Carrying equipment for rail running and warehousing system

Abstract

The carrying equipment comprises a vehicle body, a continuous enclosure part is arranged on the periphery of the vehicle body, a forking mechanism is arranged above the enclosure part, and the forking mechanism is configured to extend to the outer side of the enclosure part; the device further comprises a jacking mechanism, and the forking mechanism is arranged above the jacking mechanism and used for achieving ascending and descending of the forking mechanism. According to the goods carrying device, the goods can be carried when the carrying device does not need to travel to the position below the goods.

Description

Technical Field

[0001] This application relates to the technical field of warehousing equipment, and particularly relates to a handling device and a warehousing system for traveling on a track. Background Art

[0002] In the existing intelligent warehousing system, goods are stored on the storage locations of the stereoscopic warehouse. When the shuttle board is handling goods, it needs to travel along the traveling track to the lower part of the storage location, and then carry the goods through a lifting action. However, in order to ensure the normal movement of the shuttle board, a traveling track needs to be set under the storage location, which increases the construction cost of the stereoscopic warehouse. Summary of the Invention

[0003] In view of the above defects, this application provides a goods picking and placing mechanism and device, which can be compatible with picking and placing a variety of vertical and inclined plug-in type cargo boxes, etc., and has a wide range of applicability.

[0004] The technical solutions adopted by this application to solve the above technical problems are as follows: In the first aspect of this application, a handling device for traveling on a track is provided, including: a vehicle body, a continuous enclosing part is arranged around the vehicle body, and a fork picking mechanism is arranged above the enclosing part, and the fork picking mechanism is configured to be able to extend to the outside of the enclosing part; It further includes a lifting mechanism, and the fork picking mechanism is arranged above the lifting mechanism for realizing the rising and falling of the fork picking mechanism.

[0005] Preferably, the enclosing part arranged around forms a receiving cavity, and the lifting mechanism is arranged in the receiving cavity. When the fork picking mechanism extends, the lifting mechanism is located in the receiving cavity.

[0006] Preferably, the fork picking mechanism includes a fixing part and a fork picking part, and the lifting mechanism is arranged below the fork picking part and is configured to extend to the outside of the enclosing part along with the fork picking part.

[0007] Preferably, a notch is arranged at the position of the enclosing part corresponding to the fork picking part, and the notch is used to avoid the extension of the fork picking part.

[0008] Preferably, a bearing part is further arranged above the enclosing part. When the fork picking mechanism descends to the lowest position, the fork picking mechanism is not higher than the bearing part. When the fork picking mechanism rises to the highest position, the fork picking mechanism is higher than the bearing part.

[0009] Preferably, the fork picking mechanism includes two forks, and the two forks are arranged on both sides of the bearing part. The fork includes a fixing part and a fork picking part, and the fork picking part is configured to be able to extend to the outside of the enclosing part, and the relative position of the fixing part and the bearing part remains unchanged.

[0010] Preferably, the picking mechanism is a multi-stage telescopic structure.

[0011] Preferably, the picking mechanism extends to the outside of the enclosure part through a telescopic mechanism. The telescopic mechanism includes a transmission lead screw and a nut sleeved on the transmission lead screw, and the picking mechanism is fixedly connected to the nut.

[0012] Preferably, the picking mechanism extends to the outside of the vehicle body in the length direction.

[0013] A second aspect of the present application provides a warehousing system, including a handling device for traveling on a track, a plurality of intersecting and vertically arranged traveling tracks, and storage spaces arranged between the traveling tracks. No traveling track is arranged below the storage spaces. The handling device travels on the traveling tracks and picks up handling objects placed in the storage spaces through a picking mechanism.

[0014] Preferably, the installation height of the storage space is not lower than the lowest descending position of the picking mechanism.

[0015] Beneficial effects: In the present application, by arranging a continuous enclosure part around the perimeter and a picking mechanism that can extend outside the vehicle body above the enclosure part, the handling device can pick up goods without having to travel below the goods. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of a handling device for traveling on a track disclosed in the present application; Figure 2 is a schematic structural diagram of another handling device for traveling on a track disclosed in the present application; Figure 3 is a schematic structural diagram of the extended state of the picking mechanism of a handling device for traveling on a track disclosed in the present application; Figure 4 is a schematic structural diagram of the jacking state of the picking mechanism of a handling device for traveling on a track disclosed in the present application; Figure 5 is a schematic structural diagram of the loaded state of a handling device for traveling on a track disclosed in the present application; Figure 6 is a warehousing system disclosed in the present application.

