the entire lifting assembly forms a whole. When the extending assembly performs the extending movement, the lifting assembly can be driven as a whole.

[0047] When working, when the three-dimensional storage robot needs to change the shelf layer (vertically rise or fall), specifically rise to the upper shelf layer or descend to the lower shelf layer, the extension gear in the extension assembly will rotate, driving the extension rack, and further extending the entire lifting assembly from the inside of the frame to the outside; then the drive motor works, and drives the lifting gear to rotate under the action of the drive transmission mechanism, thereby realizing the rise or fall of the three-dimensional storage robot; when the three-dimensional storage robot reaches the designated shelf layer, the extension gear of the extension assembly reverses, driving the extension rack, and retracting the entire lifting assembly into the frame.

[0048] In the present invention, the drive motor, drive transmission mechanism, and drive gear are all arranged between the left plate and the right plate. The drive transmission mechanism and the drive motor can be arranged on the left side or on the right side without affecting the overall function. Figure 2 The diagram shows a structure in which the drive motor and the drive transmission mechanism are arranged on the right side and the drive motor is fixed on the right plate; Figure 3 The structure diagram shown is that the drive motor and the drive transmission mechanism are arranged on the left side, and the drive motor is fixed to the left plate. The four lifting components can be arranged on the left or right side according to actual needs.

[0049] In the present invention, a lifting assembly is directly arranged on the three-dimensional storage robot, and there is no need to additionally arrange a vertical transport robot and a supporting structure. Therefore, the present invention has the advantages of small space occupation, high efficiency and low cost.

[0050] Implementation Method 2

[0051] like Figure 4-8 In another embodiment of the present invention, a storage system including a three-dimensional storage robot is provided. The three-dimensional storage robot includes a frame 11, on which a travel drive device, a travel wheel 14, a communication and control module 12, a battery 13, a lifting component 15 and a stretching component are arranged. The travel drive device drives the travel wheel 14 to move; the communication and control module 12 communicates and controls the movement of the three-dimensional storage robot; and the battery 13 provides power support. The structure of the three-dimensional storage robot is the same as that of embodiment 1, and no additional description is given here.

[0052] The storage system also includes a three-dimensional shelf 20, which includes a plurality of stacked shelf layers, and vertically intersecting tracks are arranged on the shelf layers, and the tracks include two parallel guide rails 22. The three-dimensional storage robot moves on the tracks through running wheels. The shelf layers are connected and supported by support frames 21.

[0053] A lifting rack 23 is provided in the vertical direction of the shelf. The lifting rack 23 is provided corresponding to the lifting gear 151 of the lifting assembly 15. The lifting gear moves up and down along the lifting rack.

[0054] A curved portion 221 is provided on the guide rail 22, and the lifting rack is provided in the curved portion; that is, where the guide rail and the lifting rack intersect each other, the guide rail is provided with a curved portion, and the lifting rack is provided in the curved portion, to ensure that the lifting rack will not invade the track and affect the normal operation of the three-dimensional storage robot; at the same time, when the lifting assembly is working, the lifting gear extends out of the frame 11 and contacts and engages with the lifting rack. When the three-dimensional storage robot moves in the vertical direction, the guide rail of the track is provided with a curved portion, and the track itself will not form an obstacle.

[0055] In this embodiment, the track is composed of two guide rails, and the guide rails themselves include an inner side and an outer side, and the inner side is defined as the side facing the track section, and the outer side is defined as the side away from the track section. The curved portion on the guide rail is curved toward the outer side of the guide rail.

[0056] The track in the present invention is an openable track, and the distance between the two rails of the track can be changed. Figure 6 As shown, the track is set on the shelf 20, and the track is in the "closed" state. The distance between the two rails is adapted to the distance between the running wheels on both sides of the three-dimensional storage robot; Figure 7 As shown, the track is in the "open" state, and the distance between the two rails becomes larger, leaving space for the lifting or lowering of the three-dimensional storage robot.