[0017] Reference Signs: 100 - handling device, 110 - enclosure part, 120 - picking mechanism, 121 - fixing part, 122 - picking part, 130 - bearing part, 140 - jacking mechanism, 200 - traveling track, 300 - storage space. Detailed Embodiments

[0018] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. Generally, the components of the embodiments of this application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0019] The three-dimensional warehouse is composed of multiple storage layers arranged vertically. Multiple running tracks 200 are provided in each storage layer, including a main track and a sub-track that are perpendicular to each other. Storage bays 300 are provided on both sides of the sub-track. The main track connects multiple sub-tracks. The handling device 100 can shuttle between multiple storage bays 300 by running on the running tracks 200. In the prior art, generally, a section of running track 200 is laid under the running track 200 to enable the handling device 100 to walk under the storage bay 300, and the handling object is lifted by a jacking method and then placed above the handling device 100 to achieve the handling of the handling object. However, in this application, the running track 200 under the storage bay 300 is cancelled, reducing the construction cost of the three-dimensional warehouse. However, since there is no running track 200 under the storage bay 300, the handling device 100 cannot walk under the storage bay 300. Therefore, this application discloses a handling device 100 for track running.

[0020] See Figures 1-5 , the handling device 100 includes: a vehicle body, a continuous enclosure part 110 is provided around the vehicle body, a fork-taking mechanism 120 is provided above the enclosure part 110, and the fork-taking mechanism 120 is configured to extend to the outside of the enclosure part 110; It further includes a jacking mechanism 140. The fork-taking mechanism 120 is arranged above the jacking mechanism 140 to realize the lifting and lowering of the fork-taking mechanism 120.

[0021] In this application, the continuously arranged enclosure part 110 around the four sides encloses the vehicle body into a rectangle, and this rectangle forms a relatively enclosed space for the vehicle body. The control elements, power supply and other connection components of the handling device 100 are all arranged in this enclosed space. Travel wheels are installed at the lower part of the vehicle body for traveling on the running tracks 200.

[0022] The fork-taking mechanism 120 arranged above the enclosure part 110 can extend outside the enclosure part 110, so that the handling device 100 does not have to drive below the storage location 300 anymore. The fork-taking mechanism 120 extends to below the storage location 300, and then the lifting mechanism 140 operates to lift the fork-taking mechanism 120, thereby driving the handling object above the lifting mechanism 140 to be lifted from the storage location 300. Then the fork-taking mechanism 120 performs a retracting action. When the fork-taking mechanism 120 retracts above the enclosure part 110, the lifting mechanism 140 performs a lowering operation to lower the fork-taking assembly to the initial position. Then the handling device 100 moves to transport the handling object to the corresponding position.

[0023] The fork-taking mechanism 120 of the present application includes a fixed part 121 and a bearing part 130. Among them, the fixed part 121 is arranged above the enclosure part 110, and the fork-taking part 122 is slidably connected to the fixed part 121. During the extension and so-called process of the fork-taking mechanism 120, the relative position between the fixed part 121 and the enclosure part 110 remains unchanged, and only the fork-taking part 122 extends outward along the fixed part 121.

[0024] The sliding connection between the fixed part 121 and the fork-taking part 122 can be realized through a telescopic mechanism. In a possible embodiment, the sliding mechanism can be a lead screw nut structure, a transmission lead screw and a nut sleeved on the transmission lead screw. The fork-taking mechanism 120 is fixedly connected to the nut, and the lead screw is fixedly arranged on the fixed part 121 or the enclosure part 110. Driven by a driving source, the lead screw rotates. Since one end of the lead screw is fixed, the relative position of the lead screw will not change. The nut sleeved on the lead screw moves to a position as the lead screw rotates, thereby driving the fork-taking part 122 fixed to the nut to move, realizing the extension of the fork-taking mechanism 120.

[0025] In another possible embodiment, the telescopic structure can also be a sliding groove and a transmission sprocket arranged in a sliding manner. A rotating wheel is respectively arranged at both ends of the fixed part 121, and a transmission belt is sleeved outside the two rotating wheels. The upper part of the transmission belt is fixedly connected to the fork-taking part 122. At least one of the two rotating wheels is a driving wheel, and the driving wheel rotates to drive the transmission belt to rotate, thereby driving the upper fork-taking part 122 to move, and thus realizing the telescoping of the fork-taking mechanism 120.

[0026] In a possible embodiment of the present application, the fork-taking mechanism 120 is a multi-stage telescopic structure. Since the length of the vehicle body is matched with the width of the track in the automated storage and retrieval system, the setting process will affect the storage density of the automated storage and retrieval system. If it is set too short, it will not be able to fork goods. Therefore, when the fork-taking mechanism 120 is multi-stage telescopic, the extended length will be greater than the length of the vehicle body, and objects at a distance can be handled under the condition of a smaller vehicle body size.

[0027] It can be conceived that the length of the fork-taking mechanism 120 is generally the same as the length of the vehicle body. However, for some goods with larger volumes, it is necessary to adapt to the width of the traveling track 200 and the large size of the handling object. Therefore, in a possible embodiment of the present application, the fork-taking mechanism 120 extends to the outside of the vehicle body in the length direction, that is, the length of the fork-taking mechanism 120 is greater than the length of the vehicle body. In this way, the handling device 100 can travel on a narrower track and has a larger bearing area to carry large-volume handling objects.

[0028] In the present application, the lifting mechanism 140 is used to realize the lifting effect on the fork-taking mechanism 120. Therefore, the installation position of the lifting mechanism 140 can be adjusted correspondingly according to different usage scenarios. In a possible embodiment, the surrounding enclosing part 110 forms a receiving cavity, and the lifting mechanism 140 is arranged in the receiving cavity. When the fork-taking mechanism 120 extends, the lifting mechanism 140 is located in the receiving cavity.

[0029] When the lifting mechanism 140 is arranged in the receiving cavity, only the fork-taking part 122 of the fork-taking mechanism 120 extends out, and the handling object is carried on the fork-taking part 122, which is suitable for handling lighter objects. For the case where the weight of the handling object is heavier, the strength of the fork-taking mechanism 120 can be enhanced to adapt to a heavier weight. However, when the maximum strength that the fork-taking mechanism 120 can increase still cannot bear the weight of the handling object, another possible embodiment can be adopted, that is, the lifting mechanism is arranged below the fork-taking part 122 and configured to extend out of the enclosing part 110 with the fork-taking part 122.

[0030] When the lifting mechanism 140 extends out of the enclosing part 110 with the fork-taking part 122 and reaches below the handling object, the lifting mechanism 140 then performs a lifting action to lift the handling object. At this time, since the lifting mechanism 140 is arranged below the fork-taking part 122, when the fork-taking part 122 retracts, the lifting mechanism 140 can support the handling object at the same time, and objects with a greater weight can be handled.

[0031] It can be understood that because the lifting mechanism 140 is arranged below the fork-taking part 122, when the fork-taking part 122 extends outwards, a larger space is required in the vertical direction between the fork-taking part 122 and the enclosing part 110. Therefore, a notch is provided at the position of the enclosing part 110 corresponding to the fork-taking part 122, and the notch is used to avoid the extension of the fork-taking part 122.

[0032] When the fork-taking part 122 retracts, the notch can also be used to retract the lifting mechanism 140. It can be conceived that since the lifting structure belongs to a common technical means, the specific structure of the lifting mechanism 140 is not described in the present application.

[0033] After the picking mechanism 120 in the present application picks up the handling object and retracts it into the enclosure 110, the handling object can be continuously carried on the picking mechanism 120 for handling. However, only the picking mechanism 120 bears the weight of the handling object, which is likely to cause damage to the picking mechanism 120 during long-term use. Therefore, a bearing part 130 is further provided above the enclosure 110. When the picking mechanism 120 descends to the lowest position, the picking mechanism 120 is not higher than the bearing part 130. When the picking mechanism 120 ascends to the highest position, the picking mechanism 120 is higher than the bearing part 130. When the picking part 122 retracts, the weight of the handling object can be borne by the bearing part 130, or jointly borne by the bearing part 130 and the picking mechanism 120, thereby reducing the weight borne by the picking mechanism 120.

[0034] In the present application, the picking mechanism 120 includes two forks. The two forks are arranged on both sides of the bearing part 130. The fork includes a fixed part 121 and a picking part 122. The picking part 122 is configured to be able to extend to the outside of the enclosure 110, and the relative position of the fixed part 121 and the bearing part 130 remains unchanged.

[0035] See Figure 6 , the second aspect of the present application further provides a warehousing system, including a handling device 100 for traveling on a track, a plurality of intersecting and vertically arranged traveling tracks 200, and storage bins 300 arranged between the traveling tracks 200. No traveling track 200 is provided below the storage bin 300. The handling device 100 travels on the traveling track 200 and picks up the handling object placed in the storage bin 300 through the picking mechanism 120.