[0057] The switching of the "opening and closing" state of the lifting position track is realized by a combination of opening and closing devices, which are connected to the lifting position track and are used to control the opening and closing of the lifting position track.

[0058] Specifically, when the three-dimensional storage robot moves from other positions on the shelf layer plane to the lifting area (the shelf layer is specifically used to lift the three-dimensional storage robot to different layers), the track is in a "closed" state to provide support for the three-dimensional storage robot. When the lifting gear on the lifting assembly of the three-dimensional storage robot is engaged with the vertical lifting rack, the track selectively performs "opening and closing" operations according to the direction in which the three-dimensional storage robot will move up and down. Specifically, it maintains a "closed" state when moving upward, and an "open" state when moving downward. When the three-dimensional storage robot is about to move vertically, the lifting position tracks between the current shelf layer plane and the target shelf layer plane are both in an "open" state. In particular, when the three-dimensional storage robot moves upward, the track of the lifting position of the target shelf layer plane is also in an "open" state. When the three-dimensional storage robot reaches the target shelf plane, the track becomes a "closed" state again.

Claims

1. A three-dimensional storage robot with a lifting assembly, comprising a frame, on which a travel drive device, travel wheels, a communication and control module, a battery, a lifting assembly and a stretching assembly are arranged; The frame includes two sets of side edges, front and rear side edges and left and right side edges; the characteristics are: A lifting assembly is provided on one set of the sides; The lifting assembly includes a driving motor, a driving transmission mechanism, a lifting gear, a first rotating shaft, and a left plate and a right plate; The lifting gear is arranged on the first rotating shaft; the two ends of the first rotating shaft are respectively fixed on the left plate and the right plate; The stretching assembly includes a stretching drive mechanism and a stretching transmission mechanism, and the stretching drive mechanism and the stretching transmission mechanism are arranged in correspondence, wherein one part is arranged on the frame, and the other part is arranged on the left plate or the right plate.

2. The three-dimensional storage robot according to claim 1, characterized in that: The driving transmission mechanism includes a driving worm, a driving worm wheel, and a driving gear. The driving gear is connected to the lifting gear. The driving motor drives the driving gear through the driving worm and the driving worm wheel, thereby driving the lifting gear.

3. The three-dimensional storage robot according to claim 2, characterized in that: The lifting assembly also includes a second rotating shaft, two ends of which are respectively fixed on the left plate and the right plate; a driving gear and a driving worm gear of the driving transmission mechanism are arranged on the second rotating shaft.

4. The three-dimensional storage robot according to claim 1, characterized in that: The stretching driving mechanism is a stretching gear, the stretching transmission mechanism is a stretching rack, and the stretching rack and the stretching gear are correspondingly arranged; The stretching rack is arranged on the left plate or the right plate, and the stretching gear is arranged on the frame; or the stretching rack is arranged on the frame, and the stretching gear is arranged on the left plate or the right plate.

5. The three-dimensional storage robot according to claim 1, characterized in that: Two groups of four lifting assemblies are arranged on the frame, and the four lifting assemblies are symmetrically arranged on the left and right sides, with two lifting assemblies arranged on the left side and two lifting assemblies arranged symmetrically on the right side.

6. A storage system comprising the three-dimensional storage robot according to claim 1, comprising: A three-dimensional shelf, comprising a plurality of stacked shelf layers, on which vertically intersecting tracks are arranged, wherein the tracks comprise two parallel guide rails; A lifting rack is provided in the vertical direction of the shelf, and the lifting rack is provided correspondingly to the lifting gear of the lifting assembly, and the lifting gear moves up and down along the lifting rack.

7. A storage system according to claim 6, characterized in that: The guide rail is provided with a curved portion, and the lifting rack is arranged in the curved portion.

8. A storage system according to claim 7, characterized in that: The track is an openable and closable track, and the distance between the two guide rails of the track is variable.

9. The storage system according to claim 7, characterized in that: The track is a lifting area track.

10. The storage system according to claim 8, characterized in that: The storage system comprises an opening and closing device, and the opening and closing device is used to control the opening and closing of the track.

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