[0036] Since the storage bins 300 are generally arranged on both sides of the sub-track, the handling device 100 needs to first travel along the sub-track to the corresponding position where the storage bin 300 is located. In the prior art, for the case where a traveling track 200 is provided below the storage bin 300 and the handling device 100 travels below the storage bin 300, since the traveling direction needs to be changed from the sub-track to below the storage bin 300, the handling device 100 needs to perform a parking operation when traveling to the storage bin 300, and then change the traveling direction and then travel. One traveling process involves multiple processes such as acceleration, deceleration, parking, and determining the parking position of the handling device 100. Even though it can be achieved through program control, it still takes time to complete. However, in the present application, because the picking mechanism 120 is provided on the handling device 100 and no traveling track 200 is provided below the storage bin 300 in the warehousing system, and direct handling is performed through the picking mechanism 120, one traveling action (traveling from the sub-track to below the storage bin) is reduced, which can reduce the handling time, improve the handling efficiency, and at the same time reduce the construction cost of the stereoscopic warehouse.

[0037] Furthermore, the set height of the storage location 300 is not lower than the lowest descending position of the fork-taking mechanism 120, so as to ensure that the fork-taking mechanism 120 can extend below the storage location 300 to fork and carry the object to be carried.

[0038] In the present application, by providing the fork-taking mechanism 120 that can extend outside the vehicle body on the continuously arranged enclosure part 110 around, the handling device 100 can carry the goods without having to drive below the goods. At the same time, since there is no need to walk below the storage location, the walking distance of the handling device 100 is reduced, the walking control for the distance from the main track to below the goods can be reduced, and the handling efficiency can be further improved. For the storage system configured with the walking mode of the handling device 100, therefore, the driving track 200 can be reduced below the storage location, and the construction cost of the storage system is reduced.

[0039] Certainly, the present application can also have many other embodiments. Without departing from the spirit and essence of the present application, those skilled in the art can make various corresponding changes and deformations according to the present application. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present application.

Claims

1. A handling device for traveling on rails, characterized in that, Comprising: A vehicle body, with a continuous enclosing part (110) provided around the vehicle body, a fork-taking mechanism (120) is provided above the enclosing part (110), and the fork-taking mechanism (120) is configured to be able to extend outside the enclosing part (110); It further includes a lifting mechanism (140), the fork-taking mechanism (120) is arranged above the lifting mechanism (140) for realizing the lifting and lowering of the fork-taking mechanism (120).

2. The handling device for track travel according to claim 1, characterized in that, The enclosing part (110) provided around forms a receiving cavity, the lifting mechanism (140) is arranged in the receiving cavity, and when the fork-taking mechanism (120) extends, the lifting mechanism (140) is located in the receiving cavity.

3. The handling device for traveling on a track according to claim 1, characterized in that, The fork-taking mechanism (120) includes a fixing part (121) and a fork-taking part (122), the lifting mechanism (140) is arranged below the fork-taking part (122) and is configured to extend outside the enclosing part (110) along with the fork-taking part (122).

4. The handling device for rail travel according to claim 3, characterized in that The enclosing part (110) is provided with a notch corresponding to the position of the fork-taking part (122), and the notch is used to avoid the extension of the fork-taking part (122).

5. The handling device for traveling on a track according to claim 1, characterized in that, A carrying part (130) is further provided above the enclosing part (110). When the fork-taking mechanism (120) descends to the lowest position, the fork-taking mechanism (120) is not higher than the carrying part (130), and when the fork-taking mechanism (120) ascends to the highest position, the fork-taking mechanism (120) is higher than the carrying part (130).

6. The handling device for rail travel according to claim 5, characterized in that, The fork-taking mechanism (120) includes two forks, the two forks are arranged on both sides of the carrying part (130), the forks include a fixing part (121) and a fork-taking part (122), the fork-taking part (122) is configured to be able to extend outside the enclosing part (110), and the relative position of the fixing part (121) and the carrying part (130) remains unchanged.

7. The handling device for traveling on a track according to any one of claims 1-6, characterized in that, The fork-taking mechanism (120) is a multi-stage telescopic structure.

8. The handling device for traveling on a track according to claim 7, characterized in that, The fork-taking mechanism (120) extends outside the enclosing part (110) through a telescopic mechanism, the telescopic mechanism includes a transmission lead screw and a nut sleeved on the transmission lead screw, and the fork-taking mechanism (120) is fixedly connected to the nut.

9. The handling device for track travel according to any one of claims 1-6, characterized in that, The fork-taking mechanism (120) extends to the outside of the vehicle body in the length direction.

10. A warehousing system, characterized in that, Including the handling equipment for track travel according to any one of claims 1-9, a plurality of intersecting and vertically arranged travel tracks (200), and storage bays (300) arranged between the travel tracks (200). There is no travel track (200) below the storage bays (300). The handling equipment (100) travels on the travel tracks (200) and forks the handling object placed in the storage bays (300) through the fork-taking mechanism (120).

11. The warehousing system according to claim 10, characterized in that, The installation height of the storage bays (300) is not lower than the lowest lowering position of the fork-taking mechanism (120).

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